Turnover mechanism based on hydraulic power and control method

Abstract

The invention relates to the technical field of hydraulic power, in particular to a turnover mechanism based on hydraulic power and a control method.The turnover mechanism comprises a main support, a turnover support, a hydraulic turnover power device and a turnover fixing device, the main support is provided with a turnover station, and turnover connecting elements are arranged on the two sides of the turnover station; the turnover connecting element is used for being rotationally connected with the turnover support, the turnover support is provided with a fixing station, the turnover fixing device is arranged on the fixing station and used for fixing a mold, the hydraulic turnover power device comprises a hydraulic system and a turnover hydraulic cylinder, one end of the turnover hydraulic cylinder is arranged on the main support, and the other end of the turnover hydraulic cylinder is connected to the turnover support. The hydraulic system is used for being connected with and controlling the overturning hydraulic cylinder to drive the overturning support to overturn with the overturning connecting element as the axis. According to the mold overturning device, a mold can be firmly fixed, displacement or looseness of the mold in the overturning process is prevented, a stable supporting environment is provided for the mold, and the stability of overturning operation is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic power, and particularly to a flipping mechanism and a control method based on hydraulic power. Background Art

[0002] With the continuous improvement of product diversification and complexity, more stringent requirements are put forward for the injection molding process. In many injection molding production scenarios, mold flipping has become an indispensable key link to achieve high-quality molding of specific products. Traditional mold flipping methods often have many limitations. For example, the mechanical transmission flipping structure is complex, with high installation and maintenance costs, and it performs poorly in terms of flipping accuracy and stability, making it difficult to meet the production requirements of high-precision injection molded products. Pneumatic flipping, although having a certain degree of flexibility, has relatively limited power output, and is often inadequate for large molds or situations requiring a large flipping torque. Hydraulic drive systems have gradually become an ideal choice for mold flipping due to their many significant advantages. The hydraulic system has the characteristics of high power density and strong output force, and can easily meet the flipping requirements of various specifications of molds, whether they are small precision molds or large industrial molds. Hydraulic transmission has good stability and buffering performance, and can achieve precise flipping and positioning of the mold. However, the existing hydraulic power structure for mold flipping is relatively simple, especially for heavy molds, with poor holding force and fixing effect. Therefore, new improvements need to be made to the existing hydraulic power mold flipping structure. Summary of the Invention

[0003] To solve the above problems, the present invention provides a flipping mechanism and a control method based on hydraulic power that can firmly fix the mold, prevent the mold from shifting or loosening during the flipping process, provide a stable support environment for the mold, and ensure the stability of the flipping operation.

[0004] The technical solution adopted by the present invention is as follows: A flipping mechanism based on hydraulic power, comprising a main bracket, a flipping bracket, a hydraulic flipping power device, and a flipping fixing device. The main bracket is provided with a flipping station, and flipping connection elements are arranged on both sides of the flipping station for rotatably connecting the flipping bracket. The flipping bracket is provided with a fixing station, and the flipping fixing device is arranged on the fixing station and is used for fixing the mold. The hydraulic flipping power device includes a hydraulic system and a flipping hydraulic cylinder. One end of the flipping hydraulic cylinder is arranged on the main bracket, and the other end is connected to the flipping bracket. The hydraulic system is used to connect and control the flipping hydraulic cylinder to drive the flipping bracket to flip around the flipping connection element as the axis.

[0005] A further improvement to the above scheme is that the main bracket includes a base frame, a support frame and a reinforcement bracket, the base frame is a rectangular structure composed of square tubes, the support frame is vertically arranged on both sides of the base frame, the reinforcement bracket is arranged on both sides of the support frame, and is used to connect the support frame to the base frame, forming a triangular support structure between the reinforcement bracket and the support frame; the flip connection element is arranged at the end of the support frame.

[0006] A further improvement to the above scheme is that the flip connecting element includes a flip connecting seat, a flip bearing, a flip connecting shaft and a flip connecting plate, the flip connecting seat is arranged at the top of the support frame, the flip bearing is arranged on the flip connecting seat, the flip connecting shaft is arranged on the flip connecting plate, one end of the flip connecting plate is arranged on the flip bracket, and the other end is connected to the flip connecting shaft.

[0007] A further improvement to the above scheme is that the flip bracket includes a base plate, side plates and a connecting beam, the side plates are arranged on both sides of the base plate and connected to the flip connecting element, the connecting beam is arranged at the end of the side plate and is used to connect the two side plates to form a rectangular frame, and the flip fixing device is arranged on the base plate to fix the mold.

[0008] A further improvement to the above scheme is that the flipping and fixing device includes a positioning panel, a clamping drive module, a locking module and a clamping panel, the positioning panel is arranged on the substrate, the clamping drive module is used to drive the clamping panel to move relative to the positioning panel to clamp and fix the mold, and the locking module is used to lock the clamping panel and the positioning panel to lock the mold after clamping and fixing.

[0009] A further improvement to the above scheme is that a positioning groove is provided on the positioning panel, a locking bolt is provided in the positioning groove, and the locking bolt is used to lock the mold to the positioning groove; the clamping drive module includes a clamping drive hydraulic cylinder, a sliding guide rail and a parallel synchronization component, the clamping drive hydraulic cylinder is arranged on the base plate and connected to the clamping panel, the sliding guide rail is arranged on the main bracket, the clamping panel is provided with a transmission element, and the transmission element is slidably arranged on the sliding guide rail, the parallel synchronization component includes a transmission shaft arranged on the clamping panel and a transmission rack arranged on the main bracket, and transmission gears are provided at both ends of the transmission shaft, and the transmission gear is engaged with the transmission rack through transmission; the clamping drive hydraulic cylinder is used to drive the clamping panel to slide along the sliding guide rail to clamp the mold to the positioning groove.

[0010] A further improvement to the above solution is that the locking module includes a locking hydraulic cylinder, a locking connecting rod, a locking positioning ring, and a locking fixing component. Multiple groups of locking hydraulic cylinders are provided, and the multiple groups of locking hydraulic cylinders are distributed at the four corners of the substrate. The locking connecting rod is arranged on the locking hydraulic cylinder, and the locking positioning ring is arranged on the locking connecting rod. A perforation is provided on the clamping panel. One end of the locking connecting rod passes through the perforation, and the locking positioning ring is located at the end passing through the clamping panel. The locking fixing component includes a locking cylinder and a locking clamping block. The locking cylinder is arranged on the clamping panel and on one side of the perforation, and the locking clamping block is arranged at the driving end of the locking cylinder. The locking clamping block is provided with a locking clamping groove. The locking cylinder is used to drive the locking clamping block to move towards the perforation, so that the locking clamping groove is axially coaxial with the locking connecting rod. The locking hydraulic cylinder is used to drive the locking connecting rod to slide, so that the locking positioning ring presses the locking clamping block, and the clamping panel moves relatively towards the positioning panel to clamp and fix the mold.

