CN104481942A - Hydraulic device with single pump and double actuators - Google Patents
Hydraulic device with single pump and double actuators Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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Abstract
本发明一种单泵双执行器的液压装置，涉及定量泵负载敏感的液压装置。其包括驱动电机、定量泵、第一驱动油缸、第二驱动油缸、第一发电机、第二发电机、第一发电机控制器、第二发电机控制器、逆变器、第一液压马达、第二液压马达、第一比例方向阀、第二比例方向阀、第一梭阀、第二梭阀、第三梭阀、压力补偿阀、第一压差传感器、第二压差传感器、程序控制器等，本装置采用液压马达和发电机作为比例方向阀控制节流阀口的前后压差的调节单元，把传统消耗在定差减压阀阀口的节流损耗转换成电能储存在电量储存单元中，解决了在不同执行器工作压力差别较大时大量能量消耗在工作压力较小的执行器的定差减压阀阀口上的不足之处。
The invention relates to a hydraulic device with a single pump and double actuators, which relates to a hydraulic device sensitive to the load of a quantitative pump. It includes a driving motor, a quantitative pump, a first driving cylinder, a second driving cylinder, a first generator, a second generator, a first generator controller, a second generator controller, an inverter, a first hydraulic motor , second hydraulic motor, first proportional directional valve, second proportional directional valve, first shuttle valve, second shuttle valve, third shuttle valve, pressure compensation valve, first differential pressure sensor, second differential pressure sensor, program Controller, etc. This device uses a hydraulic motor and a generator as the adjustment unit of the proportional directional valve to control the pressure difference between the front and rear of the throttle valve port, and converts the throttling loss traditionally consumed at the valve port of the differential pressure reducing valve into electric energy stored in the battery In the storage unit, it solves the disadvantage that a large amount of energy is consumed on the valve port of the differential pressure reducing valve of the actuator with the lower working pressure when the working pressure of different actuators is greatly different.
Description
技术领域technical field
本发明涉及一种定量泵负载敏感的液压装置。The invention relates to a hydraulic device sensitive to the load of a quantitative pump.
背景技术Background technique
现有定量泵负载敏感系统主要通过梭阀获得系统中多个执行器的负载最大压力，并作用在定量泵出口的压力补偿器，使得定量泵的出口压力仅比负载最大压力大于某个较小的压差，实现定量泵输出压力与系统所需的负载最大压力的动态匹配。一种典型的负载敏感型单泵双执行器的液压装置的结构，如图1所示。驱动电机1的转轴与定量泵2的主轴同轴连接。定量泵2的进口201接油箱20，定量泵2的出口202分三路：第一路接压力补偿器10的进油口1001；第二路接第一定差减压阀11的进油口11P；第三路接第二定差减压阀12的进油口12。压力补偿器10的出油口1002接油箱20。The existing quantitative pump load sensing system mainly obtains the maximum load pressure of multiple actuators in the system through the shuttle valve, and acts on the pressure compensator at the outlet of the quantitative pump, so that the outlet pressure of the quantitative pump is only greater than the maximum pressure of the load. The pressure difference can realize the dynamic matching between the output pressure of the quantitative pump and the maximum load pressure required by the system. The structure of a typical load-sensitive single-pump and double-actuator hydraulic device is shown in Figure 1. The rotating shaft of the driving motor 1 is coaxially connected with the main shaft of the quantitative pump 2 . The inlet 201 of the quantitative pump 2 is connected to the oil tank 20, and the outlet 202 of the quantitative pump 2 is divided into three routes: the first route is connected to the oil inlet 1001 of the pressure compensator 10; the second route is connected to the oil inlet of the first differential pressure reducing valve 11 11P; the third road is connected to the oil inlet 12 of the second differential pressure reducing valve 12 . The oil outlet 1002 of the pressure compensator 10 is connected to the oil tank 20 .
第一比例换向阀4的进油口4P与第一定差减压阀11的出口1101相连，第一比例换向阀4的出油口4T接油箱20。第一比例换向阀4的第一工作油口4A分别与第一梭阀5的第一进油口5A1、第一驱动油缸3的无杆腔301相连，第一比例换向阀4的第二工作油口4B分别与第一梭阀5的第二进油口5A2、第一驱动油缸3的有杆腔302相连。第一驱动油缸3与第一比例换向阀4组成该液压系统中的第一执行器，第一梭阀5是该第一执行器负载压力的检测单元。The oil inlet 4P of the first proportional reversing valve 4 is connected to the outlet 1101 of the first differential pressure reducing valve 11 , and the oil outlet 4T of the first proportional reversing valve 4 is connected to the oil tank 20 . The first working oil port 4A of the first proportional reversing valve 4 is respectively connected with the first oil inlet 5A1 of the first shuttle valve 5 and the rodless cavity 301 of the first driving cylinder 3 , and the first working oil port 4A of the first proportional reversing valve 4 The two working oil ports 4B are respectively connected with the second oil inlet 5A2 of the first shuttle valve 5 and the rod cavity 302 of the first driving cylinder 3 . The first driving cylinder 3 and the first proportional reversing valve 4 constitute the first actuator in the hydraulic system, and the first shuttle valve 5 is a detection unit for the load pressure of the first actuator.
第二比例换向阀7的进油口7P与第二定差减压阀12的出口1201相连，第二比例换向阀7的出油口7T接油箱20。第二比例换向阀7的第一工作油口7A分别与第二梭阀8的第一进油口8A1、第二驱动油缸6的无杆腔601相连，第二比例换向阀7的第二工作油7B分别与第二梭阀8的第二进油口8A2、第二驱动油缸6的有杆腔602相连。第二驱动油缸6和第二比例换向阀7组成该液压系统中的第二执行器，第二梭阀8是该第二执行器负载压力的检测单元。The oil inlet 7P of the second proportional reversing valve 7 is connected to the outlet 1201 of the second differential pressure reducing valve 12 , and the oil outlet 7T of the second proportional reversing valve 7 is connected to the oil tank 20 . The first working oil port 7A of the second proportional reversing valve 7 is respectively connected with the first oil inlet 8A1 of the second shuttle valve 8 and the rodless chamber 601 of the second driving cylinder 6 , and the first working oil port 7A of the second proportional reversing valve 7 The two working oils 7B are respectively connected with the second oil inlet 8A2 of the second shuttle valve 8 and the rod cavity 602 of the second driving cylinder 6 . The second drive cylinder 6 and the second proportional reversing valve 7 constitute the second actuator in the hydraulic system, and the second shuttle valve 8 is a detection unit for the load pressure of the second actuator.
