CN219754973U - Independent electrohydraulic control system for distributed power valve ports of large-sized hydraulic mechanical arm - Google Patents
Independent electrohydraulic control system for distributed power valve ports of large-sized hydraulic mechanical arm Download PDFInfo
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- CN219754973U CN219754973U CN202320820509.5U CN202320820509U CN219754973U CN 219754973 U CN219754973 U CN 219754973U CN 202320820509 U CN202320820509 U CN 202320820509U CN 219754973 U CN219754973 U CN 219754973U
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- 239000010705 motor oil Substances 0.000 claims 1
- 230000008929 regeneration Effects 0.000 abstract description 7
- 238000011069 regeneration method Methods 0.000 abstract description 7
- 238000004134 energy conservation Methods 0.000 abstract 1
- 238000005265 energy consumption Methods 0.000 abstract 1
- 238000011084 recovery Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
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Abstract
The utility model discloses an independent electrohydraulic control system for a distributed power valve port of a large-sized hydraulic mechanical arm, which consists of a single-rod double-acting hydraulic cylinder, a motor/generator, a hydraulic pump/motor, a control valve group, a three-phase alternating current power supply, a frequency converter, a position sensor and a controller. According to the utility model, independent hydraulic systems are respectively arranged on each actuator, so that the length of an oil pipe can be reduced, the control precision is improved, and the energy conservation and emission reduction are realized. The utility model reduces flow loss compared with the traditional valve-controlled hydraulic system, and simultaneously can improve the accuracy of hydraulic cylinder action by using valve control, and can realize energy regeneration and utilization by switching valve combination, eliminate energy loss generated by pressure difference between loads and reduce system energy consumption.
Description
Technical Field
The utility model relates to the technical field of large hydraulic mechanical arms, in particular to an independent electrohydraulic control system of a distributed valve port.
Background
At present, the engineering machinery widely adopts a constant-speed diesel engine to drive a variable-displacement hydraulic pump as a power source, and influences the environment while aggravating the consumption of energy. In recent years, along with the continuous shortage of energy, an electrohydraulic control system with high energy efficiency, simple structure, good operability and good economic benefit becomes a current research hotspot at home and abroad.
The hydraulic system of the engineering machinery controls a plurality of actuators through a limited number of power sources, oil ways of the actuators of the large hydraulic mechanical arm are longer, if a traditional valve control system is adopted, the control precision is better, but because the response of the pipelines is poorer and unstable, the pressure loss is large due to each load pressure difference, the energy waste is caused by large throttle loss of a directional valve, and a balance valve is arranged beside the actuators to play a role in locking so as to prevent the mechanical arm from being out of control due to oil pipe burst. If the closed pump control system is adopted, the closed system has the advantages of high short integration level of the hydraulic pipeline, high efficiency without throttling loss, but the problem of flow asymmetry needs oil supplementing measures, the complexity of the system is increased, and a four-quadrant pump is needed when energy is recovered, so that the technical requirement and the cost are high.
Disclosure of Invention
The utility model aims to provide an independent electrohydraulic control system for a distributed power valve port of a large-sized hydraulic mechanical arm.
In order to achieve the above object, the present utility model provides the following technical solutions:
in the electrohydraulic control system with independent distributed power valve ports of a large hydraulic mechanical arm, each single-rod double-acting hydraulic cylinder is independently driven by a set of motor/generator and a hydraulic pump/motor, four-quadrant operation working conditions can be realized by switching a control valve group, if accurate control is needed, the independent control of the valve ports is realized by adjusting the opening of the valve ports, the response speed and the accuracy are improved, meanwhile, the control valve group plays a role of a balance valve, and the stability and the safety of the operation of the mechanical arm are ensured by switching the control valve. And the control of the four-quadrant load working condition can be realized through the switching of the control valve group, and a closed-loop control system is not needed.
In the electrohydraulic control system, in an energy recovery mode, a hydraulic pump/motor works in a motor mode, a motor/generator works in a generator mode, hydraulic oil returns to push the hydraulic motor to rotate, the hydraulic motor drives the generator to rotate, and electric energy generated by the generator is fed back to a power grid through a frequency converter. Each set of control valve group can enable the motor/generator to work in a high-efficiency interval through each valve switch combination, and the oil inlet and outlet ports of the actuator independently reduce throttling loss.
The electro-hydraulic control system realizes switching of high-low pressure oil ways and regeneration recovery of energy by switching on and off of valves in the control valve group, and realizes flow control by opening sizes of the second reversing valve, the third reversing valve and the fourth reversing valve so as to control the movement speed of the actuator.
