Hydraulic control system of large-scale machining device self-adaptive to workpiece deformation and control method of hydraulic control system

Abstract

The invention provides a hydraulic control system for a large machining device to adapt to workpiece deformation and a control method thereof, and relates to the technical field of ship workpiece machining. An oil supply pipeline is communicated to an oil inlet of a proportional pressure reducing valve, and an oil return port of the proportional pressure reducing valve is communicated to an oil return pipeline; one branch of a working oil port of the hydraulic cylinder is sequentially communicated with a first speed regulating valve and a first normally-closed electromagnetic ball valve; the first normally-closed electromagnetic ball valve is connected with an oil port of the supporting hydraulic cylinder, the supporting hydraulic cylinder is sequentially provided with a second normally-closed electromagnetic ball valve and a second speed regulating valve in the hydraulic oil backflow direction, and the second speed regulating valve is connected into an oil return port of the proportional pressure reducing valve. One branch of the proportional pressure reducing valve is communicated with a first normally-closed electromagnetic ball valve, the other branch of the proportional pressure reducing valve is communicated with a third normally-closed electromagnetic ball valve, an oil outlet of the third normally-closed electromagnetic ball valve is communicated with an energy accumulator and a normally-open electromagnetic ball valve, and the normally-open electromagnetic ball valve is communicated with an oil outlet of the first normally-closed electromagnetic ball valve. The technical effects of counteracting the dead weight of the machining device, self-adapting to workpiece deformation and avoiding the influence on the machining precision are achieved.

Description

Technical Field

[0001] This invention relates to the field of ship workpiece processing technology, and in particular to a hydraulic control system and control method for adaptive workpiece deformation in a large processing device. Background Technology

[0002] Ship structure, also known as hull structure, includes the bottom, sides, decks, bulkheads, bow, stern, and superstructure. Its construction requires gradual processing along the length of the hull, divided into multiple sections such as the bow, stern, and midship. When processing the stern, the inner and outer surfaces of large stern components must be machined without moving the stern itself.

[0003] Currently available large workpiece processing devices are mainly divided into external surface processing and internal surface processing. One device, titled "A Large Workpiece External Surface Processing Device" (Chinese Patent Application No. 202510550883.1), discloses a device comprising a fixed frame, a rotating frame, a rotary drive mechanism, and a cutting mechanism. The fixed frame is fitted onto the outside of the workpiece for positioning. The rotary drive mechanism drives the rotating frame to move in a circular motion around the workpiece, thereby driving the cutting mechanism to complete the external surface processing. Another device, titled "A Large Workpiece Internal Surface Processing Device" (Chinese Patent Application No. 202510550880.8), comprises a fixed base, a drive mechanism, and a cutting mechanism. The fixed base is installed at the end of the workpiece. The drive mechanism can push the cutting mechanism to extend into the interior of the workpiece and move along the internal surface to achieve internal surface cutting.

[0004] However, both of the above-mentioned processing devices lack the ability to adapt to the deformation of the workpiece during the processing stage, and cannot respond to the dynamic deformation of the workpiece in real time, making it difficult to maintain a stable relative position between the processing device and the workpiece; consequently, large workpieces (stern sections) may exhibit tilting or displacement, affecting the processing accuracy of the workpiece. Summary of the Invention

[0005] The purpose of this invention is to provide a hydraulic control system and control method for large processing devices that adapt to workpiece deformation, in order to solve the technical problem in the prior art that cannot respond to the dynamic deformation of the workpiece in real time, resulting in the inability to maintain a stable relative position between the processing device and the workpiece.

