Brake device of revolving platform, hydraulic control system and control method of hydraulic control system

Abstract

The invention discloses a brake device of a rotary platform, a hydraulic control system and a control method thereof in the field of brake systems, and the brake device comprises a rotary motor which is in transmission connection with the rotary platform; the output end of the tail end brake is meshed with the slewing bearing; the speed reducer is used for reducing the speed of the rotary motor; a middle end brake is arranged in the speed reducer; the tail end brake and the middle end brake are both connected to a hydraulic control system, and the hydraulic control system is used for controlling synchronous opening and closing of the tail end brake and the middle end brake. According to the braking device of the rotary platform, the tail end brake is installed on the rotary bearing and directly brakes the rotary bearing, so that braking of the rotary platform is achieved, a braking conduction path is reduced, shaking during braking is reduced, and in addition, the service life of the rotary platform is prolonged. And the tail end brake on the slewing bearing and the middle end brake in the speed reducer are both controlled by the hydraulic control system, so that synchronous braking is realized, and the stability during braking is further ensured.

Description

Technical Field

[0001] This invention relates to the field of braking systems, and more particularly to a braking device, hydraulic control system, and control method for a rotary platform. Background Technology

[0002] Existing technology places the end brake at the beginning of the drivetrain—the high-speed rotating motor shaft. The braking torque generated by the end brake must pass sequentially through the entire multi-stage planetary reducer and its output gears before finally being transmitted to the slewing bearing and the upper structure. This provides physical space for swaying. To mitigate the severe vibration and noise caused by this impact, complex hydraulic damping techniques must be relied upon, such as precise cross-flow valves and proportional slow-closing valves in the main hydraulic circuit, attempting to "soften" the braking process by controlling the oil discharge rate. This significantly increases performance instability and system complexity.

[0003] Furthermore, the effectiveness of increased hydraulic buffering is highly dependent on the response characteristics of the valve components, as well as the viscosity and temperature of the hydraulic oil. At low temperatures or when the oil is contaminated, the dynamic characteristics of the buffer valve can change, leading to braking that is either too soft or too hard, potentially exacerbating swaying or prolonging braking time. Simultaneously, achieving precise buffering places extremely high demands on valve manufacturing precision, system cleanliness, and commissioning levels, undoubtedly increasing manufacturing costs, maintenance difficulty, and overall failure rate. The system's performance is difficult to maintain consistently under different operating conditions and throughout its entire lifespan.

[0004] Therefore, there is an urgent need for a braking system that can reduce swaying during braking without increasing the complexity of the system. Summary of the Invention

[0005] The purpose of this invention is to provide a braking device, a hydraulic control system and a control method for a slewing platform, which shortens the braking path and reduces sway by installing an end brake on the slewing bearing.

[0006] To solve the above technical problems, the following technical solution is adopted: In a first aspect, the present invention provides a braking device for a rotary platform, comprising: The rotary motor is connected to the rotary platform via a transmission. An end brake, the output end of which engages with a slewing bearing, which is connected to the slewing platform; A speed reducer is used to reduce the speed of a rotary motor; The reducer has a built-in mid-end brake, which acts on the reducer's drive shaft, which is connected to the rotary platform. Both the end brake and the middle brake are connected to a hydraulic control system, which is used to control the synchronous opening and closing of the end brake and the middle brake.

[0007] Optionally, both the end brake and the middle brake are hydraulically operated normally open brake structures.

[0008] Secondly, the present invention provides a hydraulic control system, including a main valve and a rotary buffer valve. The main valve performs opening and closing reversing actions in response to control commands from the control unit. The main valve is connected to an oil tank via an oil pump. The rotary buffer valve is located between the main valve and the end brake, the intermediate brake and the rotary motor, and is used to buffer the hydraulic oil delivered to the end brake, the intermediate brake and the rotary motor.

