Multi-oil-way hydraulic system and control method thereof

Abstract

The invention discloses a multi-oil-way hydraulic system and a multi-oil-way hydraulic system control method. The multi-oil-way hydraulic system comprises an oil supply assembly and an oil feeding assembly for filling the oil supply assembly. A driving motor assembly; an energy storage assembly; the driving motor assembly and the energy storage assembly are communicated to the chassis execution assembly; an arm execution assembly; the chassis execution assembly and the vehicle arm execution assembly are both connected with the oil supply assembly in a multi-pipeline split-flow mode. The chassis execution assembly and the arm execution assembly adjust the flow load through a shuttle valve on the feedback oil way X5 and the oil supply assembly. Hydraulic oil generated by the pressure pump is driven to each control electromagnetic valve; and the feedback oil way X5 is driven to adjust the flow of the pressure pump according to the load change of the multiple oil ways. By means of the design of multiple drive oil ways and feedback oil ways, on the premise that the oil ways are minimized, stable and safe hydraulic system arrangement is completed, and the whole hydraulic system is reasonable and complete. And a matched execution logic is given, and an efficient operation mode matched with an oil way is formed and comprises a crawler running mode conversion mode and a landing leg machine arm multi-dimensional operation mode.

Description

Technical Field

[0001] The invention relates to the field of hydraulic pipelines, and in particular to a multi-oil circuit hydraulic system and a control method thereof. Background Art

[0002] In the field of nuclear facility decommissioning, traditional robots often face stability and reliability issues when working in radioactive environments. Most existing hydraulic systems are designed with a single oil supply. Once the main oil supply system fails, the robot will not be able to continue to perform its tasks, which may lead to serious consequences in a radioactive environment. In addition, the motion control of existing robots is usually a single drive state of tracks or legs, and the relatively single operation mode is difficult to adapt to the changing site conditions. In addition, during the decommissioning of nuclear facilities, due to the limitations of the spatial structure size, the decommissioning equipment must meet the size limitations. Although traditional large equipment is powerful, its size is too large and is not suitable for operation in places with limited space. Therefore, the hydraulic system oil circuit layout of the robot must be miniaturized and compactly designed. On this basis, it meets the use requirements of multiple oil circuits and multiple drives, solves the problems of spatial volume and oil supply system stability, and designs a matching multi-drive operation mode. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract of the specification and the title of the invention of this application to avoid blurring the purpose of this section, the abstract of the specification and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the fact that most of the existing hydraulic systems in the above and / or prior art have single oil supply, which has certain safety hazards and design problems with restricted conditions, the present invention is proposed.

[0005] Therefore, the technical problem to be solved by the present invention is to design a multi-drive and multi-oil circuit hydraulic system to meet the stable operation of the robot in extreme working environments and the compact design of the oil circuit as much as possible.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A multi-oil circuit hydraulic system includes an oil supply component, including an oil supply component for filling the oil supply component;

[0007] drive motor assembly;

[0008] Energy storage components;

[0009] The driving motor assembly and the energy storage assembly are connected to the chassis actuator assembly;

[0010] Arm actuator assembly;

[0011] The chassis actuator assembly and the arm actuator assembly are both connected to the oil supply assembly through multiple pipelines;

[0012] The chassis actuator and the arm actuator adjust the flow load through the shuttle valve and the oil supply assembly on the feedback oil circuit X5.

[0013] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, a first oil supply pipeline X2 and a first oil return pipeline X7 are connected between the oil supply assembly and the arm actuator assembly.

[0014] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, a second oil supply pipeline X4 and a total oil return pipeline X3 are connected between the oil supply assembly and the chassis actuator assembly;

[0015] The first oil return pipeline X7 is connected to the main oil return pipeline X3.

[0016] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, wherein: the arm actuator assembly is connected to the shuttle valve via a first feedback pipeline X6;

[0017] The driving motor assembly is connected to the shuttle valve via a second feedback pipeline X8.

[0018] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, the shuttle valve is connected to the oil supply assembly through a feedback oil circuit X5.

[0019] As a preferred solution of the multi-oil circuit hydraulic system of the present invention, the oil supply assembly includes an oil tank, the oil tank is connected to a booster pump, and the booster pump is driven and connected to a motor;

[0020] The oil outlet of the booster pump is in communication with the oil supply pipeline X2 and the second oil supply pipeline X4.

[0021] As a preferred solution of the multi-oil circuit hydraulic system of the present invention, wherein: the filter in the oil supply assembly is connected to the cooler;

[0022] The oil inlet of the cooler is connected to the main oil return pipeline X3, and the filter is connected to the oil tank to form a main oil circuit circulation.

