WO2021082274A1

WO2021082274A1 - Hydraulic control system, outrigger device, and control method

Info

Publication number: WO2021082274A1
Application number: PCT/CN2019/130544
Authority: WO
Inventors: 胡磊; 王清波; 覃会勇
Original assignee: 三一汽车制造有限公司
Priority date: 2019-11-01
Filing date: 2019-12-31
Publication date: 2021-05-06
Also published as: CN110778546A; CN110778546B

Abstract

A hydraulic control system (1), an outrigger device, and a control method. The hydraulic control system (1) comprises: an oil cylinder (13); a main reversing valve (11) and an auxiliary reversing valve (12), the first valve port (111) of the main reversing valve (11) being communicated with the second valve port (122) of the auxiliary reversing valve (12) by means of an auxiliary circuit, the second valve port (112) of the main reversing valve (11) being communicated with the rodless cavity of the oil cylinder (13) by means of a main circuit, the first valve port (121) of the auxiliary reversing valve (12) being communicated with the rod cavity of the oil cylinder (13), and the third valve port (123) of the auxiliary reversing valve (12) being connected to the main circuit by means of a differential pipeline; a hydraulic oil pump (3) communicated with the third valve port (113) of the main reversing valve (11); and a hydraulic oil tank (4) communicated with the hydraulic oil pump (3) and the fourth valve port (114) of the main reversing valve (11).

Description

Hydraulic control system, outrigger device and control method

This application claims the priority of a Chinese patent application filed with the State Intellectual Property Office of China with the application number "201911059602.3" and the application name "Hydraulic Control System, Outrigger Device and Control Method" on November 1, 2019, and its entire contents Incorporated in this application by reference.

Technical field

This application relates to the technical field of hydraulic control, and in particular to a hydraulic control system, an outrigger device and a control method.

Background technique

At present, the outrigger devices of engineering equipment or vehicles are mostly controlled by hydraulic systems, and the outriggers are driven by hydraulic cylinders, but there is a problem that the extending process takes a long time. In the hydraulic system provided in the prior art that can increase the speed of the outrigger extension process, it is necessary to increase the pumping flow of the oil pump or increase the auxiliary oil pump to realize the accelerated extension of the outrigger. However, the hydraulic system still has complicated costs. Higher, the system volatility of the acceleration process greatly affects the reliability of the hydraulic system, and the problem of failure detection cannot be achieved.

Summary of the invention

This application aims to solve at least one of the technical problems existing in the prior art or related technologies.

To this end, an object of the present application is to provide a hydraulic control system.

Another object of the present application is to provide an outrigger device having the above hydraulic control system.

Another object of the present application is to provide a control method for the aforementioned leg device.

In order to achieve the above objective, the technical solution of the first aspect of the present application provides a hydraulic control system, including: an oil cylinder; a main reversing valve and an auxiliary reversing valve, the first valve port of the main reversing valve passes through the auxiliary circuit and the auxiliary reversing valve The third valve port of the main reversing valve is connected, the second valve port of the main reversing valve is connected to the rodless cavity of the cylinder through the main circuit, the first valve port of the auxiliary reversing valve is connected to the rod cavity of the cylinder, and the second port of the auxiliary reversing valve is connected to the rodless cavity of the cylinder. The three valve ports are connected to the main circuit through the differential pipeline; the hydraulic oil pump is connected with the third valve port of the main directional valve; the hydraulic oil tank is connected with the hydraulic oil pump and the fourth valve port of the main directional valve.

The hydraulic control system provided by this application includes an oil cylinder, a main reversing valve, and an auxiliary reversing valve. The hydraulic oil pump is connected to the main reversing valve by connecting the hydraulic oil tank with the hydraulic oil pump and the fourth valve port of the main reversing valve. The third valve port is connected to pump out the hydraulic oil in the hydraulic oil tank through the hydraulic oil pump to drive the extension or retraction of the oil cylinder by the pressure of the hydraulic oil, and at the same time, the hydraulic oil under pressure in the oil cylinder returns to the hydraulic oil tank.

The first valve port of the main reversing valve and the second valve port of the first auxiliary reversing valve are connected through the auxiliary path, and the valve port of the auxiliary reversing valve communicates with the rod cavity of the oil cylinder, so that there is a rod cavity when the oil cylinder extends The hydraulic oil inside flows to the hydraulic oil tank through the auxiliary path, or when the cylinder is retracted, the hydraulic oil in the oil tank flows through the auxiliary path to the rod cavity of the cylinder; the main path connects the second valve port of the main directional valve with the rodless cavity of the cylinder, When the oil cylinder is extended, the hydraulic oil in the hydraulic oil tank flows to the rodless cavity of the oil cylinder, and when the oil cylinder is retracted, the hydraulic oil in the rodless cavity of the oil cylinder flows to the hydraulic oil tank; the auxiliary reversing valve is connected through the first differential line The third valve port is connected to the main circuit to close the differential pipeline when the first valve port and the second valve port of the auxiliary directional valve are connected, so as not to affect the flow direction of hydraulic oil in the auxiliary circuit. When the first valve port is connected to the third valve port, the hydraulic oil in the rod cavity of the cylinder enters the main circuit through the differential pipeline, and then enters the rodless cavity of the cylinder again, thereby increasing the rodless cavity of the cylinder The pressure accelerates the extension of the cylinder. It should be emphasized that during the retraction of the cylinder, the main directional valve needs to be switched to the position where the first valve port is connected to the third valve port, and the second valve port is connected to the fourth valve port, so as not to affect the hydraulic oil to the hydraulic oil tank. Backflow.

Both the first auxiliary reversing valve and the second auxiliary reversing valve can detect the position of the spool to determine the position of the spool, feedback the detection signal, and give an alarm to the spool failure to reduce the operation of the hydraulic control system It is possible that the spool position of the first auxiliary reversing valve or the second auxiliary reversing valve may be wrong, thereby improving the reliability of the hydraulic control system.

It should be noted that when the load involves multiple components to be driven, it can be realized by operating multiple hydraulic control systems in parallel. For example, when the outrigger system is driven by a hydraulic control system, one hydraulic control system can be used to drive the outrigger to extend first, and when the outrigger is extended to the target position, another hydraulic control system can be used to drive the outrigger to lift.

It can be understood that the oil cylinder may also be a multi-stage oil cylinder or a combined oil cylinder.

In addition, the hydraulic control system in the above-mentioned embodiment provided by the present application may also have the following additional technical features:

In the above technical solution, the hydraulic control system further includes a controller, which is respectively electrically connected to the main directional valve and the auxiliary directional valve; the auxiliary directional valve includes a position sensor to detect the position of the spool of the auxiliary directional valve.

In this technical solution, a controller is provided and the main directional valve and the auxiliary directional valve are electrically connected to the controller, so that the main directional valve and the auxiliary directional valve are controlled by the controller, and the signal response speed is fast. The high accuracy of mutual connection is conducive to improving the control accuracy and response speed of the hydraulic control system, thereby improving the operating efficiency and reliability of the load. By setting the auxiliary reversing valve including a position sensor, the position of the spool of the auxiliary reversing valve is detected by the position sensor, and the detection signal is fed back. Further, if the spool of the auxiliary reversing valve is detected before the hydraulic control system is operated When the position is in the wrong position, an alarm can also be issued. For example, when the cylinder is retracted, if the auxiliary reversing valve is detected at the position where the first valve port and the third valve port are connected, that is, the rod cavity of the cylinder passes the auxiliary reversing The valve is connected with the differential pipeline. At this time, the hydraulic oil in the rod cavity of the cylinder cannot normally return to the hydraulic oil tank. The detection signal is fed back through the position sensor, and the spool position status of the auxiliary reversing valve is alarmed to reduce The possibility of the hydraulic control system operating in the wrong state of the pipeline connection, thereby improving the reliability of the hydraulic control system and reducing losses.

In the above technical solution, the hydraulic control system further includes: a pressure sensor arranged on the main road, the pressure sensor is electrically connected to the controller, and the hydraulic control system ends operation when the detected pressure value of the pressure sensor is greater than the pressure threshold; and/or safety The locking parts are arranged in the main road and the auxiliary road, and the safety locking parts are hydraulic locks or balance valves.