[0011] A further improvement to the above solution is that one end of the flipping hydraulic cylinder is provided with a first hinge seat, and the other end is provided with a second hinge seat. The first hinge seat is used to connect the flipping hydraulic cylinder to the main bracket, and the second hinge seat is used to connect the flipping hydraulic cylinder to the flipping bracket.

[0012] A control method for a flipping mechanism based on hydraulic power includes a hydraulic control system, and the hydraulic control system includes: A double - acting axial piston pump group, which includes a main pump and a pilot pump. An electro - proportional pressure controller is set at the outlet of the main pump, and its pressure regulation range is 0 - 28 MPa; A three - dimensional motion control valve block, which is integrated with: A two - way cartridge - type proportional direction valve, with a spool displacement resolution ≤ 0.02 mm; A cross - sensitivity compensator, which is built - in with a differential pressure sensor and a temperature compensation module; A hydraulic synchronous distributor, which has a double - outlet flow deviation compensation function, and the compensation accuracy is ± 1.5%; An intelligent hydraulic actuator unit, and the intelligent hydraulic actuator unit includes: A magnetostrictive displacement sensor is built in the flipping hydraulic cylinder, with a measurement accuracy of 0.01 mm; A six - dimensional force sensor is installed at the end of the piston rod, with a range of 0 - 50 kN; A temperature and vibration composite sensor is integrated on the surface of the cylinder block; A closed - loop feedback module, which includes: A multi - channel data acquisition card, with a sampling frequency ≥ 10 kHz; An adaptive PID controller, which has a fuzzy logic correction algorithm; A hydraulic state observer, which can estimate the elastic modulus and viscosity parameters of the oil in real time; A fail - safe protection unit, which includes: Emergency accumulator group, capacity ≥ 5L, pre-charged nitrogen pressure 7MPa; Mechanical emergency lock valve, trigger response time ≤ 50ms; The oil line self-sealing joint will automatically close when the pipeline ruptures; The three-dimensional motion control valve block is provided with: The stacked valve core structure includes a main stage valve core and a pilot stage valve core. The main stage valve core stroke is 20mm and the pilot stage valve core stroke is 0.8mm. The valve core position closed-loop control module is driven by a voice coil motor and equipped with a nanometer-level grating ruler; Oil contamination online monitoring unit with built-in beta-ray particle counter and moisture sensor; Dynamic pressure equalization channel, its flow area A=π(D²-d²) / 4, where D=12mm, d=8mm; The control method includes the following steps: Step S1, system initialization phase: Start the duplex axial piston pump group and set the initial pressure of the main pump to 5MPa and the pilot pump pressure to 2.5MPa through the electric proportional pressure controller; The three-dimensional motion control valve block performs a self-test procedure to calibrate the zero offset of the two-way cartridge proportional directional valve with a calibration accuracy of ≤0.1%; Zero point calibration of the magnetostrictive displacement sensor and six-dimensional force sensor of the intelligent hydraulic actuator; Step S2, mold clamping control stage: The multi-channel data acquisition card of the closed-loop feedback module collects the clamping panel displacement signal in real time. When it detects that the clamping stroke reaches 90% of the set value, the fuzzy correction algorithm of the adaptive PID controller is activated; Through the flow deviation compensation function of the hydraulic synchronous distributor, the synchronization error of the clamping drive hydraulic cylinders on both sides is controlled to ≤±0.3mm; The pressure gradient of the locking hydraulic cylinder of the locking module is controlled at 0.5MPa / ms. When the six-axis force sensor detects that the axial pressure reaches 15kN, the mechanical emergency locking valve is triggered to enter the standby state; Step S3, hydraulic flip execution stage: The cross-sensitive compensator of the three-dimensional motion control valve block compensates for the flow fluctuation caused by oil temperature changes in real time. The compensation formula is: Q_corr=Q_0×[1-α(T-T0)], where α=0.0015 / ℃, T0=40℃; The main stage valve core stroke and the pilot stage valve core stroke of the stacked valve core structure are linked and controlled in a ratio of 1:25; The hydraulic state observer adjusts the servo motor drive frequency based on the real-time estimated oil elastic modulus to ensure that the pressure fluctuation is ≤±0.8MPa; Step S4: Security protection stage: When the oil contamination online monitoring unit detects that the NAS level is greater than level 8, the oil circuit self-sealing joint of the fail-safe protection unit is activated; The emergency accumulator group automatically intervenes when the system pressure drops by more than 30%, maintaining the pressure ≥ 7MPa for 5 seconds; When the temperature and vibration composite sensor detects an abnormal frequency spectrum, it triggers the bidirectional gear pump group to reverse and unload.

[0013] A further improvement to the above solution is that step S3 also includes a dynamic synchronization compensation strategy: Establish the kinematic model of the hydraulic cylinder: v(t)=K_p×A_eff×√(ΔP / ρ) Where K_p is the flow gain coefficient of the proportional directional valve, A_eff is the effective cross-sectional area of the valve port, ΔP is the pressure difference at the valve port, and ρ is the oil density; Using the cross-coupling control algorithm, the synchronization error compensation is calculated as: ε=∫(v1-v2)dt+K_d×(a1-a2) Where v1 / v2 is the velocity of the two hydraulic cylinders, a1 / a2 is the acceleration, K_d=0.05-0.1ms² / mm; Compensation flow is injected into the lagging hydraulic cylinder through the hydraulic bridge circuit, and the compensation amount satisfies: Q_comp=π×(D²-d²) / 4×ε_max / t_comp Where D=80mm is the cylinder diameter, d=56mm is the rod diameter, and t_comp≤100ms is the compensation time constant.

