Hydraulic loading system for semi-physical simulation platform of excavator

Abstract

The invention discloses a hydraulic loading system for a semi-physical simulation platform of an excavator. The hydraulic loading system comprises a loading pump set, a confluence switching valve set, a movable arm linkage loading valve set, a bucket rod linkage loading valve set, a bucket linkage loading valve set, a rotation linkage loading valve set, a flow detection assembly, a pressure detection assembly, a multi-way valve and an excavator power unit. Oil inlet ports of all the multi-way valves provide oil inlet through an excavator power unit, flow of oil return ports of a movable arm link, a bucket rod link and a bucket link provides an oil source through a loading pump set, loading valve sets simulate loading load pressure, and the oil return amount and the oil return back pressure are controlled through speed regulating valves of all the loading valve sets. And the rotary unit controls the oil return quantity and simulates the rotary load through a rotary loading valve group. Multi-pump-set loading is adopted, the loading flow range is large, universality is high, an execution oil cylinder and an execution motor do not need to be installed and replaced, and operability is high; the oil inlet and return flow and pressure of the movable arm unit, the bucket rod unit and the bucket unit are independently loaded and are not limited by the area ratio of two cavities of an oil cylinder.

Description

Technical Field

[0001] The invention relates to the field of hydraulic drive, and in particular to a hydraulic loading system for an excavator semi-physical simulation platform, which is used for simulating loading of a hydraulic system on an excavator with a capacity of less than 70 tons. Background Art

[0002] The system matching of excavators is an important research content in the development process of the whole machine. The traditional test bench test does not have the real-time simulation function of the excavation load. In order to make up for the shortcomings of the traditional excavator system matching test bench, the verification test of the whole machine system performance must be completed in the early stage of the new model design. Currently, it is mainly achieved by building an excavator semi-physical simulation platform.

[0003] Semi-physical simulation, also known as semi-physical simulation or hardware-in-the-loop simulation, refers to the real-time simulation of mathematical models by connecting some physical hardware to the simulation loop of the simulation system. The hardware of the semi-physical simulation platform of the excavator vehicle system mainly includes the original vehicle power unit, multi-way valve, operating handle, etc. In order to load the valve port, some semi-physical platforms are also connected to the corresponding cylinders and motor actuators. However, the disadvantage of this loading method is that when testing excavator systems of different tonnages, the corresponding cylinders and motors must be replaced at the same time, and the loading system has poor adaptability.

[0004] In the loading system without installing cylinders and motor actuators, the load pressure of each outlet of the multi-way valve is mainly simulated through the overflow valve, and the outlet flow of the overflow valve is returned through the oil return port of each multi-way valve. However, during the actual vehicle operation of the excavator multi-way valve boom, arm and bucket, due to the area difference between the two chambers of the cylinder, the flow of the oil outlet and return port of each joint should be consistent with the area ratio of the two chambers of the cylinder. The above loading method can only ensure that the outlet flow and pressure of the multi-way valve are consistent with the simulation, and the return port flow and back pressure cannot be truly simulated.

[0005] The flow output range of the existing semi-physical simulation loading system is not large and can only support fixed-tonnage excavator systems with similar simulated flow rates.

[0006] At present, the loading system of the swing coupling only considers the swing load pressure loading, and cannot realize the pressure shock simulation and return oil volume control during the swing start. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention proposes a hydraulic loading system for a semi-physical simulation platform of an excavator. The system has strong versatility and the oil ports on both sides can be loaded independently.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] A hydraulic loading system for an excavator semi-physical simulation platform, comprising a loading pump group, a confluence switching valve group, a boom-linked loading valve group, a dipper-arm-linked loading valve group, a bucket-linked loading valve group, a slewing-linked loading valve group, a flow detection component, a pressure detection component, a multi-way valve and an excavator power unit;

[0010] The loading pump group includes seven groups of electrically controlled variable displacement plunger pumps and one group of pilot gear pumps; the electrically controlled variable displacement plunger pumps change the pump flow rate by adjusting the proportional valve on the pump, and the outlets of the electrically controlled variable displacement plunger pumps are all connected to a one-way valve to prevent the oil from flowing back to the pump, and the pilot gear pump is used to provide the pilot pressure oil required by the electrically controlled variable displacement plunger pumps;

[0011] The confluence switching valve group includes six groups of plug-in electric control stop valves, which are used to connect or cut off two adjacent pump outlets in the loading pump group;

[0012] The boom-link loading valve group is installed between the confluence switching valve group and the flow detection assembly, and includes three groups of proportional relief valves, one group of proportional speed regulating valves, one group of solenoid reversing valves, and two groups of check valves, which are used to control the bypass pressure of the boom-link speed regulating circuit and the loading pressure and flow of the A1 and B1 ports corresponding to the boom-link of the multi-way valve;

[0013] The arm-link loading valve group also includes three sets of proportional relief valves, one set of proportional speed regulating valves, one set of electromagnetic reversing valves, and two sets of one-way valves, which are used to control the bypass pressure of the arm-link speed regulating circuit and the loading pressure and flow of the A2 and B3 ports corresponding to the arm-link of the multi-way valve;

[0014] The bucket joint loading valve group also includes three sets of proportional relief valves, one set of proportional speed regulating valves, one set of electromagnetic reversing valves, and two sets of check valves, which are used to control the bypass pressure of the bucket joint speed regulating circuit and the loading pressure and flow of the A3 and B4 ports corresponding to the bucket joint of the multi-way valve;

[0015] The rotary coupling loading valve group includes two groups of proportional relief valves, one group of proportional speed regulating valves and one group of one-way valve groups, which are used to control the bypass pressure of the rotary coupling and the loading pressure and flow of the A4 and B3 ports corresponding to the rotary coupling of the multi-way valve;

[0016] The flow detection assembly includes seven groups of flow meters, which are respectively used to detect the flow of A1 and B1 ports corresponding to the boom connection of the multi-way valve, A2 and B2 ports corresponding to the arm connection of the multi-way valve, A3 and B3 ports corresponding to the bucket connection of the multi-way valve, and the return oil port flow of the swing connection;

[0017] The pressure detection component includes eight groups of pressure sensors, which are respectively used to detect the pressures of A1 and B1 ports corresponding to the boom connection of the multi-way valve, A2 and B2 ports corresponding to the arm connection of the multi-way valve, A3 and B3 ports corresponding to the bucket connection of the multi-way valve, and A4 and B4 ports corresponding to the swing connection of the multi-way valve.

