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

Abstract

This application relates to a closed rotary hydraulic system, lifting equipment, and closed rotary control method, all of which are related to the technical field of engineering machinery. The closed rotary hydraulic system includes a hydraulic pump, a hydraulic motor, and a hydraulic valve group. The hydraulic motor and the hydraulic pump are connected by a hydraulic pipeline. The hydraulic valve group, the hydraulic pump, and the hydraulic motor are connected in parallel. The closed rotary hydraulic system, lifting equipment, and closed rotary control method can achieve rapid starting and flexible braking.

Description

TECHNICAL FIELD

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

[0002] The hoisting device generally has the characteristics of large inertia, large impact load during starting and braking during the rotary operation process, and the hydraulic system thereof generally uses a closed rotary hydraulic system. The so-called closed rotary hydraulic system refers to that the oil inlet pipe of the hydraulic pump and the oil return pipe of the hydraulic motor are directly connected, the hydraulic oil circulates between the hydraulic pump and the hydraulic motor, and a relatively closed loop is formed, and the energy loss is small. In the related technology, the closed rotary hydraulic system cannot simultaneously consider the two aspects of fast starting response and small braking impact. SUMMARY

[0003] In order to solve the above technical problems, the embodiments of the present application provide a closed rotary hydraulic system, a hoisting device and a closed rotary control method, which can simultaneously consider the two aspects of fast starting response and small braking impact, and realize 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 hoisting device, the hoisting device comprising 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, the closed rotary hydraulic system being used to be connected with the driving device, and the closed rotary hydraulic system comprising:

[0005] a hydraulic pump;

[0006] a hydraulic motor connected with the hydraulic pump through a hydraulic pipeline;

[0007] a hydraulic valve group, the hydraulic valve group, the hydraulic pump and the hydraulic motor being connected in parallel.

[0008] According to the first aspect of the present application, the hydraulic valve group comprises 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 to the fifth oil port and the sixth oil port in parallel with the first branch;

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

[0013] a one-way check proportional directional valve is arranged on the third branch;

[0014] a plurality of one-way valves, wherein a part of the one-way valves are arranged on the first branch, and another part of the one-way valves are arranged on the second branch.

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

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

[0017] a first one-way valve arranged on the first branch and 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;

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

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

[0020] a fourth one-way valve arranged on the second branch and between the sixth oil port and the eighth oil port, the fourth one-way valve allowing hydraulic oil to flow from the sixth oil port to the eighth oil port.

[0021] The second aspect also provides a hoisting equipment, comprising:

[0022] a movable lower vehicle;

[0023] an upper vehicle assembly connected with the lower vehicle through a slewing bearing;

[0024] a driving device for driving the upper vehicle assembly to slewing relative to the lower vehicle;

[0025] a closed slewing hydraulic system as described in the foregoing embodiments, connected with the driving device;

[0026] a controller communicatively connected with the hydraulic pump and the hydraulic valve group.

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

[0028] a detection device communicatively connected with the controller, the detection device being configured to detect a slewing angle of the upper vehicle assembly.

[0029] The third aspect also provides a closed slewing control method applied to the controller in the hoisting equipment as described in the foregoing embodiments.

[0030] The closed slewing control method comprises:

[0031] receiving a first instruction of moving the handle to a first station, and controlling the hydraulic pump to output hydraulic oil; wherein the first instruction represents an instruction of controlling the superstructure assembly to rotate towards a target working direction;

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

[0033] receiving a slippage instruction of moving the handle to a neutral position; wherein the slippage instruction represents an instruction of keeping the superstructure assembly to slip towards the target working direction;

[0034] controlling the hydraulic valve group to be in an open state according to the slippage instruction;

[0035] receiving a second instruction of moving the handle to a second station, and controlling the hydraulic pump to output hydraulic oil; wherein the second instruction represents an instruction of controlling the superstructure assembly to rotate towards a direction opposite to the target working direction;

[0036] controlling the opening degree of the hydraulic valve group to gradually decrease according to the second instruction.

