Hydraulic control system and control method of buffer manipulator

Abstract

The invention discloses a hydraulic control system and method for a buffer manipulator, and relates to the field of hydraulic control, the system comprises an oil station and an oil cylinder with a rodless cavity and a rod cavity, the oil station is communicated with a front end liquid oil port of a balance valve b through an oil pipe b, and the oil station is communicated with a front end liquid oil port of a balance valve a and a pilot liquid oil port of the balance valve b through an oil pipe a; a liquid oil port at the rear end of the balance valve a is communicated with the rodless cavity; a liquid oil port at the rear end of the balance valve b is communicated with the rod cavity; a one-way valve is arranged between the rod cavity and the rodless cavity, a liquid oil port at the front end of the one-way valve is communicated with the rod cavity, and a liquid oil port at the rear end of the one-way valve is communicated with the rodless cavity; and a pilot liquid oil port of the balance valve a and a pilot liquid oil port of the one-way valve are both communicated with the oil pipe b. The invention further discloses a method for controlling the system. The flow of hydraulic oil used by the oil cylinder in the buffer manipulator is effectively reduced, energy is fully utilized on the premise that the original working efficiency is guaranteed, and the energy-saving and environment-friendly effects are better achieved.

Description

Technical Field

[0001] The invention relates to the field of hydraulic control, and in particular to a hydraulic control system and a control method of a buffer manipulator. Background Art

[0002] The buffer manipulator is one of the commonly used equipment in modern oil drilling and production, and is mainly used on drilling rigs. Before the emergence of the buffer manipulator, drilling and drilling were completely dependent on manual support of the drill bit, which was a dangerous, hard and physically demanding process. Therefore, the buffer manipulator is now increasingly used in the oil drilling and production process.

[0003] During the renovation of old drilling rigs, the flow rate of the hydraulic station of the old drilling rigs is often too small, resulting in slow operation of the buffer manipulator, affecting the working efficiency of the drilling rig.

[0004] In order to improve the adaptability of the buffer manipulator and make it suitable for use with more old drilling rigs, the hydraulic system of the buffer manipulator is technically upgraded. Summary of the invention

[0005] The purpose of the present invention is to provide a hydraulic control system and control method for a buffer manipulator in response to the above-mentioned problems, which can effectively reduce the hydraulic oil flow used by the cylinder in the buffer manipulator, so as to fully utilize the energy while ensuring the original working efficiency, and be more energy-saving and environmentally friendly.

[0006] The technical solution adopted by the present invention is as follows: a hydraulic control system of a buffer manipulator, including an oil station and an oil cylinder with a rodless chamber and a rod chamber, the oil station is connected to the front end liquid oil port of the balancing valve b through an oil pipe b, and the oil station is connected to the front end liquid oil port of the balancing valve a and the pilot liquid oil port of the balancing valve b through an oil pipe a; the rear end liquid oil port of the balancing valve a is connected to the rodless chamber; the rear end liquid oil port of the balancing valve b is connected to the rod chamber; a one-way valve is arranged between the rod chamber and the rodless chamber, the front end liquid oil port of the one-way valve is connected to the rod chamber, and the rear end liquid oil port of the one-way valve is connected to the rodless chamber; the pilot liquid oil port of the balancing valve a and the pilot liquid oil port of the one-way valve are both connected to the oil pipe b.

[0007] Furthermore, a reversing valve is provided between the oil station and the oil pipe a, the oil pipe b.

[0008] A control method for light-load extension of a cylinder piston rod, wherein an oil station supplies oil to a rodless chamber of the cylinder, controls the hydraulic oil in the rod chamber to flow back to the rodless chamber, rapidly increases the amount of hydraulic oil in the rodless chamber, and rapidly extends the piston rod, thereby achieving light-load and high-speed extension of the piston rod.

[0009] Furthermore, the hydraulic control system of the buffer manipulator includes the following steps:

[0010] S11: The hydraulic oil of the oil station enters the oil pipe a through the reversing valve. The hydraulic oil in the oil pipe a enters the front end oil port of the balancing valve a and the pilot oil port of the balancing valve b. After flowing out from the rear end oil port of the balancing valve a, it is divided into two parts. One part of the hydraulic oil enters the rear end oil port of the check valve, and the other part enters the rodless chamber.

