Control method and system for a hydraulic turning device, chuck wagon, working machine

Abstract

The application relates to the field of working machines, and discloses a control method and system for a hydraulic rotating device, a suction cup vehicle and a working machine. The hydraulic rotating device comprises a shell, a rotating shaft, a piston and a hydraulic circulating oil circuit. The piston is sleeved between the rotating shaft and the shell. The hydraulic circulating oil circuit is used for driving the piston to axially displace. In the process of axial displacement of the piston, the piston and the rotating shaft can synchronously rotate in the shell. In this way, based on the piston displacement-rotating shaft rotation angle corresponding relationship determined by the structure of the hydraulic rotating device, the rotating shaft rotation angle control can be realized by controlling the axial displacement of the piston, so that higher angle control precision is obtained. In particular, compared with the prior art, the angle velocity control of the rotating shaft is no longer directly dependent on the rotating angle, but is indirectly realized by controlling the axial displacement velocity of the piston. The rotating shaft angle velocity control precision is more optimal, and the micro-motion control effect is better.

Description

Technical Field

[0001] This application belongs to the field of construction machinery technology, specifically relating to a control method and system for a hydraulic rotating device, a suction cup vehicle, construction machinery, and a machine-readable storage medium. Background Technology

[0002] Various types of construction machinery are equipped with rotating devices for different purposes, such as suction cup trucks, aerial work platforms, and concrete pump trucks. Taking suction cup trucks as an example, when installing curtain wall panels such as marble and glass windows, the suction cup truck needs to use the suction cup frame in its suction cup mechanism to attach the curtain wall panel to the designated position, and the rotating device in the suction cup mechanism needs to be used to adjust the position of the suction cup frame.

[0003] However, the existing suction cup mechanism uses a hydraulic motor to control the angular velocity of the rotating device, and can only achieve closed-loop angle control. Due to the lag and compressibility of the hydraulic system, angular acceleration control is extremely difficult, and problems such as slow rotation speed increase or severe speed overshoot are very likely to occur, ultimately leading to inaccurate angle control and affecting the installation efficiency of the curtain wall panel.

[0004] Similar problems exist with rotating devices in other types of machinery that use hydraulic motors to control angular velocity. Therefore, it is necessary to optimize the control strategies for these rotating devices at this stage. Summary of the Invention

[0005] The purpose of this application is to provide a control method and system for a hydraulic rotating device, a suction cup vehicle, a work machine, and a machine-readable storage medium, which can greatly improve the angle control accuracy of the hydraulic rotating device.

[0006] To achieve the above objectives, this application provides a control method for a hydraulic rotating device, the hydraulic rotating device including a housing, a rotating shaft, a piston, and a hydraulic circulation circuit, the piston being sleeved between the rotating shaft and the housing, the hydraulic circulation circuit being used to drive the piston to move axially, and during the axial displacement of the piston, the piston and the rotating shaft being able to rotate synchronously within the housing;

[0007] The control method includes:

[0008] Obtain the target rotation angle α and the current rotation angle β of the shaft;

[0009] Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β;

[0010] The target axial displacement X of the piston is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle.

[0011] The piston displacement is controlled based on the target axial displacement X so that the shaft rotates to the target rotation angle α.

[0012] In some embodiments, controlling the piston displacement based on the target axial displacement X to rotate the shaft to the target rotation angle α includes:

[0013] Obtain the current axial displacement of the piston;

[0014] The piston is controlled in a closed loop based on the target axial displacement X and the current axial displacement.

[0015] In some embodiments, the hydraulic circulation circuit includes a first circulation circuit and a second circulation circuit, the piston includes a first piston and a second piston spaced apart along the axial direction, and the hydraulic rotating device further includes a first rack engagement guide structure disposed between the first piston and the housing and a second rack engagement guide structure disposed between the second piston and the housing. The first piston and the second piston can reciprocate along the axial direction under the drive of the first circulation circuit and the second circulation circuit, respectively, and can rotate synchronously under the guidance of the first rack engagement guide structure and the second rack engagement guide structure, respectively.

[0016] Obtaining the current axial displacement of the piston includes:

[0017] Obtain the current axial displacement Xz of the first piston and the current axial displacement Xi of the second piston;

[0018] Closed-loop control of the piston based on the target axial displacement X and the current axial displacement includes:

[0019] The current composite axial displacement Xk is calculated based on the current axial displacement Xz, the current axial displacement Xi, and the invalid displacement Xj, where Xk = Xz + Xi - Xj;

[0020] Closed-loop control is performed on the first piston and the second piston based on the target axial displacement X and the current combined axial displacement Xk.

[0021] In some implementations, closed-loop control of the first piston and the second piston based on the target axial displacement X and the current combined axial displacement Xk includes:

[0022] Calculate the displacement difference ΔX between the target axial displacement X and the current composite axial displacement Xk;

[0023] The flow rate of the first circulating oil circuit is adjusted according to the displacement difference ΔX and the preset first speed proportional coefficient, and the flow rate of the second circulating oil circuit is adjusted according to the displacement difference ΔX and the preset second speed proportional coefficient, so as to adjust the angular velocity of the rotating shaft.

[0024] In some embodiments, the hydraulic rotating device further includes a rack and pinion guide structure disposed between the piston and the housing, wherein the piston can reciprocate axially under the drive of the hydraulic circulation circuit and can rotate under the guidance of the rack and pinion guide structure;

[0025] The target axial displacement X of the piston is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle, including:

[0026] The conversion coefficient k is determined by the correspondence between the piston displacement and the shaft rotation angle.

