CN102808433B - 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 PDF

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Publication number
CN102808433B
CN102808433B CN201210286370.7A CN201210286370A CN102808433B CN 102808433 B CN102808433 B CN 102808433B CN 201210286370 A CN201210286370 A CN 201210286370A CN 102808433 B CN102808433 B CN 102808433B
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valve
swing arm
control
hydraulic
flow
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CN102808433A (en
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陈艳军
郭勇
陶海军
刘均益
张新海
郝鹏
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Sunward Intelligent Equipment Co Ltd
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Sunward Intelligent Equipment Co Ltd
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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

For controlling hydraulic circuit and the control method thereof of excavator swing arm composite move
Technical field
The present invention relates to a kind of variable pump control loop, particularly relate to a kind ofly for controlling the hydraulic circuit of excavator swing arm composite move, the invention still further relates to this for controlling the control method of hydraulic circuit of excavator swing arm composite move.
Background technology
Entrucking operating mode is the modal operating mode of excavator, in excavator entrucking process, moved arm lifting and revolution are links of entrucking do action, because boom cylinder in medium-sized excavator is by double pump fuel feeding, there is a pump while fuel feeding to boom cylinder and hydraulic motor, so often there will be the assignment of traffic of two hydraulic actuators unreasonable, thereby cause often occurring in moved arm lifting and turning course the exercise not harmony of boom cylinder and hydraulic motor, this boom cylinder and the hydraulic motor inharmonious maneuverability that caused on time or space is poor, energy loss is large, affect operating efficiency, particularly for different loads, in the situation of the position of different entruckings, this bad phenomenon is more obvious.
The hydraulic circuit of existing swing arm composite move as shown in Figure 1, comprise the first hydraulic pump P1 and the second hydraulic pump P2, the first hydraulic pump P1 by oil circuit 13 and oil circuit 12 simultaneously fuel feeding to hydraulic motor 1 and boom cylinder 2, the second hydraulic pump P2 passes through the independent fuel feeding of oil circuit 17 to boom cylinder 2, the secondary valve 6b of swing arm control main valve 6a and swing arm control controls respectively the second hydraulic pump P2 to boom cylinder 2 and the first hydraulic pump to direction, uninterrupted and the break-make of boom cylinder 2 fluid, realizes stretching out, retract or stopping moving of boom cylinder 2.Swing arm control main valve 6a is connected with boom cylinder 2 with oil circuit 16b by oil circuit 16a respectively with the secondary valve 6b of swing arm control, rotary control valve 5 is controlled direction, uninterrupted and the break-make of the first hydraulic pump to hydraulic motor 1 fluid, realizes the positive and negative direction revolution of hydraulic motor 1 or stops action.
Flow pressure-gradient control valve 20 is 2/2-way valve, in the valve of left position, be provided with throttle orifice 20a, throttle orifice is not established in right position, and moved arm lifting ON control signal control flow pressure-gradient control valve 20 is in the time of left position, flow pressure-gradient control valve 20 is to oil circuit 13 throttlings, and the flow priority allocation of the first hydraulic pump P1 is to boom cylinder 2; Cancel this flow pressure-gradient control valve 20 of moved arm lifting ON signal and return to initial position, this position and flow pressure-gradient control valve 20 is not to oil circuit 13 throttlings.
Therefore, the course of work of moved arm lifting and revolution composite move is as follows:
When moved arm lifting and revolution composite move, revolution L or revolution R signal and moved arm lifting ON signal are inputted simultaneously, revolution L or revolution R move rotary control valve 5, moved arm lifting ON signal makes swing arm control main valve 6a and the secondary valve 6b action of swing arm control, moved arm lifting ON signal makes flow pressure-gradient control valve 20 move simultaneously, now flow pressure-gradient control valve 20 is in left position and to oil circuit 13 throttlings, flows to the fluid flow minimizing of hydraulic motor 1, and the first hydraulic pump P1 flow passes through oil circuit 12 priority allocation to boom cylinder 2.