In this technical solution, a pressure sensor is provided in the main circuit, and the pressure value in the main circuit is detected by the pressure sensor. At the same time, the pressure sensor is electrically connected to the controller to feed back the detected pressure signal to the controller. The controller judges the pressure value, so that when the pressure value in the main circuit reaches the pressure value corresponding to the target position, the controller controls the hydraulic control system to stop running. During the operation of the hydraulic control system, if the detected pressure value of the pressure sensor is greater than the first pressure threshold, it means that the pressure in the system exceeds the safe pressure range that the pipeline can withstand. Continued operation will cause system pipeline failure. The main reversing valve is controlled to switch to the closed position at time, and the oil supply is stopped to prevent safety accidents and realize safety early warning. By installing safety locks in the main and auxiliary roads, the hydraulic control system is locked and protected to prevent the original pressure from being maintained when part of the pipeline in the hydraulic control system fails, so as to prevent the failure from causing the pressure to suddenly disappear and the cylinder to lose control , Which can effectively prevent the occurrence of safety accidents. Further, the safety lock can be a hydraulic lock or a balance valve. By setting the safety locking piece as a hydraulic lock, when the hydraulic oil flows from the main directional valve to the cylinder through the main or auxiliary road, the main circuit and the auxiliary circuit are all connected, and there is no connection between the main directional valve and the safety locking member. When the hydraulic oil flows, the main circuit and the auxiliary circuit are all closed to realize the lock of the main reversing valve, so as to reduce the pressure that the main reversing valve bears in the closed state, and play a role of safety protection. By setting the safety lock piece as a balance valve, when hydraulic oil flows from the main reversing valve to the cylinder through the main or auxiliary road, the main road and the auxiliary road are all connected, and there is no connection between the main reversing valve and the safety lock piece. When the hydraulic oil flows, the hydraulic oil in the cylinder cannot flow to the main directional valve through the auxiliary circuit and safety locks, so as to prevent the main directional valve from directly bearing the pressure load of the rod cavity of the cylinder, and reduce the pressure of the main directional valve due to excessive pressure And the possibility of failure.

In the above technical solution, the main reversing valve is a three-position four-way solenoid valve, and the first position of the three-position four-way solenoid valve is that all four valve ports are closed, and the second position is that the third valve port faces the first valve port. Connected and the second valve port is connected to the fourth valve port, the third position is that the first valve port is connected to the fourth valve port and the third valve port is connected to the second valve port; the auxiliary reversing valve is two-position Four-way solenoid valve, and the first position of the two-position four-way solenoid valve is that the first valve port is connected to the second valve port and the third valve port is connected to the fourth valve port, and the second position is the first valve port and the third valve port. The valve port is in communication and the second valve port is in communication with the fourth valve port, wherein the fourth valve port of the auxiliary reversing valve is normally closed, and the auxiliary reversing valve is automatically switched to the first position after the auxiliary reversing valve is de-energized.

In this technical solution, by defining the main reversing valve as a three-position four-way solenoid valve, the operating state of the hydraulic control system is changed by controlling the reversing of the main reversing valve. Specifically, the first position of the main reversing valve is The four valve ports are all closed, the second position is when the third valve port is connected to the first valve port and the second valve port is connected to the fourth valve port, and the third position is when the first valve port is connected to the fourth valve port. And the third valve port is connected to the second valve port. When the main reversing valve is in the first position, the hydraulic control system is in a stopped state. When the main reversing valve is in the second position, the hydraulic cylinder is driven to retract, and the main reversing valve is When the valve is in the third position, the cylinder is driven to extend the operation.

The auxiliary reversing valve is two-position four-way, so that the extension state of the cylinder can be changed through the auxiliary reversing valve, that is, the extension of the normal mode or the extension of the acceleration mode. Specifically, when the auxiliary reversing valve is in the first position, the first valve port is in communication with the second valve port and the third valve port is in communication with the fourth valve port. When the two-position four-way solenoid valve is in the second position, the first valve port is in communication with the second valve port. The third valve port is in communication and the second valve port is in communication with the fourth valve port. When the auxiliary reversing valve is in the first position, the auxiliary circuit is connected, and the oil cylinder is extended in the normal mode. When the auxiliary reversing valve is in the second position, The auxiliary circuit is disconnected and the differential pipeline is turned on, and the oil cylinder performs accelerated extension operation. Among them, the fourth valve port of the auxiliary reversing valve is normally closed, so that when the auxiliary reversing valve is in the first position or the second position, there is only Single conduction path.

By setting the automatic return function to the auxiliary reversing valve, the spool will automatically return to the first position after the auxiliary reversing valve is powered off, so that the auxiliary reversing valve is restarted every time the hydraulic control system is powered off. The valve cores are in the normal position of the first position to reduce the possibility of abnormal pipeline connection and improve the reliability of the hydraulic control system.

The technical solution of the second aspect of the present application provides a leg device, including: a leg body; a leg portion that can be expanded outward or retracted inward relative to the leg body; a support portion connected to the leg portion, And the support part can be extended downward or retracted upward; the first system and the second system, the first system is connected with the leg part to drive the expansion or retraction of the leg part, and the second system is connected with the support part to The extension or retraction of the driving support part; wherein, at least one of the first system and the second system is the hydraulic control system of any one of the above-mentioned technical solutions of the first aspect.

The leg device provided by the present application expands or retracts the leg portion relative to the leg body to realize the horizontal movement of the leg, so as to expand the radiation area of the leg device, improve the overall stability, and reduce Possibility of lateral tilting; the support part connected to the leg part extends downwards and abuts against the ground or the installation surface to realize the supporting effect of the leg device. According to the specific situation, the support part of the leg device can also be installed. The equipment is lifted off the ground as a whole to reduce the pressure on the equipment, so as not to affect the stability of the outrigger device. In addition, the outrigger device also includes a first system and a second system. The oil cylinder of the first system is connected with the outrigger to drive the expansion or retraction of the outrigger, and the oil cylinder of the second system is connected with the support to drive The extension or retraction of the support part, wherein at least one of the first system and the second system is the hydraulic control system of any one of the above-mentioned technical solutions of the first aspect. This solution also has all the beneficial effects of the hydraulic control system in the above-mentioned first aspect of the technical solution, which will not be repeated here.

It should be emphasized that the movement form of the outriggers can be telescopic or rotating.

It can be understood that the equipment using outrigger devices is mostly heavy engineering equipment, especially when it is equipped with a slewing mechanism or a lifting mechanism, which will cause the overall center of gravity of the equipment to shift. At this time, you can adjust the support The extension of the leg device adjusts the overall center of gravity of the equipment to maintain stability.

It should be noted that when the equipment using the outrigger device is a wheeled vehicle, the wheels of the vehicle will be elastically deformed when compressed, which can easily cause the vehicle to shake and affect the overall stability of the vehicle. At this time, the outrigger device can Lift the vehicle off the ground to reduce the impact on overall stability.

The technical solution of the third aspect of the present application provides a control method used in the outrigger device in the technical solution of the second aspect, including: obtaining a start signal corresponding to the hydraulic control system; determining whether the start signal is an extension signal If the start signal is an extension signal, control the operation of the first system to extend the leg of the outrigger device to the position of the first leg; control the operation of the second system to extend the support portion of the outrigger device to the first support Position; if the start signal is not an extension signal, control the operation of the second system to retract the support part of the outrigger device to the second support position; control the operation of the first system to retract the outrigger part of the outrigger device to the second outrigger position.

The control method provided in this application determines whether to start the hydraulic control system by obtaining the start signal corresponding to the hydraulic control system; and determines whether to control the start of the first system or the second system by determining whether the start signal is an extension signal or a retraction signal Specifically, if it is determined that the start signal is an extension signal, first control the operation of the first system, that is, control the legs of the leg device to expand to the first leg position, and the first leg position corresponds to the expansion of the leg Then control the operation of the second system, that is, control the support portion of the leg device to extend to the first support position, and the first support position is the target position corresponding to the extended state of the support portion, thereby completing the extension operation; If it is determined that the start signal is a retraction signal, first control the operation of the second system, that is, control the support of the leg device to retract to the second support position, which is the target position corresponding to the retracted state of the support, and then control the support. The leg portion of the leg device is retracted to the second leg position, and the second leg position is the target position corresponding to the retracted state of the leg portion, thereby completing the retracting operation.