[0037] According to the third aspect of the present application, the hoisting equipment further comprises a detection device, which is in communication connection with the controller, and is used for detecting the rotation angle of the superstructure assembly.

[0038] The controlling the hydraulic valve group to be in a closed state according to the first instruction comprises:

[0039] acquiring a first angle signal output by the detection device according to the first instruction;

[0040] if the first angle signal represents that the rotation angle change amount of the superstructure assembly is zero, controlling the hydraulic valve group to be in a closed state.

[0041] According to the third aspect of the present application, the hoisting equipment further comprises a detection device, which is in communication connection with the controller, and is used for detecting the rotation angle of the superstructure assembly.

[0042] The controlling the opening degree of the hydraulic valve group to gradually decrease according to the second instruction comprises:

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

[0044] If the second angle signal represents that the upper car assembly continues to move towards the target working direction, the opening degree of the hydraulic valve group is gradually reduced.

[0045] According to a third aspect of the present application, the gradually reducing the opening degree of the hydraulic valve group according to the second instruction comprises:

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

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

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

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

[0050] According to the slip instruction, the control current of the hydraulic valve group is adjusted 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, the hoisting equipment and the closed rotary control method provided by the embodiments of the present application have the following advantages. In the starting process, the hydraulic valve group is controlled to cut off the hydraulic pipeline where the hydraulic valve group is located, so that the hydraulic oil is prevented from being depressurized, and the effect of fast response of the hydraulic motor to start is achieved. In the slip process, the opening degree of the hydraulic valve group is gradually reduced, so that the flow in the hydraulic pipeline where the hydraulic valve group is located is gradually reduced, and the upper car assembly in the slip state can gradually reduce the rotating speed until stopping, which can effectively reduce the impact on the upper car assembly in the braking process and achieve the effect of flexible braking. After the flexible braking, the advantages of the first aspect are used to assist the fast start of the upper car assembly 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 in the reversing process of the upper car assembly. BRIEF DESCRIPTION OF DRAWINGS

[0053] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application taken in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and serve to explain the present application, but do not limit the present application. In the drawings, the same reference numerals represent the same components or steps.

[0054] Figure 1 Structure diagram of a hoisting device provided for an exemplary embodiment of the present application.

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

[0056] Figure 3 Flow diagram of a closed rotary control method provided for an exemplary embodiment of the present application.

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

[0058] Figure 5 Flow diagram of gradually reducing the opening degree of the hydraulic valve group according to a second instruction provided for an exemplary embodiment of the present application.

[0059] Figure 6 Flow diagram of gradually reducing the opening degree of the hydraulic valve group according to a second instruction provided for another exemplary embodiment of the present application.

[0060] Figure 7 Flow diagram of controlling the hydraulic valve group to be in an open state according to a sliding instruction provided for an exemplary embodiment of the present application.

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

[0062] Reference signs: 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-unidirectional cut-off proportional reversing valve; 138-unidirectional valve; 139-seventh oil port; 140-eighth oil port; 141-first unidirectional valve; 142-second unidirectional valve; 143-third unidirectional valve; 144-fourth unidirectional valve; 200-controller; 210-processor; 220-memory; 230-input device; 240-output device; 300-hoisting device; 310-undercarriage; 320-overhead assembly; 330-rotary bearing. DETAILED DESCRIPTION

[0063] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part but not all of the embodiments of the present application, and the present application can be implemented in many different forms. Therefore, the attached drawings should not be considered as limiting the present application, and the scope of the present application should be determined by the appended claims.

[0064] Figure 1 Structure diagram of the hoisting equipment provided for an exemplary embodiment of the present application. Figure 2 Schematic diagram of the closed rotary hydraulic system provided for an exemplary embodiment of the present application. As shown in Figure 1 and Figure 2 The hoisting equipment 300 provided by the embodiments of the present application can 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 working driving device. 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 brake the rotating upper vehicle assembly 320. The controller is in communication connection with the closed rotary hydraulic system 100, 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 below.