[0014] The beneficial effects of the present invention are: Compared with the existing mold flipping, the present invention uses the hydraulic system to precisely control the flipping hydraulic cylinder, and the flipping bracket can achieve a smooth and precise flipping action with the flipping connecting element as the axis. It ensures the posture stability of the mold during the flipping process, effectively avoids damage to the mold that may be caused by flipping shaking, and greatly improves the reliability and safety of the mold flipping operation. The hydraulic flipping power unit has sufficient power and can easily drive molds of different specifications and weights to flip. The hydraulic system can flexibly adjust the output pressure according to the actual weight of the mold and the flipping requirements to ensure the smooth completion of the flipping action and meet diverse production needs. The flipping fixture is set on a fixed workstation, which can firmly fix the mold to prevent the mold from shifting or loosening during the flipping process, provide a stable support environment for the mold, and further ensure the quality and stability of the flipping operation.

[0015] The hydraulic control system utilizes a twin-axle axial piston pump assembly to provide stable and precise pressure output. The electric proportional pressure controller at the main pump outlet offers flexible adjustment within a range of 0 to 28 MPa, ensuring optimal power supply for varying mold weights and turning requirements. The two-way, plug-in proportional directional valve features a spool displacement resolution of ≤0.02mm, enabling precise control of oil flow direction and volume, ensuring smooth and accurate mold turning. A cross-sensitive compensator, combined with a differential pressure sensor and a temperature compensation module, effectively mitigates the impact of load variations and oil temperature fluctuations on system performance, maintaining system stability. The hydraulic synchronizer distributor features dual-outlet flow deviation compensation with an accuracy of ±1.5%, ensuring highly synchronized movement of the cylinders on both sides during the mold turning process, preventing mold tilting and damage. An intelligent hydraulic actuator provides comprehensive data feedback for mold turning. The turning hydraulic cylinder incorporates a built-in magnetostrictive displacement sensor with a measurement accuracy of 0.01mm, precisely monitoring cylinder stroke. A six-axis force sensor at the piston rod end provides real-time information on the mold's stress state. A combined temperature and vibration sensor on the cylinder surface provides timely feedback on system operation, enabling precise control of the turning process. The closed-loop feedback module ensures high-precision and fast response of system control. The multi-channel data acquisition card has a sampling frequency of ≥10kHz, which allows timely capture of system signals. The adaptive PID controller combines with a fuzzy logic correction algorithm to optimize control parameters. The hydraulic state observer estimates oil parameters in real time, providing a basis for system adjustments. The fault safety protection unit safeguards mold flipping. The emergency accumulator group provides necessary power support in the event of a sudden failure. The trigger response time of the mechanical emergency lock valve is ≤50ms. The self-sealing joint of the oil circuit prevents oil leakage in the event of a pipeline rupture, ensuring the safety of personnel and equipment. The stacked valve core structure of the three-dimensional motion control valve block, the valve core position closed-loop control module, and the online oil contamination monitoring unit further enhance the reliability and durability of the system, ensuring efficient, stable, and safe mold flipping operations.

[0016] Hydraulic control method for a hydraulic power flipping mechanism. In the system initialization stage, the pressure of the double - acting axial piston pump group is accurately set to lay a foundation for subsequent stable operation; the self - inspection and calibration of the three - dimensional motion control valve block and the zero - point calibration of the sensors of the intelligent hydraulic actuator unit improve the accuracy and stability of the system, ensure the coordinated operation of each component, and make the starting state of the die flipping operation accurate and reliable. In the die clamping control stage, the closed - loop feedback module combines the fuzzy correction algorithm of the adaptive PID controller, which can timely adjust the clamping force to ensure firm clamping of the die; the hydraulic synchronous distributor effectively controls the synchronous error, ensures uniform force on both sides of the die, and prevents the die from shifting or being damaged during clamping; the pressure gradient control of the locking module and the triggering of the emergency lock valve standby state enhance the safety and reliability of die clamping. In the hydraulic flipping execution stage, the cross - sensitivity compensator compensates for the flow rate fluctuations caused by oil temperature changes in real - time, ensuring the smoothness of the flipping action; the linkage control of the main - stage and pilot - stage spool strokes improves the control accuracy and achieves precise flipping; the hydraulic state observer adjusts the servo - motor driving frequency according to the oil elastic modulus, effectively suppressing pressure fluctuations and ensuring the safety and stability of the flipping process. In the safety protection stage, the multi - dimensional safety protection mechanism greatly improves the reliability of the system, effectively avoids damage to the die and equipment caused by problems such as oil pollution, sudden pressure drop, abnormal temperature and vibration, extends the service life of the equipment, reduces maintenance costs, and comprehensively ensures the high - efficiency, stable and safe die flipping operation. Brief Description of the Drawings

[0017] Figure 1 is a three - dimensional schematic diagram of the flipping mechanism based on hydraulic power of the present invention; Figure 2 is Figure 1 a three - dimensional schematic diagram of another perspective of the flipping mechanism based on hydraulic power in Figure 3 is Figure 1 a side - view schematic diagram of the flipping mechanism based on hydraulic power in Figure 4 is Figure 1 a structural schematic diagram of the main support of the flipping mechanism based on hydraulic power in Figure 5 is Figure 1 a partial structural schematic diagram of the flipping mechanism based on hydraulic power in Figure 6 is Figure 1 a partial structural schematic diagram of the flipping mechanism based on hydraulic power in Figure 7 is Figure 6 an enlarged schematic diagram of part A in Figure 8 is a connection schematic diagram of the hydraulic control system of the present invention.

[0018] Description of reference numerals: main bracket 1, flip connection element 11, flip connection seat 111, flip bearing 112, flip connection shaft 113, flip connection plate 114, base frame 12, support frame 13, reinforcement bracket 14, flip bracket 2, base plate 21, side plate 22, connecting beam 23, hydraulic flip power device 3, hydraulic system 31, flip hydraulic cylinder 32, first articulated seat 321, second articulated seat 322, flip fixing device 4, positioning panel 41, positioning groove 411, Locking bolt 412, clamping drive module 42, clamping drive hydraulic cylinder 421, sliding guide rail 422, parallel synchronization assembly 423, transmission shaft 4231, transmission rack 4232, transmission gear 4233, locking module 43, locking hydraulic cylinder 431, locking connecting rod 432, locking positioning ring 433, locking fixing assembly 434, locking cylinder 4341, locking clamp block 4342, locking clamp groove 4343, clamping panel 44, transmission element 441, through hole 442.

