Working unit, multi-way valve, hydraulic device and operation equipment

Abstract

The embodiment of the utility model provides a working unit, a multi-way valve, a hydraulic device and operation equipment, and belongs to the field of equipment adjustment. The working unit comprises an oil inlet path, an oil return path and a reversing valve; the oil inlet path comprises an oil inlet flow adjusting device and an oil inlet compensation valve connected with the oil inlet flow adjusting device. The oil return path comprises an oil return flow adjusting device and an oil return compensation valve connected with the oil return flow adjusting device. An oil outlet of the oil inlet flow adjusting device is connected with the reversing valve, and an oil inlet of the oil return flow adjusting device is connected with the reversing valve. An oil inlet of the oil inlet flow adjusting device is used for being connected with a power source, an oil outlet of the oil return flow adjusting device is used for being connected with an oil tank, and the reversing valve is used for being connected with action execution equipment. The oil inlet speed and the oil return speed of the action execution equipment can be respectively adjusted through the oil inlet flow adjusting device and the oil return flow adjusting device, so that the speed of the action execution equipment is prevented from drastically changing, and the speed of the action execution equipment can be stably adjusted.

Description

Technical Field

[0001] The utility model relates to the field of equipment adjustment, in particular to a working link, a multi-way valve, a hydraulic device and operating equipment. Background Art

[0002] With the development of engineering machinery technology, operating equipment such as cranes and excavators are widely used in various engineering construction scenarios. Usually, operating equipment uses hydraulic equipment to drive mechanical arms or winches and other actions. Hydraulic equipment can be composed of action execution equipment such as hydraulic cylinders or rotary motors. At the same time, in order to adjust the actual speed of the action execution equipment, hydraulic equipment usually also includes integrated working joints such as reversing valves and balancing valves. The working joint of the hydraulic equipment is set between the action execution equipment and the power source such as the oil pump. For the working joint including the balancing valve, the balancing valve is used to increase the pressure drop when the oil of the action execution equipment is lowered to prevent the oil from being lowered too fast, thereby adjusting the speed of the action execution equipment and avoiding the stall of the action execution equipment.

[0003] However, due to the pressure shock lag and response lag of the balancing valve, as well as the steep gradient of the flow area causing a sharp change in speed, the speed of the oil in the action execution device changes dramatically when it is lowered, which makes it difficult for the hydraulic equipment to smoothly adjust the speed of the action execution device. The drastic change in the speed of the action execution device causes the action execution devices such as the robot arm or the hoisting mechanism to be unregulated by the hydraulic equipment, and causes the action execution equipment to produce strong impact and rebound. In addition, since the working joint including the balancing valve is difficult to debug and the speed fluctuates due to pressure fluctuations, it is further difficult for the hydraulic equipment to smoothly adjust the speed of the action execution device. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide a device for solving the problem that it is difficult for hydraulic equipment to smoothly adjust the speed of an action execution device.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a working connection, including an oil inlet circuit, an oil return circuit and a reversing valve;

[0006] The oil inlet circuit includes an oil inlet flow regulating device and an oil inlet compensation valve connected to the oil inlet flow regulating device, and the oil return circuit includes an oil return flow regulating device and an oil return compensation valve connected to the oil return flow regulating device;

[0007] The oil outlet of the oil inlet flow regulating device is connected to the reversing valve, and the oil inlet of the oil return flow regulating device is connected to the reversing valve;

[0008] The oil inlet of the oil inlet flow regulating device is used to connect to the power source, the oil outlet of the oil return flow regulating device is used to connect to the oil tank, and the reversing valve is used to connect to the action execution equipment.

[0009] In the embodiment of the present application, the oil outlet of the oil inlet compensation valve is connected to the oil inlet of the oil inlet flow regulating device, and the oil inlet of the oil return compensation valve is connected to the oil outlet of the oil return flow regulating device;

[0010] The oil inlet of the oil inlet compensation valve is used to connect to the power source, and the oil outlet of the oil return compensation valve is used to connect to the oil tank.

[0011] In an embodiment of the present application, the first regulating oil port of the oil inlet compensation valve is connected to the oil inlet of the oil inlet flow regulating device, the second regulating oil port of the oil inlet compensation valve is connected to the oil outlet of the oil inlet flow regulating device, the first regulating oil port of the return oil compensation valve is connected to the oil inlet of the return oil flow regulating device, and the second regulating oil port of the return oil compensation valve is connected to the oil outlet of the return oil flow regulating device.

[0012] In an embodiment of the present application, the hydraulic device further includes a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor;

[0013] The first pressure sensor is arranged at the oil outlet of the oil inlet flow regulating device, the second pressure sensor is arranged at the oil inlet of the oil inlet flow regulating device, the third pressure sensor is arranged at the oil inlet of the return oil flow regulating device, and the fourth pressure sensor is arranged at the oil outlet of the return oil flow regulating device.

