Double-pump-source double-valve-element motor-hydraulic motor rotation system and control method

Abstract

The invention belongs to the field of hydraulic control, relates to a double-pump-source double-valve-element motor-hydraulic motor rotation system and a control method, and has the advantages of high response speed and high control precision. According to the technical scheme, the system comprises a hydraulic motor, a variable frequency motor, a quick-acting electromagnetic valve, a micro-acting electromagnetic valve, an electro-hydraulic proportional variable pump, a constant displacement pump, a first pressure sensor, a second pressure sensor and a controller. Wherein an output shaft of the variable frequency motor is coupled with an output shaft of the hydraulic motor. A first outlet of the quick-acting electromagnetic valve is communicated with an oil inlet of the hydraulic motor, a first inlet of the quick-acting electromagnetic valve is communicated with an oil outlet of the hydraulic motor, and a second outlet of the quick-acting electromagnetic valve is communicated with an oil tank. A first outlet of the inching electromagnetic valve is communicated with an oil inlet of the hydraulic motor, a first inlet of the inching electromagnetic valve is communicated with an oil outlet of the hydraulic motor, and a second outlet of the inching electromagnetic valve is communicated with an oil tank.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic control and relates to a dual-pump source dual-valve core motor-hydraulic motor rotation system and a control method. Background Art

[0002] The winch hydraulic system of a crane usually uses a multi-way valve to operate the hydraulic actuator, which needs to take into account both low energy consumption at high flow rates and control accuracy at low flow rates.

[0003] The hoisting hydraulic system of the crane has a large throttling pressure loss during rapid movement and large flow. During micro-movement and small flow, the hoisting motor has internal leakage, resulting in low flow control accuracy and inability to complete fine movements. At present, the hydraulic system of the crane generally adopts the traditional anti-flow saturation load-sensitive system. With the increasing requirements for the positioning accuracy and low energy consumption of construction machinery, the load-sensitive system using the machine-hydraulic pressure feedback loop has become more and more faced with the shortcomings of slow dynamic response speed, weak robustness, high energy consumption, and inaccurate flow control. Summary of the invention

[0004] In order to overcome the defects in the above-mentioned related technologies, on the one hand, the present invention proposes a crane dual-pump source dual-valve core motor winch control system, which has the advantages of fast response speed and high control accuracy.

[0005] In order to achieve the above technical objectives, the present invention provides a crane double pump source double valve core motor winch control system. The crane double pump source double valve core motor winch control system includes: a hydraulic motor, a variable frequency motor, a fast-acting solenoid valve, a micro-motion solenoid valve, an electro-hydraulic proportional variable pump, a quantitative pump, a first pressure sensor, a second pressure sensor and a controller. Among them, the output shaft of the variable frequency motor is coupled with the output shaft of the hydraulic motor. The first outlet of the fast-acting solenoid valve is connected to the oil inlet of the hydraulic motor, the first inlet of the fast-acting solenoid valve is connected to the oil outlet of the hydraulic motor, and the second outlet of the fast-acting solenoid valve is connected to the oil tank. The first outlet of the micro-motion solenoid valve is connected to the oil inlet of the hydraulic motor, the first inlet of the micro-motion solenoid valve is connected to the oil outlet of the hydraulic motor, and the second outlet of the micro-motion solenoid valve is connected to the oil tank.

[0006] The outlet of the electro-hydraulic proportional variable pump is communicated with the second inlet of the fast-acting solenoid valve and the second inlet of the micro-motion solenoid valve, respectively. The outlet of the metering pump is communicated with the second inlet of the fast-acting solenoid valve and the second inlet of the micro-motion solenoid valve, respectively. The first pressure sensor is arranged on the oil inlet of the hydraulic motor, and the first pressure sensor is used to obtain the hydraulic pressure at the oil inlet of the hydraulic motor. The first pressure sensor is arranged on the second inlet of the fast-acting solenoid valve or the second inlet of the micro-motion solenoid valve, and the first pressure sensor is used to obtain the hydraulic pressure at the second inlet of the fast-acting solenoid valve or the second inlet of the micro-motion solenoid valve. The controller is electrically connected to the variable frequency motor, the fast-acting solenoid valve, the micro-motion solenoid valve, the electro-hydraulic proportional variable pump, the metering pump, the first pressure sensor and the second pressure sensor, respectively.