[0027] The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where X = γ * k. Z represents the number of teeth, and hw represents the tooth height.

[0028] A second aspect of this application also provides a control system for a hydraulic rotating device, the hydraulic rotating device including a housing, a rotating shaft, a piston, and a hydraulic circulation circuit, the piston being sleeved between the rotating shaft and the housing, the hydraulic circulation circuit being used to drive the piston to move axially, and during the axial displacement of the piston, the piston and the rotating shaft being able to rotate synchronously within the housing;

[0029] The control system includes an angle detection device for detecting the rotation angle of the rotating shaft, a displacement detection device for detecting the axial displacement of the piston, and a processing device that communicates with the angle detection device and the displacement detection device. The processing device is configured as follows:

[0030] Obtain the target rotation angle α and the current rotation angle β of the shaft;

[0031] Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β;

[0032] The target axial displacement X of the piston is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle.

[0033] The piston displacement is controlled based on the target axial displacement X so that the shaft rotates to the target rotation angle α.

[0034] In some embodiments, the processing device is further configured to:

[0035] Obtain the current axial displacement of the piston;

[0036] The piston is controlled in a closed loop based on the target axial displacement X and the current axial displacement.

[0037] In some embodiments, the hydraulic circulation circuit includes a first circulation circuit and a second circulation circuit, the piston includes a first piston and a second piston spaced apart along the axial direction, and the hydraulic rotating device further includes a first rack engagement guide structure disposed between the first piston and the housing and a second rack engagement guide structure disposed between the second piston and the housing. The first piston and the second piston can reciprocate along the axial direction under the drive of the first circulation circuit and the second circulation circuit, respectively, and can rotate synchronously under the guidance of the first rack engagement guide structure and the second rack engagement guide structure, respectively.

[0038] The displacement detection device includes a first displacement detection device for detecting the axial displacement of the first piston and a second displacement detection device for detecting the axial displacement of the second piston. The processing device is further configured to:

[0039] Obtain the current axial displacement Xz of the first piston and the current axial displacement Xi of the second piston;

[0040] The current composite axial displacement Xk is calculated based on the current axial displacement Xz, the current axial displacement Xi, and the invalid displacement Xj, where Xk = Xz + Xi - Xj;

[0041] Closed-loop control is performed on the first piston and the second piston based on the target axial displacement X and the current combined axial displacement Xk.

[0042] In some embodiments, a first proportional directional valve is provided in the first circulating oil circuit, and a second proportional directional valve is provided in the second circulating oil circuit. The processing device is communicatively connected to the first proportional directional valve and the second proportional directional valve, and is further configured as follows:

[0043] Calculate the displacement difference ΔX between the target axial displacement X and the current composite axial displacement Xk;

[0044] A first flow control signal is generated based on the displacement difference ΔX and a preset first speed proportional coefficient to control the first proportional directional valve to adjust the flow rate of the first circulating oil circuit, and a second flow control signal is generated based on the displacement difference ΔX and a preset second speed proportional coefficient to control the second proportional directional valve to adjust the flow rate of the second circulating oil circuit, thereby adjusting the angular velocity of the shaft.

[0045] In some embodiments, the hydraulic rotating device further includes a rack and pinion guide structure disposed between the piston and the housing, wherein the piston can reciprocate axially under the drive of the hydraulic circulation circuit and can rotate under the guidance of the rack and pinion guide structure;

[0046] The processing device is further configured to:

[0047] The conversion coefficient k is determined by the correspondence between the piston displacement and the shaft rotation angle.

[0048] The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where X = γ * k. Z represents the number of teeth, and hw represents the tooth height.

[0049] A third aspect of this application also provides a suction cup vehicle, which includes the control system described above for the hydraulic rotation device.

[0050] A fourth aspect of this application also provides a working machine that includes the control system described above for the hydraulic rotation device.

[0051] The fifth aspect of this application also provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a hydraulic rotating device.

[0052] When employing the angle control technology for the hydraulic rotating device of this application, based on the piston displacement-shaft rotation angle correspondence determined by the structure of the hydraulic rotating device itself, the rotation angle of the shaft can be controlled by controlling the axial displacement of the piston, thereby achieving higher angle control accuracy. Specifically, compared with existing technologies, based on the control method provided in this application, the angular velocity control of the shaft no longer directly depends on its rotation angle, but is indirectly achieved by controlling the axial displacement velocity of the piston. Thus, the angular velocity control accuracy of the shaft is superior, and the micro-motion control effect is better.

[0053] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0054] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0055] Figure 1This is a schematic diagram of a control strategy for a control method for a hydraulic rotating device according to a specific embodiment of this application.

[0056] Figure 2 This is a simplified hydraulic control diagram of a control system for a hydraulic rotating device according to a specific embodiment of this application;

[0057] Figure 3 This is a schematic diagram of a working mechanism according to a specific embodiment of this application;

[0058] Figure 4 for Figure 3 A schematic diagram of the rotating device and the rear connecting plate located at the rear.

[0059] Figure 5 for Figure 3 A schematic diagram of the rotating device and the front connecting plate located at the front;

[0060] Figure 6 for Figure 3 A schematic diagram of the rotating device in the middle;

[0061] Figure 7 for Figure 6 A cross-sectional view of the rotating device in the middle;

[0062] Figure 8 This is a schematic diagram of a rack meshing guide structure according to a specific embodiment of this application;

[0063] Figures 9 to 14 Used in sequence to illustrate Figure 3 The range of motion of the reducer, two rotating devices, first pitch device, second pitch device, front and rear telescopic devices, vertical telescopic devices, and left and right telescopic devices.