[0006] The large-scale machining device adaptive workpiece deformation hydraulic control system provided by the present invention includes: a proportional pressure reducing valve, a first speed regulating valve, a first normally closed solenoid ball valve, a second normally closed solenoid ball valve, a second speed regulating valve, a third normally closed solenoid ball valve, a normally open solenoid ball valve, an accumulator, and a supporting hydraulic cylinder. The oil supply line is connected to the oil inlet of the proportional pressure reducing valve, and the oil return port of the proportional pressure reducing valve is connected to the oil return line; a branch of the working oil port of the proportional pressure reducing valve is connected to the first speed control valve and the first normally closed solenoid ball valve in sequence; the first normally closed solenoid ball valve is connected to the oil port of the supporting hydraulic cylinder, and the supporting hydraulic cylinder is provided with the second normally closed solenoid ball valve and the second speed control valve in sequence along the hydraulic oil return direction, and the second speed control valve is connected to the oil return port of the proportional pressure reducing valve. Another branch of the proportional pressure reducing valve is connected to the third normally closed solenoid ball valve. The oil outlet of the third normally closed solenoid ball valve is connected to the accumulator and the normally open solenoid ball valve, respectively. The normally open solenoid ball valve is connected to the oil outlet of the first normally closed solenoid ball valve.

[0007] Furthermore, a safety valve is also connected to the oil outlet of the first normally closed solenoid ball valve. The safety valve is connected in parallel with the second normally closed solenoid ball valve, and the outlet of the safety valve is connected to the return port of the proportional pressure reducing valve.

[0008] Furthermore, the opening pressure setting of the safety valve is 1.2 to 1.5 times higher than the rated working pressure of the supporting hydraulic cylinder.

[0009] Furthermore, it also includes a first pressure sensor and a second pressure sensor; The first pressure sensor is connected to the supporting hydraulic cylinder through a pressure interface, and the second pressure sensor is connected to the accumulator through a pressure interface.

[0010] Furthermore, it also includes a displacement sensor, which is mounted on the end of the cylinder of the supporting hydraulic cylinder to collect piston displacement data of the supporting hydraulic cylinder in real time.

[0011] Furthermore, the displacement sensor is a built-in hysteresis telescopic displacement sensor. The probe of the displacement sensor is arranged along the axial direction of the supporting hydraulic cylinder, and the matching magnetic ring of the displacement sensor probe is fixedly connected to the piston of the supporting hydraulic cylinder. The displacement sensor is connected to a PLC control system via a signal.

[0012] Furthermore, the proportional pressure reducing valve, the first speed regulating valve, the first normally closed solenoid ball valve, the second normally closed solenoid ball valve, the second speed regulating valve, the third normally closed solenoid ball valve, the normally open solenoid ball valve, the safety valve, and the accumulator are integrated and installed on the bracket, which is fixed to the side of the mechanical frame of the large processing device.

[0013] Furthermore, the supporting hydraulic cylinder is located at the bottom of the mechanical frame; the piston rod of the supporting hydraulic cylinder is provided with a ball head at its end, and the ball head is clearance-fitted with the inner spherical interface on the moving and adjusting device for universal docking between the supporting hydraulic cylinder and the moving and adjusting device.

[0014] The present invention provides a hydraulic control method for adaptive workpiece deformation in a large machining apparatus. This method uses the aforementioned hydraulic control system and includes the following steps: Step 1: Start the hydraulic system, energize the normally open solenoid ball valve to enter the rigid support mode, and drive the support hydraulic cylinder to extend and retract through the first normally closed solenoid ball valve, the second normally closed solenoid ball valve and the corresponding first and second speed control valves to adjust and dock the processing device with the workpiece. Step 2: Pre-charge the accumulator pressure to a level close to the pressure difference between the accumulator and the support hydraulic cylinder using the proportional pressure reducing valve and the third normally closed solenoid ball valve. De-energize the normally open solenoid ball valve and the third normally closed solenoid ball valve, switch to flexible support mode, and begin processing. Step 3: During processing, the hydraulic cylinder supports the workpiece deformation and the accumulator compensates for pressure fluctuations. After processing is completed, the normally open solenoid ball valve is energized to switch back to rigid support mode.

[0015] Furthermore, in step 2, the pressure difference between the accumulator and the supporting hydraulic cylinder does not exceed 0.5 MPa.

