Method for detecting displacement of valve stem of directional valve, detection device and directional valve

Abstract

The embodiment of the application provides a kind of direction valve stem displacement detection method, detection device and direction valve, belong to engineering machinery technical field.The method is applied to direction valve, the first initial force of first reset spring is obtained by first force sensor, and the second initial force of second reset spring is obtained by second force sensor;First solenoid valve and second solenoid valve are controlled to make the valve stem translation until it is in equilibrium position;When the valve stem is in equilibrium position, the first equilibrium force of first reset spring is obtained by first force sensor, and the second equilibrium force of second reset spring is obtained by second force sensor;The displacement of valve stem is calculated based on first initial force, second initial force, first equilibrium force and second equilibrium force.The process measures the force of reset spring by force sensor, and the displacement of valve stem is calculated by force, which improves the efficiency of valve stem displacement detection and reduces the cost of displacement detection.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to a method, device, and directional valve for detecting the displacement of the valve stem of a directional valve. Background Technology

[0002] Currently, cranes rely on directional valves to achieve lifting, luffing, and telescopic movements. Individual directional valves are configured as multi-way directional valves, either in segmented or integral forms. When the crane performs a single movement, the valve stem displacement of the directional valve is related to the flow rate through the valve stem, thus affecting the crane's load movement speed. When the crane performs multiple movements, the valve stem displacements of different directional valves also affect the flow distribution relationship of each movement of the crane. Therefore, real-time monitoring and comparison of valve stem displacement can improve the control performance of the directional valves.

[0003] Existing technologies for detecting the displacement of directional valve stems mainly include two methods: using displacement sensors to acquire the valve stem displacement, or using the principle of electromagnetic induction to obtain the valve stem displacement. However, using displacement sensors to acquire the valve stem displacement requires complex components, is costly, and cannot effectively monitor the valve stem displacement in real time while the crane is operating. Furthermore, obtaining the valve stem displacement using the principle of electromagnetic induction requires two processes: motion mode conversion and motion-to-electrical signal conversion, which necessitates more mechanical components and is also costly. Summary of the Invention

[0004] Based on this, the first aspect of the present invention provides a method for detecting the displacement of a directional valve stem, which can reduce the cost of detecting the displacement of a directional valve stem. This method is applied to a directional valve, which includes a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. The method includes:

[0005] The first initial force on the first reset spring is obtained by the first force sensor, and the second initial force on the second reset spring is obtained by the second force sensor.

[0006] Control the first and second solenoid valves to make the valve stem translate until it is in a balanced position;

[0007] When the valve stem is in the equilibrium position, the first equilibrium force on the first reset spring is obtained through the first force sensor, and the second equilibrium force on the second reset spring is obtained through the second force sensor.

[0008] The displacement of the valve stem is calculated based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force.

[0009] In this embodiment of the invention, the displacement of the valve stem is calculated based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force, including:

[0010] The first displacement of the first return spring is calculated based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first return spring.

[0011] The second displacement of the second return spring is calculated based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second return spring.

[0012] Determine whether the absolute values ​​of the first displacement and the second displacement are equal;

[0013] If the absolute values ​​of the first displacement and the second displacement are equal, the absolute value of the first displacement is taken as the displacement of the valve stem.

[0014] In this embodiment of the invention, after determining whether the absolute values ​​of the first displacement and the second displacement are equal, the method further includes:

[0015] If the absolute values ​​of the first displacement and the second displacement are not equal, recalculate the first preset stiffness coefficient of the first reset spring and the second preset stiffness coefficient of the second reset spring.