第三梭阀9的第一进油口9A1分别与第一梭阀5的出油口503和第一定差减压阀11的弹簧腔的控制油口11L相连，第三梭阀9的第二进油口9A2分别与第二梭阀8的出油口803和第二定差减压阀12的弹簧腔的控制油口12L相连，第三梭阀9的出油口903与压力补偿器10的弹簧腔的控制油口1003相连。第三梭阀9是两个执行器负载最大压力的检测单元。The first oil inlet 9A1 of the third shuttle valve 9 is connected with the oil outlet 503 of the first shuttle valve 5 and the control oil port 11L of the spring cavity of the first differential pressure reducing valve 11 respectively, and the first oil inlet 9A1 of the third shuttle valve 9 The second oil inlet 9A2 is respectively connected with the oil outlet 803 of the second shuttle valve 8 and the control oil port 12L of the spring chamber of the second differential pressure reducing valve 12, and the oil outlet 903 of the third shuttle valve 9 is connected with the pressure compensator The control oil port 1003 of the spring chamber of 10 is connected. The third shuttle valve 9 is the detection unit for the maximum load pressure of the two actuators.
该单泵双执行器的液压装置在工作时：驱动电机1带动定量泵2将油箱20中的液压油抽出，通过两个定差减压阀分别向两个执行器供油并提供这两个执行器需要的工作压力；第一驱动油缸3与第一比例换向阀4组成该液压装置中的第一执行器；对第一比例换向阀4的两个控制阀口4K1、4K2进行操作，可以使定量泵2通过第一定差减压阀11供给第一比例换向阀4进油口4P的液压油通过其第一工作油口4A进入第一驱动油缸3的无杆腔301，同时，第一驱动油缸3有杆腔302内原有的部分液压油通过第一比例换向阀3的第二工作油口3B和出油口3T返回油箱20；或者使定量泵2通过第一定差减压阀4供给第一比例换向阀4进油口4P的液压油通过其第一工作油口4B进入第一驱动油缸3的有杆腔302，同时，第一驱动油缸3无杆腔301内原有的部分液压油通过第一比例换向阀4的第一工作油口4A和出油口4T返回油箱20；从而改变第一驱动油缸3内无杆腔301和有杆腔302的体积比，使第一驱动油缸3内的活塞303做轴向的移动。When the single-pump and double-actuator hydraulic device is working: the driving motor 1 drives the quantitative pump 2 to pump out the hydraulic oil in the oil tank 20, and supplies oil to the two actuators through two differential pressure reducing valves and provides the two The working pressure required by the actuator; the first drive cylinder 3 and the first proportional reversing valve 4 form the first actuator in the hydraulic device; the two control valve ports 4K1 and 4K2 of the first proportional reversing valve 4 are operated , the hydraulic oil supplied by the quantitative pump 2 to the oil inlet 4P of the first proportional reversing valve 4 through the first differential decompression valve 11 enters the rodless chamber 301 of the first driving cylinder 3 through its first working oil port 4A, At the same time, the original part of the hydraulic oil in the rod cavity 302 of the first drive cylinder 3 returns to the oil tank 20 through the second working oil port 3B and the oil outlet 3T of the first proportional reversing valve 3; The differential pressure reducing valve 4 supplies the hydraulic oil to the oil inlet 4P of the first proportional reversing valve 4 and enters the rod chamber 302 of the first driving cylinder 3 through its first working oil port 4B. At the same time, the first driving cylinder 3 has no rod chamber Part of the original hydraulic oil in 301 returns to the oil tank 20 through the first working oil port 4A and the oil outlet 4T of the first proportional reversing valve 4; thereby changing the volume of the rodless chamber 301 and the rod chamber 302 in the first driving cylinder 3 Ratio, make the piston 303 in the first driving cylinder 3 move axially.
第二驱动油缸6和第二比例换向阀7组成该液压装置中的第二执行器；对第二比例换向阀7的两个控制阀口7K1、7K2进行操作，可以使定量泵2通过第二定差减压阀12供给第二比例换向阀7进油口7P的液压油通过其第一工作油口7A进入第二驱动油缸6的无杆腔601，同时，第二驱动油缸6有杆腔602内原有的部分液压油通过第二比例换向阀7的第二工作油口7B和出油口7T返回油箱20；或者使定量泵2通过第二定差减压阀12供给第二比例换向阀7进油口7P的液压油通过其第二工作油口7B进入第二驱动油缸6的有杆腔602，同时，第二驱动油缸6无杆腔601内原有的部分液压油通过第二比例换向阀7的第一工作油口7A和出油口7T返回油箱20；从而改变第二驱动油缸6内无杆腔601和有杆腔602的体积比，使第二驱动油缸6内的活塞603做轴向的移动。The second drive cylinder 6 and the second proportional reversing valve 7 form the second actuator in the hydraulic device; the two control valve ports 7K1 and 7K2 of the second proportional reversing valve 7 can be operated to make the quantitative pump 2 pass through The hydraulic oil supplied by the second fixed differential decompression valve 12 to the oil inlet 7P of the second proportional reversing valve 7 enters the rodless cavity 601 of the second driving cylinder 6 through its first working oil port 7A, and at the same time, the second driving cylinder 6 Part of the original hydraulic oil in the rod cavity 602 returns to the oil tank 20 through the second working oil port 7B and the oil outlet 7T of the second proportional reversing valve 7; The hydraulic oil in the oil inlet 7P of the two-proportion reversing valve 7 enters the rod chamber 602 of the second driving cylinder 6 through its second working oil port 7B, and at the same time, part of the original hydraulic oil in the rodless chamber 601 of the second driving cylinder 6 Return to the oil tank 20 through the first working oil port 7A and the oil outlet 7T of the second proportional reversing valve 7; thereby changing the volume ratio of the rodless chamber 601 and the rod chamber 602 in the second driving cylinder 6, so that the second driving cylinder The piston 603 in 6 moves axially.