[0064] Explanation of reference numerals in the attached figures

[0065] 10 Rotating device 20 Reducer

[0066] 30 First pitch device 40 Second pitch device

[0067] 50 Front and rear telescopic device; 60 Left and right telescopic device

[0068] 70 Telescopic boom 80 Main boom

[0069] 90s connecting plate 100 flying arm

[0070] 110 Linkage 120 Front Connecting Plate

[0071] 130 Support 140 Working Device

[0072] 150° Angle Detection Equipment; 160° First Displacement Detection Equipment

[0073] 170 Second Displacement Detection Equipment

[0074] 101 Housing 102 Shaft

[0075] 103 First piston 104 Second piston

[0076] 105 Flat thrust bearing; 106 Connecting flange

[0077] 107 Piston

[0078] 101a Peripheral wall of the shell 101b End wall of the shell

[0079] 101c Housing limiting component; 101d Housing ring rack

[0080] 106a Flange limiting component; 107a Piston ring rack Detailed Implementation

[0081] The specific embodiments of this application 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 this application.

[0082] Reference Figure 1 , Figures 4 to 8 The first exemplary embodiment of this application provides a control method for a hydraulic rotating device.

[0083] The hydraulic rotation device includes a housing 101, a rotating shaft 102, a piston 107, and a hydraulic circulation circuit. The piston 107 is sleeved between the rotating shaft 102 and the housing 101. The hydraulic circulation circuit can drive the piston 107 to move axially, so that during the axial movement of the piston 107, the piston 107 and the rotating shaft 102 can rotate synchronously within the housing 101. Therefore, this hydraulic rotation device does not directly drive the rotating shaft 102 to rotate via the hydraulic circuit, but rather drives the piston 107 to move axially via the hydraulic circulation circuit. Through the mechanical connection between the piston 107, the rotating shaft 102, and the housing 101, the axial displacement of the piston 107 is converted into the rotation of the rotating shaft 102. Therefore, there is a servo-correspondence between the axial displacement of the piston 107 and the rotation angle of the rotating shaft 102 (i.e., the piston displacement-rotating shaft rotation angle correspondence mentioned below).

[0084] Based on the above settings, the control method of this application includes the following steps:

[0085] Step S1: Obtain the target rotation angle α and the current rotation angle β of the rotating shaft 102;

[0086] Step S2: Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β;

[0087] Step S3: Determine the target axial displacement X of piston 107 based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle;

[0088] Step S4: Control the displacement of piston 107 based on the target axial displacement X so that the rotating shaft 102 rotates to the target rotation angle α.

[0089] By executing steps S1 to S4 above, based on the piston displacement-rotation angle correspondence determined by the structure of the hydraulic rotating device itself, the rotation angle of the rotating shaft 102 can be controlled by controlling the axial displacement of the piston 107, thereby obtaining higher angle control accuracy.

[0090] In an optional embodiment, step S4 may include:

[0091] Step S41: Obtain the current axial displacement of piston 107;

[0092] Step S42: Perform closed-loop control on piston 107 based on the target axial displacement X and the current axial displacement.

[0093] By executing steps S41 and S42 to perform closed-loop control of piston 107, the displacement and displacement speed of piston 107 can be controlled more precisely, thereby further improving the angle control accuracy and angular velocity control accuracy of rotating shaft 102.

[0094] The control method of this application will be described in more detail below based on some more specific optional embodiments of the hydraulic rotating device. However, those skilled in the art will understand that the control method of this application is not necessarily based on these embodiments. When the hydraulic rotating device adopts other structural forms, the control method of this application can also be adapted, and the concept should also fall within the protection scope of this application.

[0095] In an optional embodiment, the hydraulic rotating device includes a rack and pinion meshing guide structure disposed between the piston 107 and the housing 101. The piston 107 can be moved back and forth axially under the drive of the hydraulic circulation oil circuit. During the process of the piston 107 moving back and forth axially, the rack and pinion meshing guide structure can guide the piston 107 to rotate, thereby causing the piston 107 to drive the rotating shaft 102 to rotate synchronously.

[0096] For example, refer to Figure 8The housing 101 contains two axially spaced annular racks 101d, with teeth on the racks extending axially toward each other. A piston 107 is located between the two racks 101d, with two piston racks 107a at each axial end. Teeth on the piston racks 107a extend axially away from each other. Furthermore, the piston 107 is circumferentially fixed to the shaft 102 via a keyway, and is capable of axial displacement relative to the shaft 102. Driven axially by a hydraulic circulation circuit, the piston 107 alternately meshes with the two racks 101d, thereby guiding the shaft 102 to rotate synchronously under the meshing guidance of multiple teeth.

[0097] Based on the settings in this optional embodiment, step S3 may include:

[0098] The conversion coefficient k is determined by the relationship between piston displacement and shaft rotation angle.

[0099] The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where X = γ * k. Z represents the number of teeth, and hw represents the tooth height.

[0100] In other words, when the number of teeth Z and tooth height hw of the rack meshing guide structure are designed, the specific value of the conversion coefficient k can be determined. That is, the conversion coefficient k can be regarded as a constant, so that the rotation angle difference γ and the target axial displacement X satisfy a linear relationship.

[0101] In one optional embodiment, the hydraulic circulation circuit includes a first circulation circuit and a second circulation circuit. The piston 107 includes a first piston 103 and a second piston 104 spaced apart axially. The hydraulic rotating device includes a first rack and pinion engagement guide structure disposed between the first piston 103 and the housing 101, and a second rack and pinion engagement guide structure disposed between the second piston 104 and the housing 101. In this configuration, the first piston 103 and the second piston 104 can reciprocate axially under the drive of the first and second circulation circuits, respectively, and can rotate synchronously under the guidance of the first and second rack and pinion engagement guide structures, respectively.