[0023] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, the oil supply assembly is connected to the main oil circuit circulation through the oil supply assembly;

[0024] The oil supply assembly includes a first normally open valve, a second normally open valve, a third normally open valve, and a fourth normally open valve.

[0025] As a preferred solution of the multi-oil circuit hydraulic system of the present invention, the main oil circuit is connected to the first control valve and the second control valve in the drive motor assembly through pipelines, and then connected to the first drive motor and the second drive motor;

[0026] The pressure oil generated by the booster pump is connected to the two- and three-position solenoid valves through the second oil supply pipeline X4. The oil circuits of the two- and three-position solenoid valves pass through the one- and two-position solenoid valves, the two- and two-position solenoid valves, the three- and two-position solenoid valves, and the four- and two-position solenoid valves respectively, and lead to the left front outrigger hydraulic cylinder, the right front outrigger hydraulic cylinder, the left rear outrigger hydraulic cylinder, and the right rear outrigger hydraulic cylinder.

[0027] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, the energy storage component includes a driven wheel hydraulic cylinder and an energy storage device;

[0028] The driven wheel hydraulic cylinder is hinged to the tension wheel, and a sealing screw is arranged in the energy accumulator to seal the pressure in the driven wheel hydraulic cylinder.

[0029] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, the first oil supply pipeline X2 is respectively connected to the tool three-position solenoid valve, the bucket three-position solenoid valve, the additional three-position solenoid valve, the boom three-position solenoid valve, the motor three-position solenoid valve, and the external interface control valve in the arm actuator assembly.

[0030] Then indirectly control the tool cylinder, arm cylinder, additional cylinder, boom cylinder, slewing motor, and external tool head oil pipe interface.

[0031] As a preferred solution of the multi-oil circuit hydraulic system described in the present invention, the pressure relief oil circuit X1 of the rotary motor is connected to the pipeline of the first oil supply pipeline X2 and then enters the oil tank.

[0032] The beneficial effects of the present invention are as follows: through the design of multiple drives, multiple oil circuits and feedback oil circuits, a relatively stable and safe hydraulic system arrangement is achieved while satisfying the premise of minimizing the oil circuits, and the entire hydraulic system is reasonably complete.

[0033] Given that multi-circuit hydraulic systems require new drive logic and operating methods.

[0034] Therefore, the technical problem to be solved by the present invention is to design a matching multi-drive operation mode.

[0035] In order to solve the above technical problems, the present invention also provides the following technical solutions: a multi-oil circuit hydraulic system control method, comprising the multi-oil circuit hydraulic system, and driving the hydraulic oil generated by the booster pump to each control solenoid valve;

[0036] Remotely control the position of each solenoid valve to drive the direction of hydraulic oil;

[0037] According to the load change of the multi-oil circuit, the feedback oil circuit X5 is driven to adjust the flow of the booster pump.

[0038] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, wherein: crawler drive:

[0039] The first normally open valve, the second normally open valve, and the fourth normally open valve are all in an open state;

[0040] The first control valve and the second control valve are remotely controlled to be in the left position. At this time, the first drive motor and the second drive motor rotate counterclockwise at the same time, and the crawler moves forward;

[0041] The first control valve and the second control valve are remotely controlled to be in the right position. At this time, the first drive motor and the second drive motor rotate clockwise at the same time, and the crawler moves backward;

[0042] Remotely control the first control valve and the second control valve to turn left and right respectively, and then the first drive motor and the second drive motor rotate in opposite directions, so that the vehicle body turns left or right;

[0043] The hydraulic oil flowing out of the first control valve and the second control valve passes through the second normally open valve, the first normally open valve, the cooler, and the filter once before flowing into the oil tank.

[0044] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, wherein: outrigger drive:

[0045] The first normally open valve, the second normally open valve, and the fourth normally open valve are all in an open state;

[0046] When the second three-position solenoid valve is in the left position, the first two-position solenoid valve, the second two-position solenoid valve, the third two-position solenoid valve, or the fourth two-position solenoid valve opened remotely,

[0047] The corresponding left front outrigger hydraulic cylinder, right front outrigger hydraulic cylinder, left rear outrigger hydraulic cylinder, and right rear outrigger hydraulic cylinder perform retraction action;

[0048] When the two-position solenoid valve is in the right position, the one-position solenoid valve, the two-position solenoid valve, the three-position solenoid valve, or the four-position solenoid valve opened remotely,

[0049] The corresponding left front outrigger hydraulic cylinder, right front outrigger hydraulic cylinder, left rear outrigger hydraulic cylinder, and right rear outrigger hydraulic cylinder perform the extending action;

[0050] Includes multiple levels of control of individual outriggers or multiple outriggers.