在第一驱动油缸3和第二驱动油缸6工作的过程中，第一梭阀5动态地检测出第一驱动油缸3承担的负载压力，并通过其出油口503将此负载压力传递给第一定差减压阀11的弹簧腔的控制油口11L和第三梭阀9的第一进油口9A1；第一定差减压阀11受到此负载压力的控制，使其出口1101以适当的流量向第一比例换向阀4的进油口4P供给液压油。第二梭阀8动态地检测出第二驱动油缸6承担的负载压力，并通过其出油口803将该负载压力传递给第二定差减压阀12的弹簧腔的控制油口12L和第三梭阀9的第二进油口9A2；第二定差减压阀12受到第二驱动油缸6负载压力的控制，使其出口1201以适当的流量向第二比例换向阀7的进油口7P供给液压油。第三梭阀9获得第一驱动油缸3的负载压力和第二驱动油缸6的负载压力，并取其中较大者作为系统当前所需负载最大压力pmax，第三梭阀9的出油口903将该负载最大压力pmax作用在压力补偿器10的弹簧腔的控制油口1003，由于压力补偿阀10的进油口1001的压力比该负载最大压力pmax大一个由其弹簧预先设定的压差△p1，所以定量泵2出油口202的出口压力仅比系统当前负载最大压力pmax大某个较小的压差△p1，实现了定量泵2输出压力与系统所需的负载最大压力的动态匹配。During the working process of the first driving oil cylinder 3 and the second driving oil cylinder 6, the first shuttle valve 5 dynamically detects the load pressure borne by the first driving oil cylinder 3, and transmits the load pressure to the second driving oil cylinder through its oil outlet 503. The control oil port 11L of the spring chamber of the constant differential pressure reducing valve 11 and the first oil inlet 9A1 of the third shuttle valve 9; the first differential pressure reducing valve 11 is controlled by the load pressure so that its outlet 1101 is properly The flow of hydraulic oil is supplied to the oil inlet port 4P of the first proportional selector valve 4 . The second shuttle valve 8 dynamically detects the load pressure borne by the second drive cylinder 6, and transmits the load pressure to the control oil port 12L of the spring cavity of the second differential pressure reducing valve 12 and the first valve through its oil outlet 803. The second oil inlet 9A2 of the three-shuttle valve 9; the second differential decompression valve 12 is controlled by the load pressure of the second driving cylinder 6, so that its outlet 1201 is supplied to the oil inlet of the second proportional reversing valve 7 with an appropriate flow rate. Port 7P supplies hydraulic oil. The third shuttle valve 9 obtains the load pressure of the first driving cylinder 3 and the load pressure of the second driving cylinder 6, and takes the larger one as the current maximum load pressure pmax required by the system. The oil outlet 903 of the third shuttle valve 9 The maximum load pressure pmax acts on the control oil port 1003 of the spring cavity of the pressure compensator 10, because the pressure of the oil inlet 1001 of the pressure compensation valve 10 is greater than the maximum load pressure pmax by a pressure difference preset by its spring △p1, so the outlet pressure of the oil outlet 202 of the quantitative pump 2 is only a small pressure difference △p1 greater than the current maximum load pressure pmax of the system, realizing the dynamic relationship between the output pressure of the quantitative pump 2 and the maximum load pressure required by the system match.
然而，在该装置运行中，由于不同执行器所需的工作压力不同，定量泵2的出口压力由最大负载压力决定，工作压力较小的那个执行器所需的工作压力与定量泵2的出口压力存在压差，必须通过工作压力较小的那个执行器的定差减压阀的阀口平衡上述的压差。因此其本质是通过节流损耗来实现压力差的平衡，导致定量泵负载敏感系统的能量利用率仍然不高，尤其是在不同执行器的工作压力差别较大时。However, in the operation of the device, due to the different working pressures required by different actuators, the outlet pressure of the quantitative pump 2 is determined by the maximum load pressure, and the working pressure required by the actuator with the smaller working pressure is the same as the outlet pressure of the quantitative pump 2 There is a pressure difference in the pressure, and the pressure difference must be balanced through the valve port of the differential pressure reducing valve of the actuator with the smaller working pressure. Therefore, its essence is to achieve the balance of pressure difference through throttling loss, which leads to the low energy utilization rate of the quantitative pump load sensitive system, especially when the working pressure difference of different actuators is large.
发明内容Contents of the invention
本发明旨在提供一种单泵双执行器的液压装置，它可以回收工作压力较小的那个执行器与定量泵2的出口压力之间压差所对应的能量，提高能量利用率。The present invention aims to provide a hydraulic device with single pump and double actuators, which can recover the energy corresponding to the pressure difference between the actuator with the lower working pressure and the outlet pressure of the quantitative pump 2, and improve the energy utilization rate.