[0007] Preferably, the fast-acting solenoid valve comprises a three-position six-way solenoid valve, and the micro-motion solenoid valve comprises a three-position four-way solenoid valve. The P port of the three-position six-way solenoid valve is the second inlet of the fast-acting solenoid valve, the T port of the three-position six-way solenoid valve is the first outlet of the fast-acting solenoid valve, the T port of the three-position six-way solenoid valve is also connected to the B port of the micro-motion solenoid valve, the D port of the three-position six-way solenoid valve is the first inlet of the fast-acting solenoid valve, the C port of the three-position six-way solenoid valve is the second outlet of the fast-acting solenoid valve, and the A port of the three-position six-way solenoid valve is respectively connected to the B port and the C port of the three-position six-way solenoid valve.

[0008] The P port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve, the T port of the three-position four-way solenoid valve is the second outlet of the fast-acting solenoid valve, the A port of the three-position four-way solenoid valve is the first outlet of the micro-motion solenoid valve, and the B port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve.

[0009] Preferably, the dual-pump source dual-valve core motor-hydraulic motor rotation system further includes a coupler, wherein the first input end of the coupler is coaxially fixedly connected to the output shaft of the hydraulic motor, and the first input end of the coupler is coaxially fixedly connected to the output shaft of the variable frequency motor.

[0010] Preferably, the flow rate of the fast-acting solenoid valve is greater than the flow rate of the micro-motion solenoid valve.

[0011] On the other hand, the present invention also provides a dual-pump source dual-valve core motor-hydraulic motor rotation control method, which is applicable to the dual-pump source dual-valve core motor-hydraulic motor rotation system described in any of the above items, and the dual-pump source dual-valve core motor-hydraulic motor rotation system includes: a hydraulic motor, a variable frequency motor, a fast-acting solenoid valve, a micro-actuating solenoid valve, an electro-hydraulic proportional variable pump, a metering pump, a first pressure sensor, a second pressure sensor and a controller.

[0012] The dual-pump source dual-valve core motor-hydraulic motor rotation control method includes: when the expected flow q of the hydraulic motor is greater than the first flow threshold q1, the controller keeps the pipeline of the micro-motion solenoid valve closed and connects the pipeline of the fast-motion solenoid valve. The controller starts the electro-hydraulic proportional variable pump to inject hydraulic oil into the hydraulic motor through the fast-motion solenoid valve. The first hydraulic pressure difference between the fast-motion solenoid valve interface connected to the electro-hydraulic proportional variable pump and the fast-motion solenoid valve interface connected to the hydraulic motor is obtained. The output power and output shaft speed of the variable frequency motor are controlled according to the first hydraulic pressure difference, so that the first hydraulic pressure difference remains stable.

[0013] When the expected flow rate q of the hydraulic motor is less than the first flow rate threshold q1 and greater than the second flow rate threshold q2, the controller keeps the pipeline of the fast-acting solenoid valve closed and connects the pipeline of the micro-motion solenoid valve. The controller starts the electro-hydraulic proportional variable pump to inject hydraulic oil into the hydraulic motor through the micro-motion solenoid valve. The second hydraulic pressure difference between the micro-motion solenoid valve interface connected to the electro-hydraulic proportional variable pump and the micro-motion solenoid valve interface connected to the hydraulic motor is obtained. The output power and output shaft speed of the variable frequency motor are controlled according to the second hydraulic pressure difference, so that the second hydraulic pressure difference remains stable.

[0014] When the expected flow rate q of the hydraulic motor is less than the second flow rate threshold q2, the controller keeps the pipeline of the fast-acting solenoid valve closed and connects the pipeline of the micro-motion solenoid valve. The controller starts the metering pump to inject the hydraulic oil into the hydraulic motor through the micro-motion solenoid valve. The third hydraulic pressure difference between the micro-motion solenoid valve interface connected to the metering pump and the micro-motion solenoid valve interface connected to the hydraulic motor is obtained. The output power and output shaft speed of the variable frequency motor are controlled according to the second hydraulic pressure difference, so that the third hydraulic pressure difference remains stable.

