CN103122894B - Hydraulic system for controlling rotation of boom, control method thereof and concrete pumping equipment - Google Patents

Hydraulic system for controlling rotation of boom, control method thereof and concrete pumping equipment Download PDF

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Publication number
CN103122894B
CN103122894B CN201210418206.7A CN201210418206A CN103122894B CN 103122894 B CN103122894 B CN 103122894B CN 201210418206 A CN201210418206 A CN 201210418206A CN 103122894 B CN103122894 B CN 103122894B
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China
Prior art keywords
oil circuit
main valve
oil
communicated
valve
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CN201210418206.7A
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CN103122894A (en
Inventor
秦晓峰
刘如意
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20Drives; Control devices
    • E02F9/22Hydraulic or pneumatic drives
    • E02F9/2278Hydraulic circuits
    • E02F9/2296Systems with a variable displacement pump
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/007Overload
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/20Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205Systems with pumps
    • F15B2211/2053Type of pump
    • F15B2211/20546Type of pump variable capacity
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/30Directional control
    • F15B2211/32Directional control characterised by the type of actuation
    • F15B2211/327Directional control characterised by the type of actuation electrically or electronically
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/50Pressure control
    • F15B2211/505Pressure control characterised by the type of pressure control means
    • F15B2211/50509Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F15B2211/50527Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves using cross-pressure relief valves
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/63Electronic controllers
    • F15B2211/6303Electronic controllers using input signals
    • F15B2211/6306Electronic controllers using input signals representing a pressure
    • F15B2211/6313Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/60Circuit components or control therefor
    • F15B2211/665Methods of control using electronic components
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/70Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058Rotary output members
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/80Other types of control related to particular problems or conditions
    • F15B2211/85Control during special operating conditions
    • F15B2211/853Control during special operating conditions during stopping
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00Circuits for servomotor systems
    • F15B2211/80Other types of control related to particular problems or conditions
    • F15B2211/86Control during or prevention of abnormal conditions
    • F15B2211/8606Control during or prevention of abnormal conditions the abnormal condition being a shock

Abstract

The invention discloses a hydraulic system for controlling rotation of a boom and a control method thereof. The hydraulic system comprises a hydraulic motor, a main valve, a hydraulic pump and an oil tank. When the main valve controls the hydraulic motor to rotate, an oil inlet passage of the hydraulic motor is communicated with the hydraulic pump, and an oil return passage is communicated with the oil tank. After the main valve controls the hydraulic motor to stop rotating, the oil inlet passage and the oil return passage are both locked. The hydraulic system comprises a controller and a detection device. After the main valve controls the hydraulic motor to stop rotating, the detection device is capable of detecting pressure value of the oil return passage, and the controller controls the degree of opening of the main valve based on the pressure value so as to enable the oil return passage to be communicated with the oil tank. Therefore, when the boom starts to stop rotating and the oil inlet passage and the oil return passage are locked, the degree of opening of the main valve is controlled based on the pressure changes of the oil return passage so that the oil return passage can be communicated with the oil tank again, pressure cannot be accumulated in the oil return passage, and thus rebounding occurring after the boom stops rotating is avoided. The invention further discloses concrete pumping equipment provided with the hydraulic system for controlling rotation of the boom.

Description

Control the pivotal hydraulic system of jib and controlling method thereof and concrete pumping equipment
Technical field
The present invention relates to the pivotal field of hydraulic control of jib, particularly, relate to a kind of concrete pumping equipment controlling the pivotal hydraulic system of jib, controlling method and this hydraulic system of use.
Background technique
In various engineering machinery, how can use jib Turning course, such as, concrete mixer in concrete pumping equipment, or rubber tired crane etc.Wherein, concrete mixer is a kind of modern architecture equipment for continuous concreting construction.It has the advantages such as maneuverability, efficiency of construction is high, construction quality good, environmental pollution is little and is widely used in modern architecture construction.In concrete mixer, by jib luffing or revolution can change cloth point easily, wherein the revolution of its jib is usually by fluid motor-driven.Because concrete pump truck arm weight is large and the arm of force is very long, therefore very large this of its rotary inertia accurately controls to bring larger difficulty to jib revolution.Especially, in concrete pump truck arm revolution course of action, the stability of its rotary braking directly affects location and the handling safety of cloth point.