[0009] Optionally, the oil outlet of the rotary buffer valve includes a first oil outlet, a second oil outlet and a third oil outlet, and the oil inlet includes a first oil inlet and a second oil inlet; The first oil inlet and the second oil inlet are respectively connected to the two working oil ports of the main valve; The first and second oil outlets are both connected to the rotary motor. The third oil outlet is divided into two oil circuits. One oil circuit is connected to the end brake, and the other oil circuit is connected to the intermediate brake in the reducer. The hydraulic oil delivered provides braking pressure for the end brake and the intermediate brake.

[0010] Optionally, the rotary buffer valve includes a shuttle valve and two check valves, the two check valves being located at the first oil outlet and the second oil outlet respectively, and the shuttle valve being located at the third oil outlet.

[0011] Optionally, it also includes two one-way relief valves, which are connected in parallel with the two one-way valves respectively.

[0012] Optionally, the two one-way relief valves are connected in series and then connected to the shuttle valve, with a throttling orifice provided between the shuttle valve and the one-way relief valve.

[0013] Optionally, a throttling orifice II is provided between the shuttle valve and the third oil outlet.

[0014] Thirdly, the present invention provides a hydraulic control method, comprising the following steps: In response to the non-working state of the rotary platform, there is no pressure in the oil circuit from the third oil outlet to the middle brake and the end brake, and there is no braking pressure in the end brake and the middle brake. Under the action of the springs inside the end brake and the middle brake, both the end brake and the middle brake are in the braking state. The end brake locks the rotary platform, and the middle brake locks the drive shaft on the reducer. In response to the working status of the slewing platform, the oil pump starts and supplies hydraulic oil to the slewing buffer valve through the main valve. The hydraulic oil enters the end brake and the middle brake from the third oil outlet, providing braking pressure to the end brake and the middle brake. When the braking pressure reaches the set value, it overcomes the spring force and releases the brake. In response to the braking signal, the main valve cuts off the hydraulic oil supply, and the hydraulic oil in the end brake and the middle brake flows back to the oil tank after passing through the rotary buffer valve and the main valve. The braking pressure in the end brake and the middle brake disappears, the spring is unobstructed, and the end brake and the middle brake are in the braking state under the action of the spring.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. The braking device for the slewing platform provided by the present invention achieves braking of the slewing platform by installing an end brake on the slewing bearing. The end brake directly brakes the slewing bearing, thereby reducing the braking transmission path and reducing the shaking during braking. Furthermore, the end brake on the slewing bearing and the middle brake in the reducer are both controlled by a hydraulic control system to achieve synchronous braking, further ensuring the stability during braking.

[0016] 2. The hydraulic control system provided by this invention connects the end brake and the intermediate brake in the reducer to the same oil outlet of the rotary buffer valve to achieve synchronous opening and closing, ensuring high reliability of the operation; the hydraulic control system has a simple structure, requiring only one rotary buffer valve for buffering, reducing system complexity and instability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the meshing structure between the brake gear and the slewing bearing in an embodiment of the present invention; Figure 2 This is a schematic diagram of the braking device structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hydraulic control system structure in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. End brake; 101. Brake gear; 2. Slewing bearing; 3. Reducer; 4. Slewing motor; 5. Hydraulic control system; 6. Main valve; 7. Slewing buffer valve; 701. First oil inlet; 702. Second oil inlet; 703. First oil outlet; 704. Second oil outlet; 705. Third oil outlet; 8. Shuttle valve; 9. One-way relief valve; 10. One-way valve; 11. Throttling orifice one; 12. Throttling orifice two. Detailed Implementation

[0019] 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 following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the 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 the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] Example 1

[0022] This embodiment provides a braking device for a rotary platform, including an end brake 1, a reducer, and a rotary motor 4. The end brake 1 is connected to the rotary bearing 2 on the rotary platform, and the rotary motor 4 is connected to the rotary platform for transmission. The reducer is installed at the output end of the rotary motor 4 for decelerating the rotary motor 4. Furthermore, an intermediate brake is provided inside the reducer, and the internal intermediate brake acts on the transmission shaft of the reducer 3.

[0023] like Figure 1 , Figure 2 As shown, the output end of the end brake 1 is provided with a brake gear 101. The brake gear 101 meshes with the slewing gear on the slewing bearing 2. When the slewing platform is running, the brake gear 101 rotates together with the slewing gear. When braking, the brake gear 101 prevents the slewing gear from rotating. The lever arm acting on the slewing gear is the pitch circle radius of the slewing gear, resulting in high braking efficiency.

