CN108825596A - The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method - Google Patents
The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method Download PDFInfo
- Publication number
- CN108825596A CN108825596A CN201810984804.8A CN201810984804A CN108825596A CN 108825596 A CN108825596 A CN 108825596A CN 201810984804 A CN201810984804 A CN 201810984804A CN 108825596 A CN108825596 A CN 108825596A
- Authority
- CN
- China
- Prior art keywords
- oil
- pressure
- valve
- rotary motor
- rotary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000007788 liquid Substances 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 129
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006757 chemical reactions by type Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
Classifications
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
-
- 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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
Abstract
The present invention provides a kind of velocity feedback formulas of hydraulic gyration mechanism to be accurately positioned anti-swing control device, including：Pressure oil-source, rotary control valve, charged piston cylinder, pressure charging valve, rotary motor, swing mechanism, velocity measuring module, controller module and accumulator；Pressure oil-source is connect with rotary control valve, accumulator, and rotary motor is connect with swing mechanism, rotary control valve, pressure charging valve, and charged piston cylinder is connect with pressure charging valve, accumulator, and velocity measuring module is connect with swing mechanism；For controller module according to revolution actual condition, control pressure charging valve realizes the first working oil chamber of rotary motor or the pressurization of the second working oil chamber.Technical solution provided by the invention can be realized the accurate positioning of hydraulic gyration mechanism and effectively prevent the reversed backswing phenomenon during being accurately positioned.Meanwhile the present invention also provides the velocity feedback formulas for including a kind of hydraulic gyration mechanism that the velocity feedback formula is accurately positioned anti-swing control device to be accurately positioned anti-swing control method.
Description
Technical field
The present invention relates to work machine hydraulic rotary apparatus fields, more particularly, to a kind of speed of hydraulic gyration mechanism
It spends reaction type and is accurately positioned anti-swing control device and method.
Background technique
With the high speed development of national economy, construction machinery industry development is swift and violent, and the good ring of swing mechanism runnability
Directly influence the performance and safety of engineering mechanical device.Currently, a large amount of engineering mechanical device all uses hydraulic gyration horse
It works up to driving swing mechanism, i.e., goes the items for realizing swing mechanism using the pressure-driven hydraulic rotary motor of hydraulic oil
Activity.
In the prior art, the positioning braking process of engineering machinery swing mechanism mainly passes through revolution hydraulic valve Hui Zhongwei
When, the oil back chamber oil circuit of hydraulic rotary motor is closed, and swing mechanism is since inertia also will continue to rotation of taking advantage of a situation, so that hydraulic gyration
The oil back chamber oil pressure of motor increases and produces the positioning braking that rotary braking torque realizes swing mechanism.That is, revolution
Mechanism is braked using the back pressure of hydraulic rotary motor oil back chamber, and back pressure is to be continued to rotate by swing mechanism and generated, back
Pressure value needs the time greatly from small rise to, so as to cause swing mechanism positioning is inaccurate, braking not in time.Meanwhile working as revolution
When the velocity of rotation of mechanism is braked to zero, the oil pressure difference between two working oil chambers of hydraulic rotary motor is still very big at this time, makes
Swing mechanism cannot stop motion immediately, but rotated backward.Braking process is positioned in engineering machinery swing mechanism
In, this counter-rotational backswing phenomenon can generally repeat repeatedly, brake so as to cause swing mechanism in revolution positioning
It runs unstable in journey, has seriously affected the performance and operating efficiency of equipment, also brought to equipment operation and engineering construction construction
Very big security risk.Therefore, inaccurate for the positioning of engineering machinery swing mechanism, braking not in time, and is made in revolution
The phenomenon that there are reversed backswing during dynamic, there is an urgent need to find a kind of quick positioning that technology can be realized swing mechanism to brake
And it effectively prevent quickly positioning the reversed backswing phenomenon in braking process.
Summary of the invention
In order to solve above-mentioned technical problem present in existing engineering machinery revolution positioning braking process, the present invention provides
A kind of velocity feedback formula accurate positioning anti-swing control device and method of hydraulic gyration mechanism, it is intended to realize the quick of swing mechanism
It is accurately positioned and brakes and effectively prevent the reversed backswing phenomenon being quickly accurately positioned in braking process.