Particularly, because the rotary inertia of pumping vehicle arm rack is very large, even if the stall of HYDRAULIC CONTROL SYSTEM oil hydraulic motor, and jib is also still in revolution.This can cause the pressure of hydraulic rotary motor in-line to reduce and oil circuit pressure increase, and this kind of variation tendency continues for some time rear jib and turn round stopping clockwise.Now the oil circuit of hydraulic rotary motor is due to locked and make fluid not flow out and put aside elevated pressures by compression, such as this pressure can make oil hydraulic motor namely rotate counterclockwise round about after jib stops along cursor backward, and thus oil hydraulic motor can drive jib to rotate counterclockwise.Now rotating counterclockwise of jib equally can through " turning anticlockwise-stopping-turning round clockwise " process.And so forth until the rotary kinetic energy of concrete arm is exhausted with the form of heat.Concrete pump truck arm is just similar in this in turning anticlockwise situation.
Therefore, this mode of the prior art can make concrete pump truck arm turn round when stopping can producing reversal phenomenon, i.e. rebound phenomena, and can with reciprocally swinging repeatedly.This brings larger hidden danger to the location of concrete mixer cloth point and handling safety.
Summary of the invention
An object of the present invention is to provide and a kind of control the pivotal hydraulic system of jib, this hydraulic system can not produce rebound phenomena after jib starts stall, thus the Position location accuracy of jib and Security high.
Another object of the present invention is to provide a kind of concrete pumping equipment, and this concrete pumping equipment uses the revolution of the pivotal HYDRAULIC CONTROL SYSTEM jib of control jib provided by the invention.
Another object of body of the present invention is to provide a kind of controlling method controlling the pivotal hydraulic system of jib, this controlling method can make jib beginning stall after do not produce rebound phenomena, thus make the Position location accuracy of jib and Security high.
To achieve these goals, the invention provides the pivotal hydraulic system of a kind of control jib, comprise and drive the pivotal oil hydraulic motor of jib, hydraulic control revolution and the main valve of stall and the oil hydraulic pump be communicated with this main valve and fuel tank, when described main valve controls the rotation of described oil hydraulic motor, the in-line of described oil hydraulic motor is communicated with described oil hydraulic pump, oil circuit is communicated with described fuel tank, when described main valve controls after described oil hydraulic motor starts stall, described in-line and oil circuit are all locked, wherein, described hydraulic system comprises the controller and detection device that are electrically connected to each other, control after described oil hydraulic motor starts stall at described main valve, described detection device can detect the force value of the oil circuit of described oil hydraulic motor, described controller controls the aperture of described main valve according to this force value, be communicated with described fuel tank to make described oil circuit.
Preferably, described hydraulic system comprises the database be electrically connected with controller, records the main valve opening value corresponding with described force value in this database, and described controller controls the aperture of described main valve according to the main valve opening value mated with described force value.
Preferably, between described oil hydraulic motor and described main valve, be provided with equilibrium valve, after described oil hydraulic motor stall, the locked described in-line of described equilibrium valve and described oil circuit.
Preferably, described main valve is electro-hydraulic proportion reversing valve
Preferably, described oil hydraulic motor comprises the first oil circuit and the second oil circuit that are communicated with the actuator port of described main valve, described main valve is three-position electromagnetic selector valve, at the meta of this three-position electromagnetic selector valve, described oil hydraulic motor stall, described first oil circuit and described second oil circuit all locked, in the right position of this three-position electromagnetic selector valve, described oil hydraulic motor rotates forward, described first oil circuit is described in-line, described second oil circuit is described oil circuit, in the left position of this three-position electromagnetic selector valve, described oil hydraulic motor reversion, described first oil circuit is described oil circuit, described second oil circuit is described in-line.
Preferably, described equilibrium valve comprises the first balance module and the second balance module, this first balance module is serially connected on described first oil circuit, and comprise the first sequence valve parallel with one another and the first one-way valve, described second balance module is serially connected on described second oil circuit, and comprise the second sequence valve parallel with one another and the second one-way valve, described first one-way valve and described second one-way valve all only allow fluid to flow to described oil hydraulic motor, the control port of described first sequence valve is communicated with described first oil circuit, the control port of described second sequence valve is communicated with described second hydraulic fluid port.
Preferably, described detection device comprises the first pressure transducer and the second pressure transducer, and described first pressure transducer is for detecting the force value of described first oil circuit, and described second pressure transducer is for detecting the force value of described second oil circuit.