[0018] Furthermore, the multi-way valve is a multi-way valve for an excavator, and the excavator power unit includes a series-connected plunger pump and an engine.

[0019] Further, the loading pump group includes a parallel-connected electric-controlled variable displacement plunger pump 1, an electric-controlled variable displacement plunger pump 2, an electric-controlled variable displacement plunger pump 3, an electric-controlled variable displacement plunger pump 4, an electric-controlled variable displacement plunger pump 5, an electric-controlled variable displacement plunger pump 6, an electric-controlled variable displacement plunger pump 7, and a pilot gear pump for providing pilot pressure oil to the seven groups of electric-controlled variable displacement plunger pumps;

[0020] The electrically controlled stop valve 1 of the confluence switching valve group is installed between the outlets of the electrically controlled variable displacement plunger pump 1 and the electrically controlled variable displacement plunger pump 2, the electrically controlled stop valve 2 is installed between the outlets of the electrically controlled variable displacement plunger pump 2 and the electrically controlled variable displacement plunger pump 3, and so on, the electrically controlled stop valve 6 is installed between the outlets of the electrically controlled variable displacement plunger pump 6 and the electrically controlled variable displacement plunger pump 7;

[0021] The confluence switching valve group has three outlets, outlet one is connected to the outlet of the electronically controlled variable displacement plunger pump one, outlet two is connected to the outlet of the electronically controlled variable displacement plunger pump four, and outlet three is connected to the outlet of the electronically controlled variable displacement plunger pump seven.

[0022] Further, the boom-linked loading valve group includes a proportional relief valve 1, a proportional speed regulating valve 1, an electromagnetic reversing valve, a proportional relief valve 2, a proportional relief valve 3, a check valve 1 and a check valve 2;

[0023] The boom-linked loading valve group includes three ports, the first port of the boom-linked loading valve group is connected to the outlet 1 of the confluence switching valve group; the proportional relief valve 1 is a bypass proportional relief valve, the inlet of the proportional relief valve 1 is connected to the first port of the boom-linked loading valve group and the inlet of the proportional speed regulating valve 1, so as to form a speed regulating circuit; the outlet of the proportional speed regulating valve 1 is connected to the inlet of the electromagnetic reversing valve, and the electromagnetic reversing valve is used to switch the return oil to the A1 port or the B1 port of the boom-linked, the two outlets of the electromagnetic reversing valve are respectively connected to the oil outlets of the proportional relief valve 2 and the proportional relief valve 3 and the forward oil ports of the check valve 1 and the check valve 2, the inlet of the proportional relief valve 2 is connected to the reverse oil port of the check valve 1 and the flow meter 1 of the flow detection component, the inlet of the proportional relief valve 3 is connected to the reverse oil port of the check valve 2 and the flow meter 2 of the flow detection component, and the proportional relief valve 2 and the proportional relief valve 3 are used to simulate the loading load pressure when the oil is discharged from the A1 port or the B1 port.

[0024] Further, one end of the arm-linked loading valve group is connected to the outlet 2 of the merging switching valve group, and one end is connected to the flow detection component; one end of the bucket-linked loading valve group is connected to the outlet 3 of the merging switching valve group, and one end is connected to the flow detection component;

[0025] The composition and internal connection mode of the arm-joint loading valve group and the bucket-joint loading valve group are the same as those of the boom-joint loading valve group.

[0026] Furthermore, the rotary joint loading valve group includes a proportional relief valve four, a proportional speed regulating valve two, a proportional relief valve five and a one-way valve group;

[0027] The one-way valve group includes four one-way valves, which are formed by connecting the forward oil ports and reverse oil ports of the four one-way valves in sequence, and there are four ports C, D, E, and F in total; the C port of the one-way valve group is connected to the A4 port of the rotary joint of the multi-way valve, the D port is connected to the outlet of the flow meter seven of the flow detection component, the E port is connected to the B4 port of the rotary joint of the multi-way valve, and the F port is connected to the inlet of the proportional relief valve four and the inlet of the proportional speed regulating valve two, the outlet of the proportional speed regulating valve two is connected to the inlet of the proportional relief valve five, and the outlet of the proportional relief valve five is connected to the inlet of the flow meter seven;

[0028] The proportional relief valve four is a bypass proportional relief valve, which is used to simulate the overflow pressure during the rotation start; the proportional relief valve five simulates the rotation load pressure, and the proportional speed control valve two is used to control the return oil volume of the rotary joint of the multi-way valve.

[0029] Furthermore, the two oil inlets P1 and P2 of the multi-way valve are respectively connected to the two plunger pump outlets in the excavator power unit.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. The present invention adopts multi-pump group loading, with a wide loading flow range, and can adapt to the semi-physical simulation platform of various excavators below 70 tons, with strong versatility.

[0032] 2. The present invention does not require installation or replacement of the actuator cylinder and the actuator motor, and has strong operability.

[0033] 3. In the present invention, the oil inlet and return flow rates and pressures of the boom connection, the arm connection and the bucket connection are all loaded independently and are not limited by the area ratio of the two chambers of the oil cylinder.

[0034] 4. The rotary coupling in the present invention can simulate the rotary impact condition when the rotary action is started. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the principle of the hydraulic loading system of the present invention.

[0036] Figure 2 It is an exploded schematic diagram of the loading pump group 1 and the confluence switching valve group 2 of the present invention.

[0037] Figure 3 It is a schematic diagram of the loading principle of the boom coupling circuit of the present invention.

[0038] Figure 4 It is a schematic diagram of the loading principle of the rotary coupling circuit of the present invention.

