An active compensation crane hydraulic system and its control method

Abstract

An active compensation hydraulic system for a crane includes a controller, a hydraulic pump assembly, a high-frequency response valve control assembly, a proportional control valve assembly, a first locking valve assembly, a second locking valve assembly, a control mode switching valve assembly, and an actuator. The high-frequency response valve control assembly includes a one-way solenoid ball valve, a high-frequency response valve, and a first bidirectional solenoid ball valve. The proportional control valve assembly includes a proportional directional valve and a second bidirectional solenoid ball valve. The first locking valve assembly includes a first two-way cartridge valve and a first balancing valve. The second locking valve assembly includes a second two-way cartridge valve, a second balancing valve, a first shuttle valve, and a first hydraulically controlled directional valve. The control mode switching valve assembly includes a first solenoid directional valve and a second solenoid directional valve. This system features a high-precision active compensation control mode and a simple and reliable proportional control mode, which can be switched between each other, resulting in high system safety and reliability.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic system technology, specifically relating to an active compensation crane hydraulic system and its control method, which is suitable for improving the control accuracy and safety reliability of the active compensation system. Background Technology

[0002] In marine environments, the crane base moves with the waves, causing the cargo suspended by the hook to move as well. When loading and unloading delicate cargo, to reduce cargo movement, cranes need to be equipped with active compensation functions. This involves the winch automatically retracting and extending the wire rope to counteract wave-induced movement, reducing relative motion between the seabed and the cargo, and improving the safety of cargo and personnel. Currently, active compensation systems not only have low precision but also complex control systems. Furthermore, in the event of unexpected control system failure, there is a lack of backup hoisting systems, resulting in poor operational safety. Summary of the Invention

[0003] The purpose of this invention is to overcome the aforementioned problems in the prior art and provide an active compensation crane hydraulic system and its control method with high control accuracy and safety reliability.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An active compensation crane hydraulic system includes a controller, a hydraulic pump group, a high-frequency response valve control valve group, a proportional control valve group, a first locking valve group, a second locking valve group, a control mode switching valve group, and an actuator. The high-frequency response valve control valve group includes a one-way solenoid ball valve, a high-frequency response valve, and a first bidirectional solenoid ball valve. The proportional control valve group includes a proportional directional valve and a second bidirectional solenoid ball valve. The first locking valve group includes a first two-way cartridge valve and a first balance valve. The second locking valve group includes a second two-way cartridge valve, a second balance valve, a first shuttle valve, and a first hydraulically controlled directional valve. The control mode switching valve group includes a first solenoid directional valve and a second solenoid directional valve. The actuator includes a first hydraulic motor and a second hydraulic motor for winding and unwinding the winch cable.

[0006] The inlet of the hydraulic pump unit is connected to the hydraulic oil tank, and the outlet of the hydraulic pump unit is connected to port A of the one-way solenoid ball valve and port P of the proportional directional valve. Port B of the one-way solenoid ball valve is connected to port P of the high-frequency sound valve. Port A of the high-frequency sound valve is simultaneously connected to ports B of both the first and second two-way cartridge valves. Port A of the first two-way cartridge valve is connected to ports A of the first hydraulic motor and port B of the first balance valve. Port A of the second two-way cartridge valve is connected to ports A of the second hydraulic motor and port B of the second balance valve. Port B of the high-frequency sound valve passes sequentially through ports A and B of the first two-way solenoid ball valve and then simultaneously connects to ports B of both the first and second hydraulic motors. The A port of the proportional directional valve is simultaneously connected to the A port of the first balance valve and the A port of the second balance valve. The B port of the proportional directional valve passes through the A port and the B port of the second bidirectional solenoid ball valve in sequence and is simultaneously connected to the B port of the first hydraulic motor and the B port of the second hydraulic motor. The T port of the proportional directional valve and the T port of the high-frequency response valve are both connected to the hydraulic oil tank.

[0007] The outlet of the hydraulic pump unit is also connected to the P port of the No. 1 solenoid directional valve and the P port of the No. 2 solenoid directional valve. The A port of the No. 1 solenoid directional valve is connected to the A port of the No. 1 shuttle valve. The C port of the No. 1 shuttle valve is connected to the control port of the No. 1 hydraulic directional valve. The P port of the No. 1 hydraulic directional valve is connected to the B port of the No. 2 hydraulic motor. The A port of the No. 1 hydraulic directional valve is connected to the X port of the No. 1 balance valve and the X port of the No. 2 balance valve. The A port of the No. 2 solenoid directional valve is also connected to the control port of the pilot directional valve on the No. 1 two-way cartridge valve and the No. 2 two-way cartridge valve.

[0008] The controller is connected to the No. 2 bidirectional solenoid ball valve, the No. 1 bidirectional solenoid ball valve, the unidirectional solenoid ball valve, the No. 1 solenoid directional valve, and the No. 2 solenoid directional valve via signal connection.

[0009] The second locking valve assembly also includes a second shuttle valve and a second hydraulically controlled directional valve. The A port of the second shuttle valve is connected to the A port of the first solenoid directional valve. The C port of the second shuttle valve is connected to the control oil port of the first brake installed on the first hydraulic motor and the control oil port of the second brake installed on the second hydraulic motor. The control oil port of the second hydraulically controlled directional valve is connected to the A port of the first solenoid directional valve. The A port of the second hydraulically controlled directional valve is connected to the B port of the second shuttle valve. The P port of the second hydraulically controlled directional valve is connected to the B port of the second hydraulic motor.

[0010] The proportional control valve group also includes a No. 3 shuttle valve and a differential pressure compensator. The A port and B port of the No. 3 shuttle valve are connected to the A port and B port of the proportional directional valve, respectively. The C port of the No. 3 shuttle valve is connected to the spring cavity of the differential pressure compensator. The differential pressure compensator is installed between the P port of the proportional directional valve and the oil outlet of the hydraulic pump group.

[0011] The hydraulic system also includes an emergency valve assembly, which includes an accumulator and a No. 3 solenoid directional valve. The No. 3 solenoid directional valve is signal-connected to the controller. Port A of the No. 3 solenoid directional valve is connected to Port B of the No. 1 shuttle valve. Port P of the No. 3 solenoid directional valve is connected to the oil outlet of the hydraulic pump assembly. After reversing, Port A and Port P of the No. 3 solenoid directional valve are connected. The accumulator is installed between Port P of the No. 3 solenoid directional valve and the oil outlet of the hydraulic pump assembly.

[0012] The oil outlet of the hydraulic pump unit is connected to the P port of the accumulator and the No. 3 solenoid directional valve through the No. 1 check valve.

[0013] The first locking valve assembly also includes a first hydraulically controlled ball valve and a first main relief valve. The second locking valve assembly also includes a second hydraulically controlled ball valve and a second main relief valve. The proportional control valve assembly also includes a proportional relief valve. Port A of the third solenoid directional valve is simultaneously connected to the control ports of the first and second hydraulically controlled ball valves. Port A of the first hydraulically controlled ball valve is connected to the spring chamber of the first main relief valve. Port B of the first hydraulically controlled ball valve is simultaneously connected to Port A of the second hydraulically controlled ball valve and the spring chamber of the second main relief valve. Port B of the second hydraulically controlled ball valve is connected to the inlet of the proportional relief valve. The outlet of the proportional relief valve is connected to the hydraulic oil tank. One port of the first main relief valve is simultaneously connected to the first balance valve. The B port of the first main relief valve is connected to the A port of the first two-way cartridge valve, the A port of the first hydraulic motor, and the A port of the second hydraulic motor. The other port of the first main relief valve is simultaneously connected to the B ports of the first two-way solenoid ball valve, the B ports of the second two-way solenoid ball valve, the B ports of the first hydraulic motor, and the B ports of the second hydraulic motor. One port of the second main relief valve is simultaneously connected to the B port of the second balance valve, the A port of the second two-way cartridge valve, the A port of the first hydraulic motor, and the A port of the second hydraulic motor. The other port of the second main relief valve is simultaneously connected to the B ports of the first hydraulic motor, the other port of the first main relief valve, the B ports of the first two-way solenoid ball valve, the B ports of the second two-way solenoid ball valve, and the B ports of the second hydraulic motor.

[0014] The B port of the No. 1 hydraulic control ball valve is connected to the A port of the No. 2 hydraulic control ball valve and the spring cavity of the No. 2 main relief valve through the No. 2 check valve.

[0015] The control mode switching valve group also includes a pressure reducing valve, whose A port and P port are respectively connected to the P port of the first solenoid directional valve and the oil outlet of the hydraulic pump group.

