RU2252911C2 - Hydraulic drive of crane-manipulator slewing circle post turning mechanism - Google Patents

Abstract

FIELD: mechanical engineering; load-lifting facilities.

SUBSTANCE: proposed hydraulic drive contains axial-piston pump, hydraulic motor to operate post turning mechanism, tank with drain filter for cleaning working fluid, electrohydraulic distributing, regulating and protective-and-safety devices and control and augmenting systems with corresponding hydraulic main lines and cables. Pump of hydraulic drive is made adjustable for stepless changing of power and is furnished with load sensitive unit to maintain constant pressure differential in control main line, and main distributor is made sectional and sensitive to load. Control system is combination one, with provision of possibility of remote and direct control under manual operating conditions.

EFFECT: simplified design, improved performance and economic characteristics of proposed hydraulic drive.

2 cl, 21 dwg

Description

The invention relates to hydraulic actuators of the rotation mechanisms of the uprights of slewing-rotary devices of crane manipulators and other hoisting machines.

There are a number of analogues of the invention of both domestic and foreign development (see, for example, application 4420704, F 15 B 11/02, 12/21/95, Germany; RU 2055126, E 02 F 9/22, 02/27/96. ; SU 704889, B 66 C 23/86, 12.25.79; Fig. 15 on p. 42 “Manuals for operators (operators) on the safe operation of cranes”, compiled by N. A. Shishkov, M, NPO OBT , 1995, etc.).

Some of them (RU 2055126) are used as part of the corresponding construction machines with a limitation of the angle of rotation of the platform (rack). In this case, the indicated angle is limited by directing the flow of the working fluid from the pressure cavity of the hydraulic motor to the drain using an additional hydraulic valve integrated into the known hydraulic drive controlled by a special mechanical unit interacting with the cams concentrically mounted on the rotary platform. However, for crane manipulators that do not have restrictions on the angle of rotation of the rack of the slewing ring, there is no need for such a mechanism that complicates the specified hydraulic drive.

In hydraulic drives of the type in question, containing hydraulic regulating equipment with an electromagnetic drive and electrical equipment (for example, crane scales for measuring the mass of the lifted load, safety devices, etc., located on the movable part of the machine (in this case, on the support of the slewing rotary device and the boom of the crane manipulator) .) there is a rather difficult technically problem associated with the transmission to them of the corresponding flows of the working fluid and electrical signals from us fixed part of the machine (e.g., a base of said apparatus) and in the opposite direction.

And it is solved in various ways: by brushless or collector circuits. In the first case, which is characteristic of most known crane-manipulating installations with a limited angle of rotation of the rack, hydraulic connecting lines and corresponding electric cables are laid directly on the metal structure of the machine with the formation for this in the zone of the indicated transition of the corresponding compensation slack of the aforementioned communication lines (hydraulic lines and cables ) - see, for example, US Pat. RU 2167803, B 66 C 23/00, 05/27/2001, Claim 14.

Symbols of such compensators on the schematic diagrams are provided by GOST 2.784-96 “Unified system of design documentation. Symbols are conditional graphic. Elements of pipelines ”(UDC 744: 621.643.4: 003.62: 006.354), p. 6, table. 1, clause 17, subparagraphs a), h). However, this technical solution is not rational. The presence of mechanical connections between the stationary and rotary parts of the machine in the form of corresponding hydraulic and cable bundles of relatively small length, with a certain rigidity, significantly limits the angle of relative rotation of these parts, which significantly reduces the technical capabilities of the machine. An increase in the length of the compensatory slack of the sagging of the indicated communication lines can lead to damage if they are accidentally grazed over the metal elements of the machine or the transported load and creates a very definite danger for the service personnel, as well as worsen its presentation.

In the second case, this problem is solved by embedding in the mentioned communication paths various kinds of single and multi-channel hydraulic connectors and current collectors of a rotary type.

Symbols of this type of connections on the circuit diagrams are provided for by the aforementioned GOST 2.784-96 (p. 4, table 1, p.9a) and GOST 2.755-87 “Unified system for design documentation. Graphical symbols in electrical circuits. Communication and contact devices ”(UDC 744: 621.3: 003.62: 006.354), p. 12, table. 5, paragraph 2, subparagraph 1). However, many of the known technical solutions in this field are imperfect. This issue is described in sufficient detail in the description of US Pat. RU 2187033, F 16 L 39/04, F 16 L 27/087, B 66 C 13/12, 08/10/2002.

Other of the aforementioned known analogues (see, for example, application 4420704, Germany) are difficult to implement. This circumstance is due to the presence in this analogue of a hydrostatic transmission between the drive motor and the rotation mechanism, as well as the need to integrate into the common hydraulic system the corresponding actuator, which is loaded with pressure of the control pulses, and the valve for additional amplification of the control signals. These design features of the known hydrostatic drive provide a sufficiently high smoothness in the phases of acceleration and braking when turning the upper bogies of excavators and other machines. However, this can significantly affect the duration of acceleration and stop of the rotated unit, and lead to a corresponding decrease in machine performance.

The vast majority of these hydraulic drives of rotation mechanisms (see, for example, SU 704889) are built on a traditional element base and outdated technical solutions that do not allow achieving the necessary control perfection that meets the modern technical level and, therefore, the competitiveness of these lifting machines.

To supply the working fluid to the hydraulic motor of the turning mechanism, this analogue uses an uncontrolled axial piston pump of constant performance.

The corresponding fluid flows in this hydraulic drive are controlled mainly by a conventional hydraulic distributor with a manual drive and an additional simplified two-position electrohydraulic distributor installed at the outlet of the flow regulator. At the same time, the primary safety valves and two secondary back-safety valves located in front of the control edge of the main valve spool and immediately behind it are located in the well-known hydraulic actuator in the same valve body with the specified valve.

Since the working fluid to the hydraulic motor in the specified hydraulic drive is supplied by an uncontrolled pump of constant capacity, then at medium (neutral) positions of the main valve spool or with minimal movement and turning on the electromagnet of the additional valve in pos. 1, the excess is drained under pressure into the tank.

This circumstance leads to additional overheating of the working fluid in the hydraulic system with all the ensuing consequences.

The use of a traditional hand-operated main control valve in this hydraulic actuator allows you to adjust the speed of the loaded hydraulic motor only in a relatively small area of movement of its spool (control handle). Moreover, the greater the load, the correspondingly smaller the indicated area will be (see Fig. 20). In the initial section of the movement of the valve spool valves of this type have a sufficiently large insensitivity, and control with the help of a hydraulic motor of the rotation mechanism is carried out too sharply. In addition, in a number of cases, for example, when moving explosive objects, when the crane operator should be at an appropriate distance from the specified work place or in a specially equipped shelter, the use of direct control is problematic. It is extremely inconvenient when loading materials into high-sided vehicles, such as railway cars, and unloading them from them, as well as in various kinds of construction and other works, due to the limited visibility of the cargo capture zone, or unloading and installation, especially when the large length of the lifting boom of the crane.

The combination of the main control valve and the aforementioned primary safety and secondary back-pressure relief valves into a single hydraulic unit is a well-known standard solution and is used both here and abroad.

The design of the control valve with such a degree of integration of the elements turns out to be very compact and greatly facilitates the problem of assembling it in the hydraulic drive (in this case, the number of appropriate seats and fixtures for placing and installing the specified equipment is significantly reduced, the number and length of the necessary pipelines are minimized, and on this basis it improves the appearance of the product and reduced pressure loss, etc.).

However, hydrodistribution equipment of this design is more complicated than usual in the implementation, maintenance and repair, and more expensive in cost.

In addition, such a technical solution in some cases narrows the possibility of optimizing the hydraulic drive by means of the corresponding layout, structural and structural restructuring of it to solve some very specific problems associated with giving it a new quality, for example, the possibility of forcing work.

The issues raised in sufficient detail are discussed in the articles of A.V. Rustanovich (JSC VNIIstroydormash) and V.I. Doroshenko, A.A. Ginzburg (GSTKTB GA, Gomel), published on pages 13-20 and 34-38 SDM magazines No. 10 for 1995 and No. 5 for 1998, M., ed. “Mechanical Engineering”, “Construction and Road Machines”.