In order to achieve the above object, present invention employs following technical solutions：
The velocity feedback formula of work machine hydraulic rotary mechanism is accurately positioned anti-swing control device and method, including：Pressure oil-source,
Rotary control valve, charged piston cylinder, pressure charging valve, rotary motor, swing mechanism, velocity measuring module, controller module and accumulation of energy
Device etc.；Wherein, the high pressure oil that the pressure oil-source provides is connected to the high pressure oil oil inlet of the rotary control valve, the revolution
The oil liquid oil return opening of control valve is connected to oil return line, and 2 of 2 actuator ports of the rotary control valve and the rotary motor
Working oil chamber is respectively communicated with；The high pressure oil that the pressure oil-source provides also is connected to the accumulator, the accumulator with it is described
The pressurization rodless cavity of charged piston cylinder is connected to, the supercharging oil inlet of the pressurization rod chamber and the pressure charging valve of the charged piston cylinder
Connection, 2 actuator ports of the pressure charging valve are also respectively communicated with 2 working oil chambers of the rotary motor, the pressure charging valve
It is connected to for the first working oil chamber of the rotary motor or the second working oil chamber with the pressurization rod chamber of the charged piston cylinder
Or cutting, the charged piston cylinder are used to the oil liquid pressure of the accumulator carrying out raising pressurization；The rotary motor and institute
Swing mechanism connection is stated, drives the swing mechanism to carry out every operation, the velocity measuring module is for detecting the revolution
The velocity of rotation of mechanism；The controller module is connect with the rotary control valve, pressure charging valve and velocity measuring module, the control
Device module processed can according to the rotary braking information of the rotary control valve and the velocity of rotation information of the velocity measuring module,
By switching the working condition of the pressure charging valve, the first working oil chamber or the second working oil chamber and the institute of the rotary motor are controlled
The connection of pressurization rod chamber or cutting of charged piston cylinder are stated, to realize that the quick accurate positioning of hydraulic gyration mechanism is braked and had
Effect prevents the reversed backswing phenomenon being quickly accurately positioned in braking process.
In the above-mentioned technical solutions, it is preferable that be provided with manual release ball valve on the oil circuit of the accumulator and safety is overflow
Valve is flowed, the manual release ball valve is used to carry out the oil circuit manual release, and the safety overflow valve is used to set the oil circuit
Safe pressure；Check valve, the entrance of the check valve and the pressure are provided between the pressure oil-source and the accumulator
Oil sources connection, the outlet of the check valve is connected to the accumulator.
In the above-mentioned technical solutions, it is preferable that the pressure charging valve is 3-position-3-way solenoid directional control valve, the of the pressure charging valve
First working oil chamber of the rotary motor is connected to by one working condition with the pressurization rod chamber of the charged piston cylinder, second
The pressurization rod chamber of working oil chamber and the charged piston cylinder is cut off；The second working condition of the pressure charging valve is by the revolution
Second working oil chamber of motor is connected to the pressurization rod chamber of the charged piston cylinder, the first working oil chamber and the charged piston
The pressurization rod chamber of cylinder is cut off；The middle position state of the pressure charging valve works the first working oil chamber of the rotary motor and second
Oil pocket is all cut off with the pressurization rod chamber of the charged piston cylinder.
In the above-mentioned technical solutions, it is preferable that the rotary control valve is three-position four-way electromagnetic directional valve, the revolution control
First working condition and second working condition of valve processed control the rotary motor respectively and the swing mechanism are driven to carry out
It rotates clockwise and anticlockwise；The rotary control valve controls the rotary motor and carries out positioning braking in middle position state.
In the above-mentioned technical solutions, it is preferable that the controller module is in the positioning braking process of hydraulic gyration mechanism
It is stood according to the rotary control valve by the brake signal that first working condition or second working condition are switched to middle position state
The pressure charging valve is controlled by the pressurization rod chamber of the back pressure of rotary motor braking oil pocket and the charged piston cylinder in short-term
Connection is pressurized to highest oil pressure, so that the braking moment of rotary motor mechanism reaches maximum, realizes fast braking；Work as hydraulic gyration
The rotational speed of mechanism is quickly positioned braking to zero, when counter-rotational backswing phenomenon will occur, the controller module
The velocity of rotation of the swing mechanism detected immediately according to the velocity measuring module drops to about 0 as signal to control
The pressure charging valve is made also to connect another working oil chamber of the rotary motor and the pressurization rod chamber of the charged piston cylinder in short-term
It is logical to be pressurized to highest oil pressure, so that the oil pressure of 2 working oil chambers of the rotary motor poor moment is reduced to close to zero, it is described
The counter-rotational driving moment of rotary motor substantially reduces, to realize the quick accurate positioning braking of hydraulic gyration mechanism simultaneously
Effectively prevent the reversed backswing phenomenon being quickly accurately positioned in braking process.