[0019] Hydraulic control system 5, double axial piston pump group 51, main pump 511, pilot pump 512, electric proportional pressure controller 513, three-dimensional motion control valve block 52, two-way plug-in proportional directional valve 521, cross-sensitive compensator 522, hydraulic synchronous distributor 523, intelligent hydraulic execution unit 53, magnetostrictive displacement sensor 531, six-dimensional force sensor 532, composite sensor 533, closed-loop feedback module 54, multi-channel data acquisition card 541, adaptive PID controller 542, hydraulic state observer 543, fault safety protection unit 55, emergency accumulator group 551, mechanical emergency lock valve 552, oil circuit self-sealing joint 553. DETAILED DESCRIPTION

[0020] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0021] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figures 1 to 7As shown, one embodiment of the present invention relates to a hydraulically powered flipping mechanism, comprising a main support 1, a flip support 2, a hydraulic flipping power unit 3, and a flipping fixture 4. The main support 1 is provided with a flipping station, with flipping connecting elements 11 disposed on either side of the flipping station. The flipping connecting elements 11 are rotatably connected to the flip support 2. The flip support 2 is provided with a fixing station, and the flipping fixture 4 is disposed on the fixing station and is used to secure the mold. The hydraulic flipping power unit 3 includes a hydraulic system 31 and a flipping hydraulic cylinder 32. One end of the flipping hydraulic cylinder 32 is disposed on the main support 1 and the other end is connected to the flip support 2. The hydraulic system 31 is used to connect to and control the flipping hydraulic cylinder 32 to drive the flipping support 2 to flip around the flipping connecting element 11. Through the precise control of the flipping hydraulic cylinder 32 by the hydraulic system 31, the flipping support 2 can achieve smooth and precise flipping around the flipping connecting element 11. This ensures the stability of the mold during flipping, effectively preventing damage to the mold caused by flipping vibrations, and greatly improving the reliability and safety of the mold flipping operation. The hydraulic turning power unit 3 provides ample power to easily turn molds of varying sizes and weights. The hydraulic system 31 flexibly adjusts output pressure based on the mold's actual weight and turning requirements, ensuring smooth turning and meeting diverse production needs. The turning fixture 4, located at a fixed station, securely secures the mold, preventing it from shifting or loosening during the turning process.

[0023] The main bracket 1 includes a base frame 12, a support frame 13, and a reinforcement bracket 14. The base frame 12 is a rectangular structure composed of square tubes. The support frames 13 are vertically arranged on both sides of the base frame 12. The reinforcement brackets 14 are arranged on both sides of the support frame 13 and are used to connect the support frame 13 to the base frame 12, forming a triangular support structure between the reinforcement bracket 14 and the support frame 13. The flip connection element 11 is arranged at the end of the support frame 13. Specifically, the flip connection element 11 includes a flip connection seat 111, a flip bearing 112, a flip connection shaft 113, and a flip connection plate 114. The flip connection seat 111 is arranged at the top of the support frame 13, the flip bearing 112 is arranged on the flip connection seat 111, and the flip connection shaft 113 is arranged on the flip connection plate 114. One end of the flip connection plate 114 is arranged on the flip bracket 2, and the other end is connected to the flip connection shaft 113. In this embodiment, the base frame 12 is a rectangular structure composed of square tubes, providing a solid foundation for the entire support system, ensuring that it can withstand heavy weight and impact during mold flipping, maintaining overall stability. Support frames 13 are vertically arranged on both sides of the base frame 12, effectively increasing the mold's load-bearing height and providing the necessary space for mold flipping operations. The triangular support structure formed by the reinforcement frame 14 and the support frame 13 enhances the overall strength and rigidity of the main frame 1, effectively dissipating the stress generated during mold flipping and reducing the possibility of structural deformation.

[0024] The flipping bracket 2 includes a base plate 21, side plates 22, and a connecting cross beam 23. The side plates 22 are arranged on both sides of the base plate 21 and are connected to the flipping connection element 11. The connecting cross beam 23 is arranged at the ends of the side plates 22 and is used to connect the two side plates 22 to form a rectangular frame. The flipping fixing device 4 is arranged on the base plate 21 to fix the mold. Specifically, the flipping fixing device 4 includes a positioning panel 41, a clamping driving module 42, a locking module 43, and a clamping panel 44. The positioning panel 41 is arranged on the base plate 21. The clamping driving module 42 is used to drive the clamping panel 44 to move relatively towards the positioning panel 41 to clamp and fix the mold. The locking module 43 is used to lock the clamping panel 44 and the positioning panel 41 to lock the clamped mold. In this embodiment, the flipping bracket 2 is composed of the base plate 21, the side plates 22, and the connecting cross beam 23, providing a stable and reliable support basis for the entire flipping process. The two side plates 22 are connected to other components through the flipping connection element 11, ensuring flexible and stable flipping under the drive of hydraulic power, greatly improving the fluency and stability of the mold flipping action, effectively reducing the shaking and offset during the flipping process, and ensuring the position accuracy of the mold during the flipping process. The positioning panel 41 of the flipping fixing device 4 is accurately arranged on the base plate 21, providing an accurate positioning reference for the mold and ensuring the consistency of the placement position of the mold each time. The clamping driving module 42 can efficiently drive the clamping panel 44 to move relatively towards the positioning panel 41, firmly clamping the mold with a strong and stable clamping force to prevent the mold from shifting or colliding and being damaged due to loosening during the flipping process. The locking module 43 then reliably locks the clamped mold, ensuring that the mold always remains fixed even under the large flipping force generated by the hydraulic power, thus strongly guaranteeing the safe and accurate completion of the flipping operation of the mold under the action of the hydraulic power flipping mechanism.

[0025] The positioning panel 41 is provided with a positioning groove 411, and a locking bolt 412 is provided in the positioning groove 411. The locking bolt 412 is used to lock and fix the mold on the positioning groove 411; the clamping drive module 42 includes a clamping drive hydraulic cylinder 421, a sliding guide rail 422 and a parallel synchronization component 423. The clamping drive hydraulic cylinder 421 is provided on the base plate 21 and connected to the clamping panel 44, the sliding guide rail 422 is provided on the main bracket 1, and the clamping panel 44 is provided with a transmission element 441. The transmission element 441 is slidably mounted on the sliding guide rail 422. The parallel synchronization assembly 423 includes a transmission shaft 4231 mounted on the clamping panel 44 and a transmission rack 4232 mounted on the main support 1. Transmission gears 4233 are provided at both ends of the transmission shaft 4231, which are engaged with the transmission rack 4232 through transmission. The clamping drive hydraulic cylinder 421 is used to drive the clamping panel 44 to slide along the sliding guide rail 422 to clamp the mold in the positioning groove 411. In this embodiment, the positioning groove 411 provides a precise installation position for the mold, ensuring the initial positioning accuracy of the mold in the mechanism, while the locking bolt 412 can reliably lock the mold in the positioning groove 411, preventing the mold from shifting or loosening during the flipping process, thereby ensuring the stability and accuracy of the flipping operation. The clamping drive hydraulic cylinder 421 of the clamping drive module 42 serves as a power source, providing a stable and controllable driving force to drive the clamping panel 44 to slide smoothly along the sliding guide rail 422. The design of the sliding guide rail 422 not only provides a smooth path for the sliding of the clamping panel 44, but also enhances its smoothness and guidance. The drive shaft 4231 of the parallel synchronization assembly 423 cooperates with the transmission rack 4232, and through the transmission engagement of the transmission gear 4233, achieves parallel synchronization of the clamping action. This ensures that the mold is evenly stressed during the clamping process, preventing deformation or damage caused by uneven force. This uniform clamping force effectively secures the mold, ensuring that it remains stable during the hydraulically powered flipping mechanism, ensuring that the mold does not wobble or shift during the flipping operation.