[0016] In this embodiment of the invention, the directional valve further includes a throttle orifice and a flow sensor disposed at the throttle orifice;

[0017] If the absolute values ​​of the first displacement and the second displacement are equal, after taking the absolute value of the first displacement as the displacement of the valve stem, the following is also included:

[0018] The actual operating flow rate of the throttling orifice is obtained through a flow sensor;

[0019] Calculate the predicted working flow rate of the throttle orifice based on the valve stem displacement;

[0020] Determine whether the actual workload and the predicted workload meet the preset conditions;

[0021] Under the premise of meeting the preset conditions, the accuracy of the displacement calculation is determined;

[0022] If the preset conditions are not met, it is determined that the displacement calculation is incorrect, and information is generated to prompt the replacement of the first and second reset springs.

[0023] A second aspect of the present invention provides a displacement detection device for a directional valve stem, applied to a directional valve, the directional valve including a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring, the device comprising:

[0024] The initial force acquisition module is used to acquire the first initial force of the first reset spring through the first force sensor, and to acquire the second initial force of the second reset spring through the second force sensor.

[0025] The solenoid valve control module is used to control the first solenoid valve and the second solenoid valve so that the valve stem moves until it is in a balanced position.

[0026] The balanced force acquisition module is used to acquire the first balanced force of the first reset spring through the first force sensor and the second balanced force of the second reset spring through the second force sensor when the valve stem is in the balanced position.

[0027] The displacement detection module is used to calculate the displacement of the valve stem based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force.

[0028] In this embodiment of the invention, the displacement detection module includes a first displacement determination unit, a second displacement determination unit, a judgment unit, and a displacement determination unit;

[0029] The first displacement determining unit is used to calculate the first displacement of the first reset spring based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first reset spring.

[0030] The second displacement determining unit is used to calculate the second displacement of the second reset spring based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second reset spring.

[0031] The judgment unit is used to determine whether the absolute values ​​of the first displacement and the second displacement are equal;

[0032] The displacement determination unit is used to determine the absolute value of the first displacement as the displacement of the valve stem if the absolute values ​​of the first displacement and the second displacement are equal.

[0033] In this embodiment of the invention, the directional valve further includes a throttling orifice and a flow sensor disposed at the throttling orifice, and the device further includes:

[0034] The actual working flow acquisition module is used to acquire the actual working flow of the throttling orifice through a flow sensor;

[0035] The calculation module is used to calculate the predicted working flow rate of the throttle orifice based on the displacement of the valve stem;

[0036] The judgment module is used to determine whether the actual workload and the predicted workload meet preset conditions.

[0037] The first determining module is used to determine the accuracy of the displacement calculation under preset conditions.

[0038] The second determining module is used to determine that the displacement calculation is incorrect if the preset conditions are not met, and to generate information to prompt the replacement of the first and second reset springs.

[0039] A third aspect of the present invention provides a directional valve, comprising: a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring;

[0040] The processor is configured to execute a method for detecting the displacement of the directional valve stem according to any one of the first aspects.

[0041] A fourth aspect of the present invention provides engineering machinery, comprising: a directional valve according to the third aspect.

[0042] The fifth aspect of the present invention provides a machine-readable storage medium storing instructions that, when executed by a processor, implement a method for detecting the displacement of a directional valve stem as described in any of the first aspects above.

[0043] The above technical solution applies to a directional valve, which includes a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. The method includes: acquiring a first initial force on the first return spring using the first force sensor, and acquiring a second initial force on the second return spring using the second force sensor; controlling the first and second solenoid valves to cause the valve stem to translate until it reaches an equilibrium position; when the valve stem is in the equilibrium position, acquiring a first equilibrium force on the first return spring using the first force sensor, and acquiring a second equilibrium force on the second return spring using the second force sensor; and calculating the valve stem displacement based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force. This process improves the efficiency of valve stem displacement detection and reduces the cost of displacement detection by measuring the force on the return spring using force sensors and calculating the valve stem displacement based on the force.