The significant beneficial effect that technical solution provided by the present invention has：
During engineering machinery carries out revolution positioning braking, braked when hydraulic gyration mechanism is switched to by operating status
Starting point, the pressure charging valve is immediately controlled by the back pressure of rotary motor braking oil pocket and the increasing in the controller module
The pressurization rod chamber of pressure piston cylinder is connected in short-term, and the charged piston cylinder is for increasing the oil liquid pressure of the accumulator
Pressurization, so that the oil pressure of rotary motor back pressure braking oil pocket is set as highest immediately, rotary braking torque reaches maximum, has
Effect realizes the quick positioning braking of rotary motor mechanism；
When the velocity of rotation of hydraulic gyration mechanism by fast braking to zero, counter-rotational backswing phenomenon will occur when, it is described
The velocity of rotation that velocity measuring module is immediately detected the swing mechanism drops to about 0, and passes to as signal
The controller module, signal controls rapidly another work of the pressure charging valve by the rotary motor to the controller module according to this
Make oil pocket to be connected in short-term with the pressurization rod chamber of the charged piston cylinder, the oil pressure of another working oil chamber of rotary motor is also stood
It is set as highest, the oil pressure of 2 working oil chambers of the rotary motor poor moment is reduced to close to zero, so that the revolution
Mechanism just significantly loses counter-rotational driving moment in the starting point that reversed backswing will occur, to realize hydraulic
The quick of swing mechanism is accurately positioned the reversed backswing phenomenon for braking and effectively preventing quickly to be accurately positioned in braking process.
Detailed description of the invention
Fig. 1 is that the velocity feedback formula of hydraulic gyration mechanism of the present invention is accurately positioned the structure letter of anti-swing control device
Figure.
Fig. 2 is that the velocity feedback formula of hydraulic gyration mechanism of the present invention is accurately positioned the controller chassis of anti-swing control device
Figure.
Corresponding relationship in figure between appended drawing reference and component names is：
1- pressure oil-source；
2- rotary control valve, 201- high pressure oil oil inlet, the first actuator port of 202-, the second actuator port of 203-, 204- oil liquid
Oil return opening, first working condition of 21-, 22- second working condition, position state in 23-；
3- charged piston cylinder, 31- are pressurized rodless cavity, and 32- is pressurized rod chamber；
4- pressure charging valve, 401- supercharging oil inlet, the first actuator port of 402-, the second actuator port of 403-, first work shape of 41-
State, 42- second working condition, position state in 43-；
5- rotary motor, the first working oil chamber of 51-, the second working oil chamber of 52-；
6- swing mechanism；
7- velocity measuring module；
8- controller module；
9- accumulator；
The manual release ball valve of 10-；
11- safety overflow valve；
12- check valve.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other modes described herein are different from, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
Fig. 1 is that the velocity feedback formula of hydraulic gyration mechanism of the present invention is accurately positioned the structure letter of anti-swing control device
Figure；Fig. 2 is that the velocity feedback formula of hydraulic gyration mechanism of the present invention is accurately positioned the control block diagram of anti-swing control device.
As shown in Figure 1, the velocity feedback formula of the hydraulic gyration mechanism of embodiment according to the present invention is accurately positioned anti-sway control
Device processed, including：Pressure oil-source 1, rotary control valve 2, charged piston cylinder 3, pressure charging valve 4, rotary motor 5, swing mechanism 6, speed
Spend detection module 7, controller module 8 and accumulator 9 etc.；The high pressure oil that pressure oil-source 1 provides is connected to the height of rotary control valve 2
The oil liquid oil return opening 204 of pressure oil oil inlet 201, rotary control valve 2 is connected to oil return line, the first working oil of rotary control valve 2
Mouth 202 is connected to the first working oil chamber 51 of rotary motor 5, the second actuator port 203 and rotary motor 5 of rotary control valve 2
The second working oil chamber 52 connection；The high pressure oil that pressure oil-source 1 provides also is connected to accumulator 9, accumulator 9 and charged piston cylinder
3 pressurization rodless cavity 31 is connected to, and the pressurization rod chamber 32 of charged piston cylinder 3 is connected to the supercharging oil inlet 401 of pressure charging valve 4, is increased
First actuator port 402 of pressure valve 4 is connected to the first working oil chamber 51 of rotary motor 5, the second actuator port of pressure charging valve 4
403 are connected to the second working oil chamber 52 of rotary motor 5, and pressure charging valve 4 is used for the first working oil chamber 51 or the second of rotary motor 5
Working oil chamber 52 is connected to or cuts off with the pressurization rod chamber 32 of charged piston cylinder 3, and charged piston cylinder 3 is used for the oil of accumulator 9
Hydraulic coupling carries out raising pressurization；Rotary motor 5 is connect with swing mechanism 6, and driving swing mechanism 6 carries out every operation, speed inspection
Survey the velocity of rotation that module 7 is used to detect swing mechanism 6；Controller module 8 and rotary control valve 2, pressure charging valve 4 and velocity measuring
Module 7 connects, and the rotary braking information to swing mechanism 6 is passed to controller module 8, velocity measuring mould by rotary control valve 2
The velocity of rotation information of swing mechanism 6 is passed to controller module 8 by block 7, and controller module 8 can be according to rotary control valve 2
Rotary braking information and velocity measuring module 7 velocity of rotation information, by switch pressure charging valve 4 working condition, to control
The first working oil chamber 51 or the second working oil chamber 52 of rotary motor 5 processed be connected to the pressurization rod chamber 32 of charged piston cylinder 3 or
Cutting, the final quick accurate positioning for realizing hydraulic gyration mechanism brake and effectively prevent quickly being accurately positioned in braking process
Reversed backswing phenomenon.
