Hydraulic System with Active Heat Dissipation and Redundant Drive and Control Method

Abstract

The present invention discloses a hydraulic system with active heat dissipation and redundant drive and a control method, belonging to the technical field of metallurgical mechanical equipment, including: the first oil port of the first closed-loop pump-controlled hydraulic system is connected to the corresponding oil port of the first cavity of the first four-chamber hydraulic cylinder, and the second oil port is connected to the corresponding oil port of the third cavity of the first four-chamber hydraulic cylinder; the first oil port of the first open-loop valve-controlled circuit is connected to the corresponding oil port of the second cavity of the first four-chamber hydraulic cylinder, and the second oil port is connected to the corresponding oil port of the fourth cavity of the first four-chamber hydraulic cylinder; the first open-loop valve-controlled circuit is used for active heat dissipation when the closed-loop pump-controlled circuit is working normally, and drives and controls the extension and retraction of the four-chamber hydraulic cylinder when the first closed-loop pump-controlled circuit fails. The present invention can enable the hydraulic cylinder to work normally at high temperatures, and after the hydraulic system of the ladle carrier fails, the slag ladle can still achieve emergency retraction or active unloading of the ladle.

Description

Technical Field

[0001] The present invention belongs to the technical field of metallurgical mechanical equipment, and particularly relates to a hydraulic system and a control method with active heat dissipation and redundant drive functions. Background Art

[0002] The ladle carrier is a special transportation vehicle dedicated to the metallurgical industry, mainly used for loading, transporting, and dumping high-temperature slag. During the entire operation process, the ladle holding, tilting, and slag dumping of the vehicle are mainly driven by hydraulic cylinders. However, due to the ladle carrier working in a high-temperature environment for a long time and with a heavy load, problems such as seal damage and pipeline leakage often occur in the hydraulic cylinders and the hydraulic system, resulting in a low working life of the hydraulic cylinders and the hydraulic system. For example, when the boom hydraulic cylinder of the ladle carrier fails to work properly, if the slag ladle of the ladle carrier cannot be urgently retracted or the ladle cannot be unloaded, it is very easy to cause the slag ladle to tip over, the slag to overflow, and trigger safety accidents such as burning the vehicle and injuring people.

[0003] In order to reduce the influence of the high-temperature working environment on the hydraulic cylinder and improve the working life of the hydraulic cylinder, the patent document (CN117927529A) discloses a hydraulic cylinder and a circuit with an active cooling function. By setting a cooling channel in the cylinder body, the heat of the cylinder body can be carried away during the working process, reducing the temperature of the hydraulic cylinder and avoiding the accelerated aging and failure of the hydraulic cylinder seals in a high-temperature environment. Although the above method improves the service life of the hydraulic cylinder in a high-temperature environment, it cannot solve the problem that the ladle carrier cannot be urgently retracted or the ladle cannot be unloaded after a failure of the hydraulic cylinder and the system, and there are still relatively large safety hazards.

[0004] In order to reduce the safety risk after a failure of the hydraulic cylinder and the system of the ladle carrier, the patent document (CN103112383A) connects the rodless cavity and the rod cavity of the boom hydraulic cylinder through a hydraulic valve group when a failure occurs in the hydraulic system and other components during the process of the ladle carrier transporting the slag ladle. Under the action of the gravity of the slag ladle, the boom ladle holding mechanism can still place the slag ladle back on the ground or the vehicle, or complete the ladle unloading. However, this method still has the following deficiencies: (1) After a failure, the movement of the boom hydraulic cylinder is mainly affected by the gravity of the slag ladle, and it is difficult to actively and stably control the movement of the hydraulic cylinder, which is likely to cause safety problems such as slag splashing. (2) It cannot reduce the influence of harsh working environments such as high temperature on the hydraulic cylinder and the hydraulic system, the working life of the hydraulic cylinder is low, and the hydraulic system still often fails.

[0005] Therefore, in order to improve the working life of the hydraulic cylinder and the system in a high-temperature environment and at the same time reduce the safety hazards after a failure, it is urgent to propose a hydraulic system and a control method with active heat dissipation and redundant drive functions. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention proposes a hydraulic system and a control method with active heat dissipation and redundant drive functions to solve the problems existing in the above prior art.

[0007] To achieve the above object, in a first aspect, for a single actuator system, the present invention provides a hydraulic system with active heat dissipation and redundant drive functions, including: a first four-chamber hydraulic cylinder, a first closed-loop pump control circuit, and a first open-loop valve control circuit. Among them, the first four-chamber hydraulic cylinder includes a first chamber, a second chamber, a third chamber, and a fourth chamber, and corresponding oil ports are provided; both the closed-loop pump control circuit and the first open-loop valve control circuit include a first oil port and a second oil port;

[0008] The first oil port of the first closed-loop pump control circuit is connected to the oil port corresponding to the first chamber of the first four-chamber hydraulic cylinder, and the second oil port of the first closed-loop pump control circuit is respectively connected to the oil port corresponding to the third chamber of the first four-chamber hydraulic cylinder. The first closed-loop pump control circuit is used to drive and control the extension and retraction of the first four-chamber hydraulic cylinder;

[0009] The first oil port of the first open-loop valve control circuit is respectively connected to the oil port corresponding to the second chamber of the first four-chamber hydraulic cylinder, and the second oil port of the first open-loop valve control circuit is connected to the oil port corresponding to the fourth chamber of the first four-chamber hydraulic cylinder. The first open-loop valve control circuit is used for active heat dissipation when the closed-loop pump control circuit is working normally, and when the closed-loop pump control circuit fails, it drives and controls the extension and retraction of the first four-chamber hydraulic cylinder.

[0010] Optionally, the first closed-loop pump control circuit includes a first power source, a first closed-loop hydraulic pump motor, a first make-up oil hydraulic check valve, a second make-up oil hydraulic check valve, a first oil source, a first relief valve, a second relief valve, a first hot oil shuttle valve, a first speed control valve, a fuel tank, a first pressure sensor, a second pressure sensor, and a first displacement sensor;

[0011] The first closed-loop hydraulic pump motor is shaft-connected to the first power source;

[0012] The first oil port of the first closed-loop hydraulic pump motor is connected to the oil outlet of the first hydraulic check valve, the pilot control oil port of the second make-up oil hydraulic check valve, the oil inlet of the first relief valve, the first inlet of the first hot oil shuttle valve, the detection end of the first pressure sensor, and the A oil port of the first four-chamber hydraulic cylinder on the same oil path. The second oil port of the first closed-loop hydraulic pump motor is connected to the oil outlet of the second hydraulic check valve, the pilot control oil port of the first make-up oil hydraulic check valve, the oil inlet of the second relief valve, the second inlet of the first hot oil shuttle valve, the detection end of the second pressure sensor, and the C oil port of the first four-chamber hydraulic cylinder on the same oil path.

