An intelligent hydraulic power output system

Abstract

An intelligent hydraulic power output system, a three-way pipeline divides the oil discharge of the hydraulic pump into two routes, one route supplies the flow control valve, and the other route supplies the proportional relief valve, differential pressure reducing valves 1 to 3 respectively; differential pressure reducing valve 1 is connected to actuator 1 through main reversing valve 1 and hydraulic control check valve group; shuttle valve 1 compares the pressure of two load output branches on main reversing valve 1 and outputs to the control oil port of differential pressure reducing valve 1; differential pressure reducing valve 2 is connected to actuator 2 through main reversing valve 2; shuttle valve 1 compares the pressure of two load output branches on main reversing valve 1 and outputs to the control oil port of differential pressure reducing valve 1; differential pressure reducing valve 3 is connected to actuator 3 through a variable throttle valve; each load branch is connected with a pressure sensor, and is connected to the control oil port of the flow control valve through an auxiliary reversing valve; the ground wheel and satellite speed measurement modules are installed on the operating machinery. The system can effectively reduce overflow loss and effectively improve the control accuracy of each actuator.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic technology, and in particular relates to an intelligent hydraulic power output system. Background Art

[0002] Hydraulic transmission has many advantages, such as high power density, high degree of automation, stable working state, and stepless speed change. Therefore, it has been widely used in technical fields such as engineering machinery, construction machinery, agricultural machinery, and metallurgical machinery. In the prior art, hydraulic transmission systems are usually used to drive the actuators. With the continuous improvement of the functions of mechanical equipment, the demand for driving single or multiple actuators is increasing, and at the same time, the requirements for control accuracy are constantly improving. However, the existing hydraulic transmission systems generally have problems such as large overflow loss, low efficiency, high heat generation, and poor control accuracy, and cannot meet the current use requirements of hydraulic systems. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides an intelligent hydraulic power output system, which can effectively reduce overflow losses and greatly reduce the heat generated by overflow. At the same time, it can significantly improve the working efficiency of the actuator. Furthermore, the system can simultaneously meet the use requirements of a single actuator or multiple actuators coexisting, and can effectively improve the control accuracy of each actuator.

[0004] In order to achieve the above-mentioned purpose, the present invention provides an intelligent hydraulic power output system, including an engine, a hydraulic pump, a flow control valve, a differential pressure reducing valve 1, a differential pressure reducing valve 2, a differential pressure reducing valve 3, a main reversing valve 1, an actuator 1, a shuttle valve 1, a main reversing valve 2, an actuator 2, a shuttle valve 2, an actuator 3, an auxiliary reversing valve 1, an auxiliary reversing valve 2, an auxiliary reversing valve 3, an auxiliary reversing valve 4, an auxiliary reversing valve 5, a pressure sensor 2, a pressure sensor 1, a pressure sensor 3, a pressure sensor 4, a pressure sensor 5, a ground wheel, a satellite speed measurement module, an encoder and a controller;

[0005] The output shaft of the engine is connected to the transmission shaft of the hydraulic pump through a connecting device, and the oil suction port of the hydraulic pump is connected to the hydraulic oil tank.

[0006] The oil discharge port of the hydraulic pump is connected to the oil inlet of the three-way pipeline, one oil outlet of the three-way pipeline is respectively connected to the P port of the proportional relief valve, the A port of the differential pressure reducing valve 1, the A port of the differential pressure reducing valve 2 and the A port of the differential pressure reducing valve 3; the other oil outlet of the three-way pipeline is connected to the oil inlet of the flow control valve;

[0007] The B port of the differential pressure reducing valve 1 is connected to the P port of the main reversing valve 1, and the A port and the B port of the main reversing valve 1 are respectively connected to the two working oil ports of the actuator 1 through the first one-way valve and the second one-way valve in the hydraulically controlled one-way valve group; the hydraulic control port of the first one-way valve is connected to the liquid inlet of the second one-way valve through the signal oil circuit, and the hydraulic control port of the second one-way valve is connected to the liquid inlet of the first one-way valve through the signal oil circuit; the two comparison oil ports of the shuttle valve 1 are respectively connected to the A port and the B port of the main reversing valve 1, and the oil outlet of the shuttle valve 1 is connected to the control oil port of the differential pressure reducing valve 1 through the signal oil circuit; the B port of the differential pressure reducing valve 2 is connected to the P port of the main reversing valve 2, The A port and the B port of the main reversing valve 2 are respectively connected to the two working oil ports of the actuator 2; the two comparison oil ports of the shuttle valve 2 are respectively connected to the A port and the B port of the main reversing valve 2, and the oil outlet of the shuttle valve 2 is connected to the control oil port of the differential pressure reducing valve 2 through the signal oil circuit; the B port of the differential pressure reducing valve 3 is connected to an oil port of the actuator 3 through the variable throttle valve, and the other oil port of the actuator 3 is connected to the hydraulic oil tank; the oil outlet of the variable throttle valve is also transferred to the control oil port of the differential pressure reducing valve 3 through the signal oil circuit; the T port of the proportional relief valve, the oil outlet of the flow control valve, the T port of the main reversing valve 1 and the T port of the main reversing valve 2 are all connected to the hydraulic oil tank;

