WO2024017012A1

WO2024017012A1 - Hydraulic stepping control device and working machine

Info

Publication number: WO2024017012A1
Application number: PCT/CN2023/104429
Authority: WO
Inventors: 张凯; 许宏宇; 李俊飞
Original assignee: 北京三一智造科技有限公司
Priority date: 2022-07-22
Filing date: 2023-06-30
Publication date: 2024-01-25
Also published as: CN115263854A

Abstract

The present application relates to the technical field of hydraulic control, and in particular, to a hydraulic stepping control device and a working machine. The hydraulic stepping control device provided by the present application comprises: a cylinder piston mechanism comprising a cylinder and a piston disposed in the cylinder, the piston dividing the inner cavity of the cylinder into a first cavity and a second cavity; a first oil path connected to the first cavity; a second oil path connected to the second cavity; a third oil path used for inputting a hydraulic medium; a fourth oil path used for outputting the hydraulic medium; a reversing valve assembly connected to the first oil path, the second oil path, the third oil path, and the fourth oil path, the reversing valve assembly being capable of being switched between a first state and a second state. The hydraulic stepping control device and the working machine provided by the present application can achieve accurate control on a hydraulic actuator, and are suitable for some specific working conditions.

Description

Hydraulic stepper control device and working machinery

Cross-references to related applications

This application claims priority to the Chinese patent application filed with the China Patent Office on July 22, 2022, with application number 202210874535.6 and the invention name "Hydraulic Stepping Control Device and Working Machinery", the entire content of which is incorporated into this application by reference. middle.

Technical field

The present application relates to the field of hydraulic control technology, and in particular to a hydraulic stepper control device and working machinery.

Background technique

In order to accurately control the displacement of the hydraulic actuator, in the existing technology, a displacement sensor (or angular displacement sensor) is usually provided on the hydraulic actuator. The displacement sensor can sense the position of the action component of the hydraulic actuator and feed back the position signal. To the hydraulic control module, the hydraulic control module controls the displacement of the hydraulic actuator according to the position signal.

In the prior art, a displacement sensor is provided on a hydraulic actuator in order to sense the position of the operating component of the hydraulic actuator. However, in some special working conditions, such as when the hydraulic actuator works underwater or in mud, it is difficult to protect the displacement sensor, its connected joints or lines, which in turn causes the displacement control of the hydraulic actuator to easily fail. The problem.

Contents of the invention

This application provides a hydraulic stepper control device and working machinery, which can achieve precise control of the hydraulic actuator and is suitable for special working conditions. The first aspect of this application provides a hydraulic step control device for step control of a hydraulic actuator of a work machine, including:

The cylinder piston mechanism includes a cylinder and a piston arranged in the cylinder, and the piston Separate the inner cavity of the cylinder into a first cavity and a second cavity;

a first oil passage connected to the end of the first cavity;

a second oil passage connected to the end of the second cavity;

The third oil circuit is used to connect with the oil source to input hydraulic medium into the inner cavity of the cylinder;

The fourth oil circuit is used to connect with the hydraulic actuator to output hydraulic medium to the hydraulic actuator;

A reversing valve assembly is connected to the first oil passage, the second oil passage, the third oil passage and the fourth oil passage, and the reversing valve assembly is capable of switching between the first state and the second state, In the first state, the third oil channel is connected to the first oil channel, and the second oil channel is connected to the fourth oil channel; in the second state, the third oil channel is connected to the first oil channel. Three oil channels are connected to the second oil channel, and the first oil channel is connected to the fourth oil channel; the reversing valve assembly repeats between the first state and the second state. Switch to control the stepping action of the hydraulic actuator.

According to the hydraulic step control device provided by this application, the reversing valve assembly further includes a third state. In the third state, the third oil passage is connected to the fourth oil passage.

The hydraulic step control device provided according to this application also includes:

A sensing unit configured to generate a sensing signal when the piston moves to the end of the first cavity or to the end of the second cavity.

