CN210531327U

CN210531327U - Clamp rotary hydraulic system of forging manipulator

Info

Publication number: CN210531327U
Application number: CN201921065092.6U
Authority: CN
Inventors: 武哲; 柯锋贤; 张向龙; 邓文杰; 张海万
Original assignee: Lanzhou Ls Heavy Machinery Co ltd
Current assignee: Lanzhou Ls Heavy Machinery Co ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-05-15
Anticipated expiration: 2029-07-09

Abstract

The utility model discloses a forge manipulator tong gyration hydraulic system, it includes the same closed loop system hydraulic pressure source return circuit of two tunnel structures that are connected with industry control system PLC, and every way closed loop system hydraulic pressure source return circuit is including motor pump package, fault isolation module and the motor that establishes ties in proper order, and the fault isolation valve in the fault isolation module is connected two way closed loop system hydraulic pressure source return circuits. When the system is in normal use, the fault isolation valve is in an open state, and only one path of motor pump set can drive two motors to operate; when a hydraulic system breaks down, the system is divided into two independent systems by utilizing the turn-off of the fault isolation valve, the system automatically identifies the fault, isolates the fault and closes the fault area, the effective operation of the area system outside the accident boundary is ensured, the working stability and the reliability of the clamp rotating system of the forging manipulator are greatly improved, the mean time without the fault is prolonged, and the production efficiency of the whole set of unit is greatly improved.

Description

Clamp rotary hydraulic system of forging manipulator

Technical Field

The utility model relates to a forge mechanical equipment technical field, specific forge manipulator tong gyration hydraulic system that says so.

Background

The clamp rotation system is one of key parts of a forging manipulator, can coordinate with a forging press to realize the forging process of the omnibearing rotation feeding amount of a clamped forge piece, and is important equipment for quickly forging a hydraulic unit. The rotation is the most frequent action in the working process of the forging manipulator clamp, and the rotation is controlled by adopting a driving mode of a hydraulic motor and a speed reducer. When the forging manipulator clamp rotates, the hydraulic control system drives the hydraulic motor to act, the hydraulic motor drives the speed reducer to rotate, the speed reducer drives the pinion to rotate, the pinion is meshed with the large gear on the clamp rod to transmit driving power, and finally the forging manipulator clamp rotates in the direction of 360 degrees in the vertical plane.

The existing clamp rotary hydraulic system of a forging manipulator has the following problems:

(1) when any group of pressure pipelines has a fire accident or a water inlet accident which does not exceed the accident limit, if necessary fault isolation measures are not set, the clamp rotating system of the forging operation machine cannot keep normal operation, so that the requirements of reducing forging fire frequency and improving material utilization rate are met. (2) The conventional clamp rotating system of the forging manipulator is not provided with sufficient redundancy or special protection methods, when the hydraulic system has low pressure or serious leakage and other faults and cannot eliminate or transfer the faults in time, the clamp rotating hydraulic system of the forging manipulator fails, and the system cannot complete the coordination operation with a forging press, so that the production efficiency of the whole set of machine set is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a forge manipulator clamp gyration hydraulic system keeps apart the region that will take place the accident through trouble isolation module, guarantees that the mechanism outside the accident boundary region is any effectively to the mean trouble-free time of increase system improves forge manipulator clamp gyration system's job stabilization nature and reliability.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a clamp rotary hydraulic system of a forging manipulator comprises a first closed-loop system hydraulic source circuit and a second closed-loop system hydraulic source circuit which are connected with an industrial control system PLC and have the same structure, wherein the first closed-loop system hydraulic source circuit comprises a first motor pump set, a fault isolation module and a first motor which are sequentially connected in series, the first motor pump set comprises a first variable pump connected with a first motor, the second closed-loop system hydraulic source circuit comprises a second motor pump set, a fault isolation module and a second motor which are sequentially connected in series, the second motor pump set comprises a second variable pump connected with a second motor, the fault isolation module comprises a first sequence valve and a first free wheel valve which are mutually connected in parallel, a second sequence valve and a second free wheel valve which are mutually connected in parallel and a fault isolation valve, an oil outlet of the first sequence valve is communicated with the second motor through the fault isolation valve, the oil outlet of the second sequence valve is communicated with the first motor through a fault isolation valve; the first motor is connected with the oil tank through a first oil unloading pipeline, and the second motor is communicated with the oil tank through a second oil unloading pipeline; a partition plate is arranged in the middle of the oil tank to divide the oil tank into a left part and a right part, a main liquid level relay is arranged above the partition plate, and a first liquid level relay, a first temperature sensor, a first pressure switch, a second liquid level relay, a second temperature sensor and a second pressure switch are respectively arranged on two sides of the oil tank; the first motor and the second motor are both connected with the slewing bearing; when the working condition is normal, one variable pump of the first variable pump or the second variable pump works, the sequence valve is opened when the pressure oil pumped by the variable pump is greater than the pressure set value of the sequence valve, the fault isolation valve is in a normally open state, the first motor and the second motor are connected in parallel to form a two-in-one closed system hydraulic source loop, and the first servo control structure of the first variable pump or the second servo control structure of the second variable pump adjusts the variable pump to pump oil in the positive and negative directions to drive the first motor and the second motor to rotate in the positive and negative directions, so that the clamp rotating system of the forging manipulator is driven to rotate; when the main liquid level relay sends out low liquid level alarm or the first pressure switch or the second pressure switch sends out low pressure alarm, the industrial control system PLC closes the fault isolation valve, starts the other variable pump to enter a working state, the first closed-loop system hydraulic source loop and the second closed-loop system hydraulic source loop are restored into two independent closed-loop system hydraulic source loops, one variable pump only drives one motor to work, the industrial control system PLC identifies and judges the side closed-loop system hydraulic source loop with a fault through the liquid level or the oil temperature on the two sides of the oil tank partition plate or the pressure of the variable pump, opens the free wheel valve on the fault side to enable the motor on the fault side to be in the free wheel working condition, and meanwhile, the fault side variable pump is closed, oil is not supplied to the fault side motor any more, the normal side variable pump drives a motor on a closed-loop system hydraulic source loop where the normal side variable pump is located to work, and the motor drives the fault side motor to idle through a slewing bearing.