[0039] In the figure, 1 is the loading pump group, 2 is the confluence switching valve group, 3 is the boom-connected loading valve group, 4 is the arm-connected loading valve group, 5 is the bucket-connected loading valve group, 6 is the swing-connected loading valve group, 7 is the flow detection component, 8 is the pressure detection component, 9 is the multi-way valve, and 10 is the excavator power unit. 1.1 is the first electronically controlled variable displacement plunger pump, 1.2 is the second electronically controlled variable displacement plunger pump, 1.3 is the third electronically controlled variable displacement plunger pump, 1.4 is the fourth electronically controlled variable displacement plunger pump, 1.5 is the fifth electronically controlled variable displacement plunger pump, 1.6 is the sixth electronically controlled variable displacement plunger pump, 1.7 is the seventh electronically controlled variable displacement plunger pump, 1.8 is the pilot gear pump, 2.1 is the first electronically controlled stop valve, 2.2 is the second electronically controlled stop valve, 2.3 is the third electronically controlled stop valve, 2.4 is the fourth electronically controlled stop valve, 2.5 is the fifth electronically controlled stop valve, 2.6 is the sixth electronically controlled stop valve, 3.1 is the ratio For example, overflow valve one, 3.2 is proportional speed control valve one, 3.3 is solenoid reversing valve, 3.4 is proportional overflow valve two, 3.5 is check valve one, 3.6 is proportional overflow valve three, 3.7 is check valve two, 6.1 is proportional overflow valve four, 6.2 is proportional speed control valve two, 6.3 is proportional overflow valve five, 6.4 is check valve group, 7.1 is flow meter one, 7.2 is flow meter two, 7.7 is flow meter seven, 8.1 is pressure sensor one, 8.2 is pressure sensor two, 8.7 is pressure sensor seven, and 8.8 is pressure sensor eight. DETAILED DESCRIPTION

[0040] The present invention will be described in detail below based on the accompanying drawings and preferred embodiments, and the purpose and effects of the present invention will become more clear. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] like Figure 1 As shown, it mainly includes a double-loading pump group 1, a confluence switching valve group 2, a boom-linked loading valve group 3, a dipper arm-linked loading valve group 4, a bucket-linked loading valve group 5, a swing-linked loading valve group 6, a flow detection component 7, a pressure detection component 8, a multi-way valve 9 and an excavator power unit 10.

[0042] like Figure 2As shown, the loading pump group 1 includes parallel electronically controlled variable displacement plunger pump 1.1, electronically controlled variable displacement plunger pump 2 1.2, electronically controlled variable displacement plunger pump 3 1.3, electronically controlled variable displacement plunger pump 4 1.4, electronically controlled variable displacement plunger pump 5 1.5, electronically controlled variable displacement plunger pump 6 1.6, electronically controlled variable displacement plunger pump 7 1.7, and a pilot gear pump 1.8 for providing pilot pressure oil for the seven groups of electronically controlled variable displacement plunger pumps, wherein the displacement of the electronically controlled variable displacement plunger pump 4 1.4 is 355cc / r, and the displacement of the remaining electronically controlled variable displacement plunger pumps is 250cc / r. The seven groups of electronically controlled variable displacement plunger pumps can be combined through the combined switching valve group 2, and the maximum combined flow rate can reach 2700L / min, which can be used for semi-physical simulation platform loading test of excavators below 70 tons. The pilot gear pump 1.8 provides the pilot pressure required for the variable.

[0043] The confluence switching valve group 2 is composed of 6 groups of plug-in electric control stop valves 2.1-2.6, each group of electric control stop valves is installed between two adjacent pump outlets and is in a normally open state. Among them, the electric control stop valve 1 2.1 of the confluence switching valve group 2 is installed between the outlets of the electric control variable displacement plunger pump 1 1.1 and the electric control variable displacement plunger pump 2 1.2, the electric control stop valve 2 2.2 is installed between the outlets of the electric control variable displacement plunger pump 2 1.2 and the electric control variable displacement plunger pump 3 1.3, and so on, the electric control stop valve 6 2.6 is installed between the outlets of the electric control variable displacement plunger pump 6 1.6 and the electric control variable displacement plunger pump 7 1.7; the confluence switching valve group 2 has 3 outlets, outlet ① is connected to the outlet of the electric control variable displacement plunger pump 1 1.1, outlet ② is connected to the outlet of the electric control variable displacement plunger pump 4 1.4, and outlet ③ is connected to the outlet of the electric control variable displacement plunger pump 7 1.7. The rated flow of the plug-in electric control stop valve 2.1-2.6 is greater than 3000L / min, and each group of stop valves can be individually controlled on and off by electric control.

[0044] like Figure 3As shown, the boom loading valve group 3 includes a proportional relief valve 1 3.1, a proportional speed regulating valve 1 3.2, an electromagnetic reversing valve 3.3, a proportional relief valve 2 3.4, a proportional relief valve 3 3.6, a check valve 1 3.5 and a check valve 2 3.7. The proportional relief valve 1 3.1 is a bypass proportional relief valve. The boom loading valve group 3 includes three ports, wherein port ① of the boom loading valve group 3 is connected to outlet ① of the confluence switching valve, the inlet of the proportional relief valve 1 3.1 is connected to port ① of the boom loading valve group 3 and the inlet of the proportional speed regulating valve 1 3.2 to form a speed regulating circuit; the outlet of the proportional speed regulating valve 1 3.2 is connected to the inlet of the electromagnetic reversing valve 3.3 (i.e., port P), and the electromagnetic reversing valve 3.3 is used to switch the return oil to port A1 or port B1 of the boom. The two outlets of the electromagnetic reversing valve 3.3 The ports are respectively connected to the oil outlets of proportional relief valve 2 3.4 and proportional relief valve 3.6 and the forward oil ports of check valve 1 3.5 and check valve 2 3.7. The inlet of proportional relief valve 2 3.4 is connected to the reverse oil port of check valve 1 3.5 and flow meter 1 7.1. The inlet of proportional relief valve 3.6 is connected to the reverse oil port of check valve 2 3.7 and flow meter 2 7.2. Proportional relief valve 2 3.4 and proportional relief valve 3 3.6 are used to simulate the loading load pressure when oil is discharged from port A1 or port B1.

