CN111577686B - Stepping hydraulic equipment and control method thereof - Google Patents
Stepping hydraulic equipment and control method thereof Download PDFInfo
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- CN111577686B CN111577686B CN202010418400.XA CN202010418400A CN111577686B CN 111577686 B CN111577686 B CN 111577686B CN 202010418400 A CN202010418400 A CN 202010418400A CN 111577686 B CN111577686 B CN 111577686B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/18—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
- F15B11/183—Linear stepwise operation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
Abstract
The application relates to a stepping hydraulic device and a control method thereof, wherein the stepping hydraulic device comprises: the hydraulic cylinder comprises a first cylinder body and a first piston, and the first piston is movably arranged in a first piston cavity of the first cylinder body; and the metering cylinder comprises a second cylinder body and a second piston, the second piston is movably arranged in a second piston cavity of the second cylinder body, and the first piston cavity is communicated with the second piston cavity. According to the stepping hydraulic equipment and the control method thereof, the metering cylinder is connected to the hydraulic cylinder, so that when the first piston of the hydraulic cylinder moves in a forward stepping mode, oil flows into the metering cylinder from the first piston cavity of the first cylinder body, the second piston of the metering cylinder is pushed to move until the second piston moves to the preset position and stops moving, and therefore the oil in the first piston cavity stops flowing into the second piston cavity, the first piston is prevented from moving continuously, and the forward stepping mode displacement is completed.
Description
Technical Field
The invention belongs to the field of hydraulic pressure, and particularly relates to stepping hydraulic equipment and a control method thereof.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In some applications, the hydraulic cylinder is required to perform a step-wise motion, i.e., a displacement of the displacement distance for each motion. For example, the method has wide application in the field of ferrous metallurgy, such as a stepping heating furnace, a stepping steel coil conveyor and the like.
With the development of automation and digital control technologies, hydraulic cylinders are increasingly combined with electronic technologies as actuating elements of hydraulic systems. The existing stepping hydraulic equipment generally adopts accessories such as a directional valve, a flow valve, a speed regulating valve, a travel switch, a sensor and the like connected to a hydraulic cylinder, and accurately controls the travel, direction, speed and stop point of the hydraulic cylinder to realize stepping action of the hydraulic cylinder.
However, the mode cannot work normally in a large-flow or ultra-large-flow, high-frequency or ultra-high-frequency servo control system, and the hydraulic cylinder which is matched with the production requirement by installing a valve body or other additional devices on the hydraulic cylinder has the advantages of complex structure, high cost, easy external electromagnetic interference and low working efficiency.
Disclosure of Invention
In view of the above, it is necessary to provide a stepping type hydraulic apparatus and a control method thereof, which can realize a stepping type action of a hydraulic cylinder.
A progressive hydraulic apparatus comprising:
the hydraulic cylinder comprises a first cylinder body and a first piston, and the first piston is movably arranged in a first piston cavity of the first cylinder body;
the metering cylinder comprises a second cylinder body and a second piston, the second piston is movably arranged in a second piston cavity of the second cylinder body, the first piston cavity is communicated with the second piston cavity, when the first piston moves in the forward direction, oil flows into the first piston cavity, the second piston cavity pushes the second piston to move until the preset position, and therefore the first piston moves in the forward stepping mode.
Preferably, the hydraulic cylinder further comprises a first reversing valve connected between the hydraulic cylinder and the metering cylinder for connecting or disconnecting the first cylinder and the second cylinder.
Preferably, the first reversing valve comprises a first working position and a second working position, the first piston divides the first cylinder into a first positive cavity and a first negative cavity, and the second piston divides the second cylinder into a second positive cavity and a second negative cavity;
when the first reversing valve is located at the first working position, the first positive cavity is communicated with the second positive cavity through the first reversing valve; when the first reversing valve is located at the second working position, the first positive cavity is communicated with the second negative cavity through the first reversing valve.
Preferably, the oil pump mechanism, the second reversing valve and the third reversing valve are further included; the second reversing valve is connected between the oil pump mechanism and the hydraulic cylinder so as to connect or disconnect the oil pump mechanism and the hydraulic cylinder; the third direction valve is connected between the oil pump mechanism and the first direction valve to connect or disconnect the oil pump mechanism and the first direction valve.