[0016] Beneficial effects: The hydraulic control system and method for adaptive workpiece deformation of a large processing device provided by this invention, during the attitude adjustment and docking stage, enables the supporting hydraulic cylinder to enter a rigid support mode through oil circuit switching. The accumulator and hydraulic cylinder are isolated without leakage. Relying on the on / off control of the first and second normally closed solenoid ball valves and the speed regulation of the speed control valve, the extension and retraction of the supporting hydraulic cylinder is realized, ensuring the stability of the large processing device during docking and guaranteeing the smooth progress of the attitude adjustment and docking process. Furthermore, in rigid support mode, the proportional pressure reducing valve, in conjunction with the third normally closed solenoid ball valve, can pre-charge the accumulator pressure to a value close to the hydraulic cylinder pressure. Then, the on / off operation of the normally open solenoid ball valve achieves a shock-free switching between the two modes, avoiding damage to the equipment and workpiece caused by mechanical shock during the switching process, and improving the stability and reliability of the system operation.

[0017] When the large processing device is in the processing stage, the supporting hydraulic cylinder is connected to the accumulator and operates in a flexible support mode. This not only counteracts the self-weight of the large processing device, but also automatically adapts to the deformation of the workpiece, ensuring that the relative position between the large processing device and the workpiece remains unchanged. This avoids the workpiece from tilting, deforming, or shifting, which would affect the processing accuracy of the workpiece. It is suitable for the internal and external surface cutting processing requirements of large structural components such as the stern of ships. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the hydraulic control system for adaptive workpiece deformation of a large processing device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the hydraulic control system for adaptive workpiece deformation in a large processing device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the installation of the adaptive workpiece deformation hydraulic control system for a large machining device provided in an embodiment of the present invention at the location of the machining device. Figure 4 A schematic diagram of the supporting hydraulic cylinder in the hydraulic control system for adaptive workpiece deformation of a large processing device provided in an embodiment of the present invention; Figure 5 A cross-sectional view of the hydraulic cylinder supporting the adaptive workpiece deformation hydraulic control system of a large processing device provided in an embodiment of the present invention; Figure 6 A flowchart of a hydraulic control method for adaptive workpiece deformation in a large processing device provided in an embodiment of the present invention.

[0020] Icons: 1-Proportional pressure reducing valve; 2-First speed control valve; 3-First normally closed solenoid ball valve; 4-Second normally closed solenoid ball valve; 5-Second speed control valve; 6-Third normally closed solenoid ball valve; 7-Normally open solenoid ball valve; 8-Accumulator; 9-Support hydraulic cylinder; 10-Safety valve; 11-First pressure sensor; 12-Second pressure sensor; 13-Displacement sensor; 14-Mechanical frame; 15-Ball head. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Example 1 like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a hydraulic control system for adaptive workpiece deformation of a large processing device, comprising: a proportional pressure reducing valve 1, a first speed regulating valve 2, a first normally closed solenoid ball valve 3, a second normally closed solenoid ball valve 4, a second speed regulating valve 5, a third normally closed solenoid ball valve 6, a normally open solenoid ball valve 7, an accumulator 8, and a supporting hydraulic cylinder 9. The oil supply line is connected to the oil inlet of the proportional pressure reducing valve 1, and the oil return port of the proportional pressure reducing valve 1 is connected to the oil return line; a branch of the working oil port of the proportional pressure reducing valve 1 is connected to the first speed regulating valve 2 and the first normally closed solenoid ball valve 3 in sequence; the first normally closed solenoid ball valve 3 is connected to the oil port of the supporting hydraulic cylinder 9, and the supporting hydraulic cylinder 9 is sequentially provided with the second normally closed solenoid ball valve 4 and the second speed regulating valve 5 along the hydraulic oil return direction, and the second speed regulating valve 5 is connected to the oil return port of the proportional pressure reducing valve 1. Another branch of the proportional pressure reducing valve 1 is connected to the third normally closed solenoid ball valve 6. The oil outlet of the third normally closed solenoid ball valve 6 is connected to the accumulator 8 and the normally open solenoid ball valve 7 respectively. The normally open solenoid ball valve 7 is connected to the oil outlet of the first normally closed solenoid ball valve 3.