According to the hydraulic step control device provided by this application, the sensing unit includes:

A first sensing module, when the piston moves to the end position of the first cavity, the first sensing module generates a sensing signal;

The second sensing module generates a sensing signal when the piston moves to the end position of the second cavity.

A counting module, electrically connected to the sensing unit, used to respectively count the number of times the piston has been displaced to the first cavity terminal and the second cavity terminal;

A control module, connected to the counting module and the reversing valve assembly, for controlling the The initial position and target position of the hydraulic actuator control the reversing valve assembly to control the number of reciprocations of the piston displacement to the first cavity terminal and the second cavity terminal.

According to the hydraulic step control device provided by this application, the reversing valve assembly includes a first reversing valve, the third oil passage is connected to the first interface of the first reversing valve, and the first oil passage and the second oil circuit are respectively connected to the second interface and the third interface of the first reversing valve.

According to the hydraulic step control device provided by this application, the reversing valve assembly includes a second reversing valve, the fourth oil passage is connected to the first interface of the second reversing valve, and the first oil passage and the second oil circuit are respectively connected to the second interface and the third interface of the second directional valve.

According to the hydraulic step control device provided by this application, the reversing valve assembly includes a third reversing valve, and the third oil passage is connected to the first interface of the third reversing valve through a first branch, so The fourth oil passage is connected to the second interface of the third directional valve through a second branch passage.

According to the hydraulic stepper control device provided in this application, the cylinder piston mechanism, the first oil circuit, the second oil circuit, the third oil circuit, the fourth oil circuit and the reversing The valve components are integrated together.

The second aspect of this application provides a working machine, including:

Hydraulic actuator;

As for the hydraulic step control device according to any one of the above items, the fourth oil passage is connected to the hydraulic actuator.

In the technical solution provided by this application, the hydraulic step control device can realize precise control of the hydraulic actuator, the third oil circuit is used to connect to the hydraulic medium source, and the fourth oil circuit is used to connect to the hydraulic actuator. When the reversing valve assembly is in the first state, the third oil channel is connected to the first oil channel, and the second oil channel is connected to the fourth oil channel. At this time, the first cavity is filled with oil, and the hydraulic medium pushes the piston toward the third oil channel. The terminal direction displacement of the second cavity causes the hydraulic medium in the second cavity to be pressed out to drive the hydraulic actuator. When the piston moves to the terminal end of the second cavity, the reversing valve assembly is controlled to switch to the second state. In this state, the third oil line and the second oil line are connected, and the first oil circuit is connected with the fourth oil circuit. At this time, the second cavity is filled with oil, the hydraulic medium pushes the piston to move toward the terminal direction of the first cavity, and the hydraulic medium in the first cavity is pressed out to drive The hydraulic actuator operates, and when the piston moves to the end of the first cavity, the reversing valve assembly is controlled to switch to the first state, and so on.

Since the volume of the cylinder is fixed, the piston moves from the end and displacement of the first cavity to the end of the second cavity each time, or from the end and displacement of the second cavity to the end of the first cavity. The amount of discharged hydraulic medium is a fixed amount, that is, the displacement amount of the driven hydraulic actuator is a fixed amount. It can be seen from the above analysis that in this embodiment, the amount of hydraulic medium discharged by the piston from one end of the cylinder to the other end is a quantitative amount. This quantitative amount corresponds to a step amount that controls the hydraulic actuator to perform a unit displacement amount. Furthermore, through Each equal volume of hydraulic medium is delivered as a step output, achieving precise control of the hydraulic actuator using the displacement generated by a step output as the unit of measurement. Therefore, by controlling the number of reciprocating displacements of the piston, precise control of the hydraulic actuator can be achieved.

Moreover, the hydraulic step control device provided by this application does not need to be installed on the operating parts of the hydraulic actuator, and the components are not easily damaged. At the same time, it is easy to achieve sealing protection for the hydraulic step control device and avoid displacement control of the hydraulic actuator. Problems prone to failure under special working conditions.