[0102] For example, the meshing method of the first piston 103 and the first rack meshing guide structure, and the meshing method of the second piston 104 and the second rack meshing guide structure can all be referred to Figure 8 It is set in the form of .

[0103] More specifically, the first rack meshing guide structure and the second rack meshing guide structure are arranged axially spaced apart along the housing 101. The first rack meshing guide structure includes two first housing annular racks fixed in the housing 101 and spaced apart axially, with teeth on the two first housing annular racks extending axially toward each other. The second rack meshing guide structure includes two second housing annular racks fixed in the housing 101 and spaced apart axially, with teeth on the two second housing annular racks extending axially toward each other.

[0104] The first piston 103 is located between two first housing annular racks, with two first piston annular racks at each axial end. The teeth on the two first piston annular racks extend axially away from each other. The second piston 104 is located between two second housing annular racks, with two second piston annular racks at each axial end. The teeth on the two second piston annular racks extend axially away from each other. Both the first piston 103 and the second piston 104 are circumferentially fixed to the rotating shaft 102 by forming a keyway with it, and both the first piston 103 and the second piston 104 are capable of axial displacement relative to the rotating shaft 102.

[0105] Furthermore, through the coordinated operation of the first and second circulation oil circuits (as shown in reference) Figure 6 The first circulating oil circuit can use oil ports Pa1 and Pb1 for oil inlet and outlet, and the second circulating oil circuit can use oil ports Pa2 and Pb2 for oil inlet and outlet (and the oil inlet and outlet directions of the first and second circulating oil circuits can be switched). It can drive the first piston 103 and the second piston 104 to move back and forth along the axial direction, so that the first piston 103 can alternately mesh with the two first housing ring racks and the second piston 104 can alternately mesh with the two second housing ring racks. Thus, by using the meshing guidance of multiple teeth, the first piston 103 and the second piston 104 drive the rotating shaft 102 to rotate synchronously.

[0106] Furthermore, referring to Figure 7 The housing 101 may include a housing peripheral wall portion 101a and two housing end wall portions 101b connected to the axial ends of the housing peripheral wall portion 101a. In this case, two first housing annular racks may be respectively disposed on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of one of the housing end wall portions 101b, while two second housing annular racks may be respectively disposed on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of the other housing end wall portion 101b.

[0107] Based on the settings in this optional embodiment, step S41 may include:

[0108] Step S411: Obtain the current axial displacement Xz of the first piston 103 and the current axial displacement Xi of the second piston 104;

[0109] Furthermore, step S42 above may include:

[0110] Step S421: Calculate the current composite axial displacement Xk based on the current axial displacement Xz, the current axial displacement Xi, and the invalid displacement Xj, where Xk = Xz + Xi - Xj;

[0111] Step S422: Perform closed-loop control on the first piston 103 and the second piston 104 based on the target axial displacement X and the current composite axial displacement Xk.

[0112] It should be noted that the invalid displacement Xj is determined by the motion characteristics of the first piston 103 and the second piston 104. It is the axial displacement generated by the first piston 103 and the second piston 104 that does not affect the rotation of the shaft 102. Therefore, when calculating the current composite axial displacement Xk, the invalid displacement Xj is discarded to avoid affecting the accuracy of the closed-loop control in the execution step S422.

[0113] In an optional embodiment, step S422 above may include:

[0114] Step S4221: Calculate the displacement difference ΔX between the target axial displacement X and the current composite axial displacement Xk;

[0115] Step S4222: Adjust the flow rate of the first circulating oil circuit according to the displacement difference ΔX and the preset first speed proportional coefficient, and adjust the flow rate of the second circulating oil circuit according to the displacement difference ΔX and the preset second speed proportional coefficient, thereby adjusting the angular velocity of the rotating shaft 102.

[0116] It should be noted that when adjusting the flow rate of the first circulating oil circuit based on the displacement difference ΔX and the first speed proportional coefficient, the displacement difference ΔX can be multiplied by the first speed proportional coefficient to obtain a first flow control signal, and the flow rate of the first circulating oil circuit can be adjusted according to the first flow control signal; when adjusting the flow rate of the second circulating oil circuit based on the displacement difference ΔX and the second speed proportional coefficient, the displacement difference ΔX can be multiplied by the second speed proportional coefficient to obtain a second flow control signal, and the flow rate of the second circulating oil circuit can be adjusted according to the second flow control signal.

[0117] When the displacement difference ΔX is larger, the axial displacement speed of the first piston 103 and the second piston 104 is faster, thereby driving the rotating shaft 102 to rotate faster; when the displacement difference ΔX is smaller, the axial displacement speed of the first piston 103 and the second piston 104 is slower, thereby driving the rotating shaft 102 to rotate slower.

[0118] Therefore, by executing steps S4221 and S4222, closed-loop control of the variable-speed rotation of the shaft 102 can be achieved. When the displacement difference ΔX is large, the requirements for rapid rotation control can be met; when the displacement difference ΔX is small, the requirements for slow, fine-motion rotation control can be met, thus effectively balancing rotation efficiency and rotation angle accuracy. In particular, when the displacement difference ΔX is extremely small, the overshoot phenomenon caused by excessively high rotation speed of the shaft 102 can be effectively avoided, resulting in excellent fine-motion control performance.