[0065] As shown in Figure 2 The closed rotary hydraulic system 100 provided by the embodiments of the present application can 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 in communication with the first oil port 111 through a hydraulic pipeline. The fourth oil port 122 is in communication with the second oil port 112 through a hydraulic pipeline.

[0066] It should be understood that, in the case that the first oil port 111 is 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, then output from the fourth oil port 122, and then enters the hydraulic pump 110 through the second oil port 112, to realize closed circulation.

[0067] Similarly, when the second oil port 112 serves as the oil outlet of the hydraulic pump 110, the fourth oil port 122 serves as the oil inlet of the hydraulic motor 120, the third oil port 121 serves as the oil outlet of the hydraulic motor 120, and the first oil port 111 serves as the oil inlet of the hydraulic pump 110. In other words, hydraulic oil is output from the second oil port 112, input into the hydraulic motor 120 through the fourth oil port 122, driving the hydraulic motor 120, then output from the third oil port 121, and then enters the hydraulic pump 110 through the first oil port 111, thus achieving a closed cycle.

[0068] In one embodiment, the aforementioned drive device is a rotary reducer, and the output shaft of the hydraulic motor 120 can be mechanically connected to the output shaft of the rotary reducer, and the rotary reducer can be detachably connected to the upper vehicle assembly 320. After the hydraulic oil drives the hydraulic motor 120 to operate, 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 directions of rotation of the upper vehicle assembly 320 are also opposite.

[0069] like Figure 2 As shown, the closed rotary hydraulic system 100 can 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 assembly 130 controls the connection or disconnection of the hydraulic line between the fifth oil port 131 and the sixth oil port 133, and the opening of the hydraulic valve assembly 130 is proportionally adjusted by the control current. Specifically, as the control current increases, the opening of the hydraulic valve assembly 130 increases proportionally, while as the control current decreases, the opening of the hydraulic valve assembly 130 decreases proportionally. In actual applications, the lifting equipment 300 generally has a non-free-slip operating mode and a free-slip operating mode. Operators can manually switch between the different free-slip operating modes. The operating state of the hydraulic valve assembly 130 varies depending on the free-slip operating mode, as 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, driving the upper vehicle assembly 320 to rotate through the hydraulic motor 120.

[0072] In the free sliding mode, the hydraulic valve group 130 has different working states according to the position of the handle. Specifically, when the handle is in the neutral position, the fifth oil port 131 and the sixth oil port 133 are in communication, and the upper assembly 320 can slide freely; in the initial starting state, the handle is switched from the neutral 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 the closed state, and the hydraulic pump 110 drives the hydraulic motor 120 to work. Since in the starting state, the hydraulic oil does not flow between the fifth oil port 131 and the sixth oil port 133, the hydraulic oil does not exist in the pressure relief condition, so the hydraulic motor 120 can be effectively guaranteed to respond quickly, so that the upper assembly 320 can be quickly started; in the sliding state of the upper assembly 320 (the upper assembly 320 slides under the action of inertia, the hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133 is in a communication state, and the handle is in the neutral position), taking the right sliding process of the upper assembly 320 as an example (for example, the handle is currently in the first position, that is, the right position), in this process, the handle is switched from the neutral position to the second position (for example, the handle is switched from the neutral position to the left position), the upper assembly 320 rotates, and then the opening of the hydraulic valve group 130 can be gradually reduced (by gradually reducing the control current of the hydraulic valve group 130) to gradually reduce the flow in the hydraulic pipeline between the fifth oil port 131 and the sixth oil port 133, so that the upper assembly 320 in the sliding state can gradually reduce the rotating speed until it stops, which can effectively reduce the impact on the upper assembly 320 in the braking process, and realize the effect of flexible braking.

[0073] It should be noted that after flexible braking, if the handle is switched from the second position to the neutral position (for example, the handle is switched from the left position to the neutral position), the upper 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 upper assembly 320 will rotate to the right after braking, realizing rotation in the direction opposite to the direction before braking.

[0074] Regarding the control process of the foregoing flexible braking, the closed rotation control method will be described in detail below.