[0011] S12: Due to the light load condition, the hydraulic oil pressure flowing out of the oil pipe a is low, and the hydraulic oil entering the pilot oil port of the balancing valve b cannot open the balancing valve b;

[0012] S13: The hydraulic oil entering the rear end oil port of the one-way valve is cut off in one direction by the one-way valve;

[0013] S14: The hydraulic oil entering the rodless chamber pushes the piston rod to extend, forcing the hydraulic oil in the rod chamber to flow out;

[0014] S15: On the basis of step S12, the hydraulic oil in the rod chamber cannot flow through the balancing valve b, forcing the hydraulic oil in the rod chamber to enter the rodless chamber after passing through the one-way valve. The hydraulic oil in the rod chamber and the hydraulic oil in the oil pipe a merge into the rodless chamber, and the extension speed of the piston rod increases, realizing light-load and high-speed extension of the piston rod.

[0015] A control method for heavy-load extension of a cylinder piston rod, wherein an oil station supplies oil to a rodless chamber of the cylinder and controls the hydraulic oil in the rod chamber to flow back to the oil station, the amount of hydraulic oil in the rodless chamber increases slowly, and the piston rod extends slowly, thereby achieving heavy-load and low-speed extension of the piston rod.

[0016] Furthermore, the hydraulic control system of the buffer manipulator includes the following steps:

[0017] S21: The hydraulic oil of the oil station enters the oil pipe a through the reversing valve. The hydraulic oil in the oil pipe a enters the front end oil port of the balancing valve a and the pilot oil port of the balancing valve b. After flowing out from the rear end oil port of the balancing valve a, it is divided into two parts. One part of the hydraulic oil enters the rear end oil port of the check valve, and the other part enters the rodless chamber.

[0018] S22: Due to the heavy load condition, the hydraulic oil pressure flowing out of the oil pipe a is high, and the hydraulic oil entering the pilot oil port of the balancing valve b can open the balancing valve b, so that the front end oil port and the rear end oil port of the balancing valve b are connected;

[0019] S23: The hydraulic oil entering the rear end oil port of the one-way valve is cut off in one direction by the one-way valve;

[0020] S24: The hydraulic oil entering the rodless chamber pushes the piston rod to extend, forcing the hydraulic oil in the rod chamber to flow out;

[0021] S25: Based on step S22, the hydraulic oil in the rod chamber flows through the balance valve b, and then flows back to the oil station after passing through the oil pipe b. The extension speed of the piston rod is determined by the flow rate from the oil station to the rodless chamber, achieving heavy-load and low-speed extension.

[0022] A control method for maintaining the position of a cylinder piston rod, wherein an oil station stops supplying oil to a rodless chamber of the cylinder and blocks the outflow of hydraulic oil from the rodless chamber and the rod chamber, and pressure is maintained in the rodless chamber and the rod chamber, so that the position of the piston rod remains unchanged.

[0023] Furthermore, the hydraulic control system of the buffer manipulator includes the following steps:

[0024] S31: Use the reversing valve to block the hydraulic pressure of the oil station from entering the oil pipe a, so that no hydraulic oil enters the rodless cavity and the piston rod stops extending;

[0025] S32: Balance valve a blocks the outflow of hydraulic oil in the rodless chamber, balance valve b blocks the outflow of hydraulic oil in the rod chamber, and the position of the piston rod remains unchanged.

[0026] A control method for retracting a piston rod of an oil cylinder, wherein an oil station supplies oil to a rod chamber of the oil cylinder, controls the hydraulic oil in the rodless chamber to flow back to the oil station, and the hydraulic oil in the rod chamber pushes the piston rod to retract.

[0027] Furthermore, the hydraulic control system of the buffer manipulator includes the following steps:

[0028] S41: The hydraulic oil of the oil station enters the oil pipe b through the reversing valve, and the hydraulic oil in the oil pipe b is divided into three parts. One part of the hydraulic oil flows to the rear end of the balancing valve b through the front end of the balancing valve b, one part of the hydraulic oil flows to the pilot oil port of the balancing valve a, and one part of the hydraulic oil flows to the pilot oil port of the check valve, so that the check valve remains closed;

[0029] S42: Based on step S41, the hydraulic oil flowing out from the rear end oil port of the balance valve b is divided into two parts. One part of the hydraulic oil enters the front end oil port of the one-way valve. The one-way valve is closed by the high pressure oil of the pilot oil port. The hydraulic oil at the front end oil port of the one-way valve cannot flow through the one-way valve to the rear end oil port of the one-way valve. Another part of the hydraulic oil enters the rod chamber to push the piston rod to retract.

