CN110685968B

CN110685968B - Control valve group, actuating mechanism and actuating system

Info

Publication number: CN110685968B
Application number: CN201910986860.XA
Authority: CN
Inventors: 景军清; 黄飞; 肖刚
Original assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd; Jiangsu Advanced Construction Machinery Innovation Center Ltd
Current assignee: Jiangsu Xugong Construction Machinery Research Institute Co ltd; Jiangsu Advanced Construction Machinery Innovation Center Ltd
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2021-05-25
Anticipated expiration: 2039-10-17
Also published as: CN110685968A

Abstract

The invention relates to a control valve group, an actuating mechanism and an actuating system. Wherein, the control valve group includes: the valve body is provided with an oil inlet, an oil return port and a working oil port; the first oil inlet valve, the second oil inlet valve, the first oil return valve, the second oil return valve, the compensating valve and the reversing valve are arranged in the valve body; the first oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the first working oil port; the second oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the second working oil port; the first oil return valve is configured to selectively disconnect or communicate an oil path between the first working oil port and the oil return port; the second oil return valve is configured to selectively disconnect or communicate an oil path between the second working oil port and the oil return port; the compensating valve is positioned on an oil path between the oil inlet and the first and second oil inlet valves; the selector valve is configured to selectively direct a portion of the hydraulic oil flowing through the first or second oil feed valve to the first control chamber of the compensating valve. The invention is used for realizing the accurate control of oil inlet and outlet.

Description

Control valve group, actuating mechanism and actuating system

Technical Field

The invention relates to the technical field of hydraulic control, in particular to a control valve group, an actuating mechanism and an actuating system.

Background

The traditional hydraulic valve adopts a single valve core to control oil inlet and outlet of an oil cylinder or a hydraulic motor, and oil inlet flow or oil return back pressure of the oil cylinder or the motor cannot be independently and flexibly adjusted according to working conditions due to the fact that the oil inlet and outlet machines on the single valve core are fixedly connected together, so that the energy consumption loss of a system is large, and the control mode is inflexible.

Due to the existence of the hydraulic power, the actual displacement and the instruction displacement of the valve core generally have deviation under high pressure and high flow, and particularly when the displacement of the valve core needs to be accurately controlled under the conditions of high flow and high pressure of a system, the hydraulic power can cause poor control performance seriously.

In the correlation technique, some independent valve port control systems are provided with a pre-compensator, a shuttle valve is adopted to introduce load pressure into a compensation valve spring cavity, the flow regeneration function of the independent valve port cannot be realized in the mode, a valve core needs to be additionally added to independently perform the flow regeneration function, the system is complicated due to the fact that a valve core structure is added, the cost is increased, the structure cannot realize flow regeneration among a plurality of actuating mechanisms when the structure is more important, and the energy-saving space is limited. Meanwhile, the independent port valves basically adopt two-way electric proportional valves, the hydrodynamic interference resistance under high pressure and large flow is extremely poor, and the control precision is low.

Disclosure of Invention

One of the objectives of the present invention is to provide a control valve assembly, an actuator and an actuator system, which are used to alleviate the problem of low control accuracy.

Some embodiments of the present invention provide a control valve assembly, comprising:

the valve body is provided with an oil inlet, an oil return port and a working oil port, wherein the working oil port comprises a first working oil port and a second working oil port;

the first oil inlet valve is arranged in the valve body; the first oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the first working oil port;

the second oil inlet valve is arranged in the valve body; the second oil inlet valve is configured to selectively disconnect or communicate an oil path between the oil inlet and the second working oil port;

the first oil return valve is arranged in the valve body; the first oil return valve is configured to selectively disconnect or communicate an oil path between the first working oil port and the oil return port;

the second oil return valve is arranged in the valve body; the second oil return valve is configured to selectively disconnect or communicate an oil path between the second working oil port and the oil return port;

the compensating valve is arranged in the valve body, is positioned on an oil way between the oil inlet and the first oil inlet valve and is also positioned on an oil way between the oil inlet and the second oil inlet valve; and

and a direction valve provided in the valve body to connect the first oil feed valve and the second oil feed valve, the direction valve being configured to selectively introduce a portion of the hydraulic oil flowing through the first oil feed valve or the second oil feed valve to the first control chamber of the compensating valve.

In some embodiments, the control valve group comprises a first oil path, and a first end of the first oil path is connected with the first working oil port; the second end of the first oil way is connected with the first oil inlet valve and the first oil return valve;

the control valve group is configured to include a first operating condition and a second operating condition;

the first oil feed valve is configured to: under a first working condition, guiding the hydraulic oil flowing out of the compensating valve to the first oil way, and under a second working condition, guiding out part of the hydraulic oil in the first oil way to be converged with the hydraulic oil flowing out of the compensating valve;

the first oil return valve is configured to: disconnecting an oil way between the first oil way and the oil return port under a first working condition; and guiding the hydraulic oil in the first oil way to the oil return port under a second working condition.

In some embodiments, the control valve group comprises a second oil path, and a first end of the second oil path is connected with the second working oil port; the second end of the second oil way is connected with the second oil inlet valve and the second oil return valve;

the second oil feed valve is configured to: under a second working condition, part of hydraulic oil in the second oil way is led out and is merged with the hydraulic oil flowing out through the compensating valve; under a first working condition, the hydraulic oil flowing out of the compensating valve is guided to the second oil way;

the second scavenge valve is configured to: guiding the hydraulic oil in the second oil way to the oil return port under a second working condition; and disconnecting the oil path between the second oil path and the oil return port under the first working condition.

In some embodiments, the compensation valve comprises a first oil port and a second oil port, the first oil port is connected with the oil inlet, and the second oil port is connected with the first oil inlet valve and the second oil inlet valve; the compensating valve comprises a first station, a second station and a first station, wherein the first oil port is communicated with the second oil port; the first oil port is disconnected with the second oil port;

the first control cavity of the compensation valve is a cavity with a spring;

and the second oil port of the compensating valve is also communicated with a second control cavity without a spring through an oil way.

In some embodiments, the reversing valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the first oil inlet valve, the second oil port is connected with the first control cavity of the compensation valve, and the third oil port is connected with the second oil inlet valve;

the reversing valve comprises a first station and a second station, the reversing valve is arranged at the first station, the first oil port is communicated with the second oil port, and the third oil port is closed; the reversing valve is arranged at the second station, the first oil port is closed, and the second oil port is communicated with the third oil port.

In some embodiments, the first and second inlet valves each comprise a main inlet valve;

the oil inlet main valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the compensation valve, the second oil port is connected with the working oil port, and the third oil port is connected with the reversing valve;

the oil inlet main valve comprises a first station and a second station; the oil inlet main valve is arranged at a first station, the first oil port is communicated with the third oil port, a damping is arranged on an oil way communicated with the first oil port and the third oil port, and the second oil port is closed; the oil inlet main valve is arranged at a second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil path communicated with the first oil port and the third oil port.

In some embodiments, the first and second return valves each comprise a main return valve;

the oil return main valve comprises a first oil port and a second oil port, the first oil port is connected with the working oil port, and the second oil port is connected with the oil return port;

the oil return main valve comprises a first station and a second station; the oil return main valve is arranged at a first station, and the first oil port and the second oil port are cut off; the oil return main valve is arranged at a second station, and the first oil port is communicated with the second oil port.