[0015] The beneficial effects of the present invention are: The present invention provides an operating system in which a hydraulic motor and a variable frequency motor are coupled. The system controls the hydraulic pressure difference at both ends of a valve on a hydraulic motor pipeline by adjusting the output power of the variable frequency motor, so as to control the flow rate of hydraulic oil entering the hydraulic motor to be constant, thereby accurately controlling the leakage amount of hydraulic oil in the hydraulic motor, facilitating compensation, and improving control accuracy.

[0016] The present invention also adopts fast-acting solenoid valves and micro-acting solenoid valves to adapt to different working requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural diagram of the present invention; Figure 2 It is a process strategy diagram of the present invention. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0022] like Figure 1 As shown, some embodiments of the present invention provide a crane double pump source double valve core motor winch control system. The crane double pump source double valve core motor winch control system comprises: a hydraulic motor 20, a variable frequency motor 21, a fast-acting solenoid valve 17, a micro-motion solenoid valve 18, an electro-hydraulic proportional variable pump 1, a quantitative pump 2, a first pressure sensor 15, a second pressure sensor 16 and a controller 26. Among them, the output shaft of the variable frequency motor 21 is coupled with the output shaft of the hydraulic motor 20. The first outlet of the fast-acting solenoid valve 17 is connected to the oil inlet of the hydraulic motor 20, the first inlet of the fast-acting solenoid valve 17 is connected to the oil outlet of the hydraulic motor 20, and the second outlet of the fast-acting solenoid valve 17 is connected to the oil tank. The first outlet of the micro-motion solenoid valve 18 is connected to the oil inlet of the hydraulic motor 20, the first inlet of the micro-motion solenoid valve 18 is connected to the oil outlet of the hydraulic motor 20, and the second outlet of the micro-motion solenoid valve 18 is connected to the oil tank.

[0023] The outlet of the electro-hydraulic proportional variable pump 1 is communicated with the second inlet of the fast-acting solenoid valve 17 and the second inlet of the micro-motion solenoid valve 18, respectively. The outlet of the metering pump 2 is communicated with the second inlet of the fast-acting solenoid valve 17 and the second inlet of the micro-motion solenoid valve 18, respectively. The first pressure sensor 15 is arranged on the oil inlet of the hydraulic motor 20, and the first pressure sensor 15 is used to obtain the hydraulic pressure of the oil inlet of the hydraulic motor 20. The first pressure sensor 15 is arranged on the second inlet of the fast-acting solenoid valve 17 or the second inlet of the micro-motion solenoid valve 18, and the first pressure sensor 15 is used to obtain the hydraulic pressure of the second inlet of the fast-acting solenoid valve 17 or the second inlet of the micro-motion solenoid valve 18. The controller 26 is electrically connected to the variable frequency motor 21, the fast-acting solenoid valve 17, the micro-motion solenoid valve 18, the electro-hydraulic proportional variable pump 1, the metering pump 2, the first pressure sensor 15 and the second pressure sensor 16, respectively.

[0024] In some examples, the hydraulic motor 20 may be a helical piston motor, and the output shaft of the hydraulic motor 20 and the output shaft of the variable frequency motor 21 are both connected to a coupler. A coupler may be a planetary gear coupler, and the coupler is electrically connected to the controller 26.

[0025] The hydraulic motor 20 is connected to the electro-hydraulic proportional variable pump 1 and the metering pump 2 respectively, and enters the second flow threshold q2 of the hydraulic motor 20. When the expected flow is greater than the second flow threshold q2, the hydraulic motor 20 is connected to the electro-hydraulic proportional variable pump 1 respectively, that is, the electro-hydraulic proportional variable pump 1 provides hydraulic oil to the hydraulic motor 20. When the expected flow is less than or equal to the second flow threshold q2, the hydraulic motor 20 is connected to the metering pump 2 respectively, that is, the metering pump 2 provides hydraulic oil to the hydraulic motor 20. In the present application, the second flow threshold q2 can be 15L / min~25L / min, and the specific second flow threshold q2 can be adaptively adjusted according to the output shaft control speed and control accuracy of the coupler.

[0026] The electro-hydraulic proportional variable pump 1 is electrically connected to the controller 26, and the output displacement is controlled by adjusting the swing angle of the swash plate of the electro-hydraulic proportional variable pump 1. In addition, the rotating shaft of the electro-hydraulic proportional variable pump 1 is coaxially fixedly connected to the output shaft of the three-phase variable frequency synchronous motor, and the three-phase variable frequency synchronous motor is electrically connected to the frequency converter. The displacement of the electro-hydraulic proportional variable pump 1 can be 90ml / r~125ml / r.

