Closed rotary hydraulic system, hoisting equipment and closed rotary control method

Abstract

The invention relates to a closed rotary hydraulic system, hoisting equipment and a closed rotary control method, and relates to the technical field of engineering machinery, the closed rotary hydraulic system comprises a hydraulic pump, a hydraulic motor and a hydraulic valve bank, and the hydraulic motor communicates with the hydraulic pump through a hydraulic pipeline; and the hydraulic valve bank, the hydraulic pump and the hydraulic motor are connected in parallel. According to the closed type rotation hydraulic system, the hoisting equipment and the closed type rotation control method, the effects of quick starting and flexible braking can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a closed rotary hydraulic system, a lifting device and a closed rotary control method. Background Art

[0002] During the rotation operation of lifting equipment, it generally has the characteristics of large inertia, large impact loads during starting and braking, and its hydraulic system generally uses a closed rotary hydraulic system. The so-called closed rotary hydraulic system means that the oil inlet pipe of the hydraulic pump and the oil return pipe of the hydraulic motor are directly connected, and the hydraulic oil circulates between the hydraulic pump and the hydraulic motor to form a relatively closed loop with less energy loss. In the related technology, the closed rotary hydraulic system cannot take into account both fast starting response and small braking impact. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a closed rotary hydraulic system, lifting equipment and closed rotary control method, which can take into account both fast starting response and small braking impact, and achieve the effects of fast starting and flexible braking.

[0004] In a first aspect, a closed rotary hydraulic system is provided, which is applied to a lifting device, wherein the lifting device comprises a movable lower vehicle, an upper vehicle assembly connected to the lower vehicle through a rotary bearing, and a driving device for driving the upper vehicle assembly to rotate relative to the lower vehicle, wherein the closed rotary hydraulic system is connected to the driving device, and comprises:

[0005] Hydraulic pumps;

[0006] A hydraulic motor connected to the hydraulic pump via a hydraulic pipeline;

[0007] A hydraulic valve group, wherein the hydraulic valve group, the hydraulic pump and the hydraulic motor are connected in parallel.

[0008] According to the first aspect of the present application, the hydraulic valve group includes a fifth oil port and a sixth oil port, and the fifth oil port and the sixth oil port are respectively connected to different hydraulic pipelines between the hydraulic pump and the hydraulic motor;

[0009] The hydraulic valve group comprises:

[0010] A first branch, connected to the fifth oil port and the sixth oil port;

[0011] a second branch, connected in parallel with the first branch, the second branch being connected to the fifth oil port and the sixth oil port;

[0012] a third branch, connected to the first branch and the second branch;

[0013] A one-way cut-off proportional reversing valve is arranged on the third branch;

[0014] A plurality of one-way valves, some of which are arranged on the first branch, and another portion of which are arranged on the second branch.

[0015] According to the first aspect of the present application, the node between the third branch and the first branch is the seventh oil port; the node between the third branch and the second branch is the eighth oil port;

[0016] The plurality of one-way valves include:

[0017] a first one-way valve, provided on the first branch and located between the seventh oil port and the fifth oil port, the first one-way valve allowing the hydraulic oil to flow from the seventh oil port to the fifth oil port;

[0018] a second one-way valve, provided on the first branch and located between the seventh oil port and the sixth oil port, the second one-way valve allowing the hydraulic oil to flow from the seventh oil port to the sixth oil port;

[0019] a third one-way valve, provided on the second branch and located between the fifth oil port and the eighth oil port, the third one-way valve allowing the hydraulic oil to flow from the fifth oil port to the eighth oil port;

[0020] The fourth one-way valve is arranged on the second branch and is located between the sixth oil port and the eighth oil port. The fourth one-way valve allows the hydraulic oil to flow from the sixth oil port to the eighth oil port.

[0021] In a second aspect, a lifting device is also provided, comprising:

[0022] movable drop-off;

[0023] An upper car assembly connected to the lower car via a slewing bearing;

[0024] A driving device, used for driving the upper vehicle assembly to rotate relative to the lower vehicle;

[0025] The closed rotary hydraulic system as described in the previous embodiment is connected to the driving device;

[0026] A controller is communicatively connected to the hydraulic pump and the hydraulic valve group.

[0027] According to a second aspect of the present application, the lifting equipment further comprises:

[0028] A detection device is communicatively connected to the controller, and the detection device is used to detect the rotation angle of the upper vehicle assembly.

[0029] In a third aspect, a closed rotation control method is also provided, which is applied to the controller in the lifting equipment as described in the previous embodiment;

[0030] The closed rotation control method comprises:

[0031] receiving a first instruction for moving the handle to a first working position, and controlling the hydraulic pump to output hydraulic oil; wherein the first instruction represents an instruction for controlling the upper vehicle assembly to rotate toward a target working direction;

[0032] According to the first instruction, controlling the hydraulic valve group to be in a closed state;

[0033] receiving a sliding instruction for the handle to move to a neutral position; wherein the sliding instruction represents an instruction for the upper vehicle assembly to keep sliding toward the target working direction;

[0034] According to the sliding instruction, the hydraulic valve group is controlled to be in an open state;

[0035] receiving a second instruction for moving the handle to a second working position, and controlling the hydraulic pump to output hydraulic oil; wherein the second instruction represents an instruction for controlling the upper vehicle assembly to rotate in a direction opposite to the target working direction;

[0036] According to the second instruction, the opening degree of the hydraulic valve group is controlled to gradually decrease.