[0008] The A port of the auxiliary reversing valve 1, the B port of the auxiliary reversing valve 2, the A port of the auxiliary reversing valve 3, the B port of the auxiliary reversing valve 4 and the A port of the auxiliary reversing valve 5 are all connected to the control oil port of the flow control valve through the signal oil circuit; the B port of the auxiliary reversing valve 1 and the A port of the auxiliary reversing valve 2 are respectively connected to the A port and the B port of the main reversing valve 1 through the signal oil circuit; the B port of the auxiliary reversing valve 3 and the A port of the auxiliary reversing valve 4 are respectively connected to the A port and the B port of the main reversing valve 2 through the signal oil circuit; the B port of the auxiliary reversing valve 5 is connected to the oil outlet of the variable throttle valve through the signal oil circuit;

[0009] The pressure sensor 2 and the pressure sensor 1 are connected to the A port and the B port of the main reversing valve 1 respectively; the pressure sensor 3 and the pressure sensor 4 are connected to the A port and the B port of the main reversing valve 2 respectively; the pressure sensor 5 is connected to the oil outlet of the variable throttle valve;

[0010] The ground wheel and the satellite speed measurement module are both installed on the working machine; the ground wheel is used to move synchronously with the running wheel of the working machine; the encoder is installed on the ground wheel and is used to collect the speed signal in real time; the satellite speed measurement module is used to provide the speed signal;

[0011] The controller is respectively connected to the proportional relief valve, auxiliary reversing valve 1, auxiliary reversing valve 2, auxiliary reversing valve 3, auxiliary reversing valve 4, auxiliary reversing valve 5, main reversing valve 1, main reversing valve 2, pressure sensor 2, pressure sensor 1, pressure sensor 3, pressure sensor 4, pressure sensor 5 and the encoder; the satellite speed measurement module is connected to the controller through a communication conversion device.

[0012] As a preference, the connecting device is a coupling.

[0013] Preferably, the communication conversion device is an analog-to-digital converter for converting analog signals into digital signals and sending them to the controller.

[0014] As a preference, the controller is a PLC controller.

[0015] As a preferred embodiment, the main reversing valve is an O-type functional three-position four-way solenoid reversing valve. When it is energized and working in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and working in the middle position, its P port, A port, B port and T port are all cut off. When it is energized and working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

[0016] As a preferred embodiment, the main reversing valve 2 is a Y-type functional three-position four-way solenoid reversing valve. When it is energized and working in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and working in the middle position, its P port is cut off, and its A port, B port and T port are connected to each other. When it is energized and working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

[0017] As a preferred embodiment, the auxiliary reversing valve one, the auxiliary reversing valve two, the auxiliary reversing valve three, the auxiliary reversing valve four and the auxiliary reversing valve five are all two-position two-way electromagnetic reversing valves, which work in the upper position when energized, and the oil circuit between the A port and the B port is connected, and work in the lower position when de-energized, and the oil circuit between the A port and the B port is disconnected.

[0018] As a preferred embodiment, the oil path size between the A port and the B port of the auxiliary reversing valve 1, the auxiliary reversing valve 2, the auxiliary reversing valve 3, the auxiliary reversing valve 4 and the auxiliary reversing valve 5 is 0.6 mm.

[0019] In the present invention, by setting the hydraulically controlled one-way valve group, the state of the actuator one can be locked when the main reversing valve one is powered off and works in the middle position, so as to prevent the operating condition of malfunction due to oil leakage of the hydraulic component. By the coordinated setting of the differential pressure reducing valve one and the shuttle valve one, and by the coordinated setting of the differential pressure reducing valve two and the shuttle valve two, a pressure compensator can be formed, thereby ensuring that the action speed or the flow rate of the actuator one and the actuator two is only related to the opening of the throttle port, and will not be affected by the load change. By the coordinated setting of the differential pressure reducing valve three and the variable throttle valve, the action speed of the actuator three is only related to the opening of the throttle port, and has nothing to do with the load change. By setting the pressure sensors one to five, the pressure signal of each load branch can be collected in real time, and can be fed back to the controller in real time, so that the controller can obtain the pressure value of each load branch in real time. Since it is difficult for the differential pressure reducing valve to maintain its initial set pressure difference when the load pressure increases, auxiliary reversing valves one to five are respectively arranged in the signal oil circuit between each load branch and the control oil port of the flow control valve. This allows the controller to control the connection or disconnection of the corresponding auxiliary reversing valve according to the pressure value of each load branch, and then the high pressure of the corresponding load branch can be applied to the control oil port of the flow control valve when the load pressure increases, thereby reducing the internal valve opening of the flow control valve, so that only a small part of the oil discharged from the hydraulic pump discharge port flows back to the hydraulic oil tank through the flow control valve, and most of the oil is supplied to the differential pressure reducing valve, so that the pressure of the differential pressure reducing valve increases until it reaches a new equilibrium state, which not only meets its initial set pressure difference but also fully meets its load pressure requirements. At the same time, when the load pressure is reduced and the differential pressure reducing valve is difficult to maintain its initial setting pressure, the signal oil circuit between the load branch and the flow control valve control oil port can be disconnected by controlling the auxiliary reversing valve, thereby reducing the pressure acting on the flow control valve control oil port, increasing the opening of the valve port inside the flow control valve, and making most of the oil discharged from the hydraulic pump discharge port flow back to the hydraulic oil tank through the flow control valve. In this way, the pressure oil supplied to the differential pressure reducing valve will become less, and then the pressure of the differential pressure reducing valve inlet will drop until it reaches its initial setting pressure again. Since it is equipped with a dual-mode speed measurement system, the problems of low precision and large error of the traditional speed measurement method are avoided, and an accurate judgment basis can be provided for the regulation of the hydraulic system, effectively improving the control accuracy of the actuator. The present invention can feed back the pressure of the highest pressure circuit to the flow control valve in real time in an automated manner, solving the problems of delayed feedback and easy damage of the traditional differential pressure reducing valve and shuttle valve combination. Compared with the technical solution of the traditional quantitative pump and pressure compensator, the excess flow in this system will not pass through the proportional overflow valve, but will directly flow back to the oil tank through the flow control valve, thereby avoiding the problem of overflow heat loss. At the same time, the present invention can effectively improve the control accuracy of each actuator and effectively improve the working efficiency of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the hydraulic principle diagram of the present invention.

