CN207906178U - The synchronous leveling for driving small loop wheel machine supporting leg controls oil circuit - Google Patents
The synchronous leveling for driving small loop wheel machine supporting leg controls oil circuit Download PDFInfo
- Publication number
- CN207906178U CN207906178U CN201721532975.4U CN201721532975U CN207906178U CN 207906178 U CN207906178 U CN 207906178U CN 201721532975 U CN201721532975 U CN 201721532975U CN 207906178 U CN207906178 U CN 207906178U
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- valve
- oil circuit
- oil
- leveling
- supporting leg
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Abstract
The utility model discloses a kind of leveling of the synchronous small loop wheel machine supporting leg of driving to control oil circuit, for solving the problems such as supporting leg pressure holding effect during leveling is poor, zero-g is protected, shake is strong and leveling is asynchronous, belongs to hydraulic power field, it includes：Oil cylinder, hydraulic pump, motor, overflow valve one, two-position two-way solenoid valve, throttle valve one, oil circuit one, oil circuit two and four identical valve-controlled cylinder modules；It is characterized in that：Four valve-controlled cylinder modules are connected with oil circuit one and oil circuit two, and hydraulic pump and throttle valve one are connected between oil circuit one and oil cylinder, and an oil circuit six is equipped between hydraulic pump and throttle valve one, and an overflow valve one and two-position two-way solenoid valve are equipped between oil circuit six and oil circuit two.The utility model not only realizes the synchronous high-precision of four plunger cases, but also the pressurize stablized and overload protection function, avoid or eliminates the jitter problem that supporting leg generates during leveling well.
Description
Technical field
The utility model is related to a kind of plunger case leveling to control oil circuit, especially a kind of tune of the synchronous small loop wheel machine supporting leg of driving
Flat control oil circuit, belongs to hydraulic power technical field.
Background technology
With the arrival of the industrial revolution 4.0, the importance of automation is increasingly prominent, and hydraulic power is because being considered as the one of automation
Kind of form and by extensive concern, and because plunger case is as the executive device in hydraulic power technology, so in the drive of all kinds of machineries
Be widely applied in motivation structure, for example, small loop wheel machine supporting leg leveling.
Current small loop wheel machine generally uses the form of four supporting legs, and four plunger cases are respectively arranged in four supporting legs of small loop wheel machine
On, the bending of supporting leg is controlled by the contraction of plunger case, and then realize the purpose of small loop wheel machine leveling.But due to current small loop wheel machine
Leveling hydraulic transmission system lacks stable pressure holding function and synchronous driving capability, therefore each leveling supporting legs are being born compared with big load
When, the hydraulic oil in plunger case can be made to fluctuate bigger, plunger case vessel generates nonlinear time-varying, and then four plunger case tune occurs
The problems such as flat speed is unstable, shake is strong and leveling precision is low, the leveling time is long.The designer is actively studied with regard to this
With innovation, go out a kind of leveling control oil circuit of the synchronous small loop wheel machine supporting leg of driving to utility model.By overflow valve two and unidirectionally
Valve group forms one-way throttle valve at balanced valve, check valve with throttle valve two, and throttle valve is returned with overflow valve composition entrance throttle governing circuit
Road stablize pressurize and speed governing to the hydraulic oil of its oil inlet and oil return, when effective solution leveling small loop wheel machine occur it is strong
Strong jitter problem；Overload protection also is formed to oil circuit simultaneously, and under the control of the fuzzy PID algorithm in Z-type function, is also equipped with
Synchronous driving, high-precision leveling supporting legs function.
Utility model content
The purpose of the utility model is to overcome the above problem in the presence of existing small loop wheel machine leveling hydraulic power technology, from
And a kind of leveling control oil circuit of the synchronous small loop wheel machine supporting leg of driving is provided, there is synchronous driving, high-precision leveling, stablize pressurize, mistake
The advantages that carrying protection.
To achieve the above object, technical solution used by the utility model is：
A kind of leveling control oil circuit of the synchronous small loop wheel machine supporting leg of driving, including：Oil cylinder, hydraulic pump, motor, overflow valve one,
Two-position two-way solenoid valve, throttle valve one, oil circuit one, oil circuit two and four identical valve-controlled cylinder modules；It is characterized in that：It is described
Four valve-controlled cylinder modules be connected with oil circuit one and oil circuit two；Hydraulic pump and throttle valve one are connected between oil circuit one and oil cylinder；Liquid
An oil circuit six is equipped between press pump and throttle valve one；An overflow valve one and two-position two-way solenoid valve are equipped between oil circuit six and oil circuit two；
Overflow valve one is in parallel with two-position two-way solenoid valve.