[0030] S43: At the initial stage of hydraulic oil supply at the oil station, the pressure of the pilot oil port flowing from the oil pipe b to the balancing valve a is low, and the balancing valve a cannot be opened. The balancing valve a blocks the flow of hydraulic oil in the rodless chamber, and the hydraulic oil in the rodless chamber cannot flow out;

[0031] S44: As the hydraulic oil of the oil station is continuously supplied, the hydraulic oil pressure in the rodless chamber, the rod chamber and the oil pipe b continues to increase; until the combined force of the pressure of the pilot oil port of the balancing valve a and the pressure of the rear end oil port of the balancing valve a is sufficient to open the balancing valve a, and the hydraulic oil in the rodless chamber flows from the rear end oil port of the balancing valve to the front end oil port of the balancing valve;

[0032] S45: Since the pressure of the pilot oil port of the one-way valve is not less than the pressure of the front oil port of the one-way valve, the one-way valve a remains closed, and the hydraulic oil flowing out of the balance valve b all enters the rod chamber, and the hydraulic oil in the rod chamber pushes the piston rod to retract.

[0033] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0034] The present invention can effectively reduce the hydraulic oil flow rate used by the cylinder in the buffer manipulator by controlling the flow direction of the hydraulic oil in the rod cavity according to actual working conditions, so as to fully utilize the energy while ensuring the original working efficiency, which is more energy-saving and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will now be described by way of example with reference to the accompanying drawings, in which:

[0036] Figure 1 This is a schematic diagram of the structure of the hydraulic control system;

[0037] Figure 2 It is a structural schematic diagram of a balancing valve a or a balancing valve b;

[0038] Figure 3 It is a structural schematic diagram of a one-way valve;

[0039] Figure 4 This is a schematic diagram of the hydraulic control system used in light load conditions;

[0040] Figure 5 This is a schematic diagram of the hydraulic control system used in heavy-load conditions;

[0041] Figure 6 This is a schematic diagram of the hydraulic control system used for position holding conditions;

[0042] Figure 7 It is a schematic diagram of the hydraulic control system used for the retracted working condition;

[0043] Markings in the figure: 1-oil pipe a; 2-oil pipe b; 3-balance valve a; 4-balance valve b; 5-check valve; 6-rodless chamber; 7-rod chamber; 8-reversing valve; 81-oil inlet P; 82-oil return port R; 83-oil port A; 84-oil port B. DETAILED DESCRIPTION

[0044] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0045] Any feature disclosed in this specification, unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0046] Example 1

[0047] like Figure 1 - Figure 3 As shown, a hydraulic control system of a buffer manipulator comprises an oil station and an oil cylinder having a rodless chamber 6 and a rod chamber 7; wherein the oil station provides hydraulic oil; the oil cylinder has a piston rod and a cylinder body, the piston rod has a piston and a rod body, the rod body is assembled on one end face of the piston, the piston divides the cylinder body into two spaces, and the two spaces are set as a rod chamber 7 and a rodless chamber 6 according to whether there is a rod body in the space; oil entering the rodless chamber 6 can push the piston to move toward the rod chamber 7, oil returns from the rod chamber 7, and the piston rod extends; oil entering the rod chamber 7 can push the piston to move toward the rodless chamber 6, oil returns from the rodless chamber 6, and the piston rod retracts.

[0048] In this embodiment, the oil station is connected to the front end oil port of the balance valve b4 through the oil pipe b2, and the oil station is connected to the front end oil port of the balance valve a3 and the pilot oil port of the balance valve b4 through the oil pipe a1.

[0049] It should be noted that both the balancing valve a3 and the balancing valve b4 have a front end liquid oil port, a pilot chamber and a rear end liquid oil port, and the front end liquid oil port and the rear end liquid oil port are connected through a one-way flow channel and a pilot chamber; the existence of the one-way flow channel allows the liquid at the front end liquid oil port to flow directly to the rear end liquid oil port; when the pilot chamber is closed, due to the limitation of the one-way flow channel, the liquid at the rear end liquid oil port cannot flow into the front end liquid oil port; when the pilot chamber is opened, the liquid at the rear end liquid oil port can flow into the front end liquid oil port through the pilot chamber; the opening and closing of the pilot chamber is controlled by the pressure at the pilot liquid oil port, and the pilot chamber can only be opened after the pressure at the pilot liquid oil port reaches the opening value of the pilot chamber.