One of the most effective ways to overcome technical difficulties associated with this circumstance is to use load-sensitive hydraulic systems in which the input parameters of the hydraulic drive (flow and pressure in the pressure line) are controlled based on feedback on the output parameters of the system (maximum pressure in the actuators and their total consumption).

Hydraulic systems of this kind can be built on the basis of modern, for example, commercially available Pnevmostroimashina OJSC (Yekaterinburg) and Gomel GSKTB GA controlled axial piston pump mods. 313, with infinitely variable power, equipped with a load-sensitive unit for maintaining a constant differential pressure in the control line, and load-sensitive electro-hydraulic distributors MPAM section type, providing the possibility of proportional control of the hydraulic actuator both remotely and manually, and integration into the composition of these systems appropriate regulatory, protective and safety, and auxiliary equipment, as well as optimization of circuit layout and other techniques hydraulic solutions and hydraulic control systems.

Among the known analogues of the claimed technical solution, the closest (prototype) can be a hydraulic actuator used to activate the platform turning mechanism of the jib self-propelled crane, the design and operation features of which are described in sufficient detail in the description of US Pat. RU 2.158220 C1, B 66 C 13/42, 10.27.2000

This well-known hydraulic drive in many respects significantly surpasses almost all of the above analogues.

The indicated superiority over them is mainly due to the fact that in this hydraulic actuator, axial-piston type adjustable pumps equipped with appropriate power controllers are used as a power source for hydraulic motors, and distribution equipment with electro-hydraulic proportional control is used to control them.

The undoubted advantage of the prototype should include the presence in it of a system for forcing its work.

However, it is very complicated in execution, with all the negative consequences arising from this. This circumstance is due, first of all, to the peculiarities of the execution of its pumping group, distribution equipment, control systems and forcing its operation, as well as the number of circuit design solutions used in the formation of the hydraulic drive.

In particular, to supply hydraulic motors with working fluid, it uses not one, as usual, but three pumps (two main axial-piston pumps of adjustable type parallel to each other and one auxiliary to control their operation, equipped with an automatically rechargeable pressure accumulator with a three-position distributor) .

To control hydraulic motors as part of the distribution equipment of the specified hydraulic actuator, not one but two main distribution blocks are also used, each of which is formed of several three-position valves of a traditional design (insensitive to load and with relatively low accuracy of positioning their spools).

For reception, registration and corresponding conversion of information received from electronic sensors for monitoring the parameters of the hydraulic drive, a computer is used as part of the control system. The lever-button controls of the receiving-command equipment and computers are located in the operator's cab, i.e. stationary. All this, of course, complicates the design of the known drive and makes it more expensive in value terms.

In addition to the aforementioned drawbacks of a purely technical nature, it should also be noted that the protective and safety equipment of the known hydraulic drive does not have secondary back-safety valves providing adequate protection against inertial and reactive loads with closed three-position distributors of the main distribution blocks.

Parallel operation of hydraulic motors in the prototype is possible only with the involvement of both adjustable axial piston pumps and main distribution blocks. In this case, no more than two independent movements can be carried out simultaneously.

Forcing the operation of the known hydraulic drive can also be realized only in this way, i.e. by activating both adjustable axial piston pumps and the main distribution blocks, and only applicable to hydraulic motors of the crane's boom (when the motion is not combined). At the same time, the fluid flow naturally doubles and the speeds of the corresponding boom movements increase in the same ratio, and therefore immediately known problems arise related to braking and an increase in dynamic loads. Inherent in the well-known hydraulic drive and a number of other disadvantages noted in the above analogues.

The objective of the present invention is to eliminate the aforementioned disadvantages of the known analogues and the prototype of the inventive hydraulic drive of the rotation mechanism of the rack of the support-rotary device of the crane manipulator, namely, simplifying the design and improving its technical and operational qualities and economic indicators, which allows to achieve a modern technical level and competitiveness of hoisting machines of this class.

In accordance with the invention, it is achieved by a specific set of essential features of the inventive hydraulic actuator.

The set of essential features characterizing the claimed hydraulic actuator of the rotation mechanism of the rack of the support-rotary device of the crane-manipulator installation include:

- the presence in it of a hydraulic motor to bring the specified mechanism into action;

- the presence in it of a hydraulic motor power source with a working fluid in the form of an adjustable axial piston pump with a power regulator;

- the presence in it of a tank with a drain filter for cleaning the working fluid and a sensor for measuring its temperature;

- the presence in it of the main distributor controlling the hydraulic motor with electro-hydraulic proportional control of the spool type;

- communication of the main distributor with a hydraulic motor;

- the implementation of the main distributor with the ability to control the actuators of the boom;

- the presence in it of an axial piston pump installed at the outlet and in communication with it and the tank, additional and auxiliary, on-off electro-hydraulic distributors;

- the presence in it of regulatory and protective and safety equipment, including two safety valves included in the latter, one of which is built directly into the main distributor;

- the presence of a control system in it, including receiving-command equipment and control bodies of lever type;

- the presence of an additional pump used in an emergency;

- the presence in it of hydraulic connecting lines and cables;

- supply of an adjustable axial piston pump with a load-sensitive unit for maintaining a constant differential pressure in the control line;

- installation of an axial piston pump at the outlet, in addition to an additional electro-hydraulic distributor, a check valve in series connected to each other, a pressure filter for cleaning the working fluid and the aforementioned auxiliary two-position electro-hydraulic distributor located on the upper surface of the tank, connected by the corresponding main lines to the main distributor and the control valve of the outrigger actuators slewing ring;

- installation in front of the additional and auxiliary electro-hydraulic distributors of the pressure reducing valve communicated through the two-lip spool of the load-sensing unit of the specified pump with the working cavity of the drive of its power regulator and fed directly from this pump;

- execution of the main distributor sectional with the inlet and working sections closed by a cover, and the working sections are designed to control the actuators of the boom and the hydroficated working bodies of the crane manipulator suspended on it, and sensitive to the load, for which the safety valve of the main distributor is built into its inlet section, communicated with a hydraulic motor, in which a pressure differential valve is also installed, the input of which is connected to the pressure line, and a limiter flow rate with constant adjustment, the input of which is communicated by means of a control line with a load-sensing axial piston pump unit, the output is with a drain line, the supravalve cavity with the supravalve cavity of the differential pressure valve, and in each of the working sections there are corresponding pressure relief valves communicated by the input with pressure head and, through the backpressure valve, managing highways;

- installation in the pressure line connected to the output of the axial piston pump of the safety valve included in the protective and safety equipment, configured for the maximum pressure in it when the hydraulic actuator is operating in normal mode;

- the safety valve of the inlet section of the main distributor is not direct in action and consists of the main and auxiliary valves with a higher pressure difference than the above-mentioned safety valve installed in the pressure line connected to the output of the axial piston pump and the possibility of increasing the pressure in about 15% for the necessary increase in carrying capacity;

- introduction to the protective and safety equipment of an additional two back-safety valves, which are grouped in a separate unit of sectional design located next to the main distributor, which is built into the power supply lines of the hydraulic motor;

- pairing of parts of the hydraulic connecting lines and cables for actuating the control electromagnets of the main distributor, which are permanently fixed on the basis of the rotary device, and are located on the arm and arm of the electrical equipment of the crane manipulator with their counterparts located on this arm and moving along with it in the circumferential direction using the the internal cavity of the rack removable multi-channel electro-hydraulic communication connection of Tell rotary type;

- supplying the tank with an electronic sensor built-in also for measuring the liquid level;

- supply of drain and pressure filters for cleaning the working fluid with indicators of clogging of their filter elements of electronic type;