[0026] The locking module 43 includes a plurality of locking hydraulic cylinders 431, which are distributed at the four corners of the base plate 21. The locking connecting rod 432 is arranged on the locking hydraulic cylinder 431, and the locking positioning ring 433 is arranged on the locking connecting rod 432. A perforation 442 is provided on the clamping panel 44. One end of the locking connecting rod 432 passes through the perforation 442, and the locking positioning ring 433 is located at the end passing through the clamping panel 44. The locking fixing component 434 includes a locking cylinder 4341 and a locking clamp block 4342. The locking cylinder 4341 is arranged on the clamping panel 44 and on one side of the perforation 442. The locking clamp block 4342 is arranged at the driving end of the locking cylinder 4341. The locking clamp block 4342 is provided with a locking clamp groove 4343. The locking cylinder 4341 is used to drive the locking clamp block 4342 to move towards the perforation 442, so that the locking clamp groove 4343 is axially coaxial with the locking connecting rod 432. The locking hydraulic cylinder 431 is used to drive the locking connecting rod 432 to slide, so that the locking positioning ring 433 presses the locking clamp block 4342, and the clamping panel 44 moves relative to the positioning panel 41 to clamp and fix the mold. In this embodiment, the multiple locking hydraulic cylinders 431 distributed at the four corners of the base plate 21 provide stable and balanced power output for the entire locking process. By driving the locking connecting rod 432 to slide, the position of the locking positioning ring 433 can be accurately controlled, realizing precise regulation of the clamping force and position of the mold, ensuring that the mold maintains a stable clamping state during the flipping process, effectively avoiding the mold from shaking or displacing due to loosening, and improving the safety and reliability of the flipping operation. The locking cylinder 4341 of the locking fixing component 434 drives the locking clamp block 4342 to move towards the perforation 442, making the locking clamp groove 4343 axially coaxial with the locking connecting rod 432. This precise cooperation can quickly and firmly lock the locking connecting rod 432, preventing unnecessary movement during the flipping process. When the locking hydraulic cylinder 431 pushes the locking connecting rod 432, and the locking positioning ring 433 presses the locking clamp block 4342, the clamping panel 44 moves relative to the positioning panel 41 to tightly clamp the mold. During the flipping process of the mold, the stable clamping force can ensure that each part of the mold is evenly stressed, and the mold will not be deformed or damaged due to the flipping action, greatly improving the quality and efficiency of the mold flipping operation.

[0027] The tilting hydraulic cylinder 32 is equipped with a first hinged seat 321 at one end and a second hinged seat 322 at the other end. The first hinged seat 321 connects the tilting hydraulic cylinder 32 to the main support 1, while the second hinged seat 322 connects the tilting hydraulic cylinder 32 to the tilting support 2. In this embodiment, the first hinged seat 321 firmly connects the tilting hydraulic cylinder 32 to the main support 1, ensuring a reliable support base for the entire tilting system. The main support 1, serving as the primary load-bearing structure of the entire device, is connected to the tilting hydraulic cylinder 32 via the first hinged seat 321. This allows for precise positioning of the hydraulic cylinder, ensuring it does not shift or wobble during operation, thus providing a stable starting position for subsequent tilting operations. The second hinged seat 322 connects the tilting hydraulic cylinder 32 to the tilting support 2, enabling precise flipping of the tilting support 2 under the hydraulic cylinder's drive. This connection provides high flexibility and controllability in the tilting operation. When the hydraulic cylinder extends or retracts, power is transmitted to the tilting support 2 via the second hinged seat 322, enabling smooth flipping of the mold according to a predetermined angle and trajectory. During the mold production process, precise flipping angles can ensure smooth transition of the mold between different processes.

[0028] See Figures 1 to 8 As shown, the hydraulic control system 5 includes: A double axial piston pump assembly 51 includes a main pump 511 and a pilot pump 512. An electric proportional pressure controller 513 is provided at the outlet of the main pump 511, and its pressure adjustment range is 0-28 MPa. The three-dimensional motion control valve block 52 integrates: Two-way cartridge proportional directional valve 521, valve core displacement resolution ≤ 0.02mm; Cross-sensitive compensator 522, with built-in differential pressure sensor and temperature compensation module; Hydraulic synchronous distributor 523, with dual oil outlet flow deviation compensation function, compensation accuracy ±1.5%; The intelligent hydraulic execution unit 53 includes: a magnetostrictive displacement sensor 531 built into the tilting hydraulic cylinder 32 with a measurement accuracy of 0.01mm; a six-dimensional force sensor 532 with a range of 0-50kN installed on the end of the piston rod; and a temperature and vibration composite sensor 533 integrated on the surface of the cylinder body.

[0029] The closed-loop feedback module 54 includes: Multi-channel data acquisition card 541, sampling frequency ≥ 10kHz; Adaptive PID controller 542 with fuzzy logic correction algorithm; The hydraulic state observer 543 estimates the elastic modulus and viscosity parameters of the oil in real time.

[0030] The fault safety protection unit 55 includes: an emergency accumulator group 551 with a capacity of ≥5L and a pre-charged nitrogen pressure of 7MPa; a mechanical emergency lock valve 552 with a trigger response time of ≤50ms; and an oil line self-sealing joint 553 that automatically locks when the pipeline ruptures.