In some embodiments, each of the first oil inlet valve, the second oil inlet valve, the first oil return valve, and the second oil return valve includes a main valve and a pilot valve, and a feedback spring is disposed between each main valve and its corresponding pilot valve, and a valve core of the main valve is configured to apply a force to the feedback spring during movement, so as to adjust movement of the valve core of the pilot valve through the feedback spring.

In some embodiments, the valve body is further provided with a pilot oil inlet and a pilot oil return;

the main valve comprises a first control chamber and a second control chamber, and a valve core of the main valve is configured to move under the action of the pressure difference of the first control chamber and the second control chamber;

the pilot oil inlet is communicated with the first control cavity of the main valve;

and the valve core of the pilot valve is configured to gradually communicate the second control cavity of the main valve with the oil path of the pilot oil inlet and disconnect the second control cavity of the main valve with the oil path of the pilot oil return port in the moving process, or gradually disconnect the second control cavity of the main valve with the oil path of the pilot oil inlet and communicate the second control cavity of the main valve with the oil path of the pilot oil return port.

In some embodiments, the main valve comprises a first station and a second station, the spool of the main valve configured to move under the effect of a pressure differential between the first control chamber and the second control chamber to place the main valve in the first station or the second station;

the main valve is positioned at a first station, and an oil way connected with the working oil port is disconnected; the main valve is located at a second station and is communicated with an oil way connected with the working oil port.

In some embodiments of the present invention, the,

the pilot valve comprises a first oil port, a second oil port, a third oil port, a first control cavity and a second control cavity, the first oil port is connected with the pilot oil inlet, and the second oil port is connected with the pilot oil return port; the third oil port is connected with the first control cavity and the second control cavity;

the pilot valve comprises a first station and a second station; the pilot valve is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve is arranged at a second station, the first oil port is closed, and the second oil port is communicated with the third oil port;

the valve core of the pilot valve is positioned at the end part of the first control cavity and connected with the feedback spring; the valve core of the pilot valve is positioned at the end part of the second control cavity and is connected with an electromagnetic control component;

the valve core of the pilot valve is configured to move under the cooperation of the first control cavity, the feedback spring, the second control cavity and the electromagnetic control component so as to control the pilot valve to be in a first working position or a second working position.

In some embodiments, the control valve assembly includes an overload compensation valve connecting the working port and the return port.

In some embodiments, the first oil inlet valve, the second oil inlet valve, the first oil return valve, the second oil return valve and the reversing valve are all solenoid-controlled valves.

Some embodiments of the present invention provide an actuator, which includes an actuator and the above-mentioned control valve set, wherein the actuator is respectively connected to the first working oil port and the second working oil port of the control valve set.

In some embodiments, the actuator comprises a cylinder or a motor.

Some embodiments of the present invention provide an actuator system comprising at least one actuator as described above.

In some embodiments, the at least one actuator includes a first actuator and a second actuator, and the first actuator includes a third oil passage connecting an oil inlet of the first actuator and a compensation valve of the first actuator, and also connecting an oil inlet of the second actuator.

Based on the technical scheme, the invention at least has the following beneficial effects:

in some embodiments, the first oil inlet valve, the second oil inlet valve, the first oil return valve and the second oil return valve are matched to realize accurate control of oil inlet and oil return, load feedback pressure is introduced according to actual conditions through the matching of the compensation valve and the reversing valve, and the problem of control logic errors caused by simply introducing oil return pressure with higher pressure is avoided.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic diagram of a control valve assembly according to some embodiments of the present invention;

fig. 2 is a schematic control diagram of an execution system according to some embodiments of the present invention.

Reference numerals in the drawings indicate:

1-a valve body; 11-an oil inlet; 12-oil return port; 13-a first working oil port; 14-a second working oil port; 15-a pilot oil inlet; 16-a pilot oil return port;

2-a first oil inlet valve; 21-a first oil-in main valve; 22-a first oil inlet pilot valve; 23-a first feedback spring;

3-a second oil inlet valve; 31-a second oil-in main valve; 32-a second oil inlet pilot valve; 33-a second feedback spring;

4-a first oil return valve; 41-a first oil return main valve; 42-a first oil return pilot valve; 43-a third feedback spring;

5-a second oil return valve; 51-a second main return valve; 52-a second oil return pilot valve; 53-fourth feedback spring;

6-a compensation valve;

7-a reversing valve;

81-a first oil passage; 82-a second oil path; 83-third oil passage;

91-a first overload compensation valve; 92-a second overload compensation valve;

100-oil cylinder;

201-a first sensor; 202-a second sensor; 203-a third sensor;

300-controller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.

As shown in fig. 1, some embodiments provide a control valve assembly including a valve body 1, a first oil inlet valve 2, a second oil inlet valve 3, a first oil return valve 4, a second oil return valve 5, a compensation valve 6, and a reversing valve 7.

The valve body 1 is provided with an oil inlet 11, an oil return port 12 and working oil ports, wherein the working oil ports comprise a first working oil port 13 and a second working oil port 14.

The first oil inlet valve 2 is arranged in the valve body 1; the first oil feed valve 2 is configured to selectively disconnect or communicate an oil path between the oil inlet 11 and the first working oil port 13.

The first oil inlet valve 2 comprises a first station and a second station, the first oil inlet valve 2 is arranged at the first station, and an oil path between the oil inlet 11 and the first working oil port 13 is disconnected; the first oil inlet valve 2 is arranged at the second station, and the oil path between the oil inlet 11 and the first working oil port 13 is communicated.

The second oil inlet valve 3 is arranged in the valve body 1; the second oil feed valve 3 is configured to selectively disconnect or communicate an oil path between the oil inlet 11 and the second working oil port 14.

The second oil inlet valve 3 comprises a first station and a second station, the second oil inlet valve 3 is arranged at the first station, and an oil path between the oil inlet 11 and the second working oil port 14 is disconnected; the second oil inlet valve 3 is arranged at the second station, and the oil path between the oil inlet 11 and the second working oil port 14 is communicated.

The first oil return valve 4 is arranged in the valve body 1; the first oil return valve 4 is configured to selectively disconnect or communicate an oil path between the first working oil port 13 and the oil return port 12.

The first oil return valve 4 comprises a first station and a second station, the first oil return valve 4 is arranged at the first station, and an oil path between the first working oil port 13 and the oil return port 12 is disconnected; the first oil return valve 4 is in the second station, and the oil path between the first working oil port 13 and the oil return port 12 is communicated.

The second oil return valve 5 is arranged in the valve body 1; the second scavenge valve 5 is configured to selectively disconnect or communicate the oil path between the second working oil port 14 and the scavenge port 12.

The second oil return valve 5 comprises a first station and a second station, the second oil return valve 5 is arranged at the first station, and an oil path between the second working oil port 14 and the oil return port 12 is disconnected; the second oil return valve 5 is in the second station, and the oil path between the second working oil port 14 and the oil return port 12 is communicated.

The compensating valve 6 is arranged in the valve body 1, and the compensating valve 6 is positioned on an oil path between the oil inlet 11 and the first oil inlet valve 2 and is also positioned on an oil path between the oil inlet 11 and the second oil inlet valve 3.

That is to say, the control valve group further comprises a main oil path, the oil inlet 11 is connected with the main oil path, the main oil path is connected with two branch oil paths in parallel, one branch oil path is connected with the first oil inlet valve 2, the other branch oil path is connected with the second oil inlet valve 3, and the compensating valve 6 is arranged on the main oil path.

