Hydraulic rotation control system and method

Abstract

The invention discloses a hydraulic rotation control system and method.The hydraulic rotation control system comprises a rotation driving assembly, the rotation driving assembly is fixed to a rotating cylinder and meshed with a large gear ring of a rotation support, the upper portion of the rotation support is connected with the rotating cylinder, and the lower portion of the rotation support is connected with a rotation base; two groups of the rotary driving assemblies are arranged and are respectively connected with the back pressure valve group; the back pressure valve group comprises a back pressure valve, a hydraulic lock and a reversing electromagnetic valve; the number of the back pressure valves is two, and the two back pressure valves are connected with the corresponding rotation driving assemblies respectively and provide back pressure for the corresponding rotation driving assemblies. The two hydraulic locks are respectively connected with the two corresponding back pressure valves in parallel; and the reversing electromagnetic valve controls the opening and closing of the hydraulic lock. The transmission pair gap influence is eliminated, the problem of rotation low-speed shaking is solved, and the hydraulic transmission control precision is improved.

Description

Technical Field

[0001] The present invention relates to hydraulic slewing control technologies such as trestles and cranes, and more specifically, to a hydraulic slewing control system and method. Background Art

[0002] For the personnel transfer of offshore projects such as offshore platforms and wind power operation and maintenance, most use trestle connection for transportation. Affected by wind and waves, offshore trestles should have an active wave compensation function. The active compensation control requires high position accuracy and fast response. Through the compound active compensation of luffing, slewing, and telescoping, the connection between the trestle and the wind power pile is maintained. Among them, the slewing mechanism is one of the three major active compensation movements and is often controlled at low speeds. If there is a low-speed jitter in the slewing, it will affect the change of the head connection position, and the active compensation effect cannot be guaranteed.

[0003] The rated speed of the trestle slewing is 1 RPM, but it often works at low speeds during the compensation state and commutes frequently with the wave period. During debugging, it was found that the trestle jitters below 0.1 RPM at low speeds, affecting the compensation precision control. The general hydraulic principle is as Figure 1 shown. During proportional control, a balance valve 1 and 2 are respectively added to the A port / B port of two groups of slewing motors; or during servo control, the A port / B port of the servo valve is directly connected to the A port / B port of the slewing motor. When several slewing motors are used to drive the slewing, this simple method of combining the A port or B port of the slewing motor and adding back pressure cannot well solve the problem of low-speed jitter of the slewing. Similar attempts have also been made during the debugging of the trestle. The reason is that there are clearances in each stage of transmission when the slewing motor passes through the speed reducer and gear pair meshing. The more transmission stages, the larger the accumulated clearance. When the load during slewing is small, at low speeds, when two or more slewing motors are driving, a single small gear undergoes reciprocating acceleration and deceleration driving. During this process, the clearance of the transmission pair has a great influence, manifested as slewing jitter in the slewing mechanism. Summary of the Invention

[0004] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a hydraulic slewing control system and method, eliminate the influence of the transmission pair clearance, solve the problem of low-speed jitter of the slewing, and improve the control precision of hydraulic transmission.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In the first aspect of the present invention, a hydraulic slewing control system is provided, including a slewing drive assembly, the slewing drive assembly is fixed on a rotating cylinder and meshes with the large gear ring of the slewing support, the lower part of the slewing support is connected to the rotating cylinder, and the upper part of the slewing support is connected to a slewing base;

[0007] There are multiple slewing drive assemblies, which are set into two groups and are respectively connected to back pressure valve groups;

[0008] The back pressure valve group includes a back pressure valve, a hydraulic lock, and a directional solenoid valve;

[0009] There are two back pressure valves, which are respectively connected to a corresponding set of the rotary drive components and provide back pressure for a corresponding set of the rotary drive components;

[0010] There are two hydraulic locks, which are respectively connected in parallel with the corresponding two back pressure valves;

[0011] The directional solenoid valve controls the opening and closing of the hydraulic lock.

[0012] Preferably, the rotary drive component includes a hydraulic rotary motor, a brake, a speed reducer, and an output pinion that are sequentially connected and fixed to the rotating cylinder body, and the output pinion meshes with the large gear ring;

[0013] The port A of the hydraulic rotary motor in the first set of the rotary drive components and the port B of the hydraulic rotary motor in the second set of the rotary drive components are respectively connected to the corresponding back pressure valves.

[0014] Preferably, the ER end of the directional solenoid valve and the BR end of the brake are both controlled by external pressure oil.