[0045] like Figure 1 As shown, one end of the arm-joint loading valve group 4 is connected to the outlet ② of the confluence switching valve group 2, and the other end is connected to the flow detection component 7; one end of the bucket-joint loading valve group 5 is connected to the outlet ③ of the confluence switching valve group 2, and the other end is connected to the flow detection component 7. The composition and internal connection method of the arm-joint loading valve group 4 and the bucket-joint loading valve group 5 are the same as those of the boom-joint loading valve group 3. Two proportional relief valves of the arm-joint loading valve group 4 are used to simulate the loading load pressure when oil is discharged from the A2 port or the B2 port; two proportional relief valves of the bucket-joint loading valve group 5 are used to simulate the loading load pressure when oil is discharged from the A3 port or the B3 port.

[0046] like Figure 4As shown, the rotary coupling loading valve group 3 includes a proportional relief valve 4 6.1, a proportional speed regulating valve 2 6.2, a proportional relief valve 5 6.3 and a check valve group 6.4. The check valve group 6.4 includes four check valves, which are connected in sequence in the manner that the forward oil port of one check valve is connected to the reverse oil port of another check valve, and there are four ports C, D, E and F in total. The C port of the check valve group 6.4 is connected to the A4 port of the multi-way valve rotary coupling, the D port is connected to the outlet of the flow meter 7 7.7, the E port is connected to the B4 port of the multi-way valve rotary coupling, the F port is connected to the inlet of the bypass proportional relief valve 4 6.1 and the inlet of the proportional speed regulating valve 2 6.2, the outlet of the proportional speed regulating valve 2 6.2 is connected to the inlet of the proportional relief valve 5 6.3, and the outlet of the proportional relief valve 5 6.3 is connected to the inlet of the flow meter 7 7.7. Among them, the proportional relief valve 4 6.1 is a bypass proportional relief valve, which is used to simulate the overflow pressure when the swing starts, and the outlet of the proportional relief valve 4 6.1 is connected to the oil tank. The proportional relief valve 5 6.3 simulates the swing load pressure, and the proportional speed regulating valve 2 6.2 is used to control the return oil volume of the swing connection of the multi-way valve 9.

[0047] The flow detection assembly 7 includes seven groups of flow meters, among which flow meter 1 7.1 and flow meter 2 7.2 are used to detect the flow of the feedback multi-way valve boom connection A1 and B1 ports, flow meters 3 to 6 are used to detect the flow of the dipper arm connection A2 and B2 ports, and the bucket connection A3 and B3 ports respectively, and flow meter 7 7.7 is used to detect the flow of the rotary connection return oil port.

[0048] The pressure detection assembly 8 includes 8 pressure sensors, pressure sensor 1 8.1 is installed at the A1 port of the boom connection of the multi-way valve, pressure sensor 2 8.2 is installed at the B1 port of the boom connection of the multi-way valve, pressure sensors 3 to 6 are respectively installed at the A2 port and B2 port of the arm connection of the multi-way valve, and the A3 port and B3 port of the bucket connection of the multi-way valve, pressure sensor 7 8.7 is installed at the A4 port of the rotary connection of the multi-way valve, and pressure sensor 8 8.8 is installed at the B4 port of the rotary connection of the multi-way valve, which are used to detect and feedback the pressure of each port of the multi-way valve.

[0049] The multi-way valve 9 and the excavator power unit 10 are both tested parts of the semi-physical simulation platform, and are consistent with the parts actually used in the excavator systems of various tonnages.

[0050] The two oil inlets P1 and P2 of the multi-way valve 9 are connected to the two plunger pump outlets of the excavator power unit 10 respectively, and the excavator power unit 10 provides oil. Among them, the return oil flow of the boom connection, the dipper arm connection, and the bucket connection is provided with an oil source through the double loading pump group 1, and the loading load pressure is simulated by the loading valve group. The return oil volume and the return oil back pressure are controlled by the speed regulating valve of each loading valve group. The swing connection controls the return oil volume and simulates the swing load through the swing loading valve group.

[0051] The present invention can realize the simulated loading function of each single action and compound action. During the compound action test, the confluence switching valve group 2 is used to distribute the flow of each link.

[0052] When simulating the hydraulic loading of a small-tonnage excavator, the present invention can reduce the overflow and heat of the system by controlling the number of activated plunger pumps of the loading pump group and adjusting the displacement in coordination with the electronic control.

[0053] In the present invention, each control valve, multi-way valve, and pump return oil (oil suction) all lead to the same oil tank.

[0054] The hydraulic loading system of the present invention can realize multi-way valve single-action loading and multi-action compound loading.

[0055] like Figure 2 As shown, the confluence switching valve group 2 can distribute the return oil flow to the boom joint, the dipper rod joint, and the bucket joint. When the boom joint is in single action, when the return oil flow demand of the boom joint is less than 350L / min, all the electric control stop valves 2.1-2.7 on the confluence switching valve group 2 are powered on and closed, the electric control variable displacement plunger pump 1.1 on the loading pump group 1 is turned on, and the other pumps are turned off, and the electric control variable displacement plunger pump 1.1 supplies oil to the boom joint. When the return oil flow demand of the boom joint is greater than 350L / min and less than 700L / min, the electric control stop valve 1.1 loses power and conducts, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pump 1.1 and the electric control variable displacement plunger pump 2 1.2 are turned on, and the other pumps are turned off, and the two pumps are combined to supply oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 700L / min and less than 1050L / min, the electric control stop valve 1 2.1 and the electric control stop valve 2 2.2 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pump 1 1.1, the electric control variable displacement plunger pump 2 1.2, and the electric control variable displacement plunger pump 3 1.3 are opened, and the other pumps are closed, and the three pumps are combined to supply oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 1050L / min and less than 1550L / min, the electric control stop valve 1 2.1, 2.2, and 3 2.3 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pump 1 1.1, 2 1.2, 3 1.3, and 4 1.4 are opened, and the other pumps are closed, and the four pumps are combined to supply oil to the boom joint. As shown in Table 1, the maximum oil return volume requirement of the boom linkage is 1450L / min, so a maximum of four pumps can meet the boom linkage single action requirements. When the boom linkage is in single action, the proportional speed regulating valves on the arm linkage loading valve group 4 and the bucket linkage loading valve group 5 are closed, and the bypass proportional relief valve is set to the maximum pressure.