[0021] In the figure: 1. Hydraulic oil tank, 2. Engine, 3. Connecting device, 4. Hydraulic pump, 5. Three-way pipe, 6. Flow control valve, 7. Proportional relief valve, 8. Auxiliary reversing valve 1, 9. Controller, 10. Satellite speed measurement module, 11. Communication conversion device, 12. Encoder, 13. Speed ​​measuring ground wheel, 14. Differential pressure reducing valve 1, 15. Main reversing valve 1, 16. Auxiliary reversing valve 2, 17. Pressure sensor 1, 18. Shuttle valve 1, 1 9. Hydraulic control one-way valve group, 20. Pressure sensor 2, 21. Actuator 1, 22. Auxiliary reversing valve 3, 23. Pressure sensor 3, 24. Actuator 2, 25. Shuttle valve 2, 26. Pressure sensor 4, 27. Auxiliary reversing valve 4, 28. Main reversing valve 2, 29. Differential pressure reducing valve 2, 30. Auxiliary reversing valve 5, 31. Actuator 3, 32. Pressure sensor 5, 33. Variable throttle valve, 34. Differential pressure reducing valve 3. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 As shown, an intelligent hydraulic power output system includes an engine 2, a hydraulic pump 4, a flow control valve 6, a differential pressure reducing valve 14, a differential pressure reducing valve 29, a differential pressure reducing valve 34, a main reversing valve 15, an actuator 21, a shuttle valve 18, a main reversing valve 28, an actuator 24, a shuttle valve 25, an actuator 31, an auxiliary reversing valve 18, an auxiliary reversing valve 2 16, an auxiliary reversing valve 3 22, an auxiliary reversing valve 4 27, an auxiliary reversing valve 5 30, a pressure sensor 2 20, a pressure sensor 17, a pressure sensor 3 23, a pressure sensor 4 26, a pressure sensor 5 32, a ground wheel 13, a satellite speed measurement module 10, an encoder 12 and a controller 9;

[0024] The output shaft of the engine 2 is connected to the transmission shaft of the hydraulic pump 4 through a connecting device 3, and the oil suction port of the hydraulic pump 4 is connected to the hydraulic oil tank 1;

[0025] The oil discharge port of the hydraulic pump 4 is connected to the oil inlet of the three-way pipe 5, and one oil outlet of the three-way pipe 5 is respectively connected to the P port of the proportional relief valve 7, the A port of the differential pressure reducing valve 14, the A port of the differential pressure reducing valve 29 and the A port of the differential pressure reducing valve 34; the other oil outlet of the three-way pipe 5 is connected to the oil inlet of the flow control valve 6;

[0026] The B port of the differential pressure reducing valve 14 is connected to the P port of the main reversing valve 15, and the A port and the B port of the main reversing valve 15 are respectively connected to the two working oil ports of the actuator 21 through the first one-way valve and the second one-way valve in the hydraulically controlled one-way valve group 19; the hydraulic control port of the first one-way valve is connected to the liquid inlet of the second one-way valve through the signal oil circuit, and the hydraulic control port of the second one-way valve is connected to the liquid inlet of the first one-way valve through the signal oil circuit; the two comparison oil ports of the shuttle valve 18 are respectively connected to the A port and the B port of the main reversing valve 15, and the oil outlet of the shuttle valve 18 is connected to the control oil port of the differential pressure reducing valve 14 through the signal oil circuit; the B port of the differential pressure reducing valve 29 is connected to the P port of the main reversing valve 28, and the main reversing valve 2 The A port and the B port of the shuttle valve 28 are respectively connected to the two working oil ports of the actuator 24; the two comparison oil ports of the shuttle valve 25 are respectively connected to the A port and the B port of the main reversing valve 28, and the oil outlet of the shuttle valve 25 is connected to the control oil port of the differential pressure reducing valve 29 through the signal oil circuit; the B port of the differential pressure reducing valve 34 is connected to an oil port of the actuator 3 31 through the variable throttle valve 33, and the other oil port of the actuator 3 31 is connected to the hydraulic oil tank 1; the oil outlet of the variable throttle valve 33 is also transferred to the control oil port of the differential pressure reducing valve 34 through the signal oil circuit; the T port of the proportional relief valve 7, the oil outlet of the flow control valve 6, the T port of the main reversing valve 15 and the T port of the main reversing valve 28 are all connected to the hydraulic oil tank 1;