[0031] The three-dimensional motion control valve block 52 is provided with: a stacked valve core structure, including a main-stage valve core and a pilot-stage valve core, the main-stage valve core stroke is 20mm, and the pilot-stage valve core stroke is 0.8mm; a valve core position closed-loop control module, driven by a voice coil motor and equipped with a nano-scale grating ruler; an oil contamination online monitoring unit with a built-in beta-ray particle counter and moisture sensor; a dynamic pressure equalization channel, whose flow area A=π(D²-d²) / 4, where D=12mm and d=8mm.

[0032] This embodiment utilizes a dual-axle axial piston pump assembly 51 to provide stable and precise pressure output. The electric proportional pressure controller 513 at the outlet of the main pump 511 offers flexible adjustment within a range of 0-28 MPa, adapting to varying mold weights and flipping requirements, ensuring optimal power supply. The two-way, plug-in proportional directional valve 521 boasts a spool displacement resolution of ≤0.02 mm, enabling precise control of oil flow direction and volume, ensuring smooth and accurate mold flipping. The cross-sensitive compensator 522, incorporating a differential pressure sensor and temperature compensation module, effectively mitigates the impact of load variations and oil temperature fluctuations on system performance, maintaining system stability. The hydraulic synchronous distributor 523 features dual-outlet flow deviation compensation with an accuracy of ±1.5%, ensuring highly synchronized action of the cylinders on both sides during the mold flipping process, preventing mold tilting and damage. The intelligent hydraulic actuator 53 provides comprehensive data feedback for mold flipping. The tilting hydraulic cylinder 32 features a built-in magnetostrictive displacement sensor 531 with a measurement accuracy of 0.01mm, precisely monitoring cylinder stroke. A six-axis force sensor 532 at the piston rod end provides real-time sensing of the mold's stress state. A combined temperature and vibration sensor 533 on the cylinder surface provides timely feedback on system operating conditions, helping the operator precisely control the tilting process. A closed-loop feedback module 54 ensures high-precision and rapid response in system control. A multi-channel data acquisition card 541, with a sampling frequency ≥10kHz, captures system signals promptly. An adaptive PID controller, combined with a fuzzy logic correction algorithm, optimizes control parameters. A hydraulic state observer 543 estimates oil parameters in real time, providing a basis for system adjustments. A fail-safe protection unit 55 safeguards mold tilting. An emergency accumulator assembly 551 provides necessary power support in the event of a sudden failure. The mechanical emergency lock valve 552 has a trigger response time of ≤50ms, and a self-sealing oil line joint 553 prevents oil leakage in the event of a pipeline rupture, ensuring the safety of personnel and equipment. The stacked valve core structure, valve core position closed-loop control module and oil contamination online monitoring unit of the three-dimensional motion control valve block 52 further enhance the reliability and durability of the system, ensuring that the mold flipping operation is carried out efficiently, stably and safely.

[0033] Hydraulic control method for a hydraulic power tilting mechanism, comprising the following steps: Step S1, system initialization stage: Start the double-connected axial piston pump set 51, set the initial pressure of the main pump 511 to 5 MPa and the pressure of the pilot pump 512 to 2.5 MPa through the electro-hydraulic proportional pressure controller 513; the three-dimensional motion control valve block 52 executes a self-check program to calibrate the zero position offset of the two-way cartridge proportional direction valve 521, and the calibration accuracy ≤ 0.1%; the magnetostrictive displacement sensor 531 and the six-dimensional force sensor 532 of the intelligent hydraulic actuator unit 53 perform zero-point calibration; Step S2, mold clamping control stage: The multi-channel data acquisition card 541 of the closed-loop feedback module 54 real-time collects the displacement signal of the clamping panel 44. When it is detected that the clamping stroke reaches 90% of the set value, the fuzzy correction algorithm of the adaptive PID controller 542 is activated; through the flow deviation compensation function of the hydraulic synchronous distributor 523, the synchronous error of the two-side clamping drive hydraulic cylinders 421 is controlled ≤ ±0.3 mm; the pressure gradient of the locking hydraulic cylinder 431 of the locking module 43 is controlled at 0.5 MPa / ms. When the six-dimensional force sensor 532 detects that the axial pressure reaches 15 kN, the mechanical emergency lock valve 552 is triggered to enter the standby state; Step S3, hydraulic tilting execution stage: The cross-sensitivity compensator 522 of the three-dimensional motion control valve block 52 real-time compensates the flow fluctuation caused by the oil temperature change, and the compensation formula is: Q_corr = Q_0 × [1 - α(T - T0)], where α = 0.0015 / °C and T0 = 40°C; The main-stage spool stroke and the pilot-stage spool stroke of the stacked spool structure are linked and controlled according to a ratio of 1:25; the hydraulic state observer 543 adjusts the servo motor drive frequency according to the real-time estimated oil elastic modulus to ensure that the pressure fluctuation ≤ ±0.8 MPa; Step S4, safety protection stage: When the oil contamination degree online monitoring unit detects that the NAS grade > 8, the oil circuit self-sealing joint 553 of the fail-safe protection unit 55 is activated; the emergency accumulator group 551 automatically intervenes when the system pressure drops suddenly by more than 30% and maintains the pressure ≥ 7 MPa for 5 seconds; when the temperature and vibration composite sensor 533 detects an abnormal spectrum, the two-way gear pump set is triggered to reverse and unload.

[0034] In the above embodiments, during the system initialization phase, the pressure of the double-connected axial piston pump group 51 is accurately set, laying a foundation for subsequent stable operation; the self-inspection and calibration of the three-dimensional motion control valve block 52 and the zero-point calibration of the sensors of the intelligent hydraulic actuator unit 53 improve the accuracy and stability of the system, ensure the coordinated operation of each component, and make the starting state of the mold flipping operation accurate and reliable. During the mold clamping control phase, the closed-loop feedback module 54 combines the fuzzy correction algorithm of the adaptive PID controller 542 to timely adjust the clamping force to ensure firm clamping of the mold; the hydraulic synchronous distributor 523 effectively controls the synchronous error, ensures uniform force on both sides of the mold, and prevents the mold from shifting or being damaged during the clamping process; the pressure gradient control of the locking module 43 and the triggering of the emergency lock valve standby state enhance the safety and reliability of the mold clamping. During the hydraulic flipping execution phase, the cross-sensitivity compensator 522 compensates for the flow rate fluctuation caused by the oil temperature change in real time, ensuring the smoothness of the flipping action; the linkage control of the spool strokes of the main stage and the pilot stage improves the control accuracy and realizes accurate flipping; the hydraulic state observer 543 adjusts the servo motor drive frequency according to the oil elastic modulus, effectively suppressing the pressure fluctuation and ensuring the safety and stability of the flipping process. During the safety protection phase, the multi-dimensional safety protection mechanism greatly improves the reliability of the system, effectively avoids damage to the mold and equipment caused by problems such as oil pollution, sudden pressure drop, abnormal temperature and vibration, prolongs the service life of the equipment, reduces the maintenance cost, and comprehensively ensures the high efficiency, stability and safety of the mold flipping operation.

