Control method and control device of three-position four-way reversing valve

Abstract

The invention provides a control method and device for a three-position four-way reversing valve, and the control method comprises the steps that a second valve element is controlled to move to a working position in the first direction, and the part, located on one side of a third liquid passing ring groove, of a core body of the second valve element completely shields a pilot liquid return channel; high-pressure liquid entering through the pilot liquid inlet channel enters the first control cavity through the third liquid passing ring groove and an inner channel of the second valve element so as to drive the first valve element to move in the first direction. A second valve element is controlled to stop moving, communication between a third liquid passing ring groove and a pilot liquid inlet channel is disconnected through movement of a first valve element, and meanwhile the third liquid passing ring groove is made to communicate with a pilot liquid return channel on the corresponding side; high-pressure liquid in the first control cavity is discharged through the pilot liquid return channel, so that the first valve element and the second valve element are in a dynamic balance state. According to the embodiment of the invention, control is more accurate through position control of the multiple valve cores in reversing and flow regulation, and meanwhile, the valve has the characteristics of compact and simple structure and the like.

Description

Technical Field

[0001] The present disclosure relates to the technical field of control of reversing valves, and more particularly, to a control method and a control device for a three-position four-way reversing valve. Background Art

[0002] The electro-hydraulic control reversing valve is the core control component of an electro-hydraulic control system, which is a hydraulic reversing valve formed by combining an electromagnetic pilot valve and a main valve. The high-pressure liquid in the liquid path of the electromagnetic pilot valve is used to push the main valve spool to control the movement of the actuator. As a key component of the electro-hydraulic control of a hydraulic cylinder, the electro-hydraulic control reversing valve plays an important role in realizing the integrated mechanization, automation, and intelligent control of a hydraulic system. At the same time, with the popularization and application of intelligent control in various industries, the requirement for the control accuracy of the hydraulic system is getting higher and higher, and there is a need for flow regulation of the electro-hydraulic control reversing valve, so as to control the speed and direction of the actuator and achieve more precise control.

[0003] The flow control of the existing reversing valve depends on the opening of the main spool, and the opening of the main spool is determined by the balance position between the pilot liquid pressure and the spring force; the core of realizing high-precision flow control lies in controlling the pilot liquid pressure. In the prior art, the pilot liquid pressure is regulated by controlling the opening of an electromagnetic pressure reducing valve, and there is also a solution that uses a high-speed switching valve for regulation. These solutions all have the problem of energy waste caused by continuous liquid discharge and pressure reduction, and put very high requirements on the design and processing of the electromagnet, the pilot spool, and the main spool. At present, it is difficult to design and manufacture a high-precision electro-hydraulic proportional reversing valve and the cost is high. Summary of the Invention

[0004] In view of this, the present disclosure aims to provide a control method and a control device for a three-position four-way reversing valve to solve the technical problems in the prior art that the pilot liquid pressure is regulated by controlling the opening of an electromagnetic pressure reducing valve or using a high-speed switching valve, resulting in energy waste caused by continuous liquid discharge and pressure reduction and putting very high requirements on the design and processing of the electromagnet, the pilot spool, and the main spool.

[0005] The present disclosure provides a control method for a three-position four-way reversing valve, including:

[0006] Controlling the second spool to move towards the first direction to the working position, and the core body part of the second spool on one side of the third liquid passing annular groove completely blocks the pilot liquid return channel, and the high-pressure liquid entering through the pilot liquid inlet channel enters the first control cavity through the third liquid passing annular groove and the internal channel of the second spool to drive the first spool to move towards the first direction;

[0007] Control the second spool to stop moving. By moving the first spool, the communication between the third liquid passing ring groove and the pilot liquid inlet passage is disconnected, and at the same time, the third liquid passing ring groove is communicated with the corresponding side pilot liquid return passage. The high-pressure liquid in the first control cavity is discharged through the pilot liquid return passage, so that the first spool and the second spool are in a dynamic balance state.

[0008] In some embodiments, before controlling the second spool to move towards the first direction to the working position, it further includes:

[0009] Control the second spool to move from the zero position control state towards the first direction to the dynamic balance position. The third liquid passing ring groove of the second spool is communicated with the pilot liquid inlet passage, and the core body part of the second spool on one side of the third liquid passing ring groove just blocks the corresponding side pilot liquid return passage, so that the first spool and the second spool are in a dynamic balance state.

[0010] In some embodiments, when the first spool is in the zero position control state, the first liquid passing ring groove communicates the first working ring groove with the corresponding liquid return ring groove on one side, and the second liquid passing ring groove communicates the second working ring groove with the corresponding liquid return ring groove on the other side. The first spool is in the zero position control state through the spring.