[0027] The rotating shaft of the metering pump 2 is coaxially fixedly connected to the output shaft of the servo motor, and the servo motor is electrically connected to the controller 26. Controlling the speed of the servo motor can control the flow rate of the hydraulic oil output by the metering pump 2, and thus the hydraulic pressure at the outlet of the metering pump 2 can be adjusted.

[0028] The output ends of the electro-hydraulic proportional variable pump 1 and the metering pump 2 are both connected to the oil main pipe; a fast-acting solenoid valve 17 and a micro-motion solenoid valve 18 are arranged between the oil main pipe and the hydraulic motor 20, wherein the fast-acting solenoid valve 17 and the micro-motion solenoid valve 18 are arranged in parallel.

[0029] The hydraulic oil passes through the fast-acting solenoid valve 17 or the micro-motion solenoid valve 18 and enters the first flow threshold q1 of the hydraulic motor 20. When the expected flow is greater than the first flow threshold q1, the hydraulic oil passes through the fast-acting solenoid valve 17 and enters the hydraulic motor 20; when the expected flow is less than or equal to the first flow threshold q1, the hydraulic oil passes through the micro-motion solenoid valve 18 and enters the hydraulic motor 20. In the present application, the first flow threshold q1 may be 60L / min~100L / min.

[0030] In the present application, a first pressure sensor 15 is provided on the oil inlet of the hydraulic motor 20 , and a first pressure sensor 15 is provided on the oil delivery main pipe, so as to obtain the hydraulic pressure difference across the fast-acting solenoid valve 17 or the micro-actuating solenoid valve 18 .

[0031] When the load of the actuator connected to the output shaft of the coupler changes, the variable frequency motor 21 and the hydraulic motor 20 can share the load through sliding mode control. At the same time, the flow control of the electro-hydraulic proportional variable pump 1 or the fixed displacement pump 2 can ensure that the load borne by the hydraulic motor 20 fluctuates within a certain range. In this way, the amount of oil leakage from the hydraulic motor 20 can be obtained relatively accurately, which is convenient for compensation and thus improves the control accuracy.

[0032] In some embodiments, the fast-acting solenoid valve 17 includes a three-position six-way solenoid valve, and the micro-motion solenoid valve 18 includes a three-position four-way solenoid valve. The P port of the three-position six-way solenoid valve is the second inlet of the fast-acting solenoid valve 17, the T port of the three-position six-way solenoid valve is the first outlet of the fast-acting solenoid valve 17, the T port of the three-position six-way solenoid valve is also connected to the B port of the micro-motion solenoid valve 18, the D port of the three-position six-way solenoid valve is the first inlet of the fast-acting solenoid valve 17, the C port of the three-position six-way solenoid valve is the second outlet of the fast-acting solenoid valve 17, and the A port of the three-position six-way solenoid valve is respectively connected to the B port and the C port of the three-position six-way solenoid valve.

[0033] The P port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve 18, the T port of the three-position four-way solenoid valve is the second outlet of the quick-acting solenoid valve 17, the A port of the three-position four-way solenoid valve is the first outlet of the micro-motion solenoid valve 18, and the B port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve 18.

[0034] In some examples, the quick-acting solenoid valve 17 can adopt a three-position six-way solenoid valve, the P port of the three-position six-way solenoid valve is connected to the oil main pipe, the T port of the three-position six-way solenoid valve is connected to the oil inlet of the hydraulic motor 20, the T port of the three-position six-way solenoid valve is connected to the oil inlet of the hydraulic motor 20, the D port of the three-position six-way solenoid valve is connected to the oil outlet of the hydraulic motor 20, the A port, the B port and the C port of the three-position six-way solenoid valve are connected, and the C port is connected to the oil tank.

[0035] The micro-motion solenoid valve 18 can adopt a three-position four-way solenoid valve, the P port of the three-position four-way solenoid valve is connected to the oil main pipe, the T port of the three-position four-way solenoid valve is connected to the oil tank, the A port of the three-position four-way solenoid valve is connected to the oil inlet of the hydraulic motor 20, and the B port of the three-position four-way solenoid valve is connected to the oil outlet of the hydraulic motor 20.