The compensation valve 6 comprises a first control chamber and a second control chamber.

Optionally, the first control chamber of the compensation valve 6 is a control chamber provided with a spring. The second control chamber of the compensation valve 6 is a springless control chamber.

A direction valve 7 is provided in the valve body 1, the direction valve 7 connects the first oil feed valve 2 and the second oil feed valve 3, and the direction valve 7 is configured to selectively direct a portion of the hydraulic oil flowing through the first oil feed valve 2 or the second oil feed valve 3 to the first control chamber of the compensating valve 6.

The reversing valve 7 comprises a first station and a second station, and the reversing valve 7 guides part of hydraulic oil flowing out of the first oil inlet valve 2 to the first control cavity of the compensating valve 6 at the first station. The reversing valve 7 guides part of the hydraulic oil flowing out of the second oil inlet valve 3 to the first control cavity of the compensating valve 6 in the second working position.

The compensating valve 6 further comprises a feedback oil path, one end of the feedback oil path is connected with a main oil path between the compensating valve 6 and the first oil inlet valve 2 and the second oil inlet valve 3, and the other end of the feedback oil path is connected with a second control cavity of the compensating valve 6.

Some embodiments provide an actuator, which includes the control valve assembly of the above embodiments, and further includes an actuator, which is respectively connected to the first working oil port 13 and the second working oil port 14 of the control valve assembly.

Optionally, the actuator comprises a cylinder 100 or a motor.

In some embodiments, the actuator comprises a cylinder 100. The rodless cavity of the oil cylinder 100 is connected with a first working oil port 13 of the control valve group, and the rod cavity of the oil cylinder 100 is connected with a second working oil port 14 of the control valve group.

The operation of the control valve assembly will be described in detail below with reference to the extension of the rod of the cylinder 100:

and opening the first oil inlet valve 2, closing the first oil return valve 4, feeding oil into the rodless cavity of the oil cylinder 100, simultaneously opening the second oil return valve 5, closing the second oil inlet valve 3, and feeding oil into the rod cavity of the oil cylinder 100.

The method specifically comprises the following steps: after entering the compensating valve 6 through the oil inlet 11, the system flow enters the first working oil port 13 through the opened first oil inlet valve 2 (the first oil inlet valve 2 is at the second station), and then enters the rodless cavity of the oil cylinder 100, so as to push the cylinder rod of the oil cylinder 100 to extend, and the hydraulic oil in the rod cavity of the oil cylinder 100 returns to the oil tank through the second working oil port 14, the opened second oil return valve 5 (the second oil return valve 5 is at the second station), and the oil return port 12.

Meanwhile, the reversing valve 7 is positioned at the first station, and a part of the hydraulic oil (namely, the load pressure behind the first oil inlet valve 2) flowing out through the first oil inlet valve 2 enters the first control cavity of the compensating valve 6 through the reversing valve 7.

When the reversing valve 7 is in the first working position, the situation that the load pressure behind the second oil inlet valve 3 enters the first control cavity of the compensating valve 6 through the reversing valve 7 is automatically cut off. Under the condition of negative load, the oil return pressure of the oil cylinder 100 is greater than the oil inlet pressure of the oil cylinder 100, and compared with a common shuttle valve structure in the related art, the reversing valve 7 disclosed by the invention can avoid the situation that the shuttle valve introduces the oil return pressure with higher pressure to cause control logic errors.

Moreover, the pressure flowing out of the compensating valve 6 in front of the first oil inlet valve 2 is introduced into the second control cavity of the compensating valve 6, so that the control of the pressure difference between the oil outlet and the oil inlet of the first oil inlet valve 2 by the compensating valve 6 is realized, the pressure difference between the inlet and the outlet of the first oil inlet valve 2 is kept at a constant value, the passing flow is only related to the area of the first oil inlet valve 2, and the accurate control of the extension speed of the cylinder rod of the oil cylinder 100 is realized.

The principle of retraction of the cylinder rod of the cylinder 100 is similar to the above principle and will not be described in detail here.

In some embodiments, the control valve group comprises a first oil path 81, and a first end of the first oil path 81 is connected with the first working oil port 13; a second end of the first oil passage 81 connects the first oil feed valve 2 and the first oil return valve 4.

The control valve assembly is configured to include a first operating condition and a second operating condition.

The first oil feed valve 2 is configured to: and under the first working condition, the hydraulic oil flowing out of the compensating valve 6 is led to the first oil path 81, and under the second working condition, part of the hydraulic oil in the first oil path 81 is led out, is converged with the hydraulic oil flowing out of the compensating valve 6 and flows to the second oil inlet valve 3.

The first oil return valve 4 is configured to: the oil path between the first oil path 81 and the oil return port 12 is cut off under the first working condition; and the hydraulic oil in the first oil passage 81 is led to the oil return port 12 in the second operating condition.

In the above embodiment, under the second operating condition of the control valve assembly, the first oil return valve 4 leads most of the hydraulic oil in the first oil path 81 to the oil return port 12, and the first oil inlet valve 2 leads out part of the hydraulic oil in the first oil path 81, joins with the hydraulic oil flowing out through the compensation valve 6, and enters the second oil inlet valve 3, so as to realize the internal flow regeneration of the control valve assembly.

The reversing valve 7 realizes load feedback, the reversing valve 7 is combined with the compensating valve 6 to realize the flow regeneration function of the mechanism and between the mechanisms, the efficiency and the energy consumption of the whole machine are greatly improved, and meanwhile, an additional regeneration flow control valve core is not required to be added, so that the cost is lower.

In some embodiments, the control valve group comprises a second oil path 82, and a first end of the second oil path 82 is connected with the second working oil port 14; the second end of the second oil passage 82 is connected to the second oil feed valve 3 and the second oil return valve 5.

The second oil feed valve 3 is configured to: part of the hydraulic oil in the second oil path 82 is led out under the first working condition, joins with the hydraulic oil flowing out through the compensating valve 6, and flows to the first oil inlet valve 2, and the hydraulic oil flowing out through the compensating valve 6 is led to the second oil path 82 under the second working condition.

The second spill valve 5 is configured to: guiding the hydraulic oil in the second oil path 82 to the oil return port 12 under the first working condition; and to interrupt the oil path between second oil path 82 and return port 12 under a second operating condition.

In the above embodiment, under the first working condition of the control valve group, the second oil return valve 5 leads most of the hydraulic oil in the second oil path 82 to the oil return port 12, and the second oil inlet valve 3 leads out part of the hydraulic oil in the second oil path 82, joins with the hydraulic oil flowing out through the compensation valve 6, and enters the first oil inlet valve 2, so as to realize the internal flow regeneration of the control valve group.

In some embodiments, the principle of internal flow regeneration of the control valve group is described in detail by taking the actuating component as the oil cylinder 100 as an example.

The principle of rodless and rodless chamber flow regeneration of the cylinder 100: taking the retraction of the rod of the oil cylinder 100 as an example, the rod cavity of the oil cylinder 100 takes oil, the rodless cavity of the oil cylinder 100 returns oil, and the regeneration flow flows from the rodless cavity to the rod cavity.

When the system operates, the second oil inlet valve 3 is opened, the second oil return valve 5 is closed, and oil enters the rod cavity of the oil cylinder 100.