[0050] In this embodiment, the rear end liquid oil port of the balancing valve a3 is connected to the rear end liquid oil port of the rodless chamber 6 and the one-way valve 5, and the oil cylinder can directly provide hydraulic oil to the rodless chamber 6 and the rear end liquid oil port of the one-way valve 5 through the oil pipe a1 and the balancing valve a3; the rear end liquid oil port of the balancing valve b4 is connected to the rod chamber 7 and the front end liquid oil port of the one-way valve 5; it can be seen that a one-way valve 5 is arranged between the rod chamber 7 and the rodless chamber 6, and the one-way valve 5 has a front end liquid oil port, a rear end liquid oil port and a pilot liquid oil port. When the hydraulic oil pressure at the pilot liquid oil port of the one-way valve 5 is less than 1 / 3 of the hydraulic oil pressure at the front end liquid oil port of the one-way valve 5, the one-way valve 5 is opened, and the hydraulic oil can only flow from the front end liquid oil port to the rear end liquid oil port; conversely, the one-way valve 5 is closed as a cut-off component, and the liquid It cannot flow from the front end liquid oil port to the rear end liquid oil port; the front end liquid oil port of the one-way valve 5 is connected with the rod chamber 7, and the rear end liquid oil port of the one-way valve 5 is connected with the rodless chamber 6, so that the hydraulic oil from the rod chamber 7 can flow to the rodless chamber 6 through the one-way valve 5; the pilot liquid oil port of the balancing valve a3 and the pilot liquid oil port of the one-way valve 5 are both connected with the oil pipe b2, and the above-mentioned oil station is connected to the front end liquid oil port of the balancing valve b4 through the oil pipe b2. In fact, the front end liquid oil port of the balancing valve b4 is connected to the pilot liquid oil port of the balancing valve a3 and the pilot liquid oil port of the one-way valve 5, that is, the hydraulic oil from the oil pipe b2 is divided into three, one part flows to the pilot liquid oil port of the balancing valve a3, one part flows to the pilot liquid oil port of the one-way valve 5, and the remaining part flows to the front end liquid oil port of the balancing valve b4.

[0051] In a feasible implementation manner, a reversing valve 8 is provided between the oil station and the oil pipe a1 or the oil pipe b2, and the reversing valve 8 is used to control the hydraulic oil in the oil cylinder to flow to the oil pipe a1 or the oil pipe b2.

[0052] Specifically, the reversing valve 8 is a three-position four-way solenoid valve, which has an oil inlet P81, an oil port A83, an oil port B84, an oil return port R82 and a valve core. The oil inlet P81 is closed or the oil inlet P81 is connected to the oil port A83 or the oil port B84 through the movement of the valve core. The oil port A83 and the oil port B84 are respectively connected to the oil pipe a1 and the oil pipe b2.

[0053] In this embodiment, if used in light load conditions, the hydraulic oil in the rod chamber 7 can be returned to the rodless chamber 6 through the one-way valve 5, so that the hydraulic oil flow rate used by the cylinder in the buffer manipulator can be effectively reduced.

[0054] In this embodiment, if used in heavy-load conditions, the hydraulic oil in the rod chamber 7 is returned to the oil station through the balancing valve b4, so that the hydraulic oil in the rodless chamber 6 can maintain a stable high pressure without having to do work to overcome the hydraulic oil pressure in the rod chamber 7, thereby making full use of energy and being more energy-saving and environmentally friendly.

[0055] Example 2

[0056] like Figure 4 As shown, a control method for light-load extension of an oil cylinder piston rod is used in light-load working conditions. The oil station supplies oil to the rodless chamber 6, and controls the hydraulic oil in the rod chamber 7 to flow back to the rodless chamber 6. The amount of hydraulic oil in the rodless chamber 6 increases rapidly. Compared with the rodless chamber 6, only the oil station provides hydraulic oil, the flow rate of hydraulic oil entering the rodless chamber 6 is increased, and the piston rod is extended quickly, thereby achieving light-load rapid extension of the piston rod, thereby effectively reducing the flow rate of hydraulic oil used by the oil cylinder in the buffer manipulator.

[0057] Specifically, the hydraulic control system of the buffer manipulator described in Example 1 includes the following steps:

[0058] S11: Move the valve core of the reversing valve 8 so that the oil inlet P81 of the reversing valve 8 can be connected with the oil port A83. The hydraulic oil of the oil station enters the oil pipe a1 through the oil inlet P81 and the oil port A83, enters the front end liquid oil port of the balancing valve a3 and the pilot liquid oil port of the balancing valve b4 through the oil pipe a1, and then flows into the rear end liquid oil port of the balancing valve a3 through the one-way flow channel in the balancing valve a3; after the hydraulic oil flows out from the rear end liquid oil port of the balancing valve a3, it is divided into two, one part of the hydraulic oil enters the rear end liquid oil port of the one-way valve 5, and the other part of the hydraulic oil enters the rodless chamber 6.