Preferably, described main valve is three six logical electro-hydraulic proportion reversing valves, and comprise the first filler opening, second filler opening, return opening, first actuator port, second actuator port and the 3rd actuator port, described first filler opening is all communicated with oil hydraulic pump with the second filler opening, described return opening is communicated with described fuel tank, described first actuator port is communicated with described fuel tank, described second actuator port is communicated with the first oil circuit, described 3rd actuator port is communicated with the second oil circuit, at the meta of described main valve, described first filler opening is communicated with described first actuator port, described second filler opening cut-off, described return opening is all communicated with the 3rd actuator port with the second actuator port, in the right position of described main valve, described first filler opening and described first actuator port all end, and described second filler opening is communicated with described second actuator port, and described return opening is communicated with described 3rd actuator port, in the left position of described main valve, described first filler opening and described first actuator port all end, and described second filler opening is communicated with described 3rd actuator port, and described return opening is communicated with described second actuator port.
According to a further aspect in the invention, also provide a kind of concrete pumping equipment, this concrete pumping equipment comprises the jib by HYDRAULIC CONTROL SYSTEM, and described hydraulic system is the pivotal hydraulic system of control jib provided by the invention.
Preferably, described concrete pumping equipment is concrete mixer.
In accordance with a further aspect of the present invention, provide a kind of controlling method controlling the pivotal hydraulic system of jib, wherein, described hydraulic system is hydraulic system provided by the invention, and wherein, described controlling method comprises stall step, detecting step and rate-determining steps; In described stall step, control described main valve with locked described in-line and described oil circuit, thus control described oil hydraulic motor and start stall; In described detecting step, after described oil hydraulic motor starts stall, described detection device is used to detect the force value of described oil circuit; In described rate-determining steps, described controller controls the aperture of described main valve according to described force value, to open described oil circuit, described oil circuit is communicated with described fuel tank; Repeat described detecting step and described rate-determining steps, until the complete stall of described oil hydraulic motor.
Preferably, described main valve is three-position electromagnetic selector valve, at the meta of this main valve, described in-line and oil circuit locked, in the right position of described main valve, described oil hydraulic motor rotates forward, in the left position of described main valve, described oil hydraulic motor reversion, when the described oil hydraulic motor of needs is from when just changing stall into, in described stall step, described main valve is correspondingly switched to meta from right position, at described rate-determining steps, according to the force value of described oil circuit, control described main valve and keep correspondingly aperture in right position; When the described oil hydraulic motor of needs becomes stall from reversion, in described stall step, described main valve is correspondingly switched to meta from left position, at described rate-determining steps, according to the force value of described oil circuit, controls described main valve and keeps correspondingly aperture at Zuo Weizhong.
Preferably, described main valve is electro-hydraulic proportion reversing valve.
Pass through technique scheme, in hydraulic system provided by the invention and controlling method thereof, after needs jib starts stall, first by can after locked in-line and oil return, then according to the aperture of the pressure change control bound of oil circuit, to make oil circuit again can be communicated with fuel tank, pressure can not be put aside to make oil circuit, thus avoid, after jib stall, rebound phenomena occurs, provide positioning precision and the Security of jib.
Other features and advantages of the present invention are described in detail in embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification, is used from explanation the present invention, but is not construed as limiting the invention with embodiment one below.In the accompanying drawings:
Fig. 1 is the structural representation of the hydraulic system that the preferred embodiment for the present invention provides, and wherein main valve is positioned at meta;
Fig. 2 is the structural representation of the hydraulic system that the preferred embodiment for the present invention provides, and wherein main valve is positioned at right position;
Fig. 3 is the structural representation of the hydraulic system that the preferred embodiment for the present invention provides, and wherein main valve is positioned at left position.