[0037] According to a third aspect of the present application, the lifting equipment further comprises a detection device, the detection device is communicatively connected to the controller, and the detection device is used to detect the rotation angle of the upper vehicle assembly;

[0038] According to the first instruction, controlling the hydraulic valve group to be in a closed state includes:

[0039] According to the first instruction, obtaining a first angle signal output by the detection device;

[0040] If the first angle signal indicates that the rotation angle change of the upper vehicle assembly is zero, the hydraulic valve group is controlled to be in a closed state.

[0041] According to a third aspect of the present application, the lifting equipment further comprises a detection device, the detection device is communicatively connected to the controller, and the detection device is used to detect the rotation angle of the upper vehicle assembly;

[0042] According to the second instruction, controlling the opening of the hydraulic valve group to gradually decrease comprises:

[0043] acquiring, according to the second instruction, a second angle signal output by the detection device;

[0044] If the second angle signal indicates that the upper vehicle assembly continues to move toward the target working direction, the opening of the hydraulic valve group is controlled to gradually decrease.

[0045] According to a third aspect of the present application, controlling the opening of the hydraulic valve group to gradually decrease according to the second instruction includes:

[0046] According to the second instruction, controlling the pilot current of the hydraulic pump to gradually increase;

[0047] According to the pilot current of the hydraulic pump, the control current of the hydraulic valve group is controlled to gradually decrease; wherein the control current of the hydraulic valve group and the pilot current of the hydraulic pump satisfy a preset equal relationship;

[0048] According to the control current of the hydraulic valve group, the opening degree of the hydraulic valve group is controlled to gradually decrease.

[0049] According to a third aspect of the present application, controlling the hydraulic valve group to be in an open state according to the slip instruction includes:

[0050] According to the slip instruction, adjusting the control current of the hydraulic valve group to a maximum value;

[0051] According to the control current of the hydraulic valve group, the opening degree of the hydraulic valve group is controlled to be in a maximum state.

[0052] The closed rotary hydraulic system, lifting equipment and closed rotary control method provided in the embodiments of the present application, on the one hand, during the starting process, the hydraulic pipeline where the hydraulic valve group is located is cut off by controlling the hydraulic valve group to prevent the hydraulic oil from being depressurized, thereby achieving the effect of rapid response starting of the hydraulic motor; on the other hand, during the sliding process, the opening of the hydraulic valve group is gradually reduced by controlling the flow in the hydraulic pipeline where the hydraulic valve group is located to gradually decrease, so that the upper vehicle assembly in the sliding state can gradually reduce the speed until it stops, which can effectively reduce the impact on the upper vehicle assembly during braking and achieve the effect of flexible braking; on the third hand, after flexible braking, with the help of the advantages introduced in the first aspect, the upper vehicle assembly can be assisted to start quickly and rotate in the direction opposite to the direction before braking (for example, rotate to the right before braking and rotate to the left after braking), which is beneficial to reduce the impact during the reversing process of the upper vehicle assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0054] Figure 1 A schematic structural diagram of a lifting device provided for an exemplary implementation of the present application.

[0055] Figure 2 A schematic diagram of a closed rotary hydraulic system provided for an exemplary embodiment of the present application.

[0056] Figure 3 A schematic flow chart of a closed rotation control method provided for an exemplary embodiment of the present application.

[0057] Figure 4 A schematic flow chart of controlling a hydraulic valve group to be in a closed state according to a first instruction is provided for an exemplary embodiment of the present application.

[0058] Figure 5 A flowchart of controlling the opening of a hydraulic valve group to gradually decrease according to a second instruction is provided for an exemplary embodiment of the present application.

[0059] Figure 6 A flowchart of controlling the opening of a hydraulic valve group to gradually decrease according to a second instruction is provided for another exemplary embodiment of the present application.

[0060] Figure 7 A schematic flow chart of controlling a hydraulic valve group to be in an open state according to a slip instruction provided in an exemplary embodiment of the present application.

[0061] Figure 8 A structural block diagram of a controller provided for an exemplary embodiment of the present application.

[0062] Figure markings: 100-closed rotary hydraulic system; 110-hydraulic pump; 111-first oil port; 112-second oil port; 120-hydraulic motor; 121-third oil port; 122-fourth oil port; 130-hydraulic valve group; 131-fifth oil port; 133-sixth oil port; 134-first branch; 135-second branch; 136-third branch; 137-one-way cut-off proportional reversing valve; 138-one-way valve; 139-seventh oil port; 140-eighth oil port; 141-first one-way valve; 142-second one-way valve; 143-third one-way valve; 144-fourth one-way valve; 200-controller; 210-processor; 220-memory; 230-input device; 240-output device; 300-lifting equipment; 310-get off the vehicle; 320-get on the vehicle assembly; 330-slewing bearing. DETAILED DESCRIPTION