- the presence in the control system of receiving-command electronic modules located on the rotary support device and a remote control panel made on a microprocessor basis, the panel being equipped with a two-position button for switching the operating modes of the crane manipulator, a switch for activating the hydraulic drive forcing system, and control keys for the hydraulic motor of the rotation mechanism racks and actuators of an arrow and the hydroficated working bodies suspended on it ranomanipulyatornoy installation, the liquid-crystal display for visual information about the ambient temperature and the working fluid in the tank, the current mode of operation, operating hours, the degree of contamination of the working fluid filters, indicating a clogged filter and fall of the liquid level in the tank;

- supplying a remote control to attract, if necessary, the operator’s attention with a red warning light and a buzzer for sound signals;

- the formation of a system for accelerating the operation of the hydraulic actuator installed in the pressure manifold connected to the outlet of the axial piston pump and located in the inlet section of the main distributor, the safety valves configured in the manner described above, an additional two-position electro-hydraulic distributor and a control system for supplying with the appropriate remote control switch to the electromagnetic drive the specified distributor of the corresponding control signal a, as well as a programmable change in the level of control electrical signals supplied to the electromagnets of the working sections of the main distributor;

- supply of hydraulic lines with connectors allowing to dock to them in case of failure of the adjustable axial piston pump or its drive, an emergency pump with a stand-alone drive, used for emergency rotation of the rack in the necessary direction;

- supply of the remote control automatically switched on in case of insufficient illumination of the working area with local illumination.

The same in the prototype and the claimed invention are the first eleven of the essential features listed in this list, and the rest are distinctive.

Moreover, all of these distinguishing features are significant, since each of them accordingly affects the technical result achieved during the implementation of the claimed invention, i.e. are in a causal relationship with him.

The nature of this effect in relation to each of the distinguishing features is discussed in detail below in the text when explaining the essence of the claimed invention.

The invention is illustrated by drawings, which depict:

Figure 1 is a schematic hydraulic diagram of the inventive hydraulic actuator (P1 is an auxiliary on-off valve, P2 is an additional on-off valve. P3 is a main valve, KP1 is a safety valve, KP1 is a pressure reducing valve, KO is a check valve, N is a pump, F1 is a pressure filter, F2 - drain filter, B - tank);

Figure 2 - Scheme of hydraulic connections of the inventive hydraulic actuator (A, B - working hydraulic lines, P - pressure hydraulic line, T - drain hydraulic line);

Figure 3 - General view of the crane installation in the transport position;

Figure 4 - General view of the slewing ring of the crane installation in axonometric projection (hydraulic connecting lines and cables of the inventive hydraulic drive are not conventionally shown);

In Fig.5 - View A (see Fig.4) from above on the slewing ring of the crane manipulator;

In Fig.6 - View B (see Fig.4) in a perspective view of the pressure filter for cleaning the working fluid and an additional two-position distributor of the system for forcing the operation of the inventive hydraulic actuator located on the basis of the rotary device of the crane manipulator;

In Fig. 7 is a vertical section B-B (see Fig. 5) of the rotary support device of the crane manipulator in the plane of the arrangement of the rack rotation mechanism and the multichannel electro-hydraulic communication connector of the rotary type;

In Fig. 8 - An external element G (see Fig. 7) with an image of the mechanism of rotation of the rack of the slewing ring;

In Fig.9 is a longitudinal section DD (see Fig.7) multichannel electro-hydraulic communication connector of the hydraulic lines and cables of the inventive hydraulic actuator (docked to the connector hydraulic lines and cables are not conventionally shown);

Figure 10 - View E (see figure 9) from above on a multi-channel electro-hydraulic communication connector;

In Fig.11 - View G (see Fig.9) from below to a multi-channel electro-hydraulic communication connector;

In Fig.12 - The remote element And (see Fig.7) with the image of a kinematically coupled carrier carrier of the support slewing device with a lead sleeve multichannel electro-hydraulic communication connector of the inventive hydraulic actuator;

In Fig.13 is a longitudinal section KK (see Fig.9) built-in multi-channel electro-hydraulic communication connector of the inventive hydraulic actuator multi-channel current-insulated rotary sliding current collector;

On Fig - Cross section LL (see Fig.13) multichannel current-insulated rotary sliding current collector;

On Fig - View M (see figure 4) side view in axonometric projection on the tank of the inventive hydraulic actuator (in the upper and lower angles with the corresponding remote elements);

On Fig - General view of the drain filter of the inventive hydraulic actuator;

On Fig - General view of the pressure filter of the inventive hydraulic actuator;

On Fig - View N (see Fig) from above on the pressure filter;

On Fig - General view in axonometric projection of a remote control;

On Fig - a graphical dependence of the speed of rotation of the output shaft of the hydraulic motor to bring the rotation mechanism of the rack of the support-rotary device into effect on the movement of the spool of the hydraulic distributor of traditional design with direct control (n is the speed of rotation of the output shaft of the hydraulic motor, rpm; Xz - movement of the spool , mm; M _1,2 - load moments, M ₂ > M ₁ );

In Fig.21 - a graphical dependence of the speed of rotation of the output shaft of the hydraulic motor of the rotation mechanism of the rack of the support-rotary device from the movement of the control key of the remote control of the inventive hydraulic actuator (n - speed of rotation of the output shaft of the hydraulic motor, rpm; XP - movement of the key, mm; 1 - the nature of the change in the indicated dependence, due to the peculiarities of the circuit design of the electronics of the control system; 2 - one of the possible options for changing the specified dependence with the corresponding program AANII electronic control systems);

The inventive hydraulic actuator 1 of the rotation mechanism 2 of the rack 3 of the slewing-rotary device 4 of the crane manipulator 5, made on the basis of the gear 6, contains an axial piston pump 7, a hydraulic motor 8 for driving the specified mechanism, the output shaft 9 of which through the gearbox 10 is kinematically coupled to pinion gear 11 of said gear, tank 12 with a drain filter 13 for cleaning the working fluid, controlling the main distributor 14 with electro-hydraulic proportional control of the spool und mounted at the outlet of the axial piston pump and communicating with them tank additional electro-off valve 15, which regulates the safety and protective equipment, the control system 16 and hydraulic connecting lines and cables.

The axial piston pump 7 of the hydraulic actuator 1 serving as a power source for the hydraulic motor 8 with the working fluid is adjustable, with the possibility of a stepless change in power, and is equipped with a load-sensitive unit 17 for maintaining a constant pressure drop in the control line 18.

The pump 7 is driven by the engine of the vehicle on which the crane manipulator 5 is mounted, through the power take-off or from a special drive shaft (if it is stationary).

The main distributor 14 of the hydraulic actuator 1 is in communication with the hydraulic motor 8 and is located next to it on the rack 3. It is made sectional and sensitive to the load. One of the working sections 19 of the main distributor 14 is communicated directly with a hydraulic motor via the corresponding hydraulic lines 20, 21, and the remaining 22-26 are designed to control the actuators (pos. Not shown) of the load-lifting boom 27 and the hydroficated working bodies suspended on it ( Pos. (not shown) of the crane manipulator 5.

To supply the working fluid to the specified actuators in the design of the backup working sections 22-26 of the main distributor 14, corresponding bends 28-32 are provided.

Sectionalization of the main distributor is extremely beneficial both from the point of view of its manufacture and after-sales service. This feature allows you to implement, without any difficulty, practically any modification of it by the number of working sections contained in it. If any of the sections breaks down, it can easily be replaced with a new one.

Sensitivity of the main distributor to the load is a special consumer quality that distinguishes it from the distribution equipment of conventional design.

Due to this property, it can provide independent parallel operation of various actuators (up to four channels).

Included in the protective and safety equipment of the inventive hydraulic actuator 1 is a safety valve and two additional safety valves 33-35 additionally inserted into it, respectively, are located on the base 36 and the rack 3 of the slewing gear 4, the first of which is installed in an axial piston connected to the output the pump 7 of the pressure line 37, is configured for the maximum pressure in it during operation of the hydraulic actuator in normal mode and is in communication with the tank 12 through its drain filter 13, and the latter are grouped in emy adjacent to the main distributor 14, separate unit 38 execution sectioned built into the power supply line of the hydraulic motor 8 for said valve. Exactly the same blocks of back-pressure safety valves of sectional design are installed at the output of other working sections 24-26 of the main distributor 14, which control the actuators of the lifting boom 27 of the crane manipulator 5 and the hydroficated working bodies suspended on it.