[0027] The circuit where the actuator 1 21 is located can be used to drive a working device that needs to be switched and locked. Through the setting of the hydraulic control check valve group 19, the state of the actuator 1 21 can be locked when the main reversing valve 1 15 is powered off and works in the middle position, so as to prevent the operating condition of malfunction due to oil leakage of the hydraulic component. The circuit where the actuator 2 24 is located can be used to drive a working device that needs to be switched and floated. When the main reversing valve 2 28 is powered off and works in the middle position, the actuator 2 24 can float under the action of the external load. The circuit where the actuator 3 31 is located can be used to drive a working device that needs speed regulation. Through the matching setting of the differential pressure reducing valve 1 and the shuttle valve 1, and through the matching setting of the differential pressure reducing valve 2 and the shuttle valve 2, a pressure compensator can be formed, thereby ensuring that the action speed or the flow rate of the actuator 1 and the actuator 2 is only related to the opening of the throttle port, and will not be affected by the load change. Through the matching setting of the differential pressure reducing valve 3 and the variable throttle valve, the action speed of the actuator 3 is only related to the opening of the throttle port, and has nothing to do with the load change.

[0028] The A port of the auxiliary reversing valve 1 8, the B port of the auxiliary reversing valve 2 16, the A port of the auxiliary reversing valve 3 22, the B port of the auxiliary reversing valve 4 27 and the A port of the auxiliary reversing valve 5 30 are all connected to the control oil port of the flow control valve 6 through the signal oil circuit; the B port of the auxiliary reversing valve 1 8 and the A port of the auxiliary reversing valve 2 16 are respectively connected to the A port and the B port of the main reversing valve 1 15 through the signal oil circuit; the B port of the auxiliary reversing valve 3 22 and the A port of the auxiliary reversing valve 4 27 are respectively connected to the A port and the B port of the main reversing valve 2 28 through the signal oil circuit; the B port of the auxiliary reversing valve 5 30 is connected to the oil outlet of the variable throttle valve 33 through the signal oil circuit;

[0029] The pressure sensor 20 and the pressure sensor 17 are connected to the A port and the B port of the main reversing valve 15 respectively; the pressure sensor 3 23 and the pressure sensor 4 26 are connected to the A port and the B port of the main reversing valve 2 28 respectively; the pressure sensor 5 32 is connected to the oil outlet of the variable throttle valve 33;

[0030] The ground wheel 13 and the satellite speed measurement module 10 are both installed on the working machine; the ground wheel 13 is used to move synchronously with the running wheel of the working machine; the encoder 12 is installed on the ground wheel 13 and is used to collect the speed signal in real time; the satellite speed measurement module 10 is used to provide the speed signal;

[0031] The controller 9 is respectively connected to the proportional relief valve 7, the auxiliary reversing valve 1 8, the auxiliary reversing valve 2 16, the auxiliary reversing valve 3 22, the auxiliary reversing valve 4 27, the auxiliary reversing valve 5 30, the main reversing valve 15, the main reversing valve 2 28, the pressure sensor 2 20, the pressure sensor 1 17, the pressure sensor 3 23, the pressure sensor 4 26, the pressure sensor 5 32 and the encoder 12; the satellite speed measurement module 10 is connected to the controller 9 through the communication conversion device 11.

[0032] As a preference, the connecting device 3 is a coupling.

[0033] As a preference, the communication conversion device 11 is an analog-to-digital converter, which is used to convert an analog signal into a digital signal and send it to the controller 9 .

[0034] As a preference, the controller 9 is a PLC controller.

[0035] As a preferred embodiment, the main reversing valve 15 is an O-type functional three-position four-way solenoid reversing valve. When it is energized and working in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and working in the middle position, its P port, A port, B port and T port are all cut off. When it is energized and working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

[0036] As a preferred embodiment, the main reversing valve 28 is a Y-type functional three-position four-way solenoid reversing valve. When it is energized and working in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and working in the middle position, its P port is cut off, and its A port, B port and T port are connected to each other. When it is energized and working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

[0037] As a preferred embodiment, the auxiliary reversing valve 1 8 , the auxiliary reversing valve 2 16 , the auxiliary reversing valve 3 22 , the auxiliary reversing valve 4 27 and the auxiliary reversing valve 5 30 are all two-position two-way electromagnetic reversing valves, which work in the upper position when energized, and the oil circuit between the A port and the B port is connected, and work in the lower position when de-energized, and the oil circuit between the A port and the B port is disconnected.

[0038] As a preferred embodiment, the oil path size between the A port and the B port of the auxiliary reversing valve 1 8, the auxiliary reversing valve 2 16, the auxiliary reversing valve 3 22, the auxiliary reversing valve 4 27 and the auxiliary reversing valve 5 30 is 0.6 mm. The oil path size of 0.6 mm can reduce the flow rate of the hydraulic oil passing through, so that it can effectively serve as the pressure signal oil and act on the control oil port of the flow control valve 6;

[0039] As a preference, the actuator 1 21 , the actuator 2 24 and the actuator 3 31 can all be hydraulic cylinders.