In the present embodiment, it is provided with manual release ball valve 10 and safety overflow valve 11 on the oil circuit of accumulator 9, unloads manually
Pressure ball valve 10 is used to carry out the oil circuit manual release, and safety overflow valve 11 is used to set the safe pressure of the oil circuit（This implementation
Example is 10MPa）；Check valve 12 is provided between pressure oil-source 1 and accumulator 9, the entrance and pressure oil-source 1 of check valve 12 connect
Logical, the outlet of check valve 12 is connected to accumulator 9.
In the present embodiment, pressure charging valve 4 is the 3-position-3-way solenoid directional control valve of O-shaped function, first work of pressure charging valve 4
First working oil chamber 51 of rotary motor 5 is connected to by state 41 with the pressurization rod chamber 32 of charged piston cylinder 3, the second working oil chamber
52 cut off with the pressurization rod chamber 32 of charged piston cylinder 3；The second working condition 42 of pressure charging valve 4 is by the second of rotary motor 5
Working oil chamber 52 is connected to the pressurization rod chamber 32 of charged piston cylinder 3, the pressurization of the first working oil chamber 51 and charged piston cylinder 3 has
Rod cavity 32 is cut off；The middle position state 43 of pressure charging valve 4 by the first working oil chamber 51 of rotary motor 5 and the second working oil chamber 52 all with
The pressurization rod chamber 32 of charged piston cylinder 3 is cut off.
In the present embodiment, rotary control valve 2 is the three-position four-way electromagnetic directional valve of O-shaped function, when rotary control valve 2 exists
When first working condition 21, the high pressure oil that pressure oil-source 1 provides enters the first working oil chamber 51 driving revolution of rotary motor 5
Mechanism 6 is rotated clockwise；When rotary control valve 2 is in second working condition 22, high pressure oil that pressure oil-source 1 provides into
The the second working oil chamber 52 driving swing mechanism 6 for entering rotary motor 5 is rotated counterclockwise；When rotary control valve 2 is in middle position shape
When state 23, the oil circuit of two working oil chambers of rotary motor 5 is closed, and rotary motor 5 drives swing mechanism 6 to be braked.
In the present embodiment, charged piston cylinder 3 is using pressurization rodless cavity 31 and to be pressurized the work of rod chamber 32 between the two
It is not pressurized not etc. with area, is pressurized calculation formula：
P31×A31=P32×A32
In formula：P31For the pressure value for being pressurized rodless cavity 31；A31For the active area for being pressurized rodless cavity 31；P32To be pressurized rod chamber
32 pressure value；A32For the active area for being pressurized rod chamber 32.
It is pressurized the active area A of rod chamber 3232Less than the active area A of pressurization rodless cavity 3131, have so as to cause pressurization
The pressure value P of rod cavity 3232Greater than the pressure value P of pressurization rodless cavity 3131, and being pressurized rodless cavity 31 is connected to accumulator 9, i.e.,
The pressurization rod chamber 32 of charged piston cylinder 3 can be realized the pressurization to 8 oil liquid pressure of accumulator.The practical pressurization of charged piston cylinder 3
Size depend on pressurization rodless cavity 31 and be pressurized rod chamber 32 active area ratio A31/ A32（The present embodiment charged piston
The A of cylinder 331/ A32Be 3/1, the oil liquid pressure of accumulator 9 can be amplified to 3 times, due to accumulator 9 oil liquid pressure by
Safety overflow valve 11 is set as 10MPa, then the pressurized oil liquid pressure of pressurization rod chamber 32 of charged piston cylinder 3 reaches 30MPa）.
In the present embodiment, it is positioned in the state that rotary motor 5 drives swing mechanism 6 to rotate in the clockwise direction
When braking, the second working oil chamber 52 of rotary motor 5 is back pressure oil pocket；When rotary motor 5 drives swing mechanism 6 in side counterclockwise
When carrying out positioning braking in the state of to rotation, the first working oil chamber 51 of rotary motor 5 is back pressure oil pocket.
In the present embodiment, speed when only carrying out rotary braking under the state that rotates clockwise with hydraulic gyration mechanism is anti-
Feedback formula is described in detail for being accurately positioned anti-swing control process, but the present invention is not limited thereto, and the present invention can be used for
Hydraulic gyration mechanism carries out positioning braking anti-swing control under rotary state in any direction.
