A servo hydraulic cylinder control oil path locking method

Abstract

The application is a kind of servo hydraulic cylinder control oil circuit locking method. The application relates to the technical field of hydraulic control. The first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are set to the power-off state. The secondary pilot valve and the servo valve are prepared. The high-pressure supply oil starts to enter the pipeline. After the system runs, the control enters the stop state. When the high-pressure oil pressure in the brake mechanism, i.e. the pressure value of the pressure sensor, drops to the brake pressure threshold, the brake mechanism will tightly hold the hydraulic cylinder, so that the system is stable. At this time, the system returns to the initial state. The application eliminates the internal force dispute caused by improper operation of the mechanical locking device, avoids the system state deviation caused by the hydraulic leakage of the hydraulic locking device, and ensures the effective and safe realization of the system locking function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic control, and is a servo hydraulic cylinder control oil path locking method. BACKGROUND

[0002] In a hydraulic servo motion system, the system requires locking function in initial state or stable state. Especially in heavy load application field, this function is required to ensure the stability and safety of the system or the need of load installation.

[0003] Disadvantages of the prior art:

[0004] To realize this function, the conventional method is to complete it by mechanical locking device or hydraulic locking device. The mechanical locking device fixes the system in a certain state by mechanical force, and the hydraulic locking device maintains the system in a certain state by cutting off the oil path.

[0005] However, in actual application, both methods have application limitations. When the mechanical locking device implements the locking force, if the system control is improper, the internal force will be disputed with the driving force in the hydraulic circuit, and even the mechanical device will be damaged; and the hydraulic locking device will leak hydraulic oil over time, so that the current system state is difficult to maintain. Therefore, a more safe and effective control method is needed to complete this function to make up for the shortcomings of the traditional method. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a servo hydraulic cylinder control oil path locking method, which mainly eliminates the internal force dispute caused by improper operation of the mechanical locking device, avoids the system state deviation phenomenon caused by hydraulic leakage of the hydraulic locking device alone, and ensures effective and safe realization of the system locking function.

[0007] The present application provides the following technical solutions:

[0008] A servo hydraulic cylinder control oil path locking method, the method comprising the following steps:

[0009] A servo hydraulic cylinder control oil path locking control system, characterized in that the system comprises: a first electromagnetic reversing valve, a first cartridge valve, a first pressure reducing valve, a second electromagnetic reversing valve, a second cartridge valve, a two-stage pilot valve, a third electromagnetic reversing valve, a servo valve, a fourth electromagnetic reversing valve, a check valve, a second pressure reducing valve, a hydraulic cylinder, a brake mechanism and a pressure sensor.

[0010] A servo hydraulic cylinder control oil path locking method, the method is based on a servo hydraulic cylinder control oil path locking control system, the method comprising the following steps:

[0011] Step 1: Set the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve to the power-off state;

[0012] Step 2: Prepare the secondary pilot valve and the servo valve;

[0013] Step 3: Control the high-pressure oil supply to start entering the pipeline; the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to the P port. When the first electromagnetic reversing valve is powered on in this process, the hydraulic control oil of the first cartridge valve is connected to the T port, so that the first cartridge valve is opened, and then the high-pressure oil at the P port passes through the first cartridge valve;

[0014] Step 4: After the system runs, control the system to enter the stop state;

[0015] Step 5: The high-pressure oil pressure in the brake mechanism, i.e. the pressure value of the pressure sensor, decreases to the brake pressure threshold P down At this time, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are powered off, and the system returns to the initial state.

[0016] Preferably, in the power-off state of step 1, the high-pressure oil at the P port is not supplied to the secondary pilot valve and the servo valve, the second pressure reducing valve and the check valve have no high-pressure oil passing through, and the brake mechanism is in the clamping state, and the hydraulic cylinder is stationary.