[0016] The control mode switching valve group also includes a second pressure reducing valve. The A port of the first hydraulic motor is connected to the A port of the second pressure reducing valve through a third check valve. The A port of the second hydraulic motor is connected to the A port of the second pressure reducing valve through a fourth check valve. The P port of the second pressure reducing valve is connected to the oil outlet of the hydraulic pump group.

[0017] A control method for an actively compensated crane hydraulic system, the control method comprising an active compensation control mode and a proportional control mode, wherein the active compensation control mode is performed sequentially according to the following steps:

[0018] A1. The second bidirectional solenoid ball valve is de-energized, while the first bidirectional solenoid ball valve, the one-way solenoid ball valve, the first solenoid directional valve, and the second solenoid directional valve are all energized. At this time, the hydraulic oil output from the hydraulic pump unit is divided into three paths. The first path of hydraulic oil passes sequentially through the P port of the first solenoid directional valve, the A port of the first solenoid directional valve, the A port of the first shuttle valve, and the C port of the first shuttle valve before entering the control port of the first hydraulically controlled directional valve, causing the first hydraulically controlled directional valve to switch direction. This disconnects the B port of the second hydraulic motor from the X ports of the first and second balance valves, from... The first and second balance valves are both in the left position. The B port and A port on the first and second balance valves are connected. The second hydraulic oil passes through the P port and A port of the second solenoid directional valve in sequence and then enters the control port of the pilot directional valve on the first and second two-way cartridge valves, so that the B port and A port on the first and second two-way cartridge valves are connected. The third hydraulic oil passes through the A port of the one-way solenoid ball valve, the B port of the one-way solenoid ball valve, and the P port of the high-frequency sound valve in sequence and then enters the high-frequency sound valve.

[0019] A2. When forward rotation and rope winding are required, connect port P and port A, and port B and port T on the high-frequency sound valve. At this time, the hydraulic oil inside the high-frequency sound valve is divided into two paths after passing through port A. The first path of hydraulic oil passes through port B of the No. 1 two-way cartridge valve and port A of the No. 1 two-way cartridge valve in sequence and then enters port A of the No. 1 hydraulic motor. The second path of hydraulic oil passes through port B of the No. 2 two-way cartridge valve and port A of the No. 2 two-way cartridge valve in sequence and then enters port A of the No. 2 hydraulic motor. The hydraulic oil in ports B of the No. 1 hydraulic motor and port B of the No. 2 hydraulic motor passes through port B of the No. 1 bidirectional solenoid ball valve, port A of the No. 1 bidirectional solenoid ball valve, port B of the high-frequency sound valve, and port T of the high-frequency sound valve in sequence and then flows back into the hydraulic oil tank.

[0020] When the rope needs to be reversed for winding, the P port on the high-frequency sound valve is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the high-frequency sound valve passes through the B port of the high-frequency sound valve, the A port of the first bidirectional solenoid ball valve, and the B port of the first bidirectional solenoid ball valve in sequence, and then enters the B port of the first hydraulic motor and the B port of the second hydraulic motor. The hydraulic oil in the A port of the first hydraulic motor passes through the A port of the first two-way cartridge valve, the B port of the first two-way cartridge valve, the A port of the high-frequency sound valve, and the T port of the high-frequency sound valve in sequence, and then flows back into the hydraulic oil tank. The hydraulic oil in the A port of the second hydraulic motor passes through the A port of the second two-way cartridge valve, the B port of the second two-way cartridge valve, the A port of the high-frequency sound valve, and the T port of the high-frequency sound valve in sequence, and then flows back into the hydraulic oil tank.

[0021] The proportional control mode is performed sequentially according to the following steps:

[0022] B1. When the No. 2 bidirectional solenoid ball valve is energized and the No. 1 bidirectional solenoid ball valve, the unidirectional solenoid ball valve, the No. 1 solenoid directional valve, and the No. 2 solenoid directional valve are all de-energized, the B-port to A-port channels of the No. 1 two-way cartridge valve and the No. 2 two-way cartridge valve are opened and the A-port to B-port channels are closed. The P-port of the No. 1 hydraulic directional valve is connected to the A-port. The B-port of the No. 2 hydraulic motor is simultaneously connected to the X-port of the No. 1 balance valve and the X-port of the No. 2 balance valve, so that the B-port and A-port of the No. 1 balance valve and the No. 2 balance valve are connected. The hydraulic oil output by the hydraulic pump group enters the interior of the proportional directional valve after passing through the P-port of the proportional directional valve.

[0023] B2. When forward rotation and rope winding are required, connect port P and port A, and port B and port T on the proportional directional valve. At this time, the hydraulic oil inside the proportional directional valve is divided into two paths after passing through port A. The first path of hydraulic oil passes through port A and port B of the first balance valve in sequence and then enters port A of the first hydraulic motor. The second path of hydraulic oil passes through port A and port B of the second balance valve in sequence and then enters port A of the second hydraulic motor. The hydraulic oil in ports B of the first and second hydraulic motors passes through port B of the second bidirectional solenoid ball valve, port A of the second bidirectional solenoid ball valve, port B of the proportional directional valve, and port T of the proportional directional valve in sequence and then flows back into the hydraulic oil tank.

[0024] When reversing the rope winding is required, the P port on the proportional directional valve is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the proportional directional valve passes sequentially through the B port of the proportional directional valve, the A port of the second bidirectional solenoid ball valve, and the B port of the second bidirectional solenoid ball valve before entering the B port of the first hydraulic motor and the B port of the second hydraulic motor. The hydraulic oil in the A port of the first hydraulic motor passes sequentially through the B port of the first balance valve, the A port of the first balance valve, the A port of the proportional directional valve, and the T port of the proportional directional valve before flowing back into the hydraulic oil tank. The hydraulic oil in the A port of the second hydraulic motor passes sequentially through the B port of the second balance valve, the A port of the second balance valve, the A port of the proportional directional valve, and the T port of the proportional directional valve before flowing back into the hydraulic oil tank.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. This invention discloses an active compensation crane hydraulic system with an active compensation control mode and a proportional control mode. In the active compensation control mode, the high-frequency response valve is in the leftmost power-off protection position when no power is supplied to prevent malfunction. When the winch rope is to be wound by two hydraulic motors rotating forward, the high-frequency response valve is controlled to operate in the right position, with its P port connected to the A port and its B port connected to the T port. When the winch rope is to be unloaded by two hydraulic motors rotating in reverse, the high-frequency response valve is controlled to operate in the left position, with its P port connected to the B port and its A port connected to the T port. Because the active compensation control mode has high precision and requires high reliability of all system components... To achieve high accuracy, when the active compensation control mode malfunctions, the controller can switch to a simpler and more reliable proportional control mode. In proportional control mode, when the winch needs to be wound in the forward direction via two hydraulic motors, the proportional directional valve is controlled in the left position, with its P port connected to the A port and its B port connected to the T port. When the winch needs to be unloaded via the reverse direction via two hydraulic motors, the proportional directional valve is controlled in the right position, with its P port connected to the B port and its A port connected to the T port. This design not only provides high-precision active compensation for hoisting but also includes a simple and reliable backup hoisting system, greatly improving the system's safety redundancy. Therefore, this invention offers high control accuracy and safety reliability.

[0027] 2. The active compensation crane hydraulic system of the present invention also includes an emergency valve group, which includes an accumulator and a No. 3 solenoid directional valve. The No. 3 solenoid directional valve is signal-connected to the controller. Port A of the No. 3 solenoid directional valve is connected to port B of the No. 1 shuttle valve, and port P of the No. 3 solenoid directional valve is connected to the oil outlet of the hydraulic pump group. After reversing, ports A and P of the No. 3 solenoid directional valve are connected. The accumulator is installed between port P of the No. 3 solenoid directional valve and the oil outlet of the hydraulic pump group to store emergency oil. During emergency operation, the accumulator supplies oil to port B of the No. 1 shuttle valve, the No. 1 hydraulic control ball valve, and the control ports of the No. 2 hydraulic control ball valve through the No. 3 solenoid directional valve. The oil enters the control ports of the No. 1 and No. 2 hydraulic control ball valves, pushing them. At the same time, it enters the control port of the No. 1 hydraulic control directional valve through port C of the No. 1 shuttle valve, pushing it to reverse. The emergency operation is simple and reliable. Therefore, the emergency operation of the present invention is simple and reliable. Attached Figure Description

[0028] Figure 1 This is a schematic diagram illustrating the principle of the present invention.

[0029] Figure 2 for Figure 1 A schematic diagram of the structure of the actuator.

[0030] Figure 3 for Figure 1 A schematic diagram of the No. 1 locking valve assembly.

[0031] Figure 4 for Figure 1 A schematic diagram of the No. 2 locking valve assembly.

[0032] Figure 5 for Figure 1 A schematic diagram of the structure of a medium-to-high frequency response valve control valve assembly.