Description of reference numerals
1 oil hydraulic motor 2 main valve
3 oil hydraulic pump 4 fuel tanks
5 controller 6 detection devices
7 equilibrium valve 8 databases
71 first balance module 72 second balance modules
71a first sequence valve 72a second sequence valve
71b first one-way valve 72b second one-way valve
A first oil circuit b second oil circuit
P1 first oil inlet P 2 second filler opening
T return opening A first actuator port
B second actuator port C the 3rd actuator port
Embodiment
In the present invention; by for the concrete mixer in concrete pumping equipment provided by the invention; introduce the pivotal hydraulic system of control jib provided by the invention; it should be noted that; concrete mixer is only a preferred embodiment of the present invention, and other can use the field that jib revolution controls, and such as hoist can be applicable to hydraulic system provided by the invention too; the present invention does not limit for the distortion of this type of application, and it also should fall into protection scope of the present invention.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
As shown in Figure 1 to Figure 3, the invention provides the pivotal hydraulic system of a kind of control jib, comprise and drive the pivotal oil hydraulic motor 1 of jib, hydraulic control motor 1 rotates and the main valve 2 of stall and the oil hydraulic pump 3 be communicated with this main valve 2 and fuel tank 4, when main valve 2 hydraulic control motor 1 rotates, the in-line of oil hydraulic motor 1 is communicated with oil hydraulic pump 3, oil circuit is communicated with fuel tank 4, after main valve 2 hydraulic control motor starts 1 stall, in-line and oil circuit are all locked, wherein, the mode of locked in-line and oil circuit has multiple, such as by having the locked oil circuit of O type M type Median Function selector valve of pressure holding function, usually when controlling the relatively large object such as jib in order to prevent unexpected generation, equilibrium valve can be aided with in field and realize the locked of oil circuit, in optimal way of the present invention, be aided with equilibrium valve 7 pairs of oil circuits equally carries out locked, following meeting is described the locked principle of equilibrium valve by reference to the accompanying drawings.
Due to after oil hydraulic motor 1 stall, oil circuit is locked, therefore as made in the background art, because the inertia of jib is larger, the oil circuit build pressure of oil hydraulic motor 1 can be made, thus cause jib bounce-back even to come and go vibration, thus make to use the Security of the engineering machinery such as the concrete mixer of this oil system and jib location accuracy to be interfered.In order to address this problem, hydraulic system provided by the invention comprises the controller 5 and detection device 6 that are electrically connected to each other, wherein, after main valve 2 hydraulic control motor 1 starts stall, namely before oil hydraulic motor 1 completely stall, detection device 6 can detect the force value of the oil circuit b of oil hydraulic motor 1, and controller 5 is according to the aperture of this force value control bound 2.Thus can, according to the force value situation of change of oil circuit b, locked oil circuit be communicated with again with fuel tank, thus make oil circuit to put aside pressure, that is, the inertia of jib can be made to be discharged, thus effectively solve the problem of jib resilience.
In addition, the present invention also provides a kind of controlling method using hydraulic system provided by the invention, and wherein, this controlling method comprises stall step, detecting step and rate-determining steps; In stall step, control bound is with locked described in-line and described oil circuit, thus hydraulic control motor starts stall, just can be switched to off-position from working position by main valve particularly, thus make the in-line that is communicated with oil hydraulic pump 3 and the oil circuit that is communicated with fuel tank 4 locked.Now oil hydraulic motor starts to stop, but due to the effect of inertia of jib, can accumulate pressure, if now do not processed, then can cause the to-and-fro motion of jib, namely occur the problems of the prior art on oil circuit.
Therefore, in the detecting step in controlling method provided by the invention, after oil hydraulic motor starts stall, detection device can be used to detect the force value of oil circuit; And in rate-determining steps, controller can, according to the aperture of this force value control bound, to open oil circuit, make oil circuit again be communicated with fuel tank 4; Now in the stalling of oil hydraulic motor, pressure can not be accumulated in oil circuit, therefore the pressure of oil circuit can diminish, then repeat above-mentioned detecting step and rate-determining steps, namely controller is with opening value control bound 2 aperture of mating with the new force value diminished, then along with the stall of oil hydraulic motor completes, the force value of oil circuit gradually becomes little, the aperture of main valve is also along with diminishing gradually, thus when finally the opening value of main valve is zero, make the complete stall of oil hydraulic motor.
Therefore in above-mentioned controlling method provided by the invention, can ensure oil hydraulic motor from stall in the process of complete stall, can not pressure be accumulated.Therefore, it is possible to make the positioning precision of jib and Security high.
It should be noted that, the mode of execution that can realize technique scheme has multiple, the structure of such as main valve, and the concrete mode etc. of its hydraulic control motor, for convenience of description, in this introduction preferred implementation wherein, this preferred implementation, only for illustration of the present invention, is not limited to the present invention.