[0013] The inlet ports of the first make-up oil hydraulic check valve are respectively connected to the inlet ports of the second make-up oil hydraulic check valve, the first oil source, the outlet port of the first relief valve, the outlet port of the second relief valve and the inlet port of the second make-up oil hydraulic check valve on the same oil path; the outlet port of the first hot oil shuttle valve is connected to the inlet port of the first speed control valve; the outlet port of the first speed control valve is connected to the fuel tank. The detection end of the first displacement sensor is connected to the first four-chamber hydraulic cylinder.

[0014] Optionally, the first open valve control loop includes a third relief valve, a first check valve; a fourth relief valve, a second check valve, a second power source, an open hydraulic pump, a fifth relief valve, a third power source, a cooling fan, a cooler, an anti-blocking check valve, a proportional directional valve, a switching valve;

[0015] The open hydraulic pump is shaft-connected to the second power source;

[0016] The cooling fan is shaft-connected to the third power source;

[0017] The first oil port of the proportional directional valve is connected to the first oil port of the switching valve, the inlet port of the third relief valve, the outlet port of the first check valve, the detection end of the first temperature sensor and the B oil port of the first four-chamber hydraulic cylinder on the same oil path; the second oil port of the proportional directional valve is connected to the second oil port of the switching valve, the inlet port of the fourth relief valve, the outlet port of the second check valve, the detection end of the second temperature sensor and the D oil port of the first four-chamber hydraulic cylinder on the same oil path; the third oil port of the proportional directional valve is connected to the outlet port of the open hydraulic pump and the inlet port of the fifth relief valve on the same oil path; the inlet port of the open hydraulic pump and the outlet port of the fifth relief valve are both connected to the fuel tank; the fourth oil port of the proportional directional valve is connected to the inlet port of the cooler and the inlet port of the anti-blocking check valve on the same oil path; the outlet port of the cooler and the outlet port of the anti-blocking check valve are both connected to the fuel tank.

[0018] In a second aspect, for a multi-actuator system, the present invention further includes a second four-chamber hydraulic cylinder, a second closed-loop pump control loop, a third closed-loop pump control loop, and a second open valve control loop. Among them, the second four-chamber hydraulic cylinder includes a first chamber, a second chamber, a third chamber and a fourth chamber, and corresponding oil ports are provided;

[0019] The first oil ports of the second closed-loop pump control circuit and the third closed-loop pump control circuit are connected to the oil ports corresponding to the first chambers of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The second oil ports of the second closed-loop pump control circuit and the third closed-loop pump control circuit are connected to the oil ports corresponding to the third chambers of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The second closed-loop pump control circuit is used to drive and control the extension and retraction of the first four-chamber hydraulic cylinder. The third closed-loop pump control circuit is used to drive and control the extension and retraction of the second four-chamber hydraulic cylinder;

[0020] The first oil port of the second open-loop valve control circuit is respectively connected to the oil ports corresponding to the second chambers of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The second oil port of the second open-loop valve control circuit is connected to the oil ports corresponding to the fourth chambers of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The second open-loop valve control circuit is used for active heat dissipation when the second closed-loop pump control circuit and the third closed-loop pump control circuit are working normally. When the second closed-loop pump control circuit or the third closed-loop pump control circuit fails, it drives and controls the extension and retraction of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder.

[0021] The second closed-loop pump control circuit includes a first power source, a first closed-loop hydraulic pump motor, a first make-up oil hydraulic check valve, a second make-up oil hydraulic check valve, a first oil source, a first relief valve, a second relief valve, a first hot oil shuttle valve, a first speed control valve, a fuel tank, a first pressure sensor, a second pressure sensor, and a first displacement sensor; the first closed-loop hydraulic pump motor is shaft-connected to the first power source;

[0022] The first oil port of the first closed-loop hydraulic pump motor is connected to the oil outlet of the first hydraulic check valve, the pilot control oil port of the second make-up oil hydraulic check valve, the oil inlet of the first relief valve, the first oil inlet of the first hot oil shuttle valve, the detection end of the first pressure sensor, and the A oil port of the first four-chamber hydraulic cylinder on the same oil path. The second oil port of the first closed-loop hydraulic pump motor is connected to the oil outlet of the second hydraulic check valve, the pilot control oil port of the first make-up oil hydraulic check valve, the oil inlet of the second relief valve, the second oil inlet of the first hot oil shuttle valve, the detection end of the second pressure sensor, and the C oil port of the first four-chamber hydraulic cylinder on the same oil path.

[0023] The oil inlets of the first make-up oil hydraulic check valve are respectively connected to the oil inlets of the second make-up oil hydraulic check valve, the first oil source, the oil outlet of the first relief valve, the oil outlet of the second relief valve, and the oil inlets of the second make-up oil hydraulic check valve on the same oil path; the oil outlet of the first hot oil shuttle valve is connected to the oil inlet of the first speed control valve; the oil outlet of the first speed control valve is connected to the fuel tank. The detection end of the first displacement sensor is connected to the first four-chamber hydraulic cylinder.

[0024] The third closed-loop pump control circuit includes a second displacement sensor, a fourth power source, a second closed-loop hydraulic pump motor, a third oil replenishing pilot-operated check valve, a fourth oil replenishing pilot-operated check valve, a second oil source, a sixth relief valve, a seventh relief valve, a second hot oil shuttle valve, a second speed control valve, a fuel tank, a third pressure sensor, and a fourth pressure sensor;

[0025] The second closed-loop hydraulic pump motor is shaft-connected to the fourth power source;

[0026] The first oil port of the second closed-loop hydraulic pump motor is connected to the pilot control oil port of the fourth oil replenishing pilot-operated check valve, the oil outlet of the third oil replenishing pilot-operated check valve, the oil inlet of the sixth relief valve, the first oil inlet of the second hot oil shuttle valve, the detection end of the third pressure sensor, and the A oil port of the second four-chamber hydraulic cylinder on the same oil path; the second oil port of the second closed-loop hydraulic pump motor is connected to the pilot control oil port of the third oil replenishing pilot-operated check valve, the oil outlet of the fourth oil replenishing pilot-operated check valve, the oil inlet of the seventh relief valve, the second oil inlet of the second hot oil shuttle valve, the detection end of the fourth pressure sensor, and the C oil port of the second four-chamber hydraulic cylinder on the same oil path.