[0011] In some embodiments, after the first spool and the second spool are in the dynamic balance state, it further includes:

[0012] Control the second spool to continue moving towards the first direction, and the first spool is in a follow-up state to regulate the output or input of the fluid medium to the corresponding working port.

[0013] In some embodiments, when the first spool is in the follow-up state, the moving distance of the first spool is the same as the moving distance of the second spool.

[0014] In some embodiments, when the first spool is in the follow-up state, when the first spool moves to a position where the first liquid passing ring groove is communicated with the liquid inlet ring groove and the second liquid passing ring groove is completely communicated with the corresponding side liquid return ring groove, the first liquid passing ring groove is communicated with the first working port, and the second liquid passing ring groove is communicated with the second working port.

[0015] In some embodiments, it further includes:

[0016] Control the second spool to continue moving towards the first direction until the end face of the first spool or the second spool abuts against the inner wall of the end cover or the valve body to reach the preset limit position.

[0017] In some embodiments, the pilot liquid inlet passage is communicated with the liquid inlet port, and the first pilot liquid return ring groove and the second pilot liquid return ring groove are always communicated with the liquid return port.

[0018] In some embodiments, it further includes:

[0019] When reducing the opening degree of the first spool or switching the output of the working port, control the second spool to move in the second direction.

[0020] The present disclosure also provides a control device for a three-position four-way reversing valve, including:

[0021] A first control module for controlling the second spool to move to the working position in the first direction, and the core body part of the second spool on one side of the third liquid passing ring groove completely blocks the pilot liquid return channel, and the high-pressure liquid entering through the pilot liquid inlet channel enters the first control chamber through the third liquid passing ring groove and the internal channel of the second spool to drive the first spool to move in the first direction;

[0022] A second control module for controlling the second spool to stop moving, disconnecting the communication between the third liquid passing ring groove and the pilot liquid inlet channel by the movement of the first spool, and at the same time connecting the third liquid passing ring groove with the corresponding side pilot liquid return channel, and discharging the high-pressure liquid in the first control chamber through the pilot liquid return channel so that the first spool and the second spool are in a dynamic balance state.

[0023] In the commutation and flow regulation of the embodiments of the present disclosure, the position control of multiple spools is used to replace the pressure control in the prior art solutions, which has prominent advantages such as more accurate control and lower control difficulty, and at the same time has characteristics such as compact and simple structure.

[0024] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0025] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar components in different views. The same reference numerals with alphabetic suffixes or different alphabetic suffixes may represent different instances of similar components. The drawings generally illustrate various embodiments by way of example rather than limitation, and are used together with the description and the claims to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be an exhaustive or exclusive embodiment of the device or method. The drawings described herein are used to provide a further understanding of the present disclosure, form a part of this application, and the illustrative embodiments and descriptions thereof are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0026] Figure 1 is a schematic diagram of the structure of the three-position four-way reversing valve provided by the embodiment of the present disclosure and in the initial state;

[0027] Figure 2 is a schematic diagram of the three-position four-way reversing valve provided by the embodiment of the present disclosure in the first state;

[0028] Figure 3 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the second state;

[0029] Figure 4 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the third state;

[0030] Figure 5 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the fourth state;

[0031] Figure 6 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the fifth state;

[0032] Figure 7 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the sixth state;

[0033] Figure 8 It is a schematic diagram of the three-position four-way directional control valve provided by an embodiment of the present disclosure in the seventh state;

[0034] Figure 9 It is a schematic diagram of the structure of another three-position four-way directional control valve provided by an embodiment of the present disclosure;

[0035] Figure 10 It is a schematic diagram of the steps of the control method of the three-position four-way directional control valve provided by an embodiment of the present disclosure.

[0036] Among them, the above-mentioned drawings include the following reference numerals:

[0037] 1 - valve body; 2 - valve sleeve; 3 - first spool; 4 - second spool; 5 - end cover; 6 - spring; 7 - connecting rod; 8 - driving assembly. Detailed implementation manners

[0038] Next, specific embodiments of the present disclosure will be described in detail with reference to the drawings, but it is not a limitation of the present disclosure.

[0039] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be regarded as a limitation, but only as an example of the embodiments. Those skilled in the art will think of other modifications within the scope and spirit of the present disclosure.

[0040] The drawings included in the specification and constituting a part of the specification show the embodiments of the present disclosure, and together with the general description of the present disclosure given above and the detailed description of the embodiments given below are used to explain the principles of the present disclosure.

[0041] These and other features of the present disclosure will become apparent from the following description of the preferred forms of the embodiments given as non-limiting examples with reference to the accompanying drawings.