This technical solution allows us to use for the formation of the inventive hydraulic actuator serially produced by specialized enterprises, and therefore quite well-developed and reliable functioning protective and safety equipment, and on this basis, unlike the prototype, significantly simplify the design of the main distributor and improve the quality indicators of the specified hydraulic actuator.

An additional two-position electro-hydraulic distributor 15 is made discrete, by type of operation, with an electromagnetic drive (pos. Not shown in the drawing) and built into the pressure line 37 of the axial piston pump 7 in front of the safety valve 33. When operating in the normally open passage valve, it can , if necessary, block the specified highway by the appropriate electrical command supplied by the control system 16 to its electromagnetic drive.

At the outlet of the axial piston pump 7, in addition to an additional on-off distributor 15, a check valve 39 is connected in series with each other and a pressure filter 40 for cleaning the working fluid and an auxiliary two-position electro-hydraulic and also discrete type of operation distributor 41 with an electromagnetic valve located on the upper surface of the tank 12 drive (pos. to the devil. not indicated). The auxiliary two-position electro-hydraulic distributor 41 is communicated by the respective lines 42, 43 with the main distributor 14 and the control valve of the outrigger actuators (pos. Not shown) of the slewing gear 4, as well as with the axial piston pump 7 and the tank 12. Functioning in in the switch mode, it provides switching of the working fluid flows with its direction from the pump 7 along the line 42 to the main distributor 14, or along the line 43 to the control valve the actuators of the outriggers of the slewing ring 4 of the crane manipulator 5, the simultaneous operation of which with a hydraulic motor 8 of the rotation mechanism 2 of the rack 3 is unacceptable under safety conditions.

In parallel with it, at the outlet of the axial piston pump 7, a pressure reducing valve 44 is installed in front of the additional and auxiliary on-off electro-hydraulic distributors 15, 41, which is communicated through a two-lip spool 45 of the load-sensing block 17 of the specified pump with a working cavity of the drive 46 of its power regulator 47.

In the absence of a command on the pilot’s electromagnet (pos. Not shown) of the auxiliary on-off electro-hydraulic distributor 41, its spool is in the open position and connects the output of pump 7 to the main distributor 14, and the drain to the outrigger drive. And vice versa, when giving a command to the pilot's electromagnet of the indicated distributor 41, the discharge is connected to the main distributor 14, and the pressure to the outrigger actuators.

Moreover, the design of the main distributor 14 and both of the indicated distributors 15, 41 of the inventive hydraulic actuator 1 provides for the possibility of implementing both remote control using their control electromagnets and direct by manually moving the spools using the corresponding lever type handles 48.

Their compact spatial arrangement with access to them and ease of maintenance around the support of the slewing ring and laying the corresponding connecting hydraulic lines and cables along the shortest paths is highly rational and does not spoil the commodity (external) appearance of the crane manipulator.

The main distributor 14 consists of an inlet (valve) and several of the aforementioned working sections 49 and 19, 22-26, closed by a cover 50.

The inlet section 49 is in communication with the respective lines 42, 51 of the supply and removal of the working fluid (pressure and drain).

In the closing cover 50, a plug 52 is installed covering the hole, similar to the drain hole of the inlet section 49.

In the inlet section 49, in communication with the hydraulic motor 8, a differential pressure valve 53 is installed, the inlet of which is connected to the pressure line 42, an indirect pressure relief valve 54, consisting of the main and auxiliary valves 55, 56, and adjusted to a greater pressure difference than the above a safety valve 33, with the possibility of increasing the pressure in the pressure line by about 15% for the necessary increase in the carrying capacity of the crane manipulator 5, and a flow limiter 57 with constant adjustment.

The input of the flow limiter 57 is communicated by means of a control line 18 with a load-sensitive unit 17 of the axial piston pump 7, the output is with a drain line 51, and the supravalve cavity is with the supravalve cavity of the differential pressure valve 53.

Each of the working sections 19 of the main valve 14 is a three-position valve of the spool type. Moreover, all of them, the working section 19 of the control of the hydraulic motor 8 and each of the other working sections 22-26, contain a shut-off and control valve 58, a corresponding pressure reducing valve 59, communicated with the pressure inlet and through the check valve 60 of the control lines 42 and 18.

When a control signal is supplied to the corresponding electromagnet of the working section 49, the electromagnet armature moves its controllable valve (its pos. Is not indicated in the drawing). When this control pressure moves the spool 58 to the working position, connecting the pressure line 42 with one of the supply lines 20 of the hydraulic motor 8.

The necessary pressure differential across the main spool 58 is set by the adjusting screw of the pressure reducing valve 59 of the working section.

As noted above, the inlet of the pressure reducing valve 59 is connected to the pressure line 42, and the output to the central bore of the hole for the main spool 58 in the housing of the working section. The bores closest to it are connected to the supply lines of the hydrohomogor 8, the next to the drain line, and the last to each other, with the over-valve cavity of the pressure reducing valve 59 and to the control line 18 through the check valve 60.

The union of the drain lines passing through the working sections 19, 22-26, the main distributor 14, is carried out in the inlet section 49 and the closing cover 50.

At the same time, a safety valve 33 (KP1) installed in the pressure manifold 42 connected to the outlet of the axial piston pump 7 and a safety valve 54 located in the inlet section 49 of the main distributor 14 are configured as described above, an additional two-position electro-hydraulic distributor 15 and control system 16, for supply to the electromagnetic drive of the specified distributor the corresponding control signal, as well as a programmable change in the level of control electrical signals, fed to the electromagnets of the working sections 19, 22-26 of the main distributor 14, form a system for forcing the operation of the inventive hydraulic actuator.

This circuit layout and structural adjustment of the inventive hydraulic actuator is due to the need to give it a very specific new quality, namely the ability to force, if necessary, its operation. The specified solution allows you to significantly expand the relevant technical capabilities of the machine, which is of exceptional importance in various kinds of extreme situations.

The adjustable axial piston pump 7 has a fairly wide range of displacement, ranging from 0 to maximum (107 cm ³ ). The change in the working volume of the pump 7 occurs both upward and downward. A change in the working volume causes a corresponding change in the supply of the working fluid and the consumed (drive) moment. At the same time, the moment consumed by the pump depends not only on its working volume, but also on the pressure drop across it. The pressure at the outlet of the pump 7 is determined by the load on the hydraulic motor 8 and is limited by the back-safety valve 34 of the hydraulic actuator 1.

The flow of the working fluid is determined by the adjustment of the pressure reducing valve 59 and the movement of the spool 58 of the working section 19, as well as the corresponding leaks and its consumption for control.

The regulation of the working volume is carried out by the corresponding tilt of the cylinder block of the pump 7 relative to the axis of its shaft.

The power regulator 47 of the pump 7 automatically maintains the consumed power (torque) taken from the drive shaft, for example, the power take-off of the chassis engine on which the crane manipulator 5 is installed, when the pressure in the hydraulic system of the inventive hydraulic actuator 1 is changed by a corresponding change in the angle of inclination of the cylinder block.

The load-sensitive block 17 of the pump 7 provides a constant pressure drop of the order of 20 kgf / cm between the pump outlet and the pressure cavity of the corresponding most loaded actuator. At the same time, on the pressure edge of the spool 58 using a pressure reducing valve 59 of the working section of the main distribution block 14, a constant pressure drop of about 8 kgf / cm is maintained.

The power regulator 47 can be rebuilt with the help of the pressure reducing valve 44 of the inventive hydraulic actuator 1, which is not part of the pump 7, by changing the control pressure supplied from it via the corresponding line 61 to the load-sensitive unit 17 of the specified pump.