In the above technical solution, controlling the operation of the first system to expand the leg portion of the leg device to the first leg position specifically includes: judging whether the pressure value in the main path of the first system is less than the first acceleration threshold, if When the pressure value is less than the first acceleration threshold, the first valve port of the auxiliary reversing valve of the first system is controlled to communicate with the third valve port; it is determined whether the spool position of the auxiliary reversing valve of the first system is between the first valve port and the second valve port. If the position of the three valve ports is connected, the next step is executed, otherwise the operation ends; if the pressure value is greater than or equal to the first acceleration threshold, the first valve port of the auxiliary directional valve of the first system is controlled to communicate with the second valve port; Determine whether the spool position of the auxiliary reversing valve of the first system is in the position where the first valve port is connected to the second valve port. If yes, perform the next step, otherwise end the operation; control the first system of the main reversing valve of the first system One valve port is connected with the fourth valve port, and the second valve port is connected with the third valve port, so that the cylinder of the first system drives the legs of the leg device to expand; judge whether the pressure value in the main circuit of the first system is greater than Or equal to the pressure value corresponding to the position of the first outrigger, if yes, the main reversing valve of the first system is controlled to close, otherwise the current operating state is maintained.

In this technical solution, the magnitude relationship between the pressure value in the main circuit of the first system and the first acceleration threshold is determined to determine whether to control the first system to start the acceleration extension mode. Specifically, if the pressure value in the main circuit of the first system is less than the first acceleration threshold, the first valve port of the auxiliary reversing valve of the first system is controlled to communicate with the third valve port, so that the hydraulic cylinder of the first system is The rod cavity is in communication with the differential pipeline of the first system. The position sensor of the first system detects the spool position of the auxiliary directional valve of the first system to ensure that the spool of the auxiliary directional valve of the first system moves to the specified position. If the auxiliary directional valve of the first system is detected The spool does not move to the specified position, indicating that the auxiliary directional valve of the first system is malfunctioning, and the position sensor of the first system feeds back a malfunction signal to the controller, and the controller controls the system to end operation for maintenance; further, it can also send Alarm prompts, such as the lighting of the fault light, the buzzer sounding, and the voice prompt; when the spool of the auxiliary directional valve of the first system moves to the specified position, the first valve port of the main directional valve of the first system is controlled Connect with the fourth valve port, the second valve port and the third valve port, so that the main circuit and the differential pipeline of the first system are simultaneously conducted, that is, the first system is controlled to be in the accelerated extension mode. At this time, the hydraulic oil pump The hydraulic oil in the hydraulic oil tank is pumped out and flows into the rodless cavity of the cylinder through the main path of the first system, and then pushes the cylinder out, driving the legs to extend, and the hydraulic oil in the rod cavity of the cylinder passes through the differential tube The road merges into the main road and enters the rodless cavity of the cylinder again, thereby increasing the flow rate of the hydraulic oil to speed up the extension speed of the cylinder to achieve accelerated extension of the outriggers.

If the pressure value in the main circuit of the first system is greater than or equal to the first acceleration threshold, the first valve port of the auxiliary reversing valve of the first system is controlled to communicate with the second valve port, so that the cylinder of the first system has a rod. The cavity is connected with the auxiliary circuit. The position of the spool of the auxiliary directional valve is detected by the position sensor of the first system to ensure that the spool of the auxiliary directional valve moves to the specified position. If it is detected that the spool of the auxiliary directional valve of the first system has not moved to the specified position , Indicating that the auxiliary reversing valve is faulty, the position sensor feeds back a fault signal to the controller, and the controller controls the system to stop running for maintenance; further, it can also send out alarm prompts, such as the fault light is on, the buzzer sounds, and the voice is heard prompt. When the spool of the auxiliary reversing valve of the first system is moved to a specified position, the first valve port of the main reversing valve of the first system is controlled to communicate with the fourth valve port, and the second valve port is connected with the third valve port. Make the main circuit and auxiliary circuit of the first system conduct at the same time, that is, control the first system to be in the normal extension mode. At this time, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank and flows into the oil cylinder through the main circuit of the first system. The rod cavity further pushes the piston rod of the oil cylinder to extend, driving the legs to extend, and the hydraulic oil in the rod cavity of the oil cylinder flows back to the hydraulic oil tank through the auxiliary path of the first system. By determining the pressure value in the main circuit of the first system to monitor the extension position of the cylinder of the first system, if the pressure value is greater than or equal to the pressure value corresponding to the position of the first leg, it indicates that the leg has been deployed to the target Position, control the main reversing valve of the first system to switch to the closed position, stop supplying oil to the main circuit of the first system, and complete the extension operation of the outriggers; if the pressure value in the main circuit of the first system has not reached Corresponding to the position of the first outrigger, it means that the outrigger has not been extended to the target position, and then continue to supply oil to the main circuit of the first system. Among them, the first acceleration threshold can be determined by testing or manually set, such as 80% of the maximum pressure that the system can withstand and 80% of the flow area ratio of the first main road. The pressure value corresponding to the position of the first leg is determined by testing.

In the above technical solution, controlling the operation of the second system to extend the support portion of the outrigger device to the first support position specifically includes: judging whether the pressure value in the main circuit of the second system is less than the second acceleration threshold, if the pressure If the value is less than the second acceleration threshold, the first valve port of the auxiliary reversing valve of the second system is controlled to communicate with the third valve port; it is determined whether the spool position of the auxiliary reversing valve of the second system is between the first valve port and the third valve port. If the position of the valve port is connected, the next step is executed, otherwise the operation ends; if the pressure value is greater than or equal to the second acceleration threshold, the first valve port of the auxiliary reversing valve of the second system is controlled to communicate with the second valve port; Whether the spool position of the auxiliary reversing valve of the second system is at the position where the first valve port and the second valve port are connected, if yes, execute the next step, otherwise a fault signal is issued and the operation ends; control the main reversing valve of the second system The first valve port is connected with the fourth valve port, and the second valve port is connected with the third valve port, so that the cylinder of the second system drives the support part of the leg device to extend; to determine the pressure value in the main circuit of the second system Whether it is greater than or equal to the pressure value corresponding to the first support position, if yes, end the operation, otherwise keep the current operation state.

In this technical solution, the magnitude relationship between the pressure value in the second main circuit of the hydraulic control system and the second acceleration threshold is determined to determine whether to control the second system to start the acceleration jacking mode. Specifically, if the pressure value in the main circuit of the second system is less than the second acceleration threshold, the first valve port of the auxiliary reversing valve of the second system is controlled to communicate with the third valve port, so that the oil cylinder of the second system is The rod cavity is in communication with the differential pipeline of the second system. The position sensor of the second system detects the spool position of the auxiliary directional valve of the second system to ensure that the spool of the auxiliary directional valve of the second system moves to the specified position. If the auxiliary directional valve of the second system is detected If the spool does not move to the specified position, it means that the auxiliary reversing valve is faulty, and the position sensor feedbacks a fault signal to the controller, and the controller controls the system to stop running for maintenance; further, it can also send out an alarm prompt, such as a fault light point Lights up, the buzzer sounds, and a voice prompt is issued. When the spool of the auxiliary reversing valve of the second system is moved to a specified position, the first valve port of the main reversing valve of the second system is connected to the fourth valve port, and the second valve port is connected to the third valve port. Make the main circuit and differential pipeline of the second system conduct at the same time, that is, control the second system in the acceleration jacking mode. At this time, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank and flows in through the main circuit of the second system The rodless cavity of the oil cylinder of the second system pushes the piston rod of the oil cylinder to extend, driving the supporting part to extend, and the hydraulic oil in the rod cavity of the oil cylinder flows into the main road through the differential pipeline of the second system. And it flows into the rodless cavity of the oil cylinder again, thereby accelerating the extension of the piston rod of the oil cylinder by increasing the flow of the hydraulic oil to realize the accelerated extension of the support part.