[0044] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0045] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0046] Figure 1 This is a schematic flowchart of a method for detecting the displacement of a directional valve stem provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the structure of a directional valve provided in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the structure of a directional valve stem displacement detection device provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0050] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0051] Existing technologies for detecting the displacement of directional valve stems mainly include two methods: using displacement sensors to obtain the valve stem displacement, or using the principle of electromagnetic induction to obtain the valve stem displacement. However, using displacement sensors to obtain the valve stem displacement requires complex components and cannot effectively monitor the valve stem displacement in real time while the crane is operating. On the other hand, obtaining the valve stem displacement using the principle of electromagnetic induction requires two processes: motion mode conversion and motion-to-electrical signal conversion, which requires more mechanical components and is more expensive.

[0052] Based on this, this application provides a method for detecting the displacement of a directional valve stem, which is applied to a directional valve. The directional valve includes a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. Figure 1 This is a schematic flowchart of a method for detecting the displacement of a directional valve stem according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of a directional valve 200 provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the directional valve 200 includes a first force sensor 201, a second force sensor 202, a first return spring 203, a valve stem 204, a flow sensor 205, a second return spring 206, a first solenoid valve 207, and a second solenoid valve 208. Figure 1 As shown, the method includes:

[0053] Step S101: Obtain the first initial force on the first reset spring through the first force sensor, and obtain the second initial force on the second reset spring through the second force sensor.

[0054] In practical applications, the first and second force sensors consist of three main parts: one or more elastic bodies capable of deformation under stress, a Wheatstone bridge circuit composed of strain gauges that sense this deformation, an adhesive that fixes the strain gauges to the elastic body and conducts the strain, and a sealant that protects the electronic circuitry. The first initial force is the initial force on the first return spring measured by the first force sensor when the first solenoid valve is neither energized nor de-energized. The second initial force is the initial force on the second return spring measured by the second force sensor when the second solenoid valve is neither energized nor de-energized.

[0055] Specifically, when neither the first solenoid valve 207 nor the second solenoid valve 208 is energized or de-energized, the first initial force of the first reset spring 203 is obtained by the first force sensor 201 installed on the first reset spring 203, and the second initial force of the second reset spring 206 is obtained by the second force sensor 202 installed on the second reset spring 206.

[0056] Step S102: Control the first solenoid valve and the second solenoid valve to make the valve stem translate until it is in a balanced position.

[0057] In practical applications, after measuring the first and second initial forces, controlling the energization or de-energization of the first solenoid valve 207 and the second solenoid valve 208 can cause the valve stem 204 to move to the equilibrium position. Specifically, when the first solenoid valve 207 is energized and the second solenoid valve 208 is de-energized, pressurized oil enters the left end of the valve stem 204, and pressurized oil exits the right end of the valve stem 204, realizing the reversal of the directional valve 200. At this time, the valve stem 204 moves from left to right, the first return spring 203 gradually extends, the force measured by the first force sensor 201 decreases, the second return spring 206 is gradually compressed, and the force measured by the second force sensor 202 increases. When the spring force of the first return spring 203 and the second return spring 206 and the generated frictional force are balanced with the oil pressure, the valve stem 204 is in the equilibrium position.

[0058] In practical applications, when the first solenoid valve 207 is de-energized and the second solenoid valve 208 is energized, pressurized oil enters the right end of the valve stem 204, and pressurized oil exits the left end, thus reversing the directional valve 200. At this time, the valve stem 204 moves from right to left, the second return spring 206 gradually extends, the force measured by the second force sensor 202 decreases, the first return spring 203 is gradually compressed, and the force measured by the first force sensor 201 increases. When the spring forces of the first return spring 203 and the second return spring 206, along with the resulting frictional force, are balanced with the oil pressure, the valve stem 204 is in an equilibrium position.

[0059] Step S103: When the valve stem is in the equilibrium position, the first equilibrium force of the first reset spring is obtained through the first force sensor, and the second equilibrium force of the second reset spring is obtained through the second force sensor.