Preferably, the first motor-pump group comprises a first motor, a first variable pump, a first built-in auxiliary pump, a first auxiliary pump filter, a first oil supplementing loop check valve, a first pressure switch, a first bidirectional high-pressure overflow valve and a first auxiliary pump overflow valve, the first variable pump is a closed-loop swash plate type axial plunger variable pump, an oil port A1p of the first variable pump is communicated with a first motor oil port A1m and a second motor oil port A2m, an oil port B1p of the first variable pump is communicated with a first motor oil port B1m and a second motor oil port B2m, and a closed-loop system hydraulic source loop is formed; the second motor pump group comprises a second motor, a second variable pump, a second built-in auxiliary pump, a second auxiliary pump filter, a second oil supplementing loop one-way valve, a second pressure switch, a second bidirectional high-pressure overflow valve and a second auxiliary pump overflow valve, the second variable pump is a closed-loop swash plate type axial plunger variable pump, an oil port A2p of the second variable pump is communicated with a first motor oil port A1m and a second motor oil port A2m, an oil port B2p of the second variable pump is communicated with a first motor oil port B1m and a second motor oil port B2m, and a closed-loop system hydraulic source loop is formed; the reversing and the speed changing of the first motor and the second motor are realized by adjusting the first servo control mechanism of the first variable pump or the first servo control mechanism of the second variable pump to carry out bidirectional stepless conversion.

Preferably, an oil inlet of the first built-in auxiliary pump is communicated with one side of the oil tank, and an oil outlet of the first built-in auxiliary pump is communicated with the oil supplementing distribution valve bank through a first oil supplementing pipeline; an oil inlet of the second built-in auxiliary pump is communicated with the other side of the oil tank, and an oil outlet of the second built-in auxiliary pump is communicated with the oil supplementing distribution valve bank through a second oil supplementing pipeline; the oil supplementing distribution valve group comprises a first check valve, a second check valve, a third check valve and a fourth check valve, the first oil supplementing pipeline is respectively converged into a third oil supplementing pipeline and a fourth oil supplementing pipeline after passing through the fourth check valve and the second check valve which are connected in parallel, the second oil supplementing pipeline is respectively converged into a third oil supplementing pipeline and a fourth oil supplementing pipeline after passing through the third check valve and the first check valve which are connected in parallel, the third oil supplementing pipeline is communicated with a T port of the first damping module corresponding to the first motor, and the fourth oil supplementing pipeline is communicated with a T port of the second damping module corresponding to the second motor; when the industrial control system PLC identifies and judges the hydraulic source loop of the closed-loop system on the side with the fault, the industrial control system PLC closes the electromagnetic directional valve on the fault side, and the flushing pump group does not perform oil compensation on the low-pressure side of the motor on the fault side any more.

Preferably, the oil outlet of the first built-in auxiliary pump supplies pressure oil to the first sequence valve through a pipeline; an oil outlet of the second built-in auxiliary pump supplies pressure oil to the second sequence valve through a pipeline.

Preferably, the flushing oil port of the first motor is connected with a first flushing oil pipeline through a first normally open stop valve, the flushing oil port of the second motor is connected with the first flushing oil pipeline through a second normally open stop valve, the first flushing oil pipeline is connected with a flushing pump set, the flushing pump set comprises a motor, a flushing pump, an overflow valve, a pressure switch, a throttle valve, a pressure gauge, a pressure switch, a flushing filter and a one-way valve, the flushing pump set is connected with a second flushing oil pipeline, the second flushing oil pipeline comprises a first flushing oil branch line and a second flushing oil branch line which are connected in parallel, a first electromagnetic reversing valve is installed on the first flushing oil branch line, and a second electromagnetic reversing valve is installed on the second flushing oil branch line; the oil pumped by the flushing pump is divided into two paths of oil after passing through a flushing filter and a one-way valve, one path of oil enters a flushing oil port of a first motor to flush a bearing after passing through a flushing oil pipeline and a first normally open stop valve, the flushed oil is converged with the leakage oil of a first motor shell through a first motor oil discharge port C1m and flows back into an oil tank through a first oil discharge pipeline, a first cooler and a first oil return filter, meanwhile, the flushed oil enters a flushing oil port of a second motor to flush the bearing after passing through the flushing oil pipeline and a second normally open stop valve, and the leaked oil is converged with the leakage oil of a second motor shell through a second motor oil discharge port C2m and flows back into the oil tank through a second oil discharge pipeline, a second cooler and a second oil return filter; and the other path of oil passes through two branch lines of a second flushing oil pipeline, namely a first flushing oil branch line and a second flushing oil branch line, respectively flows through a first electromagnetic directional valve and a second electromagnetic directional valve, and simultaneously enters the low-pressure sides of the two closed-loop system hydraulic source circuits to perform cooling flushing on the closed-loop system hydraulic source circuits.

Preferably, the fault isolation valve, the first electromagnetic directional valve, the second electromagnetic directional valve, the first free wheel valve and the second free wheel valve are two-position four-way electromagnetic directional valves with inductive valve core position monitoring and manual emergency functions, and initial positions of the two-position four-way electromagnetic directional valves are monitored by an industrial control system PLC.