[0027] The oil inlet of the third oil replenishing pilot-operated check valve is connected to the oil inlets of the fourth oil replenishing pilot-operated check valve, the oil outlet of the sixth relief valve, the oil outlet of the seventh relief valve, the second oil source, and the oil inlet of the fourth oil replenishing pilot-operated check valve on the same oil path; the oil outlet of the second hot oil shuttle valve is connected to the oil inlet of the second speed control valve; the oil outlet of the second speed control valve is connected to the fuel tank. The detection end of the second displacement sensor is connected to the second four-chamber hydraulic cylinder.

[0028] The second open-loop valve control circuit includes a third relief valve, a first check valve; a fourth relief valve, a second check valve, a second power source, an open-loop hydraulic pump, a fifth relief valve, a third power source, a cooling fan, a cooler, an anti-blocking check valve, a proportional direction valve, and a switch valve;

[0029] The open hydraulic pump is connected to the second power source shaft; the cooling fan is connected to the third power source shaft; the first oil port of the proportional direction valve is connected to the first oil port of the switch valve, the oil inlet of the third relief valve, the oil outlet of the first check valve, the detection end of the first temperature sensor, and the B oil port of the first four-chamber hydraulic cylinder on the same oil path; the second oil port of the proportional direction valve is connected to the second oil port of the switch valve, the oil inlet of the fourth relief valve, the oil outlet of the second check valve, the detection end of the second temperature sensor, and the D oil port of the first four-chamber hydraulic cylinder on the same oil path; the third oil port of the proportional direction valve is connected to the oil outlet of the open hydraulic pump and the oil inlet of the fifth relief valve on the same oil path; the oil inlet of the open hydraulic pump and the oil outlet of the fifth relief valve are both connected to the fuel tank; the fourth oil port of the proportional direction valve is connected to the oil inlet of the cooler and the oil inlet of the anti-blocking check valve on the same oil path; the oil outlet of the cooler and the oil outlet of the anti-blocking check valve are both connected to the fuel tank.

[0030] Thirdly, the present invention also provides a control method for a hydraulic system with active heat dissipation and redundant drive functions, including the following steps:

[0031] When the first closed pump control loop is working normally and the first four-chamber hydraulic cylinder is not moving, if the oil temperature is lower than the preset threshold, the first open valve control loop does not perform active heat dissipation, and the positions of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are kept stationary; if the oil temperature is higher than the preset threshold, the first open valve control loop performs active heat dissipation, the switch valve opens, and cooling oil is pumped into the corresponding cavity by the hydraulic pump to reduce the working temperature, and the pumped high-temperature oil returns to the fuel tank after being cooled by the cooler.

[0032] When the first closed pump control loop is working normally and the first four-chamber hydraulic cylinder is moving, the first open valve control loop does not perform active heat dissipation, and the natural flow and cooling of the oil are achieved through the extension and retraction of the piston rod of the first four-chamber hydraulic cylinder.

[0033] When the first closed pump control loop fails, the first open valve control loop is converted into a redundant drive loop to take over the work of the first closed pump control loop, and the speed and displacement of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are controlled by adjusting the speed of the power source and the proportional direction valve.

[0034] Fourthly, when there are multiple actuators in the system, when the second closed pump control loop and the third closed pump control loop are working normally, the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are not moving and the oil temperature is relatively low, the second open valve control loop does not work; if the oil temperature is relatively high, the second open valve control loop performs active heat dissipation, the switch valve opens, and cooling oil is pumped into the corresponding cavity by the hydraulic pump to reduce the working temperature, and the pumped high-temperature oil returns to the fuel tank after being cooled by the cooler.

[0035] When the second and third closed-loop pump control circuits are working properly and the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are moving, the natural flow and cooling of the hydraulic oil are achieved by the extension and retraction of the piston rods of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The second and third closed-loop pump control circuits respectively adjust the speeds of the second and fourth power sources according to the feedback signals of the first and second displacement sensors to achieve the synchronous control of multiple actuators;

[0036] When the first closed-loop pump control circuit or the second closed-loop pump control circuit fails, the second open-loop valve control circuit is converted into a redundant drive circuit to take over the work of the first or second closed-loop pump control circuit, and the speeds and displacements of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are controlled by adjusting the speed of the power source and the proportional directional valve.

[0037] Compared with the prior art, the present invention has the following advantages and technical effects:

[0038] The present invention provides a hydraulic system with active heat dissipation and redundant drive functions. The system uses a closed-loop pump control circuit to drive the movement of the hydraulic cylinder, avoiding the problem of large throttling losses in the traditional valve control circuit, which causes serious heating of the hydraulic system. At the same time, in a high-temperature working environment, the first open-loop valve control circuit can continuously pump cooling hydraulic oil into the four-chamber hydraulic cylinder, pump out the high-temperature hydraulic oil, reduce the working temperature of the hydraulic cylinder and the hydraulic oil, and avoid the problem of low working life of the hydraulic cylinder affected by high temperature; secondly, after the closed-loop pump control circuit fails, the open-loop valve control circuit can be converted from the active heat dissipation mode to the redundant drive mode to take over the pump control circuit to drive the movement of the hydraulic cylinder, so that after the hydraulic system of the ladle carrier fails, the slag ladle still has the function of emergency retraction or unloading, improving the operation safety of the ladle carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments and descriptions thereof of this application are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0040] Figure 1 is a schematic structural diagram of a single-actuator hydraulic system according to Embodiment 1 of the present invention;

[0041] Figure 2 is a schematic structural diagram of the ladle carrier of the present invention;

[0042] Figure 3 is a schematic structural diagram of a multi-actuator hydraulic system according to Embodiment 2 of the present invention;

[0043] Figure 4 is a schematic flowchart of the control method according to Embodiment 3 of the present invention;