Description of drawings

In order to explain the technical solutions in this application or the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are the drawings used in the present application. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the principle of the hydraulic step control device in the embodiment of the present application;

Figure 2 is a schematic diagram of the external structure of the hydraulic step control device in the embodiment of the present application;

Figure 3 is a rear view (section) of the hydraulic stepper control device in the embodiment of the present application;

Figure 4 is the initial state of the working process of the hydraulic stepper control device in the embodiment of the present application. And the schematic diagram when the piston moves to the end of the first cavity;

Figure 5 is a schematic diagram of the flow direction of the hydraulic medium when the reversing valve assembly is in the first state during the working process of the hydraulic step control device in the embodiment of the present application;

Figure 6 is a schematic diagram of the working process of the hydraulic step control device in the embodiment of the present application when the reversing valve assembly is in the first state and the piston moves to the end of the second cavity;

Figure 7 is a schematic diagram of the flow direction of the hydraulic medium when the reversing valve assembly is in the second state during the working process of the hydraulic step control device in the embodiment of the present application;

Figure 8 is a schematic diagram of the flow direction of the hydraulic medium when the reversing valve assembly is in the third state during the working process of the hydraulic step control device in the embodiment of the present application.

Reference signs:
11: cylinder tube; 12: first reversing valve; 13: second reversing valve; 14: third reversing valve;
15: First induction module; 16: Second induction module; 17: Piston; 18: First oil circuit; 19: Second oil circuit; 20: Third oil circuit; 21: Fourth oil circuit; 22: First Branch; 23: The second branch.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application. , not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be noted that the displacement sensor includes a sensing end and a sensed end, and the sensing end and the sensed end can establish a signal connection so that the position of the sensed end is sensed through the sensing end. In the prior art, the moving parts of the hydraulic actuator are provided with the sensed end of the displacement sensor. For example, the piston rod of the hydraulic cylinder or the rotor of the hydraulic motor is provided with the sensed end of the displacement sensor. The sensing end of the displacement sensor can The position of the sensed end is sensed, and the displacement sensor can feed back the sensing signal to the hydraulic control module, and control the start and stop of the hydraulic actuator through the position of the sensed action component, thereby completing the displacement control of the hydraulic actuator.

However, in some special working conditions, it is difficult to protect the displacement sensor, the joints or lines connected to it, which leads to the problem that the displacement control of the hydraulic actuator is prone to failure.

Based on the discovery of the above technical problems, please refer to Figures 1 to 8. The embodiment of the present application provides a hydraulic step control device, which includes a cylinder piston mechanism, a first oil passage 18, a second oil passage 19, a third Oil passage 20, fourth oil passage 21 and reversing valve assembly.

Among them, the cylinder piston mechanism includes a cylinder 11 and a piston 17 provided in the cylinder 11 . In this embodiment, both ends of the cylinder barrel 11 are provided with oil ports connected to external oil circuits. The piston 17 is disposed in the cylinder barrel 11 and can promote the reciprocating motion of the piston 17 in the cylinder barrel 11 under the action of the hydraulic medium. . The specific structures of the cylinder barrel 11 and the piston 17 may refer to the cylinder barrel and piston of a hydraulic cylinder in the prior art, and will not be described again here.

In this embodiment, the piston 17 divides the inner cavity of the cylinder 11 into a first cavity and a second cavity. The first oil passage 18 is connected to the first cavity, and the second oil passage 19 is connected to the second cavity. The third oil passage 20 is used to input hydraulic medium. For example, the hydraulic medium output by a hydraulic pump enters the hydraulic step control device provided in this embodiment through the third oil passage 20 . The fourth oil circuit 21 is used to output hydraulic medium, and the hydraulic medium output by the fourth oil circuit 21 can enter the hydraulic actuator to drive the hydraulic actuator to move.

The reversing valve assembly is connected to the first oil passage 18, the second oil passage 19, the third oil passage 20 and the fourth oil passage 21, and the reversing valve assembly can switch between the first state and the second state.