[0063] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0064] Figure 1 A schematic structural diagram of a lifting device provided for an exemplary implementation of the present application. Figure 2 Schematic diagram of a closed rotary hydraulic system provided by an exemplary embodiment of the present application. Figure 1 and Figure 2 As shown, the lifting equipment 300 provided in the embodiment of the present application may include a movable lower vehicle 310, an upper vehicle assembly 320, a driving device, a closed rotary hydraulic system 100 and a controller. The upper vehicle assembly 320 is connected to the lower vehicle 310 through a rotary bearing 330. The driving device can drive the upper vehicle assembly 320 to rotate relative to the lower vehicle 310. The closed hydraulic system 100 is connected to the driving device. The closed hydraulic system 100 can start the driving device, or the closed rotary hydraulic system can brake the driving device in operation, that is, the closed hydraulic system 100 can drive the upper vehicle assembly 320 to rotate relative to the lower vehicle 310 through the driving device, or can also brake the rotating upper vehicle assembly 320. The controller is connected to the closed rotary hydraulic system 100 in communication, and can be used to control the closed rotary hydraulic system 100 to perform different actions. The specific control process will be described in detail later.

[0065] like Figure 2 As shown, the closed rotary hydraulic system 100 provided in the embodiment of the present application may include a hydraulic pump 110 and a hydraulic motor 120, the hydraulic pump 110 includes a first oil port 111 and a second oil port 112, the hydraulic motor 120 includes a third oil port 121 and a fourth oil port 122, the third oil port 121 is connected to the first oil port 111 through a hydraulic pipeline, and the fourth oil port 122 is connected to the second oil port 112 through a hydraulic pipeline.

[0066] It should be understood that, when the first oil port 111 is used as the oil outlet of the hydraulic pump 110, the third oil port 121 is the oil inlet of the hydraulic motor 120, the fourth oil port 122 is the oil outlet of the hydraulic motor 120, and the second oil port 112 is the oil inlet of the hydraulic pump 110. That is, the hydraulic oil is output from the first oil port 111, input into the hydraulic motor 120 through the third oil port 121, drives the hydraulic motor 120 to work, and then output from the fourth oil port 122, and then enters the hydraulic pump 110 through the second oil port 112, realizing a closed cycle.

[0067] Similarly, when the second oil port 112 is used as the oil outlet of the hydraulic pump 110, the fourth oil port 122 is the oil inlet of the hydraulic motor 120, the third oil port 121 is the oil outlet of the hydraulic motor 120, and the first oil port 111 is the oil inlet of the hydraulic pump 110. That is, the hydraulic oil is output from the second oil port 112, input into the hydraulic motor 120 through the fourth oil port 122, drives the hydraulic motor 120 to work, and then output from the third oil port 121, and then enters the hydraulic pump 110 through the first oil port 111, realizing a closed cycle.

[0068] In one embodiment, the aforementioned driving device is a rotary reducer, the output shaft of the hydraulic motor 120 can be mechanically connected to the output shaft of the rotary reducer, and the rotary reducer is detachably connected to the upper vehicle assembly 320. After the hydraulic oil drives the hydraulic motor 120 to work, the hydraulic motor 120 can drive the upper vehicle assembly 320 to rotate relative to the lower vehicle 310 through the rotary reducer. It should be noted that when the upper vehicle assembly 320 is stationary, the rotation direction of the hydraulic motor 120 with the third oil port 121 as the input port is opposite to the rotation direction of the hydraulic motor 120 with the fourth oil port 122 as the input port, and the direction of driving the upper vehicle assembly 320 to rotate is also opposite.

[0069] like Figure 2 As shown, the closed rotary hydraulic system 100 may also include a hydraulic valve group 130, the hydraulic valve group 130 includes a fifth oil port 131 and a sixth oil port 133, the fifth oil port 131 is connected to the hydraulic pipeline between the first oil port 111 and the third oil port 121, the sixth oil port 133 is connected to the hydraulic pipeline between the second oil port 112 and the fourth oil port 122, and the hydraulic valve group 130, the hydraulic pump 110 and the hydraulic motor 120 are connected in parallel.

[0070] It should be noted that the hydraulic valve group 130 can control the hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133 to be connected or cut off, and the opening of the hydraulic valve group 130 can be proportionally adjusted by controlling the current, that is, when the control current increases, the opening of the hydraulic valve group 130 increases proportionally, and when the control current decreases, the opening of the hydraulic valve group 130 decreases proportionally. In practical applications, the lifting equipment 300 generally has a non-free sliding working mode and a free sliding working mode, and the staff can switch between different sliding working modes by manual adjustment. For different sliding working modes, the working state of the hydraulic valve group 130 is different, which is described in detail below.

[0071] In the non-free sliding working mode, the hydraulic valve group 130 can control the fifth oil port 131 and the sixth oil port 133 to be cut off. The hydraulic oil output by the hydraulic pump 110 will not pass through the hydraulic valve group 130, but will directly act on the hydraulic motor 120, thereby driving the upper vehicle assembly 320 to rotate through the hydraulic motor 120.