[0119] Reference Figure 1 , Figure 2 , Figures 4 to 8 The second exemplary embodiment of this application also provides a control system for a hydraulic rotating device, capable of executing the control method described above. Specifically, the control system includes an angle detection device 150 for detecting the rotation angle of the rotating shaft 102, a displacement detection device for detecting the axial displacement of the piston 107, and a processing device communicating with the angle detection device 150 and the displacement detection device. The processing device is configured as follows:

[0120] Obtain the target rotation angle α and the current rotation angle β of the rotating shaft 102;

[0121] Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β;

[0122] The target axial displacement X of piston 107 is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle.

[0123] The piston 107 is displaced based on the target axial displacement X so that the shaft 102 rotates to the target rotation angle α.

[0124] In an optional embodiment, the processing device is further configured to:

[0125] Obtain the current axial displacement of piston 107;

[0126] The piston 107 is controlled in a closed loop based on the target axial displacement X and the current axial displacement.

[0127] In an optional embodiment, the hydraulic rotating device further includes a rack and pinion meshing guide structure disposed between the piston 107 and the housing 101. The piston 107 can reciprocate axially under the drive of the hydraulic circulation oil circuit and can rotate under the guidance of the rack and pinion meshing guide structure.

[0128] The processing equipment is also configured as follows:

[0129] The conversion coefficient k is determined by the relationship between piston displacement and shaft rotation angle.

[0130] The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where X = γ * k. Z represents the number of teeth, and hw represents the tooth height.

[0131] In one optional embodiment, the hydraulic circulation circuit includes a first circulation circuit and a second circulation circuit. The piston 107 includes a first piston 103 and a second piston 104 spaced apart along the axial direction. The hydraulic rotating device further includes a first rack engagement guide structure disposed between the first piston 103 and the housing 101 and a second rack engagement guide structure disposed between the second piston 104 and the housing 101. The first piston 103 and the second piston 104 can reciprocate along the axial direction under the drive of the first circulation circuit and the second circulation circuit, respectively, and can rotate synchronously under the guidance of the first rack engagement guide structure and the second rack engagement guide structure, respectively.

[0132] In addition, the displacement detection equipment includes a first displacement detection device 160 for detecting the axial displacement of the first piston 103 and a second displacement detection device 170 for detecting the axial displacement of the second piston 104.

[0133] At this time, the processing equipment is also configured as follows:

[0134] Obtain the current axial displacement Xz of the first piston 103 and the current axial displacement Xi of the second piston 104;

[0135] The current composite axial displacement Xk is calculated based on the current axial displacement Xz, the current axial displacement Xi, and the invalid displacement Xj, where Xk = Xz + Xi - Xj;

[0136] Closed-loop control is performed on the first piston 103 and the second piston 104 based on the target axial displacement X and the current composite axial displacement Xk.

[0137] In one optional embodiment, a first proportional directional valve is provided in the first circulating oil circuit, a second proportional directional valve is provided in the second circulating oil circuit, the processing equipment is communicatively connected to the first and second proportional directional valves, and is further configured as follows:

[0138] Calculate the displacement difference ΔX between the target axial displacement X and the current composite axial displacement Xk;

[0139] A first flow control signal is generated based on the displacement difference ΔX and a preset first speed proportional coefficient to control the first proportional directional valve to adjust the flow rate of the first circulating oil circuit, and a second flow control signal is generated based on the displacement difference ΔX and a preset second speed proportional coefficient to control the second proportional directional valve to adjust the flow rate of the second circulating oil circuit, thereby adjusting the angular velocity of the rotating shaft 102.

[0140] For example, refer to Figure 2 and Figure 6The pressure oil Pp provided by the hydraulic pump station can be proportionally flow controlled through the first proportional directional valve in the first circulation oil circuit and the second proportional directional valve in the second circulation oil circuit, so as to realize the inlet and outlet oil drive control of oil ports Pa1 and Pb1, as well as oil ports Pa2 and Pb2 in the hydraulic rotating device.

[0141] Reference Figures 3 to 8 The third exemplary embodiment of this application also provides a working mechanism, which includes a working device 140, a support assembly and a rotation adjustment assembly.

[0142] Specifically, the support assembly supports the working device 140, positioning the working device 140 at the front end of the support assembly. A rotation adjustment assembly is disposed within the support assembly and includes the aforementioned hydraulic rotation device. This hydraulic rotation device includes a housing 101, a rotating shaft 102 disposed within the housing 101, a piston 107 sleeved between the rotating shaft 102 and the housing 101, and a hydraulic circulation circuit capable of driving the piston 107 to move axially. During the axial movement of the piston 107, the piston 107 and the rotating shaft 102 can rotate synchronously within the housing 101. The hydraulic rotation device can drive the working device 140 to rotate around the axis of the rotating shaft 102 through the rotation of the rotating shaft 102.

[0143] Because the hydraulic rotating device of this application has ample space between its housing 101 and shaft 102 for arranging the piston 107 and allowing the piston 107 to move axially, the interior of the hydraulic rotating device has a significant amount of non-solid area. In contrast, the interior of the swing cylinder in existing working mechanisms is almost entirely solid. Therefore, while providing the same torque, the hydraulic rotating device of this application is lighter than the existing swing cylinder, thus reducing the overall weight of the working mechanism. This reduces the pressure exerted by the working mechanism on the telescopic boom of the suction cup truck or other types of working machinery boom structures, allowing the telescopic boom and other boom structures to have a larger load margin. This can meet more operational requirements (such as enabling the suction cup truck to meet the installation requirements of large-size curtain wall panels (up to several meters in length and weighing hundreds of kilograms),) and improve the adaptability of the suction cup truck or other types of working machinery.

