CN114635885B - Oil cylinder driven closed type traveling system and working method thereof - Google Patents

Oil cylinder driven closed type traveling system and working method thereof Download PDF

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Publication number
CN114635885B
CN114635885B CN202210537055.0A CN202210537055A CN114635885B CN 114635885 B CN114635885 B CN 114635885B CN 202210537055 A CN202210537055 A CN 202210537055A CN 114635885 B CN114635885 B CN 114635885B
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oil cylinder
oil
cylinder
piston rod
closed
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CN114635885A (en
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李为民
彭永强
刘向超
赵江平
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Construction Machinery Branch of XCMG
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Construction Machinery Branch of XCMG
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention discloses a closed traveling system driven by an oil cylinder and a working method thereof.A first oil inlet of a closed pump and a first oil outlet of the closed pump are both connected with a switching valve, the switching valve is connected with a first large cavity of the oil cylinder and a second large cavity of the oil cylinder, a first small cavity of the oil cylinder is communicated with a second small cavity of the oil cylinder, a first cylinder barrel of the oil cylinder and a second cylinder barrel of the oil cylinder are both arranged on a host chassis of hoisting equipment, a first locking block is arranged on a first piston rod of the oil cylinder, and a second locking block is arranged on a second piston rod of the oil cylinder; the first locking block and the second locking block are both in sliding connection with a track used for the crane to walk. The invention provides an oil cylinder driven closed type traveling system, which adopts the working principle that a hydraulic double-cylinder series circuit with an oil cylinder stroke compensation valve arranged inside and double cylinders reversely move synchronously to alternately drive and travel, and has high cost performance compared with a speed reducer; the invention adopts the skillful matching of the oil cylinders in groups in pairs, and solves the problem that the system is complicated because the oil supplementing system and the oil discharging system are independently carried on a closed system of the oil cylinders.

Description

Oil cylinder driven closed type traveling system and working method thereof
Technical Field
The invention relates to a closed traveling system driven by an oil cylinder and a working method thereof, belonging to the technical field of hoisting equipment.
Background
Since the world, the circular rail crane pushes ultra-large hoisting fields such as petrochemical industry and nuclear industry to a new height by virtue of the advantages of low grounding ratio, large hoisting moment, capability of walking with load and the like. At present, the crane is only researched and manufactured by a few foreign manufacturers, and a finished product is not developed at home. Due to the ultra-strong lifting capacity of the ring rail crane, the structure size of the ring rail crane is extremely large, and the requirements on parameters and performance of matched elements are also very high. For the circular track crane, a closed hydraulic control system is a good choice, because the closed hydraulic system not only has large power density ratio, compact structure and stable transmission, but also has high energy-saving performance and good intelligent controllability.
The closed hydraulic system refers to a system in which a working medium, such as hydraulic oil, directly returns to a hydraulic pump after coming out of an actuating mechanism, such as a motor/oil cylinder, that is, an oil return port of the actuating mechanism is directly connected with an oil suction port of the pump to form a closed loop. In the technical field of circular rail hoisting equipment, other cranes at home and abroad mostly adopt open or closed traveling drive of a motor and a speed reducer; there are also open-type traveling systems driven by oil cylinders.
The driving system of the crane in the prior art is provided with a scheme I and a scheme II, and the prior art close to the invention is also provided with a pumping system control scheme shown as a scheme III:
the first scheme is as follows: a standard closed hydraulic system is shown in fig. 1, and includes, in addition to a pump and a motor/cylinder, an oil supply system for preventing a system leakage from causing insufficient oil absorption to generate suction, a flushing cooling system for replacing high-temperature oil in a loop to dissipate heat, and a high-pressure protection system for limiting the maximum pressure by a safety valve and a pressure cutoff valve. Although the closed traveling system driven by the oil cylinder has a plurality of advantages when being applied to a ring rail crane, the closed traveling system has the following defects that 1) the areas of two cavities with different sizes of the hydraulic oil cylinder cause different oil inlet and outlet flows; 2) the oil cylinder leakage causes inconsistency when the multiple cylinders move in a matching way, so that the movement is inconsistent. 3) The closed type traveling scheme driven by the motor and the speed reducer has the advantages of energy conservation, high efficiency, smooth reversing and the like of a closed type system, but for the circular track crane, the great driving moment needs the support of the speed reducers with a large number or an ultra-large size, so that the gravity center of a chassis of the crane is inevitably raised, the structure is huge, and the cost is higher.