[0014] A second aspect of the present application provides a multi-way valve, comprising at least one working link as in the first aspect.

[0015] A third aspect of the present application provides a hydraulic device, comprising an action execution device and a working unit as in the first aspect;

[0016] The oil outlet of the oil inlet flow regulating device of each working link is connected to the action executing device through a reversing valve, and the oil inlet of the oil return flow regulating device of each working link is connected to the action executing device through a reversing valve.

[0017] In the embodiment of the present application, the action execution device is a linear action execution device or a rotational action execution device.

[0018] A fourth aspect of the present application provides a working device, comprising a controller group and at least one hydraulic device according to the third aspect;

[0019] The controller group is connected to each hydraulic device respectively.

[0020] In the embodiment of the present application, the operating equipment further includes a human-machine interaction device and a speed detection device corresponding to the number of hydraulic devices;

[0021] Each speed detection device is connected to a corresponding hydraulic device, and the controller group is connected to the human-machine interaction device and each speed detection device respectively;

[0022] A human-machine interaction device, used to obtain a target command speed of the hydraulic device input by a user;

[0023] The speed detection device is used to obtain the actual speed of the hydraulic device.

[0024] In an embodiment of the present application, the controller group includes a feedforward controller and a PID controller;

[0025] The feedforward controller is respectively connected to the oil inlet flow regulating device and the oil return flow regulating device of each hydraulic device, and the PID controller is respectively connected to the oil inlet flow regulating device and the oil return flow regulating device of each hydraulic device;

[0026] A feedforward controller, used for generating a regulating signal to adjust the flow area of ​​the oil inlet flow regulating device and the flow area of ​​the oil return flow regulating device;

[0027] PID controller for adjusting the regulating signal.

[0028] The present application provides a working connection, including an oil inlet circuit, an oil return circuit and a reversing valve; the oil inlet circuit includes an oil inlet flow regulating device and an oil inlet compensation valve connected to the oil inlet flow regulating device, and the oil return circuit includes an oil return flow regulating device and an oil return compensation valve connected to the oil return flow regulating device; the oil outlet of the oil inlet flow regulating device is connected to the reversing valve, and the oil inlet of the return oil flow regulating device is connected to the reversing valve; the oil inlet of the oil inlet flow regulating device is used to connect to a power source, the oil outlet of the return oil flow regulating device is used to connect to an oil tank, and the reversing valve is used to connect to an action execution device. The reversing valve is used to perform reversing, so that the oil state of the return oil flow regulating device is always return oil. The oil flow rate can be adjusted separately by the oil inlet flow regulating device and the return oil flow regulating device, so as to avoid drastic changes in the speed of the action execution device and to smoothly adjust the speed of the action execution device. At the same time, pressure compensation is performed by the oil inlet compensation valve or the return oil compensation valve to avoid oil cavitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0030] Figure 1 A first structural schematic diagram of a working connection provided in an embodiment of the present application is shown;

[0031] Figure 2 A second structural schematic diagram of a working connection provided in an embodiment of the present application is shown;

[0032] Figure 3 The structural schematic diagram of the oil inlet circuit provided by the embodiment of the present application is shown;

[0033] Figure 4 The schematic diagram of the structure of the oil return circuit provided by the embodiment of the present application is shown;

[0034] Figure 5 A schematic diagram of the structure of a multi-way valve provided in an embodiment of the present application is shown;

[0035] Figure 6 A first structural schematic diagram of a hydraulic device provided in an embodiment of the present application is shown;

[0036] Figure 7 A second structural schematic diagram of the hydraulic device provided in an embodiment of the present application is shown;

[0037] Figure 8 A first structural schematic diagram of the operating equipment provided in an embodiment of the present application is shown;

[0038] Fig. 9 A second structural schematic diagram of the operating equipment provided in an embodiment of the present application is shown;

[0039] Fig.10 A third structural schematic diagram of the operating equipment provided in the embodiment of the present application is shown;

[0040] Fig.11 A diagram showing an application example of the controller group provided in an embodiment of the present application is shown.

[0041] Description of Reference Numerals

[0042] 1000 Operating equipment 100 Working equipment

[0043] 200 Action execution device 300 Power source

[0044] 400 Oil tank 500 Multi-way valve

[0045] 600 Hydraulic device 700 Controller group

[0046] 800 Human-computer interaction device 900 Speed ​​detection device

[0047] 110 Oil inlet line 120 Oil return line

[0048] 130 reversing valve 140 first pressure sensor

[0049] 150 second pressure sensor 160 third pressure sensor

[0050] 170 fourth pressure sensor 710 feedforward controller

[0051] 720 PID controller 111 Oil inlet flow regulating device

[0052] 112 Oil inlet compensation valve 121 Oil return flow regulating device

[0053] 122 Oil return compensation valve DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0055] It should be noted that if the embodiments of the present application involve directional indications (such as front and back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0057] See also Figure 1 , Figure 1 A first structural schematic diagram of a working connection provided in an embodiment of the present application is shown.