[0059] S12: Due to the light load condition, only a relatively low hydraulic oil pressure is required to push the piston rod to extend, so the hydraulic oil in the rodless chamber 6 will not be pressurized, and the pressure is at a relatively low level, that is, the pressure of the hydraulic oil flowing out of the oil pipe a1 is low, which leads to the low pressure of the hydraulic oil entering the pilot oil port of the balancing valve b4, and the balancing valve b4 cannot be opened, that is, the pilot chamber of the balancing valve b4 is in a closed state, and the hydraulic oil from the rod chamber 7 cannot flow to its front end liquid oil port through the rear end liquid oil port of the balancing valve b4.

[0060] S13: The hydraulic oil flowing out of the balance valve a3 and entering the rear end oil port of the one-way valve 5 is unidirectionally intercepted by the one-way valve 5, preventing the hydraulic oil from the oil station from entering the rod chamber 7.

[0061] S14: The hydraulic oil entering the rodless chamber 6 pushes the piston rod to extend, and the hydraulic oil in the rod chamber 7 flows out.

[0062] S15: On the basis of step S12, the hydraulic oil in the rod chamber 7 cannot flow through the balancing valve b4, forcing the hydraulic oil in the rod chamber 7 to enter the rodless chamber 6 after passing through the one-way valve 5, and the extension speed of the piston rod increases; in fact, the hydraulic oil in the rod chamber 7 will be pressurized under the premise that the balancing valve b4 and the one-way valve 5 are closed, and the reason why the one-way valve 5 is closed is that there is hydraulic oil from the cylinder at the rear end liquid oil port of the one-way valve; until the hydraulic oil in the rod chamber 7 is pressurized to a pressure greater than the hydraulic oil pressure from the cylinder, the one-way valve 5 opens, and the hydraulic oil in the rod chamber 7 flows out through the one-way valve 5 and flows to the rodless chamber 6.

[0063] In this embodiment, in fact, due to the flow resistance of the one-way valve 5 and the balancing valve b4, the hydraulic oil provided by the oil station and the oil in the rod chamber 7 all enter the rodless chamber 6, so that the energy is fully utilized, which is more energy-saving and environmentally friendly.

[0064] In this embodiment, the hydraulic oil in the rod chamber 7 will flow to the rodless chamber 6, increasing the flow rate of the hydraulic oil entering the rodless chamber 6, thereby increasing the extension speed of the piston rod or achieving the purpose of reducing the amount of hydraulic oil in the cylinder.

[0065] Example 3

[0066] like Figure 5 As shown, a control method for heavy-load extension of a cylinder piston rod is applied to heavy-load working conditions. The oil station supplies oil to the rodless chamber 6 and controls the hydraulic oil in the rod chamber 7 to flow back to the oil station. The amount of hydraulic oil in the rodless chamber 6 increases slowly, and the piston rod extends slowly, thereby achieving heavy-load and low-speed extension of the piston rod.

[0067] It should be noted that the hydraulic oil in the rod chamber 7 can flow back to the oil station, so the hydraulic oil in the rodless chamber 6 does not need to do work to overcome the hydraulic oil pressure in the rod chamber 7, so that energy is fully utilized, which is more energy-saving and environmentally friendly.

[0068] Specifically, the hydraulic control system of the buffer manipulator described in Example 1 includes the following steps:

[0069] S21: Move the valve core of the reversing valve 8 so that the oil inlet P81 of the reversing valve 8 can be connected with the oil port A83. The hydraulic oil of the oil station enters the oil pipe a1 through the oil inlet P81 and the oil port A83, enters the front end liquid oil port of the balancing valve a3 and the pilot liquid oil port of the balancing valve b4 through the oil pipe a1, and then flows into the rear end liquid oil port of the balancing valve a3 through the one-way flow channel in the balancing valve a3; after the hydraulic oil flows out from the rear end liquid oil port of the balancing valve a3, it is divided into two, one part of the hydraulic oil enters the rear end liquid oil port of the one-way valve 5, and the other part of the hydraulic oil enters the rodless chamber 6.

[0070] S22: Due to the heavy-load working condition, a higher hydraulic oil pressure is required to push the piston rod to extend, so in the initial stage, the hydraulic oil in the rodless chamber 6 will be pressurized, causing the pressure to rise to a level sufficient to push the piston rod to extend; that is, the hydraulic oil pressure flowing out of the oil pipe a1 is high, so that the hydraulic oil entering the pilot oil port of the balancing valve b4 can open the balancing valve b4, that is, the pilot chamber of the balancing valve b4 is in an open state, and the hydraulic oil from the rod chamber 7 can flow through the rear end oil port of the balancing valve b4 to its front end oil port, and then flow back to the oil station through the oil pipe b2.

[0071] S23: The rear end oil port entering the one-way valve 5 is one-way intercepted by the one-way valve 5, preventing the hydraulic oil from the oil station from entering the rod chamber 7.