本发明的技术方案是：一种单泵双执行器的液压装置，其中，驱动电机与定量泵同轴连接；定量泵的进口接油箱，定量泵的出口接压力补偿器的进油口；压力补偿器的出油口接油箱；第一比例换向阀的出油口接油箱，第一比例换向阀的第一工作油口分别接第一梭阀的第一进油口、第一驱动油缸的无杆腔，第一比例换向阀的第二工作油口分别接第一梭阀的第二进油口、第一驱动油缸的有杆腔；第二比例换向阀的出油口接油箱，第二比例换向阀的第一工作油口分别接第二梭阀的第一进油口、第二驱动油缸的无杆腔，第二比例换向阀的第二工作油口分别接第二梭阀的第二进油口、第二驱动油缸的有杆腔；第三梭阀的第一进油口接第一梭阀的出油口，第三梭阀的第二进油口接第二梭阀的出油口，第三梭阀的出油口接压力补偿器的弹簧腔的控制油口；它还有第一液压马达、第一发电机、第一发电机控制器、第二液压马达、第二发电机、第二发电机控制器、程序控制器、电量储存单元、逆变器、第一压差传感器和第二压差传感器；定量泵的出口分别接第一液压马达的进油口和第二液压马达的进油口；第一比例换向阀的进油口分别接第一液压马达的出口和第一压差传感器的第一进油口；第二比例换向阀的进油口分别接第二液压马达的出口和第二压差传感器的第一进油口；电量储存单元分别与逆变器的直流电源输入端口、第一发电机控制器的直流电源端口、第二发电机控制器的直流电源端口相连；逆变器的交流电源输出端口与驱动电机成电性连接；第一发电机控制器的交流电源端口与第一发电机成电性连接，第二发电机控制器的交流电源端口与第二发电机成电性连接；程序控制器的第一信号输入端口接第一压差传感器的信号输出端口，程序控制器的第二信号输入端口接第二压差传感器的信号输出端口，程序控制器的第一控制输出端口接第一发电机控制器的控制输入端口，程序控制器的第二控制输出端口连接第二发电机控制器的控制输入端口。The technical solution of the present invention is: a hydraulic device with single pump and double actuators, wherein the driving motor is coaxially connected with the quantitative pump; the inlet of the quantitative pump is connected to the oil tank, and the outlet of the quantitative pump is connected to the oil inlet of the pressure compensator; The oil outlet of the compensator is connected to the oil tank; the oil outlet of the first proportional reversing valve is connected to the oil tank, and the first working oil port of the first proportional reversing valve is respectively connected to the first oil inlet and the first drive of the first shuttle valve. The rodless chamber of the oil cylinder, the second working oil port of the first proportional reversing valve are respectively connected to the second oil inlet of the first shuttle valve and the rod chamber of the first driving cylinder; the oil outlet of the second proportional reversing valve connected to the oil tank, the first working oil port of the second proportional reversing valve is respectively connected to the first oil inlet of the second shuttle valve, the rodless chamber of the second driving oil cylinder, and the second working oil port of the second proportional reversing valve is respectively Connect to the second oil inlet of the second shuttle valve and the rod chamber of the second driving cylinder; the first oil inlet of the third shuttle valve is connected to the oil outlet of the first shuttle valve, and the second oil inlet of the third shuttle valve The port is connected to the oil outlet of the second shuttle valve, and the oil outlet of the third shuttle valve is connected to the control oil port of the spring chamber of the pressure compensator; it also has the first hydraulic motor, the first generator, and the first generator controller , the second hydraulic motor, the second generator, the second generator controller, the program controller, the power storage unit, the inverter, the first differential pressure sensor and the second differential pressure sensor; the outlets of the quantitative pumps are respectively connected to the first The oil inlet of the hydraulic motor and the oil inlet of the second hydraulic motor; the oil inlet of the first proportional reversing valve is respectively connected to the outlet of the first hydraulic motor and the first oil inlet of the first differential pressure sensor; the second proportional The oil inlet of the reversing valve is respectively connected to the outlet of the second hydraulic motor and the first oil inlet of the second differential pressure sensor; the power storage unit is connected to the DC power input port of the inverter and the DC power of the first generator controller respectively. The power port is connected to the DC power port of the second generator controller; the AC power output port of the inverter is electrically connected to the driving motor; the AC power port of the first generator controller is electrically connected to the first generator , the AC power port of the second generator controller is electrically connected to the second generator; the first signal input port of the program controller is connected to the signal output port of the first differential pressure sensor, and the second signal input port of the program controller Connect to the signal output port of the second differential pressure sensor, the first control output port of the program controller is connected to the control input port of the first generator controller, and the second control output port of the program controller is connected to the control port of the second generator controller input port.
本发明单泵双执行器的液压装置，采用新能源汽车领域创新的发电机节能技术与液压马达组合，用发电机与液压马达组合代替了传统的定差减压阀调节，即采用容积调节代替了传统的节流调节。当两个执行器的工作压力不同时，把液压泵出口压力与负载较小的执行器之间的压差通过相应的液压马达和发电机，以及发电机控制器转换成电能储存在电量储存单元，使得相应比例换向阀的前后压差仅为一个用于调节流量所需较小的压差，在保证比例控制的同时降低了能量损耗。The hydraulic device with single pump and double actuators of the present invention adopts the combination of generator energy-saving technology and hydraulic motor, which is innovative in the field of new energy vehicles, and uses the combination of generator and hydraulic motor to replace the traditional fixed differential pressure reducing valve adjustment, that is, the volume adjustment is used instead. traditional throttling adjustment. When the working pressures of the two actuators are different, the pressure difference between the outlet pressure of the hydraulic pump and the actuator with a smaller load is converted into electrical energy and stored in the power storage unit through the corresponding hydraulic motor, generator, and generator controller. , so that the pressure difference between the front and back of the corresponding proportional directional valve is only a small pressure difference for adjusting the flow rate, which reduces energy loss while ensuring proportional control.
附图说明Description of drawings
图1为一种现有单泵双执行器的液压装置的结构示意图。Fig. 1 is a structural schematic diagram of a conventional single-pump double-actuator hydraulic device.
图2为本发明单泵双执行器的液压装置一个实施例的结构示意图。Fig. 2 is a structural schematic diagram of an embodiment of the hydraulic device with single pump and double actuators in the present invention.
图3为图2实施例中第一比例换向阀的前后压差控制原理示意图。Fig. 3 is a schematic diagram of the front-rear pressure difference control principle of the first proportional reversing valve in the embodiment of Fig. 2 .