[0015] Preferably, the oil drain port of the hydraulic rotary motor and the oil return port of the directional solenoid valve are both communicated with the oil return tank.

[0016] In the second aspect of the present invention, a hydraulic rotary control method is provided. Using the hydraulic rotary control system provided in the first aspect of the present invention, when the port A of the hydraulic rotary motor is supplied with oil and the port B returns oil, the output pinion performs clockwise rotation control;

[0017] When the port A of the hydraulic rotary motor returns oil and the port B is supplied with oil, the output pinion performs counterclockwise rotation control.

[0018] Preferably, the specific implementation of the output pinion performing clockwise rotation control includes:

[0019] One path of the pressure oil first passes through the hydraulic lock in the first set of the rotary drive components and then enters the port A of the hydraulic rotary motor in the first set of the rotary drive components. The back pressure valve in the first set of the rotary drive components does not act, and the port B of the hydraulic rotary motor in the first set of the rotary drive components returns oil. At this time, one side of the output pinion in the first set of the rotary drive components is in zero-clearance meshing with the large gear ring, and the other side is in clearance meshing with the large gear ring;

[0020] Meanwhile, another path of the pressure oil enters port A of the hydraulic rotary motor in the second group of the rotary drive assemblies. The oil in port B of the hydraulic rotary motor in the second group of the rotary drive assemblies returns through the back-pressure valve. At this time, the output pinion in the second group of the rotary drive assemblies starts to rotate clockwise under the combined action of port A of the hydraulic rotary motor and the large gear ring in the second group of the rotary drive assemblies, so that a meshing fit opposite to that between the two sides of the output pinion and the large gear ring in the first group of the rotary drive assemblies is formed between the two sides of the output pinion and the large gear ring in the second group of the rotary drive assemblies.

[0021] Preferably, the counterclockwise rotation control of the output pinion specifically includes:

[0022] One path of the pressure oil first passes through the hydraulic lock in the second group of the rotary drive assemblies and then enters port B of the hydraulic rotary motor in the second group of the rotary drive assemblies. The back-pressure valve in the second group of the rotary drive assemblies does not function, and the oil in port A of the hydraulic rotary motor in the second group of the rotary drive assemblies returns. At this time, there is zero clearance meshing between one side of the output pinion and the large gear ring in the second group of the rotary drive assemblies, and clearance meshing between the other side and the large gear ring.

[0023] Meanwhile, another path of the pressure oil enters port B of the hydraulic rotary motor in the first group of the rotary drive assemblies. The oil in port A of the hydraulic rotary motor in the first group of the rotary drive assemblies returns through the back-pressure valve. At this time, the output pinion in the first group of the rotary drive assemblies starts to rotate counterclockwise under the combined action of port B of the hydraulic rotary motor and the large gear ring in the first group of the rotary drive assemblies, so that a meshing fit opposite to that between the two sides of the output pinion and the large gear ring in the second group of the rotary drive assemblies is formed between the two sides of the output pinion and the large gear ring in the first group of the rotary drive assemblies.

[0024] A hydraulic rotary control system and method provided by the present invention, when two or more hydraulic rotary motors are used for driving, divides the hydraulic rotary motors into two groups. One group of hydraulic rotary motors has back pressure added to port A, and the other group of hydraulic rotary motors has back pressure added to port B, thus separating the hydraulic rotary motors by group. During transmission, the output pinion driven by one group of hydraulic rotary motors is always in zero clearance meshing on the b1 surface and in clearance meshing on the a1 surface; the output pinion driven by the other group of hydraulic rotary motors is always in zero clearance meshing on the b2 surface and in clearance meshing on the a2 surface; by the present invention, the influence of the clearance of the transmission pair is eliminated, and there is no jitter phenomenon even when the rotational speed drops to 0.02 RPM, the influence of the clearance of the transmission pair is eliminated, the problem of low-speed jitter during rotation is solved, and at the same time, the control precision of hydraulic transmission is improved. Description of the Drawings

[0025] Figure 1It is a hydraulic schematic diagram of traditional slewing control;

[0026] Figure 2 It is a hydraulic schematic diagram of the hydraulic slewing control system of the present invention;

[0027] Figure 3 It is a schematic diagram showing the output pinion rotating clockwise in the hydraulic slewing control system of the present invention;

[0028] Figure 4 It is a schematic diagram showing the output pinion rotating counterclockwise in the hydraulic slewing control system of the present invention;

[0029] Figure 5 It is Figure 3 a schematic diagram of the A-A direction in Specific Embodiment

[0030] In order to better understand the above technical solution of the present invention, the technical solution of the present invention will be further described below with reference to the drawings and embodiments.