[0029] Specifically, the proportional pressure reducing valve 1 is an oil supply regulating control device. Its inlet (P port) connects to the oil supply pipeline of the hydraulic system, and its return port (T port) forms a loop with the return pipeline of the hydraulic system, constituting the foundation of the main oil circuit of the entire system. The working port (A port) of the proportional pressure reducing valve 1 serves as a flow branching node, branching into two branches: In the first branch, the first speed regulating valve 2 and the first normally closed solenoid ball valve 3 are connected in series along the oil supply direction. The outlet of the first normally closed solenoid ball valve 3 is directly connected to the inlet of the supporting hydraulic cylinder 9, forming the extension control path of the supporting hydraulic cylinder 9; while on the return side of the supporting hydraulic cylinder 9, along the hydraulic oil return direction, the second normally closed solenoid ball valve 4 and the second speed regulating valve 5 are connected in series. The outlet of the second speed regulating valve 5 is connected to the return port (T port) of the proportional pressure reducing valve 1, completing the retraction control loop of the supporting hydraulic cylinder 9. In the second branch, the third normally closed solenoid ball valve 6 is connected to the working oil port (port A) of the proportional pressure reducing valve 1. Its oil outlet has a bifurcated structure. One branch is sealed to the accumulator 8, and the other branch is connected to one end of the normally open solenoid ball valve 7. The other end of the normally open solenoid ball valve 7 is connected to the oil outlet of the first normally closed solenoid ball valve 3, so as to realize the convergence of the two branches at the oil inlet of the supporting hydraulic cylinder 9, and ensure the continuity of the path when switching the oil circuit.

[0030] The proportional pressure reducing valve 1 in the main oil circuit regulates the oil supply pressure of the entire system, providing a constant pressure source. In the first branch, the first speed regulating valve 2 and the second speed regulating valve 5 correspond to the extension and retraction speed adjustment of the supporting hydraulic cylinder 9, respectively. The first normally closed solenoid ball valve 3 and the second normally closed solenoid ball valve 4 control the on / off of the extension and retraction actions, realizing the positioning and speed control of the supporting hydraulic cylinder 9 in the rigid support mode, ensuring the stability of the attitude adjustment and docking stage. In the second branch, through the cooperation of the third normally closed solenoid ball valve 6 and the normally open solenoid ball valve 7, the accumulator 8 and the main action circuit can be controlled to be connected or isolated. When it is necessary to switch to the flexible support mode, the accumulator 8 can be quickly connected to the oil circuit of the supporting hydraulic cylinder 9 through the junction point. It uses its energy storage and buffering characteristics to offset the self-weight of the device and adapt to the deformation of the workpiece. The pressure of the accumulator 8 is pre-adjusted by the proportional pressure reducing valve 1, and with the orderly on / off of the valves, a shock-free switching is achieved. The proportional pressure reducing valve 1, in conjunction with the speed regulating valve, controls the extension and retraction speed of the supporting hydraulic cylinder 9, effectively offsetting the self-weight load of the large processing device. The buffering compensation effect of the accumulator 8, combined with the adaptive adjustment of the supporting hydraulic cylinder 9, can respond in real time to problems such as lifting, deformation, and displacement of the workpiece caused by temperature changes or processing forces. Through dynamic adjustment, it ensures that the relative position between the processing device and the workpiece remains stable, fundamentally guaranteeing the processing accuracy of large workpieces, especially suitable for the internal and external surface cutting requirements of large structural components such as the stern of ships.

[0031] Example 2 In an embodiment of the present invention, the oil outlet of the first normally closed solenoid ball valve 3 is also connected to a safety valve 10. The safety valve 10 is arranged in parallel with the second normally closed solenoid ball valve 4, and the outlet of the safety valve 10 is connected to the return port of the proportional pressure reducing valve 1.

[0032] The opening pressure setting of safety valve 10 is 1.2 to 1.5 times higher than the rated working pressure of supporting hydraulic cylinder 9.