图中：1，驱动电机；2，定量泵；3，第一驱动油缸；4，第一比例换向阀；In the figure: 1, the driving motor; 2, the quantitative pump; 3, the first driving cylinder; 4, the first proportional reversing valve;
5，第一梭阀；6，第二驱动油缸；7，第二比例换向阀；8，第二梭阀；5, the first shuttle valve; 6, the second drive cylinder; 7, the second proportional reversing valve; 8, the second shuttle valve;
9，第三梭阀；10，压力补偿阀；11，第一定差减压阀；12，第二定差减压阀；13，第一液压马达；14，第一发电机；15，第一发电机控制器；9, the third shuttle valve; 10, the pressure compensation valve; 11, the first differential pressure reducing valve; 12, the second differential pressure reducing valve; 13, the first hydraulic motor; 14, the first generator; 15, the first a generator controller;
16，第二液压马达；17，第二发电机；18，第二发电机控制器；16, the second hydraulic motor; 17, the second generator; 18, the second generator controller;
20，油箱；30，程序控制器，40，电量储存单元；41，逆变器；20, fuel tank; 30, program controller, 40, power storage unit; 41, inverter;
50，第一压差传感器；60，第二压差传感器。50, the first differential pressure sensor; 60, the second differential pressure sensor.
具体实施方式Detailed ways
一、实施例一1. Embodiment 1
本发明单泵双执行器的液压装置的结构，请参看图2。该装置包括驱动电机1、定量泵2、第一驱动油缸3、第一比例换向阀4、第一梭阀5、第二驱动油缸6、第二比例换向阀7、第二梭阀8、第三梭阀9、压力补偿阀10、第一液压马达13、第一发电机14、第一发电机控制器15、第二液压马达16、第二发电机17、第二发电机控制器18、油箱20、程序控制器30、电量储存单元40、逆变器41、第一压差传感器50和第二压差传感器60。其中，发电机控制器是新能源汽车发展进程中出现的具有能量双向流动功能的交/直流转换设备，例如具有整流功能并可在数字信号处理器(Digital Signal Processing)控制下运行的IGBT功率模块，在电机作为发电机工作时，发电机控制器将发电机发出的交流电能转化为直流电能送到储能电容或蓄电池之类的电量储存单元40中储存起来。程序控制器30可以采用已知的可编程控制器(PLC)或数字信号处理器(DSP)或工控器。Please refer to FIG. 2 for the structure of the hydraulic device with single pump and double actuators in the present invention. The device includes a driving motor 1, a quantitative pump 2, a first driving cylinder 3, a first proportional reversing valve 4, a first shuttle valve 5, a second driving cylinder 6, a second proportional reversing valve 7, and a second shuttle valve 8 , the third shuttle valve 9, the pressure compensation valve 10, the first hydraulic motor 13, the first generator 14, the first generator controller 15, the second hydraulic motor 16, the second generator 17, the second generator controller 18. Oil tank 20 , program controller 30 , power storage unit 40 , inverter 41 , first differential pressure sensor 50 and second differential pressure sensor 60 . Among them, the generator controller is an AC/DC conversion device with bidirectional energy flow function that appears in the development of new energy vehicles, such as an IGBT power module that has a rectification function and can operate under the control of a digital signal processing (Digital Signal Processing) , when the motor works as a generator, the generator controller converts the AC power generated by the generator into DC power and sends it to an energy storage unit 40 such as an energy storage capacitor or a storage battery for storage. The program controller 30 can be a known programmable logic controller (PLC) or digital signal processor (DSP) or industrial controller.
驱动电机1的转轴与定量泵2的转轴同轴机械相连；第一液压马达13的转轴与第一发电机14的转轴同轴机械相连；第二液压马达16的转轴与第二发电机17的转轴同轴机械相连。The rotating shaft of driving motor 1 is mechanically connected with the rotating shaft of quantitative pump 2; the rotating shaft of first hydraulic motor 13 is mechanically connected with the rotating shaft of first generator 14; The rotating shaft is mechanically connected to the shaft.
定量泵2的进口201接油箱20。定量泵2的出口202分三路：第一路接压力补偿器10的进油口1001；第二路接第一液压马达13的进油口1301；第三路接第二液压马达16的进油口1601。压力补偿器10的出油口1002接油箱20。The inlet 201 of the quantitative pump 2 is connected to the oil tank 20 . The outlet 202 of the quantitative pump 2 is divided into three routes: the first route is connected to the oil inlet 1001 of the pressure compensator 10; the second route is connected to the oil inlet 1301 of the first hydraulic motor 13; the third route is connected to the inlet of the second hydraulic motor 16. Oil port 1601. The oil outlet 1002 of the pressure compensator 10 is connected to the oil tank 20 .
第一比例换向阀4的进油口4P分别与第一液压马达13的出口1302和第一压差传感器50的第一进油口50A1相连，第一比例换向阀4的出油口4T接油箱20。第一比例换向阀4的第一工作油口4A与第一梭阀5的第一进油口5A1、第一驱动油缸3的无杆腔301相连，第一比例换向阀4的第二工作油口4B分别与第一梭阀5的第二进油口5A2、第一驱动油缸3的有杆腔302相连。第一压差传感器50的第二进油口50A2与第一梭阀5的出油口503相连。The oil inlet 4P of the first proportional reversing valve 4 is respectively connected with the outlet 1302 of the first hydraulic motor 13 and the first oil inlet 50A1 of the first differential pressure sensor 50, and the oil outlet 4T of the first proportional reversing valve 4 Connect fuel tank 20. The first working oil port 4A of the first proportional reversing valve 4 is connected with the first oil inlet 5A1 of the first shuttle valve 5 and the rodless chamber 301 of the first driving cylinder 3 , the second working oil port of the first proportional reversing valve 4 The working oil port 4B is respectively connected with the second oil inlet 5A2 of the first shuttle valve 5 and the rod chamber 302 of the first driving cylinder 3 . The second oil inlet 50A2 of the first differential pressure sensor 50 is connected with the oil outlet 503 of the first shuttle valve 5 .