[0058] Figure 1 The working link 100 includes an oil inlet circuit 110, an oil return circuit 120 and a reversing valve 130;

[0059] The oil inlet circuit 110 includes an oil inlet flow rate regulating device 111 and an oil inlet compensation valve 112 connected to the oil inlet flow rate regulating device 111, and the oil return circuit 120 includes an oil return flow rate regulating device 121 and an oil return compensation valve 122 connected to the oil return flow rate regulating device 121;

[0060] The oil outlet of the oil inlet flow regulating device 111 is connected to the reversing valve 130, and the oil inlet of the oil return flow regulating device 121 is connected to the reversing valve 130;

[0061] The oil inlet of the oil inlet flow regulating device 111 is used to connect to the power source 300 , the oil outlet of the oil return flow regulating device 121 is used to connect to the oil tank 400 , and the reversing valve 130 is used to connect to the action execution device 200 .

[0062] The oil inlet circuit 110 includes an oil inlet flow regulating device 111 and an oil inlet compensation valve 112 connected to the oil inlet flow regulating device 111. The types of the oil inlet flow regulating device 111 and the return oil flow regulating device 121 are selected according to actual needs, and can be flow valves and throttle ports, etc., which are not limited here.

[0063] The type of the power source 300 is set according to actual needs, and can be an oil pump, etc., which is not limited here. The type of the action execution device 200 is also set according to actual needs, and can be an oil cylinder and a rotary motor, etc., which is not limited here. The working link 100 is used to connect the action execution device 200, the power source 300 and the oil tank 400 respectively, and provide an oil inlet circuit 110 and an oil return circuit 120 for the action execution device 200. Specifically, the oil inlet port of the oil inlet flow regulating device 111 is used to connect the power source 300, and provide an oil inlet circuit 110 between the action execution device 200 and the power source 300. The oil outlet port of the return oil flow regulating device 121 is used to connect the oil tank 400, and provide an oil return circuit 120 between the action execution device 200 and the oil tank 400.

[0064] The reversing valve 130 is used to connect the action execution device 200. In this embodiment, the reversing valve 130 includes a reversing valve 130 core, a first reversing port, a second reversing port, a third reversing port and a fourth reversing port. The first reversing port is connected to the oil inlet flow regulating device 111, the second reversing port is connected to the oil return flow regulating device 121, the third reversing port is connected to an oil port of the action execution device 200, and the fourth reversing port is connected to another oil port of the action execution device 200. The reversing valve 130 core is used to selectively connect the first reversing oil port to one of the third reversing port or the fourth reversing port, and connect the first reversing oil port to the other of the third reversing port or the fourth reversing port. The oil inlet oil circuit 110 or the oil return oil circuit 120 can be cut off by the reversing valve 130, or the oil inlet oil circuit 110 and the oil return oil circuit 120 can be reversed, which will not be described in detail here.

[0065] The oil inlet flow rate regulating device 111 is used to regulate the oil inlet speed of the action execution device 200, and the oil return flow rate regulating device 121 is used to regulate the oil return speed of the action execution device 200. For ease of understanding, Figure 1The connection relationship between the oil inlet and the oil outlet of the oil inlet flow rate regulating device 111 is not shown, nor is the connection relationship between the oil inlet and the oil outlet of the oil return flow rate regulating device 121. By adjusting the oil inlet speed and the oil return speed of the action execution device 200 respectively, the speed of the action execution device 200 is avoided from changing drastically, and the speed of the action execution device 200 can be adjusted smoothly.

[0066] It should be understood that since the action execution device 200 is affected by factors such as oil leakage, if the flow rate regulated by the oil inlet flow regulating device 111 is close to the flow rate regulated by the oil return flow regulating device 121, it will also cause the speed of the action execution device 200 to be unstable. The present application uses a reversing valve to perform reversing so that the oil state of the oil return flow regulating device is always oil return. The oil inlet speed of the action execution device 200 can be adjusted by adjusting the oil flow rate through the oil inlet flow regulating device 111; the oil return speed of the action execution device 200 can be adjusted by adjusting the oil flow rate through the oil return flow regulating device 121. The oil inlet speed and the oil return speed of the action execution device 200 are not equal, eliminating the influence of oil leakage on the action execution device 200.