[0017] Preferably, the step 2 is specifically:

[0018] The second electromagnetic reversing valve is powered on, so that the hydraulic control opening oil path of the second cartridge valve is connected to the T port, so that it is in an open state, waiting for the supply of subsequent high-pressure oil;

[0019] The third electromagnetic reversing valve is powered on, so that the left and right cavities of the servo valve change from the original pilot state to the state controlled by the secondary pilot valve.

[0020] Preferably, in step 3, the high-pressure oil from the first cartridge valve is divided into three paths:

[0021] The first path passes through the second pressure reducing valve and the check valve in sequence to serve as the opening pressure of the brake mechanism;

[0022] When the pressure of the pressure sensor reaches the opening pressure P up of the brake mechanism, the brake is opened, and the first proximity switch and the second proximity switch on the brake mechanism change state, thereby removing the mechanical limit for the subsequent movement of the hydraulic cylinder in advance.

[0023] Preferably, the second path passes through the first pressure reducing valve to supply the secondary pilot valve, and the movement of the valve core of the secondary pilot valve controls the movement of the valve core of the servo valve, thereby controlling the reciprocating movement of the hydraulic cylinder.

[0024] Preferably, the third high-pressure oil flows into the servo valve through the opened second cartridge valve as the driving force of the hydraulic cylinder movement; at this time, the brake mechanism has been opened, the hydraulic cylinder is in the zero position control state of the servo valve, and waits for the system to send a movement instruction.

[0025] Preferably, the step 4 is specifically:

[0026] The fourth electromagnetic reversing valve is powered on, and the first electromagnetic reversing valve is powered off; the power-off of the first electromagnetic reversing valve makes the control oil way of the first cartridge valve connected to the T port, the first cartridge valve is closed, the P port high-pressure oil is cut off, and then no high-pressure oil flows to the brake mechanism through the second pressure reducing valve and the check valve, and the fourth electromagnetic reversing valve is powered on to make the high-pressure oil still existing in the brake mechanism flow to the T port through the opened fourth electromagnetic reversing valve, and the high-pressure oil pressure in the brake mechanism gradually decreases.

[0027] A computer readable storage medium, having stored thereon a computer program, the program being executed by a processor to implement a servo hydraulic cylinder control oil way locking method.

[0028] A computer device, comprising a memory and a processor, the memory storing a computer program, and the processor implementing a servo hydraulic cylinder control oil way locking method when executing the computer program.

[0029] The present application has the following beneficial effects:

[0030] Compared with the prior art, the present application has the following advantages:

[0031] The three-stage electro-hydraulic servo valve (composed of a two-stage pilot valve and a servo valve) of the present application cooperates with the corresponding electromagnetic valve operation timing of the brake mechanism to complete the locking function of the system oil way, and after locking, the system state is completely determined by the hydraulic cylinder movement position during braking, and the system state will not change due to oil leakage in the oil way. At the same time, according to the operation timing control, during the braking process, the brake device and the hydraulic pressure have no internal force dispute, which ensures the safety of the operation.

[0032] By the method of the present application, the problem of internal force dispute caused by improper operation of the mechanical locking device is eliminated, the phenomenon of system state deviation caused by simple use of hydraulic locking device hydraulic leakage is avoided, and the effective and safe realization of the system locking function is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative work based on these drawings are within the protection scope of the present application.

[0034] Figure 1 The hydraulic control circuit schematic diagram of the present application is shown.

[0035] Figure 2 The system workflow diagram of the present application is shown.

[0036] Figure 3 The structure diagram of the modified three-stage electro-hydraulic servo valve of the present application is shown.

[0037] Figure 4 The electrical schematic diagram of the controlled electromagnetic reversing valve of the present application is shown.

[0038] Figure 5 The electrical schematic diagram of the pressure sensor acquisition of the present application is shown.

[0039] Figure 6 The electrical schematic diagram of the band brake mechanism proximity switch of the present application is shown.