[0044] Among them, 1. The first four-chamber hydraulic cylinder; 1-1. The first chamber of the first four-chamber hydraulic cylinder; 1-2. The second chamber of the first four-chamber hydraulic cylinder; 1-3. The third chamber of the first four-chamber hydraulic cylinder; 2. The first power source; 3. The first closed-circuit hydraulic pump motor; 4. The first oil replenishing pilot-operated check valve; 5. The second oil replenishing pilot-operated check valve; 6. The first oil source; 7. The first relief valve; 8. The second relief valve; 9. The first hot oil shuttle valve; 10. The first speed control valve; 11. The fuel tank; 12. The first pressure sensor; 13. The first temperature sensor; 14. The second temperature sensor; 15. The second pressure sensor; 16. The third relief valve; 17. The first check valve; 18. The fourth relief valve; 19. The second check valve; 20. The second power source; 21. The open-circuit hydraulic pump; 22. The fifth relief valve; 23. The third power source; 24. The cooling fan; 25. The cooler; 26. The anti-clogging check valve; 27. The first closed-circuit pump control circuit; 27.1. The second closed-circuit pump control circuit; 28. The first open-circuit valve control circuit; 28.1. The second open-circuit valve control circuit; 29. The second four-chamber hydraulic cylinder; 29-1. The first chamber of the second four-chamber hydraulic cylinder; 29-2. The second chamber of the second four-chamber hydraulic cylinder; 29-3. The third chamber of the second four-chamber hydraulic cylinder; 29-4. The fourth chamber of the second four-chamber hydraulic cylinder; 30. The first displacement sensor; 31. The second displacement sensor; 32. The fourth power source; 33. The second closed-circuit hydraulic pump motor; 34. The third oil replenishing pilot-operated check valve; 35. The fourth oil replenishing pilot-operated check valve; 36. The second oil source; 37. The sixth relief valve; 38. The seventh relief valve; 39. The second hot oil shuttle valve; 40. The third pressure sensor; 41. The third temperature sensor; 42. The fourth temperature sensor; 43. The fourth pressure sensor; 44. The third closed-circuit pump control circuit; 45. The ladle car head; 46. The boom hydraulic cylinder; 47. The ladle car frame; 48. The outrigger hydraulic cylinder of the ladle car; 49. The boom of the ladle car; 50. The slag ladle; 51. The proportional directional valve; 52. The switching valve; 53. The second speed control valve; 54. The locking pin hydraulic cylinder of the ladle car. Detailed implementation manners

[0045] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The following will describe this application in detail with reference to the drawings and in combination with the embodiments.

[0046] It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0047] Embodiment 1

[0048] As Figure 1As shown in the figure, in this embodiment, a hydraulic system applicable to a single actuator and having active heat dissipation and redundant drive functions is provided. The hydraulic system with active heat dissipation and redundant drive functions includes: a first four-chamber hydraulic cylinder 1, a first closed-loop pump control circuit 27, and an open-loop valve control circuit 28.

[0049] Among them, as Figure 1 shown, the first four-chamber hydraulic cylinder 1 includes a first chamber 1-1 of the first four-chamber hydraulic cylinder, a second chamber 1-2 of the first four-chamber hydraulic cylinder, a third chamber 1-3 of the first four-chamber hydraulic cylinder, and a fourth chamber 1-4 of the first four-chamber hydraulic cylinder. An A port is opened in the first chamber 1-1 of the first four-chamber hydraulic cylinder, a B port is opened in the second chamber 1-2 of the first four-chamber hydraulic cylinder, a C port is opened in the third chamber 1-3 of the first four-chamber hydraulic cylinder, and a D port is opened in the fourth chamber 1-4 of the first four-chamber hydraulic cylinder. The first chamber 1-1 and the third chamber 1-3 of the first four-chamber hydraulic cylinder are used to connect to the first closed-loop pump control hydraulic system 27, and the second chamber 1-2 and the fourth chamber 1-4 of the first four-chamber hydraulic cylinder are used to connect to the first open-loop valve control circuit 28.

[0050] The first oil port of the first closed-loop pump control hydraulic system 27 is connected to the A port of the first four-chamber hydraulic cylinder 1; the second oil port of the first closed-loop pump control circuit 27 is connected to the C port of the first four-chamber hydraulic cylinder 1; the first closed-loop pump control circuit 27 drives and controls the extension and retraction of the first four-chamber hydraulic cylinder 1.

[0051] The first open-loop valve control circuit 28 has active heat dissipation and redundant drive functions; the first oil port of the first open-loop valve control circuit 28 is connected to the B port of the first four-chamber hydraulic cylinder 1, and the second oil port of the first open-loop valve control circuit 28 is connected to the D port of the first four-chamber hydraulic cylinder 1; the first open-loop valve control circuit 28 pumps out the high-temperature oil in the hydraulic cylinder chamber and pumps in the cooling oil when the first closed-loop pump control circuit 27 is working normally, and drives and controls the extension and retraction of the first four-chamber hydraulic cylinder 1 after the first closed-loop pump control circuit 27 fails and cannot work normally.

[0052] As an optional implementation manner, the hydraulic system with active heat dissipation and redundant drive functions can be applied to a ladle carrier. The structural schematic diagram of the ladle carrier is as Figure 2 shown. The ladle carrier mainly includes a ladle carrier head 45, a ladle carrier boom hydraulic cylinder 46, a ladle carrier frame 47, a ladle carrier outrigger hydraulic cylinder 48, a ladle carrier boom 49, a slag ladle 50, and a ladle carrier locking pin hydraulic cylinder 54.

[0053] As an alternative implementation, the first closed-loop pump control circuit 27 includes a first power source 2, a first closed-loop hydraulic pump motor 3, a first make-up oil hydraulic check valve 4, a second make-up oil hydraulic check valve 5, a first oil source 6, a first relief valve 7, a second relief valve 8, a first hot oil shuttle valve 9, a first speed control valve 10, an oil tank 11, a first pressure sensor 12, a second pressure sensor 15, and a first displacement sensor 30;

[0054] The first closed-loop hydraulic pump motor 3 is shaft-connected to the first power source 2;

[0055] The first oil port of the first closed-loop hydraulic pump motor 3 is connected to the oil outlet of the first make-up oil hydraulic check valve 4, the hydraulic pilot oil port of the second make-up oil hydraulic check valve 5, the oil inlet of the first relief valve 7, the first oil inlet of the first hot oil shuttle valve 9, the detection end of the first pressure sensor 12, and the A oil port of the first four-chamber hydraulic cylinder 1 on the same oil path. The second oil port of the first closed-loop hydraulic pump motor 3 is connected to the oil outlet of the second make-up oil hydraulic check valve 5, the hydraulic pilot oil port of the first make-up oil hydraulic check valve 4, the oil inlet of the second relief valve 8, the second oil inlet of the first hot oil shuttle valve 9, the detection end of the second pressure sensor 15, and the C oil port of the first four-chamber hydraulic cylinder on the same oil path.

[0056] The oil inlet of the first make-up oil hydraulic check valve 4 is respectively connected to the oil inlet of the second make-up oil hydraulic check valve 5, the first oil source 6, the oil outlet of the first relief valve 7, the oil outlet of the second relief valve 8, and the oil inlet of the second make-up oil hydraulic check valve 5 on the same oil path; the oil outlet of the first hot oil shuttle valve 9 is connected to the oil inlet of the first speed control valve 10; the oil outlet of the first speed control valve 10 is connected to the oil tank 11. The detection end of the first displacement sensor 30 is connected to the first four-chamber hydraulic cylinder 1.