[0072] In the free sliding working mode, the working state of the hydraulic valve group 130 is different according to the position of the handle. Specifically, when the handle is in the middle position, the fifth oil port 131 and the sixth oil port 133 are in a connected state, and the vehicle assembly 320 can slide freely; in the initial starting state, the handle is switched from the middle position to the first position or the second position (for example, the first position is the right position, and the second position is the left position), the fifth oil port 131 and the sixth oil port 133 are in a cut-off state, and the hydraulic oil output by the hydraulic pump 110 drives the hydraulic motor 120 to work. Since in the starting state, the hydraulic oil will not flow between the fifth oil port 131 and the sixth oil port 133, and the hydraulic oil will not be depressurized, therefore, it can effectively ensure that the hydraulic motor 120 responds quickly, so that the vehicle assembly 320 can start quickly; when the vehicle assembly 320 is already in a sliding state (the vehicle assembly 320 slides under the action of inertia, the fifth oil port 131 and the sixth oil port 133 are in a cut-off state). The hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133 is already in a connected state, and the handle is in a neutral state), taking the case where the vehicle assembly 320 is in a right sliding process (for example, the handle is currently in the first position, i.e., the right position) as an example, during this process, the handle is switched from the neutral state to the second position (for example, the handle is switched from the neutral position to the left position), and the vehicle assembly 320 rotates, and then, the opening of the hydraulic valve group 130 can be gradually reduced by controlling the control current of the hydraulic valve group 130 to gradually reduce, so that the flow in the hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133 is gradually reduced, so that the vehicle assembly 320 in a sliding state can gradually reduce the speed until it stops. In this way, the impact on the vehicle assembly 320 during braking can be effectively reduced, and the effect of flexible braking can be achieved.

[0073] It should be noted that after flexible braking, if the handle is switched from the second position to the middle position (for example, the handle is switched from the left position to the middle position), the boarding assembly 320 will remain in the current braking state; after flexible braking, if the handle remains in the second position (for example, the handle remains in the left position), the boarding assembly 320 will turn right again after braking, thereby rotating in the direction opposite to the direction before braking.

[0074] Regarding the control process of the aforementioned flexible braking, the closed-loop rotation control method will be introduced in detail later.

[0075] Therefore, the closed rotary hydraulic system 100 provided in the embodiment of the present application, on the one hand, during the starting process, by controlling the hydraulic valve group 130, the hydraulic pipeline where the hydraulic valve group 130 is located is cut off, the hydraulic oil is prevented from being depressurized, and the hydraulic motor 120 is achieved to respond quickly to the start effect; on the other hand, during the sliding process, by controlling the opening of the hydraulic valve group 130 to gradually decrease, the flow in the hydraulic pipeline where the hydraulic valve group 130 is located is gradually reduced, so that the upper vehicle assembly 320 in the sliding state can gradually reduce the speed until it stops, which can effectively reduce the impact on the upper vehicle assembly 320 during the braking process and achieve the effect of flexible braking; on the third hand, after flexible braking, with the help of the advantages introduced in the first aspect, the upper vehicle assembly 320 can be assisted to start quickly and rotate in the direction opposite to the direction before braking (for example, the upper vehicle assembly 320 rotates to the right before braking, and rotates to the left after braking), which is beneficial to reduce the impact of the upper vehicle assembly 320 during the reversing process.

[0076] like Figure 2 As shown, the hydraulic valve group 130 may include a first branch 134, a second branch 135 and a third branch 136, the first branch 134 is connected to the fifth oil port 131 and the sixth oil port 133, the second branch 135 is connected in parallel with the first branch 134, and the second branch 135 is also connected to the fifth oil port 131 and the sixth oil port 133, and the third branch 136 is connected to the first branch 134 and the second branch 135.

[0077] like Figure 2 As shown, the hydraulic valve group 130 may further include a one-way cut-off proportional reversing valve 137 and a plurality of one-way valves 138. The one-way cut-off proportional reversing valve 137 is disposed on the third branch 136 and can control the on-off of the third branch 136. Some of the one-way valves 138 are disposed on the first branch 134, and another part of the one-way valves 138 are disposed on the second branch 135. In practical applications, the one-way cut-off proportional reversing valve 137 can connect or cut off the fifth oil port 131 and the sixth oil port 133 by controlling the on-off of the third branch 136.

[0078] In one embodiment, when the control current is at the maximum value, the valve core of the one-way cut-off proportional reversing valve 137 is located in the first valve position, the third branch 136 is connected, and the fifth oil port 131 and the sixth oil port 133 are connected through a portion of the first branch 134, the third branch 136 and a portion of the second branch 135; when the control current is zero, the valve core of the one-way cut-off proportional reversing valve 137 is located in the second valve position, the third branch 136 is disconnected, and the fifth oil port 131 and the sixth oil port 133 are cut off.

[0079] like Figure 2As shown, for ease of introduction, the node between the third branch 136 and the first branch 134 is defined as the seventh oil port 139, and the node between the third branch 136 and the second branch 135 is defined as the eighth oil port 140. The plurality of one-way valves 138 may include a first one-way valve 141, a second one-way valve 142, a third one-way valve 143 and a fourth one-way valve 144. The first one-way valve 141 and the second one-way valve 142 are both arranged on the first branch 134. The first one-way valve 141 is located between the fifth oil port 131 and the seventh oil port 139, and the second one-way valve 142 is located between the sixth oil port 133 and the seventh oil port 139. The first one-way valve 141 is used to allow the hydraulic oil to flow from the seventh oil port 139 to the fifth oil port 131, that is, to prevent the hydraulic oil from flowing from the fifth oil port 131 to the seventh oil port 139. The second one-way valve 142 is used to allow the hydraulic oil to flow from the seventh oil port 139 to the sixth oil port 133. That is, the hydraulic oil is prevented from flowing from the sixth oil port 133 to the seventh oil port 139; the third one-way valve 143 and the fourth one-way valve 144 are both arranged on the second branch 135, and the third one-way valve 143 is arranged between the fifth oil port 131 and the eighth oil port 140. The third one-way valve 143 is used to make the hydraulic oil flow from the fifth oil port 131 to the eighth oil port 140, that is, to prevent the hydraulic oil from flowing from the eighth oil port 140 to the fifth oil port 131; the fourth one-way valve 144 is arranged between the sixth oil port 133 and the eighth oil port 140. The fourth one-way valve 144 is used to make the hydraulic oil flow from the sixth oil port 133 to the eighth oil port 140, that is, to prevent the hydraulic oil from flowing from the eighth oil port 140 to the sixth oil port 133.