[0033] Figure 6 for Figure 1 A schematic diagram of the structure of the emergency valve assembly.

[0034] Figure 7 for Figure 1 A schematic diagram of the structure of a medium proportional control valve assembly.

[0035] Figure 8 for Figure 1 A schematic diagram of the control mode switching valve group.

[0036] Figure 9 for Figure 1 A schematic diagram of the structure of a medium-pressure hydraulic pump unit.

[0037] In the diagram, the components are: Controller 1, Hydraulic Pump Assembly 2, High-Frequency Response Valve Control Valve Assembly 3, One-Way Solenoid Ball Valve 31, High-Frequency Response Valve 32, No. 1 Two-Way Solenoid Ball Valve 33, Proportional Control Valve Assembly 4, Proportional Directional Valve 41, No. 2 Two-Way Solenoid Ball Valve 42, No. 3 Shuttle Valve 43, Differential Pressure Compensator 44, Proportional Relief Valve 45, No. 1 Locking Valve Assembly 5, No. 1 Two-Way Cartridge Valve 51, No. 1 Balance Valve 52, No. 1 Hydraulic Control Ball Valve 53, No. 1 Main Relief Valve 54, No. 2 Locking Valve Assembly 6, No. 2 Two-Way Cartridge Valve 61, No. 2 Balance Valve 62, and No. 1 Shuttle Valve 63. 64. No. 1 hydraulic control directional valve, 65. No. 2 shuttle valve, 66. No. 2 hydraulic control directional valve, 67. No. 2 hydraulic control ball valve, 68. No. 2 main relief valve, 69. No. 2 check valve, 7. Control mode switching valve group, 71. No. 1 solenoid directional valve, 72. No. 2 solenoid directional valve, 73. No. 1 pressure reducing valve, 74. No. 2 pressure reducing valve, 8. Actuator, 81. No. 1 hydraulic motor, 82. No. 2 hydraulic motor, 83. No. 1 brake, 84. No. 2 brake, 9. Emergency valve group, 91. Accumulator, 92. No. 3 solenoid directional valve, 93. No. 1 check valve, 10. Hydraulic oil tank. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] See Figures 1 to 9An active compensation crane hydraulic system includes a controller 1, a hydraulic pump group 2, a high-frequency response valve control valve group 3, a proportional control valve group 4, a first locking valve group 5, a second locking valve group 6, a control mode switching valve group 7, and an actuator 8. The high-frequency response valve control valve group 3 includes a one-way solenoid ball valve 31, a high-frequency response valve 32, and a first bidirectional solenoid ball valve 33. The proportional control valve group 4 includes a proportional directional valve 41 and a second bidirectional solenoid ball valve 42. The first locking valve group 5 includes a first two-way cartridge valve 51 and a first balance valve 52. The second locking valve group 6 includes a second two-way cartridge valve 61, a second balance valve 62, a first shuttle valve 63, and a first hydraulic control directional valve 64. The control mode switching valve group 7 includes a first solenoid directional valve 71 and a second solenoid directional valve 72. The actuator 8 includes a first hydraulic motor 81 and a second hydraulic motor 82 for winding and unwinding winch cables.

[0040] The inlet of the hydraulic pump assembly 2 is connected to the hydraulic oil tank 10. The outlet of the hydraulic pump assembly 2 is connected to port A of the one-way solenoid ball valve 31 and port P of the proportional directional valve 41. Port B of the one-way solenoid ball valve 31 is connected to port P of the high-frequency sound valve 32. Port A of the high-frequency sound valve 32 is simultaneously connected to port B of the first two-way cartridge valve 51 and port B of the second two-way cartridge valve 61. Port A of the first two-way cartridge valve 51 is connected to port A of the first hydraulic motor 81 and port B of the first balance valve 52. Port A of the second two-way cartridge valve 61 is connected to port A of the second hydraulic motor 82 and port B of the second balance valve 62. Port B of the high-frequency sound valve 32 passes sequentially through ports A and B of the first two-way solenoid ball valve 33 and then simultaneously connects to ports B of the first hydraulic motor 81 and the second hydraulic motor 82. The A port of the proportional directional valve 41 is simultaneously connected to the A port of the first balance valve 52 and the A port of the second balance valve 62. The B port of the proportional directional valve 41 passes through the A port and the B port of the second bidirectional solenoid ball valve 42 in sequence and is simultaneously connected to the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The T port of the proportional directional valve 41 and the T port of the high-frequency sound valve 32 are both connected to the hydraulic oil tank 10.

[0041] The oil outlet of the hydraulic pump group 2 is also connected to the P port of the first solenoid directional valve 71 and the P port of the second solenoid directional valve 72. The A port of the first solenoid directional valve 71 is connected to the A port of the first shuttle valve 63. The C port of the first shuttle valve 63 is connected to the control oil port of the first hydraulic control directional valve 64. The P port of the first hydraulic control directional valve 64 is connected to the B port of the second hydraulic motor 82. The A port of the first hydraulic control directional valve 64 is connected to the X port of the first balance valve 52 and the X port of the second balance valve 62. The A port of the second solenoid directional valve 72 is also connected to the control oil port of the pilot directional valve on the first two-way cartridge valve 51 and the second two-way cartridge valve 61.

[0042] The controller 1 is signal-connected to the second bidirectional solenoid ball valve 42, the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72.

[0043] The second locking valve group 6 also includes a second shuttle valve 65 and a second hydraulic control directional valve 66. The A port of the second shuttle valve 65 is connected to the A port of the first solenoid directional valve 71. The C port of the second shuttle valve 65 is connected to the control oil port of the first brake 83 installed on the first hydraulic motor 81 and the control oil port of the second brake 84 installed on the second hydraulic motor 82. The control oil port of the second hydraulic control directional valve 66 is connected to the A port of the first solenoid directional valve 71. The A port of the second hydraulic control directional valve 66 is connected to the B port of the second shuttle valve 65. The P port of the second hydraulic control directional valve 66 is connected to the B port of the second hydraulic motor 82.

[0044] The proportional control valve group 4 also includes a third shuttle valve 43 and a differential pressure compensator 44. The A port and B port of the third shuttle valve 43 are connected to the A port and B port of the proportional directional valve 41, respectively. The C port of the third shuttle valve 43 is connected to the spring cavity of the differential pressure compensator 44. The differential pressure compensator 44 is installed between the P port of the proportional directional valve 41 and the oil outlet of the hydraulic pump group 2.

[0045] The hydraulic system also includes an emergency valve group 9, which includes an accumulator 91 and a third solenoid directional valve 92. The third solenoid directional valve 92 is signal-connected to the controller 1. Port A of the third solenoid directional valve 92 is connected to port B of the first shuttle valve 63, and port P of the third solenoid directional valve 92 is connected to the oil outlet of the hydraulic pump group 2. After reversing, port A and port P of the third solenoid directional valve 92 are connected. The accumulator 91 is installed between port P of the third solenoid directional valve 92 and the oil outlet of the hydraulic pump group 2.

[0046] The oil outlet of the hydraulic pump group 2 is connected to the P port of the accumulator 91 and the solenoid directional valve 92 through the first check valve 93.

[0047] The first locking valve group 5 also includes a first hydraulically controlled ball valve 53 and a first main relief valve 54. The second locking valve group 6 also includes a second hydraulically controlled ball valve 67 and a second main relief valve 68. The proportional control valve group 4 also includes a proportional relief valve 45. The A port of the third solenoid directional valve 92 is also connected to the control oil ports of the first hydraulically controlled ball valve 53 and the second hydraulically controlled ball valve 67. The A port of the first hydraulically controlled ball valve 53 is connected to the spring cavity of the first main relief valve 54. The B port of the first hydraulically controlled ball valve 53 is connected to the A port of the second hydraulically controlled ball valve 67 and the spring cavity of the second main relief valve 68. The B port of the second hydraulically controlled ball valve 67 is connected to the inlet of the proportional relief valve 45. The outlet of the proportional relief valve 45 is connected to the hydraulic oil tank 10. One oil port of the first main relief valve 54 is also connected to the first balance valve 5. Port B of valve 2, port A of two-way cartridge valve 51, port A of hydraulic motor 81, and port A of hydraulic motor 82 are connected. Another port of main relief valve 54 is simultaneously connected to port B of bidirectional solenoid ball valve 33, port B of bidirectional solenoid ball valve 42, port B of hydraulic motor 81, and port B of hydraulic motor 82. One port of main relief valve 68 is simultaneously connected to port B of balance valve 62, port A of two-way cartridge valve 61, port A of hydraulic motor 81, and port A of hydraulic motor 82. The other port of main relief valve 68 is simultaneously connected to port B of hydraulic motor 81, another port of main relief valve 54, port B of bidirectional solenoid ball valve 33, port B of bidirectional solenoid ball valve 42, and port B of hydraulic motor 82.