If the pressure value in the main circuit of the second system is greater than or equal to the second acceleration threshold, the first valve port of the auxiliary reversing valve of the second system is controlled to communicate with the second valve port, so that the cylinder of the second system has a rod. The cavity is connected with the auxiliary circuit. The position of the spool of the auxiliary directional valve of the second system is detected by the position sensor of the second system to ensure that the spool of the auxiliary directional valve moves to the specified position. If it is detected that the spool of the auxiliary directional valve of the second system is not Move to the designated position, it means that the auxiliary reversing valve is faulty, the position sensor feedbacks the fault signal to the controller, and the controller controls the system to terminate operation for maintenance; further, it can also send out alarm prompts, such as fault light on, buzzer Sound and give voice prompts. When the spool of the auxiliary reversing valve of the second system is moved to a specified position, the first valve port of the main reversing valve of the second system is connected to the fourth valve port, and the second valve port is connected to the third valve port. In order to make the second main circuit and the second auxiliary circuit conduct at the same time, that is, the second system is controlled to be in the normal jacking mode. At this time, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank and flows into the cylinder through the main circuit of the second system. The rodless cavity further pushes the piston rod of the oil cylinder to extend, driving the support part to extend, and the hydraulic oil in the rod cavity of the oil cylinder returns to the hydraulic oil tank through the auxiliary circuit. Determine the extension position of the support part by determining the pressure value in the main circuit of the second system. If the pressure value is greater than or equal to the pressure value corresponding to the first support position, it means that the support part has been extended to the target position, and the second system is controlled. The main reversing valve of the second system is switched to the closed position, and the oil supply to the main circuit of the second system is stopped; if the pressure value in the main circuit of the second system does not reach the pressure value corresponding to the first support position, it indicates support The part has not been extended to the first support position, then continue to supply oil to the main circuit of the second system. Among them, the second acceleration threshold can be determined through testing or manually set, such as 80% of the maximum pressure that the system can withstand and 80% of the flow area ratio of the second main road. The pressure value corresponding to the first support position is determined by testing.

In the above technical solution, controlling the operation of the second system to retract the support portion of the outrigger device to the second support position specifically includes: controlling the first valve port of the auxiliary reversing valve of the second system to communicate with the second valve port; determining Whether the spool position of the auxiliary reversing valve of the second system is in the position where the first valve port is connected to the second valve port, if yes, execute the next step, otherwise end the operation; control the first of the main reversing valve of the second system The valve port is connected with the third valve port, and the second valve port is connected with the fourth valve port, so that the cylinder of the second system drives the support part of the leg device to retract; when the support part is retracted to the second support position, the second system is controlled The main reversing valve is closed.

In this technical solution, the first valve port of the auxiliary reversing valve of the second system is controlled to communicate with the second valve port, so that the rod cavity of the cylinder of the second system communicates with the auxiliary circuit of the second system; The position sensor detects the position of the spool of the auxiliary reversing valve of the second system to ensure that the rod cavity of the cylinder of the second system communicates with the auxiliary circuit during the retraction process, so as to avoid pipeline failure. Specifically, if the spool position is in communication with the first valve port of the auxiliary directional valve of the second system and the second valve port, it means that the rod cavity of the cylinder is in communication with the auxiliary circuit of the second system, and the next step is normally executed; If the auxiliary reversing valve of the second system is not in the position where the first valve port is connected to the second valve port, it means that the auxiliary reversing valve is faulty, the position sensor feedbacks the fault signal to the controller, and the controller controls the system to stop running and wait Maintenance; further, it can also send out alarm prompts, such as the fault light is on, the buzzer sounds, and the voice prompt is issued. When the spool of the auxiliary reversing valve of the second system moves to the position where the first valve port is connected to the second valve port, the first valve port of the main reversing valve of the second system is controlled to communicate with the third valve port, and the first valve port is connected to the third valve port. The second valve port is connected with the fourth valve port, so that the main circuit and auxiliary circuit of the second system are connected at the same time. At this time, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank and flows into the rod of the cylinder through the auxiliary circuit of the second system. In the cavity, push the piston rod of the cylinder to retract, and then drive the support part to retract. When the support part is retracted to the second support position, it means the support part has been retracted to the target position, and the main reversing valve of the second system is controlled to switch to the closed position. , And stop supplying oil to the auxiliary circuit of the second system.

In the above technical solution, controlling the operation of the first system to retract the leg portion of the leg device to the second leg position specifically includes: controlling the first valve port of the auxiliary reversing valve of the first system to communicate with the second valve port ; Determine whether the spool position of the auxiliary reversing valve of the first system is in the position where the first valve port is connected to the second valve port, if yes, perform the next step, otherwise end the operation; control the main reversing valve of the first system The first valve port is connected to the third valve port, and the second valve port is connected to the fourth valve port, so that the cylinder of the first system drives the leg of the leg device to retract; when the leg is retracted to the second leg position To end the operation.

In this technical solution, the first valve port of the auxiliary directional valve of the first system is controlled to communicate with the second valve port, so that the rod cavity of the cylinder of the first system communicates with the auxiliary circuit of the first system; The position sensor detects the position of the spool of the auxiliary reversing valve of the first system to ensure that the rod cavity of the cylinder of the first system communicates with the auxiliary circuit of the first system during the retraction process, so as to avoid pipeline failure. Specifically, if the spool position is at the position where the first valve port and the second valve port of the auxiliary directional valve of the first system are connected, it means that the rod cavity of the cylinder is in communication with the auxiliary circuit, and the next step is executed normally. If the reversing valve is not in the position where the first valve port is connected to the second valve port, it means that the auxiliary reversing valve is faulty, the position sensor feedbacks the fault signal to the controller, and the controller controls the system to end operation for maintenance; further, Alarm prompts can be issued, such as the fault light is on, the buzzer sounds, and voice prompts are issued. When the spool of the auxiliary reversing valve of the first system is in the position where the first valve port is connected to the second valve port, the first valve port of the main reversing valve of the first system is controlled to communicate with the third valve port, and the second valve port is connected to the second valve port. The valve port is connected with the fourth valve port, so that the main circuit and the auxiliary circuit of the first system are simultaneously conducted. At this time, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank and flows into the rod cavity of the cylinder through the auxiliary circuit of the first system Inside, push the piston rod of the cylinder to retract, and then drive the outrigger to retract. When the outrigger is retracted to the second outrigger position, it indicates that the outrigger has been retracted to the target position, and controls the reversing of the main reversing valve of the first system. To the closed position, and stop supplying oil to the auxiliary circuit of the first system, thereby completing the retraction operation.

The additional aspects and advantages of the present application will become apparent in the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 2 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Figure 3 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 4 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Figure 5 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 6 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 7 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 8 shows a schematic diagram of a hydraulic control system according to an embodiment of the present application;

Fig. 9 shows a flowchart of a control method according to an embodiment of the present application;

Fig. 10 shows a flowchart of a control method according to an embodiment of the present application;

Fig. 11 shows a flowchart of a control method according to an embodiment of the present application;

Fig. 12 shows a flowchart of a control method according to an embodiment of the present application;

Fig. 13 shows a flowchart of a control method according to an embodiment of the present application.

Among them, the corresponding relationship between the reference signs and component names in Figures 1 to 8 is:

1 the first system, 11 the first main directional valve, 111 the first valve port of the first main directional valve, 112 the second valve port of the first main directional valve, 113 the third valve of the first main directional valve Port, 114 the fourth valve port of the first main directional valve, 12 the first auxiliary directional valve, 121 the first valve port of the first auxiliary directional valve, 122 the second valve port of the first auxiliary directional valve, 123 The third valve port of the first auxiliary reversing valve, 124 the fourth valve port of the first auxiliary reversing valve, 125 the first position sensor, 13 the first oil cylinder, 14 hydraulic lock, 15 the first pressure sensor, and the second system , 21 the second main reversing valve, 211 the first valve port of the second main reversing valve, 212 the second valve port of the second main reversing valve, 213 the third valve port of the second main reversing valve, 214 Two the fourth valve port of the main reversing valve, 22 the second auxiliary reversing valve, 221 the first valve port of the second auxiliary reversing valve, 222 the second valve port of the second auxiliary reversing valve, 223 the second auxiliary reversing valve The third valve port of the directional valve, 224 the fourth valve port of the second auxiliary reversing valve, 225 the second position sensor, 23 the second cylinder, 24 the balance valve, 25 the second pressure sensor, 3 hydraulic oil pump, 4 hydraulic oil tank.

Among them, the thick solid lines in FIGS. 3 to 8 indicate the pipelines connected during the operation of the hydraulic control system, and the direction of the arrow indicates the flow direction of the hydraulic oil.

Detailed ways

In order to be able to understand the above objectives, features and advantages of the application more clearly, the application will be further described in detail below with reference to the accompanying drawings and specific implementations. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are set forth in order to fully understand this application. However, this application can also be implemented in other ways different from those described here. Therefore, the scope of protection of this application is not covered by the specific details disclosed below. Limitations of the embodiment.

Hereinafter, a hydraulic control system, an outrigger device, a control method, and a computer-readable storage medium according to some embodiments of the present application will be described with reference to FIGS. 1 to 13.