[0080] Combination Figure 2 It should be noted that when the valve core of the one-way cut-off proportional reversing valve 137 is in the first valve position, the third branch 136 is connected, and the hydraulic oil can reach the sixth oil port 133 through the fifth oil port 131, the third one-way valve 143, the eighth oil port 140, the third branch 136, the seventh oil port 139, and the second one-way valve 142; the hydraulic oil can also reach the fifth oil port 131 through the sixth oil port 133, the fourth one-way valve 144, the eighth oil port 140, the third branch 136, the seventh oil port 139, and the first one-way valve 141; the fifth oil port 131 and the sixth oil port 133 are in a connected state, and the upper vehicle assembly 320 can slide by inertia; when the valve core of the one-way cut-off proportional reversing valve 137 is in the second valve position, the third branch 136 is one-way disconnected (for example Figure 2The hydraulic oil cannot flow from the eighth oil port 140 to the seventh oil port 139; in other embodiments, the one-way disconnection of the third branch 136 may also be such that the hydraulic oil cannot flow from the seventh oil port 139 to the eighth oil port 140), and the hydraulic oil flowing out of the fifth oil port 131 cannot reach the sixth oil port 133 through the one-way cut-off proportional reversing valve 137 or the fourth one-way valve 144 after passing through the third one-way valve 143; the hydraulic oil flowing out of the sixth oil port 133 cannot reach the fifth oil port 131 through the one-way cut-off proportional reversing valve 137 or the second reversing valve after passing through the fourth one-way valve 144, thereby achieving the effect of cutting off the fifth oil port 131 and the sixth oil port 133.

[0081] It should be noted that the first one-way valve 141, the second one-way valve 142, the third one-way valve 143 and the fourth one-way valve 144 can adjust the installation direction according to actual conditions to change the flow direction of the hydraulic oil, and can assist the one-way cut-off proportional reversing valve 137 to control the connection or cut-off of the fifth oil port 131 and the sixth oil port 133.

[0082] It should be understood that the one-way cut-off proportional reversing valve 137 is a proportional valve. In this way, in the process of realizing the aforementioned flexible braking, by controlling the control current of the one-way cut-off proportional reversing valve 137 to gradually decrease, the opening of the one-way cut-off proportional reversing valve 137 can be controlled to gradually decrease, thereby causing the flow in the hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133 to gradually decrease, so that the upper vehicle assembly 320 in a sliding state can gradually reduce the speed until it stops, thereby realizing flexible braking.

[0083] Figure 3 The following is a flow chart of a closed-loop rotation control method provided by an exemplary embodiment of the present application. Figure 3 As shown, the closed rotation control method provided in the embodiment of the present application is applied to the controller in the lifting equipment as described in the previous embodiment, that is, the controller can execute the closed rotation control method. The closed rotation control method may include:

[0084] S310: receiving a first instruction for the handle to move to a first working position, and controlling the hydraulic pump to output hydraulic oil.

[0085] It should be noted that the handle for controlling the on-board assembly generally has three positions, including the first position, the middle position, and the second position. With the driver as a reference, when the first position is the right position, the second position is the left position; when the first position is the left position, the second position is the right position. The embodiment of the present application is described with the first position being the right position and the second position being the left position.

[0086] Specifically, the controller receives the first instruction to move the handle to the first working position, controls the hydraulic pump to output hydraulic oil from the first oil port, and the hydraulic oil enters the hydraulic motor through the aforementioned third oil port, and the hydraulic motor drives the upper vehicle assembly to rotate toward the target working direction. With the driver as a reference, when the first working position is the right position, the target working direction corresponds to rotating to the right.

[0087] S320: According to the first instruction, the hydraulic valve group is controlled to be in a closed state.

[0088] Specifically, the hydraulic valve group is in a closed state, the fifth oil port and the sixth oil port are in a cut-off state, and the hydraulic oil output by the hydraulic pump drives the hydraulic motor to work. Since the hydraulic oil will not flow between the fifth oil port and the sixth oil port in the starting state, there will be no pressure relief of the hydraulic oil. Therefore, it can effectively ensure that the hydraulic motor responds quickly, so that the on-board assembly can start quickly.

[0089] S330: receiving a sliding instruction for the handle to move to the middle position.

[0090] S340: According to the sliding instruction, the hydraulic valve group is controlled to be in an open state.

[0091] Specifically, the sliding instruction can be understood as an instruction to control the upper vehicle assembly to keep sliding toward the target working direction. Before the upper vehicle assembly needs to be braked, in order to reduce the braking impact of the upper vehicle assembly, the upper vehicle assembly will be adjusted to a sliding state first, that is, step S330 and step S340 are executed, the hydraulic valve group is controlled to be in an open state, the fifth oil port and the sixth oil port are connected, and the upper vehicle assembly can slide toward the target working direction by inertia.

