WO2022041595A1 - 控制模块和液压系统 - Google Patents

控制模块和液压系统 Download PDF

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Publication number
WO2022041595A1
WO2022041595A1 PCT/CN2020/138558 CN2020138558W WO2022041595A1 WO 2022041595 A1 WO2022041595 A1 WO 2022041595A1 CN 2020138558 W CN2020138558 W CN 2020138558W WO 2022041595 A1 WO2022041595 A1 WO 2022041595A1
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WO
WIPO (PCT)
Prior art keywords
port
control
oil
valve
control valve
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PCT/CN2020/138558
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English (en)
French (fr)
Inventor
刘园
张玉柱
沈昌武
Original Assignee
中联重科股份有限公司
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Publication of WO2022041595A1 publication Critical patent/WO2022041595A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor

Definitions

  • the present invention relates to the field of hydraulic technology, in particular to a control module and a hydraulic system.
  • the reversing of the main valve spool is completed by manipulating the reversing handle, so that the motor rotates in different directions to realize the lifting or lowering of the hoisting mechanism of the crane;
  • high speed is usually used.
  • the control oil source enters the variable oil cylinder by manipulating the solenoid valve, so that the motor works at a small displacement and the motor enters high speed. Rotation state; or make the control oil source flow out of the variable oil cylinder to restore the motor to a large displacement operation, and the motor enters a state of constant speed rotation.
  • the purpose of the present invention is to overcome the problems in the prior art that when the prior art is used to control the high-speed operation of the motor, the speed of transformation is less, the sudden change of the motor displacement will have an impact on the motor and the hoisting mechanism, and the control feeling is not good.
  • one aspect of the present invention provides a control module, the control module includes: a first control valve, the first control valve includes a first control end and a second control end for delivering pressure oil to drive a variable A port and b port for motor rotation; a control unit, the control unit includes a1 port and b1 port communicated with the first control end, used to communicate with the c1 port of the variable motor; the c1 port can be selectively communicated with all The high pressure of the a1 port and the b1 port; the opening pressure of the c1 port is greater than the opening pressure of the a1 port or the b1 port; the output pressure of the first control valve can act on the first control valve. The higher one of the control force of a control end or the second control end changes linearly.
  • control unit includes a second control valve set as a shuttle valve and a first single-phase valve connected at the oil outlet of the second control valve and having a valve core opening pressure greater than a set value; the first single-phase valve The oil inlet of the single-phase valve faces the oil outlet of the second control valve; the two oil inlets of the shuttle valve are respectively set as a1 port and b1 port.
  • control unit includes a second one-way valve connected in parallel with the first one-way valve, and an oil outlet of the second one-way valve faces an oil outlet of the second control valve.
  • control module includes a manipulation unit for controlling the movement of the valve core of the first control valve by applying a control force to the first control end or the second control end
  • manipulation unit includes a manipulation handle , the rotation angle of the joystick and the output signal of the control unit have a linear relationship.
  • the output pressure of the first control valve has a linear relationship with the rotation angle of the joystick.
  • the manipulation unit adopts hydraulic control; the opening pressure of the spool of the first control valve is greater than the minimum output pressure of the manipulation unit.
  • control force required when the oil outlet of the first control valve is fully opened is smaller than the maximum output pressure that can be output by the manipulation unit.
  • the first control valve includes a neutral position, a first working position and a second working position located on both sides of the neutral position; the first control valve includes a P1 port, a P2 port and a port for communicating with the power unit. P3 port; and the t1 port used to lead to the fuel tank; the a port and the b port are respectively used to communicate the first oil port and the second oil port of the motor of the variable motor; in the neutral position: all The P1 port is closed; the P2 port is connected to the t1 port; the P3 port is connected to the b port; in the first working position: the P1 port is connected to the a port, the P2 port and the Port P3 is blocked, and port b is connected to port t1; in the second working position: port P1 is connected to port b, port P2 and port P3 are both blocked, and port a is connected the t1 port.
  • the working end of the first control valve includes port t2; in the neutral position: the port t2 is closed; in the first working position: the port P1 communicates with the port a and the port t2 at the same time A first throttling structure is arranged between the p1 port, the a port and the t2 port; in the second working position: the P1 port communicates with the b port and the t2 port at the same time and A second throttling structure is arranged between the p1 port, the b port, and the t2 port.
  • control module includes a third control valve for controlling the difference between the pre-valve pressure and the post-valve pressure of the first control valve within a set range; the oil inlet of the third control valve is The oil return port of the third control valve is used to communicate with the oil tank; the port t2 leads to the control end of the third control valve.
  • a second aspect of the present invention provides a hydraulic system, the hydraulic system includes a variable displacement motor and a control module according to the above; the variable displacement motor includes a swash plate and a swash plate for controlling the inclination of the swash plate to adjust the variable displacement motor.
  • a third aspect of the present invention provides a construction machine comprising the hydraulic system according to the above.
  • a control unit capable of drawing out the high-pressure person among the first control end and the second control end
  • the output pressure of the control unit is set to be greater than the input of the control unit pressure
  • the output pressure of the first control valve can change linearly with the control force of the first control end or the second control end, which can effectively ensure that the motor load chamber using the control module has established its pressure before changing.
  • the displacement can protect the motor, and at the same time improve the response speed of the variable, and the displacement change of the motor is stepless, and the operation is convenient.
  • FIG. 1 is a schematic diagram of the working principle of a hydraulic system comprising a control module according to a specific embodiment of the present invention
  • Fig. 2 is the proportional curve diagram between the output pressure of the joystick and the control unit in Fig. 1;
  • FIG. 3 is a graph showing the opening ratio of the spool of the first control valve in FIG. 1 .
  • one aspect of the present invention provides a control module, the control module includes: a first control valve 1 and a control unit 2 ; the first control valve 1 includes a first control end 11 and the second control end 12, a port and b port for delivering pressure oil to drive the variable motor 9 to rotate; the control unit 2 includes a1 port and b1 port communicated with the first control end 11 for communicating The c1 port of the variable motor 9; the c1 port can selectively connect the high pressure of the a1 port and the b1 port; the opening pressure of the c1 port is greater than the opening pressure of the a1 port or the b1 port; The output pressure of the first control valve 1 can vary linearly with the higher of the control force acting on the first control end 11 or the second control end 12 .