[0067] For ease of understanding, in the embodiments of the present application, the oil inlet flow regulating device 111 and the oil return flow regulating device 121 are taken as flow valves as an example, and the flow rate, valve core pressure drop and flow area in the flow valve are coupled. When the flow rate regulated by the oil inlet flow regulating device 111 is not equal to the flow rate regulated by the oil return flow regulating device 121, the pressure between the oil inlet oil circuit 110 and the oil return oil circuit 120 is also not equal. The oil inlet compensation valve 112 is used to perform pressure compensation on the oil inlet oil circuit 110. The oil inlet compensation valve 112 is used to perform pressure compensation on the oil inlet oil circuit 110 to avoid cavitation, reduce the difficulty of flow rate regulation, and achieve precise flow rate regulation.

[0068] See also Figure 2 , Figure 2 A second structural schematic diagram of the working connection provided in an embodiment of the present application is shown.

[0069] In the embodiment of the present application, the oil outlet of the oil inlet compensation valve 112 is connected to the oil inlet of the oil inlet flow regulating device 111, and the oil inlet of the oil return compensation valve 122 is connected to the oil outlet of the oil return flow regulating device 121;

[0070] The oil inlet of the oil inlet compensation valve 112 is used to connect to the power source 300 , and the oil outlet of the oil return compensation valve 122 is used to connect to the oil tank 400 .

[0071] The oil inlet compensation valve 112 can be arranged before the oil inlet flow regulating device 111, or after the oil inlet flow regulating device 111. In the present embodiment, the oil inlet compensation valve 112 is arranged before the oil inlet flow regulating device 111, that is, the oil outlet of the oil inlet compensation valve 112 is connected to the oil inlet of the oil inlet flow regulating device 111, and the oil inlet of the oil inlet compensation valve 112 is used to connect the power source 300. Similarly, the oil return compensation valve 122 can be arranged before the oil return flow regulating device 121, or after the oil return flow regulating device 121. In the present embodiment, the oil return compensation valve 122 is arranged after the oil return flow regulating device 121, that is, the oil inlet of the oil return compensation valve 122 is connected to the oil outlet of the oil return flow regulating device 121, and the oil outlet of the oil return compensation valve 122 is used to connect the oil tank 400.

[0072] In an embodiment of the present application, the first regulating oil port of the oil inlet compensation valve 112 is connected to the oil inlet of the oil inlet flow regulating device 111, the second regulating oil port of the oil inlet compensation valve 112 is connected to the oil outlet of the oil inlet flow regulating device 111, the first regulating oil port of the return oil compensation valve 122 is connected to the oil inlet of the return oil flow regulating device 121, and the second regulating oil port of the return oil compensation valve 122 is connected to the oil outlet of the return oil flow regulating device 121.

[0073] When the oil inlet flow rate regulating device 111 and the oil return flow rate regulating device 121 are flow valves, the flow rate regulated by the oil inlet flow rate regulating device 111 and the oil return flow rate regulating device 121 is adjusted by adjusting the flow area of ​​the flow valve and the pressure drop of the flow valve. Since the flow rate regulated by the oil inlet flow rate regulating device 111 is not equal to the flow rate regulated by the oil return flow rate regulating device 121, the pressure between the oil inlet oil circuit 110 and the oil return oil circuit 120 is also not equal, and cavitation is likely to occur.

[0074] When the flow rate regulated by the return oil flow rate regulating device 121 is greater than the flow rate regulated by the inlet oil flow rate regulating device 111, the pressure of the inlet oil circuit 110 is less than the pressure of the return oil circuit 120. The first regulating oil port of the inlet oil compensation valve 112 is connected to the inlet of the inlet oil flow rate regulating device 111, and the second regulating oil port of the inlet oil compensation valve 112 is connected to the outlet of the inlet oil flow rate regulating device 111. The pressure of the inlet oil circuit 110 is compensated through the two regulating oil ports of the inlet oil compensation valve 112, and the return oil compensation valve 122 is in a fully open state.

[0075] When the flow rate regulated by the oil inlet flow rate regulating device 111 is greater than the flow rate regulated by the oil return flow rate regulating device 121, the pressure of the oil inlet oil circuit 110 is greater than the pressure of the oil return oil circuit 120. The first regulating oil port of the oil return compensation valve 122 is connected to the oil inlet of the oil return flow rate regulating device 121, and the second regulating oil port of the oil return compensation valve 122 is connected to the oil outlet of the oil return flow rate regulating device 121. The pressure of the oil return oil circuit 120 is compensated through the two regulating oil ports of the oil return compensation valve 122, and the oil inlet compensation valve 112 is in a fully open state.

[0076] In the embodiment of the present application, the hydraulic device 600 further includes a first pressure sensor 140 , a second pressure sensor 150 , a third pressure sensor 160 , and a fourth pressure sensor 170 ;

[0077] The first pressure sensor 140 is arranged at the oil outlet of the oil inlet flow regulating device 111, the second pressure sensor 150 is arranged at the oil inlet of the oil inlet flow regulating device 111, the third pressure sensor 160 is arranged at the oil inlet of the return oil flow regulating device 121, and the fourth pressure sensor 170 is arranged at the oil outlet of the return oil flow regulating device 121.