[0092] S350: receiving a second instruction to move the handle to a second work position, and controlling the hydraulic pump to output hydraulic oil.

[0093] S360: According to the second instruction, the opening of the hydraulic valve group is controlled to gradually decrease.

[0094] Specifically, the second instruction for the handle to move to the second position is received, and the hydraulic pump is controlled to output hydraulic oil from the second oil port. The second instruction can be understood as an instruction to control the upper vehicle assembly to rotate in the direction opposite to the target working direction. For example, if the second position is the left position and the target working direction is to rotate to the right, the direction opposite to the target working direction is to control the upper vehicle assembly to rotate to the left.

[0095] It should be noted that after executing step S340, the upper vehicle assembly is in a state of sliding toward the target working direction. In this state, the operating handle moves to the second working position, which means that it is necessary to brake the upper vehicle assembly in the sliding state, but it does not mean that the upper vehicle assembly needs to be immediately rotated in the direction opposite to the target working direction.

[0096] It should be understood that in the process of braking the upper vehicle assembly in a slipping state, the opening of the hydraulic valve group is controlled to gradually decrease, so that the flow in the hydraulic pipeline between the fifth oil port and the sixth oil port is gradually reduced, so that the upper vehicle assembly in a slipping state can gradually reduce the speed until it stops. In this way, the impact on the upper vehicle assembly during braking can be effectively reduced, and the effect of flexible braking can be achieved.

[0097] The closed rotation control method provided in the embodiment of the present application, on the one hand, during the starting process, by controlling the hydraulic valve group, the hydraulic pipeline where the hydraulic valve group is located is cut off, so as to prevent the hydraulic oil from being depressurized, and achieve the effect of rapid response starting of the hydraulic motor; on the second hand, during the sliding process, by controlling the opening of the hydraulic valve group to gradually decrease, the flow in the hydraulic pipeline where the hydraulic valve group is located is gradually reduced, so that the vehicle assembly in the sliding state can gradually reduce the speed until it stops, which can effectively reduce the impact on the vehicle assembly during the braking process and achieve the effect of flexible braking; on the third hand, after flexible braking, with the help of the advantages introduced in the first aspect above, the vehicle assembly can be assisted to start quickly and rotate in the direction opposite to the direction before braking (for example, rotate to the right before braking, and rotate to the left after braking), which is beneficial to reduce the impact during the reversing process of the vehicle assembly.

[0098] Figure 4 A flow chart of controlling a hydraulic valve group to be in a closed state according to a first instruction is provided as a flowchart of an exemplary embodiment of the present application. Figure 4 As shown, step S320 may include:

[0099] S321: According to the first instruction, obtain a first angle signal output by the detection device.

[0100] S322: If the first angle signal indicates that the rotation angle change of the upper vehicle assembly is zero, the hydraulic valve group is controlled to be in a closed state.

[0101] In one embodiment, the aforementioned lifting equipment may further include a detection device, which can detect the rotation angle of the upper vehicle assembly.

[0102] In one embodiment, the detection device may include a rotary encoder or a rotary angle detection sensor.

[0103] Specifically, after receiving the first instruction, if the first angle signal indicates that the rotation angle change of the vehicle assembly is zero, it can be considered that the vehicle assembly is currently in a stationary state, and the vehicle assembly is ready to rotate in the target working direction. Therefore, the hydraulic valve group can be controlled to be in a closed state, so that the fifth oil port and the sixth oil port are cut off, so that the hydraulic motor responds quickly and the vehicle assembly starts quickly. In other words, according to the first angle signal output by the detection device, it can be determined whether the vehicle assembly is currently in a stationary state. If the vehicle assembly is in a moving state, executing the first instruction drives the vehicle assembly to rotate in the target working direction, which is likely to cause the vehicle assembly to be subjected to a large impact and damage the vehicle assembly and its related hydraulic components.

[0104] Figure 5 A flowchart of controlling the opening of a hydraulic valve group to gradually decrease according to a second instruction is provided for an exemplary embodiment of the present application. Figure 5 As shown, step S360 may include:

[0105] S361: According to the second instruction, obtain the second angle signal output by the detection device.

[0106] S362: If the second angle signal indicates that the upper vehicle assembly continues to move toward the target working direction, the opening of the control hydraulic valve group is gradually reduced.

[0107] Specifically, after receiving the second instruction, if the second angle signal indicates that the upper vehicle assembly continues to move toward the target working direction, it means that the current rotation direction of the upper vehicle assembly is opposite to the control intention of the second instruction, that is, it can be considered that the upper vehicle assembly in the sliding state toward the target working direction needs to be braked. In other words, according to the second angle signal output by the detection device, it can be determined whether the current rotation direction of the upper vehicle assembly is opposite to the control intention of the second instruction, whether braking is required, and if braking is required, the opening of the hydraulic valve group is gradually reduced by controlling the flow in the hydraulic pipeline between the fifth oil port and the sixth oil port to gradually decrease, so that the upper vehicle assembly in the sliding state can gradually reduce the speed until it stops, which can effectively reduce the impact on the upper vehicle assembly during the braking process and achieve the effect of flexible braking.