In the electrohydraulic control system, a signal receiver receives the rotating speed, torque signals and actuator displacement signals from a motor/generator, the signals are input into an operation module, the displacement signals are converted into speed signals in the operation module, the speed signals are compared with the required speed signals, and the motor/generator rotating speed control signals are obtained after the operation processing of the operation module.
In the technical scheme, the large-scale hydraulic mechanical arm distributed power valve port independent electrohydraulic control system has the following beneficial effects:
1. the utility model comprises a set of independent motor/generator, hydraulic pump/motor and control valve group, each actuator can supply oil to reduce throttle loss by changing the rotation speed of the motor and independently controlling the speed of the actuator, and in order to realize accurate control, the opening of the valve port is regulated to realize independent control of the valve port, thus improving response speed and precision.
2. According to the utility model, the control of the four-quadrant load working condition can be realized through the switching of the control valve group, and a closed-loop control system is not needed.
3. According to the utility model, each set of control valve group can enable the motor/generator, the hydraulic pump/motor to work in a high-efficiency interval through each valve switch combination, and the oil inlet and outlet ports of the actuator are independent to reduce throttling loss.
4. The hydraulic pump/motor operates in a motor mode and the motor/generator operates in a generator mode to feed energy beyond the load back into the grid.
Drawings
FIG. 1 is a schematic diagram of an electro-hydraulic control system.
FIG. 2 is a schematic diagram of a control valve block of an electro-hydraulic control system.
Fig. 3 is a schematic diagram of the present utility model for performing the cylinder rod extending action in the normal mode.
Fig. 4 is a schematic view of the present utility model for performing a retracting action of the cylinder rod in the normal mode.
Fig. 5 is a schematic view of the present utility model for performing the cylinder rod extending operation in the regeneration mode.
Fig. 6 is a schematic view of the retracting action of the cylinder rod in the retracting mode of the present utility model.
Fig. 7 is a schematic view of the utility model for performing the extension operation of the cylinder rod in the recovery mode.
Fig. 8 is a schematic view of the utility model for performing the cylinder rod extending action in the floating mode.
Fig. 9 is a schematic view of the utility model in a floating mode with the cylinder rod retracting action.
Reference numerals:
1. a hydraulic cylinder 1; 2. a position sensor 1; 3. a control valve group 1; 4. a first reversing valve; 5. a second reversing valve; 6. a third reversing valve; 7. a fourth reversing valve; 8. a left subsystem first node; 9. a left subsystem second node; 10. a hydraulic pump/motor outlet 1; 11. a frequency converter 1; 12. a motor/generator 1; 13. a hydraulic pump/motor 1; 14. an oil tank; 15. a frequency converter 2; 16. a motor/generator 2; 17. a hydraulic pump/motor 2; 18. a hydraulic pump/motor outlet 2; 19. a control valve group 2; 20. a fifth reversing valve; 21. a sixth reversing valve; 22. a seventh reversing valve; 23. an eighth reversing valve; 24. a right subsystem first node; 25. a right subsystem second node; 26. a hydraulic cylinder 2; 27. a position sensor 2; 28. a three-phase power supply; 29. a controller; 30. a signal output device; 31. an operation module; 32. a signal receiver; 33. a power source; 34. a right subsystem; 35. a left subsystem; 131. a first interface for the hydraulic pump/motor outlet 1; 132. a second interface for the hydraulic pump/motor outlet 1; 171. a first interface for the hydraulic pump/motor outlet 2; 172. a second interface for the hydraulic pump/motor outlet 2; 401. a first port of a first reversing valve; 402. a second port of the first reversing valve; 501. a first port of a second reversing valve; 502. a second port of the second reversing valve; 601. a first port of a third reversing valve; 602. a second port of the third reversing valve; 701. a first port of a fourth reversing valve; 702. a second port of the fourth reversing valve; 201. a first port of a fifth reversing valve; 202. a second port of the fifth reversing valve; 211. a first port of a sixth reversing valve; 212. a second port of the sixth reversing valve; 221. a first port of a seventh reversing valve; 222. a second port of the seventh reversing valve; 231. a first port of an eighth reversing valve; 232. a second port of the eighth reversing valve;
Detailed Description
In order to make the technical scheme of the present utility model better understood by those skilled in the art, the present utility model will be further described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the electrohydraulic control system based on the distributed power independence and the independent control of the valve ports of the large-scale hydraulic mechanical arm can drive hydraulic actuators to work in four-quadrant load, each actuator comprises a set of independent motor/generator, a hydraulic pump/motor and a control valve group, the oil supply pressure of each actuator can be independently regulated, the speed control of the actuator is realized by changing the rotating speed of the motor to control the flow rate of the pump outlet, or the speed control of the actuator is realized by controlling the opening of the valve ports.