[0033] It also includes a first pressure sensor 11 and a second pressure sensor 12; The first pressure sensor 11 is connected to the supporting hydraulic cylinder 9 through a pressure interface, and the second pressure sensor 12 is connected to the accumulator 8 through a pressure interface.

[0034] Specifically, based on Embodiment 1, the oil outlet of the first normally closed solenoid ball valve 3 is connected to the oil inlet of the safety valve 10. The safety valve 10 and the second normally closed solenoid ball valve 4 are arranged in parallel, and the two share the oil outlet of the first normally closed solenoid ball valve 3 and the connection node of the supporting hydraulic cylinder 9. The T port of the safety valve 10 is directly connected to the T port (return port) of the proportional pressure reducing valve 1, forming an independent pressure relief circuit.

[0035] The first pressure sensor 11 is connected to the oil circuit of the supporting hydraulic cylinder 9 through a dedicated pressure interface to ensure that the pressure data inside the supporting hydraulic cylinder 9 can be collected in real time; the second pressure sensor 12 is also reliably connected to the oil circuit of the accumulator 8 through a matching pressure interface to capture the pressure changes inside the accumulator 8.

[0036] Safety valve 10 ensures stable operation of the supporting hydraulic cylinder 9 under normal working conditions and automatically opens quickly to release pressure when there is an abnormal surge in oil pressure. This directs the overpressured hydraulic oil back to the return line, preventing damage to the proportional pressure reducing valve 1 and the supporting hydraulic cylinder 9 due to overpressure, thus providing reliable overload protection for the system. The addition of the first pressure sensor 11 and the second pressure sensor 12, through real-time feedback of the pressure values ​​of the supporting hydraulic cylinder 9 and the accumulator 8, works in conjunction with the proportional pressure reducing valve 1 to complete the pressure pre-charge matching of the accumulator 8, ensuring shock-free switching and enabling continuous monitoring of the system pressure status.

[0037] Example 3 In an embodiment of the present invention, a displacement sensor 13 is also included. The displacement sensor 13 is mounted on the cylinder end of the supporting hydraulic cylinder 9 and is used to collect piston displacement data of the supporting hydraulic cylinder 9 in real time.

[0038] The displacement sensor 13 is a built-in hysteresis telescopic displacement sensor. The probe of the displacement sensor 13 is arranged along the axis of the supporting hydraulic cylinder 9, and the matching magnetic ring of the probe of the displacement sensor 13 is fixedly connected to the piston of the supporting hydraulic cylinder 9. The displacement sensor 13 is connected to a PLC control system via a signal.

[0039] Specifically, the displacement sensor 13 is fixed to the end of the cylinder of the supporting hydraulic cylinder 9, and the magnetic ring used with the probe of the displacement sensor 13 is fixedly connected to the piston of the supporting hydraulic cylinder 9 to ensure that the probe can monitor the extension and retraction of the piston. At the same time, the displacement sensor 13 establishes a bidirectional signal connection with the PLC control system to form a displacement data acquisition and control feedback link, transmits the piston displacement data to the control system in real time, and can receive instructions from the control system to complete the adjustment of the data acquisition parameters.

[0040] The built-in installation and axial alignment avoid interference from the external environment (cutting chips, hydraulic oil splashes) on the sensor, while eliminating detection errors caused by installation deviations. This allows the displacement sensor 13 to capture the true displacement state of the piston of the supporting hydraulic cylinder 9. In rigid support mode, the PLC control system, based on its real-time feedback displacement data, regulates the on / off logic of the first normally closed solenoid ball valve 3 and the second normally closed solenoid ball valve 4, and coordinates with the speed regulation of the first speed regulating valve 2 and the second speed regulating valve 5 to extend and retract the supporting hydraulic cylinder 9 to the required docking position, such as half stroke, ensuring the accuracy and smoothness of the attitude adjustment docking.

[0041] Example 4 In an embodiment of the present invention, the proportional pressure reducing valve 1, the first speed regulating valve 2, the first normally closed solenoid ball valve 3, the second normally closed solenoid ball valve 4, the second speed regulating valve 5, the third normally closed solenoid ball valve 6, the normally open solenoid ball valve 7, the safety valve 10, and the accumulator 8 are integrated and mounted on a bracket, which is fixed to the side of the mechanical frame 14 of the large processing device.