[0048] The B port of the first hydraulic control ball valve 53 is connected to the A port of the second hydraulic control ball valve 67 and the spring cavity of the second main relief valve 68 through the second one-way valve 69.

[0049] The control mode switching valve group 7 also includes a first pressure reducing valve 73, the A port and P port of the first pressure reducing valve 73 being connected to the P port of the first solenoid directional valve 71 and the oil outlet of the hydraulic pump group 2, respectively.

[0050] The control mode switching valve group 7 also includes a second pressure reducing valve 74. The A port of the first hydraulic motor 81 is connected to the A port of the second pressure reducing valve 74 through a third check valve. The A port of the second hydraulic motor 82 is connected to the A port of the second pressure reducing valve 74 through a fourth check valve. The P port of the second pressure reducing valve is connected to the oil outlet of the hydraulic pump group 2.

[0051] A control method for an actively compensated crane hydraulic system, the control method comprising an active compensation control mode and a proportional control mode, wherein the active compensation control mode is performed sequentially according to the following steps:

[0052] A1. When the second bidirectional solenoid ball valve 42 is de-energized and the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72 are all energized, the hydraulic oil output from the hydraulic pump group 2 is divided into three paths. The first path of hydraulic oil passes sequentially through the P port of the first solenoid directional valve 71, the A port of the first solenoid directional valve 71, the A port of the first shuttle valve 63, and the C port of the first shuttle valve 63 before entering the control port of the first hydraulic control directional valve 64, causing the first hydraulic control directional valve 64 to switch, disconnecting the B port of the second hydraulic motor 82 from the X port of the first balance valve 52 and the X port of the second balance valve 62. This causes both the first balance valve 52 and the second balance valve 62 to operate in the left position. The B port and the A port on the first balance valve 52 and the second balance valve 62 are connected. The second hydraulic oil passes through the P port and the A port of the second solenoid directional valve 72 in sequence and then enters the control port of the pilot directional valve on the first two-way cartridge valve 51 and the second two-way cartridge valve 61, so that the B port and the A port on the first two-way cartridge valve 51 and the second two-way cartridge valve 61 are connected. The third hydraulic oil passes through the A port of the one-way solenoid ball valve 31, the B port of the one-way solenoid ball valve 31, and the P port of the high-frequency sound valve 32 in sequence and then enters the interior of the high-frequency sound valve 32.

[0053] A2. When forward rotation and rope winding are required, the P port of the high-frequency sound valve 32 is connected to the A port, and the B port is connected to the T port. At this time, the hydraulic oil inside the high-frequency sound valve 32 is divided into two paths after passing through the A port of the high-frequency sound valve 32. The first path of hydraulic oil passes through the B port of the first two-way cartridge valve 51 and the A port of the first two-way cartridge valve 51 in sequence and then enters the A port of the first hydraulic motor 81. The second path of hydraulic oil passes through the B port of the second two-way cartridge valve 61 and the A port of the second two-way cartridge valve 61 in sequence and then enters the A port of the second hydraulic motor 82. The hydraulic oil in the B ports of the first hydraulic motor 81 and the second hydraulic motor 82 passes through the B port of the first two-way solenoid ball valve 33, the A port of the first two-way solenoid ball valve 33, the B port of the high-frequency sound valve 32, and the T port of the high-frequency sound valve 32 in sequence and then flows back into the hydraulic oil tank 10.

[0054] When the rope needs to be reversed for winding, the P port of the high-frequency sound valve 32 is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the high-frequency sound valve 32 passes through the B port of the high-frequency sound valve 32, the A port of the first bidirectional solenoid ball valve 33, and the B port of the first bidirectional solenoid ball valve 33 in sequence, and then enters the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The hydraulic oil in the A port of the first hydraulic motor 81 passes through the A port of the first two-way cartridge valve 51, the B port of the first two-way cartridge valve 51, the A port of the high-frequency sound valve 32, and the T port of the high-frequency sound valve 32 in sequence, and then flows back into the hydraulic oil tank 10. The hydraulic oil in the A port of the second hydraulic motor 82 passes through the A port of the second two-way cartridge valve 61, the B port of the second two-way cartridge valve 61, the A port of the high-frequency sound valve 32, and the T port of the high-frequency sound valve 32 in sequence, and then flows back into the hydraulic oil tank 10.

[0055] The proportional control mode is performed sequentially according to the following steps:

[0056] B1. When the second bidirectional solenoid ball valve 42 is energized and the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72 are de-energized, the channels from port B to port A of the first two-way cartridge valve 51 and the second two-way cartridge valve 61 are opened and the channels from port A to port B are closed. The P port of the first hydraulic directional valve 64 is connected to port A. The B port of the second hydraulic motor 82 is simultaneously connected to the X port of the first balance valve 52 and the X port of the second balance valve 62, so that the B port of the first balance valve 52 and the second balance valve 62 are connected to port A. The hydraulic oil output by the hydraulic pump group 2 enters the interior of the proportional directional valve 41 after passing through the P port of the proportional directional valve 41.

[0057] B2. When forward rotation and rope winding are required, the P port of the proportional directional valve 41 is connected to the A port, and the B port is connected to the T port. At this time, the hydraulic oil inside the proportional directional valve 41 is divided into two paths after passing through the A port of the proportional directional valve 41. The first path of hydraulic oil passes through the A port of the first balance valve 52 and the B port of the first balance valve 52 in sequence and then enters the A port of the first hydraulic motor 81. The second path of hydraulic oil passes through the A port of the second balance valve 62 and the B port of the second balance valve 62 in sequence and then enters the A port of the second hydraulic motor 82. The hydraulic oil in the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82 passes through the B port of the second bidirectional solenoid ball valve 42, the A port of the second bidirectional solenoid ball valve 42, the B port of the proportional directional valve 41, and the T port of the proportional directional valve 41 in sequence and then flows back into the hydraulic oil tank 10.

[0058] When the rope needs to be reversed for winding, the P port of the proportional directional valve 41 is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the proportional directional valve 41 passes sequentially through the B port of the proportional directional valve 41, the A port of the second bidirectional solenoid ball valve 42, and the B port of the second bidirectional solenoid ball valve 42 before entering the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The hydraulic oil in the A port of the first hydraulic motor 81 passes sequentially through the B port of the first balance valve 52, the A port of the first balance valve 52, the A port of the proportional directional valve 41, and the T port of the proportional directional valve 41 before flowing back into the hydraulic oil tank 10. The hydraulic oil in the A port of the second hydraulic motor 82 passes sequentially through the B port of the second balance valve 62, the A port of the second balance valve 62, the A port of the proportional directional valve 41, and the T port of the proportional directional valve 41 before flowing back into the hydraulic oil tank 10.

[0059] The principle of this invention is explained as follows:

[0060] In the active compensation control mode of the present invention, regardless of whether the winch rotates forward or backward, the encoder on the winch always transmits the position and speed signals to the controller. The controller then controls the reversing and speed regulation of the No. 1 hydraulic motor and the No. 2 hydraulic motor through the high-frequency response valve, forming a closed-loop high-precision control.

[0061] One-way solenoid ball valve: used to prevent high-pressure oil from the hydraulic pump outlet from leaking through the high-frequency response valve when the proportional directional valve is working.

[0062] No. 1 bidirectional solenoid ball valve and No. 2 bidirectional solenoid ball valve: When only No. 1 bidirectional solenoid ball valve is energized, it switches to active compensation control mode; when only No. 2 bidirectional solenoid ball valve is energized, it switches to proportional control mode.

[0063] Solenoid directional valve No. 3: Used to control the switching of hydraulic ball valve No. 1 and hydraulic ball valve No. 2, and to supply pressurized oil to port B of shuttle valve No. 1. When solenoid directional valve No. 3 is energized, its port P is connected to port A.

[0064] Proportional relief valve: Used to simultaneously adjust the set pressure of main relief valve No. 1 and main relief valve No. 2 to ensure that the pressure of the two main relief valves is basically the same. Under normal conditions, ports A and B on main control ball valve No. 1 and main control ball valve No. 2 are not connected. When solenoid directional valve No. 3 is energized, port P of solenoid directional valve No. 3 is connected to port A. Control oil enters port X on main control ball valve No. 1 and main control ball valve No. 2 to reverse its direction. Ports A and B on main control ball valve No. 1 and main control ball valve No. 2 are connected to achieve simultaneous pressure regulation.

[0065] The proportional directional valve, differential pressure compensator, and No. 3 shuttle valve are used together for open-loop control of the reversing and speed regulation of hydraulic motors No. 1 and No. 2. The No. 3 shuttle valve is used to transmit the high-pressure side pressure of ports A and B of the proportional directional valve to the spring chamber of the differential pressure compensator, so that the pressure difference between port P and port A or port P and port B of the proportional directional valve is always equal to the set value of the differential pressure compensator, ensuring that the inlet flow of the proportional directional valve is only related to the size of its opening.