The overflow valve one forms entrance throttle governing circuit with throttle valve one and returns as a further improvement of the utility model,
Road；When continuous high-pressure occurs in oil piping system, overflow valve overflow at the beginning prevents from overloading.
The two-position two-way solenoid valve is as relief circuit as a further improvement of the utility model, allows high-pressure and hydraulic
Oil flows back to fuel tank through the two-position two-way solenoid valve；Route is：Oil cylinder-hydraulic pump-six-overflow valve of oil circuit-bi-bit bi-pass electromagnetism
Valve-oil cylinder.
Four identical valve-controlled cylinder modules are respectively valve-controlled cylinder module as a further improvement of the utility model,
One, valve-controlled cylinder module two, valve-controlled cylinder module three and valve-controlled cylinder module four；Four identical valve-controlled cylinder modules all pass through a set of Z-type
The fuzzy PID algorithm of function controls, and is designed with identical electro-hydraulic proportional valve, oil circuit three, oil circuit five and plunger case；Oil circuit three
It is connected with the rodless cavity of plunger case, oil circuit five and the rod chamber of plunger case are connected；Oil circuit three is equipped with balanced valve simultaneously；Oil circuit five
It is equipped with hydraulic control one-way valve and one-way throttle valve；The K mouths of hydraulic control one-way valve are connected by oil circuit four with oil circuit three.
As a further improvement of the utility model, the electro-hydraulic proportional valve set there are three translation bit and four respectively with
The hydraulic fluid port that oil circuit one, oil circuit two, oil circuit three and oil circuit five connect.
The balanced valve is made of check valve and overflow valve two as a further improvement of the utility model, simultaneously
Check valve is in parallel with overflow valve two.
The one-way throttle valve is made of check valve and throttle valve two as a further improvement of the utility model,
Check valve is in parallel with throttle valve simultaneously.
The fuzzy PID algorithm rate-determining steps of the Z-type function are as a further improvement of the utility model,：First really
The position peak in 4 points is made, then remaining three load(ing) points realize hydraulic cylinder according to the leveling principle that keeps rising
Synchronous drive control；I.e.：When small loop wheel machine fuselage is in non-standard state, the first step gives high frequency sound electric-hydraulic proportion valve opening
The flow that valve port enters hydraulic cylinder is adjusted, to make fuselage quadrangle while move up, until fuselage is in original horizontal position
Stop；Second step is detected four vertical displacements of fuselage by displacement sensor MTS, determines peak；Third walks, with every
The numerical value of a vertical displacement is compared with peak, until the horizontal and vertical leveling of testing stand to highest level point.
As a further improvement of the utility model, if occurring the oil cylinder stroke excess of stroke phenomenon during leveling, it will
It alarms and protection of cutting off the power.
Compared with existing small loop wheel machine supporting leg leveling oil line system technology, the utility model has the advantages that：
The oil piping system of the utility model has used balanced valve, one-way throttle valve and hydraulic control one-way valve, realizes stable guarantor
Pressure and speed-regulating function, the rod chamber and rodless cavity for avoiding plunger case generate nonlinear time-varying；One is provided at oil cylinder simultaneously
Entrance throttle governing circuit circuit forms overload protection to entire oil piping system；Moreover, in the fuzzy PID algorithm of Z-type function
Control under, the oil circuit realize again four plunger case high-precise synchronizations driving.
Description of the drawings
Fig. 1 is each component locations distribution map in the utility model oil circuit.
Fig. 2 is that electro-hydraulic proportional valve synchronizes small four cylinder of the loop wheel machine load schematic diagram of driving.
Fig. 3 is that hydraulic oil flows to schematic diagram when four plungers stretch out.
Hydraulic oil flows to schematic diagram when Fig. 4 is four plunger retraction.
Hydraulic oil flows to schematic diagram when Fig. 5 is the utility model oil circuit overload protection.
Fig. 6 is the fuzzy PID algorithm rule of the Z-type function suitable for the utility model oil circuit.