As noted above, in the inventive hydraulic actuator 1, the specified pressure reducing valve 44, and through it the load-sensing unit 17 of the axial piston pump 7 is fed directly from the pump. This feature of the circuit design allows to simplify the claimed hydraulic actuator and accordingly reduce its cost on this basis in comparison with the well-known foreign load-sensitive hydraulic systems, in which relatively expensive special additional pumps are used to power such valves (see, for example, the article by V.I. Doroshchenko, A.A. Ginzburg, GSKTB GA, Gomel, published on pages 34-38 of the magazine “Construction and road machines”, No. 5 for 1998).

The power regulator 47 is supplied with a control pressure of the order of (6-60) kgf / cm ² . At the same time, a larger power output from the pump shaft corresponds to a higher control pressure.

During operation of the power regulator 47, the load-sensitive unit 17 of the pump 7 does not work. Prior to operation of the power regulator 47, said block 17 of pump 7 maintains a pressure equal to (18-20) kgf / cm ² + P _nmax at its output, where P _nmax is the pressure in the maximum loaded pressure cavity of the hydraulic motor 8 (or other actuating mechanism of the crane manipulator) .

Moreover, as noted above, the flow rate of the working fluid is determined mainly by the adjustment of the pressure reducing valve 59 and the movement of the spool 58 of the working section, as well as the corresponding leaks and its consumption for control. If several sections of the main distributor are working at the same time, then the corresponding costs are added up (only until the pump power regulator is turned on).

When you turn on the power regulator and increase the pressure at the outlet of the pump 7, its flow rate changes so as to ensure that the configured (set) power value is removed from the drive shaft (power take-off box).

The tank 12 of the inventive hydraulic actuator 1 is equipped with electronic sensors for level and temperature 62, 63 of the working fluid, and indicators 65, 66 of their electronic clogging and corresponding safety bypass valves are installed in the drain and pressure filters 13, 40 of its cleaning with replaceable filter elements 64 67, 68.

The presence of such sensors 62, 63 greatly simplifies the procedure for monitoring the corresponding parameters of the working fluid. With the corresponding contamination of the filter elements, as well as the operation of the crane manipulator at modes different from the nominal ones (increased flow rate and viscosity of the working fluid at start-up), the pressure drops across the filter elements increase significantly, which can lead to damage. The presence in the design of filters of appropriately tuned safety bypass valves 67, 68 allows to avoid this.

The need to replace the filter elements 64 is timely determined by the operator according to the corresponding signals of the above electronic indicators 65, 66.

The parts of the hydraulic connecting lines 18, 42, 51, 69 and the cables 70 for activating the control electromagnets of the main distributor 14 and the electrical equipment 71 of the crane manipulator 5 located on the rack 3 and the boom 27 of the crane manipulator 5 which are permanently fixed on the base of the 36 slewing ring device 5 are interfaced to the rack-mounted and moving together with it in the circumferential direction by their respective reciprocal parts by means of a removable multi-channel electrohydraulic mounted in the internal cavity 72 of the rack 3 female communication connector 73 rotary type.

The specified connector 73 is made in the form of a rigidly fixed on the base 36 of the slewing device 4 in the region of the lower cut of the rack 3 of the cylindrical core 74 and kinematically coupled to it on the outer diameter, with the possibility of relative rotation, and fixed in the axial direction of the sleeve 75 with a lead 76, interacting with the carrier 77 racks equipped with two hydraulic manifolds 78, 79, one of which is formed on the lower end of the cylindrical core, and the other on the outer side surface of the sleeve, with b locks of threaded connecting fittings 80-83 and 84-87, interconnected with each other by means of the corresponding axial and radial channels 88, 89 and annular grooves 90 spaced apart in height in the core and sleeve bodies, sealed by the corresponding seals 91, and built into the upper part of the core and the cavity 92, a multichannel current-insulated rotary sliding current collector 93 for transmitting the corresponding electrical signals from the base, hermetically separated from the hydraulic channels 36 on the rack 3 and vice versa, made in the form of a jointed with the core, with the exception of the relative rotation in the circumferential direction, of the hollow body 94, inside of which there is a flat central shaft 95 mounted on sliding bearings, with the output shaft 96 fastened to the upper part of the sleeve, and collector module 97, consisting of two groups, alternating in height and kinematically connected with the specified housing and the Central shaft, with the possibility of movement in the axial direction, and interacting between oh flat ring non-rotary and rotary electrical contacts 98, 99 of the clamping type, connected via wires 100 to external electrical connectors 101, 102 for connecting the corresponding cables 70 to them.

The control system 16 of the inventive hydraulic actuator 1 includes a command-and-control apparatus, lever-type control elements in the form of electronic modules 103 and a remote control 104 made on a microprocessor-based device mounted on a slewing rotary device 4.

The remote control panel 104 of the specified system 16 is equipped with a two-position button 105 for switching the operating modes of the crane manipulator 5 and a switch 106 for activating the hydraulic drive system 1, keys 107-112 for controlling the hydraulic motor 8 of the rotation mechanism 2 of the rack 3 and the actuating mechanisms of the boom and hydraulically mounted working bodies suspended on it . A liquid crystal display 113 located above the keys 107-112 is integrated in the remote control 104 for visual information about the ambient temperature and the working fluid in the tank, the current operating mode, the operating hours, the degree of clogging of the working fluid purification filters, indicating the clogged filter and the level drop fluid in the tank.

In addition, it has a red indicator light 114 and a buzzer (pos. Not shown in the drawing) for sound signals to attract, if necessary, operator attention.

In addition to those specified in the design of the remote control, there are also a number of additional (backup) buttons and switches (their poses are not indicated in the drawing), which make it possible to optimize, if necessary, the control system of the hydraulic actuator if necessary.

As noted above, in the inventive hydraulic actuator 1 implements an electric high-precision proportional control of the operation of the main distributor 14, combined with mechanical control.

With electrical proportional control, the position of the main spool 58 in each of the working sections 19, 22-26 of the specified distributor 14 is changed so that it corresponds to a given command signal generated by the control system 16.

The specified command signal is converted to the corresponding hydraulic pressure of the working fluid, which moves the spool 58.

In the control system 16 of the inventive hydraulic actuator 1 for positioning the spools 58 of the working sections 19, 22-26 of the main distributor 14, the principle of modulating the width of the control pulse supplied to the electromagnetic valves of the indicated sections is used. At the same time, the position of the spool 58 is fixed with a high degree of resolution by the corresponding inductive type sensor, the output signal of which is recorded and compared with the set control signal by its electronics, which, when the indicated signals are mismatched, automatically modulates it into the corresponding command current, which actuates the electromagnetic valves in such a way that the corresponding pressure of the working fluid moves the main spool in proportion to the specified current to the desired position, after which further modulation is stopped and the spool is locked in this position.

The specified performance features of the inventive hydraulic actuator provide high accuracy of positioning of the support of the slewing ring and the boom of the crane manipulator with working bodies suspended on it, which is extremely important when carrying out the corresponding construction and several other works, as well as moving especially dangerous goods.

The movement in the process of loading and unloading and other work located on the rack 3 of the boom 27 of the crane-manipulator unit 5 in the circumferential direction is carried out by the corresponding rotation of the rack 3 in the bearings 115,116 of the base 36 of the slewing ring 4.

As noted above, in the absence of a command on the electromagnet of the auxiliary on-off electro-hydraulic distributor 41, its spool is in the open position and connects the output of the pump 8 to the main distributor 14, and the drain to the outrigger actuators.

The working fluid from the pump 8 is fed into the inlet section 49 of the main distributor 14 and then to the spools 58 of its working sections 19, 22-26.

In the absence of a control signal on the electromagnets of the working sections 19, 22-26 of the indicated distributor 14, their spools 58 are in the neutral (zero) position. Since in this case the control line 18 is connected to the drain 51 and there is virtually no consumption of the working fluid by the hydraulic motor 8 and other actuators, respectively, the pressure in the supravalvular cavity of the pressure differential valve 53 is close to zero (P _max = P _sl ) and the pump 7 is unloaded by flow, passing almost at zero working volume, because the spools of the working sections are in neutral (zero) positions. By pressure, the pump unloads up to about 20 kgf / cm ² , because pressure-sensitive regulator is supplied from the control line pressure close to zero (R _SL ).