Preferably, the first direction valve further comprises a third working position, and when the first direction valve is in the third working position, the first positive cavity is communicated with the oil pump mechanism through the first direction valve, so that oil enters the first positive cavity through the first direction valve to push the first piston to move in the reverse direction.
Preferably, at least one side of the second piston of the metering cylinder is provided with a protrusion, a recessed area corresponding to the protrusion is arranged on the second cylinder body of the metering cylinder, and the second piston moves towards the recessed area until the protrusion is contacted with the recessed area so as to buffer the second piston.
Preferably, the oil pump mechanism comprises an oil pump and a tank, and the oil pump is connected to the tank and used for pumping oil out of the tank.
A control method of a stepping hydraulic device is suitable for the stepping hydraulic device and comprises the following steps:
when a first piston of the hydraulic cylinder moves forwards, oil in a first piston cavity of the hydraulic cylinder enters a second piston cavity of the metering cylinder;
the oil in the second piston cavity pushes a second piston of the metering cylinder to move until the second piston of the metering cylinder moves to a preset position, and the oil stops moving to enter the second piston cavity;
and the first piston of the hydraulic cylinder stops moving under the resistance action of the oil liquid to finish one-time positive stepping displacement.
Preferably, the entering of the oil of the first piston chamber of the hydraulic cylinder into the second piston chamber of the metering cylinder comprises:
when the first reversing valve is switched to a first working position, oil in a first positive cavity in the first piston cavity enters a second positive cavity in the second piston cavity through the first reversing valve until the second piston moves to a preset position;
and after the first piston of the hydraulic cylinder stops moving under the resistance action of the oil liquid and finishes one positive stepping displacement, the hydraulic cylinder further comprises:
when the first reversing valve is switched to a second working position, oil in a first positive cavity in the first piston cavity enters a second negative cavity in the second piston cavity through the first reversing valve until the second piston moves in the reverse direction until the second piston moves to a preset position.
Preferably, the method further comprises the following steps:
when the first reversing valve is switched to a third working position, oil enters the first positive cavity to push the first piston to move in the reverse direction.
Compared with the prior art, the step-by-step hydraulic equipment and the control method thereof connect the metering cylinder to the hydraulic cylinder, so that when the first piston of the hydraulic cylinder moves in a forward step-by-step mode, the oil flows into the metering cylinder from the first piston cavity of the first cylinder body, the second piston of the metering cylinder is pushed to move until the second piston moves to the preset position and stops moving, and thus, the oil in the first piston cavity stops flowing into the second piston cavity, the first piston is prevented from moving continuously, and the forward step-by-step displacement is completed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a hydraulic schematic of a step hydraulic device at a first step displacement.
Fig. 2 is a schematic structural view of the metering cylinder.
Fig. 3 is a hydraulic schematic at the time of the second stepping displacement of the stepping hydraulic device.
Fig. 4 is a hydraulic schematic diagram of the stepping hydraulic device at the time of reverse movement.
Description of the main elements
| |
10 |
| First cylinder | 11 |
| First positive cavity | 111 |
| First |
112 |
| |
12 |
| |
20 |
| |
30 |
| |
31 |
| Second |
311 |
| Second |
312 |
| |
32 |
| |
40 |
| |
41 |
| |
42 |
| |
50 |
| |
60 |
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In various embodiments of the present invention, for convenience in description and not in limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
The step hydraulic device is used for controlling the step movement of the hydraulic cylinder. For the purposes of this discussion, the piston rod of the hydraulic cylinder is extended outwardly in a forward direction and the piston rod of the hydraulic cylinder is retracted inwardly in a reverse direction. And stopping moving the hydraulic cylinder after the hydraulic cylinder moves forward for a preset distance every time, wherein the preset distance is the step length of the stepping displacement of the hydraulic cylinder.
Fig. 1 is a hydraulic schematic diagram of a step hydraulic apparatus at the time of first step displacement, and as shown in fig. 1, the step hydraulic apparatus includes a hydraulic cylinder 10, a metering cylinder 30, an oil pump mechanism, a first direction valve 20, a second direction valve 50, and a third direction valve 60.