[0056] Table 1 Statistics of the maximum flow rates of the large and small chambers of the oil cylinder of a 65-ton excavator under various movements

[0057]

[0058] When the arm joint is in single action, when the flow demand of the arm joint oil return port is less than 500L / min, the electric control stop valves 1 to 7 2.1-2.7 on the confluence switching valve group 2 are all powered off, the electric control variable displacement plunger pump 4 1.4 on the loading pump group 1 is turned on, and the other pumps are turned off, and the electric control variable displacement plunger pump 4 1.4 supplies oil to the arm joint. When the flow demand of the arm joint oil return port is greater than 500L / min but less than 860L / min, the electric control stop valve 3 2.3 loses power and conducts, the other electric control stop valves are powered off, the electric control variable displacement plunger pumps 3 1.3 and 4 1.4 are turned on, and the other pumps are turned off, and the two pumps are combined to supply oil to the arm joint. When the flow demand of the return oil port of the boom joint is greater than 860L / min and less than 1220L / min, the electric control stop valves 2.2 and 2.3 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pumps 2.1, 3.1, and 4.1.4 are opened, and the other pumps are closed, and the three pumps are combined to supply oil to the boom joint. When the flow demand of the return oil port of the boom joint is greater than 1220L / min and less than 1550L / min, the electric control stop valves 1.2.1, 2.2, and 3.2.3 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pumps 1.1, 2.2, 3.1.3, and 4.1.4 are opened, and the other pumps are closed, and the four pumps are combined to supply oil to the boom joint. When the flow demand of the return oil port of the boom joint is greater than 1550L / min and less than 1910L / min, the electric control stop valves 12.1, 2.2, 3.2.3, and 4.2.4 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pumps 1.1, 2.2, 3.3, 4.1.4, and 5.1.5 are turned on, the other pumps are turned off, and the five pumps are combined to supply oil to the boom joint. When the flow demand of the return oil port of the boom joint is greater than 1910L / min and less than 2270L / min, the electric control stop valve 6.2.6 is powered on and closed, the other electric control stop valves lose power and conduct, the electric control variable displacement plunger pump 7.1.7 is closed, the other pumps are turned on, and the six pumps are combined to supply oil to the boom joint. When the flow demand of the return oil port of the boom joint is greater than 2270L / min and less than 2630L / min, all the electric control stop valves are de-energized and the pump groups are all turned on, and the seven pumps are combined to supply oil to the boom joint. As shown in Table 1, the maximum return oil demand of the boom joint is 2280L / min, so the seven pumps can meet the single action demand of the boom joint. When the boom joint is in single action, the proportional speed regulating valves on the boom joint loading valve group 3 and the bucket joint loading valve group 5 are closed, and the bypass proportional relief valve is set to the maximum pressure.

[0059] When the bucket joint is in single action, when the flow demand of the bucket joint oil return port is less than 350L / min, the electric control stop valves 1 to 7 2.1-2.7 on the confluence switching valve group 2 are all powered off, the electric control variable displacement plunger pump 7 1.7 on the loading pump group 1 is turned on, and the other pumps are turned off, and the electric control variable displacement plunger pump 7 1.7 supplies oil to the bucket joint. When the flow demand of the bucket joint oil return port is greater than 350L / min and less than 700L / min, the electric control stop valve 6 2.6 loses power and conducts, the other electric control stop valves are powered off, the electric control variable displacement plunger pumps 6 1.6 and 7 1.7 are turned on, and the other pumps are turned off, and the two pumps are combined to supply oil to the bucket joint. When the flow demand of the return oil port of the bucket joint is greater than 700L / min and less than 1050L / min, the electric control stop valves 52.5 and 62.6 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pumps 51.5, 61.6, and 71.7 are opened, and the other pumps are closed, and the three pumps are combined to supply oil to the bucket joint. When the flow demand of the return oil port of the bucket joint is greater than 1050L / min and less than 1550L / min, the electric control stop valves 42.4, 52.5, and 62.6 lose power and conduct, the other electric control stop valves are powered on and closed, the electric control variable displacement plunger pumps 41.4, 51.5, 61.6, and 71.7 are opened, and the other pumps are closed, and the four pumps are combined to supply oil to the bucket joint. As shown in Table 1, the maximum return oil demand of the bucket joint is 1450L / min, so the confluence of up to four pumps can meet the single action demand of the bucket joint. When the bucket is in single action, the proportional speed regulating valves on the boom loading valve group 3 and the arm loading valve group 4 are closed, and the bypass proportional relief valve is set to the maximum pressure.

[0060] As shown in Table 1, when simulating the combined action of boom raising and arm extending, the return oil of the boom link and the arm link are both small-chamber return oil volumes, all electrically controlled stop valves are electrically closed, and the electrically controlled variable displacement plunger pump 1.1 supplies oil to the boom link. The maximum return oil volume requirement of the boom link is 200L / min, which can be met by a single pump. The electrically controlled variable displacement plunger pump 4 1.4 supplies oil to the arm link. The maximum return oil volume requirement of the arm link is 470L / min, which can be met by a single pump.