The differential pressure valve 53 is not involved in unloading the pump. The pressure at the inlet of the valves of the pressure difference 59 working sections is also about 20 kgf / cm ² . The pressure required for remote control of the spools 58 of the working sections of the main distributor 14 is formed by special control pressure reducing valves with proportional magnets that are included in each of these sections (pos. Not shown). The absolute value of the control pressure does not exceed 10 kgf / cm and is the minimum necessary for the specified movement of the spools.

Unloading the inventive hydraulic actuator 1 from pressure when the hydraulic motor 8 (and other actuators) is stopped by connecting the hydraulic control lines in the neutral position of all spools 58 of the main distributor 14 with a drain allows to significantly improve its energy characteristics and significantly simplify the task of forming the control pressure required for remote movement these spools from a neutral (unloaded) position to working.

The control signal is supplied to the necessary electromagnet of the working section 19 of the main control valve 14 of the hydraulic motor 8 by means of the corresponding movement of the key 107 provided for this in the remote control 104. If there is a control signal, the spool 58 of this section 19 is transferred from the equilibrium position to the working position. At the same time, through the pressure window that opens (the throttling slit is not shown in the drawing), the working fluid directly enters the corresponding pressure cavity of the hydraulic motor 8 of the rotation mechanism 2 of the rack 3.

Under the action of the fluid of its block cylinders entering the working cavity of the hydraulic motor 8, and consequently, the output shaft 9 kinematically connected with it, comes into rotation, the frequency of which is proportional to the flow rate of the supplied fluid. From the output shaft 9 of the hydraulic motor 8, the rotation is transmitted through a planetary type reducer 10 to the drive gear 11 of the gear 6 of the rotation mechanism 2 of the rack 3.

Since structurally the hydraulic motor 8 with the gearbox 10 and the specified gear 11 is rigidly fastened to the rack 3, and the gear wheel 117 of the gear gear 6 of the mechanism 2 for its rotation is kinematically coupled to the gear (it is fixed to the base 36 of the slewing gear 4), the rotating gear 11, rolling around on it, rotates the rack with the boom 27 mounted on it.

When the rack 3 is rotated, its carrier 77, kinematically coupled to the lead 76 of the sleeve 75 of the multi-channel electro-hydraulic communication connector 73, synchronously rotates the last and the rigidly connected casing 118 of the output shaft 96 of the central shaft 95 of the sliding current collector 93 about a longitudinal axis.

Simultaneously with the central shaft 95 of the current collector 93, rotary electrical contacts 99 kinematically coupled thereto rotate, sliding along the stationary electrical contacts 98 of the current collection module 97, providing a suitable connection of 4 electrical lines (cables) 70 located on the base 36 and the rotary column 3 of the rotary support device 70.

The supply of the working fluid and the transmission of electrical signals from the base 36 to the rotary rack 3 of the slewing ring 4 and their passage in the opposite direction is carried out through the corresponding communication channels of the hydraulic and electrical parts of the connector 73 insulated from each other.

The technical solutions incorporated in the design of the indicated connector ensure the continuity of the flow of the working fluid when it flows through the hydraulic paths and reliable transmission of electrical signals through a sliding current collector. The communication connector of this design has a relatively small size, high weight perfection, ease of use and allows you to realize an endless angle of rotation of the rack.

When the motor 8 is rotated, the working fluid from its opposite (other) cavity through the spool 58 of the working section 19 of the main distributor 14 and the drain filter 13 is discharged into the tank 12.

The rotation speed of the hydraulic motor 8 is controlled by the corresponding movement of the key 107 of the remote control 104 from zero (neutral) position to the limit.

With a slight movement of the key 107 of the remote control 104, the output shaft 9 of the hydraulic motor 8 rotates slowly, and consequently, the strut 3 of the rotary support device 4, and, conversely, with an increase in the movement of the indicated key, its rotation speed increases accordingly. Moreover, the indicated change in speed is directly proportional to the value of the corresponding deviation of the key 107.

From the graphical dependence shown in Fig.21, it can be seen that about 100% of the entire area of movement of the button 107 of the remote control 104 can be used to control the indicated speed (it is provided by the circuit design features and the corresponding programming of the control system electronics 16).

To control the operation of the hydraulic motor 8 in this case, a load-sensitive hydraulic drive is used. For this, as noted above, in each working section 19 of the main distributor 14, a pressure reducing valve 59 is installed, which, when the pressure port of the spool 58 is open, maintains a certain pressure drop on it (about 8 kgf / cm ² ). Therefore, the flow rate of fluid through the pressure port of the spool 58 depends only on the area of its opening. In principle, the design of the pressure reducing valve 59 allows you to change the setting of the specified differential pressure in the range of about 2-32 kgf / cm ² . This pressure range corresponds to a change in fluid flow through the pressure window, and hence the angular velocity of rotation of the rack 3 by about 4 times.

And if you take into account that the features of the circuit design and the corresponding programming of the electronics of the control system 16 allow, to a certain extent, additionally change the transmission coefficient “remote control key (command current) - moving the spool of the working section of the main distributor”, and therefore the angular velocity, then it is obvious that this contributes to a significant expansion of the technical capabilities of the claimed hydraulic drive. In this regard, without special difficulties it can be widely used both for slow-moving and for high-speed machines.

When the safety valve 119 of the back-safety valve 34 is closed, the entire fluid flow from the outlet of the pressure gap enters the pressure cavity of the hydraulic motor 8. This fluid flow corresponds to a certain rotation speed of its output shaft 9, and therefore, of the strut 3.

In the main distributor 14, pressure reducing valves 59 are installed in all of its working sections 19, 22-26. Due to this, it is possible to realize parallel independent operation of several actuators of the crane manipulator 5 at once. In this case, the safety valve 33 and the power regulator 47 of the pump 7 must be closed, i.e. so that the loads are less than the limit, and the working volume of the latter is less than the maximum. With the simultaneous inclusion of several spools 58 of the main distributor 14, the corresponding sections of it work in a similar way. In this case, the pressure from the more loaded actuator locks the check valves 60 of the remaining sections and controls the inlet pressure so that the inlet pressure in the pressure line exceeds it by an amount equal to the setting pressure of the load-sensitive pump controller 7 (about 20 kgf / cm ² ). Thus, the inlet pressure of the hydraulic system is constantly maintained as much as possible for the operation of the actuator's actuator (adaptation to the load).

The pump 7 automatically adjusts to the required flow rate for the main distributor 14. Therefore, when the hydraulic actuator 1 does not discharge excess liquid under pressure into the tank 12 and its additional overheating.

The implementation in the inventive hydraulic drive of the possibility of simultaneously combining several operations with adapting it to the load with a sufficiently low level of energy loss is extremely important both for manufacturers of lifting equipment of this type and for consumers, especially in conditions of a significant increase in requirements for machines and increased competition in the market.

The stand 3 is stopped by turning off the hydraulic motor 8 of its rotation mechanism 2. The stand 3 is stopped by “releasing” the key 107 of the remote control 104. At the same time, it automatically returns to the neutral position, the control signal is removed from the pilot's magnet of the main distributor 14, and the spool 58 of the working section 19 returns to its original (equilibrium) position, completely blocking the pressure window (throttling gap) of supplying the hydraulic motor 8 with the working fluid.

During acceleration, as well as sharp braking of the rack 3 of the slewing ring 4, for example, when the boom 27 encounters an obstacle, the pressure of the working fluid in the working cavity of the hydraulic motor 8 may exceed the limit value of the safety valve 119 of the back-safety valve 34. When the specified safety valve is activated 119, part of the working fluid is drained through it and the drain filter 13 into the tank 12. In this case, the rotation speed of the shaft 9 of the hydraulic motor 8 is accordingly reduced and can drop down to zero. The safety valve 119 of the back-safety valve 34 protects the rotation mechanism 2 of the rack 3 from excessive permissible overloads, which can be realized in such cases, both when the valve is open and closed 58 by means of a corresponding bypass of the working fluid through the hydraulic path of the valve from the high low pressure cavity. The corresponding make-up of the hydraulic motor 8 is provided by a check valve 120 of the back-safety valve 34.