Due in the time that boom cylinder 2 and hydraulic motor 1 move simultaneously, the hydraulic pressure of this liquid boom cylinder 2 and hydraulic motor 1 changes and changes stage by stage, if flow pressure-gradient control valve 20 remains on left position in the time of moved arm lifting and revolution composite move always, flow pressure-gradient control valve 20 keeps the throttling to oil circuit 13 always, cause like this hydraulic motor 1 in whole moved arm lifting and revolution composite move process to there will be underfed and the pressure loss that has increased oil circuit 13, cause very large energy loss, moved arm lifting and revolution composite move operability variation are caused, controllability and harmony are also poor.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of realization with the variation of operating pressure size and regulates in real time the assignment of traffic ratio of pump to boom cylinder and rotary motor, meet that swing arm promotes and the revolution harmony of composite move and energy-conservation requirement for controlling hydraulic circuit and the control method thereof of excavator swing arm composite move.。
To achieve the object of the present invention, adopt a kind ofly for controlling the hydraulic circuit of excavator swing arm composite move, comprise the first hydraulic pump and the second hydraulic pump, hydraulic motor, this hydraulic motor is connected with the first hydraulic pump by oil circuit, rotary control valve, this rotary control valve is installed between described hydraulic motor and the hydraulic circuit of the first hydraulic pump, boom cylinder, this boom cylinder is connected with described the first hydraulic pump and the second hydraulic pump by oil circuit, swing arm control main valve, this swing arm control main valve is connected with the second described hydraulic pump, the secondary valve of swing arm control, the secondary valve of this swing arm control is connected with the first described hydraulic pump, also comprise swing arm flow valve, described swing arm flow valve is installed between the first described hydraulic pump and the hydraulic circuit of the secondary valve of swing arm control, described swing arm flow valve is by the control signal control at two ends, the control signal at two ends comes from robot arm flow valve to the pressure between the secondary valve oil of swing arm control road and hydraulic motor flow to the pressure between rotary control valve oil circuit, described swing arm flow valve has the function that limits the described swing arm flow valve fluid flow of flowing through,
Motor flow valve, this motor flow valve is installed between described the first hydraulic pump and the hydraulic circuit of rotary control valve, described motor flow valve is by the control signal control at two ends, the control signal at two ends is carried out robot arm flow valve to the pressure between the secondary valve oil of swing arm control road and hydraulic motor flow to the pressure between rotary control valve oil circuit, and described motor flow valve has the function that limits the described motor flow valve fluid flow of flowing through.
The throttle orifice of described delay function is arranged on the oil circuit of described swing arm flow valve control signal end.
Described swing arm flow valve and described motor flow valve can be sliding valve structure.
Described swing arm flow valve and described motor flow valve can be electromagnetic proportional valve.
Described swing arm flow valve can convert the signal of telecommunication to pressure, motor flow valve between the secondary valve oil of swing arm control road to the pressure between rotary control valve oil circuit, and this signal of telecommunication can be for the control signal of swing arm flow valve and motor flow valve.
For controlling a hydraulic circuit for excavator swing arm composite move, comprise the first hydraulic pump and the second hydraulic pump, hydraulic motor, this hydraulic motor is connected with the first hydraulic pump by oil circuit, rotary control valve, this rotary control valve is installed between described hydraulic motor and the hydraulic circuit of the first hydraulic pump, boom cylinder, this boom cylinder is connected with described the first hydraulic pump and the second hydraulic pump by oil circuit, swing arm control main valve, this swing arm control main valve is connected with the second described hydraulic pump, the secondary valve of swing arm control, the secondary valve of this swing arm control is connected with the first described hydraulic pump, also comprise automatic pressure-gradient control valve, described automatic pressure-gradient control valve is sliding valve structure, in the first hydraulic pump between rotary control valve and the first hydraulic pump between the secondary valve of swing arm control, described automatic pressure-gradient control valve carries out assignment of traffic to the first hydraulic pump to the fluid of boom cylinder and hydraulic motor, automatically pressure-gradient control valve by this valve of control signal control in left position, meta, switching between right position, when meta, the ratio of assignment of traffic area is 1, described automatic pressure-gradient control valve is from meta to right when position, be restricted to gradually hydraulic motor fluid, fluid is preferentially supplied with boom cylinder, described automatic pressure-gradient control valve is from meta to left when position, be restricted to gradually boom cylinder, fluid is preferentially supplied with hydraulic motor, described automatic pressure-gradient control valve is by the control signal control at two ends, and the control signal at two ends comes from automatic pressure-gradient control valve to the pressure between the secondary valve oil of swing arm control road and hydraulic motor flow to the pressure between rotary control valve oil circuit.