Preferably, the first motor is connected with the first damping module, the second motor is connected with the second damping module, the first damping module and the second damping module respectively comprise a two-way safety valve connected with the motor and two symmetrically-arranged oil-supplementing one-way valves, the first damping module is connected with the oil-supplementing distribution valve group through a third oil-supplementing pipeline, and the second damping module is connected with the oil-supplementing distribution valve group through a fourth oil-supplementing pipeline; when the hydraulic source circuit of the closed-loop system changes and the first motor or the second motor is subjected to overlarge torque, the pressure of the hydraulic source circuit of the closed-loop system at the high-pressure side exceeds the pressure set value of the two-way safety valve at the side, the two-way safety valve at the side is opened in an overflow mode, meanwhile, the corresponding oil supplementing check valve is opened, and the oil supplementing distribution valve group supplements oil to the hydraulic source circuit of the closed-loop system at the low-pressure side, so that the safety of the whole hydraulic system is ensured.

Preferably, the first motor and the second motor are radial plunger motors, output shafts of the first motor and the second motor are respectively connected with a speed reducer, output shafts of the two speed reducers are connected with a pinion, the pinion is meshed with a slewing bearing of the clamp system, and the first motor and the second motor drive the clamp system to realize slewing motion through the slewing bearing.

Preferably, the system also comprises a hydraulic accessory unit, the hydraulic accessory unit comprises a first liquid level relay, a second liquid level relay, a first temperature sensor, a second temperature sensor, a total liquid level relay and an air filter which are arranged on the left side and the right side of the oil tank partition plate, and also comprises two back pressure one-way valves, a first cooler, a first oil return filter, two back pressure one-way valves, a second cooler and a second oil return filter which are arranged on the first closed-loop system hydraulic source circuit, and an oil discharge pipeline is arranged at the bottom of the side wall of the oil tank; the first liquid level relay and the second liquid level relay are electromagnetic liquid level switches with low liquid level alarming and extremely low liquid level fault functions; the first temperature sensor and the second temperature sensor monitor the oil temperature of the closed-loop system hydraulic source loop corresponding to the two variable pumps on two sides of the oil tank partition plate, and when the oil temperature is higher than a set temperature, an automatic alarm is given.

The utility model has the advantages that:

(1) before a system fails, a fault isolation valve is started, one variable pump is started to drive two motors to form a one-to-two closed system hydraulic source loop, a first servo control mechanism of a first variable pump or a second servo control mechanism of a second variable pump adjusts the respective variable pump to pump oil in the positive and negative directions to drive the first motor and the second motor to rotate in the positive and negative directions, and further drives a clamp rotating system of a forging manipulator to rotate; when a system has a fault, the PLC of the industrial control system actively turns off a fault isolation valve, starts another variable pump to form two independent closed system hydraulic source loops, automatically judges a fault side through detection data of components such as a liquid level relay and a pressure sensor, opens a free wheel valve at the fault side, enables a motor at the fault side to be in idle running under the working condition of a free wheel, closes a first electromagnetic reversing valve or a second electromagnetic reversing valve at the fault side, enables a flushing pump group not to perform oil compensation cooling on the low-pressure side of the motor at the fault side, closes the variable pump at the fault side, and only uses one variable pump to provide power for the system, so that the normal running of the system is ensured, the working stability and reliability of a clamp rotating system of a forging manipulator are improved, the mean time without fault is prolonged, and the production efficiency of the whole set of machine set is greatly improved;

(2) the system performs oil supplement and cooling flushing on the motor through the oil supplement distribution valve group, so that the normal operation of the equipment is ensured, and the service life of the equipment is prolonged;

(3) this system sets up shock-absorbing module on every motor, plays overload protection and guarantees to the effect of system low pressure side oil supplementation to the motor, guarantees the security of system.

Drawings

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a flow chart of the present invention;