As shown in Figure 1 to Figure 3, in a preferred embodiment of the invention, hydraulic system comprises the database 8 be electrically connected with controller 5, records the main valve opening value corresponding with force value in this database 8, and controller 5 is according to the aperture of the main valve opening value control bound 2 mated with force value.That is, need the jib for different model to carry out test of many times, find when the technology of the present invention problem can be solved, the main valve opening value that can match most with oil circuit force value.Particularly, detection device 6 can detect the force value of oil circuit in real time and oil circuit force value is fed back to controller 5, controller 5 can arrange different force value and extract frequency, and this extraction frequency of principle is higher, and the main valve opening value arranged is more, thus makes control accuracy higher.This mode can be obtained by test of many times and operating experience by those skilled in the art, and the present invention does not do at this and too much repeats.In addition, in order to realize accurately controlling the aperture of main valve 2, main valve 2 is preferably electro-hydraulic proportional valve selector valve, and namely controller 5 is by the size of current of the proportion electro-magnet of control bound 2, to realize the proportional control to main valve 2.Certainly in other NM mode of executions; also general solenoid valve can be adopted to realize; but need the frequent length controlling this general solenoid valve opening and closing and accurate control opening/closing time to realize object of the present invention, should protection scope of the present invention be fallen into equally for this type of distortion.
As stated above, in a preferred embodiment of the invention, equilibrium valve 7 pairs of in-lines and oil circuit is adopted to lock, namely preferably, equilibrium valve 7 is provided with between oil hydraulic motor 1 and main valve 2, after oil hydraulic motor 1 stall, the locked in-line of equilibrium valve 7 and oil circuit.Wherein, equilibrium valve can be the equilibrium valve of arbitrary form in related domain, and the present invention does not limit its structure and principle, and the use of various equilibrium valve all should drop in protection scope of the present invention.
In a preferred embodiment of the invention, hydraulic system provided by the invention can realize rotating and reverse by hydraulic control motor, direction by reference to the accompanying drawings, said rotating forward herein refers to that oil hydraulic motor 1 turns clockwise, and reversion then refers to that oil hydraulic motor 1 is rotated counterclockwise.Particularly, the functional realiey of in-line and oil circuit is switched by main valve.Wherein, oil hydraulic motor 1 comprises the first oil circuit a and the second oil circuit b that are communicated with the actuator port of main valve 2, main valve 2 is three-position electromagnetic selector valve, at the meta of this three-position electromagnetic selector valve, oil hydraulic motor 1 stall, the first oil circuit a and the second oil circuit b is all locked, in the right position of this three-position electromagnetic selector valve, oil hydraulic motor 1 rotates forward, and the first oil circuit a is in-line, and the second oil circuit b is oil circuit; In the left position of this three-position electromagnetic selector valve, oil hydraulic motor 1 reverses, and the first oil circuit a is oil circuit, and the second oil circuit b is in-line.In this embodiment, working procedure is: when needs oil hydraulic motor is from when just changing stall into, in stall step, main valve is correspondingly switched to meta from right position, at rate-determining steps, according to the force value of oil circuit, control bound keeps correspondingly aperture in right position, to be communicated with oil circuit and fuel tank; When needs oil hydraulic motor becomes stall from reversion, in stall step, main valve is correspondingly switched to meta from left position, and at rate-determining steps, according to the force value of oil circuit, control bound keeps correspondingly aperture at Zuo Weizhong, to be communicated with oil circuit and fuel tank equally.
Based on this, equilibrium valve 7 can comprise two balance modules be serially connected in respectively on the first oil circuit a and the second oil circuit b, these two corresponding oil circuits of the equal lockable of balance module, it should be noted that the equilibrium valve be integrated in by two balance modules in a valve member adopted in the present invention, in other NM modes, these two balance modules independently can also be arranged as valve member.Can drop on equally in protection scope of the present invention for this type of distortion.Particularly, equilibrium valve 7 provided by the invention comprises the first balance module 71 and the second balance module 72, this first balance module 71 is serially connected on the first oil circuit a, and comprise the first sequence valve 71a parallel with one another and the first one-way valve 71b, second balance module 72 is serially connected on the second oil circuit b, and comprise the second sequence valve 72a parallel with one another and the second one-way valve 72b, first one-way valve 71b and the second one-way valve 72b all only allows fluid to flow to oil hydraulic motor, the control port of the first sequence valve 71a is communicated with the first oil circuit a, the control port of the second sequence valve 72a is communicated with the second hydraulic fluid port b.