Example one

In an embodiment of the present application, a hydraulic control system is provided. As shown in FIG. 1, the hydraulic control system includes a hydraulic oil tank 4, a hydraulic oil pump 3, a first main reversing valve 11, a first safety lock, a first The auxiliary reversing valve 12, the first oil cylinder 13, the first pressure sensor 15 and the controller (not shown in the figure). Among them, the first main reversing valve 11 is a three-position four-way solenoid valve, the first position of the first main reversing valve 11 is that all four valve ports are closed, and the second position is that the third valve port 113 faces the first valve port. 111 is connected and the second valve port 112 is connected to the fourth valve port 114, the third position is that the first valve port 111 is connected to the fourth valve port 114 and the third valve port 113 is connected to the second valve port 112; The first auxiliary reversing valve 12 is a two-position four-way solenoid valve. The first position of the first auxiliary reversing valve 12 is that the first valve port 121 communicates with the second valve port 122 and the fourth valve port 124 and the third valve port are connected. 123 is in communication, the second position is that the first valve port 121 is in communication with the third valve port 123 and the fourth valve port 124 is in communication with the second valve port 122, and the normal position of the first auxiliary reversing valve 12 is the first position. The first auxiliary reversing valve 12 further includes a first position sensor 125. Optionally, the first oil cylinder 13 may also be a multi-stage oil cylinder or a combined oil cylinder.

Specifically, the hydraulic oil pump 3 communicates with the third valve port 113 of the first main reversing valve 11 and the hydraulic oil tank 4, and the fourth valve port 114 of the first main reversing valve 11 directly communicates with the hydraulic oil tank 4. The second valve port 112 of the directional valve 11 is connected to the rodless cavity of the first cylinder 13 through the first main circuit, and the first valve port 111 of the first main directional valve 11 is connected to the first auxiliary directional valve through the first auxiliary circuit. 12 of the second valve port 122, the first valve port 121 of the first auxiliary reversing valve 12 communicates with the rod cavity of the first cylinder 13, the fourth valve port 124 of the first auxiliary reversing valve 12 is normally closed, and the third The valve port 123 is connected to the first main circuit through the first differential pipeline, and the first pressure sensor 15 is provided in the first main circuit at a position communicating with the first differential pipeline. In addition, the first safety lock is a hydraulic lock 14. One pipeline of the hydraulic lock 14 is set in the first main circuit, and the other pipeline is set in the first auxiliary circuit, so that the hydraulic lock 14 connects the first main directional valve 11 Perform lockout protection. The controller is respectively electrically connected with the first main reversing valve 11, the first auxiliary reversing valve 12 and the first pressure sensor 15 to perform corresponding control operations according to the received signal instructions. Among them, after each reversing operation of the first auxiliary reversing valve 12, the spool position of the first auxiliary reversing valve 12 is detected by the first position sensor 125. If the spool position of the first auxiliary reversing valve 12 is When it does not move to the designated position, it will feedback a fault signal to the controller and issue an alarm prompt to realize the fault detection and alarm of the first auxiliary reversing valve 12, and the hydraulic control system will end its operation for maintenance.

It should be noted that the implementation form of the present application is not limited to the implementation form in this embodiment, and the first auxiliary reversing valve 12 may also be a three-way valve or other forms of solenoid valves.

Example two

In an embodiment of the present application, a hydraulic control system is provided. As shown in FIG. 2, the hydraulic control system includes a first system 1, a second system 2, and a controller (not shown in the figure). The first system 1 includes a hydraulic oil tank 4, a hydraulic oil pump 3, a first main reversing valve 11, a first safety lock, a first auxiliary reversing valve 12, a first oil cylinder 13, a first pressure sensor 15; a second system 2 It includes a hydraulic oil tank 4, a hydraulic oil pump 3, a second main reversing valve 21, a second safety lock, a second auxiliary reversing valve 22, a second oil cylinder 23, and a second pressure sensor 25. The first system 1 and the second system 2 share a hydraulic oil pump 3 and a hydraulic oil tank 4. Among them, the first main reversing valve 11 and the second main reversing valve 21 are three-position four-way solenoid valves. The first position of the first main reversing valve 11 is that all four valve ports are closed, and the second position is the third position. The valve port 113 is connected to the first valve port 111 and the second valve port 112 is connected to the fourth valve port 114. In the third position, the first valve port 111 is connected to the fourth valve port 114 and the third valve port 113 is connected to the fourth valve port 114. The second valve port 112 is connected, and the structure of the second main reversing valve 21 is the same as that of the first main reversing valve 11; the first auxiliary reversing valve 12 and the second auxiliary reversing valve 22 are two-position four-way solenoid valves, The first position of the first auxiliary reversing valve 12 is that the first valve port 121 is in communication with the second valve port 122 and the fourth valve port 124 is in communication with the third valve port 123, and the second position is the first valve port 121 and the third valve port 123. The valve port 123 is in communication and the fourth valve port 124 is in communication with the second valve port 122. The normal position of the first auxiliary reversing valve 12 is the first position. The structure of the second auxiliary reversing valve 22 is the same as that of the first auxiliary reversing valve 12. the same. The first auxiliary reversing valve 12 includes a first position sensor 125, and the second auxiliary reversing valve 22 includes a second position sensor 225. Optionally, the first oil cylinder 13 may also be a multi-stage oil cylinder or a combined oil cylinder. When the load of the hydraulic control system is the leg device, the first oil cylinder 13 is connected to the leg portion of the leg device, and the second oil cylinder 23 is connected to the support portion of the leg.

Specifically, the hydraulic oil pump 3 communicates with the third valve port 113 of the first main reversing valve 11 and the hydraulic oil tank 4, and the fourth valve port 114 of the first main reversing valve 11 directly communicates with the hydraulic oil tank 4. The second valve port 112 of the directional valve 11 is connected to the rodless cavity of the first cylinder 13 through the first main circuit, and the first valve port 111 of the first main directional valve 11 is connected to the first auxiliary directional valve through the first auxiliary circuit. 12 of the second valve port 122, the first valve port 121 of the first auxiliary reversing valve 12 communicates with the rod cavity of the first cylinder 13, the fourth valve port 124 of the first auxiliary reversing valve 12 is normally closed, and the third The valve port 123 is connected to the first main circuit through the first differential pipeline, and the first pressure sensor 15 is provided in the first main circuit at a position communicating with the first differential pipeline. In addition, the first safety lock is a hydraulic lock 14. One pipeline of the hydraulic lock 14 is set in the first main circuit, and the other pipeline is set in the first auxiliary circuit, so that the hydraulic lock 14 connects the first main directional valve 11 Perform lockout protection.

In addition, the hydraulic oil pump 3 communicates with the third valve port 213 of the second main reversing valve 21, the fourth valve port 214 of the second main reversing valve 21 communicates with the hydraulic oil tank 4, and the second main reversing valve 21 The valve port 212 is connected to the rodless cavity of the second cylinder 23 through the second main circuit, and the first valve port 211 of the second main reversing valve 21 is connected to the second valve port of the second auxiliary reversing valve 22 through the second auxiliary circuit. 222. The first valve port 221 of the second auxiliary reversing valve 22 communicates with the rod cavity of the second cylinder 23, the fourth valve port 224 of the second auxiliary reversing valve 22 is normally closed, and the second auxiliary reversing valve 22 The third valve port 223 is connected to the second main circuit through the second differential pipeline, and the second pressure sensor 25 is provided in the second main circuit at a position communicating with the second differential pipeline. The second safety lock is the balance valve 24. The pipeline with the one-way valve in the balance valve 24 is set in the second auxiliary circuit, and the other pipeline is set in the second main circuit to communicate with the second main circuit through the balance valve 24. The reversing valve 21 performs lock-up protection.

The controller is respectively electrically connected with the first main reversing valve 11, the second main reversing valve 21, the first auxiliary reversing valve 12, the second auxiliary reversing valve 22, the first pressure sensor 15 and the second pressure sensor 25, According to the received signal instruction, the corresponding control operation can be performed. Among them, after each reversing operation of the first auxiliary reversing valve 12, the spool position of the first auxiliary reversing valve 12 is detected by the first position sensor 125. If the spool position of the first auxiliary reversing valve 12 is When it does not move to the designated position, it feedbacks a fault signal to the controller and sends out an alarm prompt to realize the fault detection and alarm of the first auxiliary reversing valve 12, and the controller controls the first system 1 to end operation for maintenance. Similarly, fault detection and alarming of the second auxiliary reversing valve 22 can also be realized.

It should be noted that the implementation form of the present application is not limited to the implementation form in this embodiment, and the first auxiliary reversing valve 12 and the second auxiliary reversing valve 22 may also be three-way valves or other forms of solenoid valves.