[0042] It should also be understood that although the present disclosure has been described with reference to some specific examples, those skilled in the art can surely implement many other equivalent forms of the present disclosure, which have the features as described in the claims and thus are all within the scope of protection defined hereby.

[0043] When combined with the accompanying drawings, the above and other aspects, features, and advantages of the present disclosure will become more apparent in view of the following detailed description.

[0044] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in substantially any suitable detailed structure in various ways.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0046] This specification may use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which may each refer to one or more of the same or different embodiments according to the present disclosure.

[0047] Embodiments of the present disclosure provide a control method for a three-position four-way directional control valve, as Figure 1As shown, the three-position four-way directional control valve includes a valve body 1 and a valve cover 5. A valve sleeve 2, a first spool 3, and a second spool 4 are arranged inside the valve body 1. Here, the second spool 4 is arranged inside the first spool 3. Here, the valve sleeve 2 and the valve body 1 can be screwed and connected in a threaded manner, and in other embodiments, they can also be connected in other forms such as flanges. The specific connection form is not limited.

[0048] Here, the end cover 5 and the valve sleeve 2 can also be connected in a screwed manner to limit the first spool 3 and the second spool 4 inside the valve sleeve 2, and a sealing structure is provided to prevent the liquid inside the valve sleeve 2 from leaking out.

[0049] Specifically, the valve body 1 adopts a cylindrical structure. An inlet port, a return port, a first working port, and a second working port are arranged on the outer wall of the valve body 1 along its length direction. Among them, the inlet port is located in the middle, the first working port and the second working port are respectively located on both sides of the inlet port, and the return ports are respectively arranged outside the first working port and the second working port. Here, the inlet port is connected to an external liquid inlet device as the input end of high-pressure liquid, and the return port is connected to an external liquid return device, which has no pressure or a pressure much lower than the inlet pressure. Here, the first working port and the second working port are used as control ports to connect to an actuator. For example, a hydraulic cylinder and a hydraulic motor can be respectively connected through the first working port and the second working port. By controlling the liquid flow direction and flow rate inside the three-position four-way directional control valve, the movement direction and movement speed of different actuators can be adjusted. Here, an inlet chamber is formed inside the inlet port, a return chamber is formed inside the return port, and working chambers are respectively formed inside the first working port and the second working port.

[0050] Furthermore, the valve sleeve 2 adopts a cylindrical structure. An inlet ring groove P, a first working ring groove A, a second working ring groove B, and two return ring grooves T are arranged on the outer wall of the valve sleeve 2 along the length direction of the valve sleeve 2. Through the internal flow channels of the valve body 1, the inlet ring groove P is connected to the inlet port on the valve body 1, the two return ring grooves T are simultaneously connected to the return port, the first working ring groove A is connected to the first working port, and the second working ring groove B is connected to the second working port. In this way, the inlet ring groove P is located in the middle of the valve sleeve 2, the first working ring groove A and the second working ring groove B are located on both sides of the inlet ring groove P, and the return ring grooves T are respectively arranged outside the first working ring groove A and the second working ring groove B. Among them, the first working ring groove A and the second working ring groove B have the same size, and the two return ring grooves T have the same size.

[0051] Specifically, the liquid inlet ring groove P, the first working ring groove A, the second working ring groove B, and the two liquid return ring grooves T form five chambers in sequence. Among them, the first working ring groove A and the second working ring groove B are symmetrically arranged with respect to the center line of the liquid inlet ring groove P. Similarly, the two liquid return ring grooves T are symmetrically arranged with respect to the center line of the liquid inlet ring groove P.

[0052] Further, the interior of the valve sleeve 2 here is set as a through smooth cylindrical surface. Radial liquid passing holes are provided in each of the above-mentioned ring grooves, and through the radial liquid passing holes, the liquid in each ring groove can enter the interior of the valve sleeve 2.

[0053] Further, sealing rings are provided between the liquid inlet ring groove P, the first working ring groove A, the second working ring groove B, and the two liquid return ring grooves T. Through the sealing rings, the five chambers can be separated to prevent the liquid from flowing between different chambers.

[0054] The first valve core 3 in this embodiment is arranged in the valve sleeve 2. It can adopt a hollow cylindrical structure. By setting reasonable shape parameters, the outer wall of the first valve core 3 is closely fitted with the inner wall of the valve sleeve 2. The first valve core 3 can reciprocate along the length direction of the valve sleeve 2 in the valve sleeve 2. By different moving positions, the liquid flow can be prevented, so as to achieve the effect of controlling the liquid flow.