Therefore, when in-line wherein has pressure oil, the sequence valve that then can control oil circuit is opened, thus oil circuit can be communicated with fuel tank 4, oil hydraulic motor is rotated, and when main valve 2 is positioned at meta, namely after oil hydraulic motor stall, when in-line does not have pressure oil, the sequence valve of oil circuit is not opened, then by the locked oil circuit of one-way valve.Owing to being provided with balance module at the first oil circuit a and the second oil circuit b, then no matter oil hydraulic motor 1 has got back to stop state from rotating forward state or inverted status, all can be locked by equilibrium valve 7.In addition, in order to realize all realizing object of the present invention when rotating and reverse state, namely when the first oil circuit a and the second oil circuit b is respectively as oil circuit, its force value can be detected, in a preferred embodiment of the invention, detection device 6 comprises the first pressure transducer 61 and the second pressure transducer 62, first pressure transducer 61 for detecting the force value of the first oil circuit a, and the second pressure transducer 62 is for detecting the force value of the second oil circuit b.Working state below in conjunction with accompanying drawing and main valve is described concrete working procedure.
Wherein, preferably, main valve 2 is three six logical electro-hydraulic proportion reversing valves, and comprise the first oil inlet P 1, second oil inlet P 2, oil return inlet T, the first actuator port A, the second actuator port B and the 3rd actuator port C, first oil inlet P 1 is all communicated with oil hydraulic pump 3 with the second oil inlet P 2, and oil return inlet T is communicated with fuel tank 4, and the first actuator port A is communicated with fuel tank 4, second actuator port B is communicated with the first oil circuit a, and the 3rd actuator port C is communicated with the second oil circuit b.
As shown in Figure 1, at the meta of main valve 2, the first oil inlet P 1 is communicated with the first actuator port A, and the second oil inlet P 2 is ended, and oil return inlet T is all communicated with the 3rd actuator port C with the second actuator port B; That is, now oil hydraulic pump 3 is communicated with fuel tank 4, therefore, first oil circuit a and the second oil circuit b does not all have pressure oil to flow into, and now under the effect of equilibrium valve 7, the first oil circuit a and the second oil circuit b is all locked, namely can realize the locking of oil hydraulic motor, prevent oil hydraulic motor from occurring the perils such as free rotary.
And as shown in Figure 2, in the right position of main valve 2, the first oil inlet P 1 and the first actuator port all end, the second oil inlet P 2 is communicated with the second actuator port B, and oil return inlet T is communicated with the 3rd actuator port C; Namely the working oil of oil hydraulic pump 3 can be supplied in the first oil circuit a by the second oil inlet P 2 and the second actuator port B, now working oil flows in oil hydraulic motor 1 by the first one-way valve 71b of the first balance module 71 of equilibrium valve 7, now the first oil circuit a is as in-line, and the second oil circuit b is as oil circuit, therefore the second sequence valve 72a of the second balance module 72 can open, and namely realizes the second oil circuit b and is communicated with fuel tank 4 with oil return inlet T by the 3rd actuator port C.Now can realize turning clockwise of oil hydraulic motor 1, namely rotate forward.
If now need the rotating forward of stop solution pressure motor 1, then after the second oil circuit b is locked, begin through the pressure that the second pressure transducer 62 detects the second oil circuit and oil circuit, thus the aperture of force value control bound 2 according to this second oil circuit b, second oil circuit b is communicated with again, until the complete stall of oil hydraulic motor 1 with fuel tank 4.Thus pressure can not be put aside in the second oil circuit b, rebound to prevent jib after oil hydraulic motor stall.