in the figure: 1. a first motor-pump group, 1.1, a first motor, 1.2, a first variable pump, 1.3, a first built-in auxiliary pump, 1.4, a first auxiliary pump filter, 1.5, a first oil-supplementing loop check valve, 1.6, a first oil-supplementing loop check valve, 1.7, a first pressure switch, 1.8, a first bidirectional high-pressure overflow valve, 1.9, a first auxiliary pump overflow valve, 1.10, a first servo control mechanism, 2, a second motor-pump group, 2.1, a second motor, 2.2, a second variable pump, 2.3, a second built-in auxiliary pump, 2.4, a second auxiliary pump filter, 2.5, a second oil-supplementing loop check valve, 2.6, a second oil-supplementing loop check valve, 2.7, a second pressure switch, 2.8, a second bidirectional high-pressure overflow valve, 2.9, a second auxiliary pump, 2.10, a second servo control mechanism, 3.6, a second oil-supplementing loop check valve, 2.7, a second pressure switch, 2.8, a second bidirectional high-pressure overflow valve, 2.9, a second auxiliary pump group, a second servo control mechanism, a 3.10, a second servo control mechanism, a 3.3.3, a flushing pump, a throttle valve, 3.6, a pressure gauge, 3.7, a pressure switch, 3.8, a flushing filter, 3.9, a check valve, 4, a hydraulic accessory unit, 4.11, a first level relay, 4.12, a first temperature sensor, 4.13, a back pressure check valve, 4.14, a back pressure check valve, 4.15, a first cooler, 4.16, a first oil return filter, 4.21, a second level relay, 4.22, a second temperature sensor, 4.23, a back pressure check valve, 4.24, a back pressure check valve, 4.25, a second cooler, 4.26, a second oil return filter, 4.3, a total level relay, 4.4, an air cleaner, 4.5, an oil tank, 4.6, an oil discharge pipe, 4.7, a partition plate, 5, a fault isolation module, 5.11, a first free wheel valve, 5.12, a first electromagnetic directional valve, 5.13, a first sequence valve, 5.14, a one-way valve, 5.15, a second free wheel valve, a second sequence valve, 22.23, a second electromagnetic directional valve, 5.24, a check valve, 5.25, a check valve, 6.1, a first damping module, 6.11, a two-way safety valve, 6.12, an oil supplementing check valve, 6.13, an oil supplementing check valve, 6.2, a second damping module, 6.21, a two-way safety valve, 6.22, an oil supplementing check valve, 6.23, an oil supplementing check valve, 7, a first motor, 8, a second motor, 9, an oil supplementing distribution valve bank, 9.1, a first check valve, 9.2, a second check valve, 9.3, a third check valve, 9.4, a fourth check valve, 10, a first normally open stop valve, 11, a second normally open stop valve, 12.1, a first flushing oil pipeline, 12.2, a second flushing oil pipeline, 12.21, a first flushing oil branch line, 12.22, a second flushing oil branch line, 12.3, a first oil supplementing pipeline, 12.4, a second oil supplementing pipeline, 12.5, a third flushing oil supplementing pipeline, 12.3, 12.7.8, a third flushing oil supplementing pipeline, 12.4, 12.5, a third flushing oil supplementing pipeline, 12.7.8, a third flushing oil supplementing pipeline, 12.7.7.7.8, a first discharging line, pipeline, 12.11, pipeline, 13, slewing bearing.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The hydraulic system of the forging manipulator clamp rotation shown in the figures 1 and 2 comprises a first closed loop system hydraulic source circuit and a second closed loop system hydraulic source circuit which are connected with an industrial control system PLC and have the same structure, wherein the first closed loop system hydraulic source circuit comprises a first motor pump set 1, a fault isolation module 5 and a first motor 7 which are sequentially connected in series, the first motor pump set 1 comprises a first variable pump 1.2 connected with a first motor 1.1, the second closed loop system hydraulic source circuit comprises a second motor pump set 2, a fault isolation module 5 and a second motor 8 which are sequentially connected in series, the second motor pump set 2 comprises a second variable pump 2.2 connected with a second motor 2.1, the fault isolation module 5 comprises a first sequence valve 5.13 and a first free wheel valve 5.11 which are mutually connected in parallel, a second sequence valve 5.23 and a second free wheel valve 5.21 and a fault isolation valve 5.3 which are mutually connected in parallel, an oil outlet of the first sequence valve 5.13 is communicated with the second motor 8 through the fault isolation valve 5.3, the oil outlet of the second sequence valve 5.23 is communicated with the first motor 7 through a fault isolation valve 5.3; the first motor 7 is connected with the oil tank 4.5 through a first oil unloading pipeline 12.7, and the second motor 8 is communicated with the oil tank 4.5 through a second oil unloading pipeline 12.8; a partition plate 14 is arranged in the middle of the oil tank 4.5 to divide the oil tank 4.5 into a left part and a right part, a main liquid level relay 4.3 is arranged above the partition plate 4.7, and a first liquid level relay 4.11, a first temperature sensor 4.12, a first pressure switch 1.7, a second liquid level relay (4.21), a second temperature sensor (4.22) and a second pressure switch 2.7 are respectively arranged on two sides of the oil tank 4.5; the first motor 7 and the second motor 8 are both connected with a slewing bearing 13; when the working condition is normal, one variable pump of the first variable pump 1.2 or the second variable pump 2.2 works, the sequence valve is opened when the pressure oil pumped by the variable pump is greater than the pressure set value of the sequence valve, the fault isolation valve 5.3 is in a normally open state, the first motor 7 and the second motor 8 are connected in parallel to form a two-split closed system hydraulic source loop, and the first servo control mechanism of the first variable pump 1.2 or the second servo control mechanism of the second variable pump 2.2 adjusts the respective variable pump to pump oil in the positive and negative directions to drive the first motor 7 and the second motor 8 to rotate in the positive and negative directions so as to drive the clamp rotating system of the forging operation machine to rotate; when the main liquid level relay 4.3 sends out low liquid level alarm, or the first pressure switch 1.7 or the second pressure switch 2.7 sends out low pressure alarm, the industrial control system PLC closes the fault isolation valve 5.3, starts another variable pump to enter into working state, the first closed loop system hydraulic source loop and the second closed loop system hydraulic source loop are recovered into two independent closed loop system hydraulic source loops, one variable pump only drives one motor to work, the industrial control system PLC identifies and judges the side closed loop system hydraulic source loop with fault through the liquid level or oil temperature on the two sides of the oil tank 4.5 partition 4.7 or the pressure of the variable pump, opens the fault side free wheel valve, if the fault side motor is in free wheel working condition, closes the first electromagnetic reversing valve or the second electromagnetic reversing valve on fault side, the flushing pump set does not supplement oil cooling on the low pressure of the fault side motor, closes the fault side variable pump at the same time, does not supply oil to the fault side motor, the motor on the closed-loop system hydraulic source circuit where the normal-side variable displacement pump is located is driven to work, and the motor drives the fault-side motor to idle through the slewing bearing 13.