[0031] Combined with Figures 2 to 5 As shown, a hydraulic slewing control system provided by the present invention includes a slewing drive assembly. The slewing drive assembly is fixed on the rotating cylinder 3 and meshes with the large gear ring of the slewing support 4. The upper part of the slewing support 4 is connected to the rotating cylinder 3, and the lower part of the slewing support 4 is connected to the slewing base 5.

[0032] There are multiple slewing drive assemblies, which are set into two groups and are respectively connected to the back pressure valve groups.

[0033] The back pressure valve groups include two back pressure valves 701, 702, two hydraulic locks 801, 802 and a reversing solenoid valve 9.

[0034] The two back pressure valves 701, 702 are respectively connected to a corresponding group of slewing drive assemblies and provide back pressure for the corresponding group of slewing drive assemblies.

[0035] The two hydraulic locks 801, 802 are respectively connected in parallel with the corresponding two back pressure valves 701, 702.

[0036] The reversing solenoid valve 9 controls the opening and closing of the two hydraulic locks 801, 802. During normal slewing operation, the electromagnet S on the reversing solenoid valve 9 is de-energized, and the two hydraulic locks 801, 802 only function as check valves; when slewing freely, the electromagnet S on the reversing solenoid valve 9 is energized, and the two hydraulic locks 801, 802 flow freely in both directions, and at this time the corresponding two back pressure valves 701, 702 do not work.

[0037] The slewing drive assembly includes a hydraulic slewing motor 1001, 1002, brakes 1101, 1102, speed reducers 1201, 1202, and output pinions 1301, 1302 that are sequentially connected and fixed to the rotating cylinder 3. The output pinions 1301, 1302 mesh with the large gear ring of the slewing bearing 4.

[0038] Port A of the hydraulic slewing motor 1001 in the first group of slewing drive assemblies and port B of the hydraulic slewing motor 1002 in the second group of slewing drive assemblies are respectively connected to the corresponding backpressure valves 701, 702.

[0039] The ER end of the directional solenoid valve 9 and the BR ends of the brakes 1101, 1102 are both controlled by external pressure oil.

[0040] The drain ports L of the hydraulic slewing motors 1001, 1002 and the oil return port Y2 of the directional solenoid valve 9 are separately connected to the Y oil return tank.

[0041] When the ports A of the hydraulic slewing motors 1001, 1002 are supplied with oil and the ports B return oil, the output pinions 1301, 1302 perform clockwise rotation control; when the ports A of the hydraulic slewing motors 1001, 1002 return oil and the ports B are supplied with oil, the output pinions 1301, 1302 perform counterclockwise rotation control.

[0042] For existing slewing, if external loads such as starting acceleration and wind load are not considered, the working pressure difference of the hydraulic slewing motor is relatively low during uniform slewing, only about 20 bar or so. Before adding the backpressure valve group, due to the existence of the clearance between the transmission pairs, when the slewing speed is below 0.1 RPM, even if the servo valve control signal is stable, a single output pinion rotates with reciprocating acceleration and deceleration. The existence of the clearance between the transmission pairs makes the rotation speed of the hydraulic slewing motor unable to be accurately transmitted to the large gear ring, resulting in slewing jitter.

[0043] After adding the backpressure valve group, the backpressure valve group can ensure that the meshing surfaces of the output pinions 1301, 1302 do not change. Whether rotating clockwise or counterclockwise, the clearances between the transmission pairs and gear pairs of the speed reducers 1201, 1202 will not participate in the slewing operation, thus eliminating slewing jitter.

[0044] The present invention also provides a hydraulic slewing control method. Using the hydraulic slewing control system of the present invention, when the port A of the hydraulic slewing motor is supplied with oil and the port B returns oil, the output pinion performs clockwise rotation control;

[0045] When the port A of the hydraulic slewing motor returns oil and the port B is supplied with oil, the output pinion performs counterclockwise rotation control.

[0046] Refer again to Figure 3 As shown, the specific implementation of the clockwise rotation control of the output pinions 1301, 1302 includes:

[0047] One path of the pressure oil first passes through the hydraulic lock 801 in the first set of slewing drive components and then enters port A of the hydraulic slewing motor 1001 in the first set of slewing drive components. The back pressure valve 701 in the first set of slewing drive components does not act, and the oil from port B of the hydraulic slewing motor 1001 in the first set of slewing drive components returns. At this time, there is a clearance engagement between surface a1 of the output pinion 1301 in the first set of slewing drive components and the large gear ring of the slewing bearing 4, and a zero-clearance engagement between surface b1 and the large gear ring of the slewing bearing 4.