Scheme II: as shown in figures 2 and 3, the open type system driven by the motor + the speed reducer or the oil cylinder absorbs oil from the hydraulic oil tank, the output high-pressure oil drives the motor to rotate/the oil cylinder to stretch through the reversing control valve, and the hydraulic oil returns to the hydraulic oil tank through the reversing control valve from an oil return port of the motor/the oil cylinder. The motor-driven open system is characterized in that the motor rotates to drive a speed reducer in a supporting roller of a ring rail chassis to output a rotating torque, the walking rolling friction resistance is overcome, the main machine is driven to walk, and the reversing control valve switches to reverse the direction, so that the main machine walks reversely. The open system driven by the oil cylinder directly drives the main machine.
The open type walking of the motor and the speed reducer has the problems of large structure and high gravity center as in the scheme of fig. 1, and even if the open type walking scheme driven by the oil cylinder is adopted, the problems of valve control reversing impact, large heating loss, large installation power requirement and the like of the open type walking system are difficult to avoid.
The third scheme is as follows: the valve control impact and loss problems of the open type pumping control system are difficult to eliminate all the time, closed type pumping control schemes are developed gradually, the application of the closed type pumping control schemes is more and more at present, and the principle of the closed type pumping control scheme is shown in figure 4: the closed pump outputs high-pressure oil to enter the left oil cylinder large cavity to push the piston rod of the left oil cylinder to extend out, the piston rod of the left oil cylinder is connected with the concrete plug to push out concrete to finish feeding action, the right oil cylinder small cavity is connected with the left oil cylinder small cavity through a pipeline, the hydraulic oil pushes the piston rod of the right oil cylinder to retract, the piston rod of the right oil cylinder is connected with the concrete plug to retract to suck the concrete, and the material sucking action is finished. If the closed pump outputs reversely, the left oil cylinder is switched from feeding to sucking, the right oil cylinder is switched from sucking to feeding, and the operation is repeated in this way, so that a continuous concrete pumping process is formed.
Since the concrete pumping efficiency affects the casting quality, the pumping also pursues the speed, and when the speed is pursued, the impact inevitably exists when the oil cylinder is switched between the feeding and the absorbing. In order to slow down and simultaneously compensate leakage, the system totally designs four through holes at the tail ends of the strokes of the two ends of each oil cylinder, and a U-shaped one-way throttling pipeline is additionally arranged between the through holes: a "U-shaped tube". When the left oil cylinder does not run to the point A of the U-shaped pipe at the right end, the oil passages of the U-shaped pipe are not communicated, and the buffering compensation effect is not realized; when the left oil cylinder continues to extend forwards and crosses the point A, high-pressure oil in a large cavity of the left oil cylinder enters a small cavity through a damping hole and a one-way valve of a U-shaped pipe, so that the advancing resistance of the left oil cylinder is increased, the extending speed of the left oil cylinder is reduced, the two oil cylinders are buffered before reversing of a closed pump, and the smooth transition of pumping, material sucking and feeding is realized.
Because the pumping system has large load, the impact is eliminated by more emphasizing buffer transition when the pumping material suction and the feeding material are switched, the requirement on whether the speed of conveying concrete is uniform is not too high, and the concrete conveying can be approximately continuous, so that the U-shaped pipe can better meet the requirement of the pumping working condition. But also because the oil cylinder piston repeatedly rubs through four through-holes during pumping, often cause the damage of oil cylinder piston easily, regard as the wearing parts consumptive material with the part on the pumping oil cylinder at present often to be ready for the change. The piston of the oil cylinder needs to pass through the U-shaped pipe damping hole for many times, so that the piston is easy to damage, is easy to damage and consumable, needs to be replaced frequently, and is not suitable for the walking working condition of the circular track crane; the U-shaped pipe realizes the buffering and the stroke compensation of the movement of the oil cylinder in a one-way throttling mode, but has sudden speed change, and the speeds under different loads and different oil temperature conditions are different, so that the U-shaped pipe is applied to the stability and the continuity of the influence of the circular rail walking.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art, provide an oil cylinder driven closed type traveling system and a working method thereof, solve the problem of the requirement of multi-power allocation of hoisting equipment, and be particularly suitable for a circular track crane; the problem of asynchronism and unstable continuity when multiple hydraulic cylinders are driven is solved; the problem of oil cylinder driven closed traveling system need match alone to mend oil or arrange oil return etc. and make the system complicated is solved.
In order to achieve the purpose, the invention provides an oil cylinder driven closed type traveling system which comprises a closed type pump I, a switching valve, a plurality of driving units, a locking block I and a locking block II, wherein each driving unit comprises an oil cylinder I and an oil cylinder II; the first locking block and the second locking block are both in sliding connection with a track used for the crane to walk.