[0040] In the present invention, by setting the hydraulically controlled one-way valve group, the state of the actuator one can be locked when the main reversing valve one is powered off and works in the middle position, so as to prevent the operating condition of malfunction due to oil leakage of the hydraulic component. By the coordinated setting of the differential pressure reducing valve one and the shuttle valve one, and by the coordinated setting of the differential pressure reducing valve two and the shuttle valve two, a pressure compensator can be formed, thereby ensuring that the action speed or the flow rate of the actuator one and the actuator two is only related to the opening of the throttle port, and will not be affected by the load change. By the coordinated setting of the differential pressure reducing valve three and the variable throttle valve, the action speed of the actuator three is only related to the opening of the throttle port, and has nothing to do with the load change. By setting the pressure sensors one to five, the pressure signal of each load branch can be collected in real time, and can be fed back to the controller in real time, so that the controller can obtain the pressure value of each load branch in real time. Since it is difficult for the differential pressure reducing valve to maintain its initial set pressure difference when the load pressure increases, auxiliary reversing valves one to five are respectively arranged in the signal oil circuit between each load branch and the control oil port of the flow control valve. This allows the controller to control the connection or disconnection of the corresponding auxiliary reversing valve according to the pressure value of each load branch, and then the high pressure of the corresponding load branch can be applied to the control oil port of the flow control valve when the load pressure increases, thereby reducing the internal valve opening of the flow control valve, so that only a small part of the oil discharged from the hydraulic pump discharge port flows back to the hydraulic oil tank through the flow control valve, and most of the oil is supplied to the differential pressure reducing valve, so that the pressure of the differential pressure reducing valve increases until it reaches a new equilibrium state, which not only meets its initial set pressure difference but also fully meets its load pressure requirements. At the same time, when the load pressure is reduced and the differential pressure reducing valve is difficult to maintain its initial setting pressure, the signal oil circuit between the load branch and the flow control valve control oil port can be disconnected by controlling the auxiliary reversing valve, thereby reducing the pressure acting on the flow control valve control oil port, increasing the opening of the valve port inside the flow control valve, and making most of the oil discharged from the hydraulic pump discharge port flow back to the hydraulic oil tank through the flow control valve. In this way, the pressure oil supplied to the differential pressure reducing valve will become less, and then the pressure of the differential pressure reducing valve inlet will drop until it reaches its initial setting pressure again. Since it is equipped with a dual-mode speed measurement system, the problems of low precision and large error of the traditional speed measurement method are avoided, and an accurate judgment basis can be provided for the regulation of the hydraulic system, effectively improving the control accuracy of the actuator. The present invention can feed back the pressure of the highest pressure circuit to the flow control valve in real time in an automated manner, solving the problems of delayed feedback and easy damage of the traditional differential pressure reducing valve and shuttle valve combination. Compared with the technical solution of the traditional quantitative pump and pressure compensator, the excess flow in this system will not pass through the proportional overflow valve, but will directly flow back to the oil tank through the flow control valve, thereby avoiding the problem of overflow heat loss. At the same time, the present invention can effectively improve the control accuracy of each actuator and effectively improve the working efficiency of the actuator.

[0041] Working principle:

[0042] 1. If only one actuator is in action:

[0043] If only the actuator 21 is working, the pressure signals of the oil circuits where the B port and the A port of the main reversing valve 15 are located are collected through the pressure sensor 17 and the pressure sensor 20 respectively, and sent to the controller 9 in real time. The controller 9 obtains the corresponding pressure value according to the received pressure signal, and compares the two pressure values. If the pressure value corresponding to the pressure sensor 20 is larger, the auxiliary reversing valve 8 is controlled to be energized and work in the upper position, and the oil circuit between its A port and B port is connected, so that the high-pressure oil flowing out of the A port of the main reversing valve 15 is supplied to the control oil port of the flow control valve 6. If the pressure value corresponding to the pressure sensor 17 is larger, the auxiliary reversing valve 2 16 is controlled to be energized and work in the upper position, and the oil circuit between its A port and B port is connected, so that the high-pressure oil flowing out of the B port of the main reversing valve 15 is supplied to the control oil port of the flow control valve 6. When the load pressure of the actuator 21 is When rising, the oil entering the control oil port of the flow control valve 6 pushes the valve core to move in the direction of the compression spring, so that the channel size between the oil inlet and the oil outlet becomes smaller, the amount of hydraulic oil flowing into the hydraulic oil tank 1 through the flow control valve 6 decreases, and the hydraulic oil flowing to the differential pressure reducing valve 14A port increases, and the pressure at the differential pressure reducing valve 14A port increases, so that the differential pressure reducing valve 14 reaches balance again and can maintain its initial set pressure difference; if the load pressure of the actuator 121 decreases at this time, the differential pressure reducing valve 14 is difficult to maintain its initial set pressure difference. At this time, the pressure acting on the control oil port of the flow control valve 6 decreases, the hydraulic oil flowing through the flow control valve 6 back to the oil tank increases, and the hydraulic oil flowing to the differential pressure reducing valve 14 decreases, and the pressure at the oil inlet of the differential pressure reducing valve 14 decreases, and the differential pressure reducing valve 14 reaches balance again and can maintain its initial set pressure difference. In this way, the flow of the actuator 121 can be related only to the opening of the corresponding throttle port, and is not affected by the load.