[0066] Pressure reducing valve No. 1 and solenoid directional valve No. 1 are used together to supply control oil to the control port of hydraulic directional valve No. 2, shuttle valve A port of shuttle valve No. 1, and shuttle valve A port of shuttle valve No. 2. When solenoid directional valve No. 1 is de-energized, it operates in the right position, and its P port is not connected to port A. When solenoid directional valve No. 1 is energized, it operates in the left position, and its P port is connected to port A. The control oil output from port A is divided into three paths. The first path enters shuttle valve A port of shuttle valve No. 1, which is connected to port C. The control oil output from port C enters the control port of hydraulic directional valve No. 1, causing hydraulic directional valve No. 1 to switch, thus controlling the hydraulic motor No. 2. Port B is disconnected from the No. 2 balance valve and its upper X port. The No. 2 balance valve operates in the left position, locking the oil between the No. 1 hydraulic motor A port and the No. 1 balance valve A port, and between the No. 2 hydraulic motor A port and the No. 2 balance valve A port, preventing the oil from flowing out in reverse. The second path enters the control port of the No. 2 hydraulic control directional valve to reverse its direction, disconnecting the No. 2 hydraulic motor B port from the No. 2 shuttle valve B port. The third path passes through the No. 2 shuttle valve A and C ports and simultaneously enters the control port X of the No. 1 brake and the No. 2 controller, keeping the No. 1 brake and the No. 2 controller normally open.

[0067] Pressure reducing valve No. 2: Used to replenish oil to port A of hydraulic motors No. 1 and No. 2, preventing the hydraulic motors from sucking in air and providing safety protection.

[0068] Solenoid directional valve No. 2: Used to control the working state of Solenoid directional valve No. 1 and Solenoid directional valve No. 2; when Solenoid directional valve No. 2 is de-energized, it operates in the right position, its P and A ports are closed, the pilot directional valves of Solenoid directional valve No. 1 and Solenoid directional valve No. 2 are connected to port A and port B and port T, allowing free flow from port B to port A on Solenoid directional valve No. 1 and Solenoid directional valve No. 2, and self-locking from port A to port B. It connects port A of hydraulic motor No. 1 to port A of Solenoid directional valve No. 1 and Solenoid directional valve No. 2. The oil is locked between port A of the No. 1 two-way cartridge valve and port A of the No. 2 two-way cartridge valve to prevent the oil from flowing out in reverse and leaking through the high-frequency sound valve. Conversely, when the No. 2 solenoid directional valve is energized, it operates in the left position, and ports P and A are connected. The pilot directional valves of the No. 1 two-way cartridge valve and the No. 2 two-way cartridge valve are connected to port P and port B, and port A and port T. Ports B and A of the No. 1 two-way cartridge valve and the No. 2 two-way cartridge valve can flow freely in both directions, thereby connecting port A of the high-frequency sound valve with port A of the No. 1 hydraulic motor and port A of the No. 2 hydraulic motor.

[0069] Balance valves 1 and 2: Used to support the load and prevent stalling during rope release. The control ports X of balance valves 1 and 2 are always connected, and they work synchronously to ensure that the working pressures of the two hydraulic motors are basically the same. When there is no control oil in the hydraulic directional valve 1, its ports P and A are connected. The port B of the hydraulic motor 2 is connected to the control port X of balance valves 1 and 2. When the solenoid directional valve 1 is energized and operates in the left position, control oil enters port A of shuttle valve 1, connecting ports A and C. The oil output from port C enters the control port of the hydraulic directional valve 1, causing it to switch directions. This disconnects port B of the hydraulic motor 2 from the control port X of balance valves 1 and 2, allowing balance valves 1 and 2 to operate in the left position, preventing oil from flowing out in the reverse direction through balance valves 1 and 2 and leaking through the proportional directional valve.

[0070] In this invention, port A of shuttle valve No. 1 is connected to port A of solenoid directional valve No. 1, port B is connected to port A of solenoid directional valve No. 3, and port C is connected to the control port of hydraulic directional valve No. 1. During normal operation, the hydraulic pump unit supplies oil to port A of shuttle valve No. 1 through pressure reducing valve No. 1 and solenoid directional valve No. 1, and then the oil enters the control port of hydraulic directional valve No. 1 through port C of shuttle valve No. 1 to switch the hydraulic directional valve No. 1. During emergency operation, the accumulator supplies oil to port B of shuttle valve No. 1 through solenoid directional valve No. 3, and then the oil enters the control port of hydraulic directional valve No. 1 through port C of shuttle valve No. 1 to switch the hydraulic directional valve No. 1.

[0071] No. 1 hydraulic control directional valve: used to control the on / off state of the control port X of No. 1 balance valve and No. 2 balance valve and the port B of No. 2 hydraulic motor.

[0072] No. 2 check valve: Used to control the oil and pressure at the control port of No. 1 main relief valve, which always follows the No. 2 main relief valve.

[0073] No. 1 hydraulic control ball valve and No. 2 hydraulic control ball valve: used to control whether the control oil port of No. 1 main relief valve and No. 2 main relief valve is connected to the proportional relief valve.

[0074] Example 1:

[0075] See Figures 1 to 9An active compensation crane hydraulic system includes a controller 1, a hydraulic pump group 2, a high-frequency response valve control valve group 3, a proportional control valve group 4, a first locking valve group 5, a second locking valve group 6, a control mode switching valve group 7, and an actuator 8. The high-frequency response valve control valve group 3 includes a one-way solenoid ball valve 31, a high-frequency response valve 32, and a first bidirectional solenoid ball valve 33. The proportional control valve group 4 includes a proportional directional valve 41 and a second bidirectional solenoid ball valve 42. The first locking valve group 5 includes a first two-way cartridge valve 51 and a first balance valve 52. The second locking valve group 6 includes a second two-way cartridge valve 61, a second balance valve 62, a first shuttle valve 63, and a first hydraulic control directional valve 64. The control mode switching valve group 7 includes a first solenoid directional valve 71 and a second solenoid directional valve 72. The actuator 8 includes a first hydraulic motor 81 and a second hydraulic motor 82 for winding and unwinding winch cables.

[0076] The inlet of the hydraulic pump assembly 2 is connected to the hydraulic oil tank 10. The outlet of the hydraulic pump assembly 2 is connected to port A of the one-way solenoid ball valve 31 and port P of the proportional directional valve 41. Port B of the one-way solenoid ball valve 31 is connected to port P of the high-frequency sound valve 32. Port A of the high-frequency sound valve 32 is simultaneously connected to port B of the first two-way cartridge valve 51 and port B of the second two-way cartridge valve 61. Port A of the first two-way cartridge valve 51 is connected to port A of the first hydraulic motor 81 and port B of the first balance valve 52. Port A of the second two-way cartridge valve 61 is connected to port A of the second hydraulic motor 82 and port B of the second balance valve 62. Port B of the high-frequency sound valve 32 passes sequentially through ports A and B of the first two-way solenoid ball valve 33 and then simultaneously connects to ports B of the first hydraulic motor 81 and the second hydraulic motor 82. The A port of the proportional directional valve 41 is simultaneously connected to the A port of the first balance valve 52 and the A port of the second balance valve 62. The B port of the proportional directional valve 41 passes through the A port and the B port of the second bidirectional solenoid ball valve 42 in sequence and is simultaneously connected to the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The T port of the proportional directional valve 41 and the T port of the high-frequency sound valve 32 are both connected to the hydraulic oil tank 10.

[0077] The oil outlet of the hydraulic pump group 2 is also connected to the P port of the first solenoid directional valve 71 and the P port of the second solenoid directional valve 72. The A port of the first solenoid directional valve 71 is connected to the A port of the first shuttle valve 63. The C port of the first shuttle valve 63 is connected to the control oil port of the first hydraulic control directional valve 64. The P port of the first hydraulic control directional valve 64 is connected to the B port of the second hydraulic motor 82. The A port of the first hydraulic control directional valve 64 is connected to the X port of the first balance valve 52 and the X port of the second balance valve 62. The A port of the second solenoid directional valve 72 is also connected to the control oil port of the pilot directional valve on the first two-way cartridge valve 51 and the second two-way cartridge valve 61.

[0078] The controller 1 is signal-connected to the second bidirectional solenoid ball valve 42, the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72.