[0048] At the same time, another path of the pressure oil enters port A of the hydraulic slewing motor 1002 in the second set of slewing drive components. The oil from port B of the hydraulic slewing motor 1002 in the second set of slewing drive components returns through the back pressure valve 702. Since the driving pressure at port A of the hydraulic slewing motor 1002 in the second set of slewing drive components is less than the set pressure of the back pressure valve 702, it is not sufficient to drive the slewing of the hydraulic slewing motor 1002 in the second set of slewing drive components, that is, the hydraulic slewing motor 1002 in the second set of slewing drive components becomes a passive load. At the same time, the large gear ring of the slewing bearing 4 rotates under the drive of the output pinion 1301, and the output pinion 1302 is dragged by the large gear ring of the slewing bearing 4.

[0049] At this time, under the combined action of port A of the hydraulic slewing motor 1002 in the second set of slewing drive components and the large gear ring of the slewing bearing 4, the output pinion 1302 in the second set of slewing drive components, due to the presence of the back pressure valve 702, the pressure at port A of the hydraulic slewing motor 1002 in the second set of slewing drive components gradually increases to overcome the set pressure of the back pressure valve 702, and the slewing starts to rotate clockwise, so that there is a clearance engagement between surface a2 of the output pinion 1302 in the second set of slewing drive components and the large gear ring of the slewing bearing 4, and a zero-clearance engagement between surface b2 and the large gear ring of the slewing bearing 4.

[0050] Refer to Figure 4 As shown, the implementation of the counterclockwise rotation control of the output pinions 1301 and 1302 specifically includes:

[0051] One path of the pressure oil first passes through the hydraulic lock 802 in the second set of slewing drive components and then enters port B of the hydraulic slewing motor 1002 in the second set of slewing drive components. The back pressure valve 702 in the second set of slewing drive components does not act, and the oil from port A of the hydraulic slewing motor 1002 in the second set of slewing drive components returns. At this time, there is a zero-clearance engagement between surface b2 of the output pinion 1302 in the second set of slewing drive components and the large gear ring of the slewing bearing 4, and a clearance engagement between surface a2 and the large gear ring of the slewing bearing 4.

[0052] Meanwhile, another path of the pressure oil enters port B of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies. The oil in port A of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies returns through the back-pressure valve 701. Since the driving pressure of port B of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies is less than the set pressure of the back-pressure valve 701 and is not sufficient to drive the rotation of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies, that is, the hydraulic rotary motor 1001 in the first group of rotary drive assemblies becomes a passive load. Meanwhile, the large gear ring of the slewing bearing 4 rotates under the drive of the output pinion 1302, and the output pinion 1301 is dragged by the large gear ring of the slewing bearing 4.

[0053] At this time, under the combined action of port B of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies and the large gear ring of the slewing bearing 4, due to the existence of the back-pressure valve 701, the pressure of port B of the hydraulic rotary motor 1001 in the first group of rotary drive assemblies gradually increases to overcome the set pressure of the back-pressure valve 701, and then the rotation starts to rotate counterclockwise, so that there is a clearance meshing between the a1 surface of the output pinion 1301 in the first group of rotary drive assemblies and the large gear ring of the slewing bearing 4, and there is a zero-clearance meshing between the b1 surface and the large gear ring of the slewing bearing 4.

[0054] In summary, due to the existence of the two back-pressure valves 701 and 702 in the present invention, regardless of clockwise or counterclockwise rotation, the zero-clearance meshing surfaces of the output pinions 1301 and 1302 will not change, eliminating the influence of the clearance of the transmission pair, thus eliminating the rotary jitter. If the meshing surfaces of the output pinions 1301 and 1302 change during commutation, such as the output pinion 1301 switches from the b1 surface to the a1 surface, first the hydraulic rotary motor 1001 needs to rotate a certain angle to overcome the clearance between the gear pair and the reduction gear transmission pair, which will consume a part of the fixed flow rate. In fact, this part of the flow rate does not produce an actual angle for the rotation. At low speeds, this part of the fixed flow rate accounts for a relatively large proportion, which leads to low-speed rotary jitter when the servo valve is controlled with small signals, such as when there is no back pressure or the back pressure is not applied correctly.

[0055] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as it is within the scope of the essential spirit of the present invention, changes and modifications to the above-described embodiments will fall within the scope of the claims of the present invention.