[0108] Figure 6 A flowchart of controlling the opening of the hydraulic valve group to gradually decrease according to the second instruction is provided as another exemplary embodiment of the present application. Figure 6 As shown, step S360 may also include:

[0109] S363: According to the second instruction, the pilot current of the hydraulic pump is controlled to gradually increase.

[0110] Specifically, after executing the aforementioned step S350, the hydraulic pump is controlled to output hydraulic oil from the second oil port, that is, at this time, the hydraulic oil passes through the hydraulic motor in the reverse direction, which can effectively reduce the speed of the hydraulic motor. And executing step S363, the pilot current of the hydraulic pump is controlled to gradually increase, so that the flow rate and pressure of the hydraulic oil input to the hydraulic motor can be gradually increased, and the swash plate angle of the hydraulic motor is increased, that is, the flow rate and pressure of the hydraulic oil required for the hydraulic motor to rotate to the same angle are increased, so that the speed of the hydraulic motor can be reduced more evenly and smoothly, that is, the speed of the upper vehicle assembly can be reduced more evenly and smoothly.

[0111] S364: According to the pilot current of the hydraulic pump, the control current of the hydraulic valve group is gradually reduced.

[0112] S365: According to the control current of the hydraulic valve group, the opening of the hydraulic valve group is controlled to gradually decrease.

[0113] Specifically, the control current of the hydraulic valve group and the pilot current of the hydraulic pump satisfy a preset equivalence relationship. Therefore, the pilot current controlling the hydraulic pump gradually increases. On the one hand, it can gradually increase the hydraulic oil flow and pressure of the input hydraulic motor. On the other hand, it can serve as a data basis for the gradual decrease of the control current of the hydraulic valve group, so that the trend of the gradual decrease of the control current of the hydraulic valve group matches the trend of the gradual increase of the control current of the hydraulic valve group, thereby further enabling the rotation speed of the upper vehicle assembly to be evenly and smoothly reduced, further reducing the impact generated during the braking process of the upper vehicle assembly, and better realizing flexible braking.

[0114] It should be noted that the control current of the hydraulic valve group is the control current of the aforementioned one-way cut-off proportional reversing valve. The one-way cut-off proportional reversing valve is a proportional valve, and the opening degree can be adjusted by adjusting the size of the control current.

[0115] In one embodiment, the preset equivalence relationship satisfied by the control current of the hydraulic valve group and the pilot current of the hydraulic pump may include:

[0116] I=I max -I max *(IxI-5) / 995;

[0117] Among them, I represents the current control current value of the hydraulic valve group; I max The maximum control current value of the hydraulic valve group; IxI represents the current pilot current value of the hydraulic pump.

[0118] Figure 7 The flowchart of controlling the hydraulic valve group to be in an open state according to the slip instruction provided by an exemplary embodiment of the present application is as follows. Figure 7 As shown, step S340 may include:

[0119] S341: According to the slip instruction, adjust the control current of the hydraulic valve group to the maximum value.

[0120] S342: According to the control current of the hydraulic valve group, the opening of the hydraulic valve group is controlled to be in the maximum state.

[0121] It should be understood that the opening of the hydraulic valve group is proportional to the control current of the hydraulic valve group. By adjusting the control current of the hydraulic valve group to the maximum value, the opening of the hydraulic valve group can be adjusted to the maximum state, and the fifth oil port and the sixth oil port are fully connected. In this way, in the slip state, the resistance to the hydraulic oil can be reduced, and the energy loss of the hydraulic oil when passing through the hydraulic valve group can be reduced, so that the hydraulic oil can circulate smoothly, thereby improving the overall operating efficiency of the closed rotary hydraulic system.

[0122] It should be noted that, in the process of executing step S341, the control current of the hydraulic valve group is usually suddenly changed from zero to the maximum value directly to quickly adjust the opening of the control valve group to the maximum state, thereby reducing the energy loss of the hydraulic oil during the opening adjustment of the control valve group.

[0123] Figure 8 This is a block diagram of a controller provided by an exemplary embodiment of the present application. Figure 8 As shown, Figure 8 As shown, the controller 200 includes one or more processors 210 and a memory 220. The memory 220 is used to store executable instructions of the processor 210, and the processor 210 is used to execute the closed-loop swing control method described in the above embodiment.

[0124] The processor 210 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the controller 200 to perform desired functions.

[0125] The memory 220 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 210 may run the program instructions to implement the control methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0126] In one example, the controller 200 may further include: an input device 230 and an output device 240 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0127] When the controller is a stand-alone device, the input device 230 may be a communication network connector for receiving collected input signals from the first device and the second device.

[0128] In addition, the input device 230 may also include, for example, a keyboard, a mouse, and the like.

[0129] The output device 240 can output various information to the outside, including the determined distance information, direction information, etc. The output device 240 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0130] Of course, to simplify, Figure 8 Only some of the components in the controller 200 related to the present application are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the controller 200 may also include any other appropriate components.

[0131] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0132] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0133] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0134] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0135] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0136] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0137] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A closed rotary hydraulic system, applied to a lifting device, the lifting device comprising a movable lower vehicle, an upper vehicle assembly connected to the lower vehicle via a rotary bearing, and a driving device for driving the upper vehicle assembly to rotate relative to the lower vehicle, the closed rotary hydraulic system being connected to the driving device, characterized in that: The closed rotary hydraulic system comprises: Hydraulic pumps; A hydraulic motor connected to the hydraulic pump via a hydraulic pipeline; A hydraulic valve group, wherein the hydraulic valve group, the hydraulic pump and the hydraulic motor are connected in parallel.