In like manner, as shown in Figure 3 in the left position of main valve 2, the first oil inlet P 1 and the first actuator port A all end, and the second oil inlet P 2 is communicated with the 3rd actuator port C, and oil return inlet T is communicated with the second actuator port B.Namely the working oil of oil hydraulic pump 3 can be supplied in the second oil circuit b by the second oil inlet P 2 and the 3rd actuator port C, now working oil flows in oil hydraulic motor 1 by the first one-way valve 72b of the second balance module 72 of equilibrium valve 7, now the second oil circuit b is as in-line, and the first oil circuit a is as oil circuit, therefore the first sequence valve 71a of the first balance module 71 can open, and namely realizes the first oil circuit a and is communicated with fuel tank 4 with oil return inlet T by the second actuator port B.Now can realize being rotated counterclockwise of oil hydraulic motor 1, namely reverse.If now need the reversion of stop solution pressure motor 1, then after the first oil circuit a is locked, the pressure of the first oil circuit a and oil circuit is detected by the first pressure transducer 61, thus the aperture of force value control bound 2 according to this first oil circuit a, first oil circuit a is communicated with again, until oil hydraulic motor 1 stall completely with fuel tank 4.Thus pressure can not be put aside in the first oil circuit a, rebound to prevent jib after oil hydraulic motor stall.
Above-mentioned working procedure is only the working procedure in the preferred implementation methods of the present invention as shown in the figure; wherein; the kind of main valve 2 can also have other all kinds; the form that the those skilled in the art such as the three position four-way directional control valve of M or Y type Median Function can expect can also be used; as long as above-mentioned object of the present invention and above-mentioned working procedure can be realized, all should drop in protection scope of the present invention.
In sum, hydraulic system provided by the invention can control main valve aperture according to the force value of oil circuit, oil circuit again can be communicated with fuel tank after locked, thus can not put aside pressure at oil hydraulic motor 1 in oil circuit after beginning stall, overcome the problem of jib bounce-back.And make the jib cloth precision of concrete pumping equipment provided by the invention particularly concrete mixer high, Security is good.Therefore, the pivotal hydraulic system of control jib provided by the invention and controlling method and use the concrete pumping equipment of this hydraulic system all to have higher practicability and promotional value.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned mode of execution; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technological scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characteristics described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode, in order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible compound mode.
In addition, also can carry out combination in any between various different mode of execution of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (13)

1. the pivotal hydraulic system of control jib, comprise and drive the pivotal oil hydraulic motor of jib (1), hydraulic control motor (1) rotates and the main valve (2) of stall and the oil hydraulic pump (3) be communicated with this main valve (2) and fuel tank (4), when described main valve (2) controls described oil hydraulic motor (1) rotation, the in-line of described oil hydraulic motor (1) is communicated with described oil hydraulic pump (3), oil circuit is communicated with described fuel tank (4), after described main valve (2) controls described oil hydraulic motor (1) beginning stall, described in-line and oil circuit are all locked, it is characterized in that,
Described hydraulic system comprises the controller (5) and detection device (6) that are electrically connected to each other, after described main valve (2) controls described oil hydraulic motor (1) beginning stall, described detection device (6) can detect the force value of the oil circuit of described oil hydraulic motor (1), described controller (5) controls the aperture of described main valve (2) according to this force value, be communicated with described fuel tank to make described oil circuit.
2. hydraulic system according to claim 1, it is characterized in that, described hydraulic system comprises the database (8) be electrically connected with controller (5), record the main valve opening value corresponding with described force value in this database (8), described controller (5) controls the aperture of described main valve (2) according to the main valve opening value mated with described force value.
3. hydraulic system according to claim 1 and 2, it is characterized in that, equilibrium valve (7) is provided with between described oil hydraulic motor (1) and described main valve (2), after described oil hydraulic motor (1) stall, the locked described in-line of described equilibrium valve (7) and described oil circuit.
4. hydraulic system according to claim 1, is characterized in that, described main valve (2) is electro-hydraulic proportion reversing valve.
5. hydraulic system according to claim 3, it is characterized in that, described oil hydraulic motor (1) comprises the first oil circuit (a) and the second oil circuit (b) that are communicated with the actuator port of described main valve (2), described main valve (2) is three-position electromagnetic selector valve, at the meta of this three-position electromagnetic selector valve, described oil hydraulic motor (1) stall, described first oil circuit (a) is all locked with described second oil circuit (b), in the right position of this three-position electromagnetic selector valve, described oil hydraulic motor (1) rotates forward, described first oil circuit (a) is described in-line, described second oil circuit (b) is described oil circuit, in the left position of this three-position electromagnetic selector valve, described oil hydraulic motor (1) reverses, described first oil circuit (a) is described oil circuit, described second oil circuit (b) is described in-line.