Example three

In this embodiment, a conventional extension mode of the hydraulic control system is provided. As shown in Figure 3, the first system 1 is started, the first auxiliary reversing valve 12 is switched to the first position, and the first main reversing valve 11 is switched to the third position. At this time, the first main circuit and the first The auxiliary circuits are all connected, and the hydraulic oil pumped by the hydraulic oil pump 3 flows into the first main circuit through the third valve port 113 and the second valve port 112 of the first main reversing valve 11 in turn, and connects the two hydraulic locks 14 The pipeline is connected, and the hydraulic oil in the first main circuit flows into the rodless cavity of the first cylinder 13, pushing the first cylinder 13 to extend, which in turn drives the legs of the legs to extend; the first cylinder 13 has a rod cavity The hydraulic oil inside flows into the first auxiliary circuit through the first auxiliary reversing valve 12, and sequentially passes through the hydraulic lock 14, the first valve port 111 and the fourth valve port 114 of the first main reversing valve 11, and flows into the hydraulic oil tank 4; A pressure sensor 15 monitors the pressure value in the first main circuit in real time. When the pressure value in the first main circuit is greater than or equal to the pressure value corresponding to the position of the first leg, it means that the outrigger of the outrigger has been extended. When the target position is reached, the controller controls the first main reversing valve 11 to switch to the first position, the first auxiliary reversing valve 12 returns to the first position, and the first system 1 ends its operation and completes the conventional extension.

Example four

In this embodiment, an accelerated extension mode of the hydraulic control system is provided. As shown in Figure 4, the operation of the first system 1 is started, the first auxiliary reversing valve 12 is switched to the second position, and the first main reversing valve 11 is switched to the third position. At this time, the first main circuit is connected to the second position. A differential pipeline is connected, the hydraulic oil pumped by the hydraulic oil pump 3 flows into the first main circuit through the third valve port 113 and the second valve port 112 of the first main reversing valve 11 in turn, and the hydraulic lock 14 The two pipelines are connected, the hydraulic oil in the first main circuit flows into the rodless cavity of the first cylinder 13, pushing the first cylinder 13 to extend, and then driving the legs of the legs to extend; the first cylinder 13 The hydraulic oil in the rodless cavity of the first auxiliary reversing valve 12 flows into the first differential pipeline through the first valve port 121 and the third valve port 123, and merges into the first main circuit, and then flows into the second In the rodless cavity of an oil cylinder 13, the first oil cylinder 13 is accelerated to extend by increasing the flow of hydraulic oil in the rodless cavity to accelerate the extension of the outriggers; the first pressure sensor 15 monitors the first The pressure value in the main circuit. If the pressure value in the first main circuit is greater than or equal to the first acceleration threshold, the controller controls the first auxiliary reversing valve 12 to switch to the first position, the first auxiliary circuit is turned on, and the first difference The moving pipeline is disconnected, the accelerated extension is completed, and the normal extension mode is restored.

Example five

In this embodiment, a conventional jacking mode of the hydraulic control system is provided. As shown in Figure 5, when the first cylinder 13 extends to the first leg position, the second system 2 is started, the second auxiliary reversing valve 22 is switched to the first position, and the second main reversing valve 21 is switched To the third position, the second main circuit and the second auxiliary circuit are both connected; the hydraulic oil pumped by the hydraulic oil pump 3 flows into the third valve port 213 and the second valve port 212 of the second main reversing valve 21 The second main circuit connects the two pipes of the balance valve 24. The hydraulic oil in the second main circuit flows into the rodless cavity of the second cylinder 23 through the balance valve 24, pushing the second cylinder 23 out, and then The supporting part of the driving leg extends; the hydraulic oil in the rod cavity of the second oil cylinder 23 flows into the second auxiliary circuit through the first valve port 221 and the second valve port 222 of the second auxiliary reversing valve 22, and then passes through the balance in turn The valve 24 and the first valve port 211 and the fourth valve port 214 of the second main reversing valve 21 flow into the hydraulic oil tank 4. The second pressure sensor 25 monitors the pressure value in the second main circuit in real time. If the pressure value in the second main circuit is greater than or equal to the pressure value corresponding to the first support position, it indicates that the support portion of the outrigger has extended to the target Position, the controller controls the second main reversing valve 21 to switch to the first position, the second auxiliary reversing valve 22 returns to the first position, and the second system 2 ends operation and completes the conventional jacking.

Example Six

In this embodiment, an acceleration jacking mode of the hydraulic control system is provided. As shown in Figure 6, when the first cylinder 13 extends to the first leg position, the second system 2 is started, the second auxiliary reversing valve 22 is switched to the second position, and the second main reversing valve 21 is switched To the third position, the second main circuit and the second differential pipeline are both connected; the hydraulic oil pumped by the hydraulic oil pump 3 passes through the third valve port 213 and the second valve of the second main reversing valve 21 The port 212 flows into the second main circuit and connects the two pipes of the balance valve 24. The hydraulic oil in the second main circuit flows into the rodless cavity of the second cylinder 23 through the balance valve 24, pushing the second cylinder 23 to extend. The hydraulic oil in the rod cavity of the second cylinder 23 flows into the second differential pipe through the first valve port 221 and the third valve port 223 of the second auxiliary reversing valve 22 It merges into the second main road, and then flows into the rodless cavity of the second cylinder 23 again to increase the flow of hydraulic oil in the rodless cavity of the second cylinder 23 to achieve acceleration of the second cylinder 23 Extend to realize the accelerated extension of the support part of the outrigger. The second pressure sensor 25 monitors the pressure value in the second main circuit in real time. If the pressure value in the second main circuit is greater than or equal to the second acceleration threshold, the controller controls the second auxiliary reversing valve 22 to switch to the first position. The second auxiliary circuit is turned on, the second differential pipeline is disconnected, and the acceleration jacking is completed, and the normal jacking mode is restored.

Example Seven

In this embodiment, a retraction mode of the hydraulic control system is provided. As shown in Figure 7, the second system 2 is started, the second auxiliary reversing valve 22 is switched to the first position, and the second main reversing valve 21 is switched to the second position. At this time, the second main circuit and the second The auxiliary roads are all turned on. The hydraulic oil pumped by the hydraulic oil pump 3 flows into the second auxiliary circuit through the third valve port 213 and the first valve port 211 of the second main reversing valve 21, and conducts the two pipelines of the balance valve 24. The hydraulic oil in the auxiliary circuit flows into the rod cavity of the second cylinder 23 through the balance valve 24, the second valve port 222 and the first valve port 221 of the second auxiliary reversing valve 22 in turn, pushing the second cylinder 23 to retract, and then driving the support The support part of the leg is retracted; the hydraulic oil in the rodless cavity of the second cylinder 23 flows into the second main circuit, and flows into the second valve port 212 and the fourth valve port 214 of the balance valve 24 and the second main reversing valve 21 in turn Hydraulic oil tank 4; when the second cylinder 23 is retracted to the second support position, that is, the support portion of the outrigger has been retracted to the target position, the second main reversing valve 21 is controlled to switch to the first position, and the second auxiliary reversing valve 22 returns to the first position, and the second-level system ends its operation.

As shown in Figure 8, when the support portion of the outrigger is retracted to the second support position, the first system 1 is started to operate, the first auxiliary reversing valve 12 is switched to the first position, and the first main reversing valve 11 is switched to the first position. To the second position, the first main circuit and the first auxiliary circuit are both connected; the hydraulic oil pumped by the hydraulic oil pump 3 flows into the first valve port 113 and the first valve port 111 of the first main reversing valve 11 An auxiliary circuit connects the two pipelines of the hydraulic lock 14. The hydraulic oil in the first auxiliary circuit flows into the hydraulic lock 14, the second valve port 122 and the first valve port 121 of the first auxiliary reversing valve 12 in turn The rod cavity of the first oil cylinder 13 pushes the first oil cylinder 13 to retract, thereby driving the legs of the outriggers to retract; the hydraulic oil in the rodless cavity of the first oil cylinder 13 flows into the first main circuit and passes through the hydraulic lock 14, The second valve port 112 and the fourth valve port 114 of the first main reversing valve 11 flow into the hydraulic oil tank 4; when the first cylinder 13 is retracted to the second leg position, it indicates that the leg portion of the leg has retracted to the target position , The controller controls the first main reversing valve 11 to switch to the first position, the first auxiliary reversing valve 12 returns to the first position, the first system 1 ends the operation, and the withdrawal operation of the outrigger is completed.