Meanwhile, the first oil return valve 4 is slightly opened, so that the return oil of the rodless cavity of the oil cylinder 100 cannot completely and smoothly return to the oil tank through the first oil return valve 4, and the pressure of the rodless cavity of the oil cylinder 100 keeps a higher level.

Meanwhile, the first oil inlet valve 2 is slightly opened, and because the pressure of the rod cavity of the oil cylinder 100 is lower than the pressure of the rodless cavity of the oil cylinder 100 during flow regeneration, part of the flow of the rodless cavity of the oil cylinder 100 flows out through the first oil inlet valve 2, is converged with the system flow flowing out through the compensating valve 6, and flows to the rod cavity of the oil cylinder 100 with lower pressure through the second oil inlet valve 3, so that the flow regeneration control of the rodless cavity and the rod cavity of the oil cylinder 100 is realized.

The area ratio of the first oil return valve 4 and the first oil inlet valve 2 is adjusted to adjust the ratio between the flow of the oil return tank of the rodless cavity of the oil cylinder 100 and the flow of the regenerated oil entering the rod cavity of the oil cylinder 100.

Meanwhile, the reversing valve 7 is in the second station, and part of the hydraulic oil flowing out of the second oil inlet valve 3 enters the first control cavity of the compensating valve 6 through the reversing valve 7, namely: the compensating valve 6 introduces the pressure of the rod cavity of the oil cylinder 100 with lower load pressure to the spring cavity, the compensating valve 6 works normally, the compensating valve 6 separates the pressure between the oil way of the second oil inlet valve 3 and the oil inlet 11 of the control valve group, and the flow regeneration of the rodless cavity and the rod cavity of the oil cylinder 100 is guaranteed not to be interfered by the loads of other actuating mechanisms.

Through the flexible control of the openings of all the valves in the control valve group, the flow regeneration control of the oil cylinder 100 can be realized, and the energy utilization rate of the system is improved.

In some embodiments, the compensation valve 6 includes a first port connected to the oil inlet 11 and a second port connected to the first oil feed valve 2 and the second oil feed valve 3. The compensating valve 6 comprises a first station and a second station, the compensating valve 6 is arranged at the first station, and a first oil port of the compensating valve is communicated with a second oil port; the compensating valve 6 is arranged at the second station, and the first oil port is disconnected with the second oil port.

The first control chamber of the compensation valve 6 is a chamber with a spring; and a second oil port of the compensating valve 6 is also communicated with a second control cavity without a spring through an oil way.

In some embodiments, the reversing valve 7 includes a first port connected to the first oil feed valve 2, a second port connected to the first control chamber of the compensation valve 6, and a third port connected to the second oil feed valve 3.

The reversing valve 7 comprises a first station and a second station, the reversing valve 7 is arranged at the first station, a first oil port of the reversing valve is communicated with a second oil port, and a third oil port is cut off; the reversing valve 7 is arranged at the second station, the first oil port of the reversing valve is closed, and the second oil port is communicated with the third oil port.

In some embodiments, the first and second intake valves 2 and 3 each include a main intake valve. Wherein the oil-inlet main valves include the first oil-inlet main valve 21 of the first oil feed valve 2, and the second oil-inlet main valve 31 of the second oil feed valve 3.

The first oil-in-main valve 21 is similar in structure to the second oil-in-main valve 31, and is collectively referred to as an oil-in-main valve for simplicity of description.

The main oil inlet valve comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the compensation valve 6, the second oil port is connected with a working oil port (a first working oil port 13 or a second working oil port 14), and the third oil port is connected with the reversing valve 7.

The oil inlet main valve comprises a first station and a second station; the oil inlet main valve is arranged at a first station, a first oil port of the oil inlet main valve is communicated with a third oil port, a damping is arranged on an oil way through which the first oil port is communicated with the third oil port, and the second oil port is closed; the oil inlet main valve is arranged at the second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil way through which the first oil port is communicated with the third oil port.

In some embodiments, the first oil return valve 4 and the second oil return valve 5 each comprise an oil return main valve. The main return valves include a first main return valve 41 of the first return valve 4 and a second main return valve 51 of the second return valve 5.

The first main return valve 41 is similar in structure to the second main return valve 51, and is collectively referred to as a main return valve for simplicity of description.

The main oil return valve comprises a first oil port and a second oil port, the first oil port is connected with a working oil port (a first working oil port 13 or a second working oil port 14), and the second oil port is connected with an oil return port 12.

The oil return main valve comprises a first station and a second station; the oil return valve is arranged at a first station, and a first oil port and a second oil port of the oil return valve are cut off; the oil return valve is arranged at the second station, and a first oil port of the oil return valve is communicated with a second oil port.

In some embodiments, the first inlet valve 2, the second inlet valve 3, the first return valve 4 and the second return valve 5 each comprise a main valve and a pilot valve, respectively. Namely:

the first oil feed valve 2 includes a first oil-feed main valve 21 and a first oil-feed pilot valve 22.

The second oil feed valve 3 includes a second oil-feed main valve 31 and a second oil-feed pilot valve 32.

The first oil return valve 4 includes a first oil return main valve 41 and a first oil return pilot valve 42.

The second return valve 5 includes a second return main valve 51 and a second return pilot valve 52.

And a feedback spring is arranged between the main valve and the corresponding pilot valve. Namely:

a first feedback spring 23 is arranged between the first oil-inlet main valve 21 and the first oil-inlet pilot valve 22.

A second feedback spring 33 is provided between the second oil-inlet main valve 31 and the second oil-inlet pilot valve 32.

A third feedback spring 43 is provided between the first main oil return valve 41 and the first pilot oil return valve 42.

A fourth feedback spring 53 is provided between the second main oil return valve 51 and the second oil return pilot valve 52.

The spool of the main valve is configured to exert a force on the feedback spring during movement to regulate movement of the spool of the pilot valve by the feedback spring.

The first oil inlet valve 2, the second oil inlet valve 3, the first oil return valve 4 and the second oil return valve 5 are force feedback type independent port valves, the oil inlet and outlet flow of the oil cylinder 100 is controlled through the force feedback type independent port valves, the problem that the flow control characteristic is influenced by hydraulic power is solved, and the control precision and the stability of the oil cylinder 100 are greatly improved.

The flexible control of the valve core area in the oil inlet and outlet process of the oil cylinder 100 is realized through four independent force feedback type control valves (the first oil inlet valve 2, the second oil inlet valve 3, the first oil return valve 4 and the second oil return valve 5), and the return oil pressure and the pressure loss of the oil cylinder 100 are reduced.

Through four independent mouthful control valves of feedback type, the function of offsetting hydrodynamic force and case frictional force has promoted case control accuracy.

The main valves of the first oil inlet valve 2 and the second oil inlet valve 3 are oil inlet main valves. The main valves of the first oil return valve 4 and the second oil return valve 5 are main return valves.

In some embodiments, the valve body 1 of the control valve group is further provided with a pilot oil inlet 15 and a pilot oil return 16.

The main valve includes a first control chamber and a second control chamber, and a spool of the main valve is configured to move under a pressure difference between the first control chamber and the second control chamber.

The pilot oil inlet 15 communicates with the first control chamber of the main valve.

The pilot valve is configured to selectively communicate the pilot oil inlet 15 with an oil path of the second control chamber of the main valve, or communicate the pilot oil return 16 with an oil path of the second control chamber of the main valve.