The maximum setting of the safety valve 119 of the secondary back-safety valve 34 is mainly determined by the permissible amount of overload acting on the rotation mechanism 2 of the rack 3 and its service life. With this setting, the minimum necessary time for acceleration and braking of the rack 3 is provided, based on the practicality and preservation of the integrity of the rotation mechanism of the rack 2.

With a fixed setting of the safety valve 119 of the back-safety valve 34, the smoothness of operation during start-up and braking of the rack 3 depends on the moment of inertia of the rotating parts (boom 27 with the load and the rack itself) and the speed of movement of the button 107 of the remote control 104. The greater the moment of inertia , the smaller the angular acceleration of the rack 3, and the more smoothly its acceleration or deceleration occurs.

The electronics of the control system 16 can to some extent limit the speed of movement of the spool 58, regardless of the speed of movement of the key 107 of the remote control 104, which is very important when it is suddenly (accidentally) released. In this case, the time of movement of the specified spool 58 from the equilibrium (zero) position to the limiting working position can reach about 2-5 seconds. The necessary law for changing the control signal is provided by the features of the circuit design and the corresponding programming of the control system 16.

The necessary rotation of the rack 3 is controlled by a corresponding change in the direction of rotation of the output shaft 9 of the hydraulic motor 8 using the key 107 of the remote control 104.

To change the direction of rotation of the rack 3, you must move the key 107 of the remote control 104 in the opposite direction after it stops. The operation of the inventive hydraulic actuator 1 in this case is similar to the above. In this case, the protection of the rotation mechanism 2 of the rack 3 from overloads and the recharge of the hydraulic motor 8 are already provided by the safety and non-return valves 121 and 122 of the other back-safety valve 35, respectively.

The operation of the system for forcing the operation of the inventive hydraulic actuator 1 is carried out using the corresponding switch 106, which is available in the remote control 104.

During normal operation, a control command (voltage) is not supplied to the pilot's electromagnet of an additional on-off electro-hydraulic distributor 15 of the indicated system. In this case, the pressure at the outlet of the pump 7 is limited by a safety valve 33, tuned to the pressure drop, of the order of Δ p ₀ ≅ 285 kgf / cm ² .

To speed up the operation of the inventive hydraulic actuator 1, the aforementioned switch 106 of the remote 1 control panel 104 is transferred to the “on” position. In this case, the pilot’s electromagnet of the additional two-position electro-hydraulic distributor 15 receives an appropriate control command (voltage). When the electromagnet is activated, the spool of the indicated distributor 15 divides the output of the working axial piston pump 7 with the safety valve 33. As a result, the function of limiting the pressure of the liquid in the pressure line passes to the safety valve 54 of the inlet section 49 of the main distributor 14, which is set to a slightly larger pressure drop (of order Δ p ₀ ≅ 320 kgf / cm ² ) and the pressure of the working fluid in the pressure line increases accordingly by about 15% (up to the setting value of the specified valve), providing realizing the necessary increase in the torque of the hydraulic motor 8, and when the corresponding working sections 22-26 of the main distributor 14 are activated, and the lifting capacity of the crane manipulator 5.

At the same time, the electronics of the control system 16 programmatically reduce the levels of the control electric signals generated by it that are supplied to the electromagnets of the working sections 19, 22-26 of the main distributor 14, which makes it possible to reduce, in approximately the same ratio, the corresponding liquid flow rates at the outlet of these sections, and therefore and to implement the necessary, from a safety point of view, slowing down the speed of rotation of the output shaft 9 of the hydraulic motor 8 and kinematically associated with it through the actuated mechanism 2 of the rack 3, as well as e movements of the boom of the crane manipulator 5 with the load suspended thereon, increased mass compared to the usual mass in the case of manipulating it. At the same time, the moments of start-up and braking of the rack 3 when forcing the operation of the inventive hydraulic actuator are practically unchanged, because determined by the setting of safety valves 119, 121 back-safety valves 34, 35.

When the control electric signal is removed from the electromagnet, an additional two-position electro-hydraulic distributor 15 automatically opens and reports the output of the adjustable axial piston pump 7 with a safety valve 33, as a result of which the function of limiting the pressure of the liquid in the pressure line returns to it again. Under the action of pressure, the specified valve 33 opens, providing, by dumping part of the liquid through itself and the drain filter 13 into the tank 12, a corresponding drop in the pressure level in the pressure line to the value due to its adjustment, after which it closes, and the electronics of the control system again programmatically leads the levels supplied to the electromagnets of the working sections 19, 22-26 of the main distributor 14 to the original, i.e. corresponding to normal operation.

In contrast to the prototype, the operation of the inventive hydraulic drive is not forced by the fluid flow rate, but by its pressure in the pressure line, as a result of which, not the speed of rotation of the hydraulic motor and the movements of the boom of the crane manipulator are increased, but the magnitude of its torque and load capacity of the latter.

The presence of such a system in the inventive hydraulic drive allows in extreme situations to briefly force its power within acceptable limits (torque of the hydraulic motor and lifting capacity of the crane manipulator). This feature of the inventive hydraulic drive is extremely important when loading and unloading materials of an disordered structure and size, such as scrap metal, as well as when disassembling debris in natural or man-made disasters and in a number of other, mostly extreme, cases where lifting is more important (sometimes just vital) than the speed of the operation.

The fact of the contamination of the replaceable filter elements of the drain and pressure filters 13, 40 during operation of the inventive hydraulic actuator 1 is recorded on the liquid crystal display 113 for visual information regarding its operation, while accompanying it, to attract the operator’s attention, by flashing the red indicator light 114 and the corresponding sound buzzer signal of the remote control 104.

Similarly, the indicated display 113 records information about the temperature of the working fluid in the tank 12 and its level, as well as the achievement of the maximum working load.

Prompt notification of the operator about these events allows him to critically assess the situation in time and make an appropriate decision. If this does not happen for any reason, then the further operation of the hydraulic actuator 1 is blocked by the control system, which avoids the corresponding negative consequences that may occur.

In case of emergency destruction during operation of the inventive hydraulic actuator 1 of the pressure line, to stop the rack, it is necessary to move the key 107 of the remote control 104 to the zero position. In this case, the braking of the rack 3 occurs normally (as described above).

When the drain line is destroyed, the braking of the rack 3 occurs only due to the moment of resistance in the bearings 115, 116 of the base 36 of the slewing ring 4.

In case of insufficient illumination of the operator’s working area, the local illumination of the display 113 of the remote control 104 is automatically turned on.

It is known from publicly available specialized literature (see, for example, Construction and Road Machines Magazine, No 10 for 1995, p. 18) that the operation of load-sensing hydraulic systems can be accompanied by self-oscillations due to the relatively slow signal transmission sensitive to load feedback. In the inventive hydraulic actuator there are two load-sensitive controllers (one in the pump 7, and the other in the main distributor 14), so that these self-oscillations can be reduced to an acceptable level, or completely eliminated.

It is well known (see, for example, the magazine Building and Road Machines No. 5 for 1998, p. 36) that the speed of valve devices is about an order of magnitude higher than the speed of volumetric machines (pumps). Therefore, in transients, the load-sensitive block 17 of the pump 7 will be assisted by the load-sensitive regulator of the main distributor 14. For this, only through appropriate adjustment should the experimentally select the necessary “spacing” of the settings of these regulators.

In case of failure of the remote control 104 to return the crane installation 5 to its original (transport) position, the necessary movements of the spools 58 of the corresponding working sections 19, 22-26 of the main distributor 14 are carried out in direct (manual) control mode using levers 48 of the lever type.

In case of unauthorized shutdown of the drive shaft (motor vehicle engine) or failure of the adjustable axial piston pump for emergency rotation of the rack in the required direction, an emergency pump with an independent drive can be used (pos. To the drawing. Not indicated), for connection of which in the claimed the hydraulic actuator is provided with appropriate connectors (pos. to the drawing are not indicated).