Preferentially, the system comprises a plurality of oil cylinder stroke compensation valves, wherein oil cylinder stroke compensation valves are fixedly mounted on a first oil cylinder piston rod and a second oil cylinder piston rod, and are used for contacting the bottom of the first oil cylinder and gradually opening when the first oil cylinder piston rod extends to a limit position and the second oil cylinder piston rod does not retract to the limit position, high-pressure oil in a large cavity of the first oil cylinder enters a small cavity of the first oil cylinder through the oil cylinder stroke compensation valves, and the high-pressure oil in the small cavity of the first oil cylinder enters the small cavity of the second oil cylinder to push the second oil cylinder piston rod to continue to retract until the second oil cylinder piston rod retracts to the limit position;
when the second oil cylinder extends to the limit position firstly and the piston rod of the first oil cylinder does not retract to the limit position, the oil cylinder stroke compensation valve inside the second oil cylinder contacts the cylinder cover of the second oil cylinder and is gradually opened, high-pressure oil in the large cavity of the second oil cylinder enters the small cavity of the second oil cylinder through the oil cylinder stroke compensation valve, and the high-pressure oil in the small cavity of the second oil cylinder enters the small cavity of the first oil cylinder to push the piston rod of the first oil cylinder to continue to retract until the piston rod of the first oil cylinder retracts to the limit position.
Preferentially, the device comprises a plurality of pin shafts, a piston rod of the first oil cylinder is connected with the first locking block through the pin shaft, and a piston rod of the second oil cylinder is connected with the second locking block through the pin shaft.
Preferably, the oil cylinder stroke compensation valve comprises two one-way valve cores, a plurality of check rings, a valve body, a plurality of valve sleeves and a spring,
a through hole is transversely formed in the valve body, a plurality of valve sleeves are fixedly arranged in the through hole, two one-way valve cores are symmetrically and fixedly arranged in the valve sleeves, a baffle ring is sleeved at the outer end of the one-way valve core, the outer edge of the baffle ring is fixed in the through hole, a spring is arranged between the two one-way valve cores, and a spring cavity is formed in a gap between the two one-way valve cores;
any one of the one-way valve cores is pushed to open by hydraulic pressure or external force, and the through hole part on the outer side of the one-way valve core is communicated with the spring cavity.
A working method of a closed traveling system driven by an oil cylinder adopts the closed traveling system driven by the oil cylinder to push a host chassis of a hoisting device to advance, and comprises the following steps:
step 1, pumping high-pressure oil out of a first closed pump, allowing the high-pressure oil to enter a first large cavity of an oil cylinder, clamping a track by a first locking block, releasing a second locking block from the track, and extending a piston rod of the oil cylinder to push a host chassis of the hoisting equipment to move;
if the initial displacement of the first oil cylinder and the initial displacement of the second oil cylinder are the same, when a piston rod of the first oil cylinder extends to the limit position, the second oil cylinder also retracts to the limit position; thereby ensuring that the hydraulic oil with the same flow returns to the first closed pump from the second large cavity of the oil cylinder;
if the piston rod of the first oil cylinder extends to the limit position, the piston rod of the second oil cylinder does not retract to the limit position, and high-pressure oil in the large cavity of the first oil cylinder enters the small cavity of the first oil cylinder through the stroke compensation valve of the oil cylinder; high-pressure oil in the small cavity of the first oil cylinder enters the small cavity of the second oil cylinder to push the piston rod of the second oil cylinder to retract until the second oil cylinder drives the locking block II to also retract to the limit position;
step 2, after a piston rod of the first oil cylinder extends to the limit position and piston rods of the second oil cylinder retract to the limit position, the first closed pump pumps oil reversely, high-pressure oil enters a large cavity of the second oil cylinder, the second locking block clamps the rail and the first locking block is separated from the rail, and the piston rods of the second oil cylinder extend to push a host chassis of the hoisting equipment to move;
if the initial displacements of the two oil cylinders are the same, when the two piston rods of the oil cylinders extend to the limit position, the first oil cylinder also retracts to the limit position; if the piston rod of the oil cylinder II extends to the limit position, the piston rod of the oil cylinder I does not retract to the limit position, and high-pressure oil in the large cavity of the oil cylinder II enters the small cavity of the oil cylinder II through the oil cylinder stroke compensation valve; high-pressure oil in the small cavity of the oil cylinder II enters the small cavity of the oil cylinder II, and a piston rod of the oil cylinder retracts until the oil cylinder drives a locking block to retract to a limit position;
and step two, after the piston rods of the oil cylinders extend to the limit positions and the piston rod of the oil cylinder retracts to the limit position, the operation is carried out.