[0044] If only the actuator 24 is working, the pressure signals of the oil circuits where the A port and the B port of the main reversing valve 28 are located are collected through the pressure sensor 3 23 and the pressure sensor 4 26 respectively, and sent to the controller 9 in real time. The controller 9 obtains the corresponding pressure value according to the received pressure signal, and compares the two pressure values. If the pressure value corresponding to the pressure sensor 3 23 is larger, the auxiliary reversing valve 3 22 is controlled to be energized and work in the upper position, and the oil circuit between its A port and its B port is connected, so that the high-pressure oil flowing out of the A port of the main reversing valve 28 is supplied to the control oil port of the flow control valve 6. If the pressure value corresponding to the pressure sensor 4 26 is larger, the auxiliary reversing valve 4 27 is controlled to be energized and work in the upper position, and the oil circuit between its A port and its B port is connected, so that the high-pressure oil flowing out of the B port of the main reversing valve 28 is supplied to the control oil port of the flow control valve 6. When the load pressure of the actuator 24 is When rising, the oil entering the control oil port of the flow control valve 6 pushes the valve core to move in the direction of the compression spring, so that the channel size between the oil inlet and the oil outlet becomes smaller, the amount of hydraulic oil flowing into the hydraulic oil tank 1 through the flow control valve 6 decreases, and the hydraulic oil flowing to the differential pressure reducing valve 29A port increases, and the pressure at the differential pressure reducing valve 29A port increases, so that the differential pressure reducing valve 29A reaches balance again and can maintain its initial set pressure difference; if the load pressure of the actuator 24 decreases at this time, the differential pressure reducing valve 29 will find it difficult to maintain its initial set pressure difference. At this time, the pressure acting on the control oil port of the flow control valve 6 decreases, the hydraulic oil flowing through the flow control valve 6 back to the oil tank increases, and the hydraulic oil flowing to the differential pressure reducing valve 29 decreases, and the pressure at the oil inlet of the differential pressure reducing valve 29 decreases, and the differential pressure reducing valve 29 reaches balance again and can maintain its initial set pressure difference. In this way, the flow of the actuator 24 can be only related to the opening of the corresponding throttle port, and is not affected by the load.

[0045] If only the actuator three 31 is working, the pressure signal at the oil outlet of the variable throttle valve 33 is collected through the pressure sensor five 32 and sent to the controller 9 in real time. The controller 9 obtains the corresponding pressure value according to the received pressure signal. When the pressure value exceeds the set pressure value, the auxiliary reversing valve five 30 is controlled to be energized and work in the upper position. The oil circuit between its A port and B port is connected, and the high-pressure oil flowing out of the oil outlet of the variable throttle valve 33 is supplied to the control oil port of the flow control valve 6; when the load pressure of the actuator three 31 rises, the oil entering the control oil port of the flow control valve 6 pushes the valve core to move in the direction of the compression spring, so that the channel size between the oil inlet and the oil outlet becomes smaller, and the oil flows through the flow control valve 6 The amount of hydraulic oil flowing into the hydraulic oil tank 1 decreases, and the amount of hydraulic oil flowing to the differential pressure reducing valve 334A port increases, and the pressure at the differential pressure reducing valve 334A port increases, so that the differential pressure reducing valve 334A reaches balance again and can maintain its initial set pressure difference; if the load pressure of the actuator 331 decreases at this time, the differential pressure reducing valve 334 will find it difficult to maintain its initial set pressure difference. At this time, the pressure acting on the control oil port of the flow control valve 6 decreases, and the amount of hydraulic oil flowing back to the oil tank through the flow control valve 6 increases, and the amount of hydraulic oil flowing to the differential pressure reducing valve 334 decreases, and the pressure at the oil inlet of the differential pressure reducing valve 334 decreases, and the differential pressure reducing valve 334 reaches balance again and can maintain its initial set pressure difference. In this way, the flow of the actuator 331 is only related to the opening of the corresponding throttle port, and is not affected by the load.

[0046] During this process, if the pressure signal fed back by any one of pressure sensor 17, pressure sensor 20, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32 is greater than the system set pressure value, the controller 9 controls the proportional relief valve 7 to open to unload the system.

[0047] 2. If multiple actuators act simultaneously:

[0048] If actuator 1 21, actuator 2 24 and actuator 3 31 are all working, the pressure signals of the corresponding oil circuits are collected simultaneously by pressure sensor 1 17, pressure sensor 2 20, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32, and sent to controller 9 in real time. Controller 9 compares the sizes of feedback signals from pressure sensor 1 17, pressure sensor 2 20, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32, and controls the auxiliary reversing valve 1 8 or auxiliary reversing valve 2 16 or auxiliary reversing valve 3 22 or auxiliary reversing valve 4 27 or auxiliary reversing valve 5 30 corresponding to the load branch with the largest pressure to be energized and work in the upper position, so that the pressure of the corresponding load branch acts on the control oil port of the flow control valve 6. At this time, the amount of hydraulic oil flowing to the corresponding actuator is controlled by the circuit with the largest pressure.