  • the spool of the first control valve 1 moves under the action of the control force acting on the second control end 12 or the first control end 11.
  • the spool of the first control valve 1 moves, the The output pressure of the first control valve 1 changes linearly, so that the output pressure of the first control valve 1 varies with the higher the control force acting on the first control end 11 and the second control end 12 changes linearly.
  • control unit 2 can lead out the control unit 2 of the high-pressure person among the first control end 11 and the second control end 12; and the output pressure of the control unit 2 is set to be greater than the input pressure of the control unit 2; the output pressure of the first control valve 1 can change linearly with the control force of the first control end 11 or the second control end 12, which can effectively ensure the use of this control
  • the motor load chamber of the module has established its pressure and then changes the displacement, which protects the motor and improves the response speed of the variable, and the displacement change of the motor is stepless, and the operation is convenient.
  • control unit 2 includes a second control valve 21 configured as a shuttle valve and a first single-way valve 22 connected at the oil outlet of the second control valve 21 and having a valve core opening pressure greater than a set value;
  • the oil inlet of the first single-phase valve 22 faces the oil outlet of the second control valve 21 ;
  • the two oil inlets of the shuttle valve are respectively set as a1 port and b1 port.
  • the higher control force acting on both the first control end 11 and the second control end 12 can be transmitted to the control unit 2, and the pressure can be transmitted to the control unit 2 through the output port of the second control valve 21.
  • a variable-displacement actuating unit downstream of 1, such as a variable-displacement motor 9 with a variable-displacement swashplate, is pressurized first through the first control valve 1, and then the control unit 2 changes the pressure for the variable-displacement swashplate.
  • the angle of rotation is used to change the displacement of the variable motor 9 , which can reduce the impact on the variable motor 9 , improve the life of the variable motor 9 , and at the same time improve the response speed of the variable motor 9 to variable displacement.
  • control unit 2 includes a second one-way valve 23 connected in parallel with the first one-way valve 22 , and the oil outlet of the second one-way valve 23 faces the oil outlet of the second control valve 21 .
  • the load can be relieved when needed, so that the hydraulic oil flows back from the second one-way valve 23 to the second control valve 21 to discharge the load.
  • the swash plate inclination angle of the variable motor 9 changes, if the inclination angle of the swash plate needs to be reset, at this time, it is necessary to inject the hydraulic oil that was injected into the variable motor 9 through the first single valve 22 to change the inclination of the swash plate through the first single valve 22.
  • the two single-way valves 23 discharge the load, thereby realizing the reset of the swash plate.
  • the control module includes a manipulation unit 3 for controlling the spool movement of the first control valve 1 by applying a control force to the first control end 11 or the second control end 12, the manipulation
  • the unit 3 includes a manipulation handle, and the rotation angle of the manipulation handle has a linear relationship with the output signal of the manipulation unit 3 .
  • the rotation angle of the joystick is set as ⁇
  • the control force corresponding to ⁇ is P
  • the control force is P
  • the control force, P and ⁇ are set to have a linear relationship.
  • the manipulation unit 3 can be hydraulically controlled or electrically controlled.
  • the control unit 3 adopts the hydraulic control method
  • the first output end 31 and the second output end 32 output pressure signals, that is, the first output end 31 and the second output end 32 output hydraulic oil with pressure, and the first output end 31 and the second output end 32 output hydraulic oil with pressure.
  • the opening size of the first output end 31 and the second output end 32 and the rotation angle of the joystick are set to change linearly.
  • the hydraulic oil with pressure output from the first output end 31 or the second output end 32 passes through The pipeline connected between the first control valve 1 and the operating unit 3 directly acts on the first control end 11 or the second control end 12 to push the spool of the first control valve 1 to act.
  • the first control valve 1 needs to A hydraulically controlled valve corresponding to the manipulation unit 3 is used, such as a hydraulically controlled proportional valve; when the manipulation unit 3 adopts electrical control, the first output end 31 and the second output end 32 output electrical signals, and the output from the manipulation unit 3
  • the electrical signal changes linearly with the rotation angle of the joystick, and the electrical signal is transmitted to the first control valve 1, and then the first control valve 1 converts the electrical signal into a pressure signal and acts on the first control end 11 or the second control valve 1.
  • the control terminal 12 further controls the spool movement of the first control valve 1 .
  • the first control valve 1 needs to use an electronically controlled valve corresponding to the operating unit 3 , such as an electromagnetic proportional valve.
  • the output pressure of the first control valve 1 has a linear relationship with the rotation angle of the joystick.
  • the output pressure of the first control valve 1 can be arbitrarily changed between the minimum pressure and the maximum pressure with the rotation angle of the joystick, so that the variable motor 9 connected downstream of the first control valve 1 can achieve stepless speed change, and Smooth shifting.
  • point Pb is the opening pressure of the first control valve 1
  • point Pd is the maximum opening pressure of the first control valve 1; the greater the opening of the spool of the first control valve 1, the greater the output pressure.
  • the operating unit 3 adopts hydraulic control; the opening pressure of the spool of the first control valve 1 is greater than the minimum output pressure of the operating unit 3.
  • the control unit 3 includes ports T2 and P1.
  • the first control valve 1 also adopts hydraulic control, and the control force output by the control unit 3 is directly connected to the first output end 31 and The first pipeline 4 of the first control end 11 acts on the first control end 11 ; or, the control force output by the manipulation unit 3 directly acts on the second pipeline 5 connecting the second output end 32 and the second control end 12 .
  • the second control terminal 12 is the first control valve 1 .
  • the output pressure of the first control valve 1 varies linearly with the output pressure of the manipulation unit 3; the output pressure of the manipulation unit 3 varies linearly with the rotation angle of the manipulation handle.
  • the manipulation unit 3 has a T2 port, a P1 port, a first output end 31 and a second output end 32; 1, the joystick is in the initial state, at this time, the first output end 31 and the second output end 32 do not output pressure oil, and the first control valve 1 is in the neutral position 13.
  • the joystick is rotated from the current state to the first direction so that the first output end 31 outputs pressure oil, the P1 port and the first output end 31 are connected.
  • the P1 port and the first output end The larger the opening between 31, the greater the output pressure; when the joystick is rotated from the current state to the second direction in the opposite direction of the first direction, so that the second output end 32 outputs pressure oil, the P1 port and the No.