Preferentially, in the step 1, the oil inlet flow of the first large cavity of the oil cylinder is equal to the oil return flow of the second large cavity of the oil cylinder.
The closed traveling system of the hoisting equipment adopts the closed traveling system driven by the oil cylinder as a forward traveling system and also comprises a reverse traveling system,
the reverse traveling system and the forward traveling system are both arranged on a host chassis of the hoisting equipment, the reverse traveling system is used for pushing the host chassis of the hoisting equipment to travel reversely, and the forward traveling system is used for pushing the host chassis of the hoisting equipment to travel forwardly.
Preferably, the backward walking system and the forward walking system are identical in structure.
The invention achieves the following beneficial effects:
the invention provides an oil cylinder driven closed type walking system and a working method thereof, wherein a hydraulic double-cylinder series loop with an oil cylinder stroke compensation valve arranged inside and a working principle that double-cylinder reverse synchronous motion alternately drives walking are adopted, and compared with a speed reducer, the oil cylinder driven closed type walking system is high in cost performance; the oil cylinders are skillfully matched in pairs in groups, so that the problem that a closed system of the oil cylinders is singly provided with an oil supplementing system and an oil discharging system to cause the system to be complicated is solved;
the closed pump of the main system is fully utilized, a pump set does not need to be additionally arranged for the traveling system, the economy of the system is improved, the power equipment of the pump set and an engine is reduced for the original complex multi-power system, and the maximum action is realized by the fewest pump sets;
according to the oil cylinder stroke compensation valve, the one-way valve core is jacked open through simple and reliable mechanical stroke limiting, two ends of the one-way valve core are communicated, so that the stroke difference between the one-way valve core and another matched oil cylinder is made up, and the requirements of the synchronism of oil cylinder driving on element manufacturing and host installation and debugging are greatly reduced; by utilizing the structure that the oil cylinder stroke compensation valve is in place along with the integral movement of the oil cylinder and is communicated smoothly in two directions, the stroke compensation of the oil cylinder is realized by adopting a simple and reliable stroke detection mode, and the driving requirements of a closed walking system driven by the oil cylinder on conciseness, reliability and continuity are met;
according to the invention, a set of simplified oil cylinder driven closed type traveling system is constructed, the running risk of the system is reduced, the transmission is stable, and the environment is protected and the energy is saved; the oil cylinder directly drives the chassis, so that compared with the driving of a speed reducer, the gravity center of the host is reduced, and the stability of the host is improved;
the invention is not limited to circular track movement or circular track hoisting equipment, but also is applicable to a driving system for straight track movement or other track type movements.
Drawings
FIG. 1 is a block diagram of a standard closed hydraulic system of the prior art;
FIG. 2 is a block diagram of a prior art motor + reducer driven open system;
FIG. 3 is a block diagram of a prior art motor + cylinder driven open system;
FIG. 4 is a block diagram of a closed pumping control of the prior art;
FIG. 5 is a structural diagram of a hydraulic system of a closed traveling system driven by an oil cylinder of the invention;
FIG. 6 is a schematic view of a first oil cylinder connected with a first locking block through a pin shaft according to the present invention;
fig. 7 is a sectional view of the cylinder stroke compensating valve in the present invention.
1-closed pump one; 2-oil cylinder one; 3-oil cylinder II; 4, locking the first block; 5, locking block two; 6-oil cylinder stroke compensation valve; 7-a pin shaft; 8-orbit; 9-a switching valve; 10-a host chassis; 11-a closed pump; 12-a safety valve; 13-oil supplementing port; 14-a flushing port; 15-a motor; 16-pressure shut-off valve; 17-an open pump; 18-a directional control valve; 19-a safety valve; 20-oil cylinder; 21-an engine; 22-left oil cylinder; 23-one-way throttle valve; 24-a right cylinder; 61-one-way valve core; 62-a retainer ring; 63-a valve body; 64-a valve housing; 65-spring.