[0051] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, when the four outrigger hydraulic cylinders are extended at the same time:

[0052] When the oil pipe is connected to the driven wheel hydraulic cylinder, the hydraulic rod is extended to tighten the track;

[0053] When the two or three solenoid valves are in the middle position, the two solenoid valves corresponding to the outrigger hydraulic cylinder do not move, the pressure of the driven wheel hydraulic cylinder is released by loosening the screws of the accumulator, and the lever of the driven wheel hydraulic cylinder is pushed back by external force, and the track is in a relaxed state.

[0054] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, wherein: the machine arm control:

[0055] The first normally open valve, the second normally open valve, the third normally open valve, and the fourth normally open valve are all in an open state;

[0056] The pressure relief oil enters the arm actuator through the first oil supply pipeline X2, and enters the cooler, filter, and oil tank through the first oil return pipeline X7;

[0057] When the tool three-position solenoid valve, the arm three-position solenoid valve, the additional three-position solenoid valve, or the boom three-position solenoid valve is in the left position,

[0058] The corresponding tool cylinder, arm cylinder, additional cylinder, or boom cylinder is in the retracted state;

[0059] When the tool three-position solenoid valve, the arm three-position solenoid valve, the additional three-position solenoid valve, or the boom three-position solenoid valve is in the right position,

[0060] The corresponding tool cylinder, or arm cylinder, or additional cylinder, or boom cylinder is in an extended state;

[0061] When the external interface control valve is in the middle position, the hydraulic arm cylinder and the swing motor do not move.

[0062] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, when the three-position solenoid valve of the motor is in the left position, the rotary motor rotates counterclockwise;

[0063] When the three-position solenoid valve of the motor is in the right position, the rotary motor rotates clockwise;

[0064] When the external interface control valve is in the left position, the external tool head oil pipe interface is closed, and when the external interface control valve is in the right position, the external tool head oil pipe interface is opened.

[0065] As a preferred solution of the multi-oil circuit hydraulic system control method of the present invention, when the forces of the four hydraulic arm cylinders change, the first feedback pipeline X6 and the feedback oil circuit X5 can be used to feed back to the booster pump 102 to adjust the flow rate, and the booster pump 102 is a variable piston pump;

[0066] When the force on the rotary motor increases and exceeds the set limit, the pressure relief oil generated by the rotary motor enters the oil tank through the pipeline belonging to the end of the first oil supply pipeline X2.

[0067] The beneficial effects of the present invention are as follows: a matching execution logic is provided to form an efficient operation mode adapted to the oil circuit, including crawler operation mode conversion and outrigger arm multi-dimensional operation mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0069] Figure 1 A schematic diagram of the simplest model of a multi-oil circuit hydraulic system according to an embodiment of the present invention;

[0070] Figure 2 A schematic diagram of the structure of an oil supply component of a multi-oil circuit hydraulic system according to an embodiment of the present invention;

[0071] Figure 3 A schematic diagram of the structure of a chassis execution component of a multi-oil circuit hydraulic system according to an embodiment of the present invention;

[0072] Figure 4 A schematic diagram of the structure of an arm actuator assembly of a multi-oil circuit hydraulic system according to an embodiment of the present invention;

[0073] Figure 5 A schematic diagram of the overall structure of a multi-oil circuit hydraulic system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0074] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0075] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0076] Secondly, the present invention is described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0077] Furthermore, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0078] Example 1

[0079] Reference Figure 1 This embodiment provides a multi-oil hydraulic system, including

[0080] The oil supply assembly 100 includes an oil supply assembly 200 for filling the oil supply assembly 100. The oil supply assembly 100 is the starting point and end point of the hydraulic system including the oil tank, and is the core part of the hydraulic system. The oil supply assembly 200 can be understood as a secondary oil supply system, which is basically the same as the oil supply assembly 100 in structure, but is only used to continue pressurizing the oil supply assembly 100 or directly supply oil to the drive oil circuit (i.e., the two actuators);

[0081] Furthermore, the driving motor assembly 300 and the energy storage assembly 500 are both auxiliary systems. The driving motor assembly 300 and the energy storage assembly 500 are connected to the chassis actuator assembly 400; they serve as the main driving channel and the closing channel for the chassis actuator assembly 400 respectively.