Comprise throttle orifice, described throttle orifice is installed on the control signal oil circuit of described automatic pressure-gradient control valve, plays delay function.
Described automatic pressure-gradient control valve is electromagnetic proportional valve, judges the displacement of this automatic pressure-gradient control valve according to the control signal size at two ends.
Described automatic pressure-gradient control valve is guiding valve, judges the displacement of this automatic pressure-gradient control valve according to the size of two ends control signal.
For controlling a control method for excavator swing arm composite move, comprise that step is as follows:
Input moved arm lifting ON control signal control swing arm control main valve, the secondary valve events of swing arm control, rotary control valve control signal R or L are inputted in boom cylinder action subsequently simultaneously, move with rear hydraulic motor;
Obtain motor flow valve to the pressure P s1 between rotary control valve oil circuit and swing arm flow valve to swing arm control the pressure P s2 between secondary valve oil road, along with the operation that swing arm promotes and revolution is moved, described motor flow valve changes along with moving to the pressure of the pressure P s2 between the secondary valve oil of swing arm control road to the pressure P s1 between rotary control valve oil circuit and swing arm flow valve, now has three kinds of situations to regulate:
(1) if Ps1 > is Ps2, and pressure difference value meets Ps1-Ps2 > Pd, Pd is the force value arranging, swing arm flow valve and motor flow valve produce certain displacement by the control signal size at two ends, the flow of the boom cylinder that swing arm flow valve restrictive pump arrives, motor flow valve does not limit the flow of the first pump to hydraulic motor, and fluid is preferentially supplied with hydraulic motor, and limit amount is determined by Ps1-Ps2 pressure difference value;
(2) if Ps1 approximately equal Ps2, and pressure difference value meets | Ps1-Ps2|≤Pd, Pd is the force value arranging, by comparison, computing and judgement, swing arm flow valve does not limit the flow of the first pump to boom cylinder, motor flow valve limits the flow of the first pump to hydraulic motor, and assignment of traffic approximately equal is specifically determined by the size of | Ps1-Ps2| pressure difference value;
(3) if Ps2 > is Ps1, and pressure difference value meets Ps2-Ps1 > Pd, Pd is the force value arranging, swing arm flow valve and motor flow valve produce certain displacement by the control signal size at two ends, motor flow valve limits the flow of the first pump to hydraulic motor, swing arm flow valve does not limit the flow of the first pump to boom cylinder, and limit amount determines by Ps2-Ps1 pressure difference value, and fluid priority of supply is to boom cylinder.
Described Pd value scope is between 0~5MPa and comprise 0Mpa and 5Mpa.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1. owing to having adopted the pressure of working oil path as control signal, the assignment of traffic ratio of hydraulic motor and boom cylinder can determine the ratio of assignment of traffic in real time according to the difference of oil circuit pressure size, can control real-time the ratio that fluid distributes.
2. in swing arm lifting and rotating composite move, according to the pressure changing in oil circuit, take limited flow to distribute the different control stages, in different pressures situation, realize different limited flow functions and reduce the pressure loss, save energy.
Brief description of the 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 present 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, the secondary valve of swing arm control; 7, throttle orifice; P1, the first hydraulic pump; P2, the second hydraulic pump
Fig. 3 is the hydraulic circuit diagram of the embodiment of the present invention two
Wherein: 8, automatic pressure-gradient control valve
Fig. 4 is control method flow chart of the present invention
Detailed description of the invention
Below in conjunction with Figure of description, the present invention will be further described in detail.
