Servo hydraulic cylinder control oil way locking method

Abstract

The invention relates to a servo hydraulic cylinder control oil way locking method. The invention relates to the technical field of hydraulic control. A first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve and a fourth electromagnetic directional valve are set to be in a power-off state; preparing a secondary pilot valve and a servo valve; controlling high-pressure supply oil to start to enter a pipeline; after the system runs, the system is controlled to enter a stop state; when the pressure of high-pressure oil in the band-type brake mechanism, namely the pressure value of the pressure sensor is reduced to be below the band-type brake pressure threshold value, the band-type brake mechanism can hold the hydraulic cylinder tightly, so that the system is stable; at the moment, the system recovers to the initial state. According to the hydraulic locking device, the problem of internal force fighting caused by improper operation of a mechanical locking device is solved, the phenomenon of system state deviation caused by hydraulic leakage when a hydraulic locking device is purely adopted is avoided, and it is guaranteed that the system locking function is effectively and safely achieved.

Description

Technical Field

[0001] The invention relates to the technical field of hydraulic control, and relates to a servo hydraulic cylinder control oil circuit locking method. Background Art

[0002] In the hydraulic servo motion system, the system is required to have a locking function when it is in the initial state or stable state. Especially in the field of heavy load applications, this function is a must to ensure the stability and safety of the system or the needs of load installation.

[0003] Disadvantages of existing technology:

[0004] In order to achieve this function, the conventional method is to use a mechanical locking device or a hydraulic locking device. The mechanical locking device fixes the system in a certain state through mechanical force, while the hydraulic locking device maintains the system in a certain state by cutting off the oil circuit.

[0005] However, in actual application, both methods have limited application occasions. When the mechanical locking device implements the locking force, if the system is not properly controlled, it can cause internal force disputes with the driving force in the hydraulic circuit, and even cause damage to the mechanical device; and the hydraulic locking device will leak hydraulic oil over time, making it difficult to maintain the current system state. Therefore, a safer and more effective control method is needed to complete this function to make up for the shortcomings of traditional methods. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a servo hydraulic cylinder controlled oil circuit locking method. The present invention mainly eliminates the internal force dispute problem caused by improper operation of the mechanical locking device, avoids the system state deviation phenomenon caused by hydraulic leakage of the hydraulic locking device alone, and ensures the effective and safe realization of the system locking function.

[0007] The present invention provides the following technical solutions:

[0008] A servo hydraulic cylinder control oil circuit locking method, the method comprising the following steps:

[0009] A servo hydraulic cylinder control oil circuit locking control system, characterized in that the system includes: a first electromagnetic reversing valve, a first cartridge valve, a first pressure reducing valve, a second electromagnetic reversing valve, a second cartridge valve, a secondary pilot valve, a third electromagnetic reversing valve, a servo valve, a fourth electromagnetic reversing valve, a check valve, a second pressure reducing valve, a hydraulic cylinder, a brake mechanism and a pressure sensor.

[0010] A servo hydraulic cylinder control oil circuit locking method, the method is based on a servo hydraulic cylinder control oil circuit locking control system, the method comprises the following steps:

[0011] Step 1: setting the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve to a power-off state;

[0012] Step 2: Prepare the secondary pilot valve and servo valve;

[0013] Step 3: Control the high-pressure supply oil to start entering the pipeline; the system uses the motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve in this process is energized, the hydraulic control oil of the first cartridge valve is connected to the T port, so that the first cartridge valve is opened, and then the high-pressure oil at the P port passes through the first cartridge valve;

[0014] Step 4: After the system runs, the control enters the stop state;

[0015] Step 5: The high-pressure oil pressure in the brake mechanism, that is, the pressure value of the pressure sensor, drops to the brake pressure threshold value P down Next, the brake mechanism will clamp the hydraulic cylinder to stabilize the system; at this time, the second solenoid reversing valve, the third solenoid reversing valve and the fourth solenoid reversing valve are powered off, and together with the first solenoid reversing valve which has been powered off, the system returns to its initial state.