[0072] S24: The hydraulic oil entering the rodless chamber 6 pushes the piston rod to extend, and the hydraulic oil in the rod chamber 7 flows out through the balance valve b4, the oil port B84, and the return oil port R82 and returns to the oil station.

[0073] S25: When the hydraulic oil in the rod chamber 7 passes through the one-way valve 5, it is blocked by the hydraulic oil at the rear end oil port of the one-way valve 5 in step S23; on the basis of step S22, the hydraulic oil in the rod chamber 7 is forced to only flow through the balance valve b4, and then flow back to the oil station after passing through the oil pipe b2. The extension speed of the piston rod is entirely determined by the amount of oil from the oil station, thereby achieving heavy-load and low-speed operation.

[0074] Example 4

[0075] like Figure 6 As shown, a control method for maintaining the position of a cylinder piston rod is applied to the position maintaining condition. The oil station stops supplying oil to the rodless chamber 6, blocking the outflow of hydraulic oil in the rodless chamber 6 and the rod chamber 7. The pressure in the rodless chamber 6 and the rod chamber 7 is maintained, and the position of the piston rod remains unchanged.

[0076] Specifically, the hydraulic control system of the buffer manipulator described in Example 1 includes the following steps:

[0077] S31: the valve core of the reversing valve 8 is moved to close the oil inlet P81 of the reversing valve 8, that is, the oil inlet P81 can neither be connected with the oil port A83 nor with the oil port B84, and the hydraulic pressure of the oil station is blocked from entering the oil pipe a1, and no hydraulic oil enters the rodless chamber 6, and the piston rod stops extending;

[0078] S32: the balancing valve 3 and the balancing valve 4 respectively block the outflow of the hydraulic oil in the rodless chamber 6 and the rod chamber 7, and the piston rod cannot be retracted; combined with step S32, the position of the piston rod remains unchanged.

[0079] Example 5

[0080] like Figure 7 As shown, a control method for retracting the cylinder piston rod is applied to the retraction condition. The oil station supplies oil to the rod chamber 7 and controls the hydraulic oil in the rodless chamber 6 to flow back to the oil station. The hydraulic oil in the rod chamber 7 pushes the piston to move into the rodless chamber 6, and the piston rod retracts.

[0081] Specifically, the hydraulic control system of the buffer manipulator described in Example 1 includes the following steps:

[0082] S41: Move the valve core of the reversing valve 8 so that the oil inlet P81 of the reversing valve 8 can be connected with the oil port B84. The hydraulic oil of the oil station enters the oil pipe b2 through the oil inlet P81 and the oil port B84. The hydraulic oil is divided into three parts. One part enters the front liquid oil port of the balancing valve b4 and then flows to the rear liquid oil port of the balancing valve b4. One part of the hydraulic oil flows to the pilot liquid oil port of the balancing valve a3. Another part of the hydraulic oil flows to the pilot liquid oil port of the check valve 5, so that the check valve 5 remains closed.

[0083] S42: On the basis of step S41, the hydraulic oil flowing out from the rear end liquid oil port of the balancing valve b4 is divided into two parts. One part of the hydraulic oil enters the front end liquid oil port of the one-way valve 5. The one-way valve 5 is closed by the high-pressure oil in the pilot liquid oil port. The hydraulic oil in the front end liquid oil port of the one-way valve 5 cannot flow through the one-way valve 5 to the rear end liquid oil port of the one-way valve 5; one part of the hydraulic oil enters the rod chamber 7, pushing the piston rod to retract.

[0084] S43: At the initial stage of the hydraulic oil supply of the oil station, the pressure of the pilot oil port flowing from the oil pipe b2 to the balancing valve a3 is relatively low, and the balancing valve a3 cannot be opened. The balancing valve a3 blocks the flow of the hydraulic oil in the rodless chamber 6, and the hydraulic oil in the rodless chamber 6 cannot flow out;

[0085] S44: As the hydraulic oil of the oil station is continuously supplied, the hydraulic oil pressure in the rodless chamber 6, the rod chamber 7 and the oil pipe b2 increases continuously; until the combined force of the pressure of the pilot oil port of the balancing valve a3 and the pressure of the rear end oil port of the balancing valve a3 is sufficient to open the balancing valve a3, and the hydraulic oil in the rodless chamber 6 flows from the rear end oil port of the balancing valve 3 to the front end oil port of the balancing valve 3;;

[0086] S45: Since the pilot fluid oil port of the one-way valve 5 is connected with the front end fluid oil port of the one-way valve 5 through the oil pipe b2 and the balance valve b4 at this time, the hydraulic oil pressure of the pilot fluid oil port of the one-way valve 5 will not be less than the hydraulic oil pressure of the front end fluid oil port of the one-way valve 5, and will not be less than 1 / 3 of the hydraulic oil pressure of the front end fluid oil port of the one-way valve 5, the one-way valve 5 remains closed, and the hydraulic oil flowing out from the balance valve b4 or the one-way valve b9 all enters the rod chamber 7, and the hydraulic oil in the rod chamber 7 pushes the piston rod to retract.