Embodiment mono-
Referring now to Fig. 2, the preferred embodiment one for the hydraulic circuit of controlling excavator swing arm composite move of the present invention is described in detail.
Fig. 2 is of the present invention for controlling the schematic diagram of first embodiment of hydraulic circuit of excavator swing arm composite move, as shown in Figure 2, hydraulic circuit of the present invention has the first hydraulic pump P1 and the second hydraulic pump P2, produce separately hydraulic oil liquid and supply with hydraulic circuit, the first hydraulic pump P1 produces hydraulic oil liquid through oil circuit 12, and shunt to oil circuit 13 and oil circuit 14 and supply with by oil circuit 12, oil circuit 13 fuel feeding are to hydraulic motor 1, and oil circuit 17 and oil circuit 14 are combined fuel feeding to boom cylinder 2.At oil circuit, 13 places are provided with motor flow valve 3, motor flow valve 3 is the fluid limited flow to this motor flow valve 3 of flowing through in right position, in the time of left position, cancel limited flow, and be switched to from left position the process of right position as 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 described swing arm flow valve 4 is the fluid limited flow to the described swing arm flow valve 4 of flowing through in left when position, cancels limited flow when right the position, and is switched to the process of right position as cancelling gradually the process of limited flow from left position; Swing arm flow valve 4, for the size of the fluid flow of oil circuit control 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, throttle orifice 7 is for controlling the deferred action of swing arm flow valve 4, even if flow valve 4 time delays are switched to right position, this delay time can be between 0.1~1s.
The secondary valve 6b of swing arm control is connected by oil circuit 14 with swing arm flow valve 4, the displacement of the secondary valve 6b of swing arm control is by external control signal moved arm lifting ON signal controlling, swing arm control main valve 6a is connected by 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 passes through oil circuit 16b fuel feeding to boom cylinder 2 by oil circuit 16a and the secondary valve 6b of swing arm control, the secondary valve 6b of swing arm control and swing arm control main valve 6a co-controlling the first hydraulic pump P1 and the second hydraulic pump P2 stretching out to boom cylinder 2, retract and keep static.
If while therefore 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 turn round hydraulic motor 1, now swing arm flow valve 4 and motor flow valve 3, according to the pressure P s2 formation control signal co-controlling motor flow valve 3 of oil circuit 13 pressure P s1, oil circuit 14 and direction of action and the displacement of swing arm flow valve 4, distribute the fluid flow of oil circuit 12.
If Ps1 > is Ps2, pressure difference value meets Ps1-Ps2 > Pd, swing arm flow valve 4 and motor flow valve 3 are in left position, now swing arm flow valve 4 is to oil circuit 14 limited flows, fluid priority of supply hydraulic motor 1, the ratio of assignment of traffic determines by swing arm flow valve 4, and motor flow valve 3, in limited flow state not, determines the displacement of swing arm flow valve 4 and the displacement of motor flow valve 3 according to the size of pressure difference value Pd.
If the value of Ps1 and Ps2 is close, pressure difference value meets | Ps1-Ps2|≤Pd, now 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, save energy, determined the displacement of swing arm flow valve 4 and the displacement of motor flow valve 3 according to the size of pressure difference value Pd.
If Ps2 > is Ps1, pressure difference value meets Ps2-Ps1 > Pd, swing arm flow valve 4 and motor flow valve 3 are in right position, now motor flow valve 3 is to oil circuit 13 limited flows, fluid priority of supply boom cylinder 2, the ratio of assignment of traffic is determined by motor flow valve 3, and swing arm flow valve 4 is in limited flow state not, the crushing of swing arm flow valve 4 of flowing through is very little, determines the displacement of swing arm flow valve 4 and the displacement of motor flow valve 3 according to the size of pressure difference value Pd.
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, to meet the requirement of actual condition simultaneously.