Example eight

In this embodiment, a leg device is provided, which includes a leg portion, a support portion, and at least one hydraulic control system in any one of the above embodiments. The first oil cylinder of the hydraulic control system is connected to the leg portion to pass through the first hydraulic control system. The operation of a system drives the outriggers to extend or retract relative to the outrigger device to realize the horizontal movement of the outriggers; the second oil cylinder of the hydraulic control system is connected with the support to pass the operation of the second system , The support part drivingly connected to the leg part extends in the vertical direction and abuts against the ground or the installation surface to realize the supporting effect of the leg device.

Example 9

As shown in Figure 9, this embodiment provides a control method for the leg device in the eighth embodiment. The control method includes the following steps:

Step S102, acquiring a start signal corresponding to the hydraulic control system;

Step S104, determine whether the activation signal is an extension signal, if the activation signal of step S104 is an extension signal, perform steps S106 to S108, and if the activation signal of step S104 is not an extension signal, perform steps S110 to S112;

Step S106, controlling the operation of the first system of the hydraulic control system, so that the outriggers of the outrigger device are deployed to the first outrigger position;

Step S108, controlling the operation of the second system of the hydraulic control system so that the support portion of the outrigger device extends to the first support position;

Step S110, controlling the operation of the second system of the hydraulic control system to retract the support portion of the outrigger device to the second support position;

In step S112, the operation of the first system of the hydraulic control system is controlled to retract the outrigger part of the outrigger device to the second outrigger position.

Example ten

As shown in Fig. 10, this embodiment provides a control method for the leg device in the eighth embodiment. The control method includes the following steps:

Step S202, acquiring a start signal corresponding to the hydraulic control system;

Step S204, judging whether the start signal is an extension signal;

Step S206, judging whether the pressure value in the first main circuit of the hydraulic control system is less than the first acceleration threshold;

Step S208, controlling the first valve port of the first auxiliary reversing valve of the hydraulic control system to communicate with the third valve port;

Step S210, determining whether the position of the spool of the first auxiliary reversing valve is at a position where the first valve port communicates with the third valve port;

Step S212, controlling the first valve port of the first auxiliary reversing valve of the hydraulic control system to communicate with the second valve port;

Step S214, determining whether the position of the spool of the first auxiliary reversing valve is at a position where the first valve port communicates with the second valve port;

Step S216, control the first valve port of the first main directional valve of the hydraulic control system to communicate with the fourth valve port, and the second valve port to communicate with the third valve port, so that the first oil cylinder drives the legs of the leg device to expand ；

Step S218, judging whether the pressure value in the first main road is greater than or equal to the pressure value corresponding to the position of the first leg;

Step S220, controlling the first main reversing valve to close;

Step S222, controlling the operation of the second system of the hydraulic control system so that the support portion of the outrigger device extends to the first support position;

Step S224, controlling the operation of the second system of the hydraulic control system to retract the support portion of the outrigger device to the second support position;

In step S226, the operation of the first system of the hydraulic control system is controlled to retract the legs of the leg device to the second leg position.

Wherein, in step S204, if it is determined that the start signal is an extension signal, steps S206 to S222 are executed, and if it is determined that the start signal is not an extension signal but a retract signal, then steps S224 to S226 are executed. Specifically, when the judgment result of step S204 is yes, if step S226 judges that the fixed pressure value in the first main circuit of the hydraulic control system is less than the first acceleration threshold, then step S208 to step S210 are executed, otherwise, step S212 to step are directly executed. S214; further, if the judgment result of step S210 is yes, then execute step S216 to step S218, otherwise directly end the operation; if the judgment result of step S214 is yes, then execute step S216 to step S218, otherwise directly end the operation; further Specifically, if the judgment result of step S218 is yes, then step S220 to step S222 are executed, and then the operation is ended. Otherwise, step S216 is repeated until the judgment result of step S218 is yes, step S220 to step S222 are executed, and then the operation is ended.

Example 11

As shown in FIG. 11, this embodiment provides a control method for the leg device in the eighth embodiment. The control method includes the following steps:

Step S302, acquiring a start signal corresponding to the hydraulic control system;

Step S304, it is judged whether the start signal is an extension signal;

Step S306, controlling the operation of the first system of the hydraulic control system, so that the outriggers of the outrigger device are deployed to the first outrigger position;

Step S308: Determine whether the pressure value in the second main circuit of the hydraulic control system is less than a second acceleration threshold;

Step S310, controlling the first valve port of the second auxiliary reversing valve of the hydraulic control system to communicate with the third valve port;

Step S312, determining whether the position of the spool of the second auxiliary reversing valve is at a position where the first valve port communicates with the third valve port;

Step S314, controlling the first valve port of the second auxiliary reversing valve of the hydraulic control system to communicate with the second valve port;

Step S316, determining whether the position of the spool of the second auxiliary reversing valve is at a position where the first valve port communicates with the second valve port;

In step S318, the first valve port of the second main reversing valve of the hydraulic control system is controlled to communicate with the fourth valve port, and the second valve port is connected with the third valve port, so that the support portion of the second hydraulic cylinder driving the leg device extends ；

Step S320, determining whether the pressure value in the second main circuit is greater than or equal to the pressure value corresponding to the first support position;

Step S322, controlling the operation of the second system of the hydraulic control system to retract the support portion of the outrigger device to the second support position;

In step S324, the operation of the first system of the hydraulic control system is controlled to retract the outrigger part of the outrigger device to the second outrigger position.

Wherein, if the judgment result of step S304 is yes, then step S306 to step S320 are executed, otherwise, step S322 to step S324 are executed. Specifically, when the judgment result of step S304 is yes, if the judgment result of step S308 is yes, then step S310 to step S312 are executed, otherwise, step S314 to step S316 are executed; further, if the judgment result of step S312 is yes, Step S318 to step S320 are executed, otherwise, the operation is directly ended; further, if the judgment result of step S316 is yes, then steps S318 to S320 are executed, otherwise the operation is directly ended; further, if the judgment result of step S320 is yes , The operation is ended directly, otherwise, the step S318 is repeated until the judgment result of the step S320 is yes, and the operation is ended.

Embodiment 12

As shown in FIG. 12, this embodiment provides a control method for the leg device in the eighth embodiment. The control method includes the following steps:

Step S402, obtaining a start signal corresponding to the hydraulic control system;

Step S404, judging whether the start signal is an extension signal;

Step S406, controlling the operation of the first system of the first hydraulic control system so that the outriggers of the outrigger device are deployed to the first outrigger position;

Step S408, controlling the operation of the second system of the hydraulic control system so that the supporting portion of the outrigger device extends to the first supporting position;

Step S410, controlling the first valve port of the second auxiliary reversing valve of the hydraulic control system to communicate with the second valve port;

Step S412, determining whether the position of the spool of the second auxiliary reversing valve is at a position where the first valve port communicates with the second valve port;

Step S414, controlling the first valve port of the second main reversing valve of the hydraulic control system to communicate with the third valve port, and the second valve port to communicate with the fourth valve port, so that the support portion of the second oil cylinder driving the leg device is retracted;

Step S416, determining whether the supporting portion is retracted to the second supporting position;

Step S418, controlling the second main reversing valve to close;

In step S420, the operation of the first system of the hydraulic control system is controlled, so that the outriggers of the outrigger device are retracted to the second outrigger position.

Wherein, if the judgment result of step S404 is yes, then step S406 to step S408 are executed, otherwise, step S410 to step S420 are executed. Specifically, when the judgment result of step S404 is no, if the judgment result of step S412 is yes, then steps S414 to S416 are executed, otherwise the operation is directly ended; further, if the judgment result of step S416 is yes, then step S416 is executed. Step S418 to step S420, and then end the operation, otherwise repeat step S414, until the result of step S416 is yes, execute step S418 to step S420, and then end the operation.

Embodiment 13

As shown in FIG. 13, this embodiment provides a control method for the leg device in the eighth embodiment. The control method includes the following steps:

Step S502, obtaining a start signal corresponding to the hydraulic control system;

Step S504: Determine whether the start signal is an extension signal;

Step S506, controlling the operation of the first system of the hydraulic control system, so that the outriggers of the outrigger device are deployed to the first outrigger position;

Step S508, controlling the operation of the second system of the hydraulic control system so that the support portion of the outrigger device extends to the first support position;

Step S510, controlling the operation of the second system of the hydraulic control system to retract the support portion of the outrigger device to the second support position;

Step S512, controlling the first valve port of the first auxiliary reversing valve of the hydraulic control system to communicate with the second valve port;

Step S514: It is determined whether the position of the spool of the first auxiliary reversing valve is at a position where the first valve port communicates with the third valve port;

Step S516: Control the first valve port of the first main directional valve of the hydraulic control system to communicate with the third valve port, and the second valve port to communicate with the fourth valve port, so that the first oil cylinder drives the leg of the leg device to retract ；

In step S518, it is determined whether the outrigger is retracted to the second outrigger position.