[0079] The above-mentioned control method for an active compensation crane hydraulic system includes an active compensation control mode and a proportional control mode. The active compensation control mode is performed sequentially according to the following steps:

[0080] A1. When the second bidirectional solenoid ball valve 42 is de-energized and the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72 are all energized, the hydraulic oil output from the hydraulic pump group 2 is divided into three paths. The first path of hydraulic oil passes sequentially through the P port of the first solenoid directional valve 71, the A port of the first solenoid directional valve 71, the A port of the first shuttle valve 63, and the C port of the first shuttle valve 63 before entering the control port of the first hydraulic control directional valve 64, causing the first hydraulic control directional valve 64 to switch, disconnecting the B port of the second hydraulic motor 82 from the X port of the first balance valve 52 and the X port of the second balance valve 62. This causes both the first balance valve 52 and the second balance valve 62 to operate in the left position. The B port and the A port on the first balance valve 52 and the second balance valve 62 are connected. The second hydraulic oil passes through the P port and the A port of the second solenoid directional valve 72 in sequence and then enters the control port of the pilot directional valve on the first two-way cartridge valve 51 and the second two-way cartridge valve 61, so that the B port and the A port on the first two-way cartridge valve 51 and the second two-way cartridge valve 61 are connected. The third hydraulic oil passes through the A port of the one-way solenoid ball valve 31, the B port of the one-way solenoid ball valve 31, and the P port of the high-frequency sound valve 32 in sequence and then enters the interior of the high-frequency sound valve 32.

[0081] A2. When forward rotation and rope winding are required, the controller 1 sends a forward rotation and rope winding control signal to the high-frequency sound valve 32, controlling the high-frequency sound valve 32 to operate in the right position. The P port of the high-frequency sound valve 32 is connected to the A port, and the B port is connected to the T port. At this time, the hydraulic oil inside the high-frequency sound valve 32 is divided into two paths after passing through the A port of the high-frequency sound valve 32. The first path of hydraulic oil passes through the B port of the first two-way cartridge valve 51 and the A port of the first two-way cartridge valve 51 in sequence before entering the first hydraulic... The hydraulic oil from port A of motor 81 passes through port B of two-way cartridge valve 61 and port A of two-way cartridge valve 61 in sequence before entering port A of hydraulic motor 82. The hydraulic oil from ports B of hydraulic motor 81 and hydraulic motor 82 passes through ports B of two-way solenoid ball valve 33, port A of two-way solenoid ball valve 33, port B of high-frequency sound valve 32, and port T of high-frequency sound valve 32 in sequence before flowing back into hydraulic oil tank 10.

[0082] When reverse winding is required, the controller 1 sends a forward winding control signal to the high-frequency sound valve 32, controlling the high-frequency sound valve 32 to operate in the left position. The P port of the high-frequency sound valve 32 is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the high-frequency sound valve 32 passes sequentially through the B port of the high-frequency sound valve 32, the A port of the first bidirectional solenoid ball valve 33, and the B port of the first bidirectional solenoid ball valve 33 before entering the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The hydraulic oil in port A of the first hydraulic motor 81 flows back into the hydraulic oil tank 10 after passing through port A of the first two-way cartridge valve 51, port B of the first two-way cartridge valve 51, port A of the high-frequency sound valve 32, and port T of the high-frequency sound valve 32. The hydraulic oil in port A of the second hydraulic motor 82 flows back into the hydraulic oil tank 10 after passing through port A of the second two-way cartridge valve 61, port B of the second two-way cartridge valve 61, port A of the high-frequency sound valve 32, and port T of the high-frequency sound valve 32.

[0083] The proportional control mode is performed sequentially according to the following steps:

[0084] B1. When the second bidirectional solenoid ball valve 42 is energized and the first bidirectional solenoid ball valve 33, the one-way solenoid ball valve 31, the first solenoid directional valve 71, and the second solenoid directional valve 72 are de-energized, the channels from port B to port A of the first two-way cartridge valve 51 and the second two-way cartridge valve 61 are opened and the channels from port A to port B are closed. The P port of the first hydraulic directional valve 64 is connected to port A. The B port of the second hydraulic motor 82 is simultaneously connected to the X port of the first balance valve 52 and the X port of the second balance valve 62, so that the B port of the first balance valve 52 and the second balance valve 62 are connected to port A. The hydraulic oil output by the hydraulic pump group 2 enters the interior of the proportional directional valve 41 after passing through the P port of the proportional directional valve 41.

[0085] B2. When forward rotation and rope winding are required, the controller 1 controls the DT2 of the proportional directional valve 41 to be energized, so that the proportional directional valve 41 operates in the left position. The P port of the proportional directional valve 41 is connected to the A port, and the B port is connected to the T port. At this time, the hydraulic oil inside the proportional directional valve 41 is divided into two paths after passing through the A port of the proportional directional valve 41. The first path of hydraulic oil passes through the A port of the first balance valve 52 and the B port of the first balance valve 52 in sequence and then enters the A port of the first hydraulic motor 81. The second path of hydraulic oil passes through the A port of the second balance valve 62 and the B port of the second balance valve 62 in sequence and then enters the A port of the second hydraulic motor 82. The hydraulic oil in the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82 passes through the B port of the second bidirectional solenoid ball valve 42, the A port of the second bidirectional solenoid ball valve 42, the B port of the proportional directional valve 41, and the T port of the proportional directional valve 41 in sequence and then flows back into the hydraulic oil tank 10.

[0086] When the rope needs to be reversed for winding, the controller 1 energizes DT3 of the proportional directional valve 41, causing the proportional directional valve 41 to operate in the left position. The P port of the proportional directional valve 41 is connected to the B port, and the A port is connected to the T port. At this time, the hydraulic oil inside the proportional directional valve 41 passes sequentially through the B port of the proportional directional valve 41, the A port of the second bidirectional solenoid ball valve 42, and the B port of the second bidirectional solenoid ball valve 42 before entering the B port of the first hydraulic motor 81 and the B port of the second hydraulic motor 82. The hydraulic oil in port A of the first hydraulic motor 81 flows back into the hydraulic oil tank 10 after passing through port B of the first balance valve 52, port A of the first balance valve 52, port A of the proportional directional valve 41, and port T of the proportional directional valve 41 in sequence. Similarly, the hydraulic oil in port A of the second hydraulic motor 82 flows back into the hydraulic oil tank 10 after passing through port B of the second balance valve 62, port A of the second balance valve 62, port A of the proportional directional valve 41, and port T of the proportional directional valve 41 in sequence.

[0087] Example 2:

[0088] The difference from Example 1 is as follows:

[0089] The second locking valve group 6 also includes a second shuttle valve 65 and a second hydraulic control directional valve 66. The A port of the second shuttle valve 65 is connected to the A port of the first solenoid directional valve 71. The C port of the second shuttle valve 65 is connected to the control oil port of the first brake 83 installed on the first hydraulic motor 81 and the control oil port of the second brake 84 installed on the second hydraulic motor 82. The control oil port of the second hydraulic control directional valve 66 is connected to the A port of the first solenoid directional valve 71. The A port of the second hydraulic control directional valve 66 is connected to the B port of the second shuttle valve 65. The P port of the second hydraulic control directional valve 66 is connected to the B port of the second hydraulic motor 82.

[0090] Example 3:

[0091] The difference from Example 1 is as follows:

[0092] The proportional control valve group 4 also includes a third shuttle valve 43 and a differential pressure compensator 44. The A port and B port of the third shuttle valve 43 are connected to the A port and B port of the proportional directional valve 41, respectively. The C port of the third shuttle valve 43 is connected to the spring cavity of the differential pressure compensator 44. The differential pressure compensator 44 is installed between the P port of the proportional directional valve 41 and the oil outlet of the hydraulic pump group 2.

[0093] Example 4:

[0094] The difference from Example 1 is as follows:

[0095] The hydraulic system also includes an emergency valve group 9, which includes an accumulator 91 and a third solenoid directional valve 92. The oil outlet of the hydraulic pump group 2 is connected to the P port of the accumulator 91 and the third solenoid directional valve 92 through a first check valve 93. The A port of the third solenoid directional valve 92 is connected to the B port of the first shuttle valve 63. The third solenoid directional valve 92 is signal-connected to the controller 1. During emergency operation, after the controller 1 controls the third solenoid directional valve 92 to switch, the A port and P port of the third solenoid directional valve 92 are connected. The accumulator 91 supplies oil to the B port of the first shuttle valve 63 through the third solenoid directional valve 92, and then the oil enters the control port of the first hydraulic directional valve 64 through the C port of the first shuttle valve 63, causing the first hydraulic directional valve 64 to switch.