The first motor-pump group 1 comprises a first motor 1.1, a first variable pump 1.2, a first built-in auxiliary pump 1.3, a first auxiliary pump filter 1.4, a first oil supplementing loop check valve 1.5, a first oil supplementing loop check valve 1.6, a first pressure switch 1.7, a first bidirectional high-pressure overflow valve 1.8 and a first auxiliary pump overflow valve 1.9, wherein the first variable pump 1.2 is a swash plate type axial plunger variable pump, an oil port A1p of the first variable pump 1.2 is communicated with an oil port A1m of the first motor 7 and an oil port A2m of the second motor 8, an oil port B1p of the first variable pump 1.2 is communicated with an oil port B1m of the first motor 7 and an oil port B2m of the second motor 8, and a hydraulic source loop of a closed-loop system is formed; the second motor-pump group 2 comprises a second motor 2.1, a second variable pump 2.2, a second built-in auxiliary pump 2.3, a second auxiliary pump filter 2.4, a second oil supplementing loop check valve 2.5, a second oil supplementing loop check valve 2.6, a second pressure switch 2.7, a second bidirectional high-pressure overflow valve 2.8 and a second auxiliary pump overflow valve 2.9, wherein the second variable pump 2.2 is a swash plate type axial plunger variable pump, an oil port A2p of the second variable pump 2.2 is communicated with an oil port A1m of the first motor 7 and an oil port A2m of the second motor 8, an oil port B2p of the second variable pump 2.2 is communicated with an oil port B1m of the first motor 7 and an oil port B2m of the second motor 8, and a closed-loop system hydraulic source loop is formed; the reversing and the speed changing of the first motor 7 and the second motor 8 are realized by adjusting the first servo control mechanism 1.10 of the first variable pump 1.2 or the second servo control mechanism 2.10 of the second variable pump 2.2 to carry out bidirectional stepless conversion; when the industrial control system PLC identifies and judges the hydraulic source loop of the closed-loop system on the side with the fault, the industrial control system PLC closes the electromagnetic directional valve on the fault side, and the flushing pump group does not perform oil compensation on the low-pressure side of the motor on the fault side any more.

An oil inlet of the first built-in auxiliary pump 1.3 is communicated with one side of the oil tank 4.5, and an oil outlet of the first built-in auxiliary pump 1.3 is communicated with an oil supplementing distribution valve group 9 through a first oil supplementing pipeline 12.3; an oil inlet of the second built-in auxiliary pump 2.3 is communicated with the other side of the oil tank 4.5, and an oil outlet of the second built-in auxiliary pump 2.3 is communicated with an oil supplementing distribution valve group 9 through a second oil supplementing pipeline 12.4; the oil supplementing distribution valve group 9 comprises a first check valve 9.1, a second check valve 9.2, a third check valve 9.3 and a fourth check valve 9.4, a first oil supplementing pipeline 12.3 respectively converges into a third oil supplementing pipeline 12.5 and a fourth oil supplementing pipeline 12.6 after passing through the fourth check valve 9.4 and the second check valve 9.2 which are connected in parallel, a second oil supplementing pipeline 12.4 respectively converges into a third oil supplementing pipeline 12.5 and a fourth oil supplementing pipeline 12.6 after passing through the third check valve 9.3 and the first check valve 9.1 which are connected in parallel, the third oil supplementing pipeline 12.5 is communicated with a T port of the first motor 7 corresponding to the first damping module 6.1, and the fourth oil supplementing pipeline 12.6 is communicated with a T port of the second motor 8 corresponding to the second damping module 6.2.

The oil outlet of the first built-in auxiliary pump 1.3 supplies pressure oil to the first sequence valve 5.13 through a pipeline 12.10; the second built-in auxiliary pump 2.3 has its outlet supplied with pressurized oil via line 12.11 to the second sequence valve 5.23.

A flushing oil port of the first motor 7 is connected with a first flushing oil pipeline 12.1 through a first normally open stop valve 10, a flushing oil port of the second motor 8 is connected with the first flushing oil pipeline 12.1 through a second normally open stop valve 11, the first flushing oil pipeline 12.1 is connected with a flushing pump set 3, the flushing pump set 3 comprises a motor 3.1, a flushing pump 3.2, an overflow valve 3.3, a pressure switch 3.4, a throttle valve 3.5, a pressure gauge 3.6, a pressure switch 3.7, a flushing filter 3.8 and a one-way valve 3.9, the flushing pump set 3 is connected with a second flushing oil pipeline 12.2, the second flushing oil pipeline 12.2 comprises a first flushing branch line 12.21 and a second flushing oil branch line 12.22 which are connected in parallel, a first electromagnetic directional valve 5.12 is installed on the first flushing oil branch line 12.21, and a second electromagnetic directional valve 5.22 is installed on the second flushing oil branch line 12.22; the oil pumped by the flushing pump 3.2 is divided into two paths of oil after passing through a flushing filter 3.8 and a one-way valve 3.9, one path of oil enters a flushing oil port of the first motor 7 to flush the bearing after passing through a flushing oil pipeline 12.1 and a first normally open stop valve 10, the flushed oil is converged with the leakage oil of the first motor 7 shell through an oil discharge port C1m of the first motor 7 and flows back to the oil tank 4.5 through a first oil discharge pipeline 12.7, a first cooler 4.15 and a first oil return filter 4.16, meanwhile, the flushed oil enters a flushing oil port of the second motor 8 to flush the bearing after passing through a flushing oil pipeline 12.1 and a second normally open stop valve 11, and flows back to the oil tank 4.5 through a second oil discharge port C2m and a second motor 8 shell, and flows back to the oil tank 4.5 through a second oil discharge port C2m and a second oil return filter 4.26; the other oil passes through two branch lines of a second flushing oil pipeline 12.2, namely a first flushing oil branch line 12.21 and a second flushing oil branch line 12.22, respectively flows through a first electromagnetic directional control valve 5.12 and a second electromagnetic directional control valve 5.22, and simultaneously enters the low-pressure side of the two closed-loop system hydraulic source circuits to carry out cooling flushing on the closed-loop system hydraulic source circuits.

The fault isolation valve 5.3, the first electromagnetic directional valve 5.12, the second electromagnetic directional valve 5.22, the first free wheel valve 5.11 and the second free wheel valve 5.21 are two-position four-way electromagnetic directional valves with inductive valve core position monitoring and manual emergency functions, and the initial positions of the two-position four-way electromagnetic directional valves are monitored by an industrial control system PLC.