6. hydraulic system according to claim 5, it is characterized in that, described equilibrium valve (7) comprises the first balance module (71) and the second balance module (72), this first balance module (71) is serially connected on described first oil circuit (a), and comprise the first sequence valve (71a) parallel with one another and the first one-way valve (71b), described second balance module (72) is serially connected on described second oil circuit (b), and comprise the second sequence valve (72a) parallel with one another and the second one-way valve (72b), described first one-way valve (71b) and described second one-way valve (72b) all only allow fluid to flow to described oil hydraulic motor, the control port of described first sequence valve (71a) is communicated with described first oil circuit (a), the control port of described second sequence valve (72a) is communicated with described second hydraulic fluid port (b).
7. hydraulic system according to claim 5, it is characterized in that, described detection device (6) comprises the first pressure transducer (61) and the second pressure transducer (62), described first pressure transducer (61) is for detecting the force value of described first oil circuit (a), and described second pressure transducer (62) is for detecting the force value of described second oil circuit (b).
8. hydraulic system according to claim 3, it is characterized in that, described main valve (2) is three six logical electro-hydraulic proportion reversing valves, and comprise the first filler opening (P1), second filler opening (P2), return opening (T), first actuator port (A), second actuator port (B) and the 3rd actuator port (C), described first filler opening (P1) is all communicated with oil hydraulic pump (3) with the second filler opening (P2), described return opening (T) is communicated with described fuel tank (4), described first actuator port (A) is communicated with described fuel tank (4), described second actuator port (B) is communicated with the first oil circuit (a), described 3rd actuator port (C) is communicated with the second oil circuit (b),
At the meta of described main valve (2), described first filler opening (P1) is communicated with described first actuator port (A), described second filler opening (P2) cut-off, described return opening (T) is all communicated with the 3rd actuator port (C) with the second actuator port (B);
In the right position of described main valve (2), described first filler opening (P1) and described first actuator port all end, described second filler opening (P2) is communicated with described second actuator port (B), and described return opening (T) is communicated with described 3rd actuator port (C);
In the left position of described main valve (2), described first filler opening (P1) and described first actuator port all end, described second filler opening (P2) is communicated with described 3rd actuator port (C), and described return opening (T) is communicated with described second actuator port (B).
9. a concrete pumping equipment, this concrete pumping equipment comprises the jib by HYDRAULIC CONTROL SYSTEM, it is characterized in that, described hydraulic system is the pivotal hydraulic system of control jib in claim 1-8 described in any one.
10. concrete pumping equipment according to claim 9, is characterized in that, described concrete pumping equipment is concrete mixer.
11. 1 kinds of controlling methods controlling the pivotal hydraulic system of jib, it is characterized in that, described hydraulic system is the hydraulic system in claim 1-3 described in any one, and wherein, described controlling method comprises stall step, detecting step and rate-determining steps;
In described stall step, control described main valve with locked described in-line and described oil circuit, thus control described oil hydraulic motor and start stall;
In described detecting step, after described oil hydraulic motor starts stall, described detection device is used to detect the force value of described oil circuit;
In described rate-determining steps, described controller controls the aperture of described main valve according to described force value, to open described oil circuit, described oil circuit is communicated with described fuel tank;
Repeat described detecting step and described rate-determining steps, until the complete stall of described oil hydraulic motor.
12. controlling methods according to claim 11, is characterized in that, described main valve is three-position electromagnetic selector valve, at the meta of this main valve, described in-line and oil circuit locked, in the right position of described main valve, described oil hydraulic motor rotates forward, in the left position of described main valve, described oil hydraulic motor reversion
When the described oil hydraulic motor of needs is from when just changing stall into,
In described stall step, described main valve is correspondingly switched to meta from right position, at described rate-determining steps, according to the force value of described oil circuit, controls described main valve and keep correspondingly aperture in right position;
When the described oil hydraulic motor of needs becomes stall from reversion,
In described stall step, described main valve is correspondingly switched to meta from left position, at described rate-determining steps, according to the force value of described oil circuit, controls described main valve and keeps correspondingly aperture at Zuo Weizhong.
13. controlling methods according to claim 11, is characterized in that, described main valve (2) is electro-hydraulic proportion reversing valve.
CN201210418206.7A 2012-10-26 2012-10-26 Hydraulic system for controlling rotation of boom, control method thereof and concrete pumping equipment Active CN103122894B (en)

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