[0144] In other existing technologies, the rotating device used in the working mechanism can also be a hydraulic motor connected to a reducer. Hydraulic motors generally operate at high speeds, while the working mechanism sometimes requires its working device 140 to move slowly (for example, in the case of installing large curtain wall panels using a suction cup trolley, where the suction cup frame needs to move slowly) to ensure operational stability and safety. Therefore, simply rotating the working device 140 with a hydraulic motor cannot meet the requirement for slow movement. Thus, when using a hydraulic motor, a reducer must be configured for speed reduction, but this also results in a larger overall weight of the rotating device.

[0145] To address the aforementioned issues, the hydraulic rotary device of this application can be further optimized in the following ways to achieve a lighter weight compared to existing rotary devices that use a hydraulic motor and reducer transmission connection while providing the same torque.

[0146] Specifically, the hydraulic circulation circuit of the hydraulic rotating device of this application includes a first circulation circuit and a second circulation circuit. The piston 107 includes a first piston 103 and a second piston 104 spaced apart along the axial direction. The hydraulic rotating device also includes a first rack and pinion engagement guide structure disposed between the first piston 103 and the housing 101, and a second rack and pinion engagement guide structure disposed between the second piston 104 and the housing 101. At this time, the first piston 103 and the second piston 104 can reciprocate axially under the drive of the first circulation circuit and the second circulation circuit, respectively, and can rotate synchronously under the guidance of the first rack and pinion engagement guide structure and the second rack and pinion engagement guide structure, respectively.

[0147] For example, the meshing method of the first piston 103 and the first rack meshing guide structure, and the meshing method of the second piston 104 and the second rack meshing guide structure can all be referred to Figure 8 It is set in the form of .

[0148] More specifically, the first rack meshing guide structure and the second rack meshing guide structure are arranged axially spaced apart along the housing 101. The first rack meshing guide structure includes two first housing annular racks fixed in the housing 101 and spaced apart axially, with teeth on the two first housing annular racks extending axially toward each other. The second rack meshing guide structure includes two second housing annular racks fixed in the housing 101 and spaced apart axially, with teeth on the two second housing annular racks extending axially toward each other.

[0149] The first piston 103 is located between two first housing annular racks, with two first piston annular racks at each axial end. The teeth on the two first piston annular racks extend axially away from each other. The second piston 104 is located between two second housing annular racks, with two second piston annular racks at each axial end. The teeth on the two second piston annular racks extend axially away from each other. Both the first piston 103 and the second piston 104 are circumferentially fixed to the rotating shaft 102 by forming a keyway with it, and both the first piston 103 and the second piston 104 are capable of axial displacement relative to the rotating shaft 102.

[0150] Furthermore, through the coordinated operation of the first and second circulation oil circuits (as shown in reference) Figure 6The first circulating oil circuit can use oil ports Pa1 and Pb1 for oil inlet and outlet, and the second circulating oil circuit can use oil ports Pa2 and Pb2 for oil inlet and outlet (and the oil inlet and outlet directions of the first and second circulating oil circuits can be switched). It can drive the first piston 103 and the second piston 104 to move back and forth along the axial direction, so that the first piston 103 can alternately mesh with the two first housing ring racks and the second piston 104 can alternately mesh with the two second housing ring racks. Thus, by using the meshing guidance of multiple teeth, the first piston 103 and the second piston 104 drive the rotating shaft 102 to rotate synchronously.

[0151] Furthermore, referring to Figure 7 The housing 101 may include a housing peripheral wall portion 101a and two housing end wall portions 101b connected to the axial ends of the housing peripheral wall portion 101a. In this case, two first housing annular racks may be respectively disposed on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of one of the housing end wall portions 101b, while two second housing annular racks may be respectively disposed on the inner peripheral wall of the housing peripheral wall portion 101a and the inner end wall of the other housing end wall portion 101b.

[0152] Through the above-described optimized design, the hydraulic rotating device of this application, when converting the axial displacement of the first piston 103 and the second piston 104 into rotational displacement, utilizes multiple meshing guide teeth to transform the larger axial displacement into a smaller rotational displacement. This allows the first piston 103 and the second piston 104 to synchronously drive the rotating shaft 102 to rotate slowly, thereby driving the working device 140 to rotate slowly around the axis of the rotating shaft 102. In this case, the hydraulic rotating device of this application does not require an additional reducer for speed reduction and can still meet the slow-speed movement requirements of the working device 140. Therefore, while providing the same torque, the hydraulic rotating device of this application is lighter than existing rotating devices that use a hydraulic motor and reducer transmission connection.

[0153] Furthermore, the hydraulic rotating device of this application guides the first piston 103 and the second piston 104 to rotate by adopting a first rack meshing guide structure and a second rack meshing guide structure respectively. By utilizing the meshing between multiple teeth, the hydraulic rotating device can have a strong load capacity.

[0154] It should be noted that even with the first piston 103 and the second piston 104 in the hydraulic rotating device, the interior of the hydraulic rotating device still has a considerable amount of non-solid area. Therefore, when providing the same torque, the hydraulic rotating device of this application is still lighter than the existing swing cylinder.

[0155] In summary, through the above-mentioned optimized design, the hydraulic rotating device of this application is lighter than existing swing cylinders and existing rotating devices that use hydraulic motors and reducers for transmission, while providing the same torque.