[0024] In this embodiment, both the end brake 1 and the intermediate brake in the reducer 3 adopt a hydraulically normally open braking structure. The hydraulically normally open braking structure specifically includes a housing, a spring, a piston, a drive shaft, and a friction plate assembly. The friction plate assembly includes staggered inner and outer friction plates. A hydraulic chamber is provided inside the housing for hydraulic oil to enter. The hydraulic oil acts on one end of the piston, pushing it to move in one direction. A compressed spring is provided at the other end of the piston, pushing the piston to the other direction. The friction plate assembly is located at the end closest to the hydraulic oil. Driven by the piston, the inner and outer friction plates come into contact with each other, generating friction, thereby braking the drive shaft. In the end brake 1, one end of the drive shaft is located inside the housing, and the other end is located outside the housing and is equipped with a brake gear 101. The brake gear 101 meshes with the rotary gear to brake the rotary gear. In the intermediate brake, the drive shaft is connected to the rotary platform. During braking, the braking force is transmitted to the rotary platform through the drive shaft.

[0025] Both the end brake 1 and the intermediate brake in the reducer 3 are connected to the hydraulic control system 5, which controls the synchronous opening and closing of the end brake 1 and the intermediate brake.

[0026] The braking device for the slewing platform provided in this embodiment uses an end brake 1 installed on the slewing bearing 2. The end brake 1 directly brakes the slewing bearing 2, reducing the transmission path during braking and thus reducing swaying. Furthermore, the mid-end brake within the reducer 3 is retained. Therefore, the entire device has two braking structures: the end brake 1 provides rigid braking at the end of the kinematic chain, and the mid-end brake brake brakes the slewing motor 4 at the middle of the kinematic chain, thus achieving braking smoothness. Both the end brake 1 and the mid-end brake are connected to a hydraulic control system 5, which enables synchronous opening and closing of the end brake 1 and the mid-end brake. The hydraulic braking of the motor acting on the middle section of the transmission chain is completely synchronized with the mechanical rigid braking acting on the end of the kinematic chain, further ensuring braking stability.

[0027] Example 2

[0028] This embodiment provides a hydraulic control system for use in the braking device provided in Embodiment 1.

[0029] like Figure 3 As shown, it includes a main valve 6 and a rotary buffer valve 7. The main valve 6 is connected to the oil tank. The main valve 6 responds to the control command of the control unit and includes at least two working oil ports. The two working oil ports can be switched and the working oil ports can also switch directions. The state switching of the two working oil ports and the direction switching of the working oil ports are controlled by the control unit.

[0030] The rotary buffer valve 7 has an oil inlet including a first oil inlet 701 and a second oil inlet 702, and an oil outlet including a first oil outlet 703, a second oil outlet 704 and a third oil outlet 705. The first oil inlet 701 and the second oil inlet 702 are respectively connected to the two working oil ports of the main valve 6, and the first oil outlet 703 and the second oil outlet 704 are respectively connected to the rotary motor 4. Two drive oil circuits are formed through the two working oil ports of the main valve 6, the first oil inlet 701, the first oil outlet 703, the second oil inlet 702 and the second oil outlet 704. The two drive oil circuits are the forward rotation oil circuit and the reverse rotation oil circuit, respectively, to realize the forward and reverse rotation of the rotary motor 4.

[0031] The third oil outlet 705 of the rotary buffer valve 7 branches into two oil circuits. One oil circuit is connected to the end brake 1, and the other oil circuit is connected to the intermediate brake in the reducer 3, which is used to supply hydraulic oil to the end brake 1 and the intermediate brake.

[0032] Each drive oil circuit is also equipped with a one-way valve 10 and a one-way relief valve 9. The one-way valve 10 and the one-way relief valve 9 are connected in parallel, and the two one-way relief valves 9 on the two drive oil circuits are connected in series.