[0078] See also Figure 3 , Figure 3 The structural schematic diagram of the oil inlet circuit provided by the embodiment of the present application is shown;

[0079] The first pressure sensor 140 is disposed at the oil outlet of the oil inlet flow regulating device 111, and is used to obtain the pressure of the oil outlet of the oil inlet flow regulating device 111. The second pressure sensor 150 is disposed at the oil inlet of the oil inlet flow regulating device 111, and is used to obtain the pressure of the oil inlet of the oil inlet flow regulating device 111. The pressure drop of the oil inlet flow regulating device 111 is the pressure of the oil outlet of the oil inlet flow regulating device 111 and the pressure of the oil inlet, and then the flow of the oil inlet oil circuit 110 is adjusted by the relationship between the flow and the pressure drop.

[0080] See also Figure 4 , Figure 4 The schematic diagram of the structure of the oil return circuit provided by the embodiment of the present application is shown;

[0081] The third pressure sensor 160 is disposed at the oil inlet of the return oil flow rate regulating device 121, and is used to obtain the pressure of the oil inlet of the return oil flow rate regulating device 121. The fourth pressure sensor 170 is disposed at the oil outlet of the return oil flow rate regulating device 121, and is used to obtain the pressure of the oil outlet of the return oil flow rate regulating device 121. The pressure drop of the return oil flow rate regulating device 121 is the pressure of the oil outlet of the return oil flow rate regulating device 121 and the pressure of the oil inlet, and then the flow of the return oil circuit 120 is adjusted by the relationship between the flow and the pressure drop.

[0082] The present application provides a working connection, including an oil inlet circuit, an oil return circuit and a reversing valve; the oil inlet circuit includes an oil inlet flow regulating device and an oil inlet compensation valve connected to the oil inlet flow regulating device, and the oil return circuit includes an oil return flow regulating device and an oil return compensation valve connected to the oil return flow regulating device; the oil outlet of the oil inlet flow regulating device is connected to the reversing valve, and the oil inlet of the return oil flow regulating device is connected to the reversing valve; the oil inlet of the oil inlet flow regulating device is used to connect to a power source, the oil outlet of the return oil flow regulating device is used to connect to an oil tank, and the reversing valve is used to connect to an action execution device. The reversing valve is used to perform reversing, so that the oil state of the return oil flow regulating device is always return oil. The oil flow rate can be adjusted separately by the oil inlet flow regulating device and the return oil flow regulating device, so as to avoid drastic changes in the speed of the action execution device and to smoothly adjust the speed of the action execution device. At the same time, pressure compensation is performed by the oil inlet compensation valve or the return oil compensation valve to avoid oil cavitation.

[0083] See also Figure 5 , Figure 5 A schematic structural diagram of a multi-way valve provided in an embodiment of the present application is shown.

[0084] The embodiment of the present application also provides a multi-way valve 500, comprising at least one working link 100 as in the present embodiment.

[0085] For ease of understanding, Figure 5 Two working links 100 are shown in FIG. When there are multiple action execution devices 200 in the operation equipment 1000, a multi-way valve 500 is provided in this embodiment. The multi-way valve 500 includes at least one working link 100, and each working link 100 is connected to a corresponding action execution device 200 to provide an oil inlet oil circuit 110 and an oil return oil circuit 120 for each action execution device 200. The multi-way valve 500 in this embodiment can be connected to the operation equipment 1000 with multiple action execution devices 200, and the speed of each action device can be adjusted separately, which simplifies the structure of the operation equipment 1000 and ensures the smooth operation of the operation equipment 1000.

[0086] See also Figure 6 , Figure 6 A first structural schematic diagram of the hydraulic device provided in an embodiment of the present application is shown.

[0087] The embodiment of the present application also provides a hydraulic device 600, including an action execution device 200 and a working link 100 as in the embodiment;

[0088] The oil outlet of the oil inlet flow regulating device 111 of each working link 100 is connected to the action execution device 200 through the reversing valve 130 , and the oil inlet of the oil return flow regulating device 121 of each working link 100 is connected to the action execution device 200 through the reversing valve 130 .

[0089] It should be understood that the type of the hydraulic device 600 is set according to actual needs, and can be a hydraulic lifting platform, etc., which is not limited here. The hydraulic device 600 also includes other equipment components, which are set according to actual needs, and can be a boom, etc., which is not limited here. The oil outlet of the oil inlet flow regulating device 111 of each working link 100 is connected to the action execution device 200 through the reversing valve 130, and the oil inlet of the return oil flow regulating device 121 of each working link 100 is connected to the action execution device 200 through the reversing valve 130. The hydraulic device 600 adjusts the speed of the action execution device 200 respectively through the working link 100, so that the speed of the action execution device 200 changes smoothly, avoiding drastic changes in the speed of the action execution device 200.