[0060] In practical applications, the first balancing force is the force on the first return spring measured by the first force sensor when the valve stem is in the equilibrium position, and the second balancing force is the force on the second return spring measured by the second force sensor when the valve stem is in the equilibrium position.

[0061] In practical applications, when the valve stem 204 is in the equilibrium position, the first equilibrium force on the first reset spring 203 is obtained by the first force sensor 201, and the second equilibrium force on the second reset spring 206 is obtained by the second force sensor 202.

[0062] Step S104: Calculate the displacement of the valve stem based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force.

[0063] In practical applications, when valve stem 204 along Figure 2 When the middle moves from left to right, the first displacement of the first return spring 203 is calculated by the first initial force and the first balanced force, and the second displacement of the second return spring 206 is calculated by the second initial force and the second balanced force.

[0064] In practical applications, when valve stem 204 moves along... Figure 2 When the middle moves from right to left, the first displacement of the first return spring 203 is calculated by the first initial force and the first balanced force, and the second displacement of the second return spring 206 is calculated by the second initial force and the second balanced force.

[0065] Furthermore, the displacement of the valve stem 204 can be determined by the first displacement and the second displacement.

[0066] Through the above embodiments, this method is applied to a directional valve, which includes a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. The method includes: obtaining a first initial force on the first return spring through the first force sensor, and obtaining a second initial force on the second return spring through the second force sensor; controlling the first and second solenoid valves to cause the valve stem to translate until it reaches an equilibrium position; when the valve stem is in the equilibrium position, obtaining a first equilibrium force on the first return spring through the first force sensor, and obtaining a second equilibrium force on the second return spring through the second force sensor; and calculating the valve stem displacement based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force. This process improves the efficiency of valve stem displacement detection and reduces the cost of displacement detection by measuring the force on the return spring using force sensors and calculating the valve stem displacement based on the force.

[0067] In the above embodiments, step S104 includes:

[0068] The first displacement of the first return spring is calculated based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first return spring.

[0069] The second displacement of the second return spring is calculated based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second return spring.

[0070] Determine whether the absolute values ​​of the first displacement and the second displacement are equal;

[0071] If the absolute values ​​of the first displacement and the second displacement are equal, the absolute value of the first displacement is taken as the displacement of the valve stem.

[0072] In practical applications, the first preset stiffness coefficient k1 of the first return spring 203 is known, and the second preset stiffness coefficient k2 of the second return spring 206 is known. The first initial force measured by the first force sensor 201 is F1, and the first equilibrium force measured by the first force sensor 202 is F2. The second initial force measured by the second force sensor 202 is f1, and the second equilibrium force measured by the second force sensor 202 is f2.

[0073] Furthermore, the formula for calculating the first displacement x1 of the first return spring 203 is as follows: The formula for calculating the second displacement x2 of the second return spring 206 is as follows:

[0074] In practical applications, after calculating the first and second displacements, it is determined whether the absolute values ​​of the first and second displacements are equal. If the absolute values ​​of the first and second displacements are equal, it indicates that the displacement calculation of the valve stem 204 is accurate, and the absolute value of the first displacement is taken as the displacement of the valve stem 204.

[0075] Through the above embodiments, the first displacement of the first return spring and the second displacement of the second return spring are calculated using the initial force, balanced force, and spring constant, respectively. The absolute values ​​of the first displacement and the second displacement are compared. If the absolute value of the first displacement is equal to the absolute value of the second displacement, the displacement of the valve stem is accurately calculated. The absolute value of the first displacement is then used as the displacement of the valve stem, thereby improving the accuracy of the valve stem displacement calculation and reducing the complexity of the valve stem displacement calculation.

[0076] In one embodiment, after determining whether the absolute values ​​of the first displacement and the second displacement are equal, the method further includes:

[0077] If the absolute values ​​of the first displacement and the second displacement are not equal, recalculate the first preset stiffness coefficient of the first reset spring and the second preset stiffness coefficient of the second reset spring.