[0033] A shuttle valve 8 is installed at the third oil outlet 705. The left and right ends of the shuttle valve 8 are connected to the first oil inlet 701 and the second oil inlet 702, respectively. The upper end is connected between two one-way relief valves 9 connected in series, and the lower end is connected to the third oil outlet 705. By setting up the shuttle valve, hydraulic oil is supplied to the first and second oil inlets. The hydraulic oil enters the shuttle valve and pushes the valve core to realize the delivery of hydraulic oil.

[0034] A throttling orifice 11 is provided between the shuttle valve 8 and the one-way relief valve, and a throttling orifice 2 12 is provided between the shuttle valve 8 and the third oil outlet 705.

[0035] like Figure 3 As shown, the main valve 6 executes its action according to the control command of the control unit. When the control unit issues a braking signal, the oil pump stops supplying oil and adjusts the main valve 6 to the return oil channel, that is, the hydraulic oil flows downward through the main valve 6 back to the oil tank. The hydraulic oil in the end brake 1 and the reducer 3 returns to the third oil outlet, and after passing through the main valve 6, flows back to the oil tank. The braking pressure in the middle brake in the end brake 1 and the reducer 3 disappears, and the piston is pushed by the compressed spring onto the friction plate assembly to achieve braking.

[0036] When the control unit sends a drive signal, the oil pump is started, and the main valve 6 opens one of its two working ports. For example, working port A3 of the main valve 6 opens. Figure 3As shown, the hydraulic oil flows upwards, with some flowing upwards from the one-way valve 10 and some flowing to the right to the shuttle valve 8, pushing the valve core inside the shuttle valve 8. Some of the hydraulic oil entering the shuttle valve 8 flows downwards, and some flows upwards. The upward-flowing hydraulic oil passes through the first throttle orifice 11, pushing the one-way relief valve 9, causing some of the hydraulic oil that passed through the one-way valve 10 to enter the one-way relief valve 9, thus achieving a buffering effect for the hydraulic oil drive. The downward-flowing hydraulic oil passes through the second throttle orifice 12, and then enters the end brake 1 and the reducer respectively. The hydraulic oil entering the end brake 1 and the intermediate brake pushes the piston, overcoming the spring force and releasing the brake.

[0037] The hydraulic control system provided in this embodiment connects the end brake 1 and the intermediate brake in the reducer 3 to the third oil outlet 705, so as to realize the synchronous opening and closing of the end brake 1 and the intermediate brake.

[0038] The braking device and hydraulic control system combine "end-of-line rigid locking" with "system synchronous response." Because the end-of-line brake 1 directly rotates the bearing 2, when they lock synchronously, the gear teeth are pre-tightened in one direction, eliminating the space and time for reverse impact, thus fundamentally preventing swaying. Simultaneously, the highly integrated and passively responsive hydraulic control logic requires no external electrical control signal intervention. Its synchronous reliability is guaranteed by the mechanical structure of the valve group, minimizing interference from external factors and exhibiting extremely high stability. The entire system achieves revolutionary performance improvements while maintaining a clear structure and high reliability. Example

[0039] This embodiment provides a hydraulic control method based on Embodiment 2, including the following steps: In response to the non-working state of the rotary platform, there is no pressure in the oil circuit from the third oil outlet to the middle brake and the end brake 1. There is no braking pressure in the end brake 1 and the middle brake. Under the action of the spring, both the end brake 1 and the middle brake are in the braking state. The end brake 1 locks the rotary platform, and the middle brake locks the drive shaft.

[0040] In response to the working state of the slewing platform, the oil pump starts and supplies hydraulic oil to the slewing buffer valve 7 through the main valve 6. The hydraulic oil enters the end brake 1 and the middle brake from the third oil outlet 705, providing braking pressure to the end brake 1 and the middle brake. When the braking pressure reaches the set value, it overcomes the spring force and releases the brake. In response to the braking signal, the main valve 6 cuts off the hydraulic oil supply. The hydraulic oil in the end brake 1 and the middle brake flows back to the oil tank through the rotary buffer valve 7 and the main valve 6. The braking pressure in the end brake 1 and the middle brake disappears, and the spring is unobstructed. Under the action of the spring, the end brake 1 and the middle brake are in the braking state.