[0075] Therefore, the closed rotary hydraulic system 100 provided in the embodiment of the present application, firstly, 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, thereby preventing the hydraulic oil from being depressurized and achieving the effect of rapid response starting of the hydraulic motor 120; secondly, 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 its 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; thirdly, after flexible braking, with the help of the advantages described 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 reducing 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 assembly 130 may further include a one-way cut-off proportional reversing valve 137 and multiple one-way valves 138. The one-way cut-off proportional reversing valve 137 is disposed on the third branch 136 to control the opening and closing of the third branch 136. Some of the one-way valves 138 are disposed on the first branch 134, while another portion of the one-way valves 138 are disposed on the second branch 135. In actual application, the one-way cut-off proportional reversing valve 137 can connect or block the fifth oil port 131 and the sixth oil port 133 by controlling the opening and closing of the third branch 136.

[0078] In one embodiment, when the control current is at its 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 of the third branch 136 and the first branch 134 is defined as the seventh oil port 139, and the node of the third branch 136 and the second branch 135 is defined as the eighth oil port 140. The plurality of one-way valves 138 can 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 hydraulic oil to flow from the seventh oil port 139 to the fifth oil port 131, that is, to prevent 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 hydraulic oil to flow from the seventh oil port 139 to the sixth oil port 133, that is, to prevent hydraulic oil 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, the third one-way valve 143 is arranged between the fifth oil port 131 and the eighth oil port 140, and the third one-way valve 143 is used to allow hydraulic oil to flow from the fifth oil port 131 to the eighth oil port 140, that is, to prevent 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, and the fourth one-way valve 144 is used to allow hydraulic oil to flow from the sixth oil port 133 to the eighth oil port 140, that is, to prevent hydraulic oil from flowing from the eighth oil port 140 to the sixth oil port 133.

[0080] In combination Figure 2 It should be noted that when the spool of the one-way cut-off proportional directional valve 137 is located at the first valve position, the third branch 136 is connected, and hydraulic oil can pass 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 to reach the sixth oil port 133; hydraulic oil can also pass 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 to reach the fifth oil port 131; the fifth oil port 131 and the sixth oil port 133 are in a connected state, and the up-car assembly 320 can rely on inertia to slide; Figure 3The hydraulic oil cannot flow from the eighth oil port 140 to the seventh oil port 139; in other embodiments, the third branch 136 can also be one-way disconnected, that is, the hydraulic oil cannot flow from the seventh oil port 139 to the eighth oil port 140; the hydraulic oil flowing out of the fifth oil port 131 cannot pass through the one-way cut-off proportional directional valve 137 or the fourth one-way valve 144 to reach the sixth oil port 133 after passing through the third one-way valve 143; the hydraulic oil flowing out of the sixth oil port 133 cannot pass through the one-way cut-off proportional directional valve 137 or the second directional valve to reach the fifth oil port 131 after passing through the fourth one-way valve 144, that is, the effect of cutting off the fifth oil port 131 and the sixth oil port 133 is achieved.

[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 be adjusted according to the actual situation to change the flow direction of the hydraulic oil, which can assist the one-way cut-off proportional directional valve 137 to achieve the effect of controlling the communication or cutting 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 directional valve 137 is a proportional valve, so that in the process of realizing the foregoing flexible braking, by gradually reducing the control current of the one-way cut-off proportional directional valve 137, the opening of the one-way cut-off proportional directional valve 137 can be gradually reduced, 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 upper assembly 320 in the slip state can gradually reduce the rotating speed until stopping, and the flexible braking is realized.

[0083] Figure 3 A flowchart of a closed rotary control method provided for an exemplary embodiment of the present application is shown. As shown in the figure, the closed rotary control method provided by the embodiment of the present application is applied to a controller in a hoisting equipment, that is, the controller can execute the closed rotary control method. The closed rotary control method can include: Figure 4

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

[0085] It should be noted that the handle for controlling the upper assembly generally has three positions, including the first position, the middle position, and the second position. Taking the driver as the 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 introduced in the case that the first position is the right position and the second position is the left position.