[0049] If the feedback signals of pressure sensor 17, pressure sensor 20, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32 are 5MPa, 0, 12MPa, 0 and 7MPa respectively, the auxiliary reversing valve 3 22 is energized and works in the upper position, the oil circuit between its A port and B port is connected, and the pressure at the A port of the main reversing valve 2 28 acts on the control oil port of the flow control valve 6. At this time, the pressure acting on the control oil port of the flow control valve 6 is compared with the pressure of the spring in its spring chamber. If the control oil port pressure is large, the hydraulic oil flowing through the flow control valve 6 and returning to the oil tank becomes less, and the system output oil volume becomes larger. Otherwise, the hydraulic oil flowing through the flow control valve 6 and returning to the oil tank becomes more, the system output oil volume becomes smaller, and the flow control valve 6 will automatically adjust to a new equilibrium state. If at a certain moment, due to the increase in the working pressure of the actuator 21, the feedback signal of the pressure sensor 20 rises to 15MPa, the auxiliary reversing valve 3 22 is controlled to lose power and disconnect, and the auxiliary reversing valve 1 8 is controlled to be energized and work in the upper position, the oil circuit between its A port and B port is connected, and the pressure of the main reversing valve 15A port acts on the control oil port of the flow control valve 6. At this time, the hydraulic oil flowing through the flow control valve 6 and back to the oil tank becomes less.

[0050] During this process, if any feedback signal from pressure sensor 1 17, pressure sensor 2 20, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32 is greater than the system set pressure, the controller 9 controls the proportional relief valve 7 to open to unload the system.

[0051] 3. No actuator action:

[0052] If no actuator is working in the system, the pressure signals collected by pressure sensor 2 20, pressure sensor 1 17, pressure sensor 3 23, pressure sensor 4 26 and pressure sensor 5 32 are all 0, and the controller 9 obtains the corresponding pressure value of 0 based on the received pressure signal, then the auxiliary reversing valve 1 8, auxiliary reversing valve 2 16, auxiliary reversing valve 3 22, auxiliary reversing valve 4 27 and auxiliary reversing valve 5 30 are kept in a de-energized and disconnected state, and the pressure acting on the control oil port of the flow control valve 6 is zero, the size of the oil channel between the oil inlet and the oil outlet of the flow control valve 6 is the largest, and the flow output by the hydraulic pump 4 basically all flows back to the hydraulic oil tank 1 through the flow control valve 6, and will not overflow through the proportional overflow valve 7, and thus no pressure loss will be generated.

[0053] During the above actions, if each actuator needs to match the walking speed, the controller 9 obtains the walking speed according to the speed signal collected by the encoder. If the walking speed is greater than 0.25m / s, the controller 9 uses the speed signal provided by the satellite speed measurement module 10 as a reference to perform precision matching of the actuator action. If the walking speed is ≤0.25m / s, the controller 9 uses the speed signal of the encoder 12 as a reference to perform precision matching of the actuator action. Therefore, the present application adopts a combination of two speed measurement schemes to solve the problem of large speed signal error of the satellite speed measurement module 10 when the speed is ≤0.25m / s, and at the same time, solve the problem of large speed signal error caused by the ground wheel 13 slipping easily when the speed is greater than 0.25m / s.