[0057] Implementably, the first open-loop valve control circuit 28 includes a third relief valve 16, a first check valve 17; a fourth relief valve 18, a second check valve 19, a second power source 20, an open-loop hydraulic pump 21, a fifth relief valve 22, a third power source 23, a cooling fan 24, a cooler 25, an anti-blocking check valve 26, a proportional directional valve 51, and a switch valve 52;

[0058] The open-loop hydraulic pump 21 is shaft-connected to the second power source 20;

[0059] The cooling fan 24 is shaft-connected to the third power source 23;

[0060] The first oil port of the proportional direction valve 51 is connected to the first oil port of the switching valve 52, the oil inlet of the third relief valve 16, the oil outlet of the first check valve 17, the detection end of the first temperature sensor 13, and the B oil port of the first four-chamber hydraulic cylinder 1 on the same oil path; the second oil port of the proportional direction valve 51 is connected to the second oil port of the switching valve 52, the oil inlet of the fourth relief valve 18, the oil outlet of the second check valve 19, the detection end of the second temperature sensor 14, and the D oil port of the first four-chamber hydraulic cylinder 1 on the same oil path; the third oil port of the proportional direction valve 51 is connected to the oil outlet of the open hydraulic pump 21 and the oil inlet of the fifth relief valve 22 on the same oil path; the oil inlet of the open hydraulic pump 21 and the oil outlet of the fifth relief valve 22 are both connected to the fuel tank 11; the fourth oil port of the proportional direction valve 51 is connected to the oil inlet of the cooler 25 and the oil inlet of the anti-blocking check valve 26 on the same oil path; the oil outlet of the cooler 25 and the oil outlet of the anti-blocking check valve 26 are both connected to the fuel tank 11.

[0061] As an alternative embodiment, the first closed hydraulic pump motor 3 is a fixed-displacement closed hydraulic pump motor or a variable-displacement closed hydraulic pump motor; the open hydraulic pump 21 is a fixed-displacement open hydraulic pump or a variable-displacement open hydraulic pump; the first power source 2, the second power source 20, and the third power source 23 are servo motors, stepper motors, DC motors, or switched reluctance motors; the core of the cooler 25 is of a tube-fin or plate-fin structure.

[0062] As an alternative embodiment, the system drive circuit of this embodiment adopts a low-pressure-loss closed-loop pump control circuit. Compared with the traditional first open-loop valve control circuit, there is a large throttling loss during the process of driving the hydraulic cylinder, and a large amount of energy is dissipated in the form of heat at the valve port, resulting in serious heating of the hydraulic system. The closed-loop pump control circuit controls the extension and retraction of the boom hydraulic cylinder by adjusting the power source and the speed of the closed hydraulic pump motor, with basically no throttling loss and reduced internal heating of the hydraulic system.

[0063] The system of this embodiment has a function of dissipating heat from the hydraulic cylinder. When the hydraulic cylinder is not moving, the hydraulic pump continuously pumps out the high-temperature oil in the chambers of the four-chamber hydraulic cylinder and pumps in the cooling oil. When the hydraulic cylinder is moving, the high-temperature oil in the chambers of the four-chamber hydraulic cylinder is discharged and the cooling oil is sucked in. The above process brings the heat of the hydraulic cylinder back to the fuel tank, and the temperature of the oil is reduced by the cooler, ensuring that the working temperature of the cylinder body is within a controllable range, avoiding the rapid failure of the hydraulic cylinder seal due to high temperature and affecting the normal operation of the hydraulic cylinder. At the same time, the liquid chamber in the hollow piston rod of the hydraulic cylinder can reduce the working temperature of the piston rod and avoid burning the seal when the piston rod retracts.

[0064] The system of this embodiment has the function of redundant drive for hydraulic cylinders. After the closed-loop pump circuit fails, the first open-loop valve control circuit can be urgently converted from the active heat dissipation function to the redundant drive function, taking over the closed-loop pump control circuit to drive the four-chamber hydraulic cylinder to extend and retract. For example, after the hydraulic system of the ladle carrier fails, the slag ladle can still be urgently retracted or unloaded, thus avoiding serious safety accidents such as splashing of molten slag caused by out-of-control hydraulic cylinders, resulting in injury to people and damage to vehicles.

[0065] Embodiment 2

[0066] As Figure 3 As shown in the figure, in this embodiment, a hydraulic circuit suitable for a multi-actuator system and having the functions of active heat dissipation and redundant drive is provided, and it can be applied to the boom hydraulic cylinder, outrigger hydraulic cylinder, locking pin hydraulic cylinder and system of the ladle carrier to achieve the safe operation of the boom hydraulic cylinder, outrigger cylinder and locking pin cylinder of the ladle carrier, and to achieve the emergency retraction or unloading of the slag ladle. The hydraulic system with the functions of active heat dissipation and redundant drive includes: the first four-chamber hydraulic cylinder 1, the second four-chamber hydraulic cylinder 29, the second closed-loop pump control circuit 27.1, the third closed-loop pump control circuit 44, and the second open-loop valve control circuit 28.1.

[0067] The composition and connection mode of the second closed-loop pump control circuit 27.1 and the first four-chamber hydraulic cylinder 1 are the same as those of the first closed-loop pump control circuit 27 and the first four-chamber hydraulic cylinder 1 in Embodiment 1, so they will not be described in detail here.

[0068] The second four-chamber hydraulic cylinder 29 includes the first chamber 29-1 of the second four-chamber hydraulic cylinder, the second chamber 29-2 of the second four-chamber hydraulic cylinder, the third chamber 29-3 of the second four-chamber hydraulic cylinder, and the fourth chamber 29-4 of the second four-chamber hydraulic cylinder. An A port is opened in the first chamber 29-1 of the second four-chamber hydraulic cylinder, a B port is opened in the second chamber 29-2 of the second four-chamber hydraulic cylinder, a C port is opened in the third chamber 29-3 of the second four-chamber hydraulic cylinder, and a D port is opened in the fourth chamber 29-4 of the second four-chamber hydraulic cylinder. Among them, the first chamber 29-1 and the third chamber 29-3 of the second four-chamber hydraulic cylinder are used to connect the third closed-loop pump control circuit 44, and the second chamber 29-2 and the fourth chamber 29-4 of the second four-chamber hydraulic cylinder are used to connect the first open-loop valve control circuit 28.