Wherein, the reversing valve assembly is switched to the first state, as shown in Figure 5, the third oil passage 20 is connected to the first oil passage 18, and the second oil passage 19 is connected to the fourth oil passage 21, that is, the hydraulic medium Under the action of the hydraulic pump, it enters the first cavity of the cylinder 11 through the third oil channel 20 and the first oil channel 18. The hydraulic medium pushes the piston 17 in the cylinder 11 to move toward the second cavity and moves the second cavity. The hydraulic medium in the cavity is pressed out, and the pressed out hydraulic medium enters the hydraulic actuator through the second oil line 19 and the fourth oil line 21, and then drives the hydraulic actuator to operate. Until the piston 17 in the cylinder 11 moves to the end of the second cavity, as shown in Figure 6 .

When the reversing valve assembly is switched to the second state, as shown in Figure 7, the third oil circuit 20 and the The two oil passages 19 are connected, and the first oil passage 18 and the fourth oil passage 21 are connected, that is, the hydraulic medium enters the second space of the cylinder 11 through the third oil passage 20 and the second oil passage 19 under the action of the hydraulic pump. cavity, the hydraulic medium pushes the piston 17 in the cylinder 11 to move toward the first cavity, and presses out the hydraulic medium in the first cavity. The pressed out hydraulic medium passes through the first oil passage 18 and the fourth oil passage 21 Enter the hydraulic actuator, and then drive the hydraulic actuator to move.

It should be noted that of the two ends of the inner cavity of the cylinder barrel 11, the end located in the first cavity is the terminal end of the first cavity, and the end located in the second cavity is the terminal end of the second cavity. When the reversing valve assembly is in the first state, the hydraulic medium pushes the piston 17 to move toward the terminal direction of the second cavity, and the hydraulic medium in the second cavity is pressed out to drive the hydraulic actuator to act. When the piston 17 moves to the second cavity, At the end of the cavity, the reversing valve assembly is controlled to switch to the second state. In the second state, the hydraulic medium pushes the piston 17 to move toward the end of the first cavity, and the hydraulic medium in the first cavity is pressed out of the driving hydraulic pressure. The actuator operates. When the piston 17 moves to the end of the first cavity, the reversing valve assembly is controlled to switch to the first state. This cycle continues. For specific processes, please refer to Figures 4 to 7.

Since the volume of the cylinder 11 is fixed, the piston 17 moves from the end of the first cavity to the end of the second cavity each time, or from the end of the second cavity to the end of the first cavity. 11 The amount of hydraulic medium discharged is a fixed amount, that is, the displacement amount of the driven hydraulic actuator is a fixed amount.

It should be emphasized that, through the above analysis, it can be seen that in this embodiment, the amount of hydraulic medium discharged by the piston from one end of the cylinder to the other end is a quantitative amount, and this quantitative amount corresponds to a step of controlling the hydraulic actuator to perform a unit displacement. The amount, and then, through each equal volume delivery of hydraulic medium, is output as a step amount, achieving precise control of the displacement of the hydraulic actuator with a step output as the unit of measurement. Therefore, by controlling the number of reciprocating displacements of the piston 17, precise control of the hydraulic actuator can be achieved.

Moreover, the hydraulic step control device provided by this embodiment does not need to be installed on the operating parts of the hydraulic actuator and the components are not easily damaged. At the same time, it is easy to achieve sealing protection for the hydraulic step control device and avoid displacement control of the hydraulic actuator. under special working conditions Problems prone to failure.

In an optional embodiment, the reversing valve assembly also includes a third state. As shown in FIG. 8 , in the third state, the third oil passage 20 is connected with the fourth oil passage 21 . That is, the hydraulic medium output by the hydraulic pump does not pass through the cylinder piston mechanism, but directly enters the hydraulic actuator through the third oil passage 20 and the fourth oil passage 21 to drive the hydraulic actuator to act and achieve bypass control. With this arrangement, when the reversing valve assembly switches to the third state, the hydraulic medium pumped out by the hydraulic pump can directly drive the hydraulic actuator to move without passing through the cylinder piston mechanism.

In some embodiments, the sensing unit is used to generate a sensing signal when the piston 17 is displaced to an end of the first cavity and an end of the second cavity. The control module used to control the reversing valve assembly controls the state switching of the reversing valve assembly through the induction signal generated by the sensing unit.