[0086] ​Specifically, the controller receives a first instruction that the handle moves to the first station, controls the hydraulic pump to output hydraulic oil from the first oil port, the hydraulic oil enters the hydraulic motor through the third oil port, and the hydraulic motor drives the superstructure assembly to rotate towards the target working direction. With the driver as the reference, in the case that the first station is the right station, the target working direction corresponds to the right rotation.

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

[0088] Specifically, the hydraulic valve group is in the closed state, the fifth oil port and the sixth oil port are in the cut-off state, and the hydraulic oil output by the hydraulic pump drives the hydraulic motor to work. Since in the starting state, the hydraulic oil does not flow between the fifth oil port and the sixth oil port, the hydraulic oil does not exist in the pressure relief state, so the hydraulic motor can be effectively ensured to respond quickly, so that the superstructure assembly can be quickly started.

[0089] S330: Receive a sliding instruction that the handle moves to the middle position.

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

[0091] Specifically, the sliding instruction can be understood as an instruction for controlling the superstructure assembly to keep sliding towards the target working direction. Before the superstructure assembly needs to be braked, in order to reduce the braking impact of the superstructure assembly, the superstructure assembly will be adjusted to a sliding state first, that is, steps S330 and S340 are executed, the hydraulic valve group is controlled to be in the open state, the fifth oil port and the sixth oil port are communicated, and the superstructure assembly can rely on inertia to slide towards the target working direction.

[0092] S350: Receive a second instruction that the handle moves to the second station, and control the hydraulic pump to output hydraulic oil.

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

[0094] Specifically, the second instruction that the handle moves to the second station 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 for controlling the superstructure assembly to rotate in a direction opposite to the target working direction. For example, the second station is the left station, the target working direction is the right rotation, and the direction opposite to the target working direction is to control the superstructure assembly to rotate to the left.

[0095] It should be noted that after step S340 is executed, the superstructure assembly is in a state of sliding towards the target working direction. In this state, moving the handle to the second station means that the superstructure assembly in the sliding state needs to be braked, rather than the superstructure assembly immediately rotating in a direction opposite to the target working direction.

[0096] It should be understood that, in the process of braking the superstructure assembly in the slipping state, the flow in the hydraulic pipeline between the fifth oil port and the sixth oil port is gradually reduced by gradually reducing the opening of the hydraulic valve group, so that the superstructure assembly in the slipping state can gradually reduce the rotating speed until stopping, so that the impact on the superstructure assembly in the braking process can be effectively reduced, and the effect of flexible braking is realized.

[0097] The closed rotary control method provided by the embodiments of the present application has the following advantages. First, in the starting process, the hydraulic valve group is controlled to cut off the hydraulic pipeline where the hydraulic valve group is located, so that the hydraulic oil is prevented from being depressurized, and the effect of fast response of the hydraulic motor to starting is realized. Second, in the slipping process, the opening of the hydraulic valve group is gradually reduced, so that the flow in the hydraulic pipeline where the hydraulic valve group is located is gradually reduced, so that the superstructure assembly in the slipping state can gradually reduce the rotating speed until stopping, the impact on the superstructure assembly in the braking process can be effectively reduced, and the effect of flexible braking is realized. Third, after the flexible braking, the advantages of the first aspect are used to assist the superstructure assembly to start quickly and rotate in the direction opposite to the direction before braking (for example, rotating to the right before braking, and rotating to the left after braking), which is beneficial to reducing the impact in the reversing process of the superstructure assembly.

[0098] Figure 4 The flowchart of controlling the hydraulic valve group to be in the closed state according to the first instruction provided by an exemplary embodiment of the present application is shown in FIG. 3. As shown in FIG. 3, step S320 can include the following steps. Figure 5

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

[0100] S322: If the first angle signal represents that the change amount of the rotating angle of the superstructure assembly is zero, the hydraulic valve group is controlled to be in the closed state.

[0101] In an embodiment, the hoisting equipment can further include a detection device, and the detection device can detect the rotating angle of the superstructure assembly.