[0096] Example 5:

[0097] The difference from Example 4 is that:

[0098] The first locking valve group 5 also includes a first hydraulically controlled ball valve 53 and a first main relief valve 54. The second locking valve group 6 also includes a second hydraulically controlled ball valve 67 and a second main relief valve 68. The proportional control valve group 4 also includes a proportional relief valve 45. The A port of the third solenoid directional valve 92 is also connected to the control oil ports of the first hydraulically controlled ball valve 53 and the second hydraulically controlled ball valve 67. The A port of the first hydraulically controlled ball valve 53 is connected to the spring cavity of the first main relief valve 54. The B port of the first hydraulically controlled ball valve 53 is connected to the A port of the second hydraulically controlled ball valve 67 and the spring cavity of the second main relief valve 68 through the second check valve 69. The B port of the second hydraulically controlled ball valve 67 is connected to the inlet of the proportional relief valve 45. The outlet of the proportional relief valve 45 is connected to the hydraulic oil tank 10. One port of the first main relief valve 54 is also connected to the control oil ports of the first hydraulically controlled ball valve 57 and the second main relief valve 68. The B port of the first balance valve 52, the A port of the first two-way cartridge valve 51, the A port of the first hydraulic motor 81, and the A port of the second hydraulic motor 82 are all connected. The other port of the first main relief valve 54 is simultaneously connected to the B port of the first bidirectional solenoid ball valve 33, the B port of the second bidirectional solenoid ball valve 42, the B port of the first hydraulic motor 81, and the B port of the second hydraulic motor 82. One port of the second main relief valve 68 is simultaneously connected to the B port of the second balance valve 62, the A port of the second two-way cartridge valve 61, the A port of the first hydraulic motor 81, and the A port of the second hydraulic motor 82. The other port of the second main relief valve 68 is simultaneously connected to the B port of the first hydraulic motor 81, the other port of the first main relief valve 54, the B port of the first bidirectional solenoid ball valve 33, the B port of the second bidirectional solenoid ball valve 42, and the B port of the second hydraulic motor 82.

[0099] Example 6:

[0100] The difference from Example 1 is as follows:

[0101] The control mode switching valve group 7 also includes a first pressure reducing valve 73, the A port and P port of the first pressure reducing valve 73 being connected to the P port of the first solenoid directional valve 71 and the oil outlet of the hydraulic pump group 2, respectively.

[0102] Example 7:

[0103] The difference from Example 6 is that:

[0104] The control mode switching valve group 7 also includes a second pressure reducing valve 74. The A port of the first hydraulic motor 81 is connected to the A port of the second pressure reducing valve 74 through a third check valve. The A port of the second hydraulic motor 82 is connected to the A port of the second pressure reducing valve 74 through a fourth check valve. The P port of the second pressure reducing valve is connected to the oil outlet of the hydraulic pump group 2.

Claims

1. An active compensation crane hydraulic system, characterized in that: the hydraulic system comprises a controller (1), a hydraulic pump group (2), a high-frequency valve control valve group (3), a proportional control valve group (4), a first locking valve group (5), a second locking valve group (6), a control mode switching valve group (7), an actuator (8), the high-frequency valve control valve group (3) comprises a one-way electromagnetic ball valve (31), a high-frequency valve (32), a first bidirectional electromagnetic ball valve (33), the proportional control valve group (4) comprises a proportional directional valve (41), a second bidirectional electromagnetic ball valve (42), the first locking valve group (5) comprises a first two-way cartridge valve (51), a first balance valve (52), the second locking valve group (6) comprises a second two-way cartridge valve (61), a second balance valve (62), a first shuttle valve (63), a first hydraulic control reversing valve (64), the control mode switching valve group (7) comprises a first electromagnetic reversing valve (71), a second electromagnetic reversing valve (72), the actuator (8) comprises a first hydraulic motor (81) and a second hydraulic motor (82) for winding and unwinding the winch cable; the oil inlet of the hydraulic pump group (2) is connected with a hydraulic oil tank (10), the oil outlet of the hydraulic pump group (2) is connected with the A port of the one-way electromagnetic ball valve (31) and the P port of the proportional directional valve (41), the B port of the one-way electromagnetic ball valve (31) is connected with the P port of the high-frequency valve (32), the A port of the high-frequency valve (32) is connected with the B port of the first two-way cartridge valve (51) and the B port of the second two-way cartridge valve (61) at the same time, the A port of the first two-way cartridge valve (51) is connected with the A port of the first hydraulic motor (81) and the B port of the first balance valve (52), the A port of the second two-way cartridge valve (61) is connected with the A port of the second hydraulic motor (82) and the B port of the second balance valve (62), the B port of the high-frequency valve (32) is connected with the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) through the A port and the B port of the first bidirectional electromagnetic ball valve (33) in sequence at the same time, the A port of the proportional directional valve (41) is connected with the A port of the first balance valve (52) and the A port of the second balance valve (62) at the same time, the B port of the proportional directional valve (41) is connected with the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) through the A port and the B port of the second bidirectional electromagnetic ball valve (42) in sequence at the same time, the T port of the proportional directional valve (41) and the T port of the high-frequency valve (32) are connected with the hydraulic oil tank (10). ​ The oil outlet of the hydraulic pump group (2) is also connected with the P port of the first electromagnetic reversing valve (71) and the P port of the second electromagnetic reversing valve (72), the A port of the first electromagnetic reversing valve (71) is connected with the A port of the first spool valve (63), the C port of the first spool valve (63) is connected with the control oil port of the first hydraulic control reversing valve (64), the P port of the first hydraulic control reversing valve (64) is connected with the B port of the second hydraulic motor (82), the A port of the first hydraulic control reversing valve (64) is connected with the X port of the first balance valve (52) and the X port of the second balance valve (62), and the A port of the second electromagnetic reversing valve (72) is connected with the control oil port of the pilot reversing valve on the first two-way cartridge valve (51) and the second two-way cartridge valve (61). The controller (1) is signal connected with the second bidirectional electromagnetic ball valve (42), the first bidirectional electromagnetic ball valve (33), the one-way electromagnetic ball valve (31), the first electromagnetic reversing valve (71) and the second electromagnetic reversing valve (72).

2. The active compensation crane hydraulic system according to claim 1, characterized in that: The second locking valve group (6) further comprises a second spool valve (65) and a second hydraulic control reversing valve (66), the A port of the second spool valve (65) is connected with the A port of the first electromagnetic reversing valve (71), the C port of the second spool valve (65) is connected with the control oil port of the first brake (83) installed on the first hydraulic motor (81) and the control oil port of the second brake (84) installed on the second hydraulic motor (82), the control oil port of the second hydraulic control reversing valve (66) is connected with the A port of the first electromagnetic reversing valve (71), the A port of the second hydraulic control reversing valve (66) is connected with the B port of the second spool valve (65), and the P port of the second hydraulic control reversing valve (66) is connected with the B port of the second hydraulic motor (82).

3. The active compensation crane hydraulic system according to claim 1 or 2, characterized in that: The proportional control valve group (4) further comprises a third spool valve (43) and a differential pressure compensator (44), the A port and the B port of the third spool valve (43) are connected with the A port and the B port of the proportional directional valve (41) respectively, the C port of the third spool valve (43) is connected with the spring cavity of the differential pressure compensator (44), and the differential pressure compensator (44) is installed between the P port of the proportional directional valve (41) and the oil outlet of the hydraulic pump group (2).

4. The active compensation crane hydraulic system according to claim 1 or 2, characterized in that: The hydraulic system further comprises an emergency valve group (9), the emergency valve group (9) comprises an accumulator (91) and a third electromagnetic reversing valve (92), the third electromagnetic reversing valve (92) is signal connected with the controller (1), the A port of the third electromagnetic reversing valve (92) is communicated with the B port of the first shuttle valve (63), the P port of the third electromagnetic reversing valve (92) is communicated with the oil outlet of the hydraulic pump group (2), the A port of the third electromagnetic reversing valve (92) is communicated with the P port after reversing, and the accumulator (91) is installed between the P port of the third electromagnetic reversing valve (92) and the oil outlet of the hydraulic pump group (2).

5. The active compensation crane hydraulic system according to claim 4, characterized in that: The oil outlet of the hydraulic pump group (2) is communicated with the P port of the accumulator (91) and the third electromagnetic reversing valve (92) through a one-way valve (93).