Claims

1. An intelligent hydraulic power output system, comprising an engine (2) and a hydraulic pump (4), wherein the output shaft of the engine (2) is connected to the transmission shaft of the hydraulic pump (4) through a connecting device (3), and the oil suction port of the hydraulic pump (4) is connected to a hydraulic oil tank (1), characterized in that: It also includes a flow control valve (6), a differential pressure reducing valve 1 (14), a differential pressure reducing valve 2 (29), a differential pressure reducing valve 3 (34), a main reversing valve 1 (15), an actuator 1 (21), a shuttle valve 1 (18), a main reversing valve 2 (28), an actuator 2 (24), a shuttle valve 2 (25), an actuator 3 (31), an auxiliary reversing valve 1 (8), an auxiliary reversing valve 2 (16), an auxiliary reversing valve 3 (22), an auxiliary reversing valve 4 (27), an auxiliary reversing valve 5 (30), a pressure sensor 2 (20), a pressure sensor 1 (17), a pressure sensor 3 (23), a pressure sensor 4 (26), a pressure sensor 5 (32), a ground wheel (13), a satellite speed measurement module (10), an encoder (12) and a controller (9); The oil discharge port of the hydraulic pump (4) is connected to the oil inlet of the three-way pipeline (5); one oil outlet of the three-way pipeline (5) is respectively connected to the P port of the proportional relief valve (7), the A port of the differential pressure reducing valve 1 (14), the A port of the differential pressure reducing valve 2 (29) and the A port of the differential pressure reducing valve 3 (34); the other oil outlet of the three-way pipeline (5) is connected to the oil inlet of the flow control valve (6); The B port of the differential pressure reducing valve (14) is connected to the P port of the main reversing valve (15), and the A port and the B port of the main reversing valve (15) are respectively connected to the two working oil ports of the actuator (21) through the first non-return valve and the second non-return valve in the hydraulic control non-return valve group (19); the hydraulic control port of the first non-return valve is connected to the liquid inlet of the second non-return valve through the signal oil circuit, and the hydraulic control port of the second non-return valve is connected to the liquid inlet of the first non-return valve through the signal oil circuit; the two comparison oil ports of the shuttle valve (18) are respectively connected to the A port and the B port of the main reversing valve (15), and the oil outlet of the shuttle valve (18) is connected to the control oil port of the differential pressure reducing valve (14) through the signal oil circuit; the B port of the differential pressure reducing valve (29) is connected to the P port of the main reversing valve (28), and the A port of the main reversing valve (28) is connected to the control oil port of the differential pressure reducing valve (14) through the signal oil circuit. The A and B ports are respectively connected to the two working oil ports of the actuator 2 (24); the two comparison oil ports of the shuttle valve 2 (25) are respectively connected to the A port and the B port of the main reversing valve 2 (28); the oil outlet of the shuttle valve 2 (25) is connected to the control oil port of the differential pressure reducing valve 2 (29) through a signal oil circuit; the B port of the differential pressure reducing valve 3 (34) is connected to an oil port of the actuator 3 (31) through a variable throttle valve (33), and the other oil port of the actuator 3 (31) is connected to the hydraulic oil tank (1); the oil outlet of the variable throttle valve (33) is also connected to the control oil port of the differential pressure reducing valve 3 (34) through a signal oil circuit; the T port of the proportional relief valve (7), the oil outlet of the flow control valve (6), the T port of the main reversing valve 1 (15) and the T port of the main reversing valve 2 (28) are all connected to the hydraulic oil tank (1); The A port of the auxiliary reversing valve 1 (8), the B port of the auxiliary reversing valve 2 (16), the A port of the auxiliary reversing valve 3 (22), the B port of the auxiliary reversing valve 4 (27) and the A port of the auxiliary reversing valve 5 (30) are all connected to the control oil port of the flow control valve (6) through a signal oil circuit; the B port of the auxiliary reversing valve 1 (8) and the A port of the auxiliary reversing valve 2 (16) are respectively connected to the A port and the B port of the main reversing valve 1 (15) through a signal oil circuit; the B port of the auxiliary reversing valve 3 (22) and the A port of the auxiliary reversing valve 4 (27) are respectively connected to the A port and the B port of the main reversing valve 2 (28) through a signal oil circuit; the B port of the auxiliary reversing valve 5 (30) is connected to the oil outlet of the variable throttle valve (33) through a signal oil circuit; The pressure sensor 2 (20) and the pressure sensor 1 (17) are respectively connected to the A port and the B port of the main reversing valve 1 (15); the pressure sensor 3 (23) and the pressure sensor 4 (26) are respectively connected to the A port and the B port of the main reversing valve 2 (28); the pressure sensor 5 (32) is connected to the oil outlet of the variable throttle valve (33); The ground wheel (13) and the satellite speed measurement module (10) are both installed on the working machine; the ground wheel (13) is used to move synchronously with the running wheel of the working machine; the encoder (12) is installed on the ground wheel (13) and is used to collect the rotation speed signal in real time; the satellite speed measurement module (10) is used to provide the speed signal; The controller (9) is respectively connected to the proportional relief valve (7), the auxiliary reversing valve 1 (8), the auxiliary reversing valve 2 (16), the auxiliary reversing valve 3 (22), the auxiliary reversing valve 4 (27), the auxiliary reversing valve 5 (30), the main reversing valve 1 (15), the main reversing valve 2 (28), the pressure sensor 2 (20), the pressure sensor 1 (17), the pressure sensor 3 (23), the pressure sensor 4 (26), the pressure sensor 5 (32) and the encoder (12); the satellite speed measurement module (10) is connected to the controller (9) via a communication conversion device (11).

2. The intelligent hydraulic power output system according to claim 1, characterized in that: The connecting device (3) is a coupling.

3. An intelligent hydraulic power output system according to claim 1 or 2, characterized in that: The communication conversion device (11) is an analog-to-digital converter, which is used to convert analog signals into digital signals and send them to the controller (9).

4. The intelligent hydraulic power output system according to claim 3, characterized in that: The controller (9) is a PLC controller.

5. The intelligent hydraulic power output system according to claim 4, characterized in that: The main reversing valve 1 (15) is an O-type three-position four-way electromagnetic reversing valve. When it is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and works in the middle position, its P port, A port, B port and T port are all blocked. When it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

6. The intelligent hydraulic power output system according to claim 5, characterized in that: The second main reversing valve (28) is a Y-type three-position four-way electromagnetic reversing valve. When it is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and works in the middle position, its P port is cut off, and its A port, B port and T port are connected to each other. When it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected.

7. An intelligent hydraulic power output system according to claim 6, characterized in that: The auxiliary reversing valve 1 (8), the auxiliary reversing valve 2 (16), the auxiliary reversing valve 3 (22), the auxiliary reversing valve 4 (27) and the auxiliary reversing valve 5 (30) are all two-position two-way electromagnetic reversing valves. When they are energized, they work in the upper position, and the oil circuit between their A port and their B port is connected. When they are de-energized, they work in the lower position, and the oil circuit between their A port and their B port is disconnected.

8. The intelligent hydraulic power output system according to claim 7, characterized in that: The oil path size between the A port and the B port of the auxiliary reversing valve 1 (8), the auxiliary reversing valve 2 (16), the auxiliary reversing valve 3 (22), the auxiliary reversing valve 4 (27) and the auxiliary reversing valve 5 (30) is 0.6 mm.

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