[0042] The hydraulic cylinder 9 is located at the bottom of the mechanical frame 14.

[0043] like Figure 4 , Figure 5 As shown, the piston rod of the hydraulic cylinder 9 is provided with a ball head 15 at its end. The ball head 15 is clearance-fitted with the inner spherical interface on the moving and adjusting device, which is used to support the universal docking of the hydraulic cylinder 9 and the moving and adjusting device.

[0044] like Figure 3As shown, the proportional pressure reducing valve 1, the first speed regulating valve 2, the first normally closed solenoid ball valve 3, the second normally closed solenoid ball valve 4, the second speed regulating valve 5, the third normally closed solenoid ball valve 6, the normally open solenoid ball valve 7, the safety valve 10, and the accumulator 8 are integrated and installed on the same bracket. The bracket is fastened to the side of the mechanical frame 14 of the large processing device by bolts, forming a compact hydraulic control unit. The supporting hydraulic cylinder 9 is correspondingly arranged at the bottom of the four corners of the mechanical frame 14, and its cylinder barrel fixed end is firmly connected to the mechanical frame 14, with the piston rod extending downward. At the same time, the piston rod end of the supporting hydraulic cylinder 9 is integrally formed with a ball head 15. The ball head 15 and the preset inner spherical interface on the moving posture adjustment device adopt a clearance fit. Through the contact between the spherical surface and the inner spherical surface, a universal docking structure that can rotate at multiple angles is constructed between the supporting hydraulic cylinder 9 and the moving posture adjustment device, ensuring the flexibility and sealing of the connection.

[0045] Integrating the core hydraulic components into the bracket and fixing them to the side of the mechanical frame 14 not only significantly simplifies the pipeline layout and shortens the length of the connecting pipelines between hydraulic components, reducing the risk of hydraulic oil leakage and pressure loss, but also facilitates the later inspection and maintenance of the hydraulic system. It also avoids the space occupation caused by scattered component installation. The supporting hydraulic cylinder 9 is located at the bottom of the mechanical frame 14, directly bearing the weight of the device and the processing load. The force transmission path is short and uniform, improving support stability. Furthermore, the universal joint design of the ball joint 15 and the inner spherical interface meets the needs of the supporting hydraulic cylinder 9 for multi-angle position adjustment with the moving attitude adjustment device in the rigid support mode during the attitude adjustment and docking stage, effectively compensating for angular deviations during installation and attitude adjustment. It also adapts to the working condition of the supporting hydraulic cylinder 9 adaptively adjusting its posture according to workpiece deformation in the flexible support mode during the processing stage, ensuring reliable contact at the docking point during the device's floating process and not affecting the extension and retraction compensation action of the supporting hydraulic cylinder 9. This further guarantees the stability of the system operation and processing accuracy in both modes.

[0046] Example 5 like Figure 6 As shown, in this embodiment, the present invention provides a hydraulic control method for adaptive workpiece deformation in a large processing device. This method uses the hydraulic control system described in Examples 1-4 and includes the following steps: Step 1: Start the hydraulic system and energize the normally open solenoid ball valve 7 to enter the rigid support mode. Drive the support hydraulic cylinder 9 to extend and retract through the first normally closed solenoid ball valve 3, the second normally closed solenoid ball valve 4, and the corresponding first speed control valve 2 and second speed control valve 5 to adjust and dock the processing device with the workpiece. Step 2: Pre-charge the pressure of the accumulator 8 to a level close to the pressure difference between the accumulator 8 and the support hydraulic cylinder 9 using the proportional pressure reducing valve 1 and the third normally closed solenoid ball valve 6. De-energize the normally open solenoid ball valve 7 and the third normally closed solenoid ball valve 6, switch to the flexible support mode, and start processing; the pressure difference between the accumulator 8 and the support hydraulic cylinder 9 shall not exceed 0.5 MPa. Step 3: During processing, the hydraulic cylinder 9 adapts to the deformation of the workpiece, the accumulator 8 compensates for pressure fluctuations, and after processing is completed, the normally open solenoid ball valve 7 is energized to switch back to the rigid support mode.