[0082] Furthermore, the arm actuator 600 and the chassis actuator 400 are the same, both are the main robot drive actuators, and the arms and legs can ensure the robot's multi-dimensional operation mode and more flexible operation mode;

[0083] Furthermore, the chassis actuator assembly 400 and the arm actuator assembly 600 are both connected to the oil supply assembly 100 by multiple pipelines. The setting of multiple oil circuits is mainly used for the status feedback route of the two actuators, as well as the simplest but most efficient oil return route, including the oil circuit connection required by the hydraulic system in some auxiliary components;

[0084] The chassis actuator assembly 400 and the arm actuator assembly 600 adjust the flow load through the shuttle valve 700 and the oil supply assembly 100 on the feedback oil circuit X5. The shuttle valve 700 exists in multiple oil circuits in the entire hydraulic system and is used to divert flow to form an "OR gate", thereby producing a multi-oil circuit effect. The shuttle valve connected to X5 here has a converging effect on the feedback oil circuits in two directions.

[0085] Example 2

[0086] Reference Figure 5, which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: a first oil supply pipeline X2 and a first oil return pipeline X7 are connected between the oil supply assembly 100 and the arm actuator assembly 600. The oil supply pipeline X2 is mainly responsible for conveying the pressurized hydraulic oil to the inside of the pipeline of the mechanical actuator assembly 600, and the oil return pipeline X7 is similar, guiding the hydraulic oil flowing through the working area back to the oil supply assembly 100 to form a cycle;

[0087] Furthermore, a second oil supply pipeline X4 and a total oil return pipeline X3 are connected between the oil supply component 100 and the chassis actuator component 400; similarly, the oiling of the components is completed through the oil circuit circulation, wherein the total oil return pipeline X3 guides the first oil return pipeline X7 to the oil supply component 100, and the return oil of the two drive components will pass through the total oil return pipeline X3.

[0088] In detail, the first oil return line X7 is connected to the main oil return line X3. The arm actuator assembly 600 is connected to the shuttle valve 700 through the first feedback line X6; the drive motor assembly 300 is connected to the shuttle valve 700 through the second feedback line X8. The shuttle valve 700 serves as a traffic hub in the pipeline to control the feedback routes of the drive components.

[0089] Furthermore, the shuttle valve 700 is connected to the oil supply assembly 100 through the feedback oil circuit X5. The effect of the feedback oil circuit X5 will be effectively fed back to the valve group and filter group pipeline of the oil supply assembly 100, thereby forming a response adjustment.

[0090] The oil supply component 100 includes an oil tank 101, which is connected to a pressure pump 102, and the pressure pump 102 is driven by a motor 103; the feedback information of the feedback oil circuit X5 is mainly responded to by the pressure pump 102, and the oil outlet of the pressure pump 102 is connected to the oil supply pipeline X2 and the second oil supply pipeline X4. After making response adjustments, the safe oil output is reasonably controlled.

[0091] The filter 104 in the oil supply assembly 100 is connected to the cooler 105 to enhance the filtering effect, control the viscosity, and increase the service life of the filter group; the oil inlet of the cooler 105 is connected to the main oil return pipeline X3, and the filter 104 is connected to the oil tank 101 to form a main oil circuit circulation.

[0092] Further, the oil supply assembly 200 is connected to the main oil circuit circulation through the oil supply assembly 100;

[0093] The oil supply assembly 100 includes a first normally open valve 106, a second normally open valve 107, a third normally open valve 108, and a fourth normally open valve 109. These normally open valves may open and close differently in different oil supply states, but valves 1, 2, and 4 are basically always in a normally open state.

[0094] Example 3

[0095] Reference Figure 5 , which is the second embodiment of the present invention, and is based on the previous embodiment, and is different from the previous embodiment in that: the main oil circuit is connected to the first control valve 303 and the second control valve 306 in the drive motor assembly 300 through pipelines, and then connected to the first drive motor 301 and the second drive motor 305;

[0096] The pressure oil generated by the booster pump 102 is connected to the two-position solenoid valve 304 through the second oil supply pipeline X4. The oil circuit of the two-position solenoid valve 304 passes through the one-position solenoid valve 403, the second-position solenoid valve 405, the third-position solenoid valve 407, and the fourth-position solenoid valve 409 respectively, and leads to the left front outrigger hydraulic cylinder 401, the right front outrigger hydraulic cylinder 404, the left rear outrigger hydraulic cylinder 406, and the right rear outrigger hydraulic cylinder 408.