[0078] In practical applications, the displacement calculation of the valve stem 204 may be incorrect due to component aging of the first return spring 203 and the second return spring 206 of the directional valve 200. If the absolute values ​​of the first displacement and the second displacement are not equal, the displacement calculation of the valve stem 204 is incorrect. It is necessary to recalculate the first preset stiffness coefficient of the first return spring 203 and the second preset tension coefficient of the second return spring 206 on both sides of the directional valve 200. The displacement of the valve stem 204 should then be recalculated based on the recalculated first and second preset stiffness coefficients.

[0079] Through the above embodiments, by comparing the first displacement and the second displacement, when the absolute value of the first displacement is not equal to the absolute value of the second displacement, the first preset stiffness coefficient of the first return spring and the second preset stiffness coefficient of the second return spring are adjusted, and the displacement of the valve stem is recalculated, thereby improving the accuracy of the calculated valve stem displacement result.

[0080] In one embodiment, the directional valve further includes a throttle orifice and a flow sensor disposed at the throttle orifice;

[0081] If the absolute values ​​of the first displacement and the second displacement are equal, after taking the absolute value of the first displacement as the displacement of the valve stem, the following is also included:

[0082] The actual operating flow rate of the throttling orifice is obtained through a flow sensor;

[0083] Calculate the predicted working flow rate of the throttle orifice based on the valve stem displacement;

[0084] Determine whether the actual workload and the predicted workload meet the preset conditions;

[0085] Under the premise of meeting the preset conditions, the accuracy of the displacement calculation is determined;

[0086] If the preset conditions are not met, it is determined that the displacement calculation is incorrect, and information is generated to prompt the replacement of the first and second reset springs.

[0087] In practical applications, the directional valve 200 is equipped with a flow sensor 205 at the throttling orifice to obtain the working flow rate at the orifice. When the absolute value of the first displacement is equal to the absolute value of the second displacement, the actual working flow rate Q1 at the throttling orifice is obtained according to the flow sensor 205. The predicted working flow rate Q2 at the throttling orifice is calculated based on the first or second displacement. Specifically, the formula for calculating the predicted working flow rate Q2 is as follows: Among them, C d It is generally a fixed value, set to 0.7. A(x) is the formula for calculating the cross-sectional area of ​​the throttle orifice based on the displacement. A(x) is determined according to the shape of the cross-section of the throttle orifice. Δp is the pressure difference before and after passing through the throttle orifice. ρ is the density of the pressurized oil.

[0088] In practical applications, it is determined whether the predicted workload and the actual workload meet preset conditions. Specifically, the preset conditions are: If the preset conditions are met, the displacement calculation of valve stem 204 is accurate. If the preset conditions are not met, the first and second return springs are faulty or have failed, the displacement calculation of valve stem 204 is incorrect, and information is needed to prompt the replacement of the first and second return springs so that the staff can replace the first return spring 203 and the second return spring 206.

[0089] Through the above embodiments, when the absolute value of the first displacement is equal to the absolute value of the second displacement, the actual working flow of the throttling orifice is obtained by setting a flow sensor, and the actual working flow is compared with the predicted working flow to further ensure the accuracy of the first or second displacement.

[0090] Based on the above-described method for detecting the displacement of the directional valve stem, this embodiment of the invention also provides a displacement detection device 300 for the directional valve stem, applied to a directional valve. The directional valve includes a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. Figure 3 This is a schematic diagram of a displacement detection device for a directional valve stem according to an embodiment of the present invention. The device 300 includes:

[0091] The initial force acquisition module 301 is used to acquire the first initial force of the first reset spring through the first force sensor, and to acquire the second initial force of the second reset spring through the second force sensor.

[0092] The solenoid valve control module 302 is used to control the first solenoid valve and the second solenoid valve so that the valve stem moves until it is in a balanced position.