[0016] Preferably, when the power is off in step 1, the high-pressure oil at port P is not delivered to the secondary pilot valve and the servo valve, no high-pressure oil passes through the second pressure reducing valve and the one-way valve, the brake mechanism is in a clamped state, and the hydraulic cylinder is stationary.

[0017] Preferably, the step 2 is specifically:

[0018] The second electromagnetic reversing valve is energized, so that the hydraulic control opening oil circuit of the second cartridge valve is controlled and connected to the T port, so that it is in an open state, waiting for the subsequent supply of high-pressure oil;

[0019] The third electromagnetic reversing valve is energized, causing the original conduction state of the left and right chambers of the servo valve to change to a state controlled by the secondary pilot valve.

[0020] Preferably, in step 3, the high-pressure oil is divided into three outputs after coming out of the first cartridge valve:

[0021] The first route passes through the second pressure reducing valve and the one-way valve in sequence and serves as the opening pressure of the brake mechanism;

[0022] When the pressure of the pressure sensor reaches the opening pressure P of the brake mechanism up After that, the brake is opened, and the states of the first proximity switch and the second proximity switch on the brake mechanism will change accordingly, thereby releasing the mechanical limit in advance for the subsequent movement of the hydraulic cylinder.

[0023] Preferably, the second path is delivered to the secondary pilot valve through the first pressure reducing valve, and the movement of the valve core of the secondary pilot valve controls the movement of the servo valve core, thereby controlling the reciprocating motion of the hydraulic cylinder.

[0024] Preferably, the third high-pressure oil flows into the servo valve through the opened second cartridge valve, serving as the driving force for the movement of the hydraulic cylinder; at this point, the brake mechanism has been opened, and the hydraulic cylinder is in the zero-position control state of the servo valve, waiting for the system to send a movement instruction.

[0025] Preferably, the step 4 is specifically:

[0026] The fourth solenoid reversing valve is energized and the first solenoid reversing valve is de-energized; the first solenoid reversing valve is de-energized so that the control oil circuit of the first cartridge valve is connected to the T port, the first cartridge valve is closed, and the high-pressure oil at the P port is cut off, so that no high-pressure oil flows to the brake mechanism through the second pressure reducing valve and the one-way valve. The fourth solenoid reversing valve is energized so that the remaining high-pressure oil in the brake mechanism flows to the T port through the opened fourth solenoid reversing valve, and the high-pressure oil pressure in the brake mechanism gradually decreases.

[0027] A computer-readable storage medium stores a computer program, which is executed by a processor to implement a servo hydraulic cylinder control oil circuit locking method.

[0028] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements a servo hydraulic cylinder control oil circuit locking method when executing the computer program.

[0029] The present invention has the following beneficial effects:

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] The modified three-stage electro-hydraulic servo valve (composed of a two-stage pilot valve and a servo valve) of the present invention cooperates with the brake mechanism to perform the corresponding electromagnetic valve operation sequence to complete the locking function of the system oil circuit. After locking, the system state is completely determined by the movement position of the hydraulic cylinder during the brake, and the system state will not change due to liquid leakage in the oil circuit. At the same time, according to the operation sequence control, during the brake process, there is no internal force dispute between the brake device and the hydraulic pressure, which ensures the safety of operation.

[0032] The method of the present invention eliminates the internal force disputes caused by improper operation of the mechanical locking device, avoids the system state deviation caused by hydraulic leakage of the hydraulic locking device alone, and ensures the effective and safe realization of the system locking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 Shown is a schematic diagram of the hydraulic control circuit of the present invention;

[0035] Figure 2 Shown is a system workflow diagram of the present invention.