The hydraulic cylinder 10 includes, as a working unit, a first cylinder 11 and a first piston 12. The first cylinder 11 is cylindrical, a first piston cavity is arranged inside the first cylinder, and the first piston 12 is movably arranged in the first piston cavity of the first cylinder 11, so that the first piston 12 can move back and forth along the length direction of the first piston cavity. The first piston 12 divides the first cylinder 11 into a first positive chamber 111 and a first negative chamber 112. The first piston 12 is further connected with a piston rod, one end of the piston rod is connected to the first piston 12, and the other end of the piston rod is located in the first positive cavity 111 and extends out of the first cylinder 11.
The metering cylinder 30 is used to control the step length of each movement of the hydraulic cylinder 10, and a hydraulic cylinder 10 having a smaller capacity may be selected as the metering cylinder 30. Fig. 2 is a schematic structural diagram of the metering cylinder 30, and as shown in fig. 2, the metering cylinder 30 includes a second cylinder 31 and a second piston 32, the second cylinder 31 is cylindrical, a second piston cavity is provided inside the second cylinder, and the second piston 32 is movably provided in the second piston cavity of the second cylinder 31, so that the second piston 32 can move back and forth along the length direction of the second piston cavity. The second piston 32 is a rodless piston, and divides the second cylinder 31 into a second positive chamber 311 and a second negative chamber 312. Under the pushing action of the oil, the second piston 32 moves in the forward direction or the reverse direction until the second piston 32 moves to the preset position and is blocked to stop. Generally, the preset position is the limit position of the second piston 32, for example, the preset position is the two end positions of the second piston cavity, but in other embodiments, a stopper or the like may be provided in the second piston cavity to determine the preset position of the second piston 32, and therefore, the preset position of the second piston 32 may be other positions, and is not limited to the limit position of the second piston cavity.
In order to prevent the second piston 32 from moving to a predetermined position and generating large vibration and noise when the second piston is stopped, in the present embodiment, protrusions are provided on both sides of the second piston 32 of the measuring cylinder 30, that is, the protrusions are connected to both the second positive chamber 311 and the second negative chamber 312. The end of the second cylinder 31 of the metering cylinder 30 is provided with a concave area corresponding to the protrusion, when the second piston 32 moves to a preset position towards the concave area, the protrusion contacts with the concave area to move relatively in the axial direction and the conical surface of the concave area contacts with the conical surface of the protrusion to reduce the moving speed of the second piston 32 until the second piston 32 stops, so that the second piston 32 can be buffered at the preset position, and the impact force and noise of the second piston 32 at the preset position can be reduced.
The first direction valve 20 may be a solenoid valve connected between the hydraulic cylinder 10 and the metering rod for connecting or disconnecting the first cylinder 11 and the second cylinder 31. In the present embodiment, the first direction valve 20 has three operating positions: a first working position, a second working position and a third working position. When the first reversing valve 20 is located at the first working position, the first positive cavity 111 is communicated with the second positive cavity 311 through the first reversing valve 20, and the second negative cavity is connected to an oil pump mechanism for oil return. When the first direction valve 20 is located at the second working position, the first positive cavity 111 is communicated with the second negative cavity 312 through the first direction valve 20, and the second positive cavity 311 is connected to an oil pump mechanism for oil return. When the first direction valve 20 is in the third working position, the first positive chamber 111 is communicated with the oil pump mechanism through the first direction valve 20, so that oil enters the first positive chamber 111 through the first direction valve 20 to push the first piston 12 to move in the reverse direction.
The oil pump mechanism comprises an oil pump 40, an oil tank 42 and a relief valve 41, wherein the oil pump 40 is connected to the oil tank 42 and used for supplying oil from the oil tank 42. The relief valve 41 is connected between the oil pump 40 and the tank 42, and is used for returning oil to the tank 42 through the relief valve 41 to protect the hydraulic equipment when the pressure of the hydraulic equipment is excessive. The second direction valve 50 is an electromagnetic valve, and is connected between the oil pump mechanism and the second direction valve 50 to connect or disconnect the oil pump mechanism and the second direction valve 50. The third direction changing valve 60 may be a solenoid valve, and is connected between the oil pump mechanism and the first direction changing valve 20 to connect or disconnect the oil pump mechanism and the first direction changing valve 20.