[0156] In one optional embodiment, the outer peripheral wall of the end of the rotating shaft 102 may be provided with a shoulder, and a planar thrust bearing 105 may be provided between the shoulder and the axial inner end wall of the housing 101. In this way, by providing the planar thrust bearing 105, the internal friction of the hydraulic rotating device can be effectively reduced, and its structural reliability can be improved. Especially under heavy load conditions, the hydraulic rotating device can still rotate smoothly without jamming.

[0157] In an optional embodiment, the hydraulic rotating device may further include a connecting flange 106 fixedly connected to the end of the rotating shaft 102. The connecting flange 106 is provided with a flange limiting member 106a, and the outer axial end wall of the housing 101 is provided with a housing limiting member 101c. When the rotating shaft 102 drives the connecting flange 106 to rotate synchronously to a certain angle, the flange limiting member 106a and the housing limiting member 101c can abut against each other along the circumferential direction of the hydraulic rotating device, thereby limiting the maximum rotation angle of the hydraulic rotating device and preventing collision damage between structures caused by excessive rotation angle.

[0158] In one alternative embodiment, the support assembly includes a main boom 80, a rear connecting plate 90, a flying boom 100, a connecting rod 110, a front connecting plate 120, and a bracket 130, and the rotation adjustment assembly includes two hydraulic rotation devices arranged front to back.

[0159] The rear connecting plate 90 connects the front end of the main boom 80 and the housing 101 of the hydraulic rotating device located at the rear. The rotating shaft 102 of the hydraulic rotating device located at the rear is fixed relative to the rear end of the boom 100. The connecting rod 110 connects the front end of the boom 100 and the housing 101 of the hydraulic rotating device located at the front. The front connecting plate 120 is fixed relative to the rotating shaft 102 of the hydraulic rotating device located at the front and connects to the bracket 130. The working device 140 is located at the front end of the bracket 130.

[0160] Furthermore, for the two hydraulic rotating devices arranged in front and behind, the rotating shaft 102 of the hydraulic rotating device located on the front side can be fixed to the front connecting plate 120 through the connecting flange 106, while the rotating shaft 102 of the hydraulic rotating device located on the rear side can be fixed to the rear end of the flying arm 100 through the connecting flange 106.

[0161] In an optional embodiment, the rotation adjustment assembly further includes a reducer 20 connecting the bracket 130 and the working device 140. The reducer 20 can drive the working device 140 to rotate in a vertical plane or in an inclined plane that is inclined relative to the horizontal plane. In addition, the aforementioned hydraulic rotation device can drive the working device 140 to rotate around the axis of the rotating shaft 102. Thus, by setting up the rotation adjustment assembly, the suction cup cart or other types of operating machinery can have multiple rotational degrees of freedom, thereby expanding the operating range.

[0162] For example, refer to Figure 9 and Figure 10 The reducer 20 can drive the working device 140 to rotate within an angle range of ±β3 in a vertical plane or in an inclined plane relative to the horizontal plane. The hydraulic rotating device located at the rear can drive the working device 140 to swing within an angle range of ±α3, and the hydraulic rotating device located at the front can drive the working device 140 to swing within an angle range of ±α4.

[0163] In an optional embodiment, the working mechanism further includes a pitch adjustment assembly, which comprises a first pitch device 30 and a second pitch device 40. Both the first pitch device 30 and the second pitch device 40 can be linear telescopic devices, such as electric cylinders, hydraulic cylinders, linear motors, etc. In this case, the front end of the main boom 80 is hinged to the rear connecting plate 90, the first pitch device 30 is hinged to the main boom 80 and the rear connecting plate 90, the front end of the boom 100 is hinged to the connecting rod 110, and the second pitch device 40 is hinged to the front end of the boom 100 and the connecting rod 110. Driven by the first pitch device 30 and the second pitch device 40, the working device 140 can adjust its pitch angle.

[0164] For example, refer to Figure 11 and Figure 12 The first pitch device 30 can drive the working device 140 to adjust the pitch angle within the range of -α2 to +α1, and the second pitch device 40 can drive the working device 140 to adjust the pitch angle within the range of -β2 to +β1.

[0165] In an optional embodiment, the boom 100 may be configured as a telescopic boom, the bracket 130 may be movably connected to the front connecting plate 120, and the working mechanism may also include a three-way adjustment assembly, which includes a front-to-back telescopic device 50 for driving the telescopic boom to extend and retract, a left-right telescopic device 60 for driving the bracket 130 to move left and right relative to the front connecting plate 120, and a right-right telescopic device 70 for driving the bracket 130 to move up and down relative to the front connecting plate 120.

[0166] For example, refer to Figure 13 and Figure 14The front and rear telescopic device 50 can drive the front and rear telescopic arms to extend and retract in a stroke range of L1, the left and right telescopic device 60 can drive the working device 140 to move left and right in a stroke range of L3, and the up and down telescopic device 70 can drive the working device 140 to move up and down in a stroke range of L2.

[0167] In an optional embodiment, when the working mechanism is equipped with the above-mentioned two hydraulic rotating devices, reducer 20, first pitch device 30, second pitch device 40, front and rear telescopic device 50, left and right telescopic device 60 and up and down telescopic device, the working mechanism has multiple degrees of freedom, thus having a large working range, which can meet the working requirements in different spaces and has strong adaptability.

[0168] In one alternative embodiment, the working mechanism includes the aforementioned control system for the hydraulic rotating device, which can precisely control the rotation angle and angular velocity of the hydraulic rotating device, thereby improving the working performance of the working mechanism.