Among them, if the judgment result of step S504 is yes, then step S506 to step S508 are executed, otherwise, step S510 to step S518 are executed. Specifically, when the judgment result of step S504 is no, if the judgment result of step S514 is yes, then Step S516 to step S518 are executed, otherwise the operation is ended directly; further, if the judgment result of step S518 is yes, the operation is ended; otherwise, step S516 is repeated until the judgment result of step S518 is yes, and the operation is ended.

Embodiment Fourteen

In this embodiment, a computer-readable storage medium storing a computer program is provided. When the computer program is executed by a processor, the steps of the control method in any one of the ninth to the thirteenth embodiments are implemented, thus having the implementation All the beneficial effects of the control method in any one of Example 9 to Example 13 will not be repeated here.

The technical solution of the present application is explained in detail with reference to the drawings, which can realize the accelerated extension of the hydraulic cylinder, can effectively improve the operation efficiency of the outrigger device, save preparation time, can also realize fault detection, and effectively reduce the possibility of safety accidents. .

In this application, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or two Above, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

In the description of this application, it needs to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions shown in the drawings. The or positional relationship is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the application.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in this application In at least one embodiment or example. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

The above are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A hydraulic control system, which includes:

Cylinder

The main reversing valve and the auxiliary reversing valve, the first valve port of the main reversing valve communicates with the second valve port of the auxiliary reversing valve through the auxiliary circuit, and the second valve port of the main reversing valve passes through the main reversing valve. The first valve port of the auxiliary reversing valve is in communication with the rodless chamber of the cylinder, and the third valve port of the auxiliary reversing valve is connected through a differential pipeline. To the main road;

A hydraulic oil pump connected with the third valve port of the main reversing valve;

The hydraulic oil tank is in communication with the hydraulic oil pump and the fourth valve port of the main reversing valve.
The hydraulic control system according to claim 1, further comprising:

A controller, electrically connected to the main reversing valve and the auxiliary reversing valve;

The auxiliary reversing valve includes a position sensor for detecting the position of the spool of the auxiliary reversing valve.
The hydraulic control system according to claim 2, further comprising:

A pressure sensor is provided on the main road, the pressure sensor is electrically connected to the controller, and when the pressure value detected by the pressure sensor is greater than a pressure threshold, the hydraulic control system ends operation; and/or

The safety locking member is arranged in the main road and the auxiliary road, and the safety locking member is a hydraulic lock or a balance valve.
The hydraulic control system according to any one of claims 1 to 3, wherein:

The main reversing valve is a three-position four-way solenoid valve, and the first position of the three-position four-way solenoid valve is that all four valve ports are closed, and the second position is that the third valve port is connected to the first valve port. And the second valve port is connected to the fourth valve port, and the third position is that the first valve port is connected to the fourth valve port and the third valve port is connected to the second valve port;

The auxiliary reversing valve is a two-position four-way solenoid valve, and the first position of the two-position four-way solenoid valve is that the first valve port communicates with the second valve port and the third valve port communicates with the fourth valve port, The second position is that the first valve port is connected to the third valve port and the second valve port is connected to the fourth valve port, wherein the fourth valve port of the auxiliary reversing valve is normally closed, and the auxiliary reversing valve is off Automatically switch to the first position after electricity.
An outrigger device, which includes:

Leg body;

The leg portion can be expanded outward or retracted inward relative to the leg body;

A supporting part, connected to the leg part, and the supporting part can be extended downward or retracted upward;

The first system and the second system, the first system is connected with the leg portion to drive the expansion or retraction of the leg portion, and the second system is connected with the support portion to drive the support portion Extend or retract

Wherein, at least one of the first system and the second system is the hydraulic control system according to any one of claims 1 to 4.
A control method for the leg device according to claim 5, which comprises:

Acquire the start signal corresponding to the hydraulic control system;

Judging whether the start signal is an extension signal,

If the start signal is an extension signal, control the operation of the first system to expand the outriggers of the outrigger device to the first outrigger position;

Controlling the operation of the second system so that the supporting portion of the leg device extends to the first supporting position;

If the start signal is not an extension signal, control the operation of the second system to retract the support portion of the outrigger device to the second support position;

The operation of the first system is controlled to retract the legs of the leg device to the second leg position.
The control method according to claim 6, wherein the controlling the operation of the first system to expand the leg portion of the leg device to the first leg position specifically comprises:

Determine whether the pressure value in the main circuit of the first system is less than the first acceleration threshold, and if the pressure value is less than the first acceleration threshold, control the first valve port of the auxiliary reversing valve of the first system and The third valve port is connected;

Determine whether the spool position of the auxiliary reversing valve of the first system is at the position where the first valve port and the third valve port are connected, if yes, execute the next step, otherwise end the operation;

If the pressure value is greater than or equal to the first acceleration threshold, controlling the first valve port of the auxiliary reversing valve of the first system to communicate with the second valve port;

Determine whether the position of the spool of the auxiliary reversing valve of the first system is at the position where the first valve port communicates with the second valve port, if yes, execute the next step, otherwise end the operation;

Control the first valve port of the main directional valve of the first system to communicate with the fourth valve port, and the second valve port to communicate with the third valve port, so that the cylinder of the first system drives the support of the leg device Legs spread out

Determine whether the pressure value in the main circuit of the first system is greater than or equal to the pressure value corresponding to the position of the first leg, if yes, control the main reversing valve of the first system to close, otherwise keep the current operating state .
The control method according to claim 6, wherein the controlling the operation of the second system to extend the support portion of the leg device to the first support position specifically comprises:

Determine whether the pressure value in the main circuit of the second system is less than the second acceleration threshold, and if the pressure value is less than the second acceleration threshold, control the first valve port and the third port of the auxiliary reversing valve of the second system The valve port is connected;

Determine whether the position of the spool of the auxiliary reversing valve of the second system is at the position where the first valve port communicates with the third valve port, if yes, execute the next step, otherwise end the operation;

If the pressure value is greater than or equal to the second acceleration threshold, controlling the first valve port of the auxiliary reversing valve of the second system to communicate with the second valve port;

Determine whether the position of the spool of the auxiliary reversing valve of the second system is at the position where the first valve port and the second valve port are connected, if yes, execute the next step, otherwise send a fault signal and end the operation;

Control the first valve port of the main directional valve of the second system to communicate with the fourth valve port, and the second valve port to communicate with the third valve port, so that the cylinder of the second system drives the support of the leg device Stick out

It is determined whether the pressure value in the main circuit of the second system is greater than or equal to the pressure value corresponding to the first support position, if yes, the operation is ended, otherwise the current operation state is maintained.
The control method according to claim 6, wherein the controlling the operation of the second system to retract the support portion of the outrigger device to the second support position specifically comprises:

Controlling the first valve port of the auxiliary reversing valve of the second system to communicate with the second valve port;

Determine whether the spool position of the auxiliary reversing valve of the second system is at the position where the first valve port communicates with the second valve port, if yes, execute the next step, otherwise end the operation;

Control the first valve port of the main directional valve of the second system to communicate with the third valve port, and the second valve port to communicate with the fourth valve port, so that the cylinder of the second system drives the support of the leg device Part recovery

When the supporting part is retracted to the second supporting position, the main reversing valve of the second system is controlled to close.
The control method according to claim 6, wherein the controlling the operation of the first system of the hydraulic control system to retract the leg portion of the leg device to the second leg position specifically comprises:

Controlling the first valve port of the auxiliary reversing valve of the first system to communicate with the second valve port;

Determine whether the position of the spool of the auxiliary reversing valve of the first system is at the position where the first valve port communicates with the second valve port, if yes, execute the next step, otherwise end the operation;

Control the first valve port of the main directional valve of the first system to communicate with the third valve port, and the second valve port to communicate with the fourth valve port, so that the cylinder of the first system drives the support of the leg device Retract the leg;

When the leg portion is retracted to the second leg position, the operation is ended.