The control method of the stepping hydraulic apparatus according to the above embodiment is described in detail with reference to fig. 1, 2, and 3.
As shown in fig. 1, the first direction valve 20 is switched to the first operating position. At this time, the high-pressure oil pumped out by the oil pump 40 enters the first negative cavity of the first cylinder 11 through the second reversing valve 50, and pushes the first piston 12 of the hydraulic cylinder 10 to move in the positive direction;
during the forward movement of the first piston 12, the oil in the first positive chamber 111 enters the second positive chamber 311 of the second piston chamber through the first direction changing valve 20.
Then, the oil entering the second positive chamber 311 of the second piston chamber pushes the second piston 32 of the metering cylinder 30 to move until the second piston 32 of the metering cylinder 30 moves to a preset position (a limit position on the right side), and at this time, the oil in the first cylinder 11 cannot enter and be discharged into the second cylinder 31, so that the oil stops entering the second piston chamber. Thus, the first piston 12 of the hydraulic cylinder 10 stops moving under the resistance of the oil, and one positive step displacement is completed.
Fig. 3 is a hydraulic schematic at the time of the second stepping displacement of the stepping hydraulic device. After one positive step displacement, the first directional valve 20 is switched to the second operating position, as shown in fig. 3. At this time, the high-pressure oil pumped out by the oil pump 40 enters the first negative cavity of the first cylinder 11 through the second reversing valve 50, and pushes the first piston 12 of the hydraulic cylinder 10 to move forward again;
during the forward movement of the first piston 12, the oil in the first positive chamber 111 enters the second negative chamber of the second piston chamber through the first direction changing valve 20.
Then, the oil entering the second negative chamber of the second piston chamber pushes the second piston 32 of the metering cylinder 30 to move in the reverse direction (i.e., move along the left side in fig. 2), and the oil stops moving until the second piston 32 of the metering cylinder 30 moves to a preset position (a left limit position), at which time, the oil in the first cylinder 11 cannot enter and be discharged into the second cylinder 31, so that the oil stops entering the second piston chamber. In this way, the first piston 12 of the hydraulic cylinder 10 stops moving under the resistance of the oil, and completes another forward step displacement.
The stepped displacement of the hydraulic cylinder 10 can be achieved by repeatedly switching the first direction valve 20 between the first operating position and the second operating position. The first piston 12 of the hydraulic cylinder 10 can perform a stepwise displacement each time the working position of the first direction valve 20 is switched.
Fig. 4 is a hydraulic schematic diagram of the stepping hydraulic device at the time of reverse movement. When the hydraulic cylinder 10 needs to be controlled to move reversely, the first direction-changing valve 20 is switched to the third working position, as shown in fig. 4. At this time, the high-pressure oil pumped by the oil pump 40 enters the first positive chamber 111 through the third direction changing valve 60 and the second direction changing valve 50 to push the first piston 12 to move in the reverse direction, and the oil in the first negative chamber flows back to the oil tank 42 through the second direction changing valve 50 to complete the reverse movement to the reset of the first piston 12, so as to prepare for the subsequent forward stepping displacement.
In the stepping hydraulic equipment and the control method thereof, the metering cylinder 30 is connected to the hydraulic cylinder 10, so that when the first piston 12 of the hydraulic cylinder 10 is in a stepping displacement process along the forward direction, oil flows into the metering cylinder 30 from the first piston cavity of the first cylinder body 11, the second piston 32 of the metering cylinder 30 is pushed to move until the second piston 32 moves to the preset position and stops moving, and thus, the oil in the first piston cavity stops flowing into the second piston cavity, the first piston 12 is prevented from moving continuously, and the stepping displacement along the forward direction is completed.
In the several embodiments provided in the present invention, it is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.
Claims (10)
1. A progressive hydraulic apparatus, comprising:
the hydraulic cylinder comprises a first cylinder body and a first piston, and the first piston is movably arranged in a first piston cavity of the first cylinder body;
the metering cylinder comprises a second cylinder body and a second piston, the second piston is movably arranged in a second piston cavity of the second cylinder body, the first piston cavity is communicated with the second piston cavity, when the first piston moves in the forward direction, oil flows into the first piston cavity, the second piston cavity pushes the second piston to move until the preset position, and therefore the first piston moves in the forward stepping mode.