[0087] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A hydraulic control system for a buffer manipulator, characterized in that: It comprises an oil station and an oil cylinder having a rodless chamber (6) and a rod chamber (7), wherein the oil station is connected to the front end oil and liquid port of a balancing valve b (4) through an oil pipe b (2), and the oil station is connected to the front end oil and liquid port of a balancing valve a (3) and the pilot oil and liquid port of a balancing valve b (4) through an oil pipe a (1); the rear end oil and liquid port of the balancing valve a (3) is connected to the rodless chamber (6); the rear end oil and liquid port of the balancing valve b (4) is connected to the rod chamber (7); a one-way valve (5) is arranged between the rod chamber (7) and the rodless chamber (6), the front end oil and liquid port of the one-way valve (5) is connected to the rod chamber (7), and the rear end oil and liquid port of the one-way valve (5) is connected to the rodless chamber (6); the pilot oil and liquid port of the balancing valve a (3) and the pilot oil and liquid port of the one-way valve (5) are both connected to the oil pipe b (2).

2. The hydraulic control system according to claim 1, characterized in that: A reversing valve (8) is provided between the oil station and the oil pipe a (1) and the oil pipe b (2).

3. A method for controlling the extension of a cylinder piston rod under light load, characterized in that: The oil station supplies oil to the rodless chamber (6) of the oil cylinder, controls the hydraulic oil in the rod chamber (7) to flow back to the rodless chamber (6), the amount of hydraulic oil in the rodless chamber (6) increases rapidly, and the piston rod extends rapidly, thereby achieving light-load and high-speed extension of the piston rod.

4. The method for controlling the extension of the oil cylinder piston rod under light load according to claim 3, characterized in that: The hydraulic control system of the buffer manipulator according to any one of claims 1 to 2 comprises the following steps: S11: The hydraulic oil of the oil station enters the oil pipe a (1) through the reversing valve (8), and the hydraulic oil in the oil pipe a (1) enters the front end oil port of the balancing valve a (3) and the pilot oil port of the balancing valve b (4). After flowing out from the rear end oil port of the balancing valve a (3), the hydraulic oil is divided into two parts, one part of the hydraulic oil enters the rear end oil port of the check valve (5), and the other part of the hydraulic oil enters the rodless chamber (6); S12: Due to the light load condition, the hydraulic oil pressure flowing out of the oil pipe a (1) is low, and the hydraulic oil entering the pilot oil port of the balancing valve b (4) cannot open the balancing valve b (4); S13: The hydraulic oil entering the rear end oil port of the one-way valve (5) is one-way intercepted by the one-way valve (5); S14: The hydraulic oil entering the rodless chamber (6) pushes the piston rod to extend, forcing the hydraulic oil in the rod chamber (7) to flow out; S15: Based on step S12, the hydraulic oil in the rod chamber (7) cannot flow through the balance valve b (4), forcing the hydraulic oil in the rod chamber (7) to pass through the one-way valve (5) and then enter the rodless chamber (6). The hydraulic oil in the rod chamber (7) and the hydraulic oil in the oil pipe a (1) merge and enter the rodless chamber (6), increasing the extension speed of the piston rod, thereby achieving light-load and high-speed extension of the piston rod.

5. A method for controlling the heavy-load extension of a cylinder piston rod, characterized in that: The oil station supplies oil to the rodless chamber (6) of the oil cylinder and controls the hydraulic oil in the rod chamber (7) to flow back to the oil station. The amount of hydraulic oil in the rodless chamber (6) increases slowly, and the piston rod extends slowly, thereby achieving heavy-load and low-speed extension of the piston rod.