Embodiment bis-
Fig. 3 is of the present invention for controlling the schematic diagram of second embodiment of hydraulic circuit of excavator swing arm composite move, as shown in Figure 3, hydraulic circuit of the present invention has the first hydraulic pump P1 and the second hydraulic pump P2, produce separately hydraulic oil liquid and supply with hydraulic circuit, the first hydraulic pump P1 produces hydraulic oil liquid through oil circuit 12, and shunted to oil circuit 13 and oil circuit 14 by oil circuit 12, oil circuit 13 fuel feeding are to hydraulic motor 1, and oil circuit 17 and oil circuit 14 are combined fuel feeding to boom cylinder 2.Be provided with automatic pressure-gradient control valve 8 at oil circuit 12 places, automatically pressure-gradient control valve 8 has and can work three positions, and in valve, the fluid of oil circuit 12 is diverted to oil circuit 13 and oil circuit 14, left position is to oil circuit 13 limited flows, preferential fuel feeding is to oil circuit 14, right position is to oil circuit 14 limited flows, and preferential fuel feeding is to oil circuit 13, in the time of meta not to oil circuit 13 and oil circuit 14 limited flows.Automatically the control signal of pressure-gradient control valve 8 is taken from the pressure P s1 of oil circuit 13a and the pressure P s2 of oil circuit 15a 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 pressure-gradient control valve 8 is moved according to moved arm lifting and the operation of rotating composite move, if carry out moved arm lifting and the operation of 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 turn round hydraulic motor 1, now automatic pressure-gradient control valve 8 is according to the oil liquid pressure size adjustment displacement of oil circuit 13, oil circuit 14, the pressure P s1 of oil circuit 13a forms the control signal of automatic pressure-gradient control valve, and the pressure P s2 of oil circuit 15a forms the control signal of automatic pressure-gradient control valve 8.
The common displacement that determines automatic pressure-gradient control valve 8 of control signal Ps1 and Ps2, changes the fluid of oil circuit 12 to the ratio of the assignment of traffic of oil circuit 13 and oil circuit 14, and its control is as follows:
If Ps1 > Ps2, pressure difference value meets Ps1-Ps2 > Pd, now automatically pressure-gradient control valve 8 to oil circuit 14 limited flows, fluid priority of supply hydraulic motor 1, the ratio of assignment of traffic is determined by automatic pressure-gradient control valve 8 displacements.
If the value of Ps1 and Ps2 is close, pressure difference value meets | Ps1-Ps2|≤Pd, and now automatically pressure-gradient control valve 8 is not to oil circuit 13 and oil circuit 14 limited flows, or limited flow amount is very little, makes by the pressure loss of automatic pressure-gradient control valve 8 very littlely, has saved energy.
If Ps2 > Ps1, pressure difference value meets Ps2-Ps1 > Pd, now automatically pressure-gradient control valve 8 to oil circuit 13 limited flows, fluid priority of supply boom cylinder 2, the ratio of assignment of traffic is determined by automatic pressure-gradient control valve 8 displacements 3.
Pd value scope can and comprise 0Mpa and 5Mpa between 0~5MPa.
For controlling the control method of hydraulic circuit for excavator swing arm composite move, as shown in Figure 4, the step of its control is as follows for the flow process of its control method:
Input moved arm lifting ON control signal, controls swing arm control main valve, the secondary valve events of swing arm control, and rotary control valve control signal revolution L or revolution R signal are inputted in boom cylinder action subsequently simultaneously, move with rear hydraulic motor 1;
Swing arm flow valve to the pressure P s2 between the secondary valve oil of swing arm control road and motor flow valve to the pressure P s1 between rotary control valve oil circuit the control signal as motor flow valve 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, along with action changes, now has three kinds of situations to regulate:
If Ps1 > is Ps2, pressure difference value meets Ps1-Ps2 > Pd, Pd is the force value arranging, now swing arm flow valve is in left position and to swing arm flow restriction flow, motor flow valve is not in left position 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 meets | Ps1-Ps2|≤Pd, Pd is the force value arranging, now swing arm flow valve in right position not to swing arm flow restriction flow, motor flow valve in left position 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 > is Ps1, pressure difference value meets Ps2-Ps1 > Pd, Pd is the force value arranging, now swing arm flow valve in right position not to swing arm flow restriction flow, motor flow valve is in right position and 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 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, to meet the requirement of actual condition simultaneously.