[0036] Figure 3 Shown is a structural diagram of a modified three-stage electro-hydraulic servo valve of the present invention;

[0037] Figure 4 Shown is the electrical principle diagram of the controlled electromagnetic reversing valve of the present invention;

[0038] Figure 5 Shown is the electrical schematic diagram of the pressure sensor acquisition of the present invention;

[0039] Figure 6 Shown is the electrical schematic diagram of the brake mechanism proximity switch of the present invention.

[0040] Figure 1 Among them, 1-the first solenoid reversing valve, 2-the first cartridge valve, 3-the first pressure reducing valve, 4-the second solenoid reversing valve, 5-the second cartridge valve, 6-the secondary pilot valve, 7-the third solenoid reversing valve, 8-the servo valve, 9-the fourth solenoid reversing valve, 10-the one-way valve, 11-the second pressure reducing valve, 12-the hydraulic cylinder, 13-the brake mechanism, and 14-the pressure sensor. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] The present invention is described in detail below in conjunction with specific embodiments. Specific embodiment one:

[0047] according to Figures 1 to 6 As shown, the specific optimization technical solution adopted by the present invention to solve the above technical problems is: the present invention relates to a servo hydraulic cylinder control oil circuit locking method.

[0048] The present invention provides a servo hydraulic cylinder control oil circuit locking control system, the system comprising: a first solenoid reversing valve 1, a first cartridge valve 2, a first pressure reducing valve 3, a second solenoid reversing valve 4, a second cartridge valve 5, a secondary pilot valve 6, a third solenoid reversing valve 7, a servo valve 8, a fourth solenoid reversing valve 9, a one-way valve 10, a second pressure reducing valve 11, a hydraulic cylinder 12, a brake mechanism 13 and a pressure sensor 14. Specific embodiment 2:

[0050] The difference between the second embodiment of the present application and the first embodiment is that:

[0051] The present invention provides a servo hydraulic cylinder control oil circuit locking method, the method is based on a servo hydraulic cylinder control oil circuit locking control system, the method comprises the following steps:

[0052] Step 1: The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are set to a power-off state;

[0053] Step 2: Prepare the secondary pilot valve 6 and the servo valve 8;

[0054] Step 3: Control the high-pressure supply oil to start entering the pipeline; the system uses the motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve 1 in this process is energized, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil at the P port passes through the first cartridge valve 2;

[0055] Step 4: After the system runs, the control enters the stop state;

[0056] Step 5: The high pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, drops to the brake pressure threshold value P down Next, the brake mechanism 13 will clamp the hydraulic cylinder 12 to stabilize the system; at this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, and together with the first electromagnetic reversing valve 1 which has been powered off, the system returns to its initial state. Specific embodiment three:

[0058] The difference between the third embodiment of the present application and the second embodiment is that:

[0059] When the power is off in step 1, the high-pressure oil at port P is not delivered to the secondary pilot valve 6 and the servo valve 8, no high-pressure oil passes through the second pressure reducing valve 11 and the one-way valve 10, the brake mechanism 13 is in a clamped state, and the hydraulic cylinder 12 is stationary. Specific embodiment four:

[0061] The difference between the fourth embodiment of the present application and the third embodiment is that:

[0062] The step 2 is specifically as follows:

[0063] The second electromagnetic reversing valve 4 is energized, so that the hydraulic control opening oil circuit of the second cartridge valve 5 is controlled to be connected to the T port, so that it is in an open state, waiting for the subsequent supply of high-pressure oil;

[0064] The third electromagnetic reversing valve 7 is energized, so that the original conduction state of the left and right chambers of the servo valve 8 changes to a state controlled by the secondary pilot valve 6. Specific embodiment five:

[0066] The difference between the fifth embodiment of the present invention and the fourth embodiment is that:

[0067] In step 3, the high-pressure oil is divided into three outputs after coming out of the first cartridge valve 2:

[0068] The first path passes through the second pressure reducing valve 11 and the one-way valve 10 in sequence and serves as the opening pressure of the brake mechanism 13;