[0069] As an optional implementation manner, the third closed-loop pump control circuit 44 includes a second displacement sensor 31, a fourth power source 32, a second closed-loop hydraulic pump motor 33, a third oil replenishing hydraulic check valve 34, a fourth oil replenishing hydraulic check valve 35, a second oil source 36, a sixth overflow valve 37, a seventh overflow valve 38, a second hot oil shuttle valve 39, a second speed control valve 53, a fuel tank 11, a third pressure sensor 40, and a fourth pressure sensor 43;

[0070] The second closed-circuit hydraulic pump motor 33 is connected to the fourth power source 32 in shaft connection;

[0071] The first oil port of the second closed-circuit hydraulic pump motor 33 is connected to the pilot oil port of the fourth oil replenishing hydraulic control check valve 35, the oil outlet of the third oil replenishing hydraulic control check valve 34, the oil inlet of the sixth relief valve 37, the first oil inlet of the second hot oil shuttle valve 39, the third pressure sensor 40, and the A oil port of the second four-chamber hydraulic cylinder 29 on the same oil path; the second oil port of the second closed-circuit hydraulic pump motor 33 is connected to the pilot oil port of the third oil replenishing hydraulic control check valve 34, the oil outlet of the fourth oil replenishing hydraulic control check valve 35, the oil inlet of the seventh relief valve 38, the second oil inlet of the second hot oil shuttle valve 39, the detection end of the fourth pressure sensor 43, and the C oil port of the second four-chamber hydraulic cylinder 29 on the same oil path.

[0072] The oil inlet of the third oil replenishing hydraulic control check valve 34 is respectively connected to the oil inlet of the fourth oil replenishing hydraulic control check valve 35, the oil outlet of the sixth relief valve 37, the oil outlet of the seventh relief valve 38, and the oil inlet of the second oil source 36 on the same oil path; the oil outlet of the second hot oil shuttle valve 39 is connected to the oil inlet of the second speed control valve 53; the oil outlet of the second speed control valve 53 is connected to the oil tank 11. The detection end of the second displacement sensor 31 is connected to the second four-chamber hydraulic cylinder 29.

[0073] Implementable, the second open-circuit valve control loop 28.1 includes a first temperature sensor 13, a second temperature sensor 14, a third relief valve 16, a first check valve 17; a fourth relief valve 18, a second check valve 19, a second power source 20, an open-circuit hydraulic pump 21, a fifth relief valve 22, a third power source 23, a cooling fan 24, a cooler 25, an anti-blocking check valve 26, a first closed-circuit pump control loop 27, a third temperature sensor 41, a fourth temperature sensor 42, a proportional directional valve 51, a switch valve 52;

[0074] The open-circuit hydraulic pump 21 is connected to the second power source 20 in shaft connection;

[0075] The cooling fan 24 is connected to the third power source 23 in shaft connection;

[0076] The first oil port of the proportional directional valve 51 is connected to the first oil port of the switching valve 52, the inlet oil port of the third overflow valve 16, the outlet oil port of the first check valve 17, the detection end of the first temperature sensor 13, the detection end of the third temperature sensor 41, the B oil port of the second four-chamber hydraulic cylinder 29, and the B oil port of the first four-chamber hydraulic cylinder 1 on the same oil path; the second oil port of the proportional directional valve 51 is connected to the second oil port of the switching valve 52, the inlet oil port of the fourth overflow valve 18, the outlet oil port of the second check valve 19, the second temperature sensor 14, the detection end of the fourth temperature sensor 42, the D oil port of the second four-chamber hydraulic cylinder 29, and the D oil port of the first four-chamber hydraulic cylinder 1 on the same oil path; the third oil port of the proportional directional valve 51 is connected to the outlet oil port of the open hydraulic pump 21 and the inlet oil port of the fifth overflow valve 22 on the same oil path; the inlet oil port of the open hydraulic pump 21 and the outlet oil port of the fifth overflow valve 22 are both connected to the oil tank 11; the fourth oil port of the proportional directional valve 51 is connected to the inlet oil port of the cooler 25 and the inlet oil port of the anti-blocking check valve 26 on the same oil path; the outlet oil port of the cooler 25 and the outlet oil port of the anti-blocking check valve 26 are both connected to the oil tank 11;

[0077] The inlet oil port of the open hydraulic pump 21 and the outlet oil port of the fifth overflow valve 22 are both connected to the oil tank 11; the fourth oil port of the proportional directional valve 51 is connected to the inlet oil port of the cooler 25 and the inlet oil port of the anti-blocking check valve 26 on the same oil path; the outlet oil port of the cooler 25 and the outlet oil port of the anti-blocking check valve 26 are both connected to the oil tank 11.

[0078] Similar to the principle of Embodiment 1, the system of this embodiment also has the functions of hydraulic cylinder heat dissipation and redundant drive. At the same time, considering the synchronization problem during the operation of multiple actuators, the hydraulic cylinder can adjust the rotational speed of the hydraulic pump motor according to the feedback signal of the displacement sensor and the set displacement signal to overcome the influence of eccentric load force, frictional resistance, system leakage, etc. on the displacement of the hydraulic cylinder, and ensure the synchronous operation of multiple actuators.

[0079] Embodiment 3

[0080] In an exemplary embodiment, as Figure 4 shown, a control method for a hydraulic system with active heat dissipation and redundant drive functions is provided. Based on the hydraulic system with active heat dissipation and redundant drive functions described in Embodiment 1 and Embodiment 2, the control method of the system includes the following steps S1 to step S2. Among them:

[0081] Step S1. If the system has a single actuator, the first four-chamber hydraulic cylinder 1 is driven and controlled by the first closed-loop pump control circuit 27. That is, according to the preset speed and displacement and the feedback signal of the first displacement sensor 30, the rotation speed of the first power source 2 is adjusted by means of closed-loop control to change the pressure and flow rate of the first chamber and the third chamber of the first four-chamber hydraulic cylinder 1, so as to control the speed and displacement of the first four-chamber hydraulic cylinder 1. The hot oil shuttle valve returns the hot oil in the first closed-loop pump control circuit 27 through the low-pressure side, and part of the oil returns to the oil tank 11 for cooling to reduce the working temperature of the circuit. The first speed control valve 10 controls the oil return flow rate by changing the valve opening.

[0082] Step S2. The first open-loop valve control circuit 28 continuously pumps low-temperature oil into the second chamber and the fourth chamber of the first four-chamber hydraulic cylinder 1 to reduce the working temperature of the hydraulic cylinder, and takes over the work after the first closed-loop pump control circuit 27 fails, driving the hydraulic cylinder to extend and retract to avoid emergencies.

[0083] Further, step S2 specifically includes:

[0084] Step S21: When the first closed-loop pump control circuit 27 is working properly and the first four-chamber hydraulic cylinder 1 is not moving, and at the same time the first temperature sensor 13 and the second temperature sensor 14 measure that the oil temperature is low, the first open-loop valve control circuit 28 does not perform active heat dissipation. The proportional directional valve 51 switches to the middle position, and the switch valve 52 closes, so that the oil in the second and fourth chambers of the first four-chamber hydraulic cylinder 1 cannot flow out, so as to ensure that the first four-chamber hydraulic cylinder 1 can still maintain its position in case of a failure of the first closed-loop pump control circuit 27 or a large external load, and improve the load holding capacity of the hydraulic cylinder.