Claims (10)

1. for controlling a hydraulic circuit for excavator swing arm composite move, comprise the first hydraulic pump (P1) and the second hydraulic pump (P2), hydraulic motor (1), this hydraulic motor (1) is connected with the first hydraulic pump (P1) by oil circuit, rotary control valve (5), this rotary control valve (5) is installed between described hydraulic motor (1) and the hydraulic circuit of the first hydraulic pump (P1), boom cylinder (2), this boom cylinder (2) is connected with described the first hydraulic pump (P1) and the second hydraulic pump (P2) by oil circuit, swing arm control main valve (6a), this swing arm control main valve (6a) is connected with described the second hydraulic pump (P2), the secondary valve of swing arm control (6b), the secondary valve of this swing arm control (6b) is connected with described the first hydraulic pump (P1), it is characterized in that: also comprise swing arm flow valve (4), described swing arm flow valve (4) is installed between described the first hydraulic pump (P1) and the hydraulic circuit of the secondary valve of swing arm control (6b), described swing arm flow valve (4) is by the control signal control at two ends, the control signal at two ends is carried out robot arm flow valve (4) to the pressure between secondary valve (6b) oil circuit of swing arm control and hydraulic motor (1) flow to the pressure between rotary control valve (5) oil circuit, described swing arm flow valve (4) has the function that limits described swing arm flow valve (4) the fluid flow of flowing through,
Motor flow valve (3), this motor flow valve (3) is installed between described the first hydraulic pump (P1) and the hydraulic circuit of rotary control valve (5), described motor flow valve (3) is by the control signal control at two ends, the control signal at two ends is carried out robot arm flow valve (4) to the pressure between secondary valve (6b) oil circuit of swing arm control and hydraulic motor (1) flow to the pressure between rotary control valve (5) oil circuit, and described motor flow valve (3) has the function that limits described motor flow valve (3) the fluid flow of flowing through.
2. according to claim 1 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: the throttle orifice (7) of delay function is arranged on the oil circuit of described swing arm flow valve (4) control signal end.
3. according to claim 2 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: described swing arm flow valve and described motor flow valve are electro-hydraulic proportional valve or electromagnetic proportional valve.
4. according to claim 1 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: described swing arm flow valve can convert the signal of telecommunication to pressure, motor flow valve between the secondary valve oil of swing arm control road to the pressure between rotary control valve oil circuit, and this signal of telecommunication can be for the control signal of swing arm flow valve and motor flow valve.
5. for controlling a hydraulic circuit for excavator swing arm composite move, comprise the first hydraulic pump (P1) and the second hydraulic pump (P2), hydraulic motor (1), this hydraulic motor (1) is connected with the first hydraulic pump (P1) by oil circuit, rotary control valve (5), this rotary control valve (5) is installed between described hydraulic motor (1) and the hydraulic circuit of the first hydraulic pump (P1), boom cylinder (2), this boom cylinder (2) is connected with described the first hydraulic pump (P1) and the second hydraulic pump (P2) by oil circuit, swing arm control main valve (6a), this swing arm control main valve (6a) is connected with described the second hydraulic pump (P2), the secondary valve of swing arm control (6b), the secondary valve of this swing arm control (6b) is connected with described the first hydraulic pump (P1), it is characterized in that: also comprise automatic pressure-gradient control valve (8), described automatic pressure-gradient control valve (8) is sliding valve structure, in the first hydraulic pump (P1) between rotary control valve (5) and the first hydraulic pump (P1) between swing arm control pair valve (6b), described automatic pressure-gradient control valve (8) carries out assignment of traffic to the first hydraulic pump (P1) to the fluid of boom cylinder (2) and hydraulic motor (1), automatically pressure-gradient control valve (8) by this valve of control signal control in left position, meta, switching between right position, when meta, the ratio of assignment of traffic area is 1, described automatic pressure-gradient control valve (8) is from meta to right when position, be restricted to gradually hydraulic motor (1) fluid, fluid is preferentially supplied with boom cylinder (2), described automatic pressure-gradient control valve (8) is from meta to left when position, be restricted to gradually boom cylinder (2), fluid is preferentially supplied with hydraulic motor (1), described automatic pressure-gradient control valve (8) is by the control signal control at two ends, and the control signal at two ends comes from automatic pressure-gradient control valve (8) to the pressure between secondary valve (6b) oil circuit of swing arm control and hydraulic motor (1) flow to the pressure between rotary control valve (5) oil circuit.