The first motor 7 is connected with the first damping module 6.1, the second motor 8 is connected with the second damping module 6.2, the first damping module 6.1 and the second damping module 6.2 respectively comprise a two-way safety valve connected with the motor and two symmetrically-arranged oil-supplementing one-way valves, the first damping module 6.1 is connected with the oil-supplementing distribution valve bank 9 through a third oil-supplementing pipeline 12.5, and the second damping module 6.2 is connected with the oil-supplementing distribution valve bank 9 through a fourth oil-supplementing pipeline 12.6; when the closed-loop system hydraulic source circuit changes and the first motor 7 or the second motor 8 is subjected to overlarge torque, the pressure of the high-pressure side closed-loop system hydraulic source circuit exceeds the pressure set value of the two-way safety valve on the side, the two-way safety valve on the side is opened in an overflow mode, meanwhile, the corresponding oil supplementing check valve is opened, and the oil supplementing distribution valve group 9 is used for supplementing oil to the low-pressure side closed-loop system hydraulic source circuit so as to ensure the safety of the whole hydraulic system.

The first motor 7 and the second motor 8 are radial plunger motors, output shafts of the first motor 7 and the second motor 8 are respectively connected with a speed reducer, output shafts of the two speed reducers are respectively connected with a pinion, the pinion is meshed with a slewing bearing 13 of the clamp system, and the first motor 7 and the second motor 8 drive the clamp system to realize slewing motion through the slewing bearing 13.

The system also comprises a hydraulic accessory unit 4, wherein the hydraulic accessory unit 4 comprises a first liquid level relay 4.11 and a second liquid level relay 4.21 which are arranged on the left side and the right side of a partition plate 4.7 of an oil tank 4.5, a first temperature sensor 4.12 and a second temperature sensor 4.22, a total liquid level relay 4.3 and an air filter 4.4, and also comprises two backpressure one-way valves arranged on a hydraulic source circuit of the first closed-loop system, a first cooler 4.15, a first oil return filter 4.16, two backpressure one-way valves arranged on a hydraulic source circuit of the second closed-loop system, a second cooler 4.25 and a second oil return filter 4.26, and the bottom of the side wall of the oil tank 4.5 is provided with an oil discharge pipeline 4.6; the first liquid level relay 4.11 and the second liquid level relay 4.21 are electromagnetic liquid level switches with low liquid level alarm and extremely low liquid level fault functions; the first temperature sensor 4.12 and the second temperature sensor 4.22 monitor the oil temperature of the closed-loop system hydraulic source loop corresponding to the two variable pumps on the two sides of the partition plate 14 of the oil tank 4.5, and when the oil temperature is higher than the set temperature, an automatic alarm is given.

When the hydraulic forging manipulator clamp rotating system is used, before a system breaks down, one variable pump is started to drive two motors by starting the fault isolation valve to form a one-to-two closed system hydraulic source loop, and the first servo control mechanism of the first variable pump or the first servo control mechanism of the second variable pump adjusts the respective variable pump to pump oil in the positive and negative directions to drive the first motor and the second motor to rotate in the positive and negative directions, so as to drive the forging manipulator clamp rotating system to rotate; when a system has a fault, the PLC of the industrial control system actively turns off the fault isolation valve, starts the other variable pump to form two closed system hydraulic source loops, automatically judges the fault side through detection data of components such as a liquid level relay, a pressure switch, a temperature sensor and the like, opens a free wheel valve at the fault side to enable a motor at the fault side to be in idle running under the working condition of a free wheel, closes a first electromagnetic reversing valve or a second electromagnetic reversing valve at the fault side, a flushing pump group does not perform oil compensation on the low-pressure side of the motor at the fault side any more, simultaneously closes the variable pump at the fault side, and only uses one variable pump to provide power for the two motors, so that the normal running of the system is ensured, the working stability and reliability of a clamp rotating system of a forging manipulator are improved, the mean time without fault is prolonged, and the production efficiency of the whole set of machine set is greatly.

Claims

1. The utility model provides a forge manipulator tong gyration hydraulic system, it includes the same first closed loop system hydraulic source return circuit of two way structures that are connected with industrial control system PLC and second closed loop system hydraulic source return circuit, its characterized in that: the hydraulic source loop of the first closed-loop system comprises a first motor pump set (1), a fault isolation module (5) and a first motor (7) which are sequentially connected in series, the first motor pump set (1) comprises a first variable pump (1.2) connected with a first motor (1.1), the hydraulic source loop of the second closed-loop system comprises a second motor pump set (2), a fault isolation module (5) and a second motor (8) which are sequentially connected in series, the second motor pump set (2) comprises a second variable pump (2.2) connected with a second motor (2.1), the fault isolation module (5) comprises a first sequence valve (5.13) and a first free wheel valve (5.11) which are mutually connected in parallel, a second sequence valve (5.23) and a second free wheel valve (5.21) which are mutually connected in parallel and a fault isolation valve (5.3), and an oil outlet of the first sequence valve (5.13) is communicated with the second motor (8) through the fault isolation valve (5.3), the oil outlet of the second sequence valve (5.23) is communicated with the first motor (7) through a fault isolation valve (5.3); the first motor (7) is connected with the oil tank (4.5) through a first oil unloading pipeline (12.7), and the second motor (8) is communicated with the oil tank (4.5) through a second oil unloading pipeline (12.8); a partition plate (4.7) is arranged in the middle of the oil tank (4.5) to divide the oil tank (4.5) into a left part and a right part, a main liquid level relay (4.3) is arranged above the partition plate (4.7), and a first liquid level relay (4.11), a first temperature sensor (4.12), a first pressure switch (1.7), a second liquid level relay (4.21), a second temperature sensor (4.22) and a second pressure switch (2.7) are respectively arranged on two sides of the oil tank (4.5); the first motor (7) and the second motor (8) are both connected with the slewing bearing (13); when the working condition is normal, one variable pump of the first variable pump (1.2) or the second variable pump (2.2) works, the sequence valve is opened when the pressure oil pressure pumped by the variable pump is greater than the pressure set value of the sequence valve, the fault isolation valve (5.3) is in a normally open state, the first motor (7) and the second motor (8) are connected in parallel to form a two-in-one closed system hydraulic source loop, the first servo control mechanism (1.10) of the first variable pump (1.2) or the second servo control mechanism (2.10) of the second variable pump (2.2) adjust the variable pumps controlled respectively to pump out oil in the positive and negative directions to drive the first motor (7) and the second motor (8) to rotate in the positive and negative directions, and further drive the forging operation clamp rotating system to rotate; when a main liquid level relay (4.3) sends out low liquid level alarm, or a first pressure switch (1.7) or a second pressure switch (2.7) sends out low pressure alarm, an industrial control system PLC closes a fault isolation valve (5.3), starts another variable pump to enter a working state, a first closed-loop system hydraulic source loop and a second closed-loop system hydraulic source loop are restored into two independent closed-loop system hydraulic source loops, one variable pump only drives one motor to work, the industrial control system PLC identifies and judges the side closed-loop system hydraulic source loop with fault through the liquid level or the oil temperature on two sides of an oil tank (4.5) partition plate (4.7) or the pressure of the variable pump, opens a fault side free wheel valve to enable a fault side motor to be in a free wheel working condition, closes the fault side variable pump at the same time, does not supply oil to the fault side motor any more, and a normal side variable pump drives the motor on the closed-loop system hydraulic source loop with the fault to work, the motor drives the fault side motor to idle through a slewing bearing (13).