In figure：1 oil cylinder；2 hydraulic pumps；3 motors；4 overflow valves one；5 two-position two-way solenoid valves；6 throttle valves one；7 electro-hydraulic ratios
Example valve；8 hydraulic control one-way valves；9 balanced valves；10 one-way throttle valves；11 plunger cases；12 check valves；13 overflow valves two；14 throttle valves
Two；L1 oil circuits one；L2 oil circuits two；L3 oil circuits three；L4 oil circuits four；L5 oil circuits five；L6 oil circuits six；I valve-controlled cylinder module one；II valve control
Cylinder module two；III valve-controlled cylinder module three；IV valve-controlled cylinder module four.
Specific implementation mode
The utility model is described further with reference to the accompanying drawings and examples.
As shown in figures 1 to 6, the synchronous of the utility model drives the leveling of small loop wheel machine supporting leg to control oil circuit, including：Oil cylinder 1,
Two L2 and four hydraulic pump 2, motor 3, overflow valve 1, two-position two-way solenoid valve 5, throttle valve 1, one L1 of oil circuit, oil circuit phases
Same valve-controlled cylinder module；In valve-controlled cylinder module, overflow valve 2 13 and check valve 12 compose in parallel balanced valve 9, check valve 12 with
Throttle valve 2 14 composes in parallel one-way throttle valve 10, and pressurize and speed governing are carried out to the hydraulic oil of its oil inlet and oil return, effective to solve
The problems such as shake that small loop wheel machine occurs in leveling of having determined is strong and speed governing is unstable；At oil cylinder by throttle valve 1 with overflow
It flows valve 1 and forms entrance throttle governing circuit circuit, overload protection is formed to oil circuit, and control in the fuzzy PID algorithm of Z-type function
Under, realize synchronous driving, high-precision leveling supporting legs function.
In Fig. 1, described four valve-controlled cylinder modules are connected with one L1 of oil circuit and two L2 of oil circuit；Between one L1 of oil circuit and oil cylinder 1
It is connected with hydraulic pump 2 and throttle valve 1；Six L6 of an oil circuit is equipped between hydraulic pump 2 and throttle valve 1；Six L6 of oil circuit and oil circuit two
An overflow valve 1 and two-position two-way solenoid valve 5 are equipped between L2；Overflow valve 1 is in parallel with two-position two-way solenoid valve 5.
Referring to Fig. 1 and Fig. 2, the hydraulic oil in the utility model oil circuit enters hydraulic pump 2 from oil cylinder 1, and motor 3 drives hydraulic pressure
Pump 2 provides high pressure oil for system, and high-pressure oil flow commutates by electro-hydraulic proportional valve 7, then passes through through two L2 of one L1 of oil circuit and oil circuit
Overbalance valve 9 and 10 pressurize of one-way throttle valve and speed governing, finally act on small loop wheel machine supporting leg leveling.
Referring to Fig. 1 and Fig. 3, in the utility model when four support legs work, electro-hydraulic proportional valve 7YB terminations are logical, high pressure
Oil enters the rodless cavity of plunger case 11 through check valve 12；When low pressure oil in 11 rod chamber of plunger case flows through hydraulic control one-way valve 8, by
It does not open channel in K mouthfuls of control pressure deficiencies, then 11 rodless cavity of plunger case is persistently pressurized, when the hydraulic oil pressure by four L4 of oil circuit
When power is more than K mouthfuls of control pressure, hydraulic control one-way valve 8 is opened, rod chamber hydraulic oil is through (the work of throttle valve 2 14 of throttle valve 2 14
With for adjust hydraulic oil reflux when speed, prevent plunger case 11 from moving too fast, reach the stable purpose of speed governing speed), hydraulic control
Check valve 8 flows back to oil cylinder 1, and piston rod stretches out.Oil inlet route is：One 6 → oil circuit of oil cylinder 1 → hydraulic pump, 2 → throttle valve, one L1 →
7 → oil circuit of electro-hydraulic proportional valve, three L3 → 12 → plunger case of check valve, 11 rodless cavity；Oil return route is：11 rod chambers of plunger case → section
Flow five L5 of valve 2 14 → hydraulic control one-way valve, 8 → oil circuit → 7 → oil circuit of electro-hydraulic proportional valve, two L2 → oil cylinder 1.