[0047] Specifically, during the attitude adjustment and docking phase, the normally open solenoid ball valve 7 is energized, and the accumulator 8 and the supporting hydraulic cylinder 9 are separated without leakage. The supporting hydraulic cylinder 9 operates in rigid support mode. In rigid support mode: the extension action of the supporting hydraulic cylinder 9 is controlled by the first normally closed solenoid ball valve 3, and the extension speed is adjusted by the first speed regulating valve 2; the retraction action of the supporting hydraulic cylinder 9 is controlled by the second normally closed solenoid ball valve 4, and the retraction speed is adjusted by the second speed regulating valve 5; the upper control system (PLC) collects the signal from the displacement sensor 13 in real time, and controls the extension or retraction of the supporting hydraulic cylinder 9 according to the actual displacement feedback, until the displacement state of each supporting hydraulic cylinder 9 meets the attitude adjustment and docking requirements. Generally speaking, the above-mentioned attitude adjustment and docking requirements usually refer to each supporting hydraulic cylinder 9 being in the half-stroke position.

[0048] After the orientation adjustment and docking are completed but before processing begins, the supporting hydraulic cylinder 9 needs to be switched from rigid support mode to flexible support mode. During this process: the PLC first opens the third normally closed solenoid ball valve 6 and collects signals from the first pressure sensor 11 and the second pressure sensor 12 in real time; based on the actual pressure feedback, it controls the output pressure of the proportional pressure reducing valve 1 until the pressure of the accumulator 8 measured by the second pressure sensor 12 is close to the pressure of the supporting hydraulic cylinder 9 measured by the first pressure sensor 11; then, it sequentially controls the normally open solenoid ball valve 7 to de-energize and the third normally closed solenoid ball valve 6 to de-energize, thereby achieving a shock-free switching of the supporting hydraulic cylinder 9 from rigid support mode to flexible support mode.

[0049] Once the supporting hydraulic cylinder 9 switches from rigid support mode to flexible support mode, workpiece processing can begin. In flexible support mode, the accumulator 8 is connected to the supporting hydraulic cylinder 9, and the mechanical frame 14 and the processing device mounted on the mechanical frame 14 are in a floating state. That is, the supporting hydraulic cylinder 9 can not only counteract the weight of the large processing device, but also automatically adapt to the deformation of the workpiece. Even if the large workpiece tilts or shifts due to temperature changes during processing, the floating supporting hydraulic cylinder 9 can make adaptive adjustments to ensure that the relative position of the processing device and the workpiece remains unchanged, thus guaranteeing the processing accuracy of the workpiece.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydraulic control system for adaptive workpiece deformation in a large machining device, characterized in that, include: The components include a proportional pressure reducing valve (1), a first speed regulating valve (2), a first normally closed solenoid ball valve (3), a second normally closed solenoid ball valve (4), a second speed regulating valve (5), a third normally closed solenoid ball valve (6), a normally open solenoid ball valve (7), an accumulator (8), and a supporting hydraulic cylinder (9). The oil supply line is connected to the oil inlet of the proportional pressure reducing valve (1), and the oil return port of the proportional pressure reducing valve (1) is connected to the oil return line; a branch of the working oil port of the proportional pressure reducing valve (1) is connected to the first speed regulating valve (2) and the first normally closed solenoid ball valve (3) in sequence; the first normally closed solenoid ball valve (3) is connected to the oil port of the supporting hydraulic cylinder (9), and the supporting hydraulic cylinder (9) is provided with the second normally closed solenoid ball valve (4) and the second speed regulating valve (5) in sequence along the hydraulic oil return direction, and the second speed regulating valve (5) is connected to the oil return port of the proportional pressure reducing valve (1); Another branch of the proportional pressure reducing valve (1) is connected to the third normally closed solenoid ball valve (6). The oil outlet of the third normally closed solenoid ball valve (6) is connected to the accumulator (8) and the normally open solenoid ball valve (7), respectively. The normally open solenoid ball valve (7) is connected to the oil outlet of the first normally closed solenoid ball valve (3).