第二比例换向阀7的进油口7P分别与第二液压马达16的出口1602和第二压差传感器60的第一进油口60A1相连，第二比例换向阀7的出油口7T接油箱20。第二比例换向阀7的第一工作油口7A与第二梭阀8的第一进油口8A1、第二驱动油缸6的无杆腔601相连，第二比例换向阀7的第二工作油7B与第二梭阀8的第二进油口8A2、第二驱动油缸6的有杆腔602相连。第二压差传感器60的第二进油口60A2与第二梭阀8的出油口803相连。The oil inlet 7P of the second proportional reversing valve 7 is respectively connected with the outlet 1602 of the second hydraulic motor 16 and the first oil inlet 60A1 of the second differential pressure sensor 60, and the oil outlet 7T of the second proportional reversing valve 7 Connect fuel tank 20. The first working oil port 7A of the second proportional reversing valve 7 is connected with the first oil inlet 8A1 of the second shuttle valve 8 and the rodless cavity 601 of the second drive cylinder 6 , and the second working oil port 7A of the second proportional reversing valve 7 The working oil 7B is connected with the second oil inlet 8A2 of the second shuttle valve 8 and the rod chamber 602 of the second driving cylinder 6 . The second oil inlet 60A2 of the second differential pressure sensor 60 is connected with the oil outlet 803 of the second shuttle valve 8 .
第三梭阀9的第一进油口9A1与第一梭阀5的出油口503相连，第三梭阀9的第二进油口9A2与第二梭阀8的出油口803相连，第三梭阀9的出油口903与压力补偿器10的弹簧腔的控制油口1003相连。The first oil inlet 9A1 of the third shuttle valve 9 is connected with the oil outlet 503 of the first shuttle valve 5, the second oil inlet 9A2 of the third shuttle valve 9 is connected with the oil outlet 803 of the second shuttle valve 8, The oil outlet 903 of the third shuttle valve 9 is connected with the control oil port 1003 of the spring cavity of the pressure compensator 10 .
电量储存单元40分别与逆变器41的直流电源输入端口4101、第一发电机控制器15的直流电源端口1501、第二发电机控制器18的直流电源端口1801相连。逆变器41的交流电源输出端口4102与驱动电机1成电性连接。第一发电机控制器15的交流电源端口1502与第一发电机14成电性连接，第二发电机控制器18的交流电源端口1802与第二发电机17成电性连接。The power storage unit 40 is respectively connected to the DC power input port 4101 of the inverter 41 , the DC power port 1501 of the first generator controller 15 , and the DC power port 1801 of the second generator controller 18 . The AC power output port 4102 of the inverter 41 is electrically connected to the driving motor 1 . The AC power port 1502 of the first generator controller 15 is electrically connected to the first generator 14 , and the AC power port 1802 of the second generator controller 18 is electrically connected to the second generator 17 .
程序控制器30的第一信号输入端口3001连接第一压差传感器50的信号输出端口5003；程序控制器30的第二信号输入端口3002连接第二压差传感器60的信号输出端口6003。程序控制器30的第一控制输出端口3003连接第一发电机控制器15的控制输入端口1503，程序控制器30的第二控制输出端口3004连接第二发电机控制器18的控制输入端口1803。The first signal input port 3001 of the program controller 30 is connected to the signal output port 5003 of the first differential pressure sensor 50 ; the second signal input port 3002 of the program controller 30 is connected to the signal output port 6003 of the second differential pressure sensor 60 . The first control output port 3003 of the program controller 30 is connected to the control input port 1503 of the first generator controller 15 , and the second control output port 3004 of the program controller 30 is connected to the control input port 1803 of the second generator controller 18 .
本发明单泵双执行器的液压装置的具体工作原理如下：The specific working principle of the hydraulic device with single pump and double actuators of the present invention is as follows:
电量储存单元40通过逆变器41向驱动电机1供电。驱动电机1带动定量泵2将油箱20中的液压油抽出，向整个液压系统供油并提供该液压系统需要的工作压力。The power storage unit 40 supplies power to the driving motor 1 through the inverter 41 . The driving motor 1 drives the quantitative pump 2 to pump out the hydraulic oil in the oil tank 20 to supply oil to the entire hydraulic system and provide the required working pressure of the hydraulic system.
第一驱动油缸3与第一比例换向阀4组成该液压系统中的第一执行器；对第一比例换向阀4的两个控制阀口4K1、4K2进行操作，可以使定量泵2通过第一液压马达13供给第一比例换向阀4进油口4P的液压油通过其第一工作油口4A进入第二驱动油缸3的无杆腔301，同时，第一驱动油缸3有杆腔302内原有的部分液压油通过第一比例换向阀4的第二工作油口4B和出油口4T返回油箱20；或者使定量泵2通过第一液压马达13供给第一比例换向阀4进油口4P的液压油通过其第一工作油口4B进入第一驱动油缸3的有杆腔302，同时，第一驱动油缸3无杆腔301内原有的部分液压油通过第一比例换向阀4的第一工作油口4A和出油口4T返回油箱20；从而改变第一驱动油缸3内无杆腔301和有杆腔302的体积，使第一驱动油缸3内的活塞303做轴向的移动。The first drive cylinder 3 and the first proportional reversing valve 4 constitute the first actuator in the hydraulic system; the two control valve ports 4K1 and 4K2 of the first proportional reversing valve 4 can be operated to make the quantitative pump 2 pass through The hydraulic oil supplied by the first hydraulic motor 13 to the oil inlet 4P of the first proportional reversing valve 4 enters the rodless chamber 301 of the second driving cylinder 3 through its first working oil port 4A, and at the same time, the first driving cylinder 3 has a rod chamber Part of the original hydraulic oil in 302 returns to the oil tank 20 through the second working oil port 4B and oil outlet 4T of the first proportional reversing valve 4; or the quantitative pump 2 is supplied to the first proportional reversing valve 4 through the first hydraulic motor 13 The hydraulic oil in the oil inlet 4P enters the rod chamber 302 of the first driving cylinder 3 through its first working oil port 4B, and at the same time, the original part of the hydraulic oil in the rodless chamber 301 of the first driving cylinder 3 is reversed by the first ratio The first working oil port 4A and the oil outlet port 4T of the valve 4 return to the oil tank 20; thereby changing the volumes of the rodless chamber 301 and the rod chamber 302 in the first driving cylinder 3, so that the piston 303 in the first driving cylinder 3 acts as a shaft to move.