[0035] Step S3 further includes a dynamic synchronization compensation strategy: Establish a kinematic model of the hydraulic cylinder: v(t)=K_p×A_eff×√(ΔP / ρ) where K_p is the flow gain coefficient of the proportional direction valve 521, A_eff is the effective cross-sectional area of the valve port, ΔP is the valve port pressure difference, and ρ is the oil density; Adopt a cross-coupling control algorithm, and the synchronous error compensation amount is calculated as: ε=∫(v1-v2)dt+K_d×(a1-a2) where v1 / v2 are the speeds of the two hydraulic cylinders, a1 / a2 are the accelerations, and K_d = 0.05 - 0.1ms² / mm; Inject compensation flow into the lagging-side hydraulic cylinder through the hydraulic bridge circuit, and the compensation amount satisfies: Q_comp=π×(D²-d²) / 4×ε_max / t_comp In the formula, D = 80mm is the cylinder diameter, d = 56mm is the rod diameter, and t_comp ≤ 100ms is the compensation time constant.

[0036] In the above-described embodiment, the established kinematic model of the hydraulic cylinder accurately describes its motion characteristics, providing a solid theoretical basis for controlling its speed. This model, combined with parameters from actual operating conditions, accurately predicts the operating speed of the hydraulic cylinder, laying the foundation for smooth and precise mold flipping. The application of a cross-coupling control algorithm significantly improves the synchronization performance of the two hydraulic cylinders. The precise calculation of the synchronization error compensation allows for real-time monitoring and adjustment of the speed and acceleration differences between the two hydraulic cylinders. During the mold flipping process, this effectively reduces mold tilting or jamming caused by speed discrepancies, ensuring a stable mold flipping state and improving flipping accuracy and reliability. The injection of a compensating flow into the lagging hydraulic cylinder via a hydraulic bridge further optimizes synchronization. The precise calculation of the compensation ensures that the lagging hydraulic cylinder receives rapid flow replenishment within the specified compensation time constant, effectively reducing the operating discrepancy between the two hydraulic cylinders, enabling smoother mold flipping, minimizing damage to the mold and hydraulic system 31 caused by synchronization issues, extending equipment life, and improving overall production efficiency.

[0037] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A tipping mechanism based on hydraulic power, characterized in that: It includes a main bracket, a flipping bracket, a hydraulic flipping power device and a flipping fixing device. The main bracket is provided with a flipping station, and flipping connection elements are arranged on both sides of the flipping station. The flipping connection elements are used for rotatably connecting the flipping bracket. The flipping bracket is provided with a fixing station, and the flipping fixing device is arranged on the fixing station and is used for fixing the mold. The hydraulic flipping power device includes a hydraulic system and a flipping hydraulic cylinder. One end of the flipping hydraulic cylinder is arranged on the main bracket, and the other end is connected to the flipping bracket. The hydraulic system is used for connecting and controlling the flipping hydraulic cylinder to drive the flipping bracket to flip around the flipping connection element as the axis.

2. The flipping mechanism based on hydraulic power according to claim 1, characterized in that: The main bracket includes a bottom frame, a support frame and a reinforcement bracket. The bottom frame is a rectangular structure composed of square tubes. The support frame is vertically arranged on both sides of the bottom frame. The reinforcement bracket is arranged on both sides of the support frame and is used for connecting the support frame and the bottom frame. A triangular support structure is formed between the reinforcement bracket and the support frame; the flipping connection element is arranged at the end of the support frame.

3. The flipping mechanism based on hydraulic power according to claim 2, characterized in that: The flipping connection element includes a flipping connection seat, a flipping bearing, a flipping connection shaft and a flipping connecting plate. The flipping connection seat is arranged at the top of the support frame. The flipping bearing is arranged on the flipping connection seat. The flipping connection shaft is arranged on the flipping connecting plate. One end of the flipping connecting plate is arranged on the flipping bracket, and the other end is connected to the flipping connection shaft.

4. The flipping mechanism based on hydraulic power according to claim 1, characterized in that: The flipping bracket includes a base plate, side plates and a connecting cross beam. The side plates are arranged on both sides of the base plate and are connected to the flipping connection element. The connecting cross beam is arranged at the end of the side plates and is used for connecting the two side plates to form a rectangular frame. The flipping fixing device is arranged on the base plate to fix the mold.

5. The flipping mechanism based on hydraulic power according to claim 4, wherein: The flipping fixing device includes a positioning panel, a clamping driving module, a locking module and a clamping panel. The positioning panel is arranged on the base plate. The clamping driving module is used for driving the clamping panel to move relatively towards the positioning panel to clamp and fix the mold. The locking module is used for locking the clamping panel and the positioning panel to lock the clamped and fixed mold.

6. The hydraulic power-based tipping mechanism according to claim 5, characterized in that: The positioning panel is provided with a positioning groove, and a locking bolt is arranged in the positioning groove. The locking bolt is used for locking and fixing the mold on the positioning groove; the clamping driving module includes a clamping driving hydraulic cylinder, a sliding guide rail and a parallel synchronization component. The clamping driving hydraulic cylinder is arranged on the base plate and is connected to the clamping panel. The sliding guide rail is arranged on the main bracket. The clamping panel is provided with a transmission element, and the transmission element is slidably arranged on the sliding guide rail. The parallel synchronization component includes a transmission shaft arranged on the clamping panel and a transmission rack arranged on the main bracket. Transmission gears are arranged at both ends of the transmission shaft, and the transmission gears are meshed with the transmission rack through transmission; the clamping driving hydraulic cylinder is used for driving the clamping panel to slide along the sliding guide rail to clamp and fix the mold on the positioning groove.