Claims

1. A hydraulic slewing control system, comprising a slewing drive assembly fixed on a rotating cylinder body and meshing with a large gear ring of a slewing support. The upper part of the slewing support is connected to the rotating cylinder body, and the lower part of the slewing support is connected to a slewing base. It is characterized in that: A plurality of the slewing drive assemblies are provided and arranged in two groups, which are respectively connected to a back pressure valve group; The back pressure valve group includes a back pressure valve, a hydraulic lock and a reversing solenoid valve; Two back pressure valves are provided, which are respectively connected to a corresponding group of the slewing drive assemblies and provide back pressure for the corresponding group of the slewing drive assemblies; Two hydraulic locks are provided, which are respectively connected in parallel with the corresponding two back pressure valves; The reversing solenoid valve controls the opening and closing of the hydraulic lock.

2. The hydraulic slewing control system according to claim 1, wherein: The slewing drive assembly includes a hydraulic slewing motor, a brake, a speed reducer and an output pinion which are sequentially connected and fixed on the rotating cylinder body, and the output pinion meshes with the large gear ring; Port A of the hydraulic slewing motor in the first group of the slewing drive assemblies and port B of the hydraulic slewing motor in the second group of the slewing drive assemblies are respectively connected to the corresponding back pressure valves.

3. The hydraulic swing control system according to claim 2, characterized in that: The ER end of the reversing solenoid valve and the BR end of the brake are both controlled by external pressure oil.

4. The hydraulic swing control system according to claim 2, characterized in that: The oil drain port of the hydraulic slewing motor and the oil return port of the reversing solenoid valve are both communicated with an oil return tank.

5. A hydraulic slewing control method, characterized in that: When the hydraulic slewing control system according to any one of claims 1-4 is adopted, when port A of the hydraulic slewing motor is supplied with oil and port B returns oil, the output pinion performs clockwise rotation control; When port A of the hydraulic slewing motor returns oil and port B is supplied with oil, the output pinion performs counterclockwise rotation control.

6. The hydraulic swing control method according to claim 5, characterized in that, The specific process of the output pinion performing clockwise rotation control includes: One path of the pressure oil first passes through the hydraulic lock in the first group of the slewing drive assemblies and then enters port A of the hydraulic slewing motor in the first group of the slewing drive assemblies. The back pressure valve in the first group of the slewing drive assemblies does not act, and port B of the hydraulic slewing motor in the first group of the slewing drive assemblies returns oil. At this time, there is zero clearance meshing between one side of the output pinion in the first group of the slewing drive assemblies and the large gear ring, and there is clearance meshing between the other side and the large gear ring; At the same time, the other path of the pressure oil enters port A of the hydraulic slewing motor in the second group of the slewing drive assemblies, and port B of the hydraulic slewing motor in the second group of the slewing drive assemblies returns oil through the back pressure valve. At this time, the output pinion in the second group of the slewing drive assemblies starts to rotate clockwise under the combined action of port A of the hydraulic slewing motor in the second group of the slewing drive assemblies and the large gear ring, so that the meshing fit between the two sides of the output pinion in the second group of the slewing drive assemblies and the large gear ring is opposite to the meshing fit between the two sides of the output pinion in the first group of the slewing drive assemblies and the large gear ring.

7. The hydraulic swing control method according to claim 5, characterized in that, The specific process of the output pinion performing counterclockwise rotation control includes: One path of the pressure oil first passes through the hydraulic lock in the second set of the rotary drive assembly and then enters port B of the hydraulic rotary motor in the second set of the rotary drive assembly. The back pressure valve in the second set of the rotary drive assembly does not function, and the oil returns from port A of the hydraulic rotary motor in the second set of the rotary drive assembly. At this time, one side of the output pinion in the second set of the rotary drive assembly is in zero-clearance meshing with the large gear ring, and the other side is in clearance meshing with the large gear ring; Meanwhile, the other path of the pressure oil enters port B of the hydraulic rotary motor in the first set of the rotary drive assembly, and the oil returns from port A of the hydraulic rotary motor in the first set of the rotary drive assembly through the back pressure valve. At this time, the output pinion in the first set of the rotary drive assembly starts to rotate counterclockwise under the combined action of port B of the hydraulic rotary motor in the first set of the rotary drive assembly and the large gear ring, so that the meshing fit between the two sides of the output pinion in the first set of the rotary drive assembly and the large gear ring is opposite to that between the two sides of the output pinion in the second set of the rotary drive assembly and the large gear ring.

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