In an optional embodiment, the sensing unit includes a first sensing module 15 and a second sensing module 16 , wherein the first sensing module 15 and the second sensing module 16 may be specifically sensing switches, which are on the wall of the cylinder 11 Mounting holes for mounting the first sensing module 15 and the second sensing module 16 may be provided. When the piston 17 moves to the end position of the first cavity, the piston 17 can trigger the first sensing module 15 so that the first sensing module 15 generates a sensing signal. When the piston 17 moves to the end position of the second cavity, the second sensing module 16 generates a sensing signal.

With this arrangement, when the piston 17 moves from the end of the first cavity to the end of the second cavity, the second induction module 16 can be triggered, and the second induction module 16 generates an induction signal. When the piston 17 moves from the end of the second cavity to the end of the first cavity, the first induction module 15 can be triggered, and the first induction module 15 generates an induction signal. The control module controls the state switching of the reversing valve assembly according to the sensing signals generated by the first sensing module 15 and the second sensing module 16 .

In an optional embodiment, a counting module and a control module are also included, electrically connected to the sensing unit, for counting the number of times the piston 17 moves to the first cavity terminal, and the number of times the piston 17 moves to the second cavity terminal. frequency. The control module is connected to the counting module and the reversing valve assembly, and is used to control the reversing valve assembly to control the displacement of the piston 17 to the first cavity terminal. and the number of reciprocations at the second cavity terminal.

The control module can be based on the target position of the hydraulic actuator, which can be obtained through operator input. The control module obtains the total amount of hydraulic medium that needs to be supplied to the hydraulic actuator based on the initial position and target position of the hydraulic actuator. Then, based on the obtained total amount of hydraulic medium and the volume of the cylinder 11, the target number of reciprocating displacements required for the hydraulic actuator to reach the target position and the piston 17 is obtained. Then, the control module controls the reversing valve assembly to switch between the first state and the second state to control the reciprocating displacement of the piston 17, and then, according to the actual number of times the piston 17 moves to the end of the cavity of the cylinder 11 obtained by the counting module, until The actual number of reciprocating displacements of the piston 17 is equal to the preset number calculated above, and the control valve assembly stops switching, and the hydraulic actuator reaches the target position.

With this arrangement, the control method of the hydraulic stepper control device provided by this embodiment is open-loop control, the control accuracy is high, and the stability of the control device is high.

In some embodiments, the reversing valve assembly includes a first reversing valve 12 , a second reversing valve 13 and a third reversing valve 14 , wherein the third oil circuit 20 is a first interface of the first reversing valve 12 The first oil passage 18 and the second oil passage 19 are connected to the second interface and the third interface of the first reversing valve 12 respectively.

The fourth oil passage 21 is connected to the first interface of the second reversing valve 13, and the first oil passage 18 and the second oil passage 19 are respectively connected to the second interface and the third interface of the second reversing valve 13.

The third oil passage 20 is connected to the first interface of the third directional valve 14 through the first branch 22 , and the fourth oil passage 21 is connected to the second interface of the third directional valve 14 through the second branch 23 .

With this arrangement, switching between the first state, the second state and the third state of the above-mentioned directional valve assembly can be realized through the first directional valve 12 , the second directional valve 13 and the third directional valve 14 .

In an optional embodiment, the first directional valve 12 , the second directional valve 13 and the third directional valve 14 are all configured as electromagnetic directional valves. Moreover, the cylinder piston mechanism, the induction unit, the first oil passage 18, the second oil passage 19, the third oil passage 20, the fourth oil passage 21 and the reversing valve assembly are integrated together. Specifically, the above components are integrated into a block structure, as shown in Figure 2 As shown in Figure 3, various oil passages are opened inside the block structure, and there are installation grooves for installing the cylinder piston mechanism and interfaces for installing various valves and sensing units. With this arrangement, the hydraulic stepper control device provided by this embodiment has a high degree of integration and a stable and reliable structure.