[0090] In the embodiment of the present application, the motion execution device 200 is a linear motion execution device or a rotational motion execution device.

[0091] See also Figure 7 , Figure 7 A second structural schematic diagram of the hydraulic device provided in an embodiment of the present application is shown.

[0092] Figure 7 Two motion execution devices 200 are illustrated in the figure, one of which is a linear motion execution device and the other is a rotary motion execution device. The linear motion execution device can be a cylinder, etc., and the rotary motion execution device can be a rotary motor, etc., which will not be described in detail here.

[0093] In the case where the action execution device 200 is a linear action execution device, the load state of the action execution device 200 includes a positive load state and a negative load state. If the state of the action execution device 200 is a positive load state, the flow of the return oil circuit 120 is greater than the flow of the inlet oil circuit 110, and the inlet oil compensation valve 112 performs pressure compensation on the inlet oil circuit 110. If the state of the action execution device 200 is a negative load state, the flow of the inlet oil circuit 110 is greater than the flow of the return oil circuit 120, and the return oil compensation valve 122 performs pressure compensation on the return oil circuit 120. In the case where the action execution device 200 is a rotary action execution device, the load state of the action execution device 200 includes a first reverse rotation state and a second reverse rotation state, the first reverse direction is opposite to the second direction, for ease of understanding, in the embodiment of the present application, the first reverse rotation state is forward rotation, and the second reverse rotation state is reverse rotation. If the load state of the action execution device 200 is the first reverse rotation state, the flow rate of the return oil circuit 120 is greater than the flow rate of the inlet oil circuit 110, and the inlet oil compensation valve 112 performs pressure compensation on the inlet oil circuit 110. If the state of the action execution device 200 is the second reverse rotation state, the flow rate of the inlet oil circuit 110 is greater than the flow rate of the return oil circuit 120, and the return oil compensation valve 122 performs pressure compensation on the return oil circuit 120.

[0094] See also Figure 8 , Figure 8 A first structural schematic diagram of the operating equipment provided in an embodiment of the present application is shown.

[0095] The embodiment of the present application also provides a working device 1000, including a controller group 700 and at least one hydraulic device 600 as in the present embodiment;

[0096] The controller group 700 is connected to each hydraulic device 600 respectively.

[0097] For ease of understanding, Figure 6 Only two hydraulic devices 600 are shown. The controller group 700 is used to generate the adjustment signal of the oil inlet flow regulating device 111 and the adjustment signal of the oil return flow regulating device 121 respectively. Specifically, the controller group 700 determines whether the oil inlet flow regulating device 111 is a main regulating device or a slave regulating device according to the load state of the action execution device 200 and the oil state of the oil inlet flow regulating device 111. The flow regulated by the slave regulating device is greater than the flow regulated by the main regulating device, thereby overcoming the influence of oil leakage.

[0098] For ease of understanding, in this embodiment, the return oil flow regulating device 121 is taken as a slave regulating device, and the inlet oil flow regulating device 111 is taken as a master regulating device. The controller group 700 determines the first command speed of the inlet oil flow regulating device 111 according to the speed of the action execution device 200 expected by the user, that is, the first command speed is equal to the speed of the action execution device 200 expected by the user. At the same time, in order to overcome the influence of oil leakage, the controller group 700 determines the second command speed of the return oil flow regulating device 121 to be a speed greater than the first command speed. Usually the regulating signal is an electrical signal, and the controller group 700 generates a regulating signal of the inlet oil flow regulating device 111 according to the first command speed, and generates a regulating signal of the return oil flow regulating device 121 according to the second command speed.

[0099] The controller group 700 is also used to adjust the state of the oil inlet compensation valve 112 and the state of the oil return compensation valve 122. When the oil inlet flow rate regulating device 111 is the master regulating device and the oil return flow rate regulating device 121 is the slave regulating device, the oil inlet compensation valve 112 is adjusted to start and the oil return compensation valve 122 is adjusted to close. When the oil inlet flow rate regulating device 111 is the slave regulating device and the oil return flow rate regulating device 121 is the master regulating device, the oil inlet compensation valve 112 is adjusted to close and the oil return compensation valve 122 is adjusted to start.

[0100] See also Fig. 9 , Fig. 9 A second structural schematic diagram of the operating equipment provided in an embodiment of the present application is shown.