[0093] The balanced force acquisition module 303 is used to acquire the first balanced force of the first reset spring through the first force sensor and the second balanced force of the second reset spring through the second force sensor when the valve stem is in the balanced position.

[0094] The displacement detection module 304 is used to calculate the displacement of the valve stem based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force.

[0095] In one embodiment, the displacement detection module includes a first displacement determination unit, a second displacement determination unit, a judgment unit, and a displacement determination unit;

[0096] The first displacement determining unit is used to calculate the first displacement of the first reset spring based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first reset spring.

[0097] The second displacement determining unit is used to calculate the second displacement of the second reset spring based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second reset spring.

[0098] The judgment unit is used to determine whether the absolute values ​​of the first displacement and the second displacement are equal; the displacement determination unit is used to determine the absolute value of the first displacement as the displacement of the valve stem if the absolute values ​​of the first displacement and the second displacement are equal.

[0099] In one embodiment, the directional valve further includes a throttle orifice and a flow sensor disposed at the throttle orifice, and the device further includes:

[0100] The actual working flow acquisition module is used to acquire the actual working flow of the throttling orifice through a flow sensor;

[0101] The calculation module is used to calculate the predicted working flow rate of the throttle orifice based on the displacement of the valve stem;

[0102] The judgment module is used to determine whether the actual workload and the predicted workload meet preset conditions.

[0103] The first determining module is used to determine the accuracy of the displacement calculation under preset conditions.

[0104] The second determining module is used to determine that the displacement calculation is incorrect if the preset conditions are not met, and to generate information to prompt the replacement of the first and second reset springs.

[0105] The displacement detection device for the directional valve stem provided in this application embodiment can realize all the processes of the displacement detection method for the directional valve stem in the method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0106] This invention also provides a directional valve, comprising: a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring; and a processor configured to execute a method for detecting the displacement of the directional valve stem according to any one of the first aspects.

[0107] This invention also provides an engineering machinery, including: a directional valve according to a third aspect.

[0108] This invention also provides an electronic device, see [link to relevant documentation]. Figure 4 As shown, the electronic device includes a processor 130 and a memory 131. The memory 131 stores machine-executable instructions that can be executed by the processor 130. The processor 130 executes the machine-executable instructions to implement the above-described method for detecting the displacement of the directional valve stem.

[0109] Furthermore, Figure 4 The electronic device shown also includes a bus 132 and a communication interface 133, with the processor 130, the communication interface 133 and the memory 131 connected via the bus 132.

[0110] The memory 131 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 133 (which can be wired or wireless), such as the Internet, wide area network, local area network, or metropolitan area network. The bus 132 may be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0111] Processor 130 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 130 or by instructions in software form. Processor 130 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 131, and processor 130 reads the information in memory 131 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0112] This invention also provides a machine-readable storage medium storing machine-executable instructions. When these machine-executable instructions are called and executed by a processor, they cause the processor to implement the aforementioned method for detecting the displacement of the directional valve stem. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0113] The present invention provides a method, device and directional valve for detecting the displacement of a directional valve stem, including a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0114] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0115] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0116] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0117] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0118] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for detecting the displacement of a directional valve stem, characterized in that, The method is applied to a directional valve, the directional valve including a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring. The method includes: The first initial force on the first reset spring is obtained through the first force sensor, and the second initial force on the second reset spring is obtained through the second force sensor. Control the first solenoid valve and the second solenoid valve to make the valve stem translate until it is in a balanced position; When the valve stem is in the equilibrium position, the first equilibrium force on the first reset spring is obtained through the first force sensor, and the second equilibrium force on the second reset spring is obtained through the second force sensor. The displacement of the valve stem is calculated based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force. The step of calculating the displacement of the valve stem based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force includes: The first displacement of the first reset spring is calculated based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first reset spring. The second displacement of the second reset spring is calculated based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second reset spring. Determine whether the absolute values ​​of the first displacement and the second displacement are equal; If the absolute value of the first displacement is equal to the absolute value of the second displacement, the absolute value of the first displacement is taken as the displacement of the valve stem.