The inventive hydraulic actuator is not difficult to manufacture and is quite easily interfaced with the rotation mechanism of the support of the slewing ring, the hydraulic system and the electrical equipment of the crane manipulator.

It has high efficiency, reliability and safety. The features of its circuit design make it possible to realize load-sensitive proportional control of the hydraulic motor, and when other sections of the main distributor and other actuating mechanisms of the crane manipulator are activated, including and with a changing load moment.

The inventive hydraulic actuator is very simple and convenient in maintenance and can dramatically improve the working conditions of the operator. It is preferable to many of the known analogues and prototype, and in value terms.

The circuit-design features of its implementation, which are based on it, make it possible to raise the level of domestic crane manipulators created by their functional capabilities, technical and operational characteristics and economic indicators to the modern one.

In the design of the inventive hydraulic drive, domestic materials widely used in mechanical engineering were used, as well as hardware element base not inferior to foreign in their technical level, rational technical solutions and standard manufacturing techniques.

Given this, as well as the relevant requirements of GOSGOR-TECHNADZOR for such products, it can be repeatedly reproduced according to the documentation developed for it in mass production at specialized enterprises that have the necessary equipment, personnel and the appropriate regulatory and permissive base.

Currently, NK Uralterminalmash CJSC has fully developed the corresponding design documentation, according to which a full-scale operating prototype of the inventive hydraulic actuator for the Sinegorets-210 heavy-duty crane-manipulator installation with the following technical characteristics has been made:

- Nominal flow rate of the working fluid in the hydraulic system, l / min:

- in the main (regular) mode 120 - in the force boost mode 100 - Nominal pressure in a hydraulic system, MPa 29th - The amount of oil in the tank, l: - minimum 110 - maximum 140 - The rotation frequency of the rack of the slewing ring, rpm: - normally 3.0 - when forcing work 2,4 - The maximum torque of the rack rotation mechanism, kN · m 36 - pump Adjustable Axial Piston
Maud. 313.3.107.507.39
TU 22-1.020-100-95 - hydraulic motor Unregulated mod.
310.3.56 TU 22-1.020-100-95 - Distribution equipment: - main distributor MPAM-12/3 - additional two-position electro-hydraulic distributor RPG16 / 3SE574G24UHL1 - auxiliary two-position electro-hydraulic distributor RPG 16 / 3SE574 G24UHL1-01 - pressure filter FN-120-10-25-32-0,45-UHL2
TU 4145-012-07522144-00 - drain filter FS-120-10-25-1.0-0.35-UHL2
TU 4145-012-07522144-00 - Control system Combined, electro-hydraulic - Type of control: - during regular work Remote, using a remote control panel and a set of receiving and command devices at a distance of up to 30 m from the crane manipulator - in an emergency Direct (lever) - The number of simultaneous operations up to 4

The effectiveness of the solutions incorporated in the design of the inventive hydraulic drive, as well as the possibility of obtaining the aforementioned technical result when carrying out the invention, which consists in simplifying the design and improving its technical and operational qualities, are confirmed by the corresponding calculations and the results of special autonomous tests of the specified prototype.

Currently, the inventive hydraulic drive is being tested as part of the existing crane manipulator "Sinegorets-210" heavy-duty.

The decision on the mass production of the inventive hydraulic actuator will be made after completion of these tests.

Claims (2)

1. The hydraulic drive of the rotation mechanism of the rack of the slewing ring of the crane-manipulator installation, containing a hydraulic motor for bringing the specified mechanism into action, a power source for its working fluid in the form of an adjustable axial piston pump with a power regulator, a tank with a drain filter for cleaning the working fluid and a measurement sensor its temperature, controlling the hydraulic motor, the main distributor with electro-hydraulic proportional control of the spool type, communicated with the hydraulic motor and made the ability to control the actuators of the boom, installed at the outlet of the axial piston pump and connected with it and the tank, additional and auxiliary two-position electro-hydraulic valves, control and safety devices, the last of which includes two safety valves, one of which is built directly into the main valve , a control system including receiving-command equipment and lever-type control bodies, a pump used in emergency situation, hydraulic connecting lines and cables, characterized in that the adjustable axial piston pump is equipped with a load-sensitive unit for maintaining a constant pressure drop in the control line, at the output of the axial piston pump, in addition to an additional electro-hydraulic distributor, a check valve with a pressure valve is connected in series the filter for cleaning the working fluid and the aforementioned auxiliary engine located on the upper surface of the tank on-position electro-hydraulic distributor, communicated by the corresponding lines with the main distributor and control valve of the actuators of the outrigger of the support-rotary device, a pressure reducing valve is installed in front of the additional and auxiliary electro-hydraulic distributors, communicated through the two-edge spool of the load-sensing unit of the specified pump with a working cavity of the drive of its power regulator and powered directly from this pump the new distributor is made sectional with the inlet and working sections closed by a cover, and the working sections are designed to control the actuators of the boom and the hydroficated working bodies of the crane-manipulator unit suspended on it, and sensitive to the load, for which the safety valve of the main distributor is built into its inlet section in communication with the hydraulic motor, in which a pressure differential valve is also installed, the input of which is connected to the pressure line, and a flow limiter and with constant adjustment, the input of which is communicated by means of a control line with a load-sensing axial piston pump unit, the output is with a drain line, the supravalve cavity with the supravalve cavity of the differential pressure valve, and in each of the working sections there are corresponding pressure relief valves communicated by the input with pressure and through a non-return valve - with control lines, in the pressure line connected to the output of the axial piston pump, the protective fuse included pressure relief valve, adjusted to the maximum pressure in it during operation of the hydraulic actuator in normal mode, the safety valve of the inlet section of the main distributor is not directly operated, consists of the main and auxiliary valves and is configured for a greater pressure difference than the safety valve mentioned above, with the possibility of increasing the pressure in the pressure line by about 15% for the necessary increase in carrying capacity, introduced into the composition of protective and safety equipment additionally two back-safety valves, which are grouped in a separate sectional unit located next to the main distributor, built into the power supply lines of the hydraulic motor, part of the hydraulic connecting lines and cables for operating the control electromagnets of the main distributor located on the rack fixed on the basis of the rotary support device and the boom of the electrical equipment of the crane, are paired with placed on that rack and their counterparts moving together with it in a circumferential direction by means of a removable rotary-type multi-channel electro-hydraulic communication connector installed in the internal cavity of the rack, the tank is also equipped with an electronic sensor built-in to measure the liquid level, the drain and pressure filters for cleaning the working fluid are equipped with indicators clogging of their filter elements of electronic type, the control system has a receiving-placed on the rotary support device microprocessor-based electronic modules and a remote control, moreover, the specified remote control is equipped with a two-position button for switching the operating modes of the crane-manipulator, a switch for activating the hydraulic drive forcing system, control buttons for the hydraulic motor of the stand rotation mechanism, and boom actuators and hydroficated workers suspended on it organs of a crane-manipulator, liquid crystal display for visual inf information about the ambient temperature and the working fluid in the tank, current operating hours, worked hours, the degree of clogging of the filters for cleaning the working fluid, indicating a clogged filter and a drop in the level of the fluid in the tank, while the remote control has a red warning light and a buzzer for feeding sound signals to attract operator’s attention, if necessary, the system for forcing the hydraulic drive is formed in an axial piston pump connected to the output and the pressure line and the safety valves located in the inlet section of the main distributor configured in the manner described above, an additional electro-hydraulic distributor and a control system for supplying, using the appropriate remote control switch to the electromagnetic drive of the specified distributor, the corresponding control signal, as well as a programmable change in the level of control electrical signals applied to the electromagnets of the operating sections of the main vnogo distributor hydraulic attacher is provided for connected to it in an emergency pump. 2. The hydraulic actuator according to claim 1, characterized in that the remote control is equipped with automatically activated when there is insufficient illumination of the working area with local illumination.

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