[0101] In the embodiment of the present application, the working equipment 1000 further includes a human-machine interaction device 800 and a speed detection device 900 corresponding in number to the hydraulic device 600;

[0102] Each speed detection device 900 is connected to a corresponding hydraulic device 600, and the controller group 700 is connected to the human-machine interaction device 800 and each speed detection device 900 respectively;

[0103] The human-machine interaction device 800 is used to obtain the target command speed of the hydraulic device 600 input by the user;

[0104] The speed detection device 900 is used to obtain the actual speed of the hydraulic device 600 .

[0105] For ease of understanding, Fig. 9Only one hydraulic device 600 is shown in the figure. The type of the human-machine interaction device 800 is set according to actual needs, and can be a button and a touch screen, etc., which is not limited here. The user uses the human-machine interaction device 800 to input the target command speed of the hydraulic device 600, wherein the target command speed is the speed of the action execution device 200 desired by the user. In actual working conditions, there is usually an error between the target command speed of the hydraulic device 600 and the actual speed of the hydraulic device 600. The target command speed of the hydraulic device 600 input by the user is obtained by using the human-machine interaction device 800, and the actual speed of the hydraulic device 600 is obtained by using the speed detection device 900. The adjustment signal of the working link 100 is adjusted to adjust the actual speed of the hydraulic device 600 by adjusting the flow adjusted by the oil inlet flow regulating device 111 or adjusting the flow adjusted by the return oil flow regulating device 121, so that the error between the actual speed and the target command speed is less than the preset error, wherein the value of the preset error is set according to actual needs and is not limited here.

[0106] See also Fig.10 , Fig.10 A third structural schematic diagram of the operating equipment provided in an embodiment of the present application is shown.

[0107] In the embodiment of the present application, the controller group 700 includes a feedforward controller 710 and a PID controller 720;

[0108] The feedforward controller 710 is respectively connected to the oil inlet flow regulating device 111 and the oil return flow regulating device 121 of each hydraulic device 600, and the PID controller 720 is respectively connected to the oil inlet flow regulating device 111 and the oil return flow regulating device 121 of each hydraulic device 600;

[0109] A feedforward controller 710, used to generate a regulating signal to adjust the flow area of ​​the oil inlet flow regulating device 111 and the flow area of ​​the oil return flow regulating device 121;

[0110] The PID controller 720 is used to adjust the regulation signal.

[0111] The feedforward controller 710 is used to generate a regulating signal. Specifically, according to the target command speed of the hydraulic device 600 input by the user, a regulating signal of the oil inlet flow regulating device 111 and a regulating signal of the oil return flow regulating device 121 are generated respectively. The flow area of ​​the oil inlet flow regulating device 111 is adjusted by the regulating signal of the oil inlet flow regulating device 111, thereby adjusting the flow of the oil inlet circuit. The flow area of ​​the oil return flow regulating device 121 is adjusted by the regulating signal of the oil return flow regulating device 121.

[0112] It is usually expected that the actual speed of the action execution device 200 is equal to the target command speed. However, in actual working conditions, due to the influence of various factors such as oil temperature, oil viscosity and load, there is an error between the actual speed and the target command speed. The proportional-integral-differential (PID) regulator is used to adjust the regulation signal to reduce the error between the actual speed and the target command speed. Specifically, the PID parameter influencing factors are obtained, wherein the PID parameter influencing factors include but are not limited to the error ratio value between the actual speed and the target command speed, and the error differential obtained by deriving the error value between the actual speed and the target command speed, etc., which will not be elaborated here.

[0113] The PID parameters are obtained according to the PID parameter influencing factors, and the PID parameter influencing factors can be input into the preset neural network model, and the PID parameters are output using the preset neural network model. The PID parameters include kp (Proportional Gain, proportional adjustment coefficient) value, ki (Integral Gain, integral adjustment coefficient) value and kd (Derivative Gain, differential adjustment coefficient) value. The PID parameters of the PID controller 720 are used to adjust the adjustment signal, and the speed of the action execution device 200 is affected by various factors such as oil temperature, oil viscosity and load, until the error between the actual speed of the action execution device 200 and the target instruction speed is less than the preset error, wherein the value of the preset error is set according to actual needs and is not limited here.

[0114] See also Fig.11 , Fig.11 A diagram showing an application example of the controller group provided in an embodiment of the present application is shown.

[0115] For ease of understanding, in the embodiment of the present application, the feedforward controller 710 includes a first feedforward compensation module 711 and a second feedforward compensation module 712, and the PID controller 720 includes a first PID control module 721 and a second PID control module 722. Taking the oil inlet flow regulating device 111 as the main regulating device and the return oil flow regulating device 121 as the slave regulating device as an example, the first feedforward compensation module 711 and the first PID control module 721 constitute the main control module, and the second feedforward compensation module 721 and the second PID control module 722 constitute the slave control module.