[0061] When simulating the combined action of boom lowering and stick retracting, the return oil of the boom link and stick link are both large-chamber return oil volumes, and the electronically controlled stop valves 3 2.3 and 6 2.6 are energized to close. When the boom link return oil demand is less than 350L / min, the electronically controlled stop valves 1 2.1 and 2 2.2 are energized to close, and the electronically controlled variable displacement plunger pump 1 1.1 supplies oil to the boom link. When the boom link return oil port flow demand is greater than 350L / min but less than 700L / min, the electronically controlled stop valve 1 2.1 loses power and conducts, and the electronically controlled stop valve 2 2.2 It is powered off and closed, and the electric-controlled variable-displacement plunger pump 1.1 and the electric-controlled variable-displacement plunger pump 1.2 combine to supply oil to the boom joint. When the flow demand of the boom joint's oil return port is greater than 700L / min and less than 1050L / min, the electric-controlled stop valves 1.1 and 2.2 lose power and are turned on, and the electric-controlled variable-displacement plunger pumps 1.1, 1.2 and 1.3 combine to supply oil to the boom joint. The maximum oil return demand of the boom joint is 890L / min, and the combination of up to three pumps can meet the oil return demand of the boom joint. When the flow demand of the boom joint oil return port is less than 500L / min, the electronically controlled stop valves 42.4 and 52.5 are energized to close, and the electronically controlled variable displacement plunger pump 41.4 supplies oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 500L / min but less than 860L / min, the electronically controlled stop valve 42.4 loses power and conducts, the electronically controlled stop valve 52.5 is energized to close, and the electronically controlled variable displacement plunger pumps 41.4 and 51.5 combine to supply oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 860L / min but less than 1220L / min, the electronically controlled stop valves 42.4 and 52.5 lose power and conduct, and the electronically controlled variable displacement plunger pumps 41.4, 51.5 and 61.6 combine to supply oil to the boom joint. The maximum return oil demand of the boom joint is 1220L / min, and the combination of up to three pumps can meet the boom joint oil return demand.

[0062] When simulating the compound action of boom extension and bucket digging, the return oil of the boom link and the bucket link are both small-chamber return oil volumes, and all electronically controlled stop valves are electrically closed. The electronically controlled variable displacement plunger pump 4 1.4 supplies oil to the boom link, and the maximum oil return volume requirement of the boom link is 490L / min, which can be met by a single pump. The electronically controlled variable displacement plunger pump 7 1.7 supplies oil to the bucket link, and the maximum oil return volume requirement of the bucket link is 230L / min, which can be met by a single pump.

[0063] When simulating the combined action of boom lifting, arm extension and bucket digging, the return oil of the boom link, arm link and bucket link are all small-chamber return oil volumes, and all electronically controlled stop valves are electrically closed. The electronically controlled variable displacement plunger pump 1.1 supplies oil to the boom link, and the maximum return oil volume demand of the boom link is 160L / min, which can be met by a single pump. The electronically controlled variable displacement plunger pump 4 1.4 supplies oil to the arm link, and the maximum return oil volume demand of the arm link is 450L / min, which can be met by a single pump. The electronically controlled variable displacement plunger pump 7 1.7 supplies oil to the bucket link, and the maximum return oil volume demand of the bucket link is 120L / min, which can be met by a single pump.

[0064] When simulating the combined action of boom raising, arm retracting and bucket opening, the boom link returns oil to a small chamber, while the arm link and bucket link return oil to a large chamber. The electrically controlled stop valves 1-2.1 and 2-2.4 are powered on and closed, and the electrically controlled variable displacement plunger pump 1-1.1 supplies oil to the boom link. The maximum oil return volume requirement of the boom link is 180L / min, which can be met by a single pump. When the flow demand of the boom joint oil return port is less than 500L / min, the electronically controlled stop valves 2.2 and 2.3 are energized to close, and the electronically controlled variable displacement plunger pump 4 1.4 supplies oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 500L / min but less than 860L / min, the electronically controlled stop valve 3 2.3 loses power and is turned on, the electronically controlled stop valve 2.2 is energized to close, and the electronically controlled variable displacement plunger pumps 3 1.3 and 4 1.4 combine to supply oil to the boom joint. When the flow demand of the boom joint oil return port is greater than 860L / min but less than 1220L / min, the electronically controlled stop valves 2.2 and 2.3 lose power and are turned on, and the electronically controlled variable displacement plunger pumps 2 1.2, 3 1.3 and 4 1.4 combine to supply oil to the boom joint. The maximum return oil demand of the boom joint is 1100L / min, and the combination of up to three pumps can meet the oil return demand of the boom joint. When the bucket joint oil return demand is less than 350L / min, the electronically controlled stop valves 52.5 and 62.6 are powered on and closed, and the electronically controlled variable displacement plunger pump 71.7 supplies oil to the bucket joint. When the bucket joint oil return port flow demand is greater than 350L / min but less than 700L / min, the electronically controlled stop valve 62.6 loses power and conducts, the electronically controlled stop valve 52.5 is powered on and closed, and the electronically controlled variable displacement plunger pumps 61.6 and 71.7 combine to supply oil to the bucket joint. When the bucket joint oil return port flow demand is greater than 700L / min but less than 1050L / min, the electronically controlled stop valves 52.5 and 62.6 lose power and conduct, and the electronically controlled variable displacement plunger pumps 51.5, 61.6 and 71.7 combine to supply oil to the bucket joint. The maximum oil return demand of the bucket joint is 870L / min, and the confluence of up to three pumps can meet the bucket joint oil return demand.

[0065] like Figure 3As shown, when the boom linkage simulates the boom lifting condition, the electromagnetic reversing valve 3.3 is energized and switched to the left position, and the boom linkage oil is provided by the excavator power unit through the multi-way valve P1 and P2 ports. The A1 port oil outlet circuit simulates the large cavity circuit of the excavator boom cylinder, and the A1 port oil flows into the oil tank through the flow meter 7.1, the proportional relief valve 3.4, and the electromagnetic reversing valve 3.3. The pressure closed-loop control is performed according to the load pressure issued by the simulation platform and the feedback pressure of the pressure sensor 8.1, and the proportional relief valve 3.4 current is adjusted in real time. The flow meter 7.1 feeds back the A1 port circuit flow to the simulation platform, and the B1 port The oil return circuit simulates the small-chamber circuit of the boom cylinder of the excavator. The oil output from the loading pump group flows into the B1 port through the converging switching valve group 2, the proportional speed control valve 3.2, the solenoid reversing valve 3.3, the check valve 3.7 and the flow meter 7.2. The flow closed-loop control is performed according to the return oil flow issued by the simulation platform and the feedback flow of the flow meter 7.2. The pressure sensor 8.2 feeds back the return oil back pressure of the B1 port to the simulation platform. The set pressure of the proportional relief valve 3.1 (the proportional relief valve of the bypass) is more than 1MPa higher than the return oil back pressure to ensure that the inlet and outlet pressure difference of the proportional speed control valve 3.2 is above the minimum working pressure difference.