Detailed Description
The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
It should be noted that, if there is a directional indication (such as up, down, left, right, front, and back) in the embodiment of the present invention, it is only used to explain the relative position relationship and motion situation between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if the description of "a" and "an" etc. is referred to in this disclosure, it is used for descriptive purposes only and not for indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "a" or "an" may explicitly or implicitly include at least one of the feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Example one
The invention provides an oil cylinder driven closed type traveling system and a working method thereof, which adopt the working principle of a hydraulic double-cylinder series circuit with an oil cylinder stroke compensation valve built in and the alternative driving traveling of the reverse synchronous motion of double cylinders, and the hydraulic principle sketch of the system is shown in figure 5. In the oil cylinder driven closed walking system, each driving unit uses at least two same oil cylinders in a group. FIG. 5 is a set of double oil cylinders taken as an example, the oil inlet and outlet of the first closed pump 1 are connected with a switching valve 9, the switching valve 9 is connected with the large cavities of the two oil cylinders, wherein the port A of the switching valve is connected with the large cavity of the first oil cylinder 2, and the port B of the switching valve is connected with the large cavity of the second oil cylinder 3; the small cavity of the first oil cylinder 2 is communicated with the small cavity of the second oil cylinder 3 by a pipeline;
as shown in fig. 6, a piston rod of the first oil cylinder 2 is connected with the first locking block 4 by a pin 7, and the second oil cylinder 3 is connected with the second locking block 5 by a pin; the cylinder barrel of the first oil cylinder 2 and the cylinder barrel of the second oil cylinder 3 are connected with a crane chassis; the first locking block 4 and the second locking block 5 are in sliding connection with a track 8 for the crane to travel; the track 8 is fixed on the ground; and the oil cylinder stroke compensation valve 6 is fixedly arranged inside the first oil cylinder 2 and the second oil cylinder 3 and is positioned at the piston of the piston rod of the oil cylinder. The host chassis 10 of the hoisting device is pushed to travel by the walking system, and comprises:
in fig. 5, when the first closed pump 1 pumps high-pressure oil into the large cavity of the first oil cylinder 2, the first locking block 4 is in a locking state to clamp the rail, and the first oil cylinder 2 extends to output thrust to push the crane chassis to move. The small cavity of the first oil cylinder 2 returns oil to the small cavity of the second oil cylinder 3, hydraulic oil in the large cavity of the second oil cylinder 3 returns oil to the oil suction port of the first closed pump 1, the second locking block 5 is in a loosening state and is separated from the track, the second oil cylinder 3 retracts to output pulling force, and the second locking block 5 is pulled to retract. Because the first oil cylinder 2 and the second oil cylinder 3 are identical oil cylinders and the compensation synchronization effect of the oil cylinder stroke compensation valve 6 is added, the oil inlet flow of the large cavity of the first oil cylinder 2 is ensured to be equal to the oil return flow of the large cavity of the second oil cylinder 3, so that the movement strokes of the first oil cylinder 2 and the second oil cylinder 3 are ensured to be identical, namely the extension length of the first oil cylinder 2 is equal to the retraction length of the second oil cylinder 3.
Assuming that the first oil cylinder 2 contracts fully and the second oil cylinder 3 extends fully at the beginning, the strokes of the first oil cylinder 2 and the second oil cylinder 3 are both L, when the first closed pump 1 pumps high-pressure oil in the large cavity of the first oil cylinder 2 in the forward direction, so that the first oil cylinder 2 extends fully, the second oil cylinder 3 retracts fully, the crane advances by a distance L (approximate value, the radius of an annular track is far greater than the length of the first oil cylinder 2 when the first oil cylinder 2 extends fully, so the distance of the extending oil cylinder is approximately regarded as the distance of the advancing chassis of the crane), after the first oil cylinder 2 moves fully in place through the monitoring of a sensor, the first closed pump 1 changes the direction of the pumped oil to pump oil reversely, the high-pressure oil enters the large cavity of the second oil cylinder 3, the second locking block 5 is changed into a locking state to clamp the track 8, the first locking block 4 is changed into a releasing state to release the track 8, the second oil cylinder 3 begins to extend, the first oil cylinder 2 starts to drive the first locking block 4 to retract until the two oil cylinders extend fully and retract respectively, the crane travels the distance L again, and the operation is repeated in a circulating way, so that the continuous walking is realized. If the reverse walking of the crane is to be realized, only another same closed walking system driven by the oil cylinder needs to be added and is arranged on the opposite side of the chassis structure.
The structure and the working principle of the oil cylinder stroke compensation valve are as follows:
in fig. 5, if there is no cylinder stroke compensation valve 6, it is assumed that initially the cylinder one 2 is fully contracted and the cylinder two 3 is fully extended, which becomes a necessary condition, otherwise, because of the leakage of the cylinder one 2 and the cylinder two 3 in different degrees, the travel distance of the single cylinder will be smaller and smaller finally until the single cylinder can not walk finally. For example, when the first closed pump 1 pumps high-pressure oil into the first oil cylinder 2 and the large cavity, the first oil cylinder 2 and the second oil cylinder 3 are in a fully extended state, at the moment, no hydraulic oil enters the second oil cylinder 3 because the first oil cylinder 2 is fully extended and does not extend any more, the second oil cylinder 3 keeps still, and the crane cannot walk. The oil cylinder stroke compensation valve 6 well solves the problems, and the oil cylinder stroke compensation valve 6 ensures that the advancing distance L of the first oil cylinder 2 or the second oil cylinder 3 in each cycle can be ensured no matter what state the first oil cylinder 2 and the second oil cylinder 3 are in at the beginning and no matter whether the leakage amount of the first oil cylinder 2 and the second oil cylinder 3 is consistent or not, so that continuous walking is realized.