[0055] Further, a pilot liquid inlet channel Px is arranged in the middle of the first valve core 3. Pilot liquid return channels Tx are symmetrically arranged on both sides of the pilot liquid inlet channel Px. A first liquid passing ring groove Ad and a second liquid passing ring groove Bd are respectively arranged along the length direction of the first valve core 3 between the pilot liquid inlet channel Px and the two pilot liquid return channels Tx. First pilot liquid return ring grooves Ta and second pilot liquid return ring grooves Tb are respectively arranged along the length direction of the first valve core 3 on the outer sides of the two pilot liquid return channels Tx. Among them, the first liquid passing ring groove Ad and the second liquid passing ring groove Bd have the same size, and the first pilot liquid return ring groove Ta and the second pilot liquid return ring groove Tb have the same size.

[0056] The interior of the first valve core 3 here is set as a through smooth cylindrical surface. The pilot liquid inlet channel Px is used to connect the inner hole of the second valve core 4 and the liquid inlet ring groove P. The two pilot liquid return channels Tx are respectively used to connect the first pilot liquid return ring groove Ta and the second pilot liquid return ring groove Tb on both sides and the liquid return ring groove T.

[0057] Furthermore, the second valve core 4 here is arranged inside the first valve core 3. It can adopt a cylindrical structure. By setting reasonable shape parameters, the outer wall of the second valve core 4 is closely fitted with the inner wall of the first valve core 3. The second valve core 4 can reciprocate along the length direction of the first valve core 3 inside the first valve core 3. By different moving positions, the flow of liquid can be prevented, thereby achieving the effect of controlling the liquid flow-through.

[0058] In addition, in order to enhance the effect of the first valve core 3 and the second valve core 4 in blocking the medium flow between chambers, a seal can be provided at the closely fitted position.

[0059] Furthermore, a third liquid-passing ring groove Ax and a fourth liquid-passing ring groove Bx are arranged along the length direction on the outer wall of the second valve core 4. Among them, the third liquid-passing ring groove Ax and the fourth liquid-passing ring groove Bx are respectively communicated with the end faces on both sides through internal liquid-passing channels. Among them, the third liquid-passing ring groove Ax and the fourth liquid-passing ring groove Bx have the same size.

[0060] Furthermore, on the side of the valve body 1 far from the end cover 5, the inner wall on one side of the valve body 1, the end face of the first valve core 3, and the end face of the second valve core 4 enclose to form a first control chamber KA. On the other side of the valve body 1 close to the end cover 5, the end face of the first valve core 3, the end face of the second valve core 4, and the end face of the end cover 5 enclose to form a second control chamber KB.

[0061] The first valve core 3 is in a zero-position control state during initial installation. In this zero-position control state, the center of the first valve core 3 is oppositely arranged with the center of the liquid inlet ring groove P, and each ring groove is in a symmetric structure.

[0062] In some embodiments, as Figure 9 shown, in order to ensure that the first valve core 3 maintains the zero position state during initial installation, springs 6 are respectively arranged at both ends of the first valve core 3. The two springs 6 have the same shape and the same compression state. One end of each of the two springs 6 is connected to the end face of the first valve core 3, and the other ends of the two springs 6 respectively abut against the bottom surface of the valve body 1 and the inner surface of the end cover 5, or can also be connected to components that remain relatively stationary with the valve sleeve 2.

[0063] In some other embodiments, in order to ensure the control effect and control accuracy, a displacement sensor (not shown) is provided on the first spool valve 3 and / or the second spool valve 4, and the position information of the first spool valve 3 and / or the second spool valve 4 is fed back to an external control device to form a displacement closed-loop control. In some other embodiments, a flow sensor (not shown) may also be provided at the position of the first working port and / or the second working port, and the output flow information is fed back to the external control device to form a flow closed-loop control.

[0064] The three-way four-way directional control valve of the present embodiment can realize the function of controlling the reverse flow of liquid. During the control process of the three-way four-way directional control valve, by controlling the reciprocating movement of the second spool valve 4, the high-pressure liquid in the liquid inlet ring groove P enters the first control cavity KA or the second control cavity KB, and then drives the first spool valve 3 to move accordingly, so that the first spool valve 3 blocks the liquid return cavity and connects the working cavity and the liquid inlet cavity, achieving the purpose of controlling the flow direction of the medium.

[0065] Further, continue as Figure 9 shown, in order to control the second spool valve 4, the end of the second spool valve 4 facing the end cover 5 is connected to the first end of the connecting rod 7, and the second end of the connecting rod 7 is connected with a driving component 8. Here, the cooperation of the driving component 8 and the connecting rod 7 is used to control the movement of the second spool valve 4. In addition, since the second spool valve 4 is smaller in size and receives less load, a lower-power driving component can be used for control, which is easier to achieve control in occasions where the power consumption of the control end is limited.