The spool of the pilot valve is configured to gradually connect the second control chamber of the main valve to the oil passage of the pilot oil inlet 15 and disconnect the second control chamber of the main valve from the pilot oil return port 16 during movement, or gradually disconnect the second control chamber of the main valve from the oil passage of the pilot oil inlet 15 and connect the second control chamber of the main valve to the pilot oil return port 16.

The main valve comprises a first station and a second station, and a valve core of the main valve is configured to move under the action of the pressure difference of the first control chamber and the second control chamber so as to enable the main valve to be in the first station or the second station.

The main valve is positioned at a first station, and an oil way connected with the working oil port is disconnected; the main valve is positioned at the second station and is communicated with the oil way connected with the working oil port.

In some embodiments, the pilot valve includes a first port, a second port, a third port, a first control chamber, and a second control chamber. The first oil port is connected with the pilot oil inlet 15, and the second oil port is connected with the pilot oil return port 16; and the third oil port is connected with the first control cavity and the second control cavity of the pilot valve. And the third oil port of the pilot valve is also connected with the second control cavity of the main valve.

The pilot valve comprises a first station and a second station; the pilot valve is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve is at the second station, and first hydraulic fluid port ends, and the second hydraulic fluid port communicates with the third hydraulic fluid port.

The pilot valve comprises an electromagnetic control component. The valve core of the pilot valve is positioned at the end part of the first control cavity and is connected with a feedback spring; the valve core of the pilot valve is positioned at the end part of the second control cavity and is connected with the electromagnetic control component.

The valve core of the pilot valve is configured to move under the mutual cooperation of the first control chamber, the feedback spring, the second control chamber and the electromagnetic control component so as to control the pilot valve to be in the first working position or the second working position.

The first oil inlet valve 2, the second oil inlet valve 3, the first oil return valve 4 and the second oil return valve 5 respectively comprise a main valve and a pilot valve, and the main valve and the pilot valve form a force feedback type independent port control valve.

Next, a control principle of the force feedback type independent port control valve will be described in detail by taking as an example a force feedback type independent port control valve including the first main return valve 41 and the first pilot return valve 42 in the first return valve 4.

The electromagnetic control component of the first oil return pilot valve 42 controls the valve core of the first oil return pilot valve 42 to move, so that the first oil return pilot valve 42 is in the second station. At this time, the second control chamber of the first oil return main valve 41 communicates with the pilot oil return port 16 via the first oil return pilot valve 42, and the pressure of the second control chamber of the first oil return main valve 41 decreases. The first control cavity of the first oil return main valve 41 is always communicated with the pilot oil inlet 15, the internal pressure of the first oil return main valve is kept unchanged, the pressure difference between the two control cavities of the first oil return main valve 41 changes, and the first oil return main valve 41 is opened from a closed position, that is: the first return main valve 41 is switched from the first station to the second station.

In the opening process of the first oil return main valve 41, the third feedback spring 43 connecting the spool of the first oil return main valve 41 and the spool of the first oil return pilot valve 42 is compressed, a reaction force is applied to the spool of the first oil return pilot valve 42, when the reaction force of the third feedback spring 43 and the electromagnetic control component are balanced with each other, the first oil return pilot valve 42 is in the first position, at this time, the second control chamber of the first oil return main valve 41 is cut off from the oil path of the pilot oil return port 16, the second control chamber of the first oil return main valve 41 is communicated with the oil path of the pilot oil inlet 15, the pressure of the second control chamber and the pressure of the first control chamber of the first oil return main valve 41 are equal to the pressure of the pilot oil inlet 15 at the same time, and the spool of the first oil return main valve 41.

Therefore, the valve body position of the first return main valve 41 is controlled by the valve body of the first return pilot valve 42, and the displacement amount of the valve body of the first return main valve 41 is proportional to only the biasing force of the electromagnetic control component on the first return pilot valve 42 due to the presence of the third feedback spring 43, and is not affected by the valve body hydrodynamic force.

The force feedback control principle of the first oil inlet valve 2, the second oil inlet valve 3, the second oil return valve 5 and the first oil return valve 4 is similar, and a detailed description is omitted.

In some embodiments, the control valve block includes at least one overload compensation valve connecting the working port and the return port 12. The overload compensation valve comprises an overflow valve and a check valve which are connected in parallel. The oil inlet of the overflow valve is connected with the working oil port, and the oil outlet of the overflow valve is connected with the oil return port 12. An oil inlet of the one-way valve is connected with the oil return port 12, and an oil outlet of the overflow valve is connected with the working oil port.

Optionally, the at least one overload compensation valve includes a first overload compensation valve 91 and a second overload compensation valve 92.

The first overload compensation valve 91 is connected to the first working oil port 13 and the oil return port 12, and is also connected to the first oil path 81 and the second oil port of the first oil return main valve 41.

The second overload compensating valve 92 connects the second working fluid port 14 and the return port 12, and also connects the second oil passage 82 and the second port of the second main return valve 51.

In some embodiments, the first oil inlet valve 2, the second oil inlet valve 3, the first oil return valve 4, the second oil return valve 5 and the reversing valve 7 are all solenoid-controlled valves. The electric control valve is adopted, so that the automation degree is high, the applicability is wide, and the intelligent control of the machine is easy to realize.

In some implementations, the directional valve 7 comprises a two-position, three-way electromagnetic directional valve.

Some embodiments provide an actuator comprising an actuator part and the above-mentioned control valve group, wherein the actuator part is respectively connected with the first working oil port 13 and the second working oil port 14 of the control valve group.

In some embodiments, the actuator further comprises a sensor. The sensors include a first sensor 201, a second sensor 202, and a third sensor 203. The first sensor 201 is arranged at the oil inlet 11. The second sensor 202 is provided between the actuator and the first working oil port 13. The third sensor 203 is provided between the actuator and the second working oil port 14.

In some embodiments, the actuator comprises a cylinder 100 or a motor.

In some embodiments, the actuator is a cylinder 100, and the control valve assembly includes four force feedback independent port control valves, each force feedback control valve including: a main valve and a pilot valve.

The first oil inlet valve 2 and the second oil inlet valve 3 are respectively provided with an LS load feedback oil passage, and are respectively connected with the reversing valve 7 through oil passages, so that the first oil inlet valve 2 and the second oil inlet valve 3 are used for controlling the oil inlet flow of the oil cylinder 100. The problem that in the related art, when a valve does not work due to the fact that load pressure is introduced into the LS load feedback oil channel from the rear of the valve, the connection between the oil cylinder 100 and the LS load feedback oil channel cannot be cut off by the load, the LS load feedback oil channel is always connected, and the leakage flow of the oil cylinder 100 is increased is solved.

The first oil return valve 4 and the second oil return valve 5 are used for flow control of oil returned from the oil cylinder 100.

The compensation valve 6 is used for controlling the pressure difference between two ends of the force feedback type independent port control valve.

The reversing valve 7 is used for screening the pressure of the pre-compensator load LS and controlling the flow regeneration between different actuators.

The overload oil replenishing valve is used for overload protection and oil replenishing of the oil cylinder 100.

The port a of the oil cylinder 100 is connected to the first working port 13, and the port B of the oil cylinder is connected to the second working port 14. Pressure sensors at port a and port B of the cylinder 100 are used to detect the pressure of the feedback cylinder 100.

The oil inlet 11 is used for providing system flow, and the oil return port 12 is used for returning oil to the system. The pressure sensor of the oil inlet 11 is used for detecting the system oil inlet pressure.