The structure of the cylinder stroke compensation valve 6 is shown in fig. 7, the cylinder stroke compensation valve 6 is a completely symmetrical structure, two identical one-way valve cores 61 are installed in valve sleeves 64 at two ends in a back-to-back manner through springs 65, the valve sleeves 64 are limited in a valve body 63 by retaining rings 62, and the one-way valve cores 61 protrude out of the end face of the valve body 63. The cylinder stroke compensating valve 6 has a very small spring force, so the opening pressure of the check valve spool 61 is very small. When the hydraulic oil on the left side or the right side of the oil cylinder stroke compensation valve 6 is higher than the opening pressure of the check valve core 61, the check valve core 61 is jacked to enter the middle spring cavity, when the oil cylinder stroke compensation valve 6 is close to the limit position of the cylinder bottom or the cylinder cover end along with the operation of the first oil cylinder 2 or the second oil cylinder 3 piston, the opposite side check valve core 61 is jacked in advance due to the fact that the side check valve core protrudes out of the end face of the valve body 63, the opposite side check valve core 61 is opened gradually at the moment, the hydraulic oil enters the oil port on the right side or the left side of the oil cylinder stroke compensation valve 6 through the oil passage of the opposite side check valve core 61 through the spring cavity, therefore, communication between two sides of the oil cylinder stroke compensation valve 6 is achieved, the opening process of the oil cylinder stroke compensation valve 6 is gradual, the flow is increased in proportion according to the opening area, and the speed transition is achieved.
The invention fully utilizes the function that oil ports at two ends of the one-way valve core 61 can be smoothly communicated after the oil cylinder stroke compensation valve runs to a specific position. When the first closed pump 1 pumps high-pressure oil into the large cavity of the first oil cylinder 2, the first oil cylinder 2 and the second oil cylinder 3 have different extension lengths and different leakage amounts, if the first oil cylinder 2 firstly runs to a position close to a limit position, the first oil cylinder stroke compensation valve 6 of the first oil cylinder 2 is opened, the high-pressure oil enters the small cavity of the second oil cylinder 3 through the first oil cylinder stroke compensation valve 6, and the second oil cylinder 3 is continuously pushed to retract until the second oil cylinder 3 retracts to the limit position; if the oil cylinder II 3 firstly runs to the limit position, the oil cylinder stroke compensation valve 6 of the oil cylinder II 3 is opened, high-pressure oil continuously pushes the oil cylinder I2 to extend out, and hydraulic oil enters the large cavity of the oil cylinder II 3 from the small cavity of the oil cylinder II 3 through the oil cylinder stroke compensation valve 6 and then returns to the oil suction port of the closed pump I1 until the oil cylinder I2 completely extends to the limit position. Therefore, no matter what the condition is, the oil cylinder stroke compensation valve 6 can automatically complete the adjustment of the initial state of the oil cylinder, compensate the stroke difference of the oil cylinder and realize continuous and non-intermittent walking drive.
Therefore, the invention greatly simplifies the closed system driven by the conventional oil cylinder, reduces the running risk of the closed system, realizes the function of the stroke compensation of the oil cylinder and reduces the requirements on the assembly, manufacture, assembly and debugging of all matched elements in the system by the aid of the oil cylinder stroke compensation valve and the new walking driving system. And the system can adopt the mode that multiunit hydro-cylinder collocation satisfies the demand of drive moment according to actual conditions, compares, and quantity also is less than the drive unit of electric motor/hydraulic motor greatly, but the size is littleer, and the structure is also compacter. Meanwhile, a switching valve switching mode is adopted, an upper vehicle main oil way without compound action with lower vehicle traveling is switched to lower vehicle traveling driving, and compared with an open system adopted for traveling of a closed host system, a pump set and an interface are not required to be additionally arranged.
The closed traveling system of the hoisting equipment adopts the oil cylinder driven closed traveling system as a forward traveling system and also comprises a reverse traveling system,
the reverse traveling system and the forward traveling system are both installed on the host chassis 10 of the hoisting equipment, the host chassis 10 of the hoisting equipment is pushed to travel reversely by the reverse traveling system, and the host chassis 10 of the hoisting equipment is pushed to travel forward by the forward traveling system.