2. The forging manipulator clamp rotary hydraulic system of claim 1, wherein: the first motor pump group (1) comprises a first motor (1.1), a first variable pump (1.2), a first built-in auxiliary pump (1.3), a first auxiliary pump filter (1.4), a first oil supplementing loop check valve (1.5), a first oil supplementing loop check valve (1.6), a first pressure switch (1.7), a first bidirectional high-pressure overflow valve (1.8), a first auxiliary pump overflow valve (1.9) and a first servo control structure (1.10), wherein the first variable pump (1.2) is a closed-loop swash plate type axial plunger variable pump, an oil port A1p of the first variable pump (1.2) is communicated with a first motor (7) A1m and a second motor (8) A2m, an oil port B1p of the first variable pump (1.2) is communicated with a first motor (7) B1m and a second motor (8) B2m to form a closed-loop system; the second motor pump group (2) comprises a second motor (2.1), a second variable pump (2.2), a second built-in auxiliary pump (2.3), a second auxiliary pump filter (2.4), a second oil supplementing loop check valve (2.5), a second oil supplementing loop check valve (2.6), a second pressure switch (2.7), a second bidirectional high-pressure overflow valve (2.8), a second auxiliary pump overflow valve (2.9) and a second servo control structure (2.10), the second variable pump (2.2) is a closed-loop swash plate type axial plunger variable pump, an oil port A2p of the second variable pump (2.2) is communicated with a first motor (7) A1m and a second motor (8) A2m, an oil port B2p of the second variable pump (2.2) is communicated with an oil port B1m of the first motor (7) and a second oil port B2 368), and a hydraulic source loop system is formed by the oil ports B2 m; the reversing and the speed changing of the first motor (7) and the second motor (8) are realized by adjusting a first servo control mechanism (1.10) of the first variable pump (1.2) or a second servo control mechanism (2.10) of the second variable pump (2.2) to carry out bidirectional stepless conversion.

3. The forging manipulator clamp rotary hydraulic system of claim 2, wherein: an oil inlet of the first built-in auxiliary pump (1.3) is communicated with one side of the oil tank (4.5), and an oil outlet of the first built-in auxiliary pump (1.3) is communicated with the oil supplementing distribution valve bank (9) through a first oil supplementing pipeline (12.3); an oil inlet of the second built-in auxiliary pump (2.3) is communicated with the other side of the oil tank (4.5), and an oil outlet of the second built-in auxiliary pump (2.3) is communicated with an oil supplementing distribution valve group (9) through a second oil supplementing pipeline (12.4); the oil supplementing distribution valve group (9) comprises a first check valve (9.1), a second check valve (9.2), a third check valve (9.3) and a fourth check valve (9.4), a first oil supplementing pipeline (12.3) is respectively converged into a third oil supplementing pipeline (12.5) and a fourth oil supplementing pipeline (12.6) after passing through the fourth check valve (9.4) and the second check valve (9.2) which are connected in parallel, a second oil supplementing pipeline (12.4) is respectively converged into a third oil supplementing pipeline (12.5) and a fourth oil supplementing pipeline (12.6) after passing through the third check valve (9.3) and the first check valve (9.1) which are connected in parallel, the third oil supplementing pipeline (12.5) is communicated with a T port of the first motor (7) corresponding to the first damping module (6.1), and the fourth oil supplementing pipeline (12.6) is communicated with a T port of the second damping module (6.2) corresponding to the second motor (8).

4. The forging manipulator clamp rotary hydraulic system of claim 3, wherein: the oil outlet of the first built-in auxiliary pump (1.3) supplies pressure oil to a first sequence valve (5.13) through a pipeline (12.10); the oil outlet of the second built-in auxiliary pump (2.3) supplies pressure oil to the second sequence valve (5.23) through a pipeline (12.11).