6. The active compensation crane hydraulic system according to claim 4, characterized in that: The first locking valve group (5) further comprises a first hydraulic control ball valve (53) and a first main overflow valve (54), the second locking valve group (6) further comprises a second hydraulic control ball valve (67) and a second main overflow valve (68), the proportional control valve group (4) further comprises a proportional overflow valve (45), the A port of the third electromagnetic reversing valve (92) is further communicated with the control oil ports of the first hydraulic control ball valve (53) and the second hydraulic control ball valve (67) at the same time, the A port of the first hydraulic control ball valve (53) is communicated with the spring cavity of the first main overflow valve (54), the B port of the first hydraulic control ball valve (53) is communicated with the A port of the second hydraulic control ball valve (67) and the spring cavity of the second main overflow valve (68) at the same time, the B port of the second hydraulic control ball valve (67) is communicated with the oil inlet of the proportional overflow valve (45), the oil outlet of the proportional overflow valve (45) is communicated with the hydraulic oil tank (10), one oil port of the first main overflow valve (54) is communicated with the B port of the first balance valve (52), the A port of the first two-way cartridge valve (51), the A port of the first hydraulic motor (81) and the A port of the second hydraulic motor (82) at the same time, the other oil port of the first main overflow valve (54) is communicated with the B port of the first bidirectional electromagnetic ball valve (33), the B port of the second bidirectional electromagnetic ball valve (42), the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) at the same time, one oil port of the second main overflow valve (68) is communicated with the B port of the second balance valve (62), the A port of the second two-way cartridge valve (61), the A port of the first hydraulic motor (81) and the A port of the second hydraulic motor (82) at the same time, the other oil port of the second main overflow valve (68) is communicated with the B port of the first hydraulic motor (81), the other oil port of the first main overflow valve (54), the B port of the first bidirectional electromagnetic ball valve (33), the B port of the second bidirectional electromagnetic ball valve (42) and the B port of the second hydraulic motor (82) at the same time.

7. The active compensation crane hydraulic system according to claim 6, characterized in that: The B port of the first hydraulic control ball valve (53) is connected with the A port of the second hydraulic control ball valve (67) and the spring cavity of the second main overflow valve (68) through the second one-way valve (69).

8. The active compensation crane hydraulic system of claim 1 or 2, characterized in that: The control mode switching valve group (7) further comprises a first pressure reducing valve (73), and the A port and the P port of the first pressure reducing valve (73) are respectively connected with the P port of the first electromagnetic reversing valve (71) and the oil outlet of the hydraulic pump group (2).

9. The active compensation crane hydraulic system of claim 8, characterized in that: The control mode switching valve group (7) further comprises a second pressure reducing valve (74), the A port of the first hydraulic motor (81) is connected with the A port of the second pressure reducing valve (74) through a third one-way valve, the A port of the second hydraulic motor (82) is connected with the A port of the second pressure reducing valve (74) through a fourth one-way valve, and the P port of the second pressure reducing valve is connected with the oil outlet of the hydraulic pump group (2).

10. The control method of the active compensation crane hydraulic system of claim 1, characterized in that: The control method comprises an active compensation control mode and a proportional control mode, and the active compensation control mode comprises the following steps in sequence: A1, the second bidirectional electromagnetic ball valve (42) is controlled to be de-energized, and the first bidirectional electromagnetic ball valve (33), the one-way electromagnetic ball valve (31), the first electromagnetic reversing valve (71) and the second electromagnetic reversing valve (72) are all energized, at this time, the hydraulic oil output by the hydraulic pump group (2) is divided into three paths, the first path of the hydraulic oil passes through the P port of the first electromagnetic reversing valve (71), the A port of the first electromagnetic reversing valve (71), the A port of the first shuttle valve (63) and the C port of the first shuttle valve (63) in sequence and then enters the control oil port of the first hydraulic control reversing valve (64), so that the first hydraulic control reversing valve (64) is reversed, the B port of the second hydraulic motor (82) is disconnected with the X port of the first balance valve (52) and the X port of the second balance valve (62), so that the first balance valve (52) and the second balance valve (62) are both operated in the left position, the B port and the A port of the first balance valve (52) and the second balance valve (62) are connected, the second path of the hydraulic oil passes through the P port of the second electromagnetic reversing valve (72) and the A port of the second electromagnetic reversing valve (72) in sequence and then enters the control oil port of the pilot reversing valve of the first two-way cartridge valve (51) and the second two-way cartridge valve (61), so that the B port and the A port of the first two-way cartridge valve (51) and the second two-way cartridge valve (61) are communicated, and the third path of the hydraulic oil passes through the A port of the one-way electromagnetic ball valve (31), the B port of the one-way electromagnetic ball valve (31) and the P port of the high-frequency valve (32) in sequence and then enters the inside of the high-frequency valve (32). A2, when the rope needs to be collected in the forward direction, the P port and the A port of the high-frequency valve (32) are connected, and the B port and the T port are connected, at this time, the hydraulic oil in the high-frequency valve (32) is divided into two paths after passing through the A port of the high-frequency valve (32), the first path of the hydraulic oil passes through the B port of the first two-way cartridge valve (51) and the A port of the first two-way cartridge valve (51) in turn and then enters the A port of the first hydraulic motor (81), the second path of the hydraulic oil passes through the B port of the second two-way cartridge valve (61) and the A port of the second two-way cartridge valve (61) in turn and then enters the A port of the second hydraulic motor (82), the hydraulic oil in the B ports of the first hydraulic motor (81) and the second hydraulic motor (82) returns to the inside of the hydraulic oil tank (10) through the B port of the first bidirectional electromagnetic ball valve (33), the A port of the first bidirectional electromagnetic ball valve (33), the B port of the high-frequency valve (32) and the T port of the high-frequency valve (32) in turn; When the rope needs to be collected in the reverse direction, the P port and the B port of the high-frequency valve (32) are connected, and the A port and the T port are connected, at this time, the hydraulic oil in the high-frequency valve (32) enters the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) through the B port of the high-frequency valve (32), the A port of the first bidirectional electromagnetic ball valve (33) and the B port of the first bidirectional electromagnetic ball valve (33) in turn, the hydraulic oil in the A port of the first hydraulic motor (81) returns to the inside of the hydraulic oil tank (10) through the A port of the first two-way cartridge valve (51), the B port of the first two-way cartridge valve (51), the A port of the high-frequency valve (32) and the T port of the high-frequency valve (32) in turn, and the hydraulic oil in the A port of the second hydraulic motor (82) returns to the inside of the hydraulic oil tank (10) through the A port of the second two-way cartridge valve (61), the B port of the second two-way cartridge valve (61), the A port of the high-frequency valve (32) and the T port of the high-frequency valve (32) in turn; The proportional control mode is performed in the following steps: B1, control the energization of the second bidirectional electromagnetic ball valve (42) and the de-energization of the first bidirectional electromagnetic ball valve (33), the one-way electromagnetic ball valve (31), the first electromagnetic reversing valve (71) and the second electromagnetic reversing valve (72), at this time, the channels from the B port to the A port of the first two-way cartridge valve (51) and the second two-way cartridge valve (61) are opened, and the channels from the A port to the B port are closed, the P port and the A port of the first hydraulic control reversing valve (64) are connected, the B port of the second hydraulic motor (82) is connected with the X port of the first balance valve (52) and the X port of the second balance valve (62) at the same time, the B port and the A port of the first balance valve (52) and the second balance valve (62) are connected, and the hydraulic oil output by the hydraulic pump group (2) enters the inside of the proportional directional valve (41) after passing through the P port of the proportional directional valve (41); B2, when the rope needs to be collected in the forward direction, the P port and the A port of the proportional directional valve (41) are connected, and the B port and the T port are connected, at this time, the hydraulic oil in the proportional directional valve (41) is divided into two routes after passing through the A port of the proportional directional valve (41), the first route of the hydraulic oil passes through the A port of the first balance valve (52) and the B port of the first balance valve (52) in turn and then enters the A port of the first hydraulic motor (81), the second route of the hydraulic oil passes through the A port of the second balance valve (62) and the B port of the second balance valve (62) in turn and then enters the A port of the second hydraulic motor (82), the hydraulic oil in the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) returns to the inside of the hydraulic oil tank (10) after passing through the B port of the second two-way electromagnetic ball valve (42), the A port of the second two-way electromagnetic ball valve (42), the B port of the proportional directional valve (41) and the T port of the proportional directional valve (41) in turn; When the rope needs to be collected in the reverse direction, the P port and the B port of the proportional directional valve (41) are connected, and the A port and the T port are connected, at this time, the hydraulic oil in the proportional directional valve (41) enters the inside of the B port of the first hydraulic motor (81) and the B port of the second hydraulic motor (82) after passing through the B port of the proportional directional valve (41), the A port of the second two-way electromagnetic ball valve (42) and the B port of the second two-way electromagnetic ball valve (42) in turn, the hydraulic oil in the A port of the first hydraulic motor (81) returns to the inside of the hydraulic oil tank (10) after passing through the B port of the first balance valve (52), the A port of the first balance valve (52), the A port of the proportional directional valve (41) and the T port of the proportional directional valve (41) in turn, and the hydraulic oil in the A port of the second hydraulic motor (82) returns to the inside of the hydraulic oil tank (10) after passing through the B port of the second balance valve (62), the A port of the second balance valve (62), the A port of the proportional directional valve (41) and the T port of the proportional directional valve (41) in turn.

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