第二驱动油缸6和第二比例换向阀7组成该液压系统中的第二执行器；对第二比例换向阀7的两个控制阀口7K1、7K2进行操作，可以使定量泵2通过第二液压马达16供给第二比例换向阀7进油口7P的液压油通过其第一工作油口7A进入第二驱动油缸6的无杆腔601，同时，第二驱动油缸6有杆腔602内原有的部分液压油通过第二比例换向阀7的第二工作油口7B和出油口7T返回油箱20；或者使定量泵2通过第二液压马达16供给第二比例换向阀7进油口7P的液压油通过其第二工作油口7B进入第二驱动油缸6的有杆腔602，同时，第二驱动油缸6无杆腔601内原有的部分液压油通过第二比例换向阀7的第一工作油口7A和出油口7T返回油箱20；从而改变第二驱动油缸6内无杆腔601和有杆腔602的体积，使第二驱动油缸6内的活塞603做轴向的移动。The second drive cylinder 6 and the second proportional reversing valve 7 form the second actuator in the hydraulic system; the two control valve ports 7K1 and 7K2 of the second proportional reversing valve 7 can be operated to make the quantitative pump 2 pass through The hydraulic oil supplied by the second hydraulic motor 16 to the oil inlet 7P of the second proportional reversing valve 7 enters the rodless chamber 601 of the second driving cylinder 6 through its first working oil port 7A, and at the same time, the second driving cylinder 6 has a rod chamber Part of the original hydraulic oil in 602 is returned to the oil tank 20 through the second working oil port 7B and oil outlet 7T of the second proportional reversing valve 7; or the quantitative pump 2 is supplied to the second proportional reversing valve 7 through the second hydraulic motor 16 The hydraulic oil in the oil inlet 7P enters the rod cavity 602 of the second drive cylinder 6 through its second working oil port 7B, and at the same time, the original part of the hydraulic oil in the rodless cavity 601 of the second drive cylinder 6 is reversed by the second ratio The first working oil port 7A and the oil outlet 7T of the valve 7 return to the oil tank 20; thereby changing the volume of the rodless chamber 601 and the rod chamber 602 in the second driving cylinder 6, so that the piston 603 in the second driving cylinder 6 acts as a shaft to move.
先看本发明单泵双执行器的液压装置的压力敏感调节功能。First look at the pressure sensitive adjustment function of the hydraulic device with single pump and double actuators of the present invention.
在第一驱动油缸3和第二驱动油缸6工作的过程中，第一梭阀5动态地检测出第一驱动油缸3承担的负载压力，并通过其出油口503将此负载压力传递给第三梭阀9的第一进油口9A1；第二梭阀8动态地检测出第二驱动油缸6承担的负载压力，并通过其出油口803将该负载压力传递给第三梭阀9的第二进油口9A2；第三梭阀9获得以上两个负载压力，并取其中较大者作为系统当前所需负载最大压力pmax，第三梭阀9的出油口903将负载最大压力pmax作用在压力补偿器10的弹簧腔的控制油口1003，由于压力补偿阀10的进油口1001的压力比该负载最大压力pmax大一个由其弹簧预先设定的压差△p1，所以定量泵2出油口202的出口压力仅比系统当前负载最大压力pmax大某个较小的压差△p1，实现了定量泵2输出压力与系统所需的负载最大压力的动态匹配。During the working process of the first driving oil cylinder 3 and the second driving oil cylinder 6, the first shuttle valve 5 dynamically detects the load pressure borne by the first driving oil cylinder 3, and transmits the load pressure to the second driving oil cylinder through its oil outlet 503. The first oil inlet 9A1 of the three shuttle valve 9; the second shuttle valve 8 dynamically detects the load pressure borne by the second driving cylinder 6, and transmits the load pressure to the third shuttle valve 9 through its oil outlet 803 The second oil inlet 9A2; the third shuttle valve 9 obtains the above two load pressures, and takes the larger one as the maximum load pressure pmax currently required by the system, and the oil outlet 903 of the third shuttle valve 9 converts the maximum load pressure pmax Acting on the control oil port 1003 of the spring chamber of the pressure compensator 10, since the pressure of the oil inlet 1001 of the pressure compensating valve 10 is greater than the maximum pressure pmax of the load by a pressure difference Δp1 preset by its spring, the quantitative pump 2 The outlet pressure of the oil outlet 202 is only a small pressure difference Δp1 greater than the current maximum load pressure pmax of the system, realizing the dynamic matching between the output pressure of the quantitative pump 2 and the maximum load pressure required by the system.
再看本发明单泵双执行器的液压装置的比例换向阀前后压差控制功能(以第一比例换向阀4为例)。Look at the pressure difference control function before and after the proportional reversing valve of the hydraulic device of the single pump and double actuators of the present invention (taking the first proportional reversing valve 4 as an example).
第一比例换向阀4的控制规则如图3所示，具体如下：The control rule of the first proportional reversing valve 4 is as shown in Figure 3, specifically as follows:
根据控制要求由人为设定第一比例换向阀4进油口4P与第一工作油口4A及第二工作油口4B之间的目标压差△p2(也就是规定第一压差传感器50的第一进油口50A1与第二进油口50A2的压差△p2)，比如1MPa。According to the control requirements, the target pressure difference Δp2 between the oil inlet 4P of the first proportional reversing valve 4 and the first working oil port 4A and the second working oil port 4B is artificially set (that is, the first differential pressure sensor 50 The pressure difference Δp2 between the first oil inlet 50A1 and the second oil inlet 50A2), for example, 1MPa.