5. The forging manipulator clamp swivel hydraulic system of any one of claims 1 to 4, wherein: the flushing oil port of the first motor (7) is connected with a first flushing oil pipeline (12.1) through a first normally open stop valve (10), the flushing oil port of the second motor (8) is connected with a first flushing oil pipeline (12.1) through a second normally open stop valve (11), the first flushing oil pipeline (12.1) is connected with a flushing pump set (3), the flushing pump set (3) comprises a motor (3.1), a flushing pump (3.2), an overflow valve (3.3), a pressure switch (3.4), a throttle valve (3.5), a pressure gauge (3.6), a pressure switch (3.7), a flushing filter (3.8) and a one-way valve (3.9), the flushing pump set (3) is connected with a second flushing oil pipeline (12.2), the second flushing oil pipeline (12.2) comprises a first flushing oil branch line (12.21) and a second flushing oil branch line (12.22) which are connected in parallel, and a first electromagnetic reversing valve (12.5) is installed on the first flushing oil branch line (12.21), a second electromagnetic directional valve (5.22) is arranged on the second flushing oil branch line (12.22); the oil pumped by the flushing pump (3.2) is divided into two paths of oil after passing through a flushing filter (3.8) and a one-way valve (3.9), one path of oil enters a flushing oil port of a first motor (7) to flush a bearing after passing through a flushing oil pipeline (12.1) and a first normally open stop valve (10), the flushed oil is converged together with the shell leakage oil of the first motor (7) through a first motor (7) oil discharge port C1m and flows into an oil tank (4.5) through a first oil discharge pipeline (12.7), a first cooler (4.15) and a first oil return filter (4.16), meanwhile, the one path of oil enters a flushing oil port of a second motor (8) to flush the bearing after passing through a flushing oil pipeline (12.1) and a second normally open stop valve (11), and flows back to the shell leakage oil of the second motor (8) through a second oil discharge port C2m and the second motor (8) to be converged together through a second oil discharge port (12.8), The second cooler (4.25) and the second return oil filter (4.26) flow back into the oil tank (4.5); the other path of oil passes through two branch lines of a second flushing oil pipeline (12.2), namely a first flushing oil branch line (12.21) and a second flushing oil branch line (12.22) respectively flow through a first electromagnetic directional valve (5.12) and a second electromagnetic directional valve (5.22) and simultaneously enter the low-pressure sides of the two closed-loop system hydraulic source circuits to carry out cooling and oil supplementing on the closed-loop system hydraulic source circuits; when the industrial control system PLC identifies and judges the hydraulic source loop of the closed-loop system on the side with the fault, the industrial control system PLC closes the electromagnetic directional valve on the fault side, and the flushing pump group does not perform oil compensation on the low-pressure side of the motor on the fault side any more.

6. The forging manipulator clamp rotary hydraulic system of claim 5, wherein: the fault isolation valve (5.3), the first electromagnetic reversing valve (5.12), the second electromagnetic reversing valve (5.22), the first free wheel valve (5.11) and the second free wheel valve (5.21) are two-position four-way electromagnetic reversing valves with inductive valve core position monitoring and manual emergency functions, and initial positions of the two-position four-way electromagnetic reversing valves are monitored by an industrial control system PLC.

7. The forging manipulator clamp rotary hydraulic system of claim 6, wherein: the first motor (7) is connected with the first damping module (6.1), the second motor (8) is connected with the second damping module (6.2), the first damping module (6.1) and the second damping module (6.2) respectively comprise a two-way safety valve connected with the motors and two symmetrically-arranged oil supplementing one-way valves, the first damping module (6.1) is connected with the oil supplementing distribution valve bank (9) through a third oil supplementing pipeline (12.5), and the second damping module (6.2) is connected with the oil supplementing distribution valve bank (9) through a fourth oil supplementing pipeline (12.6); when the hydraulic source circuit of the closed-loop system changes and the first motor (7) or the second motor (8) is subjected to overlarge torque, the pressure of the hydraulic source circuit of the closed-loop system at the high pressure side exceeds the pressure set value of the two-way safety valve at the high pressure side, the two-way safety valve at the high pressure side is opened in an overflow mode, meanwhile, the corresponding oil supplementing one-way valve is opened, and the oil supplementing distribution valve group (9) supplements oil to the hydraulic source circuit of the closed-loop system at the low pressure side, so that the safety of the whole hydraulic system is ensured.

8. The forging manipulator clamp rotary hydraulic system of claim 7, wherein: the first motor (7) and the second motor (8) are radial plunger motors, output shafts of the first motor (7) and the second motor (8) are respectively connected with a speed reducer, output shafts of the two speed reducers are mutually connected with pinions, the pinions are meshed with a slewing bearing (13) of the clamp system, and the first motor (7) and the second motor (8) drive the clamp system through the slewing bearing (13) to realize slewing motion.

9. The forging manipulator clamp rotary hydraulic system of claim 8, wherein: the system further comprises a hydraulic accessory unit (4), wherein the hydraulic accessory unit (4) comprises a first liquid level relay (4.11) and a second liquid level relay (4.21), a first temperature sensor (4.12) and a second temperature sensor (4.22), a total liquid level relay (4.3) and an air filter (4.4) which are arranged on the left side and the right side of a partition plate (4.7) of an oil tank (4.5), the system further comprises two backpressure one-way valves, a first cooler (4.15), a first oil return filter (4.16) which are arranged on a first closed-loop system hydraulic source circuit, and two backpressure one-way valves, a second cooler (4.25) and a second oil return filter (4.26) which are arranged on a second closed-loop system hydraulic source circuit, and an oil discharge pipeline (4.6) is arranged at the bottom of the side wall of the oil tank (4.5); the first liquid level relay (4.11) and the second liquid level relay (4.21) are electromagnetic liquid level switches with functions of low liquid level alarm and extremely low liquid level fault; the first temperature sensor (4.12) and the second temperature sensor (4.22) monitor the oil temperature of the closed-loop system hydraulic source loop corresponding to the two variable pumps on two sides of the partition plate (14) of the oil tank (4.5), and when the oil temperature is higher than a set temperature, an automatic alarm is given.