2. The closed rotary hydraulic system according to claim 1, characterized in that: The hydraulic valve group includes a fifth oil port and a sixth oil port, wherein the fifth oil port and the sixth oil port are respectively connected to different hydraulic pipelines between the hydraulic pump and the hydraulic motor; The hydraulic valve group comprises: A first branch, connected to the fifth oil port and the sixth oil port; a second branch, connected in parallel with the first branch, the second branch being connected to the fifth oil port and the sixth oil port; a third branch, connected to the first branch and the second branch; A one-way cut-off proportional reversing valve is arranged on the third branch; A plurality of one-way valves, some of which are arranged on the first branch, and another portion of which are arranged on the second branch.

3. The closed rotary hydraulic system according to claim 2, characterized in that: The node between the third branch and the first branch is the seventh oil port; the node between the third branch and the second branch is the eighth oil port; The plurality of one-way valves include: a first one-way valve, provided on the first branch and located between the seventh oil port and the fifth oil port, the first one-way valve allowing hydraulic oil to flow from the seventh oil port to the fifth oil port; a second one-way valve, provided on the first branch and located between the seventh oil port and the sixth oil port, the second one-way valve allowing the hydraulic oil to flow from the seventh oil port to the sixth oil port; a third one-way valve, provided on the second branch and located between the fifth oil port and the eighth oil port, the third one-way valve allowing the hydraulic oil to flow from the fifth oil port to the eighth oil port; The fourth one-way valve is arranged on the second branch and is located between the sixth oil port and the eighth oil port. The fourth one-way valve allows the hydraulic oil to flow from the sixth oil port to the eighth oil port.

4. A lifting device, characterized in that: include: movable drop-off; An upper car assembly connected to the lower car via a slewing bearing; A driving device, used for driving the upper vehicle assembly to rotate relative to the lower vehicle; A closed rotary hydraulic system as claimed in any one of claims 1 to 3, connected to the drive device; A controller is communicatively connected to the hydraulic pump and the hydraulic valve group.

5. The lifting device according to claim 4, characterized in that The lifting equipment also includes: A detection device is communicatively connected to the controller, and the detection device is used to detect the rotation angle of the upper vehicle assembly (320).

6. A closed rotation control method, characterized in that: The controller used in the lifting equipment according to claim 4 or 5; The closed rotation control method comprises: receiving a first instruction for moving the handle to a first working position, and controlling the hydraulic pump to output hydraulic oil; wherein the first instruction represents an instruction for controlling the upper vehicle assembly to rotate toward a target working direction; According to the first instruction, controlling the hydraulic valve group to be in a closed state; receiving a sliding instruction for the handle to move to a neutral position; wherein the sliding instruction represents an instruction for the upper vehicle assembly to keep sliding toward the target working direction; According to the sliding instruction, the hydraulic valve group is controlled to be in an open state; receiving a second instruction for moving the handle to a second working position, and controlling the hydraulic pump to output hydraulic oil; wherein the second instruction represents an instruction for controlling the upper vehicle assembly to rotate in a direction opposite to the target working direction; According to the second instruction, the opening degree of the hydraulic valve group is controlled to gradually decrease.

7. The closed rotation control method according to claim 6, characterized in that: The lifting equipment further comprises a detection device, the detection device being communicatively connected to the controller, the detection device being used to detect the rotation angle of the upper vehicle assembly; According to the first instruction, controlling the hydraulic valve group to be in a closed state includes: According to the first instruction, obtaining a first angle signal output by the detection device; If the first angle signal indicates that the rotation angle change of the upper vehicle assembly is zero, the hydraulic valve group is controlled to be in a closed state.

8. The closed rotation control method according to claim 6, characterized in that: The lifting equipment further comprises a detection device, the detection device being communicatively connected to the controller, the detection device being used to detect the rotation angle of the upper vehicle assembly; According to the second instruction, controlling the opening of the hydraulic valve group to gradually decrease comprises: acquiring, according to the second instruction, a second angle signal output by the detection device; If the second angle signal indicates that the upper vehicle assembly continues to move toward the target working direction, the opening of the hydraulic valve group is controlled to gradually decrease.

9. The closed rotation control method according to claim 6, characterized in that: According to the second instruction, controlling the opening of the hydraulic valve group to gradually decrease comprises: According to the second instruction, controlling the pilot current of the hydraulic pump to gradually increase; According to the pilot current of the hydraulic pump, the control current of the hydraulic valve group is controlled to gradually decrease; wherein the control current of the hydraulic valve group and the pilot current of the hydraulic pump satisfy a preset equal relationship; According to the control current of the hydraulic valve group, the opening degree of the hydraulic valve group is controlled to gradually decrease.

10. The closed rotation control method according to claim 6, characterized in that: According to the slip instruction, controlling the hydraulic valve group to be in an open state comprises: According to the slip instruction, adjusting the control current of the hydraulic valve group to a maximum value; According to the control current of the hydraulic valve group, the opening degree of the hydraulic valve group is controlled to be in a maximum state.

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