  • the two output ends 32 are connected, and as the rotation angle of the joystick increases, the larger the opening between the P1 port and the second output end 32, the greater the output pressure.
  • Pa is the corresponding output pressure of the manipulation unit 3 when the manipulation handle is just opened; when the output pressure of the manipulation unit 3 reaches Pb, the spool of the first control valve 1 is opened; in this way, It can be ensured that the valve core of the first control valve 1 can be closed in place, that is, the oil outlet of the first control valve 1 can be completely closed.
  • the control force required when the oil outlet of the first control valve 1 is fully opened is less than the maximum output pressure that the manipulation unit 3 can output. That is, as shown in FIG. 2 , Pd ⁇ Pe, where Pe is the maximum pressure that the control unit 3 can output, and Pd is the control force required when the valve core of the first control valve 1 is fully opened. In this way, it can be ensured that under the control of the operating unit 3, the valve core of the first control valve 1 can be opened to the maximum.
  • Pb-Pa > 1 bar.
  • Pe-Pd ⁇ 1bar can ensure that the spool of the first control valve 1 can be fully opened—that is, the oil port of the first control valve 1 can be fully opened, and the rotation range of the joystick can be minimized. necessary itinerary.
  • Pc-Pb ⁇ 1bar can ensure that the spool of the first control valve 1 is opened, so that the load chamber of the variable motor 9 can build up pressure.
  • the control unit 2 can send the pressure to the variable
  • the control oil port of the motor 9 delivers hydraulic oil, and the variable motor 9 starts to vary, that is, to deliver hydraulic oil to the swash plate control cylinder 93 in FIG. Changing the displacement of the variable motor 9 can protect the variable motor 9 and improve the response speed of the variable.
  • Pd is infinitely close to the maximum control force output by the manipulation unit 3 that is required to reach the maximum displacement of the variable motor 9 .
  • the variable motor 9 can reach the maximum displacement as much as possible, and the variable motor 9 will not be damaged because the pressure output from the first control valve 1 is too high and the system pressure is too high, thereby further protecting the variable motor 9 .
  • the first control valve 1 includes a neutral position 13 and a first working position 14 and a second working position 15 located on both sides of the neutral position 13 ;
  • the first control valve 1 includes a power unit 7 for communicating with P1 port, P2 port and P3 port; and the t1 port leading to the oil tank 8;
  • the a port and the b port are respectively used to communicate the motor first oil port 91 and the motor second oil port of the variable motor 9 92;
  • the middle position 13 the P1 port is closed, the P2 port is connected to the t1 port, and the P3 port is connected to the b port; in this way, when the variable motor 9 is not loaded, it is not necessary to stop
  • the operation of the power unit 7 avoids unnecessary damage to the power unit 7 caused by repeated starting and stopping of the power unit 7, and helps to improve the life of the power unit 7;
  • the first working position 14 the P1 port is connected to the The a port, the P2 port and the P3 port are all closed, and the b port is connected to
  • the P1 port is used to communicate with the power unit 7.
  • the pressure oil discharged from the power unit 7 goes from the P1 port to the second oil port 92 of the motor through the b port, and pushes the variable motor 9 to rotate in the fourth direction opposite to the third direction.
  • the pressure oil is discharged through the first oil port 91 of the motor, and then flows back to the oil tank 8 through the a port and then the t1 port.
  • the working end of the first control valve 1 includes port t2; in the middle position 13: the port t2 is closed; in the first working position 14: the port P1 communicates with the port a and the port at the same time.
  • a throttle structure is provided between the t2 port and the p1 port and the a port and the t2 port; in the second working position 15: the P1 port communicates with the b port and the t2 port at the same time
  • a throttling structure is arranged between the p1 port, the b port, and the t2 port.
  • the control module includes a third control valve 6 for controlling the difference between the pre-valve pressure and the post-valve pressure of the first control valve 1 within a set range;
  • the oil port is used to communicate with the power unit 7
  • the oil return port of the third control valve 6 is used to communicate with the oil tank 8 ;
  • the t2 port leads to the control end of the third control valve 6 .
  • the control end of the third control valve 6 includes a2 port and b2 port respectively arranged on the opposite side of the spool of the third control valve 6 , the b2 port communicates with the power unit 7 , and the a2 port and t2
  • the spool of the third control valve 6 moves under the combined action of the pressures from the a2 port and the b2 port respectively, so that the pressure difference between the first control valve 1 before and after the valve is kept within the set range, Conducive to energy saving.
  • the control module further includes a sixth control valve 013 configured as a relief valve, an oil inlet of the sixth control valve 013 is connected to the power unit 7, and an oil outlet of the sixth control valve 013 is connected to the power unit 7 the a port and/or the b port.
  • a sixth control valve 013 configured as a relief valve
  • an oil inlet of the sixth control valve 013 is connected to the power unit 7
  • an oil outlet of the sixth control valve 013 is connected to the power unit 7 the a port and/or the b port.
  • the oil outlet of the sixth control valve 013 leads to the a port and the b port simultaneously through the p3 port, and is between the p3 port and the a port
  • a throttling structure is set between the p3 port and the b port.
  • the pressure oil discharged from the power unit 7 directly flows back to the fuel tank 8 from the p2 port through the t1 port;
  • the oil outlet of the sixth control valve 013 will be connected to the oil tank 8 from the b port through the t1 port;
  • the oil outlet of the sixth control valve 013 will communicate with the oil tank 8 from the a port through the t1 port.
  • control module includes a fifth control valve 012 connected between the second oil port 92 of the motor and the oil outlet of the sixth control valve 013 .
  • the fifth control valve 012 plays the role of secondary relief to reduce the impact on the system when the load changes suddenly.
  • control module includes a fourth control valve 010, and the fourth control valve 0103 is provided on the first main oil path from the port a to the first oil port 91 of the motor.
  • the fourth control valve 0103 is provided on the first main oil path from the port a to the first oil port 91 of the motor.
  • the second aspect of the present invention discloses a hydraulic system of a specific embodiment, the hydraulic system includes a variable displacement motor 9 and a control module according to the above;
  • the variable displacement motor 9 includes a swash plate and is used to control the inclination angle of the swash plate to A swash plate control oil cylinder 93 for adjusting the displacement of the variable motor 9, as well as a first motor oil port 91 and a second motor oil port 92 for hydraulic oil in and out;
  • the control unit 2 communicates with the Swashplate control oil cylinder 93;
  • the first control valve 1 communicates with the first oil port 91 of the motor through the a port, and communicates with the second oil port 92 of the motor through the b port to drive the variable motor 9 to rotate .