[0097] The energy storage assembly 500 includes a driven wheel hydraulic cylinder 501 and an energy storage device 502;

[0098] The driven wheel hydraulic cylinder 501 is hinged to the tensioning wheel. The change of the tensioning wheel determines the tension of the track. A blocking screw is provided in the energy accumulator 502 to seal the pressure in the driven wheel hydraulic cylinder. When pressure relief is required, the blocking screw can be removed.

[0099] Example 4

[0100] Reference Figure 5 , which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that the first oil supply pipeline X2 is respectively connected to the tool three-position solenoid valve 608, the bucket arm three-position solenoid valve 609, the additional three-position solenoid valve 610, the boom three-position solenoid valve 611, the motor three-position solenoid valve 612, and the external interface control valve 613 in the organic arm actuator assembly 600, and then indirectly controls the tool cylinder 604, the bucket arm cylinder 603, the additional cylinder 602, the boom cylinder 601, the rotary motor 605, and the external tool head oil pipe interface 614. Each solenoid valve corresponds to a cylinder.

[0101] In detail, the pressure relief oil circuit X1 of the swing motor 605 is connected to the first oil supply circuit X2 and then enters the oil tank 101. As a starting-related component, the swing motor 605 needs to have an independent oil circuit.

[0102] Example 5

[0103] Reference Figure 5 , which is the third embodiment of the present invention, and provides a multi-oil circuit hydraulic system control method. This embodiment is based on the previous embodiment, and is different from the previous embodiment in that:

[0104] Drive the hydraulic oil generated by the booster pump 102 to each control solenoid valve;

[0105] Remotely control the position of each solenoid valve to drive the direction of hydraulic oil;

[0106] The feedback oil circuit X5 is driven to adjust the flow of the booster pump 102 according to the load change of the multiple oil circuits.

[0107] The above process is the basic logic of the entire oil circuit pressurization, among which the pressure pump 102 is a plunger pump. The multiple oil circuits are mainly reflected in the staggered oil outlet and return lines to ensure that the oil circuit system can continue to operate by relying on the branch system even if it is paralyzed, and the monitoring of the feedback oil circuit ensures the safety and stability of the main oil circuit.

[0108] Example 6

[0109] Reference Figure 5 , which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: crawler drive:

[0110] The first normally open valve 106, the second normally open valve 107, and the fourth normally open valve 109 are all in an open state;

[0111] The first control valve 303 and the second control valve 306 are remotely controlled to be in the left position. At this time, the first drive motor 301 and the second drive motor 305 rotate counterclockwise at the same time, and the crawler moves forward;

[0112] The first control valve 303 and the second control valve 306 are remotely controlled to be in the right position. At this time, the first drive motor 301 and the second drive motor 305 rotate clockwise at the same time, and the crawler moves backward;

[0113] The first control valve 303 and the second control valve 306 are remotely controlled to rotate left and right respectively. At this time, the first drive motor 301 and the second drive motor 305 rotate in opposite directions, so that the vehicle body turns left or right;

[0114] The hydraulic oil flowing out of the first control valve 303 and the second control valve 306 passes through the second normally open valve 107 , the first normally open valve 106 , the cooler 105 , and the filter 104 and then flows into the oil tank.

[0115] In general, the three position states of the first control valve 303 and the second control valve 306 determine the direction of the oil circuit, which in turn determines the direction of the drive motor, thereby determining the track rotation logic.

[0116] Example 7

[0117] Reference Figure 5 , which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: the outrigger drive:

[0118] When the first normally open valve 106, the second normally open valve 107, and the fourth normally open valve 109 are all in an open state;

[0119] When the second three-position solenoid valve 304 is in the left position, the first two-position solenoid valve 403, the second two-position solenoid valve 405, the third two-position solenoid valve 407, or the fourth two-position solenoid valve 409 opened remotely,

[0120] The corresponding left front outrigger hydraulic cylinder 401, right front outrigger hydraulic cylinder 404, left rear outrigger hydraulic cylinder 406, and right rear outrigger hydraulic cylinder 408 perform retraction action;

[0121] When the two-position solenoid valve 304 is in the right position, the one-position solenoid valve 403, the two-position solenoid valve 405, the three-position solenoid valve 407, or the four-position solenoid valve 409 opened remotely,

[0122] The corresponding left front outrigger hydraulic cylinder 401, right front outrigger hydraulic cylinder 404, left rear outrigger hydraulic cylinder 406, and right rear outrigger hydraulic cylinder 408 perform an extending action;

[0123] That is to say, the two position states of the second and third position solenoid valves correspond to the extension and retraction of each leg, the left position is retracted, and the right position is extended, and one, two, three, four, or any number of solenoid valves can be controlled individually to control the legs that want to move and execute the drive.