The embodiment of the present application also provides a working machine, which includes a hydraulic actuator and a hydraulic step control device as described in any of the above embodiments. The fourth oil path 21 is connected to the hydraulic actuator. With such an arrangement, the hydraulic stepper control device and working machinery provided in this embodiment can achieve precise control of the hydraulic actuator and are suitable for special working conditions. The derivation process of this beneficial effect is generally similar to the derivation process of the beneficial effect brought by the above-mentioned hydraulic step control device, and will not be described again here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

A hydraulic step control device for step control of a hydraulic actuator of a work machine, which is characterized in that it includes:

The cylinder piston mechanism includes a cylinder (11) and a piston (17) arranged in the cylinder (11). The piston (17) divides the inner cavity of the cylinder (11) into a first cavity. cavity and second cavity;

The first oil passage (18) is connected to the end of the first cavity;

The second oil passage (19) is connected to the end of the second cavity;

The third oil circuit (20) is used to connect with the oil source to input hydraulic medium into the inner cavity of the cylinder barrel (11);

The fourth oil circuit (21) is used to connect with the hydraulic actuator to output hydraulic medium to the hydraulic actuator;

The reversing valve assembly is connected to the first oil passage (18), the second oil passage (19), the third oil passage (20) and the fourth oil passage (21), and the reversing valve assembly can Switching between a first state and a second state, in the first state, the third oil channel (20) is connected to the first oil channel (18), and the second oil channel (19 ) is connected to the fourth oil channel (21); in the second state, the third oil channel (20) is connected to the second oil channel (19), and the first oil channel ( 18) Communicated with the fourth oil passage (21); controlling the step action of the hydraulic actuator by repeatedly switching between the first state and the second state through the reversing valve assembly.
The hydraulic step control device according to claim 1, characterized in that the reversing valve assembly further includes a third state, and in the third state, the third oil circuit (20) and the third The four oil lines (21) are connected.
The hydraulic step control device according to claim 1, further comprising:

A sensing unit is configured to generate a sensing signal when the piston (17) is displaced to the end of the first cavity or to the end of the second cavity.
The hydraulic step control device according to claim 3, characterized in that the sensing unit includes:

A first induction module (15), when the piston (17) is displaced to the end position of the first cavity, the first induction module (15) generates an induction signal;

The second sensing module (16) generates a sensing signal when the piston (17) moves to the end position of the second cavity.
The hydraulic step control device according to claim 3 or 4, further comprising:

A counting module, electrically connected to the sensing unit, used to respectively count the number of times the piston (17) is displaced to the first cavity terminal and the second cavity terminal;

A control module, connected to the counting module and the reversing valve assembly, is used to control the reversing valve assembly according to the initial position and target position of the hydraulic actuator to control the displacement of the piston (17) to the desired position. The number of reciprocations between the first cavity terminal and the second cavity terminal.
The hydraulic step control device according to claim 1, characterized in that the reversing valve assembly includes a first reversing valve (12), the third oil passage (20) and the first reversing valve (12) is connected to the first interface, and the first oil passage (18) and the second oil passage (19) are respectively connected to the second interface and the third interface of the first reversing valve (12).
The hydraulic step control device according to claim 6, characterized in that the reversing valve assembly includes a second reversing valve (13), the fourth oil passage (21) and the second reversing valve (13) is connected to the first interface, and the first oil passage (18) and the second oil passage (19) are respectively connected to the second interface and the third interface of the second reversing valve (13).
The hydraulic step control device according to claim 7, characterized in that the reversing valve assembly includes a third reversing valve (14), and the third oil passage (20) passes through the first branch passage (22) Connected to the first interface of the third reversing valve (14), the fourth oil passage (21) is connected to the second interface of the third reversing valve (14) through the second branch (23) .
The hydraulic step control device according to claim 1, characterized in that: The cylinder piston mechanism, the first oil passage (18), the second oil passage (19), the third oil passage (20), the fourth oil passage (21) and the reversing The valve components are integrated together.
A working machine, characterized by including:

Hydraulic actuator;

The hydraulic step control device according to any one of claims 1 to 9, wherein the fourth oil passage (21) is connected to the hydraulic actuator.