  • the hydraulic system includes a power unit 7 for powering a variable displacement motor 9 .
  • the control module is arranged between the variable motor 9 and the power unit 7, and the power unit 7 adopts a variable pump, so that the displacement of the pump can be adjusted as required.
  • the hydraulic system includes an oil tank 8 for oil return; the oil tank 8 is connected to the t1 port of the first control valve 1 ; the power unit 7 adopts a single variable pump, which is beneficial to heat dissipation.
  • the control unit 3 adopts hydraulic control, and the hydraulic system includes a control oil pump 011 for providing pressure oil for the control unit 3, and a first hydraulic control proportional valve.
  • the control valve 1 the manipulation unit 3 acts on the first control end 11 with the control force output by the manipulation unit 3 from the first output end 31 through the first pipeline 4 connecting the first output end 31 and the first control end 11;
  • the manipulation unit 3 acts on the second control end 12 with the control force output by the manipulation unit 3 from the second output end 32 through the second pipeline 5 connecting the second output end 32 and the second control end 12, so as to achieve
  • the first control valve 1 outputs variable pressure and reverses the purpose.
  • the manipulation unit 3 is controlled by electricity
  • the hydraulic system includes a power supply unit for supplying power to the manipulation unit 3, so that the manipulation unit 3 is controlled to the first control valve 1 outputs an electrical signal
  • the first control valve 1 transmits the electrical signal output from the first output end 31 into a pressure signal to the first control end 11; or , the first control valve 1 converts the electrical signal output from the second output end 32 into a pressure signal and transmits it to the second control end 12 , so as to achieve the purpose of reversing the direction of the first control valve 1 and outputting variable pressure.
  • the hydraulic system further includes a hydraulic braking device for braking the variable displacement motor 9 .
  • the pressure oil required for braking by the hydraulic brake device comes from a brake oil source.
  • a third aspect of the present invention discloses a construction machine comprising the hydraulic system according to the above.
  • the construction machine includes a hoisting mechanism, and the hoisting mechanism adopts a variable motor 9 as a driving unit for lifting and lowering.
  • the fourth control valve 010 is set as a balance valve, and the balance valve is set on the hoisting side of the hoisting mechanism. As shown in FIG. 1 , the fourth control valve 010 is set on the oil road between the a port and the first oil port 91 of the motor. , when the first control valve 1 is in the first working position 14, the hoisting mechanism is in the state of lifting the load.