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

[0103] ​Specifically, after receiving the first instruction, if the first angle signal represents that the rotating angle variation of the loading assembly is zero, it can be considered that the loading assembly is currently in a stationary state, and the loading assembly has the condition to rotate to 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 loading assembly starts quickly. That is, according to the first angle signal output by the detection device, it can be determined whether the loading assembly is currently in a stationary state. If the first instruction is executed when the loading assembly is in a moving state, the loading assembly is driven to rotate to the target working direction, which is easy to cause the loading assembly to be subjected to a large impact and be damaged.

[0104] Figure 5 The flowchart of gradually reducing the opening of the hydraulic valve group according to the second instruction provided by an exemplary embodiment of the present application is shown in FIG. 6. As shown in FIG. 6, step S360 can include: Figure 6

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

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

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

[0108] Figure 6 The flowchart of gradually reducing the opening of the hydraulic valve group according to the second instruction provided by another exemplary embodiment of the present application is shown in FIG. 7. As shown in FIG. 7, step S360 can further include: Figure 7

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

[0110] ​​Specifically, after the foregoing step S350 is performed, the hydraulic pump is controlled to output hydraulic oil from the second oil port, i.e., the hydraulic oil reversely passes through the hydraulic motor at this time, which can effectively reduce the rotating speed of the hydraulic motor. After step S363 is performed, the pilot current of the hydraulic pump is gradually increased, and thus the flow and pressure of the hydraulic oil input to the hydraulic motor are gradually increased, the swash plate angle of the hydraulic motor is increased, i.e., the flow and pressure of the hydraulic oil required for the hydraulic motor to rotate to the same angle are increased, so that the rotating speed of the hydraulic motor, i.e., the rotating speed of the boarding assembly, can be more uniformly and gently reduced.

[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 degree of the hydraulic valve group is gradually reduced.

[0113] Specifically, the control current of the hydraulic valve group and the pilot current of the hydraulic pump satisfy a preset equivalent relationship, and thus, when the pilot current of the hydraulic pump is gradually increased, on one hand, the flow and pressure of the hydraulic oil input to the hydraulic motor are gradually increased, and on the other hand, the pilot current of the hydraulic pump can serve as a basis for gradually reducing the control current of the hydraulic valve group, so that the trend of gradually reducing the control current of the hydraulic valve group is compared with the trend of gradually increasing the control current of the hydraulic valve group, thereby further enabling the rotating speed of the boarding assembly to be uniformly and gently reduced, further reducing the impact generated during the braking process of the boarding assembly, and better achieving 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 directional valve, which belongs to a proportional valve and can adjust the opening degree by adjusting the size of the control current.

[0115] In an embodiment, the preset equivalent relationship between the control current of the hydraulic valve group and the pilot current of the hydraulic pump can include:

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

[0117] wherein I represents the current control current value of the hydraulic valve group; I max I represents the maximum control current value of the hydraulic valve group; and IxI represents the current pilot current value of the hydraulic pump.

[0118] Figure 7 A flowchart for controlling the hydraulic valve group to be in an open state according to a slip instruction is provided in an exemplary embodiment of the present application. As shown in Figure 8 the step S340 can include:

[0119] S341: Adjust the control current of the hydraulic valve group to the maximum value according to the slip instruction.

[0120] S342: Control the opening degree of the hydraulic valve group to be in the maximum state according to the control current of the hydraulic valve group.

[0121] It should be understood that the opening degree of the hydraulic valve group is in a proportional relationship with the control current of the hydraulic valve group, and adjusting the control current of the hydraulic valve group to the maximum value can adjust the opening degree of the hydraulic valve group to the maximum state, so that the fifth oil port and the sixth oil port are completely communicated, so that in the slip state, the resistance of the hydraulic oil can be reduced, the energy loss of the hydraulic oil passing through the hydraulic valve group can be reduced, and the hydraulic oil can be circulated smoothly, and the overall operation efficiency of the closed rotary hydraulic system can be improved.

[0122] It should be noted that in the process of executing step S341, the control current of the hydraulic valve group is usually directly mutated from zero to the maximum value, so as to quickly adjust the opening degree of the control valve group to the maximum state, and reduce the energy loss of the hydraulic oil in the opening degree adjustment process of the control valve group.