[0085] Step S22: When the first closed-loop pump control circuit 27 is working properly and the first four-chamber hydraulic cylinder 1 is not moving, and at the same time any one of the first temperature sensor 13 and the second temperature sensor 14 measures that the oil temperature is high, the first open-loop valve control circuit 28 is an active heat dissipation circuit at this time and performs active heat dissipation. The proportional directional valve 51 switches to the left position, and the switch valve 52 opens. The open-loop hydraulic pump 21 will pump cooling oil into the second chamber and the fourth chamber at a certain rotation speed according to the working temperature of the oil. The high-temperature oil inside the hydraulic cylinder returns to the oil tank 11 from the fourth oil port of the proportional directional valve 51 through the cooler 25. By continuously pumping oil by the open-loop hydraulic pump 21, the heat inside the hydraulic cylinder can be transferred to the cooler. The cooler 25 drives the cooling fan 24 through the third power source, and the oil temperature is reduced by means of air cooling. After the oil is cooled, it returns to the oil tank 11.

[0086] Step S23: When the first closed-loop pump control circuit 27 operates normally and the first four-chamber hydraulic cylinder 1 moves, the first open-loop valve control circuit 28 is an active heat dissipation circuit but does not perform active heat dissipation. When the piston rod of the first four-chamber hydraulic cylinder 1 extends, the proportional directional valve 51 switches to the right position, and the cooling oil in the oil tank 11 is pumped into the fourth chamber through the second one-way valve 19, and the high-temperature oil in the second chamber is pressed into the oil tank 11 for cooling; when the piston rod of the first four-chamber hydraulic cylinder 1 retracts, the proportional directional valve 51 switches to the left position, and the cooling oil in the oil tank 11 is pumped into the second chamber through the first one-way valve 17, and the high-temperature oil in the fourth chamber is pressed into the oil tank 11 for cooling, reducing the working temperature of the hydraulic cylinder.

[0087] Step S24: When the first closed-loop pump control circuit 27 fails, the first open-loop valve control circuit 28 changes from an active heat dissipation circuit to a redundant drive circuit. When the first four-chamber hydraulic cylinder 1 needs to extend, adjust the rotational speed of the second power source 20 and the valve opening of the proportional directional valve 51 to control the speed and displacement of the hydraulic cylinder; when the first four-chamber hydraulic cylinder 1 needs to retract, adjust the rotational speed of the second power source 20 and the valve opening of the proportional directional valve 51 to control the speed and displacement of the hydraulic cylinder, ensuring the normal operation of the system.

[0088] When there are multiple actuators in the system, for the active heat dissipation and redundant drive system applied to multiple actuators provided in the second embodiment of the present application, the control principles of the second closed-loop pump control circuit 27.1 and the third closed-loop pump control circuit 44 are the same as those of the first closed-loop pump control circuit 27 in the first embodiment. The control principle of the second open-loop valve control circuit 28.1 is the same as that of the first open-loop valve control circuit 28 in the first embodiment, so it will not be elaborated here.

[0089] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A hydraulic system with active heat dissipation and redundant drive, characterized in that Comprising: A first four - chamber hydraulic cylinder, a first closed - loop pump control circuit, and a first open - loop valve control circuit. Among them, the first four - chamber hydraulic cylinder includes a first chamber, a second chamber, a third chamber, and a fourth chamber, and corresponding oil ports are provided; both the first closed - loop pump control circuit and the first open - loop valve control circuit include a first oil port and a second oil port; The first oil port of the first closed - loop pump control circuit is connected to the oil port corresponding to the first chamber of the first four - chamber hydraulic cylinder, the second oil port of the first closed - loop pump control circuit is connected to the oil port corresponding to the third chamber of the first four - chamber hydraulic cylinder, and the first closed - loop pump control circuit is used to control the extension and retraction of the first four - chamber hydraulic cylinder; The first oil port of the first open - loop valve control circuit is respectively connected to the oil port corresponding to the second chamber of the first four - chamber hydraulic cylinder, the second oil port of the first open - loop valve control circuit is connected to the oil port corresponding to the fourth chamber of the first four - chamber hydraulic cylinder. The first open - loop valve control circuit is used for active heat dissipation when the closed - loop pump control circuit is working normally, and controls the extension and retraction of the first four - chamber hydraulic cylinder when the closed - loop pump control circuit fails; The first open - loop valve control circuit includes a third overflow valve, a first check valve, a fourth overflow valve, a second check valve, a second power source, an open - type hydraulic pump, a fifth overflow valve, a third power source, a cooling fan, a cooler, an anti - block check valve, a proportional direction - control valve, and a switch valve; The open - type hydraulic pump is shaft - connected to the second power source; The cooling fan is shaft - connected to the third power source; The first oil port of the proportional direction - control valve is connected to the first oil port of the switch valve, the oil inlet of the third overflow valve, the oil outlet of the first check valve, the detection end of the first temperature sensor, and the B oil port of the first four - chamber hydraulic cylinder on the same oil path; The second oil port of the proportional direction - control valve is connected to the second oil port of the switch valve, the oil inlet of the fourth overflow valve, the oil outlet of the second check valve, the detection end of the second temperature sensor, and the D oil port of the first four - chamber hydraulic cylinder on the same oil path; The third oil port of the proportional direction - control valve is connected to the oil outlet of the open - type hydraulic pump and the oil inlet of the fifth overflow valve on the same oil path; The oil inlet of the open - type hydraulic pump and the oil outlet of the fifth overflow valve are both connected to the oil tank; The fourth oil port of the proportional direction - control valve is connected to the oil inlet of the cooler and the oil inlet of the anti - block check valve on the same oil path; The oil outlet of the cooler and the oil outlet of the anti - block check valve are both connected to the oil tank.