When rotary control valve 2 is in first working condition 21, pressure charging valve 4 is in middle position state 43, pressure oil-source 1
High pressure oil enters the first of rotary motor 5 by the high pressure oil oil inlet 201 and the first actuator port 202 of rotary control valve 2
Working oil chamber 51 drives swing mechanism 6 to carry out rotationally clockwise, and the oil liquid of the second working oil chamber 52 of rotary motor 5 passes through
The second actuator port 203 and oil liquid oil return opening 204 of rotary control valve 2 complete oil return.
When rotary motor 5 drives swing mechanism 6 to carry out positioning braking, rotary control valve 2 is by first working condition 21
It is switched to middle position state 23, the first actuator port 202 and the second actuator port 203 are all cut off, the first work of rotary motor 4
Oil pocket 51 and the second working oil chamber 52 are all respectively formed closing chamber, but swing mechanism 6 also will continue to clockwise due to inertia
Rotation, swing mechanism 6 carry out positioning braking and need first to generate reversely（Counterclockwise）Braking moment just can be carried out braking, make
Kinetic moment size depends on the second working oil chamber 52 of rotary motor 5（That is back pressure oil pocket）Oil pressure size.Therefore, controller mould
Block 8 is at this time（I.e. hydraulic gyration mechanism is switched to the starting point for carrying out positioning braking by operating status）Pressure charging valve 4 is immediately controlled to cut
Change to 42 a period of time of second working condition（The present embodiment is about 0.12 second）, by the second working oil chamber 52 of rotary motor 5
（That is back pressure oil pocket）Be connected in short-term with the pressurization rod chamber 32 of charged piston cylinder 3, due to charged piston cylinder 3 to accumulator 9 into
Pressurization is gone（The pressurized oil liquid pressure of pressurization rod chamber 32 of charged piston cylinder 3 is about 30MPa in the present embodiment）, to make
Obtain the second working oil chamber 52 of rotary motor 5（That is back pressure oil pocket）Oil pressure be set as peak immediately（The present embodiment is about
30MPa）, the braking moment moment for turning round positioning reached maximum, effectively realizes the quick positioning braking of hydraulic gyration mechanism.
When the velocity of rotation of swing mechanism 6 is reduced to zero by fast braking, due to the second work of rotary motor 5 at this time
The oil pressure of oil pocket 52 is very high（The present embodiment is about 30MPa）, the oil pressure of the first working oil chamber 51 it is lower, i.e. the of rotary motor 5
Oil pressure difference between two working oil chambers 52 and the first working oil chamber 51 is very big, swing mechanism 6 will can oil pressure difference produced by
Opposing torque under the action of occur rotating backward trend；And at this moment, the velocity measuring module 7 in the present invention quickly detects
The velocity of rotation of swing mechanism 6 has decreased to about 0, and passes to controller module 8, controller module 8 as signal
Signal controls rapidly pressure charging valve 4 and is switched to 41 a period of time of first working condition according to this（The present embodiment is about 0.10 second）, will
First working oil chamber 51 of rotary motor 5 is connected in short-term with the pressurization rod chamber 32 of charged piston cylinder 3, and the first of rotary motor 5
The oil pressure of working oil chamber 51 is also set as peak immediately（The present embodiment is about 30MPa）, the second working oil chamber of rotary motor 5
52 and first oil pressure poor moment of working oil chamber 51 be reduced to close to zero（I.e. also moment subtracts opposing torque caused by oil pressure difference
It is small to arrive close to zero）, so that the swing mechanism 6 just significantly loses reversely in the starting point that reversed backswing will occur
The amplitude of the driving moment of rotation, reversed backswing is significantly suppressed；Process according to this, as shown in Fig. 2, carrying out velocity feedback formula essence
Determine position anti-swing control 1 time or multiple（The present embodiment is 1 time）, then it is quickly accurate to may make that the hydraulic gyration mechanism can be realized
Positioning brakes and can effectively prevent the reversed backswing phenomenon being quickly accurately positioned in braking process.