[0066] Further, the connecting rod 7 here can pass through the end cover 5, and corresponding seals are provided between the connecting rod 7 and the end cover 5. In another embodiment, the driving component is integrally arranged inside the valve body 1 and inside the end cover 5.

[0067] The driving component 8 here can be a manual lifting device, or an electro-controlled translation device such as an electromagnet or a linear motor, as long as it can drive the second spool valve 4 to reciprocate.

[0068] As Figure 10 shown, the control method of the embodiment of the present disclosure includes the following steps:

[0069] S101, control the second spool valve to move towards the first direction to the working position, the core body part of the second spool valve on one side of the third liquid passing ring groove completely blocks the pilot liquid return channel, and the high-pressure liquid entering through the pilot liquid inlet channel enters the first control cavity through the third liquid passing ring groove and the internal channel of the second spool valve to drive the first spool valve to move towards the first direction;

[0070] S102, control the second spool to stop moving. By moving the first spool, the communication between the third liquid passing ring groove and the pilot liquid inlet passage is disconnected, and at the same time, the third liquid passing ring groove is communicated with the corresponding pilot liquid return passage on one side. The high-pressure liquid in the first control cavity is discharged through the pilot liquid return passage, so that the first spool and the second spool are in a dynamic balance state.

[0071] Further, before the above step S101, that is, before controlling the second spool to move in the first direction to the working position, it further includes:

[0072] Control the second spool to move from the zero position control state in the first direction to the dynamic balance position. The third liquid passing ring groove of the second spool is communicated with the pilot liquid inlet passage, and the core body part of the second spool on one side of the third liquid passing ring groove just blocks the corresponding pilot liquid return passage on that side, so that the first spool and the second spool are in a dynamic balance state. Wherein, when the first spool is in the zero position control state, the first liquid passing ring groove communicates the first working ring groove and the corresponding liquid return ring groove on one side, and the second liquid passing ring groove communicates the second working ring groove with the corresponding liquid return ring groove on the other side.

[0073] Further, after the above step S102, that is, after the first spool and the second spool are in a dynamic balance state, it further includes:

[0074] Control the second spool to continue to move in the first direction, and the first spool is in a follow-up state to regulate the output or input of the fluid medium to the corresponding working port.

[0075] The above steps will be described in detail below.

[0076] As Figure 1 shown, in the initial state, the first spool 3 is in the zero position control state. At this time, the first liquid passing ring groove Ad communicates the first working ring groove A and the liquid return ring groove T on one side, and the second liquid passing ring groove Bd communicates the second working ring groove B with the liquid return ring groove T on the other side. Here, the two working ring grooves on both sides are simultaneously communicated with the liquid return ring groove T, and the first liquid passing ring groove Ad and the second liquid passing ring groove Bd are at a predetermined distance from the liquid inlet ring groove P. At this time, the first spool 3, the second spool 4 and each channel maintain static balance, without any action or medium flow.

[0077] Here, by setting the spring 6, it is convenient to make the first spool 3 in the zero-position control state. Among them, when the first spool 3 is in the zero-position control state, the spring forces of the two-side springs 6 are the same; when the first spool 3 moves a certain distance in any direction, the spring force on one side decreases while the spring force on the other side increases, which will cause the unbalance of the forces on both sides of the first spool 3. At this time, it is necessary to adjust the structural parameter settings of the second spool 4 to change the position of the first spool 3. Specifically, the third liquid-passing ring groove Ax of the second spool 4 is simultaneously communicated with the pilot liquid inlet channel Px and the pilot liquid return channel Tx, and a liquid pressure FKA that just balances the spring force is formed in one side of the control cavity, that is, fKA + FKA = fKB (here it is assumed that after the first spool 3 moves to the right, fKA < fKB), so that the first spool 3 is in a dynamic balance state. As the moving distance of the first spool 3 is different, the magnitudes of fKA and fKB are also different, but since the second spool 4 is controlled and does not act, the first spool 3 realizes floating automatic balance, that is, it will automatically find and adjust the balance point of the communication opening degree between the third liquid-passing ring groove Ax and the pilot liquid inlet channel Px and the pilot liquid return channel Tx, so as to achieve the above dynamic balance state.