The system comprises four modes of operation, depending on the load characteristics. In the normal mode, the hydraulic cylinder can extend and retract; in the regeneration mode, the two cavities of the light-load hydraulic cylinder can be simultaneously communicated with a high-pressure oil way of the pump, so that the oil supply flow of the pump is reduced. In a floating mode, two cavities of the hydraulic cylinder can be simultaneously communicated with a differential mode of a low-pressure oil return channel, and the energy exceeding a load is utilized without pumping oil; in the recovery mode, the pump can work as a motor, so that the hydraulic energy exceeding the load is converted into mechanical energy by the motor to drive the motor to generate electric energy, and finally the electric energy is fed back to the power grid through the inverter.
It should be noted that the number of motor/generators, hydraulic pump/motors and control valve sets is determined by the number of actuators; the system takes double actuators as an example, if the number of the actuators is increased, the number of the motor/generators, the hydraulic pump/motors and the control valve groups is correspondingly increased.
Referring to fig. 3, the switch valve 4 is fully opened when power is supplied, the proportional valve 5 is fully closed when power is lost, the proportional valve 6 is fully closed when power is lost, the proportional valve 7 is fully opened when power is supplied, the proportional valve 6 is used for proportional adjustment and unloading when the pressure is higher than the working pressure, the function of an overflow valve is achieved, a rodless cavity of a hydraulic cylinder is communicated with high-pressure oil of the pump, a rod cavity is communicated with a low-pressure oil return channel, an oil cylinder rod stretches out, a resistance load is pushed, and the flow rate of the pump is regulated by the rotation speed of a motor;
referring to fig. 4, the switch valve 4 is powered off and fully closed, the proportional valve 5 is powered on and fully opened, the proportional valve 6 is powered on and fully closed, the proportional valve 7 is powered off and fully closed, the proportional valve 7 is in proportion adjustment and unloading when the pressure is higher than the working pressure, the hydraulic cylinder has a rod cavity communicated with high-pressure oil of the pump, the rod cavity is not communicated with a low-pressure oil return channel, the oil cylinder rod is retracted, the resistance load is pulled, and the movement speed is used for adjusting the flow rate of the pump outlet through the rotation speed of the motor;
referring to fig. 5, the switch valve 4 is powered fully opened, the proportional valve 5 is powered fully opened, the proportional valve 6 is powered off fully closed, the proportional valve 7 is powered off fully closed, the proportional valve 6 is in proportional adjustment and unloading when the pressure is higher than the working pressure, the hydraulic cylinder has a rod cavity and a rodless cavity to communicate pump high-pressure oil, an energy regeneration loop is formed, return oil with the rod cavity flows back to the rodless cavity again, the required flow of the pump is reduced, and the movement speed is used for adjusting the pump outlet flow through the motor rotation speed;
referring to fig. 6, the switch valve 4 is fully opened when power is supplied, the proportional valve 5 is fully closed when power is lost, the proportional valve 6 is fully closed when power is lost, the proportional valve 7 is fully opened when power is supplied, at the moment, the valve opening of the proportional valve 7 is adjusted to regulate the movement of the oil cylinder, the rod cavity and the rodless cavity of the hydraulic cylinder are communicated with a low-pressure oil way to form an energy regeneration loop, and the return oil of the rodless cavity flows back to the rod cavity again, so that the recovery of energy can be realized by utilizing the energy exceeding the load without supplying oil by a pump.
Referring to fig. 7, the switch 4 is powered off and fully closed, the proportional valve 5 is powered on and fully opened, the proportional valve 6 is powered on and fully opened, at the moment, the valve opening of the proportional valve 6 is adjusted to regulate the movement of the oil cylinder, the proportional valve 7 is powered off and fully closed, the hydraulic cylinder is provided with a rod cavity communicated with the pump, the oil cylinder stretches out under the action of load, the pump works as a motor, the motor works as a generator, and the hydraulic energy exceeding the load is converted into electric energy and fed back to the power grid through the pump, the motor and the inverter.
Referring to fig. 8, the switch valve 4 is powered off and fully closed, the proportional valve 5 is powered off and fully closed, the proportional valve 6 is powered on and fully opened, at the moment, the valve opening of the proportional valve 6 is adjusted to regulate the movement of the oil cylinder, the proportional valve 7 is powered on and fully opened, the rod cavity and the rodless cavity of the hydraulic cylinder are communicated with a low-pressure oil way to form an energy regeneration loop, the return oil of the rod cavity flows back to the rodless cavity again, and the pump is not needed to supply oil by utilizing the energy exceeding the load.