It is merely a preferred embodiment of the present invention, is not intended to restrict the invention, come for those skilled in the art
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device, which is characterized in that including：Pressure oil
Source (1), rotary control valve (2), charged piston cylinder (3), pressure charging valve (4), rotary motor (5), swing mechanism (6), velocity measuring
Module (7), controller module (8) and accumulator (9)；
The high pressure oil that the pressure oil-source (1) provides is connected to the high pressure oil oil inlet (201) of the rotary control valve (2), institute
The oil liquid oil return opening (204) for stating rotary control valve (2) is connected to oil return line, 2 actuator ports of the rotary control valve (2) with
2 working oil chambers of the rotary motor (5) are respectively communicated with；
The high pressure oil that the pressure oil-source (1) provides also is connected to the accumulator (9), the accumulator (9) and the pressurization
The pressurization rodless cavity (31) of piston cylinder (3) is connected to, the pressurization rod chamber (32) and the pressure charging valve of the charged piston cylinder (3)
(4) supercharging oil inlet (401) connection, 2 actuator ports of the pressure charging valve (4) also with 2 works of the rotary motor (5)
It is respectively communicated with as oil pocket, the pressure charging valve (4) is used for first working oil chamber (51) or the second working oil of the rotary motor (5)
Chamber (52) is connected to or cuts off with the pressurization rod chamber (32) of the charged piston cylinder (3), and the charged piston cylinder (3) is used for institute
The oil liquid pressure for stating accumulator (9) carries out raising pressurization；
The rotary motor (5) connect with the swing mechanism (6), and the swing mechanism (6) is driven to carry out every operation, described
Velocity measuring module (7) is used to detect the velocity of rotation of the swing mechanism (6)；
The controller module (8) connect with the rotary control valve (2), pressure charging valve (4) and velocity measuring module (7), described
Controller module (8) can be according to the rotary braking information of the rotary control valve (2) and turning for the velocity measuring module (7)
Dynamic velocity information controls the first working oil chamber of the rotary motor (5) by switching the working condition of the pressure charging valve (4)
(51) or the second working oil chamber (52) is connected to or cuts off with the pressurization rod chamber (32) of the charged piston cylinder (3), to realize
Quick be accurately positioned of hydraulic gyration mechanism brakes and effectively prevent the reversed backswing phenomenon being quickly accurately positioned in braking process.
2. the velocity feedback formula of hydraulic gyration mechanism according to claim 1 is accurately positioned anti-swing control device, feature
It is, manual release ball valve (10) and safety overflow valve (11) is provided on the oil circuit of the accumulator (9)；The pressure oil-source
(1) it is provided between the accumulator (9) check valve (12), the entrance of the check valve (12) and the pressure oil-source (1)
Connection, the outlet of the check valve (12) is connected to the accumulator (9).
3. according to claim 1, the velocity feedback formula of hydraulic gyration mechanism as claimed in claim 2 is accurately positioned anti-swing control dress
It sets, which is characterized in that the pressure charging valve (4) is 3-position-3-way solenoid directional control valve, first working condition of the pressure charging valve (4)
(41) even by the first working oil chamber (51) of the rotary motor (5) and the pressurization rod chamber (32) of the charged piston cylinder (3)
Logical, the second working oil chamber (52) and the pressurization rod chamber (32) of the charged piston cylinder (3) are cut off；The of the pressure charging valve (4)
Two working conditions (42) are by the pressurization of the second working oil chamber (52) of the rotary motor (5) and the charged piston cylinder (3)
The pressurization rod chamber (32) of rod chamber (32) connection, the first working oil chamber (51) and the charged piston cylinder (3) is cut off；The increasing
The middle position state (43) of pressure valve (4) by the first working oil chamber (51) of the rotary motor (5) and the second working oil chamber (52) all
It is cut off with the pressurization rod chamber (32) of the charged piston cylinder (3).
4. according to claim 1, the velocity feedback formula of hydraulic gyration mechanism as claimed in claim 2 is accurately positioned anti-swing control dress
Set, which is characterized in that the rotary control valve (2) be three-position four-way electromagnetic directional valve, first of the rotary control valve (2)
Working condition (21) and second working condition (22) control respectively the rotary motor (5) drive the swing mechanism (6) into
Row rotates clockwise and anticlockwise；The rotary control valve (2) at middle position state (23), control the rotary motor (5) into
Row positioning braking.