[0066] When the boom linkage simulates the boom lowering condition, the electromagnetic reversing valve 3.3 loses power and remains in the right position. The B1 port oil outlet circuit simulates the small chamber circuit of the excavator boom cylinder. The B1 port oil flows into the oil tank through the flow meter 2 7.2, the proportional relief valve 3.6, and the electromagnetic reversing valve 3.3. The pressure closed-loop control is performed according to the load pressure issued by the simulation platform and the feedback pressure of the pressure sensor 2 8.2. The current of the proportional relief valve 3.6 is adjusted in real time. The flow meter 2 7.2 feeds back the B1 port circuit flow to the simulation platform. The A1 port oil return circuit simulates the large chamber circuit of the excavator boom cylinder. Cavity circuit, the oil output of loading pump group 1 flows into port A1 through converging switching valve group 2, proportional speed control valve 3.2, solenoid reversing valve 3.3, check valve 3.5 and flow meter 7.1. The flow closed-loop control is performed according to the return oil flow issued by the simulation platform and the feedback flow of flow meter 7.1. The pressure sensor 8.1 feeds back the return oil back pressure of port A1 to the simulation platform. The set pressure of proportional relief valve 3.1 (bypass proportional relief valve) is more than 1MPa higher than the return oil back pressure to ensure that the inlet and outlet pressure difference of proportional speed control valve 3.2 is above the minimum working pressure difference.

[0067] When the boom linkage simulates the boom extension working condition and the bucket linkage simulates the bucket digging working condition, the control method of the boom linkage loading valve group 4 and the bucket linkage loading valve group 5 is the same as the control method of the boom linkage simulating the rising working condition.

[0068] When the boom linkage simulates the boom retracted condition and the bucket linkage simulates the bucket open condition, the control method of the boom linkage loading valve group 4 and the bucket linkage loading valve group 5 is the same as the control method of the boom linkage simulating the descending condition.

[0069] like Figure 4As shown, the oil inlet of the slewing joint is provided by the excavator power unit through the multi-way valve P1 and P2 ports. When simulating the forward rotation, the oil outlet circuit of port A4 simulates the inlet circuit of the excavator hydraulic motor, and the oil outlet of port A4 flows into the B4 port of the slewing joint through ports C and F on the one-way valve group 6.4, the proportional speed regulating valve 2 6.2, the proportional relief valve 5 6.3, the flowmeter 7.7, and the ports D and E on the one-way valve group 6.4. When simulating the reverse rotation, the oil outlet circuit of port B4 simulates the inlet circuit of the excavator hydraulic motor, and the oil outlet of port A4 flows into the A4 port of the slewing joint through ports E and F on the one-way valve group 6.4, the proportional speed regulating valve 2 6.2, the proportional relief valve 5 6.3, the flowmeter 7.7, and the ports D and C on the one-way valve group 6.4. When simulating the starting impact, the rotary impact pressure is set by the proportional relief valve four 6.1, and the flow closed-loop control is performed through the flow meter seven 7.7. The return oil volume is adjusted to be consistent with the return oil volume issued by the simulation platform through the proportional speed control valve two 6.2. The excess flow overflows through the proportional relief valve four 6.1. During normal rotation, the rotary joint outlet flow all enters the return oil port for oil return, and the proportional relief valve four 6.1 has no overflow. The pressure closed-loop control is performed through the pressure sensor seven 8.7 (forward rotation) or the pressure sensor eight 8.8 (reverse rotation). The proportional relief valve five 6.3 is adjusted to control the oil outlet pressure to be consistent with the load pressure issued by the simulation platform.

[0070] Those skilled in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention is described in detail with reference to the above examples, those skilled in the art can still modify the technical solutions recorded in the above examples or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

1. A hydraulic loading system for an excavator semi-physical simulation platform, characterized in that: It comprises a loading pump group (1), a confluence switching valve group (2), a boom-linked loading valve group (3), a dipper-arm-linked loading valve group (4), a bucket-linked loading valve group (5), a swing-linked loading valve group (6), a flow detection component (7), a pressure detection component (8), a multi-way valve (9) and an excavator power unit (10); The loading pump group (1) includes seven groups of electrically controlled variable displacement plunger pumps and one group of pilot gear pumps (1.8); the electrically controlled variable displacement plunger pumps change the pump flow rate by adjusting the proportional valve on the pump, the outlets of the electrically controlled variable displacement plunger pumps are all connected to a one-way valve to prevent the oil from flowing back to the pump, and the pilot gear pump (1.8) is used to provide the pilot pressure oil required by the electrically controlled variable displacement plunger pumps; The confluence switching valve group (2) comprises six groups of plug-in electric control stop valves, which are used to connect or cut off two adjacent pump outlets in the loading pump group (1); The boom-link loading valve group (3) is installed between the confluence switching valve group (2) and the flow detection assembly (7), and includes three groups of proportional relief valves, one group of proportional speed regulating valves, one group of solenoid reversing valves, and two groups of check valves, and is used to control the bypass pressure of the boom-link speed regulating circuit and the loading pressure and flow of the A1 and B1 ports corresponding to the boom-link of the multi-way valve (9); The arm-link loading valve group (4) also includes three groups of proportional relief valves, one group of proportional speed regulating valves, one group of electromagnetic reversing valves, and two groups of one-way valves, which are used to control the bypass pressure of the arm-link speed regulating circuit and the loading pressure and flow of the A2 and B2 ports corresponding to the arm-link of the multi-way valve (9); The bucket joint loading valve group (5) also includes three groups of proportional relief valves, one group of proportional speed regulating valves, one group of electromagnetic reversing valves, and two groups of check valves, which are used to control the bypass pressure of the bucket joint speed regulating circuit and the loading pressure and flow of the A3 and B3 ports corresponding to the bucket joint of the multi-way valve (9); The rotary coupling loading valve group (6) comprises two groups of proportional relief valves, one group of proportional speed regulating valves and one group of one-way valve groups, which are used to control the bypass pressure of the rotary coupling and the loading pressure and flow of the A4 and B4 ports corresponding to the rotary coupling of the multi-way valve (9); The flow detection assembly (7) includes seven groups of flow meters, which are respectively used to detect the flow of ports A1 and B1 corresponding to the boom connection of the multi-way valve (9), ports A2 and B2 corresponding to the arm connection of the multi-way valve (9), ports A3 and B3 corresponding to the bucket connection of the multi-way valve (9), and the flow of the oil return port of the swing connection; The pressure detection assembly (8) includes eight groups of pressure sensors, which are respectively used to detect the pressures of the A1 and B1 ports corresponding to the boom connection of the multi-way valve (9), the A2 and B2 ports corresponding to the arm connection of the multi-way valve (9), the A3 and B3 ports corresponding to the bucket connection of the multi-way valve (9), and the A4 and B4 ports corresponding to the swing connection of the multi-way valve (9).

2. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 1 is characterized in that: The multi-way valve (9) is a multi-way valve for an excavator, and the excavator power unit (10) comprises a series-connected plunger pump and an engine.

3. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 1 is characterized in that: The loading pump group (1) comprises a first electrically controlled variable displacement plunger pump (1.1), a second electrically controlled variable displacement plunger pump (1.2), a third electrically controlled variable displacement plunger pump (1.3), a fourth electrically controlled variable displacement plunger pump (1.4), a fifth electrically controlled variable displacement plunger pump (1.5), a sixth electrically controlled variable displacement plunger pump (1.6), a seventh electrically controlled variable displacement plunger pump (1.7) connected in parallel, and a pilot gear pump (1.8) for providing pilot pressure oil to the seven groups of electrically controlled variable displacement plunger pumps; The electric control stop valve 1 (2.1) of the confluence switching valve group (2) is installed between the outlets of the electric control variable displacement plunger pump 1 (1.1) and the electric control variable displacement plunger pump 2 (1.2), the electric control stop valve 2 (2.2) is installed between the outlets of the electric control variable displacement plunger pump 2 (1.2) and the electric control variable displacement plunger pump 3 (1.3), and so on, the electric control stop valve 6 (2.6) is installed between the outlets of the electric control variable displacement plunger pump 6 (1.6) and the electric control variable displacement plunger pump 7 (1.7); The confluence switching valve group (2) has three outlets in total, outlet one is connected to the outlet of the electric-controlled variable displacement plunger pump one (1.1), outlet two is connected to the outlet of the electric-controlled variable displacement plunger pump four (1.4), and outlet three is connected to the outlet of the electric-controlled variable displacement plunger pump seven (1.7).

4. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 3 is characterized in that: The boom loading valve group (3) comprises a proportional relief valve 1 (3.1), a proportional speed regulating valve 1 (3.2), an electromagnetic reversing valve (3.3), a proportional relief valve 2 (3.4), a proportional relief valve 3 (3.6), a check valve 1 (3.5) and a check valve 2 (3.7); The boom-joint loading valve group (3) comprises three ports, the first port of the boom-joint loading valve group (3) is connected to the outlet port 1 of the confluence switching valve group (2); the proportional relief valve 1 (3.1) is a bypass proportional relief valve, the inlet of the proportional relief valve 1 (3.1) is connected to the first port of the boom-joint loading valve group (3) and the inlet of the proportional speed regulating valve 1 (3.2) to form a speed regulating circuit; the outlet of the proportional speed regulating valve 1 (3.2) is connected to the inlet of the electromagnetic reversing valve (3.3), the electromagnetic reversing valve (3.3) is used to switch the return oil to the A1 port or the B1 port of the boom-joint, the electromagnetic reversing valve (3.3) ) are respectively connected to the oil outlets of proportional relief valve 2 (3.4) and proportional relief valve 3 (3.6) and the forward oil outlets of check valve 1 (3.5) and check valve 2 (3.7); the inlet of proportional relief valve 2 (3.4) is connected to the reverse oil outlet of check valve 1 (3.5) and flow meter 1 (7.1) of the flow detection assembly (7); the inlet of proportional relief valve 3 (3.6) is connected to the reverse oil outlet of check valve 2 (3.7) and flow meter 2 (7.2) of the flow detection assembly (7); proportional relief valve 2 (3.4) and proportional relief valve 3 (3.6) are used to simulate the loading load pressure when oil is discharged from port A1 or port B1.

5. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 4 is characterized in that: One end of the arm-linked loading valve group (4) is connected to the second outlet of the merging switching valve group (2), and one end is connected to the flow detection component (7); one end of the bucket-linked loading valve group (5) is connected to the third outlet of the merging switching valve group (2), and one end is connected to the flow detection component (7); The composition and internal connection method of the arm-joint loading valve group (4) and the bucket-joint loading valve group (5) are the same as those of the boom-joint loading valve group (3).

6. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 4 is characterized in that: The rotary loading valve group (3) comprises a proportional relief valve four (6.1), a proportional speed regulating valve two (6.2), a proportional relief valve five (6.3) and a one-way valve group (6.4); The one-way valve group (6.4) comprises four one-way valves, which are formed by connecting the forward oil ports and the reverse oil ports of the four one-way valves in sequence, and have four ports C, D, E and F in total; the port C of the one-way valve group (6.4) is connected to the port A4 of the rotary joint of the multi-way valve (9), the port D is connected to the outlet of the flow meter seven (7.7) of the flow detection component (7), the port E is connected to the port B4 of the rotary joint of the multi-way valve (9), the port F is connected to the inlet of the proportional relief valve four (6.1) and the inlet of the proportional speed regulating valve two (6.2), the outlet of the proportional speed regulating valve two (6.2) is connected to the inlet of the proportional relief valve five (6.3), and the outlet of the proportional relief valve five (6.3) is connected to the inlet of the flow meter seven (7.7); The proportional relief valve 4 (6.1) is a bypass proportional relief valve used to simulate the relief pressure during the swing start; the proportional relief valve 5 (6.3) simulates the swing load pressure; the proportional speed regulating valve 2 (6.2) is used to control the return oil volume of the swing link of the multi-way valve (9).

7. The hydraulic loading system for the semi-physical simulation platform of an excavator according to claim 4 is characterized in that: The two oil inlets P1 and P2 of the multi-way valve (9) are respectively connected to the two plunger pump outlets in the excavator power unit (10).

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