2. The system according to claim 1, wherein The first closed - loop pump control circuit includes a first power source, a first closed - loop hydraulic pump - motor, a first make - up oil hydraulic control check valve, a second make - up oil hydraulic control check valve, a first oil source, a first overflow valve, a second overflow valve, a first hot - oil shuttle valve, a first speed - control valve, an oil tank, a first pressure sensor, a second pressure sensor, and a first displacement sensor; The first closed - loop hydraulic pump - motor is shaft - connected to the first power source; The first oil port of the first closed - type hydraulic pump - motor is connected to the oil outlet of the first make - up hydraulic control check valve, the hydraulic control pilot oil port of the second make - up hydraulic control check valve, the oil inlet of the first relief valve, the first oil inlet of the first hot - oil shuttle valve, the detection end of the first pressure sensor, and the A - port of the first four - chamber hydraulic cylinder on the same oil path; The second oil port of the first closed - type hydraulic pump - motor is connected to the oil outlet of the second make - up hydraulic control check valve, the hydraulic control pilot oil port of the first make - up hydraulic control check valve, the oil inlet of the second relief valve, the second oil inlet of the first hot - oil shuttle valve, the detection end of the second pressure sensor, and the C - port of the first four - chamber hydraulic cylinder on the same oil path; The oil inlet of the first make - up hydraulic control check valve is respectively connected to the oil inlet of the second make - up hydraulic control check valve, the first oil source, the oil outlet of the first relief valve, and the oil outlet of the second relief valve on the same oil path; The oil outlet of the first hot - oil shuttle valve is connected to the oil inlet of the first speed - control valve; The oil outlet of the first speed - control valve is connected to the oil tank; The detection end of the first displacement sensor is connected to the first four - chamber hydraulic cylinder.

3. The system according to claim 1, characterized in that, It further includes: a second four - chamber hydraulic cylinder and a second closed - loop pump control circuit; wherein, the second four - chamber hydraulic cylinder includes a first chamber, a second chamber, a third chamber, and a fourth chamber, and corresponding oil ports are provided; The first oil ports of the first closed - loop pump control circuit and the second closed - loop pump control circuit are connected to the oil ports corresponding to the first chambers of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder, the second oil ports of the first closed - loop pump control circuit and the second closed - loop pump control circuit are connected to the oil ports corresponding to the third chambers of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder, the first closed - loop pump control circuit is used to drive and control the extension and retraction of the first four - chamber hydraulic cylinder, and the second closed - loop pump control circuit is used to drive and control the extension and retraction of the second four - chamber hydraulic cylinder; The first oil port of the first open - loop valve control circuit is respectively connected to the oil ports corresponding to the second chambers of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder, the second oil port of the first open - loop valve control circuit is connected to the oil ports corresponding to the fourth chambers of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder, the first open - loop valve control circuit is used for active heat dissipation when the first closed - loop pump control circuit and the second closed - loop pump control circuit are working properly, and when the first closed - loop pump control circuit or the second closed - loop pump control circuit fails, it drives and controls the extension and retraction of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder.

4. The system according to claim 3, characterized in that, The second closed - loop pump control circuit includes a second displacement sensor, a fourth power source, a second closed - type hydraulic pump - motor, a third make - up hydraulic control check valve, a fourth make - up hydraulic control check valve, a second oil source, a sixth relief valve, a seventh relief valve, a second hot - oil shuttle valve, a second speed - control valve, an oil tank, a third pressure sensor, and a fourth pressure sensor; The second closed - type hydraulic pump - motor is shaft - connected to the fourth power source; The first oil port of the second closed - type hydraulic pump - motor is connected to the pilot - controlled oil port of the fourth oil - replenishing pilot - operated check valve, the oil outlet of the third oil - replenishing pilot - operated check valve, the oil inlet of the sixth relief valve, the first oil inlet of the second hot - oil shuttle valve, the detection end of the third pressure sensor, and the A - port of the second four - chamber hydraulic cylinder on the same oil path; The second oil port of the second closed - type hydraulic pump - motor is connected to the pilot - controlled oil port of the third oil - replenishing pilot - operated check valve, the oil outlet of the fourth oil - replenishing pilot - operated check valve, the oil inlet of the seventh relief valve, the second oil inlet of the second hot - oil shuttle valve, the detection end of the fourth pressure sensor, and the C - port of the second four - chamber hydraulic cylinder on the same oil path; The oil inlet of the third oil - replenishing pilot - operated check valve is respectively connected to the oil inlet of the fourth oil - replenishing pilot - operated check valve, the oil outlet of the sixth relief valve, the oil outlet of the seventh relief valve, and the second oil source on the same oil path; The oil outlet of the second hot - oil shuttle valve is connected to the oil inlet of the second speed - regulating valve; The oil outlet of the second speed - regulating valve is connected to the oil tank; The detection end of the second displacement sensor is connected to the second four - chamber hydraulic cylinder.

5. A control method for a hydraulic system with active heat dissipation and redundant drive functions, characterized in that, The hydraulic system according to any one of claims 1 - 4 includes the following steps: If the system has a single actuator, when the first closed - loop pump control circuit is working normally and the first four - chamber hydraulic cylinder is not moving, if the oil temperature is lower than the preset threshold, the first open - loop valve control circuit does not perform active heat dissipation, and the positions of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder are kept stationary; if the oil temperature is higher than the preset threshold, the first open - loop valve control circuit performs active heat dissipation, the switching valve opens, and cooling oil is pumped into the corresponding cavity by the hydraulic pump to reduce the working temperature, and the pumped high - temperature oil returns to the oil tank after being cooled by the cooler; When the first closed - loop pump control circuit is working normally and the first four - chamber hydraulic cylinder is moving, the first open - loop valve control circuit does not perform active heat dissipation, and the natural flow and cooling of the oil are achieved through the extension and retraction of the piston rod of the first four - chamber hydraulic cylinder; When the first closed - loop pump control circuit fails, the first open - loop valve control circuit is converted into a redundant drive circuit to take over the work of the first closed - loop pump control circuit, and the speed and displacement of the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder are controlled by adjusting the speed of the power source and the proportional direction - control valve; If the system has several actuators, when the first closed - loop pump control circuit and the second closed - loop pump control circuit are working normally, the first four - chamber hydraulic cylinder and the second four - chamber hydraulic cylinder are not moving and the oil temperature is lower than the preset threshold, the first open - loop valve control circuit does not work; if the oil temperature is higher than the preset threshold, the first open - loop valve control circuit performs active heat dissipation, the switching valve opens, and cooling oil is pumped into the corresponding cavity by the hydraulic pump to reduce the working temperature, and the pumped high - temperature oil returns to the oil tank after being cooled by the cooler; When the first closed-loop pump control circuit and the second closed-loop pump control circuit are working properly and the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are moving, the natural flow and cooling of the hydraulic oil are achieved by the extension and retraction of the piston rods of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder. The first closed-loop pump control circuit and the second closed-loop pump control circuit respectively adjust the speeds of the second power source and the fourth power source according to the feedback signals of the first displacement sensor and the second displacement sensor to achieve the synchronous control of multiple actuators. When the first closed-loop pump control circuit fails, the first open-loop valve control circuit is converted into a redundant drive circuit to take over the work of the first closed-loop pump control circuit, and the speeds and displacements of the first four-chamber hydraulic cylinder and the second four-chamber hydraulic cylinder are controlled by adjusting the speed of the power source and the proportional directional valve.

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