  • the first control valve 1 passes through port a and passes through the fourth control valve 010 to the first oil port of the motor 91 delivers pressure oil, and the variable motor 9 returns oil through the second oil port 92 of the motor; when the first control valve 1 is in the second working position 15, the lifting mechanism is in a state of lowering the load, and the first control valve 1 passes through port b
  • the pressure oil is delivered to the second oil port 92 of the motor, and the variable motor 9 returns oil through the first oil port 91 of the motor.

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Abstract

一种控制模块和液压系统，控制模块包括：具有第一控制端（11）和第二控制端（12）、用于输送压力油以驱动变量马达（9）换向的a口和b口的第一控制阀（1），以及具有与第一控制端（11）连通的第一输入油口和第二输入油口、选择地连通第一输入油口和第二输入油口二者中的高压者用于连通变量马达（9）的第一输出油口的控制单元（2），第一输出油口的开启压力大于第一输入油口或第二输入油口的开启压力；第一控制阀（1）的输出压力能够随作用在第一控制端（11）或第二控制端（12）的控制力中的高者成线性变化。控制模块可以有效保护变量马达（9），同时提高了变排量的响应速度，而且对变量马达（9）的排量变化达到无级，且操作便利。

Description

控制模块和液压系统
相关申请的交叉引用
本申请要求2020年08月27日提交的中国专利申请202010878911.X的权益，该申请的内容通过引用被合并于本文。
技术领域
本发明涉及液压技术领域，具体地涉及控制模块和液压系统。
背景技术
目前，当采用液压先导比例控制系统控制起重机起升和下降的时候，通过操纵换向手柄完成主阀阀芯的换向，使马达沿不同的方向旋转从而实现起重机的卷扬机构上升或下降；为了提高工作效率，在下降的时候，通常采用高速，为了达到起重机的卷扬机构在低速和高速之间切换，通过操纵电磁阀使控制油源进入变量油缸，使马达处于小排量工作，马达进入高速旋转状态；或者使控制油源流出变量油缸使马达恢复大排量处于大排量工作，马达进入常速旋转状态。这种采用电磁阀操纵的过程需手动操纵，且卷扬机构的可变换的速度较少，甚至只有两个速度，当马达有负载时，如果突然开启或者关闭高速开关，马达排量的突然改变会对马达、卷扬机构产生冲击，出现事故，且操控感不好。
发明内容
本发明的目的是为了克服现有技术存在的利用现有技术控制马达高速运转时存在变换的速度较少、马达排量的突然改变会对马达、卷扬机构产生冲击且操控感不好问题，提供一种控制模块，该控制模块具有可无级变速，操控感好，且冲击力小，更安全。
为了实现上述目的，本发明一方面提供一种控制模块所述控制模块包括：第一控制阀，所述第一控制阀包括第一控制端和第二控制端、用于输送压力油以驱动变量马达转动的a口和b口；控制单元，所述控制单元包括与所述第一控制端连通的a1口和b1口，用于连通变量马达的c1口；所述c1口可选择地连通所述a1口和b1口二者中的高压者；所述c1口的开启压力大于所述a1口或所述b1口的开启压力；所述第一控制阀的输出压力能够随作用在所述第一控制端或所述第二控制端的控制力中的高者成线性变化。
进一步的，所述控制单元包括设置为梭阀的第二控制阀和连接在所述第二控制阀的出油口处且阀芯开口压力大于设定值的第一单项阀；所述第一单项阀的进油口朝向所述第二控制阀的出油口；所述梭阀的两个进油口分别设置为a1口和b1口。
进一步的，所述控制单元包括和所述第一单项阀并联的第二单项阀，所述第二单项阀的出油口朝向所述第二控制阀的出油口。
进一步的，所述控制模块包括通过将控制力施加在所述第一控制端或所述第二控制端以控制所述第一控制阀的阀芯动作的操纵单元，所述操纵单元包括操纵手柄，所述操纵手柄的转角和所述操纵单元的 输出信号成线性关系。
进一步的，所述第一控制阀的输出压力和所述操纵手柄的转角成线性关系。
进一步的，所述操纵单元采用液压控制；所述第一控制阀的阀芯开启压力大于所述操纵单元的最小输出压力。
进一步的，所述第一控制阀的出油口全开时所需要的控制力小于所述操纵单元能够输出的最大输出压力。
进一步的，所述第一控制阀包括中位及位于所述中位两侧的第一工作位、第二工作位；所述第一控制阀包括用于连通动力单元的P1口、P2口和P3口；以及用于用于通往油箱的t1口；所述a口、所述b口分别用于连通变量马达的马达第一油口和马达第二油口；在所述中位：所述P1口截流；所述P2口连通所述t1口；所述P3口连通所述b口；在所述第一工作位：所述P1口连通所述a口，所述P2口和所述P3口均截流，所述b口连通所述t1口；在所述第二工作位：所述P1口连通所述b口，所述P2口和所述P3口均截流，所述a口连通所述t1口。
进一步的，所述第一控制阀的工作端包括t2口；在所述中位：所述t2口截流；在所述第一工作位：所述P1口同时连通所述a口和所述t2口且所述p1口和所述a口、所述t2口之间设置有第一节流结构；在所述第二工作位：所述P1口同时连通所述b口和所述t2口且所述p1口和所述b口、所述t2口之间设置有第二节流结构。
进一步的，所述控制模块包括用于控制所述第一控制阀的阀前压 力和阀后压力的差值在设定范围内的第三控制阀；所述第三控制阀的进油口用于连通动力单元、所述第三控制阀的回油口用于连通油箱；所述t2口通往所述第三控制阀的控制端。
本发明第二方面提供一种液压系统，所述液压系统包括变量马达和根据以上所述控制模块；所述变量马达包括斜盘和用于控制所述斜盘的倾角以调整所述变量马达的排量的斜盘控制油缸，以及用于液压油出入的马达第一油口和马达第二油口；所述控制单元通过所述c1口连通所述斜盘控制油缸；所述第一控制阀通过所述a口连通所述马达第一油口，通过所述b口连通所述马达第二油口以驱动所述变量马达转动。
本发明第三方面提供一种工程机械，所述工程机械包括根据以上所述的液压系统。
通过上述技术方案，通过设置能够引出所述第一控制端和所述第二控制端二者之中的高压者的控制单元；且所述控制单元的输出压力设置为大于所述控制单元的输入压力；所述第一控制阀的输出压力能够随所述第一控制端或所述第二控制端的控制力成线性变化，可以有效保障使用该控制模块的马达负载腔已建立其压力后再变排量，对马达起保护作用，同时提高了变量的响应速度，而且对马达的排量变化达到无级，且操作便利。
附图说明
图1是本发明一种具体实施方式的包含控制模块的液压系统的 工作原理示意图；