[0124] When the four outrigger hydraulic cylinders are extended simultaneously:

[0125] When the oil pipe is connected to the driven wheel hydraulic cylinder 501, the hydraulic rod is extended to tighten the crawler track;

[0126] When the two-position solenoid valve 304 is in the middle position, the two-position solenoid valve corresponding to the outrigger hydraulic cylinder does not operate, the pressure of the driven wheel hydraulic cylinder 501 is released by loosening the screw of the accumulator 502, and the lever of the driven wheel hydraulic cylinder is pushed back by external force, and the track is in a relaxed state.

[0127] In general, the state of the track is adjusted when the outriggers are extended to achieve another mode of travel. The execution drive logic also depends on the two- and three-position solenoid valves and the indirect drive relationship between the energy accumulator and the track.

[0128] Example 8

[0129] Reference Figure 5 , which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: arm control:

[0130] The first normally open valve 106, the second normally open valve 107, the third normally open valve 108, and the fourth normally open valve 109 are all in an open state;

[0131] The pressure relief oil enters the arm actuator assembly 600 through the first oil supply pipeline X2, and enters the cooler 105, the filter 104, and the oil tank 101 through the first oil return pipeline X7;

[0132] When the tool three-position solenoid valve 608, the arm three-position solenoid valve 609, the additional three-position solenoid valve 610, or the boom three-position solenoid valve 611 is in the left position,

[0133] The corresponding tool cylinder 604, or the arm cylinder 603, or the additional cylinder 602, or the boom cylinder 601 is in a retracted state;

[0134] When the tool three-position solenoid valve 608, the arm three-position solenoid valve 609, the additional three-position solenoid valve 610, or the boom three-position solenoid valve 611 is in the right position,

[0135] The corresponding tool cylinder 604, or the arm cylinder 603, or the additional cylinder 602, or the boom cylinder 601 is in an extended state;

[0136] When the external interface control valve 613 is in the middle position, the hydraulic arm cylinder and the rotary motor do not move.

[0137] In general, the control of the arm is the same as that of the support leg. The four three-dimensional solenoid valves control the four cylinders respectively. They can be controlled individually or in any number, depending on the needs of the mission.

[0138] Example 9

[0139] Reference Figure 5 , which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: when the motor three-position solenoid valve 612 is in the left position, the rotary motor 605 rotates counterclockwise;

[0140] When the motor three-position solenoid valve 612 is in the right position, the rotary motor 605 rotates clockwise;

[0141] When the external interface control valve 613 is in the left position, the external tool head oil pipe interface 614 is closed, and when the external interface control valve 613 is in the right position, the external tool head oil pipe interface 614 is opened.

[0142] That is to say, the rotation direction of the rotary motor is confirmed by the position state of the motor's three-position solenoid valve 612, and the external interface control valve 613 directly controls whether the entire system is connected to an external oil circuit.

[0143] Example 10

[0144] Reference Figure 5, which is the second embodiment of the present invention, is based on the previous embodiment, and is different from the previous embodiment in that: when the forces of the four hydraulic arm cylinders change, the first feedback pipeline X6 and the feedback oil circuit X5 can be used to feed back to the booster pump 102 to adjust the flow rate, and the booster pump 102 is a variable piston pump;

[0145] When the force on the rotary motor 605 increases and exceeds the set limit, the pressure relief oil generated by the rotary motor 605 enters the oil tank 101 through the pipeline belonging to the end of the first oil supply pipeline X2.

[0146] The above is the effect achieved by the feedback oil circuit. The flow rate of the booster pump 102 and the force state of the rotary motor 605 are fed back to the oil supply assembly 100 through the feedback oil circuit, so as to be quickly adjusted.

[0147] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to several modifications still falling within the scope of the appended claims.

[0148] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0149] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0150] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multi-oil hydraulic system, characterized in that: include, An oil supply assembly (100), comprising an oil supply assembly (200) for filling the oil supply assembly; A drive motor assembly (300); Energy storage assembly (500); The driving motor assembly (300) and the energy storage assembly (500) are connected to the chassis execution assembly (400); Arm execution assembly (600); The chassis execution assembly (400) and the arm execution assembly (600) are both connected to the oil supply assembly (100) via multiple pipelines; The chassis actuator component (400) and the arm actuator component (600) adjust the flow load via the shuttle valve (700) and the oil supply component (100) on the feedback oil circuit X5.