[0069] When the pressure of the pressure sensor 14 reaches the opening pressure P of the brake mechanism 13 up After that, the brake is opened, and the states of the first proximity switch and the second proximity switch on the brake mechanism 13 will change accordingly, thereby releasing the mechanical limit in advance for the subsequent movement of the hydraulic cylinder 12. Specific embodiment six:

[0071] The difference between the sixth embodiment of the present invention and the fifth embodiment is that:

[0072] The second route is delivered to the secondary pilot valve 6 through the first pressure reducing valve 3 , and the movement of the valve core of the servo valve 8 is controlled by the movement of the valve core of the secondary pilot valve 6 , thereby controlling the reciprocating motion of the hydraulic cylinder 12 . Specific embodiment seven:

[0074] The difference between the seventh embodiment of the present invention and the sixth embodiment is that:

[0075] The third high-pressure oil flows into the servo valve 8 through the opened second cartridge valve 5, serving as the driving force for the movement of the hydraulic cylinder 12; at this point, the brake mechanism 13 has been opened, and the hydraulic cylinder 12 is in the zero-position control state of the servo valve 8, waiting for the system to send a movement instruction. Specific embodiment eight:

[0077] The difference between the eighth embodiment of the present invention and the seventh embodiment is that:

[0078] The step 4 is specifically as follows:

[0079] The fourth solenoid reversing valve 9 is energized and the first solenoid reversing valve 1 is de-energized; the first solenoid reversing valve 1 is de-energized so that the control oil circuit of the first cartridge valve 2 is connected to the T port, the first cartridge valve 2 is closed, and the high-pressure oil at the P port is cut off, so that no high-pressure oil flows to the brake mechanism 13 through the second pressure reducing valve 11 and the one-way valve 10, and the fourth solenoid reversing valve 9 is energized so that the remaining high-pressure oil in the brake mechanism 13 flows to the T port through the opened fourth solenoid reversing valve 9, and the high-pressure oil pressure in the brake mechanism 13 gradually decreases. Specific embodiment nine:

[0081] The difference between the ninth embodiment of the present invention and the eighth embodiment is that:

[0082] The present invention provides a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement a servo hydraulic cylinder control oil circuit locking method.

[0083] The method comprises the following steps:

[0084] Step 1: The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are set to a power-off state;

[0085] Step 2: Prepare the secondary pilot valve 6 and the servo valve 8;

[0086] Step 3: Control the high-pressure supply oil to start entering the pipeline; the system uses the motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve 1 in this process is energized, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil at the P port passes through the first cartridge valve 2;

[0087] Step 4: After the system runs, the control enters the stop state;

[0088] Step 5: The high pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, drops to the brake pressure threshold value P down Next, the brake mechanism 13 will clamp the hydraulic cylinder 12 to stabilize the system; at this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, and together with the first electromagnetic reversing valve 1 which has been powered off, the system returns to its initial state. Specific embodiment ten:

[0090] The difference between the tenth embodiment of the present invention and the ninth embodiment is that:

[0091] The present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements a servo hydraulic cylinder control oil circuit locking method when executing the computer program.

[0092] The method comprises the following steps:

[0093] Step 1: The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are set to a power-off state;

[0094] Step 2: Prepare the secondary pilot valve 6 and the servo valve 8;

[0095] Step 3: Control the high-pressure supply oil to start entering the pipeline; the system uses the motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve 1 in this process is energized, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil at the P port passes through the first cartridge valve 2;

[0096] Step 4: After the system runs, the control enters the stop state;

[0097] Step 5: The high pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, drops to the brake pressure threshold value P downNext, the brake mechanism 13 will clamp the hydraulic cylinder 12 to stabilize the system; at this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, and together with the first electromagnetic reversing valve 1 which has been powered off, the system returns to its initial state. Specific embodiment eleven:

[0099] The difference between the eleventh embodiment of the present invention and the tenth embodiment is that:

[0100] Figure 1 The schematic diagram of a single hydraulic cylinder control oil circuit is given. The entire system is composed of the first electromagnetic reversing valve 1, the first cartridge valve 2, the first pressure reducing valve 3, the second electromagnetic reversing valve 4, the second cartridge valve 5, the secondary pilot valve 6, the third electromagnetic reversing valve 7, the servo valve 8, the fourth electromagnetic reversing valve 9, the check valve 10, the second pressure reducing valve 11, the hydraulic cylinder 12, the brake mechanism 13, and the pressure sensor 14.

[0101] The system is divided into five processes from the initial state, working state to the final stop state: process 1 initial state, process 2 servo valve pre-position, process 3 main oil supply, process 4 distributor closing and process 5 end state. The detailed and complete working process is described as follows:

[0102] Process 1: The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are all in the power-off state. At this time, the high-pressure oil at the P port is not delivered to the secondary pilot valve 6 and the servo valve 8, and no high-pressure oil passes through the second pressure reducing valve 11 and the one-way valve 10. The brake mechanism 13 is in the clamping state, and the hydraulic cylinder 12 is stationary.

[0103] Step 2: The secondary pilot valve 6 and the servo valve 8 are ready. The specific working process is as follows: the second electromagnetic reversing valve 4 is energized, so that the hydraulic control opening oil circuit of the second cartridge valve 5 is controlled to be connected to the T port, so that it is in an open state and waits for the subsequent supply of high-pressure oil. The third electromagnetic reversing valve 7 is energized, so that the original left and right chamber conduction state of the servo valve 8 changes to a state controlled by the secondary pilot valve 6.

[0104] Process 3: In this process, high-pressure supply oil begins to enter the pipeline. The specific operation process is as follows: First, the system is driven by a motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve 1 in this process is energized, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 opens, and then the high-pressure oil at the P port passes through the first cartridge valve 2. After the high-pressure oil comes out of the first cartridge valve 2, it is divided into 3 outputs. The first route passes through the second pressure reducing valve 11 and the one-way valve 10 in turn and serves as the opening pressure of the brake mechanism 13. When the pressure of the pressure sensor 14 reaches the opening pressure P of the brake mechanism 13 upAfter that, the brake is opened, and the states of the first proximity switch and the second proximity switch on the brake mechanism 13 will change accordingly, thereby releasing the mechanical limit in advance for the subsequent movement of the hydraulic cylinder 12; the second route is delivered to the secondary pilot valve 6 through the first pressure reducing valve 3, and the movement of the valve core of the servo valve 8 is controlled by the valve core movement of the secondary pilot valve 6, thereby controlling the reciprocating movement of the hydraulic cylinder 12; the third route high-pressure oil flows into the servo valve 8 through the opened second cartridge valve 5, serving as the driving force for the movement of the hydraulic cylinder 12. At this point, the brake mechanism 13 has been opened, and the hydraulic cylinder 12 is in the zero position control state of the three-stage servo valve, waiting for the system to send a movement instruction.

[0105] Process 4: This process is when the system is about to enter the stop state after running. The specific control process is as follows: the fourth electromagnetic reversing valve 9 is energized, and the first electromagnetic reversing valve 1 is de-energized. The first electromagnetic reversing valve 1 is de-energized so that the control oil circuit of the first cartridge valve 2 is connected to the T port, the first cartridge valve 2 is closed, and the high-pressure oil at the P port is cut off, so that no high-pressure oil flows to the brake mechanism 13 through the second pressure reducing valve 11 and the one-way valve 10. At the same time, the fourth electromagnetic reversing valve 9 is energized so that the high-pressure oil remaining in the brake mechanism 13 flows to the T port through the opened fourth electromagnetic reversing valve 9, and the high-pressure oil pressure in the brake mechanism 13 will gradually decrease.