[0116] The action execution device 200 feeds back the actual speed for signal adjustment. Specifically, in the figure, error1 is the first error between the first command speed and the actual speed, and de / dt1 is the first error differential obtained by derivation of the first error. Error2 is the second error between the second command speed and the actual speed, and de / dt2 is the second error differential obtained by derivation of the second error. The first error differential is input into the preset neural network model to obtain the first PID parameter output by the preset neural network model, and the first PID parameter includes kp1, ki1 and kd1. Based on the first PID parameter, the signal of the first PID control module 712 is determined. The signal of the first feedforward compensation module 711 and the signal of the first PID control module 712 are input into the oil inlet flow regulating device 111 together to correct the signal of the first feedforward compensation module 711.

[0117] Similarly, the second error differential is input into the preset neural network model to obtain the second PID parameters output by the preset neural network model, and the second PID parameters include kp2, ki2 and kd2. Based on the second PID parameters, the signal of the second PID control module 722 is determined. The signal of the second feedforward compensation module 721 and the signal of the second PID control module 722 are input into the return oil flow rate regulating device 121 together to correct the signal of the second feedforward compensation module 721.

[0118] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0119] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A working unit, characterized in that: Including oil inlet circuit, oil return circuit and reversing valve; The oil inlet circuit includes an oil inlet flow rate regulating device and an oil inlet compensation valve connected to the oil inlet flow rate regulating device, and the oil return circuit includes an oil return flow rate regulating device and an oil return compensation valve connected to the oil return flow rate regulating device; The oil outlet of the oil inlet flow rate regulating device is connected to the reversing valve, and the oil inlet of the oil return flow rate regulating device is connected to the reversing valve; The oil inlet of the oil inlet flow regulating device is used to connect to a power source, the oil outlet of the oil return flow regulating device is used to connect to an oil tank, and the reversing valve is used to connect to an action execution device.

2. The working unit according to claim 1, characterized in that: The oil outlet of the oil inlet compensation valve is connected to the oil inlet of the oil inlet flow rate regulating device, and the oil inlet of the oil return compensation valve is connected to the oil outlet of the oil return flow rate regulating device; The oil inlet of the oil inlet compensation valve is used to connect to a power source, and the oil outlet of the oil return compensation valve is used to connect to an oil tank.

3. The working unit according to claim 2, characterized in that: The first regulating oil port of the oil inlet compensation valve is connected to the oil inlet port of the oil inlet flow regulating device, the second regulating oil port of the oil inlet compensation valve is connected to the oil outlet of the oil inlet flow regulating device, the first regulating oil port of the oil return compensation valve is connected to the oil inlet port of the oil return flow regulating device, and the second regulating oil port of the oil return compensation valve is connected to the oil outlet of the oil return flow regulating device.

4. The working unit according to claim 1, characterized in that: The working unit also includes a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor; The first pressure sensor is arranged at the oil outlet of the oil inlet flow regulating device, the second pressure sensor is arranged at the oil inlet of the oil inlet flow regulating device, the third pressure sensor is arranged at the oil inlet of the return oil flow regulating device, and the fourth pressure sensor is arranged at the oil outlet of the return oil flow regulating device.

5. A multi-way valve, characterized in that: Comprising at least one working unit as claimed in any one of claims 1 to 4.

6. A hydraulic device, characterized in that: Comprising an action execution device and a working unit as claimed in any one of claims 1 to 4; The oil outlet of the oil inlet flow regulating device of each working link is connected to the action execution device through the reversing valve, and the oil inlet of the oil return flow regulating device of each working link is connected to the action execution device through the reversing valve.

7. The hydraulic device according to claim 6, characterized in that: The motion execution device is a linear motion execution device or a rotational motion execution device.

8. An operating device, characterized in that: comprising a controller group and at least one hydraulic device as claimed in any one of claims 6 to 7; The controller group is connected to each of the hydraulic devices respectively.

9. The working equipment according to claim 8, characterized in that: The operating equipment also includes a human-machine interaction device and a speed detection device corresponding to the number of the hydraulic devices; Each of the speed detection devices is connected to a corresponding hydraulic device, and the controller group is connected to the human-machine interaction device and each of the speed detection devices respectively; The human-machine interaction device is used to obtain the target command speed of the hydraulic device input by the user; The speed detection device is used to obtain the actual speed of the hydraulic device.

10. The working equipment according to claim 8, characterized in that: The controller group includes a feedforward controller and a PID controller; The feedforward controller is respectively connected to the oil inlet flow regulating device and the oil return flow regulating device of each hydraulic device, and the PID controller is respectively connected to the oil inlet flow regulating device and the oil return flow regulating device of each hydraulic device; The feedforward controller is used to generate a regulating signal to adjust the flow area of ​​the oil inlet flow regulating device and the flow area of ​​the oil return flow regulating device; A PID controller is used to adjust the regulating signal.

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