Further, the reverse walking system and the forward walking system in this embodiment have the same structure.
The closed pump 1, the oil cylinder 2, the oil cylinder 3, the locking block 4, the locking block 5, the oil cylinder stroke compensation valve 6, the pin shaft 7, the track 8, the switching valve 9 and the host chassis 10 are many in models which can be adopted in the prior art, and the skilled person can select a proper model according to actual requirements, and the embodiment is not illustrated one by one.
The circular rail crane comprises: the cantilever crane can move on the pre-paved circular track.
Closed traveling system: the walking is a control system of a closed hydraulic system.
Cylinder stroke compensation valve: when the strokes of the cylinders are inconsistent due to the matching drive of the multiple hydraulic cylinders, the valve plays a role in compensating the leakage of the cylinders and the system and realizing the consistent strokes of the cylinders.
Example two
The oil cylinder stroke compensation valve 6 jacks up the one-way valve core 61 through simple and reliable mechanical stroke limiting, so that two ends of the one-way valve core 61 are communicated to make up the stroke difference between the one-way valve core 61 and the paired oil cylinder I2 or oil cylinder II 3, the oil cylinder stroke compensation valve 6 can be replaced by a compensation valve with other structures, and the stroke compensation of the oil cylinder is realized by a stroke monitoring scheme. The oil cylinder stroke compensation valve 6 is arranged at the piston rod of the oil cylinder I2 or the oil cylinder II 3, and can also be arranged at other positions by adopting other structural forms to realize the same function.
In the embodiment of the invention, the closed type traveling system driven by the oil cylinders is built only by the driving unit adopting the grouped double-oil-cylinder mode, and one driving unit can adopt more oil cylinders in pairs. The hydraulic oil cylinder is driven by a single piston cylinder, and the system can be built by adopting hydraulic oil cylinders with other structural forms such as double piston cylinders or telescopic sleeves.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.

Claims (6)

1. A closed walking system driven by an oil cylinder, which is characterized in that,
the closed type hydraulic lifting crane comprises a first closed type pump (1), a switching valve (9), a plurality of driving units, a first locking block (4) and a second locking block (5), wherein the driving units comprise a first oil cylinder (2) and a second oil cylinder (3), an oil inlet of the first closed type pump (1) and an oil outlet of the first closed type pump (1) are both connected with the switching valve (9), the switching valve (9) is connected with a large cavity of the first oil cylinder (2) and a large cavity of the second oil cylinder (3), a small cavity of the first oil cylinder (2) is communicated with a small cavity of the second oil cylinder (3), a cylinder barrel of the first oil cylinder (2) and a cylinder barrel of the second oil cylinder (3) are both installed on a host chassis (10) of the lifting equipment, the first locking block (4) is installed on a piston rod of the first oil cylinder (2), and the second locking block (5) is installed on a piston rod of the second oil cylinder (3); the first locking block (4) and the second locking block (5) are in sliding connection with a track (8) for the crane to travel;
the hydraulic cylinder device comprises a plurality of cylinder stroke compensation valves (6), wherein cylinder stroke compensation valves (6) are fixedly mounted on a piston rod of a cylinder I (2) and a piston rod of a cylinder II (3) and are used for contacting the bottom of the cylinder I (2) and gradually opening when the piston rod of the cylinder I (2) extends to a limit position and the piston rod of the cylinder II (3) does not retract to the limit position, high-pressure oil in a large cavity of the cylinder I (2) enters a small cavity of the cylinder I (2) through the cylinder stroke compensation valves (6), and high-pressure oil in the small cavity of the cylinder I (2) enters a small cavity of the cylinder II (3) to push the piston rod of the cylinder II (3) to continue to retract until the piston rod of the cylinder II (3) retracts to the limit position;
when the second oil cylinder (3) extends to the limit position firstly and the piston rod of the first oil cylinder (2) does not retract to the limit position, the oil cylinder stroke compensation valve (6) inside the second oil cylinder (3) contacts the cylinder cover of the second oil cylinder (3) and is gradually opened, high-pressure oil in the large cavity of the second oil cylinder (3) enters the small cavity of the second oil cylinder (3) through the oil cylinder stroke compensation valve (6), high-pressure oil in the small cavity of the second oil cylinder (3) enters the small cavity of the first oil cylinder (2), and the piston rod of the first oil cylinder (2) is pushed to continue to retract until the piston rod of the first oil cylinder (2) retracts to the limit position;
the oil cylinder stroke compensation valve (6) comprises two one-way valve cores (61), a plurality of retainer rings (62), a valve body (63), a plurality of valve sleeves (64) and a spring (65),
a through hole is transversely formed in the valve body (63), a plurality of valve sleeves (64) are fixedly arranged in the through hole, two one-way valve cores (61) are symmetrically and fixedly arranged in the valve sleeves (64), a check ring (62) is sleeved at the outer end of the one-way valve core (61), the outer edge of the check ring (62) is fixed in the through hole, a spring (65) is arranged between the two one-way valve cores (61), and a spring cavity is formed by a gap between the two one-way valve cores (61);
when any one of the one-way valve cores (61) is pushed to open by hydraulic pressure or external force, the through hole part on the outer side of the one-way valve core (61) is communicated with the spring cavity.