7. The flip mechanism based on hydraulic power according to claim 6, characterized in that: The locking module includes locking hydraulic cylinders, locking connecting rods, locking positioning rings, and locking fixing components. There are multiple groups of locking hydraulic cylinders, which are distributed at the four corners of the base plate. The locking connecting rods are arranged on the locking hydraulic cylinders, and the locking positioning rings are arranged on the locking connecting rods. There are through holes on the clamping panel. One end of the locking connecting rod passes through the through hole, and the locking positioning ring is located at the end passing through the clamping panel. The locking fixing components include a locking cylinder and a locking clamp block. The locking cylinder is arranged on the clamping panel and on one side of the through hole. The locking clamp block is arranged at the driving end of the locking cylinder. The locking clamp block is provided with a locking clamp groove. The locking cylinder is used to drive the locking clamp block to move towards the through hole, so that the locking clamp groove is coaxial with the axis of the locking connecting rod. The locking hydraulic cylinder is used to drive the locking connecting rod to slide, so that the locking positioning ring presses the locking clamp block, and the clamping panel moves relative to the positioning panel to clamp and fix the mold.

8. The flipping mechanism based on hydraulic power according to claim 1, characterized in that: One end of the tilting hydraulic cylinder is provided with a first hinge seat, and the other end is provided with a second hinge seat. The first hinge seat is used to connect the tilting hydraulic cylinder to the main bracket, and the second hinge seat is used to connect the tilting hydraulic cylinder to the tilting bracket.

9. A control method for a hydraulic power-based flipping mechanism according to any one of claims 1 to 8, characterized in that: It includes a hydraulic control system, and the hydraulic control system includes: A double-connected axial piston pump group, which includes a main pump and a pilot pump. An electro-hydraulic proportional pressure controller is arranged at the outlet of the main pump, and its pressure adjustment range is 0-28 MPa; A three-dimensional motion control valve block, which is integrated with: A two-way cartridge proportional direction valve, and the displacement resolution of the valve core is ≤0.02 mm; A cross-sensitivity compensator, which is built-in with a differential pressure sensor and a temperature compensation module; A hydraulic synchronous distributor, which has a double-outlet flow deviation compensation function, and the compensation accuracy is ±1.5%; An intelligent hydraulic actuator unit, which includes: A magnetostrictive displacement sensor is built in the tilting hydraulic cylinder, and the measurement accuracy is 0.01 mm; A six-axis force sensor is installed at the end of the piston rod, and the measuring range is 0-50 kN; A temperature and vibration composite sensor is integrated on the surface of the cylinder block; A closed-loop feedback module, which includes: A multi-channel data acquisition card, and the sampling frequency is ≥10 kHz; An adaptive PID controller, which has a fuzzy logic correction algorithm; A hydraulic state observer, which can estimate the elastic modulus and viscosity parameters of the oil in real time; A fault safety protection unit, which includes: An emergency energy storage group, with a capacity of ≥5 L and a pre-charged nitrogen pressure of 7 MPa; A mechanical emergency lock valve, and the trigger response time is ≤50 ms; An oil circuit self-sealing joint, which automatically locks when the pipeline ruptures; The three-dimensional motion control valve block is provided with: A stacked valve core structure, which includes a main-stage valve core and a pilot-stage valve core. The stroke of the main-stage valve core is 20 mm, and the stroke of the pilot-stage valve core is 0.8 mm; A valve core position closed-loop control module, which is driven by a voice coil motor and is equipped with a nanoscale grating ruler; An on-line oil pollution degree monitoring unit, which is built-in with a β-ray particle counter and a moisture sensor; A dynamic pressure equalization channel, and its flow area A = π(D² - d²) / 4, where D = 12 mm and d = 8 mm; The control method includes the following steps: Step S1, System initialization stage: Start the duplex axial piston pump group and set the initial pressure of the main pump to 5MPa and the pilot pump pressure to 2.5MPa through the electric proportional pressure controller; The three-dimensional motion control valve block performs a self-test procedure to calibrate the zero offset of the two-way cartridge proportional directional valve with a calibration accuracy of ≤0.1%; Zero point calibration of the magnetostrictive displacement sensor and six-dimensional force sensor of the intelligent hydraulic actuator; Step S2, mold clamping control stage: The multi-channel data acquisition card of the closed-loop feedback module collects the clamping panel displacement signal in real time. When it detects that the clamping stroke reaches 90% of the set value, the fuzzy correction algorithm of the adaptive PID controller is activated; Through the flow deviation compensation function of the hydraulic synchronous distributor, the synchronization error of the clamping drive hydraulic cylinders on both sides is controlled to ≤±0.3mm; The pressure gradient of the locking hydraulic cylinder of the locking module is controlled at 0.5MPa / ms. When the six-axis force sensor detects that the axial pressure reaches 15kN, the mechanical emergency locking valve is triggered to enter the standby state; Step S3, hydraulic flip execution stage: The cross-sensitive compensator of the three-dimensional motion control valve block compensates for the flow fluctuation caused by oil temperature changes in real time. The compensation formula is: Q_corr=Q_0×[1-α(T-T0)], where α=0.0015 / ℃, T0=40℃; The main stage valve core stroke and the pilot stage valve core stroke of the stacked valve core structure are linked and controlled in a ratio of 1:25; The hydraulic state observer adjusts the servo motor drive frequency based on the real-time estimated oil elastic modulus to ensure that the pressure fluctuation is ≤±0.8MPa; Step S4: Security protection stage: When the oil contamination online monitoring unit detects that the NAS level is greater than level 8, the oil circuit self-sealing joint of the fail-safe protection unit is activated; The emergency accumulator group automatically intervenes when the system pressure drops by more than 30%, maintaining the pressure ≥ 7MPa for 5 seconds; When the temperature and vibration composite sensor detects an abnormal frequency spectrum, it triggers the bidirectional gear pump group to reverse and unload.

10. The control method of the flipping mechanism based on hydraulic power according to claim 9, characterized in that: Step S3 also includes a dynamic synchronization compensation strategy: Establish the kinematic model of the hydraulic cylinder: v(t)=K_p×A_eff×√(ΔP / ρ) Where K_p is the flow gain coefficient of the proportional directional valve, A_eff is the effective cross-sectional area of the valve port, ΔP is the pressure difference at the valve port, and ρ is the oil density; Using the cross-coupling control algorithm, the synchronization error compensation is calculated as: ε=∫(v1-v2)dt+K_d×(a1-a2) Where v1 / v2 is the velocity of the two hydraulic cylinders, a1 / a2 is the acceleration, K_d=0.05-0.1ms² / mm; Compensation flow is injected into the lagging hydraulic cylinder through the hydraulic bridge circuit, and the compensation amount satisfies: Q_comp=π×(D²-d²) / 4×ε_max / t_comp Where D=80mm is the cylinder diameter, d=56mm is the rod diameter, and t_comp≤100ms is the compensation time constant.

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