6. according to claim 5 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: comprise throttle orifice (9), described throttle orifice (9) is installed on the control signal oil circuit of described automatic pressure-gradient control valve (8), plays delay function.
7. according to claim 6 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: described automatic pressure-gradient control valve (8) is electro-hydraulic proportional valve, judge the displacement of this automatic pressure-gradient control valve according to the control signal size at two ends.
8. according to claim 6 for controlling the hydraulic circuit of excavator swing arm composite move, it is characterized in that: described automatic pressure-gradient control valve (8) is sliding valve structure, judges the displacement of this automatic pressure-gradient control valve according to the size of two ends control signal.
9. for controlling a control method for excavator swing arm composite move, utilize the hydraulic circuit described in any one in claim 1 to 4, it is characterized in that: comprise that step is as follows:
Input moved arm lifting ON control signal control swing arm control main valve, the secondary valve events of swing arm control, rotary control valve control signal R or L are inputted in boom cylinder action subsequently simultaneously, move with rear hydraulic motor;
Obtain motor flow valve to the pressure P s1 between rotary control valve oil circuit and swing arm flow valve to swing arm control the pressure P s2 between secondary valve oil road, along with the operation that swing arm promotes and revolution is moved, described motor flow valve changes along with moving to the pressure of the pressure P s2 between the secondary valve oil of swing arm control road to the pressure P s1 between rotary control valve oil circuit and swing arm flow valve, now has three kinds of situations to regulate:
(1) if Ps1 > is Ps2, and pressure difference value meets Ps1-Ps2 > Pd, Pd is the force value arranging, swing arm flow valve and motor flow valve produce certain displacement by the control signal size at two ends, the flow of the boom cylinder that swing arm flow valve restrictive pump arrives, motor flow valve does not limit the flow of the first pump to hydraulic motor, and fluid is preferentially supplied with hydraulic motor, and limit amount is determined by Ps1-Ps2 pressure difference value;
(2) if Ps1 approximately equal Ps2, and pressure difference value meets | Ps1-Ps2|≤Pd, Pd is the force value arranging, by comparison, computing and judgement, swing arm flow valve does not limit the flow of the first pump to boom cylinder, motor flow valve limits the flow of the first pump to hydraulic motor, and assignment of traffic approximately equal is specifically determined by the size of | Ps1-Ps2| pressure difference value;
(3) if Ps2 > is Ps1, and pressure difference value meets Ps2-Ps1 > Pd, Pd is the force value arranging, swing arm flow valve and motor flow valve produce certain displacement by the control signal size at two ends, motor flow valve limits the flow of the first pump to hydraulic motor, swing arm flow valve does not limit the flow of the first pump to boom cylinder, and limit amount determines by Ps2-Ps1 pressure difference value, and fluid priority of supply is to boom cylinder.
10. control method according to claim 9, is characterized in that: described Pd value scope is between 0~5MPa and comprise 0Mpa and 5Mpa.
CN201210286370.7A 2012-08-13 2012-08-13 Hydraulic circuit and method for controlling compound actions of excavator movable arm Active CN102808433B (en)

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CN106884455B (en) * 2017-03-08 2019-05-28 青岛雷沃工程机械有限公司 Operating condition self-adaptive hydraulic circuit and excavator
JP7095287B2 (en) * 2018-01-22 2022-07-05 コベルコ建機株式会社 Swivel hydraulic work machine
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
CN114506799B (en) * 2022-04-20 2022-07-08 杭叉集团股份有限公司 Forklift gantry joint action control method and control system

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