[0078] As Figure 2 shown, when the second spool 4 moves towards the valve cover 5 ( Figure 2 the right side in

[0079] As Figure 3 shown, when the second spool 4 continues to move towards the valve cover 5 ( Figure 3moves to the right side in [description] and moves to the working position. When the third liquid passing ring groove Ax is communicated with the pilot liquid inlet channel Px, the core part on the left side of the third liquid passing ring groove Ax completely blocks the pilot liquid return channel Tx. The high-pressure liquid enters the first control cavity KA through the third liquid passing ring groove Ax and the internal channel of the second valve core 4, causing the pressure in the cavity to rise. At this time, the left side of the first valve core 3 is affected by the liquid pressure, while the right side of the first valve core 3 continues to be communicated with the liquid return ring groove T without pressure, so that the first valve core 3 moves to the right under the action of the liquid pressure.

[0080] As Figure 4 shown, the first valve core 3 continues to move in the direction towards the valve cover 5 ( Figure 4 the right side in [description]) under the action of the liquid pressure. At this time, the second valve core 4 does not move under the action of the external control device. In this way, after the first valve core 3 moves to the right for a certain distance, the communication between the third liquid passing ring groove Ax and the pilot liquid inlet channel Px will be disconnected and at the same time it will be communicated with the pilot liquid return channel Tx on one side. The high-pressure liquid in the first control cavity KA will be quickly discharged through the pilot liquid return channel Tx, so that the liquid pressures on both sides of the first valve core 3 are rebalanced, and at this time the relative positions of the first valve core 3 and the second valve core 4 are in the above dynamic balance state.

[0081] At this time, although the first valve core 3 moves a certain distance in the direction towards the valve cover 5 ( Figure 4 the right side in [description]), only the core part outside the first liquid passing ring groove Ad blocks a part of the pilot liquid return channel Tx, but the pilot liquid inlet channel Px is not yet communicated.

[0082] As Figure 5 shown, if it is necessary to change the connection state of each chamber through the first valve core 3, it is necessary to continue to move the second valve core 4 in the direction towards the valve cover 5 ( Figure 5 the right side in [description]). Using the above valve core following action, the first valve core 3 continues to move to the right. In this way, by controlling the second valve core 4 to continue to move in the first direction, the first valve core 3 is in a follow-up state to regulate the output or input of the fluid medium to the corresponding working port. As Figure 5 shown, when the second valve core 4 continues to move in the direction towards the valve cover 5 ( Figure 5Move to the connected position (on the right side in []) such that, based on the follow-up movement, when the first valve core 3 moves to a position where the first liquid passing ring groove Ad communicates with the liquid inlet ring groove P, the pilot liquid return channel Tx is blocked simultaneously to prevent liquid from entering the pilot liquid return ring groove Ta, and the second liquid passing ring groove Bd communicates completely with the corresponding liquid return ring groove. In this way, the first liquid passing ring groove Ad of the first valve core 3 always communicates with the first working port A, and the second liquid passing ring groove Bd of the first valve core 3 always communicates with the second working port B.

[0083] When the first valve core 3 is in the follow-up state, the moving distance of the first valve core 3 is the same as that of the second valve core 4. In this way, the moving direction and distance of the first valve core 3 completely follow those of the second valve core 4.

[0084] Specifically, due to the follow-up state between the first valve core 3 and the second valve core 4, even if the first valve core 3 changes the communication state of each chamber to allow liquid to flow between the chambers, but if the position of the second valve core 4 does not change, the dynamic position of the first valve core 3 will not change; and since the medium flow rate through the hydraulic valve is positively correlated with the opening degree of the first valve core 3 (i.e., the relative position between the first valve core 4 and the liquid inlet ring groove P of the valve sleeve 2), the position of the first valve core 3 can be controlled through the position of the second valve core 4, and ultimately the output or input of a certain flow rate of fluid medium to the corresponding working port can be regulated.

[0085] Figure 6 Shown is when the first valve core 3 moves to a position where the first liquid passing ring groove Ad just communicates with the liquid inlet ring groove P. When the first valve core 3 has a locking structure size, the first valve core 3 just completely shields the pilot liquid return channel Tx, so that the working port does not communicate with either the pilot liquid inlet channel Px or the pilot liquid return channel Tx; in other embodiments, when the first valve core 3 has a non-locking structure size, the size of the first valve core 3 is set such that only one of the pilot liquid inlet channel Px and the pilot liquid return channel Tx can be shielded. For example, the pilot liquid return channel Tx can be completely shielded first, and then the first liquid passing ring groove Ad is communicated with the liquid inlet ring groove P by the movement of the first valve core 3. At this time, a locking state where the working port does not communicate with either the liquid inlet port or the liquid return port will be achieved. As Figure 7 and Figure 8 shown, the first valve core 3 and the second valve core 4 continue to move in the direction towards the valve cover 5 ( Figure 7Move to the right (on the right side in the figure) until the right end face of the first valve core 3 abuts against the end cover to reach a preset limit position. At this time, even if there is high-pressure liquid in the first control chamber KA, the generated liquid pressure will be transmitted to the end cover and make it unable to move. At the same time, a limiting device (not shown in the figure) for the second valve core 4 is provided to make the movement of the second valve core 4 not exceed the preset limit position. During the entire control process of the second valve core 4, the pilot liquid inlet channel Px is always communicated with the liquid inlet, and the first pilot liquid return ring groove Ta and the second pilot liquid return ring groove Tb are always communicated with the liquid return port.