[0036] A first overflow valve and a first check valve are sequentially arranged on the pipeline between the electro-hydraulic proportional variable pump 1 and the oil delivery main pipe, and a second overflow valve and a second check valve are sequentially arranged on the pipeline between the metering pump 2 and the oil delivery main pipe.

[0037] A balance valve is provided between the oil inlet and the oil outlet of the hydraulic motor 20 .

[0038] The dual-pump source dual-valve core motor-hydraulic motor rotation system further includes a coupler. The first input end of the coupler is coaxially fixedly connected to the output shaft of the hydraulic motor 20 , and the first input end of the coupler is coaxially fixedly connected to the output shaft of the variable frequency motor 21 .

[0039] The flow rate of the fast-acting solenoid valve 17 is greater than the flow rate of the micro-actuating solenoid valve 18 .

[0040] On the other hand, the present invention also provides a dual-pump source dual-valve core motor-hydraulic motor rotation control method, which is applicable to the dual-pump source dual-valve core motor-hydraulic motor rotation system described in any of the above items, and the dual-pump source dual-valve core motor-hydraulic motor rotation system includes: a hydraulic motor 20, a variable frequency motor 21, a fast-acting solenoid valve 17, a micro-motion solenoid valve 18, an electro-hydraulic proportional variable pump 1, a metering pump 2, a first pressure sensor 15, a second pressure sensor 16 and a controller 26.

[0041] The dual-pump-source dual-valve-core motor-hydraulic motor rotation control method includes: when the expected flow q of the hydraulic motor 20 is greater than the first flow threshold q1, the controller 26 keeps the micro-motion solenoid valve 18 in a pipeline closed state and connects the pipeline of the fast-motion solenoid valve 17. The controller 26 starts the electro-hydraulic proportional variable pump 1 to inject hydraulic oil into the hydraulic motor 20 through the fast-motion solenoid valve 17. The first hydraulic pressure difference between the interface of the fast-motion solenoid valve 17 connected to the electro-hydraulic proportional variable pump 1 and the interface of the fast-motion solenoid valve 17 connected to the hydraulic motor 20 is obtained. The output power and output shaft speed of the variable frequency motor 21 are controlled according to the first hydraulic pressure difference, so that the first hydraulic pressure difference remains stable.

[0042] When the expected flow rate q of the hydraulic motor 20 is less than the first flow rate threshold q1 and greater than the second flow rate threshold q2, the controller 26 keeps the pipeline of the fast-acting solenoid valve 17 closed and connects the pipeline of the micro-motion solenoid valve 18. The controller 26 starts the electro-hydraulic proportional variable pump 1 to inject the hydraulic oil into the hydraulic motor 20 through the micro-motion solenoid valve 18. The second hydraulic pressure difference between the interface of the micro-motion solenoid valve 18 connected to the electro-hydraulic proportional variable pump 1 and the interface of the micro-motion solenoid valve 18 connected to the hydraulic motor 20 is obtained. The output power and output shaft speed of the variable frequency motor 21 are controlled according to the second hydraulic pressure difference, so that the second hydraulic pressure difference remains stable.

[0043] When the expected flow rate q of the hydraulic motor 20 is less than the second flow rate threshold q2, the controller 26 keeps the pipeline of the fast-acting solenoid valve 17 closed and connects the pipeline of the micro-motion solenoid valve 18. The controller 26 starts the metering pump 2 to inject the hydraulic oil into the hydraulic motor 20 through the micro-motion solenoid valve 18. The third hydraulic pressure difference between the interface of the micro-motion solenoid valve 18 connected to the metering pump 2 and the interface of the micro-motion solenoid valve 18 connected to the hydraulic motor 20 is obtained. The output power and output shaft speed of the variable frequency motor 21 are controlled according to the second hydraulic pressure difference, so that the third hydraulic pressure difference remains stable.

[0044] In some examples, the actuator may be a rotating body, such as a roller of a winch. It is desirable that the actuator can run at a faster speed, and the electro-hydraulic proportional variable pump 1 and the fast-acting solenoid valve 17 may be started. A displacement sensor and / or a speed sensor are provided on the output shaft of the actuator or the coupler, and the displacement sensor and the speed sensor are both electrically connected to the controller 26.