[0106] Step 5: After a period of time, the high-pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, drops to the brake pressure threshold value P down Next, the brake mechanism 13 will hold the hydraulic cylinder 12 tightly to stabilize the system. At this time, the second electromagnetic reversing valve 4, the fourth electromagnetic reversing valve 9 and the third electromagnetic reversing valve 7 are powered off, and the first electromagnetic reversing valve 1 is powered off, and the system returns to the initial state.

[0107] Electrical part:

[0108] Figure 4 The electrical schematic diagram of the electromagnetic reversing valve is given. The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are respectively controlled by the computer IO control board card through the P1, P2, P3 and P4 ports of the conditioning board DG3, and the power supply 24V is provided by the pin 2 in the corresponding port, and the control signal is controlled by the pin 1 in the corresponding port.

[0109] Figure 5 The electrical schematic diagram of the pressure sensor is given. The pressure sensor 14 that collects the brake pressure is transmitted by the computer analog acquisition board LC2-1 through the P1 port of the analog conditioning board AG2. Its power supply 24V is provided by pin 3 in the port, and the pressure signal is collected by pin 6 in the port.

[0110] Figure 6The electrical schematic diagram of the proximity switch of the brake mechanism 13 is given. The states of the first proximity switch and the second proximity switch of the brake mechanism 13 are respectively collected by the P1 and P2 ports of the computer IO acquisition board DG2, and the power supply 24V is provided by pin 4 in the port, and the signal is collected by pin 3 in the port.

[0111] Control part:

[0112] According to the description of the system working process and the control status of the reversing valve, the system control flow chart is as follows Figure 2 The corresponding solenoid valve control timing is shown in Table 1. Table 1 shows the opening state of the corresponding control solenoid valve when the oil circuit is working and closed. Among them, 1 represents power on and 0 represents power off.

[0113] Compared with the traditional control circuit, the present invention creatively adds a third electromagnetic reversing valve 7 between the secondary pilot valve 6 and the servo valve 8. Figure 3 As shown. When working, the third electromagnetic reversing valve 7 is energized, so that the secondary pilot valve 6 and the servo valve 8 form a conventional three-stage electro-hydraulic servo valve to control the reciprocating operation of the hydraulic cylinder 12; when stopping, the third electromagnetic reversing valve 7 is de-energized, so that the two chambers of the servo valve 8 are connected, and the valve core of the servo valve 8 is restored to the zero position state by the hydraulic fluid force. At this time, even if there is a time difference between the operation time of the mechanical brake holding the hydraulic cylinder 12 and the closing time of the third electromagnetic reversing valve 7, the free position of the valve core of the servo valve 8 will be adaptively changed through the hydraulic force, so that there is no internal force in the system, and there is no internal force dispute in the mechanical system.

[0114] It can be seen that the modified three-stage electro-hydraulic servo valve (composed of the two-stage pilot valve 6 and the servo valve 8) and the brake mechanism 13 cooperate with each other according to the operation sequence of the corresponding solenoid valve in Table 1 to complete the locking function of the system oil circuit. After locking, the system state is completely determined by the movement position of the hydraulic cylinder 12 during the brake, and the system state will not change due to liquid leakage in the oil circuit. At the same time, according to the operation sequence control in Table 1, during the brake process, there is no internal force dispute between the brake device and the hydraulic pressure, which ensures the safety of operation.

[0115] Table 1. Operation timing table

[0116]

[0117]

[0118] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction. In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0119] The above is only a preferred implementation of a servo hydraulic cylinder control oil circuit locking method. The protection scope of a servo hydraulic cylinder control oil circuit locking method is not limited to the above embodiment. All technical solutions under this idea belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, several improvements and changes without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A servo hydraulic cylinder control oil circuit locking control system, characterized by: The system comprises: a first electromagnetic reversing valve, a first cartridge valve, a first pressure reducing valve, a second electromagnetic reversing valve, a second cartridge valve, a secondary pilot valve, a third electromagnetic reversing valve, a servo valve, a fourth electromagnetic reversing valve, a check valve, a second pressure reducing valve, a hydraulic cylinder, a brake mechanism and a pressure sensor.