[0086] Due to the symmetrical arrangement of the first valve core 3 and the second valve core 4, at any of the above positions, if it is necessary to reduce the opening degree of the first valve core 3 or switch to the second working port B for liquid inlet, only need to move the second valve core 4 to the other side, that is, the second direction (i.e., move to the left in the figure) to achieve. In other words, by moving the second valve core 4 left and right, the connection direction and flow rate of the three-way four-way directional control valve can be arbitrarily adjusted.

[0087] In the commutation and flow regulation of the embodiments of the present disclosure, the position control of multiple valve cores is used to replace the pressure control in the prior art solutions, which has outstanding advantages such as more precise control and lower control difficulty, and at the same time has the characteristics of compact and simple structure.

[0088] Based on the same inventive concept as the above first embodiment, the second embodiment of the present disclosure provides a control device for a three-way four-way directional control valve, which includes a first control module and a second control module that are coupled to each other, wherein:

[0089] The first control module is used to control the second valve core to move to the working position in the first direction, and the core body part of the second valve core on one side of the third liquid passing ring groove completely blocks the pilot liquid return channel. The high-pressure liquid entering through the pilot liquid inlet channel enters the first control chamber through the third liquid passing ring groove and the internal channel of the second valve core to drive the first valve core to move in the first direction;

[0090] The second control module is used to control the second valve core to stop moving, disconnect the communication between the third liquid passing ring groove and the pilot liquid inlet channel by the movement of the first valve core, and at the same time make the third liquid passing ring groove communicate with the corresponding side pilot liquid return channel. The high-pressure liquid in the first control chamber is discharged through the pilot liquid return channel so that the first valve core and the second valve core are in a dynamic balance state.

[0091] The control device can realize the functions in any of the technical solutions of the above first embodiment.

[0092] In the commutation and flow regulation of the embodiments of the present disclosure, the position control of multiple valve cores is used to replace the pressure control in the prior art solutions, which has outstanding advantages such as more precise control and lower control difficulty, and at the same time has the characteristics of compact and simple structure.

[0093] The third embodiment of the present disclosure provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above control method, including:

[0094] S11. Control the second spool to move towards the first direction to the working position, and the core body part of the second spool on one side of the third liquid passing ring groove completely blocks the pilot return liquid channel. The high-pressure liquid entering through the pilot inlet liquid channel enters the first control cavity through the third liquid passing ring groove and the internal channel of the second spool to drive the first spool to move in the first direction;

[0095] S12. Control the second spool to stop moving. By the movement of the first spool, the communication between the third liquid passing ring groove and the pilot inlet liquid channel is disconnected, and at the same time, the third liquid passing ring groove is communicated with the corresponding side pilot return liquid channel. The high-pressure liquid in the first control cavity is discharged through the pilot return liquid channel so that the first spool and the second spool are in a dynamic balance state.

[0096] Of course, it can also be used to implement other steps of the control method of the above implementation scheme.

[0097] In the commutation and flow rate regulation of the embodiments of the present disclosure, the position control of multiple spools is used to replace the pressure control in the prior art solutions, which has prominent advantages such as more precise control and lower control difficulty, and at the same time has characteristics such as compact and simple structure.

[0098] The fourth embodiment of the present disclosure provides an electronic device, which at least includes a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program on the memory, the steps of the above control method are implemented, specifically including:

[0099] S21. Control the second spool to move towards the first direction to the working position, and the core body part of the second spool on one side of the third liquid passing ring groove completely blocks the pilot return liquid channel. The high-pressure liquid entering through the pilot inlet liquid channel enters the first control cavity through the third liquid passing ring groove and the internal channel of the second spool to drive the first spool to move in the first direction;

[0100] S22. Control the second spool to stop moving. By the movement of the first spool, the communication between the third liquid passing ring groove and the pilot inlet liquid channel is disconnected, and at the same time, the third liquid passing ring groove is communicated with the corresponding side pilot return liquid channel. The high-pressure liquid in the first control cavity is discharged through the pilot return liquid channel so that the first spool and the second spool are in a dynamic balance state. Of course, it can also be used to implement other steps of the control method of the above implementation scheme.