本装置运行中，目标压差△p2自动输入程序控制器30内部的比例积分控制器(简记为PI)。程序控制器30通过对第一压差传感器50输出的压力差信号进行采集和数据处理，获得第一比例换向阀4的阀口4P-4A(或阀口4P-4B)的实际压差数据，作为程序控制器30内部PI的反馈输入；During the operation of the device, the target pressure difference Δp2 is automatically input to the proportional-integral controller (abbreviated as PI) inside the program controller 30 . The program controller 30 obtains the actual differential pressure data of the valve port 4P-4A (or valve port 4P-4B) of the first proportional reversing valve 4 by collecting and data-processing the differential pressure signal output by the first differential pressure sensor 50 , as the feedback input of the internal PI of the program controller 30;
程序控制器30通过其内部的PI和限幅单元产生控制第一发电机控制器15的目标信号，通过第一发电机控制器15调整第一发电机14的转速，由此调节第一液压马达13的转速，进而改变了第一比例换向阀4的进油口4P的压力，从而将第一比例换向阀4的控制阀口的前后压差(即进油口4P与第一工作油口4A的压差及进油口4P与第二工作油口4B的压差中数值较大者)的数值调整为与目标压差△p2的数值相同。The program controller 30 generates a target signal for controlling the first generator controller 15 through its internal PI and limiting unit, and adjusts the rotational speed of the first generator 14 through the first generator controller 15, thereby adjusting the first hydraulic motor The rotational speed of 13 changes the pressure of the oil inlet 4P of the first proportional reversing valve 4, thereby reducing the pressure difference between the front and rear of the control valve port of the first proportional reversing valve 4 (that is, the oil inlet 4P and the first working oil The value of the pressure difference at port 4A and the pressure difference between the oil inlet port 4P and the second working oil port 4B) is adjusted to be the same as the value of the target pressure difference Δp2.
同理，第二发电机17和第二液压马达16对第二比例换向阀7前后压差的控制过程，也与以上所述类似。不再赘述。Similarly, the control process of the second generator 17 and the second hydraulic motor 16 on the pressure difference between the front and rear of the second proportional reversing valve 7 is also similar to the above. No longer.
最后说说本发明单泵双执行器的液压装置的节能原理。Finally, talk about the energy-saving principle of the hydraulic device with single pump and double actuators of the present invention.
1)假设压差补偿器10的弹簧设定对应的压差△p1为2MPa；某一时刻第一驱动油缸3的负载压力(驱动压力)p1为5MPa,第二驱动油缸6的负载压力(驱动压力)p2为15MPa；1) Assume that the pressure difference △p1 corresponding to the spring setting of the differential pressure compensator 10 is 2MPa; at a certain moment, the load pressure (driving pressure) p1 of the first driving cylinder 3 is 5MPa, and the load pressure (driving pressure) p1 of the second driving cylinder 6 is Pressure) p2 is 15MPa;
2)第三梭阀9通过第一梭阀5和第二梭阀8获得系统当前负载最大压力pmax为15MPa；2) The third shuttle valve 9 obtains the maximum pressure pmax of the current load of the system through the first shuttle valve 5 and the second shuttle valve 8, which is 15 MPa;
3)第三梭阀9的输出通过压力补偿器5使得定量泵2的出口压力pz仅比负载最大压力pmax大△p1，即为17MPa；3) The output of the third shuttle valve 9 passes through the pressure compensator 5 so that the outlet pressure pz of the quantitative pump 2 is only greater than the maximum load pressure pmax by △p1, which is 17MPa;
4)程序控制器30通过第一发电机控制器15和第一压差传感器50对第一发电机14和第一液压马达13进行控制，使得第一比例换向阀4的前后压差△pb1为1MPa,因此第一液压马达13的两端压差为△pm1＝pz–p1-△pb1＝11MPa；该压差使第一液压马达13和第一发电机14以相应的转速进行转动，这时第一发电机14进入交流发电机工作状态，相应地第一发电机控制器15切换到交流-直流的变送器工作状态，将第一发电机14发出的交流电能转化成直流电能储存在电量储存单元40中。4) The program controller 30 controls the first generator 14 and the first hydraulic motor 13 through the first generator controller 15 and the first differential pressure sensor 50, so that the front and rear pressure difference Δpb1 of the first proportional reversing valve 4 is 1MPa, so the pressure difference across the first hydraulic motor 13 is Δpm1=pz−p1−Δpb1=11MPa; the pressure difference makes the first hydraulic motor 13 and the first generator 14 rotate at a corresponding speed, which When the first generator 14 enters the alternator working state, the first generator controller 15 switches to the AC-DC transmitter working state accordingly, and converts the alternating current energy sent by the first generator 14 into a direct current electric energy and stores it in the in the power storage unit 40 .
传统的负载敏感液压系统中，这11MPa的压差消耗在第一定差减压阀11的阀口上，转换成热量发散出去。而在本发明单泵双执行器的液压装置中，这11MPa的压差通过第一液压马达13、第一发电机14和第一发电机控制器15转成电能储存在电量储存单元6中，可以重新通过驱动电机1释放出来驱动定量泵2。In a traditional load-sensing hydraulic system, the pressure difference of 11 MPa is consumed on the valve port of the first differential pressure reducing valve 11, and converted into heat and dissipated. In the hydraulic device with single pump and double actuators of the present invention, the pressure difference of 11 MPa is converted into electrical energy by the first hydraulic motor 13, the first generator 14 and the first generator controller 15 and stored in the power storage unit 6, It can be released again by the drive motor 1 to drive the metering pump 2 .
依据相同的原理，当第一油压缸3的负载压力高于第二油压缸6的负载压力时，第二液压马达16上的压差将使第二液压马达16和第二发电机17以相应的转速进行转动，这时第二发电机17进入交流发电机工作状态，相应地第二发电机控制器18切换到交流-直流的变送器工作状态，将第二发电机17发出的交流电能转化成直流电能储存在电量储存单元40中。According to the same principle, when the load pressure of the first hydraulic cylinder 3 is higher than the load pressure of the second hydraulic cylinder 6, the pressure difference on the second hydraulic motor 16 will make the second hydraulic motor 16 and the second generator 17 Rotate at the corresponding speed, at this moment the second generator 17 enters the working state of the alternator, and accordingly the second generator controller 18 switches to the working state of the AC-DC transmitter, and the second generator 17 sends The AC power is converted into DC power and stored in the power storage unit 40 .
以上所述，仅为本发明较佳实施例，不以此限定本发明实施的范围，依本发明的技术方案及说明书内容所作的等效变化与修饰，皆应属于本发明涵盖的范围。The above are only preferred embodiments of the present invention, and do not limit the implementation scope of the present invention. Equivalent changes and modifications made according to the technical solutions of the present invention and the contents of the description shall fall within the scope of the present invention.
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