[0040] Figure 1 In the figure, 1-first electromagnetic reversing valve, 2-first cartridge valve, 3-first pressure reducing valve, 4-second electromagnetic reversing valve, 5-second cartridge valve, 6-second-stage pilot valve, 7-third electromagnetic reversing valve, 8-servo valve, 9-fourth electromagnetic reversing valve, 10-check valve, 11-second pressure reducing valve, 12-hydraulic cylinder, 13-band brake mechanism, 14-pressure sensor. Specific embodiments

[0041] The technical solutions of the present application will be described below in conjunction with the drawings, obviously, the described embodiments are some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the protection scope of the present application.

[0042] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as they do not conflict with each other.

[0045] The present application is described in detail below in conjunction with specific embodiments. Embodiment one:

[0047] According to Figures 1 to 6 As shown in the drawings, the specific optimization technical solution adopted by the present application to solve the above technical problems is: the present application relates to a kind of servo hydraulic cylinder control oil path locking method.

[0048] The present application provides a kind of servo hydraulic cylinder control oil path locking control system, the system includes: first electromagnetic reversing valve 1, first cartridge valve 2, first pressure reducing valve 3, second electromagnetic reversing valve 4, second cartridge valve 5, two-stage pilot valve 6, third electromagnetic reversing valve 7, servo valve 8, fourth electromagnetic reversing valve 9, check valve 10, second pressure reducing valve 11, hydraulic cylinder 12, brake mechanism 13 and pressure sensor 14. Embodiment two:

[0050] The difference between the embodiment two and the embodiment one of the present application is only:

[0051] The present application provides a kind of servo hydraulic cylinder control oil path locking method, the method is based on a kind of servo hydraulic cylinder control oil path locking control system, the method includes the following steps:

[0052] Step 1: the first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are set to the power-off state;

[0053] Step 2: Prepare the secondary pilot valve 6 and the servo valve 8;

[0054] Step 3: Control the high-pressure oil supply to start entering the pipeline; the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to the P port. When the first electromagnetic reversing valve 1 is powered on, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil at the P port passes through the first cartridge valve 2;

[0055] Step 4: After the system is running, control the system to enter the stop state;

[0056] Step 5: The high-pressure oil pressure in the brake mechanism 13, i.e. the pressure value of the pressure sensor 14, decreases to the brake pressure threshold P down At this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, and the system returns to the initial state. Specific embodiment three:

[0058] The difference between the third embodiment and the second embodiment of the application is only that:

[0059] In the step 1 power-off state, the high-pressure oil at the P port is not supplied to the secondary pilot valve 6 and the servo valve 8, the second pressure reducing valve 11 and the check valve 10 have no high-pressure oil passing through, and the brake mechanism 13 is in the clamping state, and the hydraulic cylinder 12 is stationary. Specific embodiment four:

[0061] The difference between the fourth embodiment and the third embodiment of the application is only that:

[0062] The step 2 is specifically:

[0063] The second electromagnetic reversing valve 4 is powered on, so that the hydraulic control opening oil path of the second cartridge valve 5 is connected to the T port, so that it is in an open state, waiting for the supply of subsequent high-pressure oil;

[0064] The third electromagnetic reversing valve 7 is powered on, so that the original servo valve 8 left and right cavity conduction state changes to the control state of the secondary pilot valve 6. Specific embodiment five:

[0066] The difference between the fifth embodiment and the fourth embodiment of the application is only that:

[0067] In step 3, the high-pressure oil from the first cartridge valve 2 is divided into three paths:

[0068] The first path passes through the second pressure reducing valve 11 and the check valve 10 in sequence and serves as the opening pressure of the brake mechanism 13;

[0069] When the pressure of the pressure sensor 14 reaches the opening pressure P of the brake mechanism 13 up After that, the brake opens, the first proximity switch and the second proximity switch on the brake mechanism 13 change state, and the mechanical limit of the subsequent movement of the hydraulic cylinder 12 is removed in advance. Specific embodiment six:

[0071] The difference between the embodiment six and the embodiment five is only that:

[0072] The second path passes through the first pressure reducing valve 3 and is delivered to the two-stage pilot valve 6, and the movement of the spool of the two-stage pilot valve 6 controls the movement of the spool of the servo valve 8, thereby controlling the reciprocating movement of the hydraulic cylinder 12. Specific embodiment seven:

[0074] The difference between the embodiment seven and the embodiment six is only that:

[0075] The third path high-pressure oil flows into the servo valve 8 through the opened second cartridge valve 5, serving as the driving force for the movement of the hydraulic cylinder 12; at this time, the brake mechanism 13 has been opened, and the hydraulic cylinder 12 is in the zero-position control state of the servo valve 8, waiting for the system to send a movement instruction. Specific embodiment eight:

[0077] The difference between the embodiment eight and the embodiment seven is only that:

[0078] The step 4 is specifically:

[0079] The fourth electromagnetic reversing valve 9 is powered on, and the first electromagnetic reversing valve 1 is powered off; the power-off of the first electromagnetic reversing valve 1 makes the control oil path of the first cartridge valve 2 connected to the T port, the first cartridge valve 2 is closed, the P port high-pressure oil is cut off, and then no high-pressure oil flows to the brake mechanism 13 through the second pressure reducing valve 11 and the one-way valve 10, and the power-on of the fourth electromagnetic reversing valve 9 makes the high-pressure oil still in the brake mechanism 13 flow to the T port through the opened fourth electromagnetic reversing valve 9, and the high-pressure oil pressure in the brake mechanism 13 gradually decreases. Specific embodiment nine:

[0081] The difference between the embodiment nine and the embodiment eight is only that:

[0082] The present application provides a computer readable storage medium, which stores a computer program, the program is executed by a processor to implement a servo hydraulic cylinder control oil path locking method.

[0083] The method comprises the following steps:

[0084] Step 1: the first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are set to the power-off state;

[0085] Step 2: the secondary pilot valve 6 and the servo valve 8 are prepared;

[0086] Step 3: the high-pressure supply oil starts to enter the pipeline; the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to the P port; when the first electromagnetic reversing valve 1 is powered on, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil of the P port passes through the first cartridge valve 2;

[0087] Step 4: after the system is operated, the control enters the stop state;

[0088] Step 5: the high-pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, decreases to the brake pressure threshold P down Then, the brake mechanism 13 holds the hydraulic cylinder 12, so that the system is stable; at this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, and the system returns to the initial state. Specific embodiment ten:

[0090] The difference between the embodiment ten and the embodiment nine is only that:

[0091] The application provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor realizes a servo hydraulic cylinder control oil circuit locking method when executing the computer program.

[0092] The method comprises the following steps:

[0093] Step 1: the first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off;

[0094] Step 2: the secondary pilot valve 6 and the servo valve 8 are prepared;

[0095] Step 3: the high-pressure supply oil starts to enter the pipeline; the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to the P port; when the first electromagnetic reversing valve 1 is powered on, the hydraulic control oil of the first cartridge valve 2 is connected to the T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil of the P port passes through the first cartridge valve 2;

[0096] Step 4: after the system is operated, the control enters the stop state;

[0097] Step 5: the high-pressure oil pressure in the brake mechanism 13, that is, the pressure value of the pressure sensor 14, decreases to the brake pressure threshold P downThe following, the brake mechanism 13 will be followed by holding the hydraulic cylinder 12, the system is stable; At this time, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are powered off, plus the first electromagnetic reversing valve 1 has been powered off, the system returns to the initial state again. Embodiment eleven:

[0099] The difference between embodiment eleven and embodiment ten is only:

[0100] Figure 1 A certain type of single hydraulic cylinder control oil circuit schematic diagram is given. The composition of the whole system is as follows: the first electromagnetic reversing valve 1, the first cartridge valve 2, the first pressure reducing valve 3, the second electromagnetic reversing valve 4, the second cartridge valve 5, the secondary pilot valve 6, the third electromagnetic reversing valve 7, the servo valve 8, the fourth electromagnetic reversing valve 9, the check valve 10, the second pressure reducing valve 11, the hydraulic cylinder 12, the brake mechanism 13, the pressure sensor 14.