2. The method according to claim 1, characterized in that, After determining whether the absolute values ​​of the first displacement and the second displacement are equal, the method further includes: If the absolute values ​​of the first displacement and the second displacement are not equal, recalculate the first preset stiffness coefficient of the first reset spring and the second preset stiffness coefficient of the second reset spring.

3. The method according to claim 1, characterized in that, The directional valve also includes a throttling orifice and a flow sensor disposed at the throttling orifice; If the absolute value of the first displacement is equal to the absolute value of the second displacement, and the absolute value of the first displacement is taken as the displacement of the valve stem, the method further includes: The actual working flow rate of the throttling orifice is obtained through the flow sensor. The predicted working flow rate of the throttle orifice is calculated based on the displacement of the valve stem; Determine whether the actual workload and the predicted workload meet preset conditions; Under the condition that the preset conditions are met, the displacement calculation is determined to be accurate; If the preset conditions are not met, it is determined that the displacement calculation is incorrect, and information is generated to prompt the replacement of the first reset spring and the second reset spring.

4. A displacement detection device for a directional valve stem, characterized in that, An application to a directional valve, the directional valve including a first return spring, a second return spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first return spring, and a second force sensor disposed on the second return spring, the device comprising: The initial force acquisition module is used to acquire the first initial force of the first reset spring through the first force sensor, and to acquire the second initial force of the second reset spring through the second force sensor; A solenoid valve control module is used to control the first solenoid valve and the second solenoid valve to make the valve stem translate until it is in a balanced position; The balanced force acquisition module is used to acquire the first balanced force of the first reset spring through the first force sensor and the second balanced force of the second reset spring through the second force sensor when the valve stem is in the balanced position. The displacement detection module is used to calculate the displacement of the valve stem based on the first initial force, the second initial force, the first equilibrium force, and the second equilibrium force. The displacement detection module includes a first displacement determination unit, a second displacement determination unit, a judgment unit, and a displacement determination unit. The first displacement determining unit is used to calculate the first displacement of the first reset spring based on the first initial force, the first balanced force, and the first preset stiffness coefficient of the first reset spring. The second displacement determining unit is used to calculate the second displacement of the second reset spring based on the second initial force, the second balanced force, and the second preset stiffness coefficient of the second reset spring. The judgment unit is used to determine whether the absolute value of the first displacement and the absolute value of the second displacement are equal; The displacement determining unit is used to take the absolute value of the first displacement as the displacement of the valve stem if the absolute value of the first displacement is equal to the absolute value of the second displacement.

5. The apparatus according to claim 4, characterized in that, The directional valve further includes a throttling orifice and a flow sensor disposed at the throttling orifice; the device further includes: The actual working flow rate acquisition module is used to acquire the actual working flow rate of the throttling orifice through the flow sensor. A calculation module is used to calculate the predicted working flow rate of the throttle orifice based on the displacement of the valve stem; The judgment module is used to determine whether the actual workload and the predicted workload meet preset conditions; The first determining module is used to determine the accuracy of the displacement calculation if the preset conditions are met. The second determining module is used to determine that the displacement calculation is incorrect if the preset conditions are not met, and to generate information to prompt the replacement of the first reset spring and the second reset spring.

6. A directional valve, characterized in that, include: A first reset spring, a second reset spring, a first solenoid valve, a second solenoid valve, a first force sensor disposed on the first reset spring, and a second force sensor disposed on the second reset spring; The processor is configured to execute the method for detecting the displacement of the directional valve stem according to any one of claims 1 to 3.

7. An engineering machinery, characterized in that, include: The directional valve according to claim 6.

8. A machine-readable storage medium storing instructions thereon, characterized in that, When the instruction is executed by the processor, it implements the method for detecting the displacement of the directional valve stem as described in any one of claims 1 to 3.

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