2. The hydraulic control system according to claim 1, characterized in that, The oil outlet of the first normally closed solenoid ball valve (3) is also connected to a safety valve (10). The safety valve (10) is connected in parallel with the second normally closed solenoid ball valve (4). The outlet of the safety valve (10) is connected to the return port of the proportional pressure reducing valve (1).

3. The hydraulic control system according to claim 2, characterized in that, The opening pressure setting of the safety valve (10) is 1.2 to 1.5 times higher than the rated working pressure of the supporting hydraulic cylinder (9).

4. The hydraulic control system according to claim 1, characterized in that, It also includes a first pressure sensor (11) and a second pressure sensor (12); The first pressure sensor (11) is connected to the supporting hydraulic cylinder (9) through a pressure interface, and the second pressure sensor (12) is connected to the accumulator (8) through a pressure interface.

5. The hydraulic control system according to claim 1, characterized in that, It also includes a displacement sensor (13), which is mounted on the cylinder end of the supporting hydraulic cylinder (9) and is used to collect piston displacement data of the supporting hydraulic cylinder (9) in real time.

6. The hydraulic control system according to claim 5, characterized in that, The displacement sensor (13) is a built-in hysteresis telescopic displacement sensor. The probe of the displacement sensor (13) is arranged along the axial direction of the supporting hydraulic cylinder (9), and the magnetic ring matching the probe of the displacement sensor (13) is fixedly connected to the piston of the supporting hydraulic cylinder (9). The displacement sensor (13) is connected to a PLC control system via a signal.

7. The hydraulic control system according to claim 2, characterized in that, The proportional pressure reducing valve (1), the first speed regulating valve (2), the first normally closed solenoid ball valve (3), the second normally closed solenoid ball valve (4), the second speed regulating valve (5), the third normally closed solenoid ball valve (6), the normally open solenoid ball valve (7), the safety valve (10), and the accumulator (8) are integrated and installed on the bracket, which is fixed to the side of the mechanical frame (14) of the large processing device.

8. The hydraulic control system according to claim 7, characterized in that, The supporting hydraulic cylinder (9) is located at the bottom of the mechanical frame (14); The piston rod of the supporting hydraulic cylinder (9) is provided with a ball head (15) at the end. The ball head (15) is clearance-fitted with the inner spherical interface on the moving posture adjustment device for universal docking between the supporting hydraulic cylinder (9) and the moving posture adjustment device.

9. A hydraulic control method for adaptive workpiece deformation in a large machining device, characterized in that, This method uses the hydraulic control system according to any one of claims 1-8, and includes the following steps: Step 1: Start the hydraulic system and control the normally open solenoid ball valve (7) to be energized and enter the rigid support mode. Drive the support hydraulic cylinder (9) to extend and retract through the first normally closed solenoid ball valve (3), the second normally closed solenoid ball valve (4), and the corresponding first speed control valve (2) and second speed control valve (5) to adjust the orientation of the processing device and the workpiece. Step 2: Pre-charge the pressure of the accumulator (8) to a level close to the pressure difference of the supporting hydraulic cylinder (9) using the proportional pressure reducing valve (1) and the third normally closed solenoid ball valve (6), de-energize the normally open solenoid ball valve (7) and the third normally closed solenoid ball valve (6), switch to flexible support mode, and start processing; Step 3: During processing, the supporting hydraulic cylinder (9) adapts to the deformation of the workpiece, the accumulator (8) compensates for pressure fluctuations, and after processing is completed, the normally open solenoid ball valve (7) is energized to switch back to the rigid support mode.

10. The hydraulic control method according to claim 9, characterized in that, In step 2, the pressure difference between the accumulator (8) and the supporting hydraulic cylinder (9) does not exceed 0.5 MPa.

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