[0101] The system from the initial state, working state to the final stop state is divided into 5 processes: process 1 initial state, process 2 servo valve pre-position, process 3 main oil supply, process 4 close distributor and process 5 end state. The detailed and complete working process is described as follows:

[0102] Process 1: the first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are all in the powered-off state. At this time, the high-pressure oil at P port is not transmitted to the secondary pilot valve 6 and the servo valve 8, and the second pressure reducing valve 11 and the check valve 10 also have no high-pressure oil passing through, the brake mechanism 13 is in the holding state, and the hydraulic cylinder 12 is static.

[0103] Process 2: the secondary pilot valve 6 and the servo valve 8 are ready. The specific working process is as follows: the second electromagnetic reversing valve 4 is powered on, so that the hydraulic control opening of the second cartridge valve 5 is controlled to be connected to T port, so that it is in the open state, waiting for the subsequent supply of high-pressure oil. The third electromagnetic reversing valve 7 is powered on, so that the original servo valve 8 left and right cavity conduction state changes to the control state of the secondary pilot valve 6.

[0104] Process 3: this process high-pressure oil supply begins to enter the pipeline. The specific operation process is as follows: first, the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to P port. When the first electromagnetic reversing valve 1 of this process is powered on, the hydraulic control oil of the first cartridge valve 2 is connected to T port, so that the first cartridge valve 2 is opened, and then the high-pressure oil at P port passes through the first cartridge valve 2. The high-pressure oil from the first cartridge valve 2 is divided into 3 routes. The first route passes through the second pressure reducing valve 11, the check valve 10 in turn, and then serves as the opening pressure of the brake mechanism 13. When the pressure of the pressure sensor 14 reaches the opening pressure P upAfterwards, the first proximity switch and the second proximity switch on the brake mechanism 13 will change their states, and the mechanical limit for the subsequent movement of the hydraulic cylinder 12 will be removed in advance; the third path of high pressure oil will flow into the servo valve 8 through the second cartridge valve 5 which has been opened, serving as the driving force for the movement of the hydraulic cylinder 12. At this point, the brake mechanism 13 has been opened, the hydraulic cylinder 12 is in the zero position control state of the three-stage servo valve, and is waiting for the system to send a movement instruction.

[0105] Step 4: This step is when the system is about to enter a stop state after running, and the specific control process is as follows: the fourth electromagnetic reversing valve 9 is powered on, and the first electromagnetic reversing valve 1 is powered off. The power-off of the first electromagnetic reversing valve 1 causes the control oil path of the first cartridge valve 2 to be connected to the T port, and the first cartridge valve 2 is closed, cutting off the high pressure oil at the P port, and then causing no high pressure oil to flow to the brake mechanism 13 through the second pressure reducing valve 11 and the one-way valve 10. At the same time, the power-on of the fourth electromagnetic reversing valve 9 causes the high pressure oil remaining in the brake mechanism 13 to flow to the T port through the opened fourth electromagnetic reversing valve 9, and the high pressure oil pressure in the brake mechanism 13 gradually decreases.

[0106] Step 5: After a period of time, the high pressure oil pressure in the brake mechanism 13, i.e. the pressure value of the pressure sensor 14, decreases to the brake pressure threshold P down Afterwards, the brake mechanism 13 will hold the hydraulic cylinder 12, making the system stable. At this time, the second electromagnetic reversing valve 4, the fourth electromagnetic reversing valve 9 and the third electromagnetic reversing valve 7 are powered off, plus the first electromagnetic reversing valve 1 which has been powered off, the system returns to the initial state.