Referring to Fig. 1 and Fig. 4, when electro-hydraulic proportional valve 7YA is connected, high pressure oil flows into rod chamber, no bar via check valve 12
Chamber low pressure oil via overflow valve 2 13 (overflow valve 2 13 act as limit oil return circuit minimum oil pressure, keep 11 nothing of plunger case
The pressure of rod cavity prevents piston rod retraction process too fast, solves and occurs violent shake when small loop wheel machine leveling) oil cylinder 1 is flowed back to,
Piston rod is retracted at this time.Oil inlet route is：One L1 of oil cylinder 1 → hydraulic pump, 2 → throttle valve, one 6 → oil circuit → electro-hydraulic proportional valve 7 →
Five L5 of oil circuit → 12 → plunger case of check valve, 11 rodless cavity；Oil return route is：11 rodless cavities of plunger case → overflow valve 2 13 → oil
Three L3 of road → 7 → oil circuit of electro-hydraulic proportional valve, two L2 → oil cylinder 1.
Referring to Fig. 1, in the utility model when support leg leveling height meets, the power-off of electro-hydraulic proportional valve 7 is in middle position, and
Oil circuit is disconnected, ensure that the locked and fixed of the piston rod in plunger case 11.Workbench is to draw to 11 active force of plunger case at this time
Power, 11 rod chamber hydraulic fluid pressure of plunger case increase, and the hydraulic fluid pressure of rodless cavity reduces, and are not enough to open hydraulic control one-way valve 8
K mouths, 11 rod chamber end of plunger case is able to pressurize.
Fig. 5 is participated in, overflow valve 1 forms entrance throttle governing circuit circuit with throttle valve 1 in the utility model, as overload
Protection.When continuous high-pressure occurs in oil piping system, overflow valve 1 starts overflow, ensures that system circuit oil pressure maximum value is being born
In range.Two-position two-way solenoid valve 5 is used as relief circuit, and after the completion of leveling system works, two-position two-way solenoid valve 5 reaches logical
Position, high pressure liquid pressure oil flow back to fuel tank through two-position two-way solenoid valve 5.Overloading oil circuit route is：1 → hydraulic pump of oil cylinder, 2 → oil circuit six
L6 → overflow valve 1,5 → oil cylinder of two-position two-way solenoid valve 1.
Referring to Fig. 1 and Fig. 6, four plunger cases 11 have synchronous levelling function in the utility model, should during leveling
Oil piping system calculates the stroke state of each plunger case 11 by FUZZY ALGORITHMS FOR CONTROL analysis.The position in 4 points is determined first
Peak is set, then remaining three load(ing) points realize the synchronization drive control of hydraulic cylinder according to the leveling principle that keeps rising.
I.e.：When small loop wheel machine fuselage is in non-standard state, the first step, given high frequency sound electric-hydraulic proportion valve opening enters to adjust valve port
The flow of hydraulic cylinder stops to making fuselage quadrangle while move up until fuselage is in original horizontal position；Second step leads to
Four vertical displacements for crossing displacement sensor MTS detection fuselages, determine peak；Third walks, with the number of each vertical displacement
Value is compared with peak, until the horizontal and vertical leveling of testing stand to highest level point；If occurred during leveling
Oil cylinder stroke excess of stroke phenomenon, alarms and cuts off the power, to realize the protection to hydraulic oil pipe system.
Finally, it is only specific embodiment of the present utility model from specific utility model described herein.This practicality
Novel person of ordinary skill in the field can make various modifications or additions to the described embodiments or adopt
It is substituted with similar mode, structures and methods without departing from the utility model or surmounts the model that the claims define
It encloses, all should belong to the protection range of the utility model.
Claims (7)
1. a kind of leveling of the synchronous small loop wheel machine supporting leg of driving controls oil circuit, including oil cylinder (1), hydraulic pump (2), motor (3), overflow
Valve one (4), two-position two-way solenoid valve (5), throttle valve one (6), oil circuit one (L1), oil circuit two (L2) and four identical valve controls
Cylinder module；It is characterized in that：Four valve-controlled cylinder modules are connected with oil circuit one (L1) and oil circuit two (L2)；Oil circuit one (L1)
Hydraulic pump (2) and throttle valve one (6) are connected between oil cylinder (1)；An oil circuit six is equipped between hydraulic pump (2) and throttle valve one (6)
(L6)；An overflow valve one (4) and two-position two-way solenoid valve (5) are equipped between oil circuit six (L6) and oil circuit two (L2)；Overflow valve one (4)
It is in parallel with two-position two-way solenoid valve (5).
2. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 1 controls oil circuit, it is characterised in that：It is described
Overflow valve one (4) and throttle valve one (6) composition entrance throttle governing circuit circuit；It is described to overflow when continuous high-pressure occurs in oil piping system
It flows valve one (4) and starts overflow, prevent from overloading.
3. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 1 controls oil circuit, it is characterised in that：It is described
Two-position two-way solenoid valve (5) is used as relief circuit, and high pressure liquid pressure oil is allowed to flow back to fuel tank through the two-position two-way solenoid valve (5)；Road
Line is：Oil cylinder (1)-hydraulic pump (2)-oil circuit six (L6)-overflow valve one (4)-two-position two-way solenoid valve (5)-oil cylinder (1).
4. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 1 controls oil circuit, it is characterised in that：It is described
Four identical valve-controlled cylinder modules be respectively valve-controlled cylinder module one (I), valve-controlled cylinder module two (II), valve-controlled cylinder module three (III)
And valve-controlled cylinder module four (IV)；Four identical valve-controlled cylinder modules are all controlled by the fuzzy PID algorithm of a set of Z-type function, and
And it is designed with identical electro-hydraulic proportional valve (7), oil circuit three (L3), oil circuit five (L5) and plunger case (11)；Oil circuit three (L3) and column
The rodless cavity of plug cylinder (11) is connected, and oil circuit five (L5) and the rod chamber of plunger case (11) are connected；Oil circuit three (L3) is equipped with simultaneously
Balanced valve (9)；Oil circuit five (L5) is equipped with hydraulic control one-way valve (8) and one-way throttle valve (10)；The K mouths of hydraulic control one-way valve (8) are logical
Oil circuit four (L4) is crossed with oil circuit three (L3) to be connected.
5. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 4 controls oil circuit, it is characterised in that：It is described
Electro-hydraulic proportional valve (7) set there are three translation bit and four respectively with oil circuit one (L1), oil circuit two (L2), oil circuit three (L3) and oil
The hydraulic fluid port of road five (L5) connection.
6. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 4 controls oil circuit, it is characterised in that：It is described
Balanced valve (9) be made of check valve (12) and overflow valve two (13), while check valve (12) is in parallel with overflow valve two (13).
7. a kind of leveling of synchronous small loop wheel machine supporting leg of driving according to claim 4 controls oil circuit, it is characterised in that：It is described
One-way throttle valve (10) be made of check valve (12) and throttle valve two (14), while check valve (12) and throttle valve two (14)
It is in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721532975.4U CN207906178U (en) | 2017-11-16 | 2017-11-16 | The synchronous leveling for driving small loop wheel machine supporting leg controls oil circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721532975.4U CN207906178U (en) | 2017-11-16 | 2017-11-16 | The synchronous leveling for driving small loop wheel machine supporting leg controls oil circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207906178U true CN207906178U (en) | 2018-09-25 |
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ID=63570930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721532975.4U Expired - Fee Related CN207906178U (en) | 2017-11-16 | 2017-11-16 | The synchronous leveling for driving small loop wheel machine supporting leg controls oil circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207906178U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107725510A (en) * | 2017-11-16 | 2018-02-23 | 重庆三峡学院 | The synchronous leveling control oil circuit for driving small loop wheel machine supporting leg |
| CN115217813A (en) * | 2022-09-19 | 2022-10-21 | 江苏恒立液压科技有限公司 | Leveling hydraulic system, hydraulic underwater leveling device and leveling control method |
-
2017
- 2017-11-16 CN CN201721532975.4U patent/CN207906178U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107725510A (en) * | 2017-11-16 | 2018-02-23 | 重庆三峡学院 | The synchronous leveling control oil circuit for driving small loop wheel machine supporting leg |
| CN115217813A (en) * | 2022-09-19 | 2022-10-21 | 江苏恒立液压科技有限公司 | Leveling hydraulic system, hydraulic underwater leveling device and leveling control method |
| CN115217813B (en) * | 2022-09-19 | 2023-02-21 | 江苏恒立液压科技有限公司 | Leveling hydraulic system, hydraulic underwater leveling device and leveling control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 Termination date: 20181116 |