The pilot oil inlet 15 is used for providing a pilot oil source for pilot valves of the first oil inlet valve 2, the second oil inlet valve 3, the first oil return valve 4 and the second oil return valve 5, and the pilot oil return port 16 is used for leading return oil of the pilot valves to an oil tank.

Some embodiments provide an actuator system comprising at least one actuator as described above.

In some embodiments, the at least one actuator comprises a first actuator and a second actuator, the first actuator comprises a third oil path 83, and the third oil path 83 connects the oil inlet 11 of the first actuator with the compensation valve 6 of the first actuator and also connects the oil inlet 11 of the second actuator.

By providing the third oil passage 83, the flow rate regeneration between the actuators is realized. The flow regeneration principle between the two actuators is as follows: the return oil flow of one actuator flows to the oil inlet 11 of the other actuator, which is called flow regeneration between the actuators.

The flow regeneration between the two actuators is premised on: 1) the driving pressure of the actuating mechanism needing to obtain the regeneration flow is lower than the oil return pressure of the actuating mechanism providing the regeneration flow; 2) the actuating mechanism providing the regeneration flow is in a negative load state, and the oil inlet pressure is far lower than the oil return pressure.

The flow regeneration between the first actuator and the second actuator will be described in detail below, taking the actuator of the first actuator providing the regeneration flow as the cylinder 100 as an example.

The rod of the oil cylinder 100 in the first actuating mechanism retracts, oil is fed into the rod cavity of the oil cylinder 100, and oil is returned from the rodless cavity.

When the system operates, the flow regeneration between the execution mechanisms is carried out according to the requirement, and the control process of the first execution mechanism is as follows:

the control reversing valve 7 is in a first station, the first oil inlet valve 2 is slightly opened, the pressure of a rodless cavity part of the oil cylinder 100 with higher load pressure is introduced into a first control cavity (spring cavity) of the compensating valve 6 through the first oil inlet valve 2 and the reversing valve 7, the pressure of an oil way between the compensating valve 6 and the second oil inlet valve 3 is introduced into a second control cavity (opposite cavity of the spring cavity, namely the springless cavity) of the compensating valve 6, and the oil way between the compensating valve 6 and the second oil inlet valve 3 is connected with the rod cavity of the oil cylinder 100 to ensure that the oil inlet pressure of the rod cavity of the oil cylinder 100 is in a low-pressure state, so that the compensating valve 6 is in a fully-opened state under the high-pressure state of the first control cavity (spring cavity) and does not play a compensating role.

The second oil inlet valve 3 is opened, the second oil return valve 5 is closed, oil is fed into a rod cavity of the oil cylinder 100, the first oil return valve 4 is slightly opened, oil returned from a rodless cavity of the oil cylinder 100 cannot completely and smoothly return to an oil tank through the first oil return valve 4, the pressure of the rodless cavity of the oil cylinder 100 is kept at a high level, meanwhile, the first oil inlet valve 2 is opened, flow returned from the rodless cavity of the oil cylinder 100 enters an oil way between the compensating valve 6 and the second oil inlet valve 3, and flows to the third oil way 83 through a fully opened compensator to provide flow for other low-pressure actuating mechanisms needing flow, so that flow regeneration between different mechanisms is realized.

By adjusting the area ratio among the first oil return valve 4, the first oil inlet valve 2 and the second oil inlet valve 3, the ratio among the flow rate of the rodless cavity oil return tank of the oil cylinder 100, the flow rate of the rod cavity of the oil cylinder 100 regenerated by the oil cylinder 100 and the flow rate of other actuating mechanisms entering the third oil path 83 can be adjusted, and optimal flow rate distribution control is realized.

Due to the utilization of the regeneration flow, the return oil flow is reduced, the movement speed of the oil cylinder 100 is increased, the energy consumption is reduced, and the efficiency is improved.

In some embodiments, the execution system further includes a controller 300.

In some embodiments, as shown in FIG. 2, the controller 300 controls the first actuator and the second actuator. The first actuator and the second actuator both comprise fully-electrically-controlled independent port control valves.

The executing component in the first executing mechanism is a first oil cylinder, and the executing component in the second executing mechanism is a second oil cylinder.

The inputs to the controller 300 include: the system comprises a pilot control signal of a first oil cylinder, a pilot control signal of a second oil cylinder, a pressure signal of a system oil inlet 11, signals collected by pressure sensors of an A port and a B port of the first oil cylinder, signals collected by pressure sensors of an A port and a B port of the second oil cylinder, a self-regeneration flow instruction of the first oil cylinder, a self-regeneration flow instruction of the second oil cylinder, a regeneration flow instruction between actuating mechanisms and a system flow instruction.

The outputs of the controller 300 include: electromagnetic control components of four pilot valve cores (a pilot valve core I, a pilot valve core II, a pilot valve core III and a pilot valve core IV) in the first actuating mechanism and a station of the reversing valve 7. Electromagnetic control components of four pilot valve cores (a pilot valve core I, a pilot valve core II, a pilot valve core III and a pilot valve core IV) in the second actuating mechanism and a station of the reversing valve 7.

The first pilot spool is the spool of the first oil inlet pilot valve 22. The pilot valve core two is the valve core of the second oil inlet pilot valve 32. The pilot valve core three is the valve core of the first oil return pilot valve 42. The pilot spool four is the spool of the second return pilot valve 52.

An oil port of the oil cylinder 100 connected with the first working oil port 13 of the control valve group is an port A, and an oil port of the oil cylinder 100 connected with the second working oil port 14 of the control valve group is a port B. A second pressure sensor 202 and a third pressure sensor 203 are respectively arranged at the port a and the port B of the oil cylinder 100. The system oil inlet 11 is provided with a first pressure sensor 201.

The control process of the controller 300 will be described in detail below, taking the cylinder 100 itself as an example of flow regeneration.

The first step is as follows: when the controller 300 checks the pilot control signal of the oil cylinder 100, it determines the starting movement and the movement direction of the oil cylinder 100, and simultaneously detects the pressure at the inlet and the outlet of the oil cylinder 100 through the pressure sensor at the port a of the oil cylinder 100 and the pressure sensor at the port B of the oil cylinder 100 and calculates the equivalent load, and determines whether the oil cylinder 100 is in the impedance extension state, the impedance retraction state, the overrun extension state or the overrun retraction state according to the movement direction and the pressure state of the oil cylinder 100. When oil is fed into the rod cavity of the oil cylinder 100 and oil is fed into the rodless cavity, and the oil cylinder 100 retracts, if the equivalent load of the oil cylinder 100 is a negative value, the oil cylinder 100 is in an overrun retracting state, and the oil cylinder 100 can perform regeneration flow control.

The second step is that: the magnitude of the regeneration flow rate is controlled according to a regeneration flow rate instruction of the oil cylinder 100, the regeneration flow rate instruction calculates a pressure difference between two ends of the first oil return valve 4 and the first oil inlet valve 2 of the rodless cavity of the oil cylinder 100 through detection of a pressure sensor at an opening a of the oil cylinder 100 and a pressure sensor at an opening B of the oil cylinder 100, calculates an opening area required by the first oil return main valve 41 of the first oil return valve 4 and the first oil inlet main valve 21 of the first oil inlet valve 2 according to a flow formula, and controls the opening areas of the first oil return main valve 41 and the first oil inlet main valve 21 by controlling the first oil return pilot valve 42 of the first oil return valve 4 and the first oil inlet pilot valve 22 of the first oil inlet valve 2 through output currents of the controller 300, so that the control of the regeneration flow rate is completed. The magnitude of the regeneration flow rate is related to the opening area ratio between the first return main valve 41 and the first intake main valve 21.