6. The method for controlling the heavy-load extension of the cylinder piston rod according to claim 5, characterized in that: The hydraulic control system of the buffer manipulator according to any one of claims 1 to 2 comprises the following steps: S21: The hydraulic oil of the oil station enters the oil pipe a (1) through the reversing valve (8). The hydraulic oil in the oil pipe a (1) enters the front end oil port of the balancing valve a (3) and the pilot oil port of the balancing valve b (4). After flowing out from the rear end oil port of the balancing valve a (3), the hydraulic oil is divided into two parts. One part of the hydraulic oil enters the rear end oil port of the check valve (5), and the other part of the hydraulic oil enters the rodless chamber (6). S22: Due to the heavy load condition, the hydraulic oil pressure flowing out of the oil pipe a(1) is relatively high, and the hydraulic oil entering the pilot oil port of the balancing valve b(4) can open the balancing valve b(4), so that the front oil port and the rear oil port of the balancing valve b(4) are connected; S23: The hydraulic oil entering the rear end oil port of the one-way valve (5) is one-way intercepted by the one-way valve (5); S24: The hydraulic oil entering the rodless chamber (6) pushes the piston rod to extend, forcing the hydraulic oil in the rod chamber (7) to flow out; S25: Based on step S22, the hydraulic oil in the rod chamber (7) flows through the balance valve b (4), passes through the oil pipe b (2) and then flows back to the oil station. The extension speed of the piston rod is determined by the flow rate from the oil station to the rodless chamber (6), thereby achieving heavy-load and low-speed extension.

7. A method for controlling the position of a cylinder piston rod, characterized in that: The oil station stops supplying oil to the rodless chamber (6) of the oil cylinder and blocks the outflow of hydraulic oil in the rodless chamber (6) and the rod chamber (7), and the pressure in the rodless chamber (6) and the rod chamber (7) is maintained, so that the position of the piston rod remains unchanged.

8. The control method for maintaining the position of the oil cylinder piston rod according to claim 7, characterized in that: The hydraulic control system of the buffer manipulator according to any one of claims 1 to 2 comprises the following steps: S31: using the reversing valve (8) to block the hydraulic pressure of the oil station from entering the oil pipe a (1), so that no hydraulic oil enters the rodless chamber (6), and the piston rod stops extending; S32: The balancing valve a (3) blocks the hydraulic oil in the rodless chamber (6) from flowing out, and the balancing valve b (4) blocks the hydraulic oil in the rod chamber (7) from flowing out, and the position of the piston rod remains unchanged.

9. A method for controlling the retraction of a cylinder piston rod, characterized in that: The oil station supplies oil to the rod chamber (7) of the oil cylinder, controls the hydraulic oil in the rodless chamber (6) to flow back to the oil station, and the hydraulic oil in the rod chamber (7) pushes the piston rod to retract.

10. The method for controlling the retraction of the oil cylinder piston rod according to claim 9, characterized in that: The hydraulic control system of the buffer manipulator according to any one of claims 1 to 2 comprises the following steps: S41: The hydraulic oil of the oil station enters the oil pipe b (2) through the reversing valve (8), and the hydraulic oil in the oil pipe b (2) is divided into three parts. One part of the hydraulic oil flows to the rear end of the hydraulic oil port of the balancing valve b (4) through the front end of the hydraulic oil port of the balancing valve b (4), one part of the hydraulic oil flows to the pilot hydraulic oil port of the balancing valve a (3), and one part of the hydraulic oil flows to the pilot hydraulic oil port of the check valve (5), so that the check valve (5) remains in a closed state; S42: Based on step S41, the hydraulic oil flowing out from the rear end oil port of the balance valve b (4) is divided into two parts. One part of the hydraulic oil flows into the front end oil port of the one-way valve (5). The one-way valve (5) is closed by the high pressure oil of the pilot oil port. The hydraulic oil at the front end oil port of the one-way valve (5) cannot flow through the one-way valve (5) to the rear end oil port of the one-way valve (5); another part of the hydraulic oil flows into the rod chamber (7) to push the piston rod to retract. S43: At the initial stage of the hydraulic oil supply of the oil station, the pressure of the pilot oil port flowing from the oil pipe b (2) to the balancing valve a (3) is low, and the balancing valve a (3) cannot be opened. The balancing valve a (3) blocks the flow of the hydraulic oil in the rodless chamber (6), and the hydraulic oil in the rodless chamber (6) cannot flow out. S44: As the hydraulic oil of the oil station is continuously supplied, the pressure of the hydraulic oil in the rodless chamber (6), the rod chamber (7) and the oil pipe b (2) continues to increase; until the combined force of the pressure of the pilot oil port of the balancing valve a (3) and the pressure of the rear end oil port of the balancing valve a (3) is sufficient to open the balancing valve a (3), and the hydraulic oil in the rodless chamber (6) flows from the rear end oil port of the balancing valve (3) to the front end oil port of the balancing valve (3); S45: Since the pressure of the pilot oil port of the check valve (5) is not less than the pressure of the front oil port of the check valve (5), the check valve a (5) remains closed, and the hydraulic oil flowing out of the balance valve b (4) all enters the rod chamber (7), and the hydraulic oil in the rod chamber (7) pushes the piston rod to retract.

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