2. The progressive hydraulic apparatus of claim 1, further comprising a first directional valve connected between the hydraulic cylinder and the metering cylinder for connecting or disconnecting the first cylinder and the second cylinder.
3. The progressive hydraulic apparatus of claim 2 wherein the first directional valve includes a first operating position and a second operating position, the first piston dividing the first cylinder into a first positive chamber and a first negative chamber, the second piston dividing the second cylinder into a second positive chamber and a second negative chamber;
when the first reversing valve is located at the first working position, the first positive cavity is communicated with the second positive cavity through the first reversing valve; when the first reversing valve is located at the second working position, the first positive cavity is communicated with the second negative cavity through the first reversing valve.
4. The step hydraulic apparatus according to claim 3, further comprising an oil pump mechanism, a second direction changing valve, and a third direction changing valve; the second reversing valve is connected between the oil pump mechanism and the hydraulic cylinder so as to connect or disconnect the oil pump mechanism and the hydraulic cylinder; the third direction valve is connected between the oil pump mechanism and the first direction valve to connect or disconnect the oil pump mechanism and the first direction valve.
5. The progressive hydraulic apparatus of claim 4 wherein the first direction valve further comprises a third operating position, and wherein the first positive chamber is in communication with the oil pump mechanism through the first direction valve when the first direction valve is in the third operating position, such that oil enters the first positive chamber through the first direction valve to urge the first piston to move in a reverse direction.
6. The step hydraulic apparatus according to claim 5, wherein the second piston of the metering cylinder is provided with a protrusion on at least one side thereof, and the second cylinder body of the metering cylinder is provided with a recessed area corresponding to the protrusion, and the protrusion is moved toward the recessed area until the protrusion comes into contact with the recessed area to cushion the second piston.
7. The progressive hydraulic apparatus of claim 6 wherein the oil pump mechanism includes an oil pump and a tank, the oil pump being coupled to the tank for pumping oil from the tank.
8. A control method of a stepping hydraulic apparatus which is applied to the stepping hydraulic apparatus according to any one of claims 1 to 7, comprising:
when a first piston of the hydraulic cylinder moves forwards, oil in a first piston cavity of the hydraulic cylinder enters a second piston cavity of the metering cylinder;
the oil in the second piston cavity pushes a second piston of the metering cylinder to move until the second piston of the metering cylinder moves to a preset position, and the oil stops moving to enter the second piston cavity;
and the first piston of the hydraulic cylinder stops moving under the resistance action of the oil liquid to finish one-time positive stepping displacement.
9. The method of controlling a progressive hydraulic apparatus of claim 8 wherein the entering of the oil of the first piston chamber of the hydraulic cylinder into the second piston chamber of the metering cylinder comprises:
when the first reversing valve is switched to a first working position, oil in a first positive cavity in the first piston cavity enters a second positive cavity in the second piston cavity through the first reversing valve until the second piston moves to a preset position;
and after the first piston of the hydraulic cylinder stops moving under the resistance action of the oil liquid and finishes one positive stepping displacement, the hydraulic cylinder further comprises:
when the first reversing valve is switched to a second working position, oil in a first positive cavity in the first piston cavity enters a second negative cavity in the second piston cavity through the first reversing valve until the second piston moves in the reverse direction until the second piston moves to a preset position.
10. The control method of a stepping hydraulic apparatus according to claim 9, further comprising:
when the first reversing valve is switched to a third working position, oil enters the first positive cavity to push the first piston to move in the reverse direction.
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|---|---|---|---|
| CN202010418400.XA CN111577686B (en) | 2020-05-18 | 2020-05-18 | Stepping hydraulic equipment and control method thereof |
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|---|---|---|---|
| CN202010418400.XA CN111577686B (en) | 2020-05-18 | 2020-05-18 | Stepping hydraulic equipment and control method thereof |
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| CN111577686A CN111577686A (en) | 2020-08-25 |
| CN111577686B true CN111577686B (en) | 2022-03-29 |
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| CN115263854A (en) * | 2022-07-22 | 2022-11-01 | 北京三一智造科技有限公司 | Hydraulic step control device and working machine |
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