2. A method for locking an oil circuit controlled by a servo hydraulic cylinder, the method being based on the system of claim 1, characterized in that: The method comprises the following steps: Step 1: setting the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve to a power-off state; Step 2: Prepare the secondary pilot valve and servo valve; Step 3: Control the high-pressure supply oil to start entering the pipeline; the system uses the motor to drive the hydraulic pump to output high-pressure hydraulic oil from the oil tank to the P port. When the first solenoid reversing valve in this process is energized, the hydraulic control oil of the first cartridge valve is connected to the T port, so that the first cartridge valve is opened, and then the high-pressure oil at the P port passes through the first cartridge valve; Step 4: After the system runs, the control enters the stop state; Step 5: The high-pressure oil pressure in the brake mechanism, that is, the pressure value of the pressure sensor, drops to the brake pressure threshold value P down Next, the brake mechanism will clamp the hydraulic cylinder to stabilize the system; at this time, the second solenoid reversing valve, the third solenoid reversing valve and the fourth solenoid reversing valve are powered off, and together with the first solenoid reversing valve which has been powered off, the system returns to its initial state.

3. The method according to claim 2, characterized in that: When the power is off in step 1, the high-pressure oil at port P is not delivered to the secondary pilot valve and servo valve, no high-pressure oil passes through the second pressure reducing valve and the one-way valve, the brake mechanism is in a clamped state, and the hydraulic cylinder is stationary.

4. The method according to claim 1, characterized in that: The step 2 is specifically as follows: The second electromagnetic reversing valve is energized, so that the hydraulic control opening oil circuit of the second cartridge valve is controlled and connected to the T port, so that it is in an open state, waiting for the subsequent supply of high-pressure oil; The third electromagnetic reversing valve is energized, causing the original conduction state of the left and right chambers of the servo valve to change to a state controlled by the secondary pilot valve.

5. The method according to claim 4, characterized in that: In step 3, the high-pressure oil is divided into three outputs after coming out of the first cartridge valve: The first route passes through the second pressure reducing valve and the one-way valve in sequence and serves as the opening pressure of the brake mechanism; When the pressure of the pressure sensor reaches the opening pressure P of the brake mechanism up After that, the brake is opened, and the states of the first proximity switch and the second proximity switch on the brake mechanism will change accordingly, thereby releasing the mechanical limit in advance for the subsequent movement of the hydraulic cylinder.

6. The method according to claim 1, characterized in that: The second route is delivered to the secondary pilot valve through the first pressure reducing valve. The movement of the valve core of the secondary pilot valve controls the movement of the servo valve core, thereby controlling the reciprocating motion of the hydraulic cylinder.

7. The method according to claim 6, characterized in that: The third line of high-pressure oil flows into the servo valve through the opened second cartridge valve, serving as the driving force for the movement of the hydraulic cylinder; at this point, the brake mechanism has been opened, and the hydraulic cylinder is in the zero-position control state of the servo valve, waiting for the system to send a movement command.

8. The method according to claim 7, characterized in that: The step 4 is specifically as follows: The fourth solenoid reversing valve is energized and the first solenoid reversing valve is de-energized; the first solenoid reversing valve is de-energized so that the control oil circuit of the first cartridge valve is connected to the T port, the first cartridge valve is closed, and the high-pressure oil at the P port is cut off, so that no high-pressure oil flows to the brake mechanism through the second pressure reducing valve and the one-way valve. The fourth solenoid reversing valve is energized so that the remaining high-pressure oil in the brake mechanism flows to the T port through the opened fourth solenoid reversing valve, and the high-pressure oil pressure in the brake mechanism gradually decreases.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to claims 2-8.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method of claims 2-8 is implemented.

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