2. A multi-circuit hydraulic system according to claim 1, characterized in that: A first oil supply pipeline X2 and a first oil return pipeline X7 are connected between the oil supply assembly (100) and the arm execution assembly (600).

3. A multi-circuit hydraulic system according to claim 2, characterized in that: A second oil supply pipeline X4 and a total oil return pipeline X3 are connected between the oil supply assembly (100) and the chassis actuator assembly (400); The first oil return pipeline X7 is connected to the main oil return pipeline X3.

4. A multi-circuit hydraulic system according to claim 3, characterized in that: The arm actuator assembly (600) is connected to the shuttle valve (700) via a first feedback pipeline X6; The driving motor assembly (300) is connected to the shuttle valve (700) via a second feedback pipeline X8.

5. A multi-circuit hydraulic system according to claim 4, characterized in that: The shuttle valve (700) is connected to the oil supply assembly (100) via a feedback oil circuit X5.

6. A multi-circuit hydraulic system according to claim 5, characterized in that: The oil supply assembly (100) comprises an oil tank (101), the oil tank (101) is connected to a pressure pump (102), and the pressure pump (102) is driven by a motor (103); The oil outlet of the booster pump (102) is in communication with the oil supply pipeline X2 and the second oil supply pipeline X4.

7. A multi-circuit hydraulic system according to claim 6, characterized in that: The filter (104) in the oil supply assembly (100) is connected to the cooler (105); The oil inlet of the cooler (105) is connected to the main oil return pipeline X3, and the filter (104) is connected to the oil tank (101), forming a main oil circuit circulation.

8. A multi-circuit hydraulic system according to claim 7, characterized in that: The oil supply assembly (200) is connected to the main oil circuit circulation through the oil supply assembly (100); The oil supply assembly (100) comprises a first normally open valve (106), a second normally open valve (107), a third normally open valve (108), and a fourth normally open valve (109).

9. A multi-circuit hydraulic system according to claim 8, characterized in that: The main oil circuit is connected to the first control valve (303) and the second control valve (306) in the drive motor assembly (300) through pipelines, and then connected to the first drive motor (301) and the second drive motor (305); The pressure oil generated by the booster pump (102) is connected to the two-position solenoid valve (304) through the second oil supply pipeline X4. The oil circuit of the two-position solenoid valve (304) passes through the first-position solenoid valve (403), the second-position solenoid valve (405), the third-position solenoid valve (407), and the fourth-position solenoid valve (409) to the left front outrigger hydraulic cylinder (401), the right front outrigger hydraulic cylinder (404), the left rear outrigger hydraulic cylinder (406), and the right rear outrigger hydraulic cylinder (408).

10. A multi-circuit hydraulic system according to claim 9, characterized in that: The energy storage assembly (500) includes a driven wheel hydraulic cylinder (501) and an energy storage device (502); The driven wheel hydraulic cylinder (501) is hinged to the tension wheel, and a sealing screw is arranged in the energy accumulator (502) to seal the pressure in the driven wheel hydraulic cylinder.

11. A multi-oil circuit hydraulic system according to claim 10, characterized in that: The first oil supply pipeline X2 is respectively connected to the tool three-position solenoid valve (608), the bucket arm three-position solenoid valve (609), the additional three-position solenoid valve (610), the boom three-position solenoid valve (611), the motor three-position solenoid valve (612), and the external interface control valve (613) in the arm actuator assembly (600). Then, the tool cylinder (604), the arm cylinder (603), the additional cylinder (602), the boom cylinder (601), the rotary motor (605), and the external tool head oil pipe interface (614) are indirectly controlled.

12. A multi-circuit hydraulic system according to claim 11, characterized in that: The pressure relief oil circuit X1 of the rotary motor (605) is connected to the first oil supply circuit X2 and then enters the oil tank (101).

13. A multi-oil hydraulic system control method, characterized in that: A multi-circuit hydraulic system comprising any one of claims 1 to 12, and Drive the hydraulic oil generated by the booster pump (102) to each control solenoid valve; Remotely control the position of each solenoid valve to drive the direction of hydraulic oil; According to the load change of the multiple oil circuits, the feedback oil circuit X5 is driven to adjust the flow rate of the booster pump (102).