图2是图1中操纵手柄和操纵单元的输出压力之间比例曲线图；
图3是图1中第一控制阀的阀芯开启比例曲线图。
附图标记说明
1-第一控制阀；11-第一控制端；12-第二控制端；2-控制单元；21-第二控制阀；22-第一单项阀；23-第二单项阀；3-操纵单元；31-第一输出端；32-第二输出端；4-第一管路；5-第二管路；13-中位；14-第一工作位；15-第二工作位；6-第三控制阀；9-执行单元；93-斜盘控制油缸；91-马达第一油口；92-马达第二油口；7-动力单元；8-油箱；010-第四控制阀；011-控制油泵；012-第五控制阀；013-第六控制阀。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明，并不用于限制本发明。
下面将参考附图并结合实施方式来详细说明本发明。
为了实现上述目的，如图1所示,本发明一方面提供一种控制模块，所述控制模块包括：第一控制阀1、控制单元2；所述第一控制阀1包括第一控制端11和第二控制端12、用于输送压力油以驱动变量马达9转动的a口和b口；所述控制单元2包括与所述第一控制端11连通的a1口和b1口，用于连通变量马达9的c1口；所述c1口 可选择地连通所述a1口和b1口二者中的高压者；所述c1口的开启压力大于所述a1口或所述b1口的开启压力；所述第一控制阀1的输出压力能够随作用在所述第一控制端11或所述第二控制端12的控制力中的高者成线性变化。其中，所述第一控制阀1的阀芯在作用在第二控制端12或第一控制端11上的控制力的作用下移动，第一控制阀1的阀芯在移动的时候，所述第一控制阀1的的输出压力成线性变化，因此，使得所述第一控制阀1的输出压力随作用在所述第一控制端11和所述第二控制端12的控制力中的高者成线性变化。通过上述技术方案，所述控制单元2能够引出所述第一控制端11和所述第二控制端12二者之中的高压者的控制单元2；且所述控制单元2的输出压力设置为大于所述控制单元2的输入压力；所述第一控制阀1的输出压力能够随所述第一控制端11或所述第二控制端12的控制力成线性变化，可以有效保障使用该控制模块的马达负载腔已建立其压力后再变排量，对马达起保护作用，同时提高了变量的响应速度，而且对马达的排量变化达到无级，且操作便利。
优选地，所述控制单元2包括设置为梭阀的第二控制阀21和连接在所述第二控制阀21的出油口处且阀芯开口压力大于设定值的第一单项阀22；所述第一单项阀22的进油口朝向所述第二控制阀21的出油口；所述梭阀的两个进油口分别设置为a1口和b1口。
通过设置梭阀，能够将分别作用在第一控制端11和第二控制端12二者上的控制力较高者传递给控制单元2，并通过第二控制阀21的输出口将压力传送到其他控制单元；其中，设置在第二控制阀21 的出油口处的第一单项阀22阀芯开口压力大于第一控制阀1的阀芯开启压力，这样，可以保证设置在第一控制阀1的下游的可变排量的执行单元，例如具有变量斜盘的变量马达9的负载腔先通过第一控制阀1建压，然后才通过控制单元2改变用于变排量的斜盘的转角以改变变量马达9的排量，这样可以减少对变量马达9的冲击，提高变量马达9的寿命，同时可以提高变量马达9变排量的响应速度。
优选地，所述控制单元2包括和所述第一单项阀22并联的第二单项阀23，所述第二单项阀23的出油口朝向所述第二控制阀21的出油口。
如图1所示，通过设置第二单项阀23可以在需要的时候进行泻荷，以使液压油从第二单项阀23到第二控制阀21的方向回流进行泻荷。例如，当变量马达9的斜盘倾角发生变化后，如果需要将斜盘倾角复位，这时候，需要将在此之前通过第一单项阀22注入变量马达9以改变斜盘倾角的液压油通过第二单项阀23进行泻荷，进而实现斜盘的复位。
优选地，所述控制模块包括通过将控制力施加在所述第一控制端11或所述第二控制端12以控制所述第一控制阀1的阀芯动作的操纵单元3，所述操纵单元3包括操纵手柄，所述操纵手柄的转角和所述操纵单元3的输出信号成线性关系。如图2所示，所述操纵手柄的转角设置为α，与α对应的控制力为P，其中控制力为P为操纵单元3直接或间接作用到第一控制端11或第二控制端12的控制力，P与α设置成线性关系。这样设置，第一控制阀1的阀芯可以在其可以移动 的0-最大距离之间的任意位置停止。其中，操纵单元3可采用液控，也可采用电控制。当操纵单元3采用液控的方式时，第一输出端31和第二输出端32输出的是压力信号，即第一输出端31和第二输出端32输出的是具有压力的液压油，第一输出端31和第二输出端32的开口大小和操纵手柄的转角设置为成线性变化，当操纵手柄转动时，从第一输出端31或第二输出端32输出的具有压力的液压油通过连接在第一控制阀1和操纵单元3之间的管道直接作用在第一控制端11或第二控制端12进而推动第一控制阀1的阀芯动作，其时，第一控制阀1需要采用与操纵单元3相对应的液控阀，例如液控比例阀；当操纵单元3采用电控制时，第一输出端31和第二输出端32输出的是电信号，从操纵单元3输出的该电信号随操纵手柄的转角线性变化，该电信号传递给第一控制阀1，然后第一控制阀1将电信号转化为压力信号并将该压力信号作用在第一控制端11或第二控制端12进而控制第一控制阀1的阀芯动作，其时，第一控制阀1需要采用与操纵单元3对应的电控阀，例如电磁比例阀。
优选地，所述第一控制阀1的输出压力和所述操纵手柄的转角成线性关系。这样第一控制阀1输出的压力可随操纵手柄的转角变化在最小压力到最大压力之间任意变化，进而使连接在所述第一控制阀1下游的变量马达9可达到无级变速，而且变速平稳。如图3所示Pb点是第一控制阀1的开启压力，Pd点是第一控制阀1的最大开启压力；第一控制阀1的阀芯开启越大，其输出的压力越大。
优选地，所述操纵单元3采用液压控制；所述第一控制阀1的阀 芯开启压力大于所述操纵单元3的最小输出压力。如图1所示，操纵单元3包括T2口、P1口当操纵单元3采用液压控制时，第一控制阀1也采用液压控制，操纵单元3输出的控制力直接通过连接第一输出端31和第一控制端11的第一管路4作用在第一控制端11；或者，操纵单元3输出的控制力直接通过连接第二输出端32和第二控制端12的第二管路5作用在第二控制端12。其中，所述第一控制阀1的输出压力随操纵单元3的输出压力线性变化；操纵单元3的输出压力和操纵手柄的转角成线性变化。如图1所示，操纵单元3具有T2口、P1口、第一输出端31和第二输出端32；操纵手柄的转角和第一输出端31及第二输出端32的开口度成线性变化；在图1中，操纵手柄处于初始状态，此时，第一输出端31和第二输出端32不输出压力油，第一控制阀1处于中位13。当操纵手柄从当前状态向第一方向转动使第一输出端31输出压力油的时候，P1口和第一输出端31接通，随着操纵手柄的转角增大，P1口和第一输出端31之间的开口越大，输出的压力也越大；当操纵手柄从当前状态向第一方向的反向方向的第二方向转动使第二输出端32输出压力油的时候，P1口和第二输出端32接通，随着操纵手柄的转角增大，P1口和第二输出端32之间的开口越大，输出的压力也越大。
如图2所示，Pa<Pb，Pa为操纵单元3在操纵手柄刚刚开启时对应的输出压力；当操纵单元3的输出压力达到Pb的时候，第一控制阀1的阀芯开启；这样，可以在保证第一控制阀1的阀芯能够关闭到位，即第一控制阀1的出油口能够完全关闭。