[0123] Figure 8 The structural block diagram of the controller provided for an exemplary embodiment of the present application is shown in FIG. 2. As shown in FIG. 2, 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 rotary control method described in the above embodiments. Figure 8 As shown in FIG. 2, 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 rotary control method described in the above embodiments. Figure 8 The processor 210 can be a central processing unit (CPU) or other forms of processing unit having data processing capability and / or instruction execution capability, and can control other components in the controller 200 to perform desired functions.

[0124] The memory 220 can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache memory, and the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions can be stored on the computer readable storage medium, and the processor 210 can run the program instructions to implement the control method of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer readable storage medium.

[0125]

[0126] ​In one example, the controller 200 can further include an input device 230 and an output device 240, which are interconnected to each other through 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 can be a communication network connector for receiving the acquired input signals from the first device and the second device.

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

[0129] The output device 240 can output various information, including the determined distance information, direction information, and the like, to the outside. 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, in order to simplify, ​ Only some of the components of the controller 200 related to the present application are shown in FIG. 2, and components such as a bus, an input / output interface, and the like are omitted. In addition, the controller 200 can include any other appropriate components according to a specific application.

[0131] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote cloud device or server.

[0132] The computer readable storage medium can be a combination of one or more computer readable media. The computer readable media can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0133] The above describes the basic principles of the present application in combination with specific embodiments, but it needs to be pointed out that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details disclosed are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present application to be necessarily implemented with the above specific details.

[0134] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, mean "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0135] It also needs to be pointed out that in the devices, equipment and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent solutions of the present application.

[0136] The above description of the disclosed aspects is provided so that any person skilled in the art can make or use the present application. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can 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 is intended to be accorded 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. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of 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 for use in lifting equipment, wherein the lifting equipment comprises a movable lower vehicle, an upper vehicle assembly connected to the lower vehicle via a rotary bearing, and a drive device for driving the upper vehicle assembly to rotate relative to the lower vehicle, wherein the closed rotary hydraulic system is connected to the drive device and is 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; 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; Wherein, the hydraulic valve group includes: 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 provided on the third branch; A plurality of one-way valves, wherein some of the one-way valves are arranged on the first branch, and another portion of the one-way valves are arranged on the second branch.

2. The closed rotary hydraulic system according to claim 1, 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 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 hydraulic oil to flow from the fifth oil port to the eighth oil port; The fourth one-way valve is provided 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.

3. A lifting equipment, characterized in that: include: movable drop-off; an upper vehicle assembly connected to the lower vehicle via a slewing bearing; A driving device, used for driving the upper vehicle assembly to rotate relative to the lower vehicle; The closed rotary hydraulic system according to claim 1 or 2, connected to the drive device; A controller is communicatively connected to the hydraulic pump and the hydraulic valve group.

4. The lifting equipment according to claim 3, 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.

5. A closed rotation control method, characterized in that: The controller used in the lifting equipment according to claim 3 or 4; 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 slip instruction, controlling the hydraulic valve group 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.

6. The closed rotation control method according to claim 5, characterized in that: The lifting equipment further includes a detection device, the detection device being communicatively connected to the controller, and 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: acquiring, according to the first instruction, 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.

7. The closed rotation control method according to claim 5, characterized in that: The lifting equipment further includes a detection device, the detection device being communicatively connected to the controller, and the detection device being used to detect the rotation angle of the upper vehicle assembly; The step of controlling the opening of the hydraulic valve group to gradually decrease according to the second instruction includes: 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.

8. The closed rotation control method according to claim 5, characterized in that: The step of controlling the opening of the hydraulic valve group to gradually decrease according to the second instruction includes: 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 equivalence relationship; According to the control current of the hydraulic valve group, the opening of the hydraulic valve group is controlled to gradually decrease.

9. The closed rotation control method according to claim 5, characterized in that: The controlling the hydraulic valve group to be in an open state according to the slip instruction includes: 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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