The control process of the controller 300 will be described in detail below by taking the flow regeneration between the actuators, the regeneration flow provided by the first cylinder, and the regeneration flow received by the second cylinder as an example.

The first step is as follows: judging the motion state of the first oil cylinder, when the controller 300 checks a pilot control signal of the first oil cylinder, judging the motion starting direction and the motion direction of the first oil cylinder, simultaneously respectively detecting the inlet and outlet pressure of the first oil cylinder through a pressure sensor at an A port and a pressure sensor at a B port of the first oil cylinder, calculating an equivalent load, and judging that the first oil cylinder is in an impedance extension state, an impedance retraction state, an overrunning extension state or an overrunning retraction state according to the motion direction and the pressure state of the first oil cylinder. When the rod cavity of the first oil cylinder is used for feeding oil and the rodless cavity is used for feeding oil, and the first oil cylinder is retracted, if the equivalent load of the first oil cylinder is a negative value, the first oil cylinder is in an overrunning retraction state.

The second step is that: judging the motion state of the second oil cylinder, when the controller 300 checks a pilot control signal of the second oil cylinder, judging the motion starting direction and the motion direction of the second oil cylinder, simultaneously respectively detecting the inlet and outlet pressure of the second oil cylinder through a pressure sensor at an A port and a pressure sensor at a B port of the second oil cylinder, calculating an equivalent load, and judging that the second oil cylinder is in an impedance extension state, an impedance retraction state, an overrun extension state or an overrun retraction state according to the motion direction and the pressure state of the second oil. If the second oil cylinder is in an extending state, oil enters the rodless cavity, and when the rod cavity returns oil, the flow regeneration condition among the actuating mechanisms is established when the pressure of the rodless cavity of the second oil cylinder is found to be lower than the pressure of the rodless cavity of the first oil cylinder through pressure detection.

The third step: the magnitude of the regenerative flow between mechanisms is related to the opening area and the pressure difference of the first return main valve 41 of the first return valve 4 of the full electrically controlled valve group of the first oil cylinder, the opening area and the pressure difference of the first oil inlet main valve 21 of the first oil inlet valve 2, the opening area and the pressure difference of the second oil inlet main valve 31 of the second oil inlet valve 3, and the full opening area and the pressure difference of the compensation valve 6.

Through the detection of the pressure sensor at the port a and the pressure sensor at the port B of the first cylinder, the pressure difference between the two ends of the first return main valve 41 of the first return valve 4, the first inlet main valve 21 of the first inlet valve 2, and the second inlet main valve 31 of the second inlet valve 3, which are connected to the rodless cavity of the first cylinder, is calculated, and the pressure difference of the compensation valve 6 is detected through the pressure sensor at the inlet 11 and the pressure sensor at the port a of the first cylinder.

The area of the compensating valve 6 is constant when the valve is opened to the maximum, so the regeneration flow rate between mechanisms is controlled according to the regeneration flow rate command between mechanisms, the opening areas required by the first oil return main valve 41 of the first oil return valve 4 of the first all-cylinder all-electric control valve group, the first oil inlet main valve 21 of the first oil inlet valve 2 and the first oil inlet main valve 31 of the second oil inlet valve 3 are calculated according to a flow formula, and then the controller 300 is combined with the pilot control signal to output current to control the first oil return pilot valve 42 of the first oil return valve 4, the first oil inlet pilot valve 22 of the first oil inlet valve 2 and the second oil inlet pilot valve 32 of the second oil inlet valve 3, so that the opening areas of the first oil return main valve 41 of the first oil return valve 4, the first oil inlet main valve 21 of the first oil inlet valve 2 and the second oil inlet main valve 31 of the second oil inlet valve 3 are controlled respectively, and the regeneration flow control among mechanisms is completed.

In some embodiments, the control valve group comprises an independent port control valve for realizing energy conservation and flow regeneration, and has the technical effect of stable control performance under high pressure and high flow.

In some embodiments, the execution system can be used for flow regeneration between the execution mechanism itself and the execution mechanism, and has a fully-electronically-controlled independent port control valve with extremely strong hydraulic power resistance, so that high-precision control of oil inlet and outlet of the oil cylinder 100 or the motor is realized, and the energy consumption of a host is reduced.

The control valve group comprises four force feedback type independent port control valves, a preposed compensation valve, an electric control ls reversing valve, two overload oil supplementing valves and two pressure sensors, and realizes the oil inlet and outlet flow control of an actuating mechanism; the valve bank can realize the superposition of a plurality of valve banks and control a plurality of oil cylinders 100.

Through the flexible control of the compensating valve and the valve core opening for the oil inlet and outlet of the oil cylinder 100, the oil return flow of one oil cylinder 100 can be communicated to the other oil cylinder 100, and the energy utilization rate of the system is improved.

In the description of the present invention, it should be understood that the terms "first", "second", "third", etc. are used to define the components, and are used only for the convenience of distinguishing the components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present invention.

Furthermore, the technical features of one embodiment may be combined with one or more other embodiments advantageously without explicit negatives.

Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.

Claims

1. A control valve block, comprising:

the valve body (1) is provided with an oil inlet (11), an oil return port (12) and a working oil port, wherein the working oil port comprises a first working oil port (13) and a second working oil port (14);

the first oil inlet valve (2) is arranged in the valve body (1); the first oil inlet valve (2) is configured to selectively disconnect or communicate an oil path between the oil inlet (11) and the first working oil port (13);

the second oil inlet valve (3) is arranged in the valve body (1); the second oil inlet valve (3) is configured to selectively disconnect or communicate an oil path between the oil inlet (11) and the second working oil port (14);

the first oil return valve (4) is arranged in the valve body (1); the first oil return valve (4) is configured to selectively disconnect or communicate an oil path between the first working oil port (13) and the oil return port (12);

the second oil return valve (5) is arranged in the valve body (1); the second oil return valve (5) is configured to selectively disconnect or communicate an oil path between the second working oil port (14) and the oil return port (12);

the compensation valve (6) is arranged in the valve body (1), and the compensation valve (6) is positioned on an oil path between the oil inlet (11) and the first oil inlet valve (2) and is also positioned on an oil path between the oil inlet (11) and the second oil inlet valve (3); and

a directional valve (7) disposed in the valve body (1) to connect the first oil feed valve (2) and the second oil feed valve (3), the directional valve (7) being configured to selectively direct a portion of the hydraulic oil flowing through the first oil feed valve (2) or the second oil feed valve (3) to a first control chamber of the compensating valve (6);

the first oil inlet valve (2), the second oil inlet valve (3), the first oil return valve (4) and the second oil return valve (5) respectively comprise a main valve (21,31,41,51) and a pilot valve (22,32,42,52), a feedback spring (23,33,43,53) is respectively arranged between each main valve (21,31,41,51) and the corresponding pilot valve (22,32,42,52), and a valve core of each main valve (21,31,41,51) is configured to apply force to the feedback spring (23,33,43,53) in the moving process so as to adjust the movement of the valve core of the pilot valve (22,32,42,52) through the feedback spring (23,33,43, 53).