优选地，所述第一控制阀1的出油口全开时所需要的控制力小于所述操纵单元3能够输出的最大输出压力。即如图2所示，Pd<Pe，其中，Pe是操纵单元3能够输出的最大压力，Pd是第一控制阀1的阀芯全开时需要的控制力。这样可以保证在操纵单元3的控制下，第一控制阀1的阀芯能够开启到最大。
第一控制阀1、控制单元2、操纵单元3以及马达的各种压力关系可以设置为如图2所示，Pa<Pb<Pc<Pd<Pe；Pa为操纵单元3在操纵手柄刚刚开启时对应的输出压力；当操纵单元3的输出压力达到Pb的时候，第一控制阀1的阀芯开启；当操纵单元3的输出压力达到Pc的时候，连接在第一控制阀1的下游的例如变量马达9开始变排量；当操纵单元3的输出压力达到Pd的时候，第一控制阀1的阀芯全开，此时，变量马达9的排量变到接近最大排量；Pe是操纵单元3能够输出的最大压力，Pe>Pd，可以保证第一控制阀1的阀芯能够在操纵单元3的操纵下全开。从上述内容可知，操纵单元3的最大输出压力大于第一控制阀1的油口全开所需要的压力，这样可以保证第一控制阀1的阀芯能够开启到最大。
进一步优先地，Pb-Pa≥1bar。这样，可以在保证第一控制阀1的阀芯能够关闭到位的同时尽量减小操纵手柄转动范围，减少操纵手柄不必要的行程。
进一步优先地，Pe-Pd≥1bar这样可以在保证第一控制阀1的阀芯可以全开-即第一控制阀1的油口全开的同时尽量减小操纵手柄转动范围，减少操纵手柄不必要的行程。
进一步优先地，Pc-Pb≥1bar这样，可以保证第一控制阀1的阀芯开启，使变量马达9的负载腔建压，当变量马达9的负载腔建压后，控制单元2才能向变量马达9的控制油口输送液压油，变量马达9才开始变量，即向图1中的斜盘控制油缸93输送液压油，使斜盘控制油缸93的活塞动作，进而推动斜盘改变倾角，从而改变变量马达9的排量，这样可以对变量马达9起到保护作用，同时提高了变量的响应速度。
进一步优先地，Pd无限接近于变量马达9的达到最大排量时所需要操纵单元3输出的最大控制力。这样可以尽可能的使变量马达9能够达到到最大排量，又不会因为第一控制阀1输出的压力太大使系统的压力过高而损坏变量马达9，从而进一步保护变量马达9。
优选地，所述第一控制阀1包括中位13及位于所述中位13两侧的第一工作位14、第二工作位15；所述第一控制阀1包括用于连通动力单元7的P1口、P2口和P3口；以及用于通往油箱8的t1口；所述a口、所述b口分别用于连通变量马达9的马达第一油口91和马达第二油口92；在所述中位13：所述P1口截流，所述P2口连通所述t1口，所述P3口连通所述b口；这样，可以在变量马达9没有负载的时候，不需要停止动力单元7的运转，从而避免反复启停动力单元7而带给动力单元7不必要的损伤，有助于提高动力单元7的寿命；在所述第一工作位14：所述P1口连通所述a口，所述P2口和所述P3口均截流，所述b口连通所述t1口；这样可以通过a口给马达第一油口91输送压力油，在该压力油的作用下，变量马达9沿 第三方向旋转，同时压力油通过马达第二油口92排出然后经b口再经t1口流回油箱8；在所述第二工作位15：所述P1口连通所述b口，所述P2口和所述P3口均截流，所述a口连通所述t1口。P1口用于连通动力单元7，从动力单元7排送来的压力油从P1口经b口通往马达第二油口92，推动变量马达9沿与第三方向相反的第四方向旋转，同时压力油通过马达第一油口91排出然后经a口再经t1口流回油箱8。
优选地，所述第一控制阀1的工作端包括t2口；在所述中位13：所述t2口截流；在所述第一工作位14：所述P1口同时连通所述a口和所述t2口且所述p1口和所述a口、所述t2口之间设置有节流结构；在所述第二工作位15：所述P1口同时连通所述b口和所述t2口且所述p1口和所述b口、所述t2口之间设置有节流结构。通过这样设置，能够为第一控制阀1的输入油口即P1口和输出油口即a口或b口之间存在一定的压力差值，可以根据该差值进行负载敏感控制。
优选地，所述控制模块包括用于控制所述第一控制阀1的阀前压力和阀后压力的差值在设定范围内的第三控制阀6；所述第三控制阀6的进油口用于连通动力单元7、所述第三控制阀6的回油口用于连通油箱8；所述t2口通往所述第三控制阀6的控制端。如图1所示，第三控制阀6的控制端包括分别设置在第三控制阀6的阀芯对侧的a2口和b2口，所述b2口和动力单元7连通，a2口和与t2口连通，第三控制阀6的阀芯在分别来自a2口和b2口的压力的共同作用下移 动，使第一控制阀1的阀前和阀后的压差保持在设定的范围内，有利于节能。
优选地，所述控制模块还包括设置为溢流阀的第六控制阀013，所述第六控制阀013的进油口连通动力单元7，所述第六控制阀013的出油口通往所述a口和/或所述b口。当第一控制阀1处于中位13时，所述第六控制阀013的出油口通过p3口同时通往所述a口和所述b口，且在p3口和所述a口之间、所述p3口和所述b口之间均设置有节流结构，由于有上述节流结构的存在，从动力单元7排出的压力油直接从p2口通过t1口流回油箱8；当第一控制阀1处于第一工作位14时，如果从动力单元7排出的液压油压力过高，第六控制阀013的出油口将由b口经t1口连通油箱8；当第一控制阀1处于第二工作位15时，第六控制阀013的出油口将由a口经t1口连通油箱8。通过设置第六控制阀013，可以保护变量马达9，有效防止变量马达9过载。
优选地，所述控制模块包括连接在马达第二油口92和第六控制阀013的出油口之间的第五控制阀012。以通过所述第五控制阀012起到二次溢流的作用，减低负载突然变化时对系统的冲击。
优选地，所述控制模块包括第四控制阀010，所述第四控制阀0103设置在所述a口通往所述马达第一油口91的第一主油路上。以平衡负载，防止使负载在自重作用下下降,避免造成负载坠落事故,起到安全保护作用。
本发明第二方面公开一种具体实施方式的液压系统，所述液压系 统包括变量马达9和根据以上所述控制模块；所述变量马达9包括斜盘和用于控制所述斜盘的倾角以调整所述变量马达9的排量的斜盘控制油缸93，以及用于液压油出入的马达第一油口91和马达第二油口92；所述控制单元2通过所述c1口连通所述斜盘控制油缸93；所述第一控制阀1通过所述a口连通所述马达第一油口91，通过所述b口连通所述马达第二油口92以驱动所述变量马达9转动。
所述液压系统所具有的技术优势同以上所述的控制模块，在此不再赘述。
所述液压系统包括用于为变量马达9提供动力的动力单元7。所述控制模块设置在所述变量马达9和所述动力单元7之间，动力单元7采用变量泵，这样可以根据需要调节泵的排量。
所述液压系统包括用于回油的油箱8；油箱8连接所述第一控制阀1的t1口；动力单元7采用单项变量泵，采用这种方式设置有利于散热。
一种具体实施方式的液压系统中，所述操纵单元3采用液压控制，所述液压系统包括用于为所述操纵单元3提供压力油的控制油泵011，和设置为液控比例阀的第一控制阀1，所述操纵单元3通过连接第一输出端31和第一控制端11的第一管路4将操纵单元3从第一输出端31输出的控制力作用在第一控制端11；或者，所述操纵单元3通过连接第二输出端32和第二控制端12的第二管路5将操纵单元3从第二输出端32输出的控制力作用在第二控制端12，从而达到第一控制阀1输出可变压力并换向的目的。