[0101] In the embodiments of the present disclosure, position control of multiple valve cores is used to replace pressure control in the prior art solutions during commutation and flow regulation, which has prominent advantages such as more accurate control and lower control difficulty, and also has characteristics such as compact and simple structure.

[0102] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0103] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0104] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0105] In the embodiments provided in the present application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the module or unit is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0106] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional unit in various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0108] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above embodiment methods of the present application, it can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above embodiments of the control method for each motor torque can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0109] In addition, the features of the embodiments shown in the drawings of the present application or various embodiments mentioned in this specification do not have to be understood as independent embodiments from each other. Instead, each feature described in one example of one embodiment can be combined with one or more other desired features from other embodiments to generate other embodiments not described in words or with reference to the drawings.

[0110] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for a three-position four-way directional control valve, characterized in that, Including: Controlling the second spool to move towards the first direction to the working position, the core body part of the second spool on one side of the third liquid passing ring groove completely blocks the pilot liquid return channel, and the high-pressure liquid entering through the pilot liquid inlet channel enters the first control cavity through the third liquid passing ring groove and the internal channel of the second spool to drive the first spool to move towards the first direction; Controlling the second spool to stop moving, disconnecting the communication between the third liquid passing ring groove and the pilot liquid inlet channel through the movement of the first spool, and at the same time connecting the third liquid passing ring groove with the corresponding side pilot liquid return channel, and discharging the high-pressure liquid in the first control cavity through the pilot liquid return channel so that the first spool and the second spool are in a dynamic balance state.

2. The control method according to claim 1, wherein Before controlling the second spool to move towards the first direction to the working position, it further includes: Controlling the second spool to move from the zero position control state towards the first direction to the dynamic balance position, the third liquid passing ring groove of the second spool is communicated with the pilot liquid inlet channel, and the core body part of the second spool on one side of the third liquid passing ring groove just blocks the corresponding side pilot liquid return channel, so that the first spool and the second spool are in a dynamic balance state.

3. The control method according to claim 2, wherein When the first spool is in the zero position control state, the first liquid passing ring groove connects the first working ring groove and the corresponding liquid return ring groove on one side, and the second liquid passing ring groove connects the second working ring groove with the corresponding liquid return ring groove on the other side.

4. The control method according to claim 1, characterized in that, After the first spool and the second spool are in the dynamic balance state, it further includes: Controlling the second spool to continue moving towards the first direction, and the first spool is in a follow-up state to regulate the output or input of the fluid medium to the corresponding working port.

5. The control method according to claim 4, characterized in that When the first spool is in the follow-up state, the moving distance of the first spool is the same as the moving distance of the second spool.

6. The control method according to claim 4, wherein When the first spool is in the follow-up state, when the first spool moves to the position where the first liquid passing ring groove is communicated with the liquid inlet ring groove and the second liquid passing ring groove is completely communicated with the corresponding side liquid return ring groove, the first liquid passing ring groove is communicated with the first working port, and the second liquid passing ring groove is communicated with the second working port.

7. The control method according to claim 4, characterized in that, It further includes: Controlling the second spool to continue moving towards the first direction until the end face of the first spool or the second spool abuts against the inner wall of the end cover or the valve body to reach the preset limit position.

8. The control method according to any one of claims 1 to 7, characterized in that, The pilot liquid inlet channel is communicated with the liquid inlet port, and the first pilot liquid return ring groove and the second pilot liquid return ring groove are always communicated with the liquid return port.

9. The control method according to claim 1, wherein It further includes: When reducing the opening degree of the first spool or switching the output of the working port, controlling the second spool to move towards the second direction.

10. A control device for a three-position four-way directional control valve, characterized in that, Including: The first control module is used to control the second spool to move towards the first direction to the working position, the core body part of the second spool on one side of the third liquid passing ring groove completely blocks the pilot liquid return channel, and the high-pressure liquid entering through the pilot liquid inlet channel enters the first control cavity through the third liquid passing ring groove and the internal channel of the second spool to drive the first spool to move towards the first direction; The second control module is used to control the second spool to stop moving, disconnect the communication between the third liquid passing ring groove and the pilot liquid inlet channel through the movement of the first spool, and at the same time connect the third liquid passing ring groove with the corresponding side pilot liquid return channel, and discharge the high-pressure liquid in the first control cavity through the pilot liquid return channel so that the first spool and the second spool are in a dynamic balance state.

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