[0045] To ensure that the output shaft of the actuator or coupler can run smoothly, the hydraulic motor 20 and the variable frequency motor 21 work together to the actuator through the coupler. When the load of the output shaft of the actuator or coupler changes, the variable frequency motor 21 increases or decreases the output power according to the displacement sensor and / or the speed sensor, and when the output power of the hydraulic motor 20 is basically the same, the output shaft of the actuator or coupler runs smoothly.

[0046] The variable frequency motor 21 is operated by sliding mode control, and the variable frequency motor 21 can also adjust the output power according to the pressure difference across the fast-acting solenoid valve 17 or the micro-actuating solenoid valve 18 .

[0047] Specifically, when the power of the actuator calculated by the data uploaded by the displacement sensor and / or the speed sensor deviates from the expected power of the actuator, for example, when the power of the actuator calculated by the data uploaded by the displacement sensor and / or the speed sensor is less than the expected power of the actuator, the variable frequency motor 21 increases the output power; when the power of the actuator calculated by the data uploaded by the displacement sensor and / or the speed sensor is greater than the expected power of the actuator, the variable frequency motor 21 reduces the output power.

[0048] When the pressure difference across the fast-acting solenoid valve 17 or the micro-motion solenoid valve 18 increases, the output power of the variable frequency motor 21 can be increased and / or the flow rate of the hydraulic oil output by the electro-hydraulic proportional variable pump 1 or the metering pump 2 can be reduced; when the pressure difference across the fast-acting solenoid valve 17 or the micro-motion solenoid valve 18 decreases, the output power of the variable frequency motor 21 can be reduced and / or the flow rate of the hydraulic oil output by the electro-hydraulic proportional variable pump 1 or the metering pump 2 can be increased. Of course, the output power of the variable frequency motor 21 should first be controlled according to the data uploaded by the displacement sensor and / or the speed sensor. Under this premise, it can be further adjusted according to the pressure difference across the fast-acting solenoid valve 17 or the micro-motion solenoid valve 18. If the variable frequency motor 21 cannot be adjusted, the electro-hydraulic proportional variable pump 1 or the metering pump 2 can be adjusted.

[0049] By ensuring that the pressure difference across the fast-acting solenoid valve 17 or the micro-motion solenoid valve 18 fluctuates within a certain range, the flow rate of the hydraulic oil entering the hydraulic motor 20 is stable, and the amount of hydraulic oil leaking from the hydraulic motor 20 is stable, which facilitates precise control and oil compensation.

[0050] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0051] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual pump source dual valve core motor-hydraulic motor rotation system, characterized in that: include: Hydraulic motor; A variable frequency motor, the output shaft of which is coupled to the output shaft of the hydraulic motor; A fast-acting solenoid valve, wherein a first outlet of the fast-acting solenoid valve is communicated with an oil inlet of the hydraulic motor, a first inlet of the fast-acting solenoid valve is communicated with an oil outlet of the hydraulic motor, and a second outlet of the fast-acting solenoid valve is communicated with an oil tank; A micro-motion solenoid valve, wherein a first outlet of the micro-motion solenoid valve is communicated with an oil inlet of the hydraulic motor, a first inlet of the micro-motion solenoid valve is communicated with an oil outlet of the hydraulic motor, and a second outlet of the micro-motion solenoid valve is communicated with an oil tank; an electro-hydraulic proportional variable pump, wherein the outlet of the electro-hydraulic proportional variable pump is respectively connected to the second inlet of the fast-acting solenoid valve and the second inlet of the micro-motion solenoid valve; A metering pump, wherein the outlet of the metering pump is respectively connected to the second inlet of the fast-acting solenoid valve and the second inlet of the micro-motion solenoid valve; a first pressure sensor, the first pressure sensor being disposed on the oil inlet of the hydraulic motor, and the first pressure sensor being used to obtain the hydraulic pressure out of the oil inlet of the hydraulic motor; a second pressure sensor, wherein the first pressure sensor is disposed on the second inlet of the fast-acting solenoid valve or the second inlet of the micro-motion solenoid valve, and the first pressure sensor is used to obtain the hydraulic pressure of the second inlet of the fast-acting solenoid valve or the second inlet of the micro-motion solenoid valve; A controller is electrically connected to the variable frequency motor, the fast-acting solenoid valve, the micro-actuating solenoid valve, the electro-hydraulic proportional variable pump, the quantitative pump, the first pressure sensor and the second pressure sensor respectively.