5. the velocity feedback formula of hydraulic gyration mechanism a kind of is accurately positioned anti-swing control method, which is characterized in that contain having
Pressure oil-source (1), rotary control valve (2), charged piston cylinder (3), pressure charging valve (4), rotary motor (5), swing mechanism (6), speed
The velocity feedback formula for spending detection module (7), controller module (8) and accumulator (9) is accurately positioned antiswing device；The pressure oil
The high pressure oil that source (1) provides is connected to the high pressure oil oil inlet (201) of the rotary control valve (2), the rotary control valve (2)
Oil liquid oil return opening (204) be connected to oil return line, 2 actuator ports of the rotary control valve (2) and the rotary motor (5)
2 working oil chambers be respectively communicated with；The high pressure oil that the pressure oil-source (1) provides also is connected to the accumulator (9), the storage
Energy device (9) is connected to the pressurization rodless cavity (31) of the charged piston cylinder (3), the pressurization rod chamber of the charged piston cylinder (3)
(32) be connected to the supercharging oil inlet (401) of the pressure charging valve (4), 2 actuator ports of the pressure charging valve (4) also with described time
2 working oil chambers for turning motor (5) are respectively communicated with；The rotary motor (5) connect with the swing mechanism (6), described in driving
Swing mechanism (6) carries out every operation, and the velocity measuring module (7) is used to detect the velocity of rotation of the swing mechanism (6)；
The controller module (8) connect with the rotary control valve (2), pressure charging valve (4) and velocity measuring module (7)；
The velocity feedback formula is accurately positioned anti-swing control method：
Carried out in positioning braking process in hydraulic gyration mechanism, the rotary control valve (2) by first working condition (21) or
When second working condition (22) is switched to middle position state (23), the pressure charging valve (4) are immediately controlled in the controller module (8)
The back pressure braking oil pocket of the rotary motor (5) is connected in short-term with the pressurization rod chamber (32) of the charged piston cylinder (3), institute
Charged piston cylinder (3) are stated for the oil liquid pressure of the accumulator (9) to be carried out raising pressurization, so that the rotary motor (5)
The oil pressure of back pressure braking oil pocket is set as highest immediately, and braking moment reaches maximum, realizes fast braking；When hydraulic gyration mechanism
Velocity of rotation by fast braking to zero, counter-rotational backswing phenomenon will occur when, the velocity measuring module (7) is immediately
It detects that the velocity of rotation of the swing mechanism (6) drops to about 0, and passes to the controller module as signal
(8), signal controls rapidly the pressure charging valve (4) for another work of the rotary motor (5) to the controller module (8) according to this
Oil pocket is connected in short-term with the pressurization rod chamber (32) of the charged piston cylinder (2), another working oil chamber of the rotary motor (5)
Oil pressure is also set as highest immediately, and the oil pressure of 2 working oil chambers of the rotary motor (5) poor moment is reduced to close to zero,
So that the swing mechanism (6) just significantly loses counter-rotational driving force in the starting point that reversed backswing will occur
Square, so that the quick accurate positioning for realizing hydraulic gyration mechanism brakes and effectively prevents quickly being accurately positioned in braking process
Reversed backswing phenomenon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810984804.8A CN108825596A (en) | 2018-08-28 | 2018-08-28 | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810984804.8A CN108825596A (en) | 2018-08-28 | 2018-08-28 | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108825596A true CN108825596A (en) | 2018-11-16 |
Family
ID=64151578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810984804.8A Pending CN108825596A (en) | 2018-08-28 | 2018-08-28 | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108825596A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0771415A (en) * | 1993-08-30 | 1995-03-17 | Kawasaki Heavy Ind Ltd | Control circuit for hydraulic motor |
| JPH1078003A (en) * | 1996-09-04 | 1998-03-24 | Opton Co Ltd | Hydraulic device |
| CN2493767Y (en) * | 2001-07-19 | 2002-05-29 | 西安优势铁路新技术有限责任公司 | Electric controlled hydraulic adjustable speed reducer |
| JP2003021104A (en) * | 2001-07-10 | 2003-01-24 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Hydraulic cylinder driving device for electric closing circuit |
| CN2560782Y (en) * | 2002-08-23 | 2003-07-16 | 黄造林 | Combined antiskid and antivibrating hydraulic valve |
| CN101793042A (en) * | 2009-12-31 | 2010-08-04 | 福田雷沃国际重工股份有限公司 | Hydraulic loop device used for coordinating machine body rotation and movable arm swinging of digging machine |
| CN202326493U (en) * | 2011-11-19 | 2012-07-11 | 襄阳忠良工程机械有限责任公司 | Oil supplementation buffer valve |
| US20120308404A1 (en) * | 2010-03-22 | 2012-12-06 | Hydac Technology Gmbh | Hydrostatic hybrid drive system |
| CN103615443A (en) * | 2013-12-03 | 2014-03-05 | 三一汽车制造有限公司 | Energy recovery hydraulic system and engineering machine |