[0107] Electrical part:

[0108] Figure 4 The electrical schematic diagram of the electromagnetic reversing valve is given. The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 4, the third electromagnetic reversing valve 7 and the fourth electromagnetic reversing valve 9 are respectively controlled by the computer IO control board card through the P1, P2, P3 and P4 ports of the conditioning board DG3, and the power supply 24V is provided by the pin 2 in the corresponding port, and the control signal is controlled by the pin 1 in the corresponding port.

[0109] Figure 5 The electrical schematic diagram of the pressure sensor acquisition is given. The pressure sensor 14 for acquiring the brake pressure is transmitted by the computer analog acquisition board card LC2-1 through the P1 port of the analog conditioning board AG2, the power supply 24V is provided by the pin 3 in the port, and the pressure signal is collected by the pin 6 in the port.

[0110] Figure 6The electrical principle diagram of the proximity switch of the brake mechanism 13 is given. The states of the first proximity switch and the second proximity switch of the brake mechanism 13 are collected by the P1 and P2 ports of the computer IO collection board card DG2 respectively, the power supply 24V is provided by the pin 4 in the port, and the signal is collected by the pin 3 in the port.

[0111] Control part:

[0112] According to the system working process description and the control state of the reversing valve, the system control flow chart is as shown in Figure 2 The corresponding electromagnetic valve control timing is shown in Table 1. Table 1 gives the opening state of the corresponding control electromagnetic valve when the oil circuit is working and closed. Wherein 1 represents power on, and 0 represents power off.

[0113] Compared with the traditional control loop, the third electromagnetic reversing valve 7 is creatively added between the secondary pilot valve 6 and the servo valve 8 in the present application, as shown in Figure 3 When working, the third electromagnetic reversing valve 7 is powered on, so that the secondary pilot valve 6 and the servo valve 8 form a conventional three-stage electro-hydraulic servo valve to control the reciprocating work of the hydraulic cylinder 12; when stopping, the third electromagnetic reversing valve 7 is powered off, so that the two cavities of the servo valve 8 are communicated, and the spool of the servo valve 8 is restored to the zero position state by the hydraulic power. At this time, even if there is a time difference between the operation time of the mechanical brake and the closing time of the third electromagnetic reversing valve 7, the spool free position of the servo valve 8 will be automatically changed by the hydraulic power, so that there is no internal force in the system and no internal force dispute in the mechanical system.

[0114] It can be seen that the modified three-stage electro-hydraulic servo valve (composed of the secondary pilot valve 6 and the servo valve 8) and the brake mechanism 13 cooperate with each other according to the corresponding electromagnetic valve operation timing in Table 1 to complete the locking function of the system oil circuit. After locking, the system state is completely determined by the movement position of the hydraulic cylinder 12 during braking, and the system state will not change due to oil leakage in the oil circuit. At the same time, according to the operation timing in Table 1, there is no internal force dispute between the brake device and the hydraulic pressure during the braking process, which ensures the safety of the operation.

[0115] Table 1, operation timing table

[0116]

[0117]

[0118] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited. Any process or method described in the flowchart or otherwise described herein can be understood as a module, segment or part of code including executable instructions for implementing custom logic functions or processes of one or more steps, and the scope of the preferred embodiments of the present application includes additional implementations in which the functions can be performed in the order shown or discussed, including in a substantially simultaneous manner or in reverse order according to the functions involved, which should be understood by the person skilled in the art to which the embodiments of the present application belong.

[0119] The above is only a preferred embodiment of the servo hydraulic cylinder control oil path locking method, and the protection scope of the servo hydraulic cylinder control oil path locking method is not limited to the above embodiment. Any technical solution under the same idea belongs to the protection scope of the present application. It should be pointed out that for those skilled in the art, some improvements and changes without departing from the principles of the present application should be considered as the protection scope of the present application.