Referring to fig. 9, the switch 4 is completely closed when power is lost, the proportional valve 5 is completely closed when power is lost, the proportional valve 6 is completely opened when power is supplied, the proportional valve 7 is completely opened when power is supplied, and at the moment, the movement of the oil cylinder is regulated by adjusting the opening of the valve port of the proportional valve 7.
While certain exemplary embodiments of the present utility model have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the utility model, which is defined by the appended claims.
Claims (6)
1. An independent electrohydraulic control system of a large-scale hydraulic mechanical arm distributed power valve port comprises a power source (33), a control valve group 1 (3), a control valve group 2 (19), a controller (29), a hydraulic cylinder 1 (1), a hydraulic cylinder 2 (26) and an oil tank (14); the method is characterized in that:
the power source (33) comprises a motor/generator 1 (12), a motor/generator 2 (16), a hydraulic pump/motor 1 (13), a hydraulic pump/motor 2 (17), a frequency converter 1 (11), a frequency converter 2 (15), the frequency converter 1 (11) and the frequency converter 2 (15), wherein the input end of the frequency converter 2 (15) is connected with a three-phase power supply (28), the output end of the frequency converter is connected with the motor/generator 1 (12) and the motor/generator 2 (16), the motor/generator 1 (12) is connected with the hydraulic pump/motor 1 (13), and the motor/generator 2 (16) is connected with the hydraulic pump/motor 2 (17);
the first connection (171) of the hydraulic pump/motor outlet 2 is connected to the oil tank (14), and the second connection (172) of the hydraulic pump/motor outlet 2 is connected to the control valve group 2 (19).
2. The electro-hydraulic control system with independent distributed power valve ports for a large hydraulic mechanical arm as claimed in claim 1, wherein:
the control valve group 2 (19) is composed of a fifth reversing valve (20), a sixth reversing valve (21), a seventh reversing valve (22) and an eighth reversing valve (23), wherein the first port (201) of the fifth reversing valve and the first port (211) of the sixth reversing valve are connected with the second port (172) of the hydraulic pump/motor oil outlet 2, the second port (202) of the fifth reversing valve and the second port (212) of the sixth reversing valve are respectively connected with the second port (222) of the seventh reversing valve and the second port (232) of the eighth reversing valve, the first port (221) of the seventh reversing valve and the first port (231) of the eighth reversing valve are connected with the oil tank (14), an oil way is led out from the connecting pipeline of the fifth reversing valve (20) and the seventh reversing valve (22) to the rodless cavity of the hydraulic cylinder 2 (26) through a right-side subsystem first node (24), and an oil way is led out from the connecting pipeline of the sixth reversing valve (21) and the eighth reversing valve (23) to the rodless cavity of the hydraulic cylinder 2 through a right-side subsystem through a right-side connecting pipeline node (25).
3. The electro-hydraulic control system with independent distributed power valve ports for a large hydraulic mechanical arm as claimed in claim 1, wherein:
the controller comprises a signal output device (30), an operation module (31) and a signal receiver (32).
4. The electro-hydraulic control system with independent distributed power valve ports for a large hydraulic mechanical arm as claimed in claim 2, wherein:
the hydraulic cylinder 2 (26) is externally connected with the position sensor 2 (27), and the rod cavity and the rodless cavity are respectively connected with the right subsystem second node (25) and the right subsystem first node (24).
5. The electro-hydraulic control system with independent distributed power valve ports for a large hydraulic mechanical arm as claimed in claim 2, wherein:
the fifth reversing valve (20) of the control valve group 2 (19) is a high-speed switching valve, and the sixth reversing valve (21), the seventh reversing valve (22) and the eighth reversing valve (23) are flow proportion control valves.
6. A large hydraulic mechanical arm distributed power valve port independent electro-hydraulic control system as claimed in claim 3, wherein:
the signal receiver (32) is connected with the operation module (31), the operation module (31) is connected with the signal output device (30), and the signal output device (30) is connected with the motor/generator 2 (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320820509.5U CN219754973U (en) | 2023-04-13 | 2023-04-13 | Independent electrohydraulic control system for distributed power valve ports of large-sized hydraulic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320820509.5U CN219754973U (en) | 2023-04-13 | 2023-04-13 | Independent electrohydraulic control system for distributed power valve ports of large-sized hydraulic mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN219754973U true CN219754973U (en) | 2023-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320820509.5U Active CN219754973U (en) | 2023-04-13 | 2023-04-13 | Independent electrohydraulic control system for distributed power valve ports of large-sized hydraulic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219754973U (en) |
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2023
- 2023-04-13 CN CN202320820509.5U patent/CN219754973U/en active Active
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