14. The multi-oil circuit hydraulic system control method according to claim 13, characterized in that: Track drive: The first normally open valve (106), the second normally open valve (107), and the fourth normally open valve (109) are all in an open state; The first control valve (303) and the second control valve (306) are remotely controlled to be in the left position. At this time, the first drive motor (301) and the second drive motor (305) rotate counterclockwise at the same time, and the crawler moves forward; The first control valve (303) and the second control valve (306) are remotely controlled to be in the right position. At this time, the first drive motor (301) and the second drive motor (305) rotate clockwise at the same time, and the crawler track moves backward; The first control valve (303) and the second control valve (306) are remotely controlled to turn left and right respectively, and the first drive motor (301) and the second drive motor (305) rotate in opposite directions, thereby realizing the left or right turn of the vehicle body; The hydraulic oil flowing out of the first control valve (303) and the second control valve (306) passes through the second normally open valve (107), the first normally open valve (106), the cooler (105), and the filter (104) before flowing into the oil tank.

15. The multi-oil circuit hydraulic system control method according to claim 14, characterized in that: Outrigger drive: The first normally open valve (106), the second normally open valve (107), and the fourth normally open valve (109) are all in an open state; When the second three-position solenoid valve (304) is in the left position, the first two-position solenoid valve (403), the second two-position solenoid valve (405), the third two-position solenoid valve (407), or the fourth two-position solenoid valve (409) opened remotely, The corresponding left front outrigger hydraulic cylinder (401), right front outrigger hydraulic cylinder (404), left rear outrigger hydraulic cylinder (406), and right rear outrigger hydraulic cylinder (408) perform a retracting action; When the two-position solenoid valve (304) is in the right position, the one-position solenoid valve (403), the two-position solenoid valve (405), the three-position solenoid valve (407), or the four-position solenoid valve (409) opened remotely, The corresponding left front outrigger hydraulic cylinder (401), right front outrigger hydraulic cylinder (404), left rear outrigger hydraulic cylinder (406), and right rear outrigger hydraulic cylinder (408) perform an extending action; Includes multiple levels of control of individual outriggers or multiple outriggers.

16. The multi-oil circuit hydraulic system control method according to claim 15, characterized in that: When the four outrigger hydraulic cylinders are extended simultaneously: When the oil pipe is connected to the driven wheel hydraulic cylinder (501), the hydraulic rod is extended to tighten the crawler track; When the two or three electromagnetic valves (304) are in the middle position, the two electromagnetic valves corresponding to the outrigger hydraulic cylinders do not operate, the pressure of the driven wheel hydraulic cylinder (501) is released by loosening the screws of the accumulator (502), and the lever of the driven wheel hydraulic cylinder is pushed back by external force, so that the crawler track is in a relaxed state.

17. The multi-oil circuit hydraulic system control method according to claim 16, characterized in that: Arm control: The first normally open valve (106), the second normally open valve (107), the third normally open valve (108), and the fourth normally open valve (109) are all in an open state; The pressure relief oil enters the arm actuator assembly (600) through the first oil supply pipeline X2, and enters the cooler (105), the filter (104), and the oil tank (101) through the first oil return pipeline X7; When the tool three-position solenoid valve (608), or the arm three-position solenoid valve (609), or the additional three-position solenoid valve (610), or the boom three-position solenoid valve (611) is in the left position, The corresponding tool cylinder (604), or the arm cylinder (603), or the additional cylinder (602), or the boom cylinder (601) is in a retracted state; When the tool three-position solenoid valve (608), or the arm three-position solenoid valve (609), or the additional three-position solenoid valve (610), or the boom three-position solenoid valve (611) is in the right position, The corresponding tool cylinder (604), or the arm cylinder (603), or the additional cylinder (602), or the boom cylinder (601) is in an extended state; When the external interface control valve (613) is in the middle position, the hydraulic arm cylinder and the swing motor do not move.

18. The multi-oil circuit hydraulic system control method according to claim 17, characterized in that: When the motor three-position solenoid valve (612) is in the left position, the rotary motor (605) rotates counterclockwise; When the motor three-position solenoid valve (612) is in the right position, the rotary motor (605) rotates clockwise; When the external interface control valve (613) is in the left position, the external tool head oil pipe interface (614) is closed, and when the external interface control valve (613) is in the right position, the external tool head oil pipe interface (614) is opened.

19. The multi-oil circuit hydraulic system control method according to claim 18, characterized in that: When the forces of the four hydraulic arm cylinders change, the force can be fed back to the booster pump 102 through the first feedback pipeline X6 and the feedback oil circuit X5 to adjust the flow rate. The booster pump 102 is a variable piston pump. When the force applied to the rotary motor (605) increases and exceeds a set limit, the pressure relief oil generated by the rotary motor (605) enters the oil tank (101) through the pipeline belonging to the end of the first oil supply pipeline X2.

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