2. The dual-pump source dual-valve core motor-hydraulic motor rotation system according to claim 1 is characterized in that: The fast-acting solenoid valve comprises a three-position six-way solenoid valve, and the micro-actuating solenoid valve comprises a three-position four-way solenoid valve; The P port of the three-position six-way solenoid valve is the second inlet of the fast-acting solenoid valve, the T port of the three-position six-way solenoid valve is the first outlet of the fast-acting solenoid valve, the T port of the three-position six-way solenoid valve is also connected with the B port of the micro-motion solenoid valve, the D port of the three-position six-way solenoid valve is the first inlet of the fast-acting solenoid valve, the C port of the three-position six-way solenoid valve is the second outlet of the fast-acting solenoid valve, and the A port of the three-position six-way solenoid valve is respectively connected with the B port and the C port of the three-position six-way solenoid valve; The P port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve, the T port of the three-position four-way solenoid valve is the second outlet of the fast-acting solenoid valve, the A port of the three-position four-way solenoid valve is the first outlet of the micro-motion solenoid valve, and the B port of the three-position four-way solenoid valve is the first inlet of the micro-motion solenoid valve.

3. The dual-pump source dual-valve core motor-hydraulic motor rotation system according to claim 2 is characterized in that: The dual-pump source dual-valve core motor-hydraulic motor rotation system also includes a coupler; The first input end of the coupler is coaxially fixedly connected to the output shaft of the hydraulic motor, and the first input end of the coupler is coaxially fixedly connected to the output shaft of the variable frequency motor.

4. The dual-pump source dual-valve core motor-hydraulic motor rotation system according to claim 3 is characterized in that: The flow rate of the fast-acting solenoid valve is greater than the flow rate of the micro-motion solenoid valve.

5. A dual-pump source dual-valve core motor-hydraulic motor rotation control method, applicable to the dual-pump source dual-valve core motor-hydraulic motor rotation system according to any one of claims 1 to 4, the dual-pump source dual-valve core motor-hydraulic motor rotation system comprising: Hydraulic motor, variable frequency motor, fast-acting solenoid valve, micro-actuating solenoid valve, electro-hydraulic proportional variable pump, quantitative pump, first pressure sensor, second pressure sensor and controller; Characterized in that the dual-pump source dual-valve core motor-hydraulic motor rotation control method comprises: When the expected flow rate q of the hydraulic motor is greater than the first flow rate threshold q1, the controller keeps the pipeline of the micro-motion solenoid valve closed and connects the pipeline of the fast-action solenoid valve; The controller starts the electro-hydraulic proportional variable pump to inject the hydraulic oil into the hydraulic motor through the fast-acting solenoid valve; Acquire a first hydraulic pressure difference between a fast-acting solenoid valve interface connected to an electro-hydraulic proportional variable pump and a fast-acting solenoid valve interface connected to the hydraulic motor; Controlling the output power and output shaft speed of the variable frequency motor according to the first hydraulic pressure difference so that the first hydraulic pressure difference remains stable; When the expected flow rate q of the hydraulic motor is less than the first flow rate threshold q1 and greater than the second flow rate threshold q2, the controller keeps the pipeline of the fast-acting solenoid valve closed and connects the pipeline of the micro-motion solenoid valve; The controller starts the electro-hydraulic proportional variable pump to inject the hydraulic oil into the hydraulic motor through the micro-motion solenoid valve; Acquire a second hydraulic pressure difference between a micro-motion solenoid valve interface connected to the electro-hydraulic proportional variable pump and a micro-motion solenoid valve interface connected to the hydraulic motor; controlling the output power and output shaft speed of the variable frequency motor according to the second hydraulic pressure difference so that the second hydraulic pressure difference remains stable; When the expected flow rate q of the hydraulic motor is less than the second flow rate threshold q2, the controller keeps the pipeline of the fast-acting solenoid valve closed and connects the pipeline of the micro-motion solenoid valve; The controller starts the quantitative pump to inject the hydraulic oil into the hydraulic motor through the micro-motion solenoid valve; Acquire a third hydraulic pressure difference between a micro-motion solenoid valve interface connected to the quantitative pump and a micro-motion solenoid valve interface connected to the hydraulic motor; The output power and output shaft speed of the variable frequency motor are controlled according to the second hydraulic pressure difference, so that the third hydraulic pressure difference remains stable.

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