另一种具体实施方式的液压系统中，所述操纵单元3采用电控制，所述液压系统包括用于为所述操纵单元3提供电力的供电单元，以使得控制操纵单元3给第一控制阀1输出电信号，还包括设置为电比例阀的第一控制阀1，所述第一控制阀1通过将第一输出端31输出的电信号转化为压力信号传递给第一控制端11；或者，所述第一控制阀1通过将第二输出端32输出的电信号转化为压力信号传递给第二控制端12，从而达到第一控制阀1换向并输出可变压力的目的。
进一步优选地，所述液压系统还包括用于变量马达9制动的液压制动装置。所述液压制动装置制动需要的压力油来自制动油源。
本发明第三方面公开一种工程机械，所述工程机械包括根据以上所述的液压系统。
优选地，所述工程机械包括起升机构，所述起升机构采用变量马达9作为起升和下降的驱动单元。第四控制阀010设置为平衡阀，该平衡阀设置在起升机构的起升侧，如图1所示，第四控制阀010设置在a口和马达第一油口91之间的油路上，当第一控制阀1处在第一工作位14的时候，起升机构处于起吊负载的状态，此时，第一控制阀1通过a口并通过第四控制阀010向马达第一油口91输送压力油，变量马达9通过马达第二油口92回油；当第一控制阀1处于第二工作位15的时候，起升机构处于下降负载的状态，第一控制阀1通过b口向马达第二油口92输送压力油，变量马达9通过马达马达第一油口91回油。
所述工程机械所具有的技术优势同以上所述的控制模块，在此不 再赘述。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于此。在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，以上的液压系统也可以设置为气动系统，各液压控制阀设置为气动阀。包括各个具体技术特征以任何合适的方式进行组合。为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。但这些简单变型和组合同样应当视为本发明所公开的内容，均属于本发明的保护范围。

Claims (12)

  1. 一种控制模块，其特征在于，所述控制模块包括：
    第一控制阀(1)，所述第一控制阀(1)包括第一控制端(11)和第二控制端(12)、用于输送压力油以驱动变量马达(9)转动的a口和b口；
    控制单元(2)，所述控制单元(2)包括与所述第一控制端(11)连通的a1口和b1口，用于连通变量马达(9)的c1口；
    所述c1口可选择地连通所述a1口和b1口二者中的高压者；
    所述c1口的开启压力大于所述a1口或所述b1口的开启压力；所述第一控制阀(1)的输出压力能够随作用在所述第一控制端(11)或所述第二控制端(12)的控制力中的高者成线性变化。
  2. 根据权利要求1所述的控制模块，其特征在于，所述控制单元(2)包括设置为梭阀的第二控制阀(21)和连接在所述第二控制阀(21)的出油口处且阀芯开口压力大于设定值的第一单项阀(22)；所述第一单项阀(22)的进油口朝向所述第二控制阀(21)的出油口；所述梭阀的两个进油口分别设置为a1口和b1口。
  3. 根据权利要求2所述的控制模块，其特征在于，所述控制单元(2)包括和所述第一单项阀(22)并联的第二单项阀(23)，所述第二单项阀(23)的出油口朝向所述第二控制阀(21)的出油口。
  4. 根据权利要求1所述的控制模块，其特征在于，所述控制模块包括通过将控制力施加在所述第一控制端(11)或所述第二控制端(12)以控制所述第一控制阀(1)的阀芯动作的操纵单元(3)，所 述操纵单元(3)包括操纵手柄，所述操纵手柄的转角和所述操纵单元(3)的输出信号成线性关系。
  5. 根据权利要求4所述的控制模块，其特征在于，所述第一控制阀(1)的输出压力和所述操纵手柄的转角成线性关系。
  6. 根据权利要求5所述的控制模块，其特征在于，所述操纵单元(3)采用液压控制；所述第一控制阀(1)的阀芯开启压力大于所述操纵单元(3)的最小输出压力。
  7. 根据权利要求4所述的控制模块，其特征在于，所述第一控制阀(1)的出油口全开时所需要的控制力小于所述操纵单元(3)能够输出的最大输出压力。
  8. 根据权利要求1所述的控制模块，其特征在于，所述第一控制阀(1)包括中位(13)及位于所述中位(13)两侧的第一工作位(14)、第二工作位(15)；所述第一控制阀(1)包括用于连通动力单元(7)的P1口、P2口和P3口；以及用于用于通往油箱(8)的t1口；所述a口、所述b口分别用于连通变量马达(9)的马达第一油口(91)和马达第二油口(92)；
    在所述中位(13)：所述P1口截流；所述P2口连通所述t1口；所述P3口连通所述b口；
    在所述第一工作位(14)：所述P1口连通所述a口，所述P2口和所述P3口均截流，所述b口连通所述t1口；
    在所述第二工作位(15)：所述P1口连通所述b口，所述P2口和所述P3口均截流，所述a口连通所述t1口。
  9. 根据权利要求8所述的控制模块，其特征在于，所述第一控制阀(1)的工作端包括t2口；
    在所述中位(13)：所述t2口截流；
    在所述第一工作位(14)：所述P1口同时连通所述a口和所述t2口且所述p1口和所述a口、所述t2口之间设置有第一节流结构；
    在所述第二工作位(15)：所述P1口同时连通所述b口和所述t2口且所述p1口和所述b口、所述t2口之间设置有第二节流结构。
  10. 根据权利要求9所述的控制模块，其特征在于，所述控制模块包括用于控制所述第一控制阀(1)的阀前压力和阀后压力的差值在设定范围内的第三控制阀(6)；所述第三控制阀(6)的进油口用于连通动力单元(7)、所述第三控制阀(6)的回油口用于连通油箱(8)；所述t2口通往所述第三控制阀(6)的控制端。
  11. 一种液压系统，其特征在于，所述液压系统包括变量马达(9)和根据权利要求1-10中任意一项所述控制模块；所述变量马达(9)包括斜盘和用于控制所述斜盘的倾角以调整所述变量马达(9)的排量的斜盘控制油缸(93)，以及用于液压油出入的马达第一油口(91)和马达第二油口(92)；所述控制单元(2)通过所述c1口连通所述斜盘控制油缸(93)；所述第一控制阀(1)通过所述a口连通所述马达第一油口(91)，通过所述b口连通所述马达第二油口(92)以驱动所述变量马达(9)转动。
  12. 一种工程机械，其特征在于，所述工程机械包括根据权利要求11所述的液压系统。
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CN115095562A (zh) * 2022-03-17 2022-09-23 广东科达液压技术有限公司 液压控制装置、液压马达及液压控制系统

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