2. The closed traveling system driven by the oil cylinder according to claim 1,
the oil cylinder I (2) piston rod is connected with the locking block I (4) through the pin shaft (7), and the oil cylinder II (3) piston rod is connected with the locking block II (5) through the pin shaft (7).
3. A working method of a closed traveling system driven by an oil cylinder, which is characterized in that the closed traveling system driven by the oil cylinder according to any one of claims 1 to 2 is adopted to push a host chassis (10) of a hoisting device to travel, and comprises the following steps:
step 1, pumping high-pressure oil out of a closed pump I (1) to enter a large cavity of an oil cylinder I (2), clamping a rail (8) by a locking block I (4), separating a locking block II (5) from the rail, and extending a piston rod of the oil cylinder I (2) to push a host chassis (10) of a hoisting device to advance;
if the initial displacement of the first oil cylinder (2) and the initial displacement of the second oil cylinder (3) are the same, when the piston rod of the first oil cylinder (2) extends to the limit position, the second oil cylinder (3) also retracts to the limit position; thereby ensuring that the hydraulic oil with the same flow returns to the closed pump I (1) from the large cavity of the oil cylinder II (3);
if the piston rod of the first oil cylinder (2) extends to the limit position, the piston rod of the second oil cylinder (3) does not retract to the limit position, and high-pressure oil in the large cavity of the first oil cylinder (2) enters the small cavity of the first oil cylinder (2) through the oil cylinder stroke compensation valve (6); high-pressure oil in the small cavity of the first oil cylinder (2) enters the small cavity of the second oil cylinder (3) to push the piston rod of the second oil cylinder (3) to retract until the second oil cylinder (3) drives the locking block (5) to also retract to the limit position;
step 2, after a piston rod of the first oil cylinder (2) extends to the limit position and a piston rod of the second oil cylinder (3) retracts to the limit position, the first closed pump (1) pumps oil reversely, high-pressure oil enters a large cavity of the second oil cylinder (3), the second locking block (5) clamps the track (8), the first locking block (4) is separated from the track (8), and the piston rod of the second oil cylinder (3) extends to push a host chassis (10) of the hoisting equipment to move;
if the initial displacements of the two oil cylinders are the same, when the piston rod of the second oil cylinder (3) extends to the limit position, the first oil cylinder (2) also retracts to the limit position; if the piston rod of the oil cylinder II (3) extends to the limit position, the piston rod of the oil cylinder I (2) does not retract to the limit position, and high-pressure oil in the large cavity of the oil cylinder II (3) enters the small cavity of the oil cylinder II (3) through the oil cylinder stroke compensation valve (6); high-pressure oil in the small cavity of the second oil cylinder (3) enters the small cavity of the second oil cylinder (3), and the piston rod of the first oil cylinder (2) retracts until the first oil cylinder (2) drives the first locking block (4) to retract to the extreme position;
and 3, after the piston rod of the second oil cylinder (3) extends to the limit position and the piston rod of the first oil cylinder (2) retracts to the limit position, the step 1 is operated.
4. The working method of the oil cylinder driven closed traveling system according to claim 3, characterized in that in the step 1, the oil inlet flow of the large cavity of the first oil cylinder (2) is equal to the oil return flow of the large cavity of the second oil cylinder (3).
5. A closed traveling system of hoisting equipment, which is characterized in that the closed traveling system driven by the oil cylinder according to claim 1 is used as a forward traveling system and further comprises a backward traveling system,
the reverse traveling system and the forward traveling system are both arranged on a host chassis (10) of the hoisting equipment, the reverse traveling system is used for pushing the host chassis (10) of the hoisting equipment to travel reversely, and the forward traveling system is used for pushing the host chassis (10) of the hoisting equipment to travel forwardly.
6. The closed traveling system of hoisting equipment of claim 5, wherein the reverse traveling system and the forward traveling system are identical in structure.
CN202210537055.0A 2022-05-18 2022-05-18 Oil cylinder driven closed type traveling system and working method thereof Active CN114635885B (en)

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