Claims

1. A method of locking a servo-hydraulic cylinder control oil circuit, the method based on a servo-hydraulic cylinder control oil circuit locking control system, the system comprising: The first electromagnetic reversing valve, the first cartridge valve, the first pressure reducing valve, the second electromagnetic reversing valve, the second cartridge valve, the two-stage pilot valve, the third electromagnetic reversing valve, the servo valve, the fourth electromagnetic reversing valve, the check valve, the second pressure reducing valve, the hydraulic cylinder, the brake mechanism and the pressure sensor, characterized in that the method comprises the following steps: Step 1: setting the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve to a power-off state; Step 2: preparing the two-stage pilot valve and the servo valve; Step 3: controlling the high-pressure supply oil to start entering the pipeline; the system is driven by the motor to output high-pressure hydraulic oil from the oil tank to the P port; when the first electromagnetic reversing valve is powered on, the hydraulic control oil of the first cartridge valve is connected to the T port, so that the first cartridge valve is opened, and then the high-pressure oil of the P port passes through the first cartridge valve; Step 4: after the system is running, the control enters a stop state; The step 4 is specifically: The fourth electromagnetic reversing valve is powered on, and the first electromagnetic reversing valve is powered off; the power-off of the first electromagnetic reversing valve makes the control oil path of the first cartridge valve connected to the T port, the first cartridge valve is closed, the high-pressure oil of the P port is cut off, and then no high-pressure oil flows to the brake mechanism through the second pressure reducing valve and the check valve; the fourth electromagnetic reversing valve is powered on, so that the high-pressure oil remaining in the brake mechanism flows to the T port through the opened fourth electromagnetic reversing valve, and the high-pressure oil pressure in the brake mechanism gradually decreases; Step 5: the high pressure oil pressure in the brake mechanism, i.e. the pressure value of the pressure sensor, drops to the brake pressure threshold P down The brake mechanism will then hold the hydraulic cylinder, stabilizing the system; at this time, the second electromagnetic directional valve, the third electromagnetic directional valve and the fourth electromagnetic directional valve are de-energized, plus the first electromagnetic directional valve which has been de-energized, the system returns to the initial state.

2. The method of claim 1, characterized in that: In the power-off state of step 1, the high-pressure oil of the P port is not delivered to the two-stage pilot valve and the servo valve, the second pressure reducing valve and the check valve have no high-pressure oil passing through, and the brake mechanism is in a clamped state, and the hydraulic cylinder is stationary.

3. The method of claim 2, wherein: The step 2 is specifically: The second electromagnetic reversing valve is powered on, so that the hydraulic control opening oil path of the second cartridge valve is controlled to be connected to the T port, so that it is in an open state, waiting for the subsequent supply of high-pressure oil; The third electromagnetic reversing valve is powered on, so that the left and right cavities of the servo valve change from the original communication state to the controlled state of the two-stage pilot valve.

4. The method of claim 3, characterized in that: In step 3, the high-pressure oil from the first cartridge valve is divided into three paths: The first path passes through the second pressure reducing valve and the check valve in sequence to serve as the opening pressure of the brake mechanism. When the pressure of the pressure sensor reaches the opening pressure P of the brake mechanism up After that, the brake opens, the first proximity switch and the second proximity switch on the brake mechanism will change in state, and then the mechanical limit for the subsequent movement of the hydraulic cylinder is removed in advance.

5. The method of claim 1, characterized in that: The second path passes through the first pressure reducing valve to deliver the two-stage pilot valve, and the two-stage pilot valve controls the movement of the servo valve spool through the movement of the valve core, thereby controlling the reciprocating movement of the hydraulic cylinder.

6. The method of claim 5, characterized in that: The third path of high-pressure oil flows into the servo valve through the opened second cartridge valve to serve as the driving force for the movement of the hydraulic cylinder; at this time, the brake mechanism has been opened, the hydraulic cylinder is in the zero position control state of the servo valve, and waits for the system to send a movement instruction.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by a processor for implementing the method of any one of claims 1-6.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: The processor implements the method of any one of claims 1-6 when executing the computer program.

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