[0169] A fourth exemplary embodiment of this application also provides a suction cup cart, which includes the aforementioned working mechanism. In this case, the working mechanism is configured as a suction cup mechanism of the suction cup cart, and the working device 140 is configured as a suction cup frame in the suction cup mechanism.

[0170] The fifth exemplary embodiment of this application also provides a working machine, which includes the aforementioned control system for the hydraulic rotation device. This working machine includes, but is not limited to, other types of aerial work platforms, construction machinery, emergency rescue machinery, etc. When the working machine is equipped with a working device 140, depending on the specific type of the working machine, the working device 140 may be a working bucket, a rust-removing brush, a nozzle (such as for rust removal), etc.

[0171] The sixth exemplary embodiment of this application also provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a hydraulic rotating device.

[0172] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0173] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0174] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0175] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0176] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0177] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0178] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0179] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0180] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0181] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0182] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0183] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a hydraulic rotating device, the hydraulic rotating device comprising a housing (101), a rotating shaft (102), a piston (107), and a hydraulic circulation circuit, wherein the piston (107) is sleeved between the rotating shaft (102) and the housing (101), the hydraulic circulation circuit is used to drive the piston (107) to move axially, and during the axial movement of the piston (107), the piston (107) and the rotating shaft (102) can rotate synchronously within the housing (101); the control method includes: Obtain the target rotation angle α and the current rotation angle β of the rotating shaft (102); Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β; The target axial displacement X of the piston is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle. The piston displacement is controlled based on the target axial displacement X so that the rotating shaft (102) rotates to the target rotation angle α; Controlling the piston displacement based on the target axial displacement X to rotate the shaft (102) to the target rotation angle α includes: Obtain the current axial displacement of the piston; The piston is controlled in a closed loop based on the target axial displacement X and the current axial displacement. The hydraulic circulation circuit includes a first circulation circuit and a second circulation circuit. The piston includes a first piston (103) and a second piston (104) spaced apart along the axial direction. The hydraulic rotating device also includes a first rack meshing guide structure disposed between the first piston (103) and the housing (101) and a second rack meshing guide structure disposed between the second piston (104) and the housing (101). The first piston (103) and the second piston (104) can reciprocate along the axial direction under the drive of the first circulation circuit and the second circulation circuit, respectively, and can rotate synchronously under the guidance of the first rack meshing guide structure and the second rack meshing guide structure, respectively. Obtaining the current axial displacement of the piston includes: Obtain the current axial displacement Xz of the first piston (103) and the current axial displacement Xi of the second piston (104); Closed-loop control of the piston based on the target axial displacement X and the current axial displacement includes: The current composite axial displacement Xk is calculated based on the current axial displacement Xz, the current axial displacement Xi, and the invalid displacement Xj, where Xk = Xz + Xi - Xj; Closed-loop control is performed on the first piston (103) and the second piston (104) based on the target axial displacement X and the current composite axial displacement Xk.

2. The control method for a hydraulic rotating device according to claim 1, wherein, Closed-loop control of the first piston (103) and the second piston (104) based on the target axial displacement X and the current combined axial displacement Xk includes: Calculate the displacement difference ΔX between the target axial displacement X and the current composite axial displacement Xk; The flow rate of the first circulating oil circuit is adjusted according to the displacement difference ΔX and the preset first speed proportional coefficient, and the flow rate of the second circulating oil circuit is adjusted according to the displacement difference ΔX and the preset second speed proportional coefficient, so as to adjust the angular velocity of the rotating shaft (102).

3. The control method for a hydraulic rotating device according to claim 1, wherein, The target axial displacement X of the piston is determined based on the rotation angle difference γ and the preset correspondence between piston displacement and shaft rotation angle, including: The conversion coefficient k is determined by the correspondence between the piston displacement and the shaft rotation angle. The target axial displacement X is calculated based on the rotation angle difference γ and the conversion coefficient k, where X = γ * k, k = Z represents the number of teeth. For tooth height.

4. A control system for a hydraulic rotating device, used to implement the control method for a hydraulic rotating device according to any one of claims 1 to 3, the hydraulic rotating device comprising a housing (101), a rotating shaft (102), a piston (107) and a hydraulic circulation circuit, the piston (107) being sleeved between the rotating shaft (102) and the housing (101), the hydraulic circulation circuit being used to drive the piston (107) to move axially, and during the axial movement of the piston (107), the piston (107) and the rotating shaft (102) being able to rotate synchronously within the housing (101); The control system includes an angle detection device (150) for detecting the rotation angle of the rotating shaft (102), a displacement detection device for detecting the axial displacement of the piston (107), and a processing device that communicates with the angle detection device (150) and the displacement detection device. The processing device is configured as follows: Obtain the target rotation angle α and the current rotation angle β of the rotating shaft (102); Calculate the rotation angle difference γ between the target rotation angle α and the current rotation angle β; The target axial displacement X of the piston (107) is determined based on the rotation angle difference γ and the preset piston displacement-rotation angle correspondence. The piston (107) is displaced based on the target axial displacement X so that the shaft (102) rotates to the target rotation angle α.

5. The control system for a hydraulic rotating device according to claim 4, wherein, The processing device is further configured to: Obtain the current axial displacement of the piston (107); The piston (107) is controlled in a closed loop based on the target axial displacement X and the current axial displacement.

6. A suction cup carriage, including the control system for a hydraulic rotating device as described in claim 4 or 5.

7. Working machinery, including the control system for the hydraulic rotation device according to claim 4 or 5.

8. A machine-readable storage medium storing instructions for causing the machine to perform the control method for a hydraulic rotating device according to any one of claims 1 to 3.

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