2. The valve group as claimed in claim 1, comprising a first oil path (81), a first end of the first oil path (81) being connected to the first working oil port (13); the second end of the first oil path (81) is connected with the first oil inlet valve (2) and the first oil return valve (4);

the first oil feed valve (2) is configured to: under a first working condition, guiding the hydraulic oil flowing out of the compensating valve (6) to the first oil path (81), and under a second working condition, guiding out part of the hydraulic oil in the first oil path (81) to be merged with the hydraulic oil flowing out of the compensating valve (6);

the first oil return valve (4) is configured to: disconnecting the oil path between the first oil path (81) and the oil return port (12) under a first working condition; and guiding the hydraulic oil in the first oil path (81) to the oil return port (12) under a second working condition.

3. The control valve group according to claim 1 or 2, characterized by comprising a second oil path (82), wherein a first end of the second oil path (82) is connected with the second working oil port (14); the second end of the second oil path (82) is connected with the second oil inlet valve (3) and the second oil return valve (5);

the second oil feed valve (3) is configured to: under a first working condition, part of hydraulic oil in the second oil path (82) is led out and is merged with the hydraulic oil flowing out through the compensating valve (6); and under a second working condition, guiding the hydraulic oil flowing out through the compensating valve (6) to the second oil path (82);

the second spill valve (5) is configured to: guiding the hydraulic oil in the second oil path (82) to the oil return port (12) under a first working condition; and disconnecting the oil path between the second oil path (82) and the oil return port (12) under a second working condition.

4. Valve group according to claim 1, characterised in that the compensation valve (6) comprises a first port connected to the oil inlet (11) and a second port connected to the first inlet valve (2) and to the second inlet valve (3); the compensating valve (6) comprises a first station and a second station, wherein the first oil port is communicated with the second oil port at the first station; the first oil port is disconnected with the second oil port;

the first control cavity of the compensation valve (6) is a cavity with a spring;

and a second oil port of the compensating valve (6) is also communicated with a second control cavity without a spring through an oil way.

5. The group of control valves according to claim 1, characterized in that the reversing valve (7) comprises a first port connected to the first inlet valve (2), a second port connected to the first control chamber of the compensation valve (6), and a third port connected to the second inlet valve (3);

the reversing valve (7) comprises a first station and a second station, the reversing valve (7) is arranged at the first station, a first oil port is communicated with a second oil port, and a third oil port is cut off; the reversing valve (7) is arranged at the second station, the first oil port is closed, and the second oil port is communicated with the third oil port.

6. A valve group according to claim 1, characterised in that said first inlet valve (2) and said second inlet valve (3) each comprise a main inlet valve (21, 31);

the oil inlet main valve (21,31) comprises a first oil port, a second oil port and a third oil port, the first oil port is connected with the compensation valve (6), the second oil port is connected with the working oil port, and the third oil port is connected with the reversing valve (7);

the oil-inlet main valve (21,31) comprises a first station and a second station; the oil inlet main valve (21,31) is arranged at a first station, the first oil port is communicated with the third oil port, a damping is arranged on an oil way through which the first oil port is communicated with the third oil port, and the second oil port is closed; the oil inlet main valve (21,31) is arranged at a second station, the first oil port is communicated with the second oil port, the first oil port is also communicated with the third oil port, and a damping is arranged on an oil path communicated with the third oil port.

7. A control valve group according to claim 1, characterised in that said first return valve (4) and said second return valve (5) each comprise a main return valve (41, 51);

the oil return main valve (41,51) comprises a first oil port and a second oil port, the first oil port is connected with the working oil port, and the second oil port is connected with the oil return port (12);

the main oil return valve (41,51) comprises a first station and a second station; the oil return main valve (41,51) is arranged at a first station, and the first oil port and the second oil port are cut off; the oil return main valve (41,51) is arranged at a second station, and the first oil port is communicated with the second oil port.

8. Control valve group according to claim 1, characterised in that the valve body (1) is further provided with a pilot oil inlet (15) and a pilot oil return (16);

the main valve (21,31,41,51) comprises a first control chamber and a second control chamber, and a spool of the main valve (21,31,41,51) is configured to move under the action of a pressure difference between the first control chamber and the second control chamber;

the pilot oil inlet (15) is communicated with a first control cavity of the main valve (21,31,41, 51);

the spool of the pilot valve (22,32,42,52) is configured to gradually connect the second control cavity of the main valve (21,31,41,51) with the oil path of the pilot oil inlet (15) and disconnect the second control cavity of the main valve (21,31,41,51) from the oil path of the pilot oil return port (16) in the moving process, or gradually disconnect the second control cavity of the main valve (21,31,41,51) from the oil path of the pilot oil inlet (15) and connect the second control cavity of the main valve (21,31,41,51) with the oil path of the pilot oil return port (16).

9. A control valve group according to claim 8, characterised in that the main valve (21,31,41,51) comprises a first and a second position, the spool of the main valve (21,31,41,51) being configured to move under the effect of the pressure difference of the first and second control chambers, so that the main valve (21,31,41,51) is in the first or second position;

the main valve (21,31,41,51) is in a first working position, and an oil way connected with the working oil port of the main valve (21,31,41,51) is disconnected; the main valve (21,31,41,51) is located at the second station, and the main valve (21,31,41,51) is communicated with an oil way connected with the working oil port.

10. The set of control valves of claim 8,

the pilot valve (22,32,42,52) comprises a first oil port, a second oil port, a third oil port, a first control cavity and a second control cavity, the first oil port is connected with the pilot oil inlet (15), and the second oil port is connected with the pilot oil return port (16); the third oil port is connected with the first control cavity and the second control cavity of the pilot valve (22,32,42, 52);

the pilot valve (22,32,42,52) includes a first station and a second station; the pilot valve (22,32,42,52) is arranged at a first station, the first oil port is communicated with the third oil port, and the second oil port is closed; the pilot valve (22,32,42,52) is arranged at a second station, the first oil port is closed, and the second oil port is communicated with the third oil port;

the valve core of the pilot valve (22,32,42,52) is positioned at the end part of the first control cavity and is connected with the feedback spring (23,33,43, 53); the valve core of the pilot valve (22,32,42,52) is positioned at the end part of the second control cavity and is connected with an electromagnetic control component;

the valve spool of the pilot valve (22,32,42,52) is configured to move under the cooperation of the first control chamber, a feedback spring (23,33,43,53), the second control chamber and the solenoid control component to control the pilot valve (22,32,42,52) to be in a first position or a second position.

11. Valve group according to claim 1, comprising an overload compensation valve (91,92) connecting the working port and the return port (12).

12. The group of control valves according to claim 1, characterized in that the first inlet valve (2), the second inlet valve (3), the first return valve (4), the second return valve (5) and the reversing valve (7) are all solenoid control valves.

13. Actuator, characterized in that it comprises an actuator and a control valve group according to any of claims 1 to 12, said actuator being connected to the first working port (13) and the second working port (14) of said control valve group, respectively.

14. Actuator according to claim 13, wherein the actuator comprises a cylinder (100) or a motor.

15. An actuator system, comprising at least one actuator according to claim 13 or 14.

16. The actuator system according to claim 15, wherein the at least one actuator comprises a first actuator and a second actuator, the first actuator comprising a third oil passage (83), the third oil passage (83) connecting an oil inlet (11) of the first actuator and a compensation valve (6) of the first actuator and also connecting an oil inlet of the second actuator.