[0041] When the slewing platform is not in operation, the locking of the end brake 1 on the slewing bearing 2 further prevents accidental activation and ensures the safety of the device.

[0042] When the slewing platform is in operation, the hydraulic oil simultaneously releases the locks of the end brake 1 and the middle brake, achieving synchronous release of the locks and ensuring the stability of the opening.

[0043] When the slewing platform brakes, the hydraulic oil synchronously locks the end brake 1 and the middle brake, locking the middle and end of the device, reducing the brake transmission path, reducing swaying during braking, and improving braking stability.

[0044] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A braking device for a rotary platform, characterized in that, include: The rotary motor is connected to the rotary platform via a transmission. An end brake, the output end of which engages with a slewing bearing, which is connected to the slewing platform; A speed reducer is used to reduce the speed of a rotary motor; The reducer has a built-in mid-end brake, which acts on the reducer's drive shaft, which is connected to the rotary platform. Both the end brake and the middle brake are connected to a hydraulic control system, which is used to control the synchronous opening and closing of the end brake and the middle brake.

2. The braking device for the rotary platform according to claim 1, characterized in that, Both the end brake and the middle brake are hydraulically operated normally open brake structures.

3. A hydraulic control system, characterized in that, It includes a main valve and a rotary buffer valve. The main valve performs opening and closing reversing actions in response to the control command of the control unit. The main valve is connected to the oil tank through an oil pump. The rotary buffer valve is located between the main valve and the end brake, the middle brake and the rotary motor, and is used to buffer the hydraulic oil delivered to the end brake, the middle brake and the rotary motor.

4. The hydraulic control system according to claim 3, characterized in that, The rotary buffer valve has an oil outlet including a first oil outlet, a second oil outlet and a third oil outlet, and an oil inlet including a first oil inlet and a second oil inlet. The first oil inlet and the second oil inlet are respectively connected to the two working oil ports of the main valve; The first and second oil outlets are both connected to the rotary motor. The third oil outlet is divided into two oil circuits. One oil circuit is connected to the end brake, and the other oil circuit is connected to the intermediate brake in the reducer. The hydraulic oil delivered provides braking pressure for the end brake and the intermediate brake.

5. The hydraulic control system according to claim 3, characterized in that, The rotary buffer valve includes a shuttle valve and two check valves. The two check valves are located at the first oil outlet and the second oil outlet, respectively, and the shuttle valve is located at the third oil outlet.

6. The hydraulic control system according to claim 5, characterized in that, It also includes two one-way relief valves, which are connected in parallel with the two one-way valves respectively.

7. The hydraulic control system according to claim 6, characterized in that, The two one-way relief valves are connected in series and then connected to the shuttle valve. A throttling orifice is provided between the shuttle valve and the one-way relief valve.

8. The hydraulic control system according to claim 5, characterized in that, A throttling orifice 2 is provided between the shuttle valve and the third oil outlet.

9. A hydraulic control method, characterized in that, Includes the following steps: In response to the non-working state of the rotary platform, there is no pressure in the oil circuit from the third oil outlet to the middle brake and the end brake, and there is no braking pressure in the end brake and the middle brake. Under the action of the springs inside the end brake and the middle brake, both the end brake and the middle brake are in the braking state. The end brake locks the rotary platform, and the middle brake locks the drive shaft on the reducer. In response to the working status of the slewing platform, the oil pump starts and supplies hydraulic oil to the slewing buffer valve through the main valve. The hydraulic oil enters the end brake and the middle brake from the third oil outlet, providing braking pressure to the end brake and the middle brake. When the braking pressure reaches the set value, it overcomes the spring force and releases the brake. In response to the braking signal, the main valve cuts off the hydraulic oil supply, and the hydraulic oil in the end brake and the middle brake flows back to the oil tank after passing through the rotary buffer valve and the main valve. The braking pressure in the end brake and the middle brake disappears, the spring is unobstructed, and the end brake and the middle brake are in the braking state under the action of the spring.

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