| CN103703257A (en) * | 2011-06-28 | 2014-04-02 | 卡特彼勒公司 | Hydraulic control system having swing motor energy recovery |
| CN105804147A (en) * | 2016-03-21 | 2016-07-27 | 山东理工大学 | Energy-saving system for revolving platform of hydraulic excavator |
| CN107420360A (en) * | 2017-06-29 | 2017-12-01 | 长沙学院 | The pressure-releasing type anti-swing control device and method of engineering machinery rotary braking |
| CN107939755A (en) * | 2017-12-27 | 2018-04-20 | 南京林业大学 | Swivel coupling hydraulic loaded pressure charging system |
| CN209025922U (en) * | 2018-08-28 | 2019-06-25 | 长沙学院 | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device |
-
2018
- 2018-08-28 CN CN201810984804.8A patent/CN108825596A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0771415A (en) * | 1993-08-30 | 1995-03-17 | Kawasaki Heavy Ind Ltd | Control circuit for hydraulic motor |
| JPH1078003A (en) * | 1996-09-04 | 1998-03-24 | Opton Co Ltd | Hydraulic device |
| JP2003021104A (en) * | 2001-07-10 | 2003-01-24 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Hydraulic cylinder driving device for electric closing circuit |
| CN2493767Y (en) * | 2001-07-19 | 2002-05-29 | 西安优势铁路新技术有限责任公司 | Electric controlled hydraulic adjustable speed reducer |
| CN2560782Y (en) * | 2002-08-23 | 2003-07-16 | 黄造林 | Combined antiskid and antivibrating hydraulic valve |
| CN101793042A (en) * | 2009-12-31 | 2010-08-04 | 福田雷沃国际重工股份有限公司 | Hydraulic loop device used for coordinating machine body rotation and movable arm swinging of digging machine |
| US20120308404A1 (en) * | 2010-03-22 | 2012-12-06 | Hydac Technology Gmbh | Hydrostatic hybrid drive system |
| CN103703257A (en) * | 2011-06-28 | 2014-04-02 | 卡特彼勒公司 | Hydraulic control system having swing motor energy recovery |
| CN202326493U (en) * | 2011-11-19 | 2012-07-11 | 襄阳忠良工程机械有限责任公司 | Oil supplementation buffer valve |
| CN103615443A (en) * | 2013-12-03 | 2014-03-05 | 三一汽车制造有限公司 | Energy recovery hydraulic system and engineering machine |
| CN105804147A (en) * | 2016-03-21 | 2016-07-27 | 山东理工大学 | Energy-saving system for revolving platform of hydraulic excavator |
| CN107420360A (en) * | 2017-06-29 | 2017-12-01 | 长沙学院 | The pressure-releasing type anti-swing control device and method of engineering machinery rotary braking |
| CN107939755A (en) * | 2017-12-27 | 2018-04-20 | 南京林业大学 | Swivel coupling hydraulic loaded pressure charging system |
| CN209025922U (en) * | 2018-08-28 | 2019-06-25 | 长沙学院 | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device |
Non-Patent Citations (2)
| Title |
|---|
| 初长祥, 刘剑: "液压挖掘机的回转控制", 工程机械与维修, no. 11 * |
| 曹昌勇;王洪新;贾伟建;: "交换工作台液压伺服系统设计", 齐齐哈尔大学学报(自然科学版), no. 01 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106536081B (en) | Stamping device and method for stamped workpieces | |
| CN109263618A (en) | A kind of stopping brake control system for the vehicle slowing down brake mill damage | |
| CN105485066A (en) | Electro-hydraulic hybrid power drive system of tunneling machine and control method | |
| CN209025922U (en) | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device | |
| CN101865175A (en) | Oscillating cylinder with built-in magnetorheological fluid brake | |
| CN103924626A (en) | Energy-saving rotary table drive system and drive control method of electric drive hydraulic excavator | |
| CN105438140B (en) | Utilize the track train electro-hydraulic brake system and method for vehicle inertia energy supply | |
| CN108895049A (en) | A kind of Feedback Oil accurate positioning stabilization control device and method of hydraulic cylinder | |
| CN206608392U (en) | A kind of Antisway Control System during engineering machinery rotary braking | |
| CN108825596A (en) | The velocity feedback formula of hydraulic gyration mechanism is accurately positioned anti-swing control device and method | |
| CN109027063B (en) | Variable-pressure yaw brake hydraulic system of wind generating set and control method thereof | |
| CN108799218A (en) | The booster-type fast braking anti-swing control device and method of hydraulic rotary motor | |
| CN107091259B (en) | Hydraulic cylinder positions the pressure-releasing type stabilization control device and method in braking process | |
| CN208997055U (en) | A kind of Feedback Oil accurate positioning stabilization control device of hydraulic cylinder | |
| CN103397677A (en) | Hydraulic excavator movable arm loop based on hydraulic transformer and control method thereof | |
| CN107420360A (en) | The pressure-releasing type anti-swing control device and method of engineering machinery rotary braking | |
| CN211145188U (en) | Operation control and counter-torque release device with hydraulic brake turntable | |
| CN107152425B (en) | Pressure-releasing type anti-swing control device and method in revolution positioning braking process | |
| CN107061389B (en) | The Antisway Control System and method of engineering machinery rotary braking | |
| CN108843659A (en) | The booster-type fast braking stabilization control device and method of hydraulic cylinder actuators | |
| CN107061390B (en) | Antisway Control System and method during a kind of engineering machinery rotary braking | |
| CN201173221Y (en) | Electrohydraulic servo system power-off protection device | |
| CN206617378U (en) | The Antisway Control System of engineering machinery rotary braking | |
| CN207145373U (en) | A kind of oil cylinder decision-making system in place | |
| CN107061423B (en) | A kind of hydraulic cylinder braking stabilization control device and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |