CN105604991A - Cabin door opening and closing hydraulic control system of underwater vehicle - Google Patents
Cabin door opening and closing hydraulic control system of underwater vehicle Download PDFInfo
- Publication number
- CN105604991A CN105604991A CN201610041731.XA CN201610041731A CN105604991A CN 105604991 A CN105604991 A CN 105604991A CN 201610041731 A CN201610041731 A CN 201610041731A CN 105604991 A CN105604991 A CN 105604991A
- Authority
- CN
- China
- Prior art keywords
- valve
- oil
- servo
- hydraulic
- way
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
- F15B1/021—Installations or systems with accumulators used for damping
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/50—Power-operated mechanisms for wings using fluid-pressure actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/01—Locking-valves or other detent i.e. load-holding devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/72—Output members, e.g. hydraulic motors or cylinders or control therefor having locking means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
一种水下航行器舱门启闭液压控制系统，主要包括油箱、温度计、液位计、加热器、空气滤清器、液压泵、联轴器、电动机、单向阀、溢流阀、二位二通电磁换向阀、压力继电器、精过滤器、压力表、蓄能器、伺服阀、回油过滤器、冷却器、压力传感器、三位四通电磁换向阀、液控单向阀、非对称液压缸、截止阀、位移传感器、控制器、伺服放大器等。本发明响应速度快且可以实现水下航行器舱门启闭的自动化操作。可降低换向冲击；提高了系统的平稳性。可精确控制液压缸活塞杆的位移，提高了系统的精确性。保证了舱门启闭过程中的定位锁紧需求；提高了系统的安全性。
A hydraulic control system for opening and closing the cabin door of an underwater vehicle, mainly including a fuel tank, a thermometer, a liquid level gauge, a heater, an air filter, a hydraulic pump, a coupling, an electric motor, a one-way valve, an overflow valve, two One-position two-way electromagnetic reversing valve, pressure relay, fine filter, pressure gauge, accumulator, servo valve, oil return filter, cooler, pressure sensor, three-position four-way electromagnetic reversing valve, hydraulic control check valve , Asymmetric hydraulic cylinders, globe valves, displacement sensors, controllers, servo amplifiers, etc. The invention has fast response speed and can realize the automatic operation of opening and closing the cabin door of the underwater vehicle. It can reduce the commutation shock and improve the stability of the system. The displacement of the piston rod of the hydraulic cylinder can be precisely controlled, which improves the accuracy of the system. The positioning and locking requirements during the opening and closing of the cabin door are guaranteed; the safety of the system is improved.
Description
技术领域technical field
本发明属于液压传动技术领域，涉及一种舱门启闭液压控制系统。The invention belongs to the technical field of hydraulic transmission, and relates to a hydraulic control system for opening and closing a cabin door.
背景技术Background technique
伴随着人类对海洋的不断探索，海洋科学技术得到不断的发展，对海洋勘探设备的研究也越来越深入。水下航行器作为探索海洋世界的重要工具之一，保证其基本装备的可靠性及技术先进性成为科技工作者的一大重要任务，而舱门的安全启闭是保证水下航行器正常作业的重要环节，值得深入研究。With the continuous exploration of the ocean by human beings, marine science and technology have been continuously developed, and the research on marine exploration equipment has become more and more in-depth. As one of the important tools for exploring the ocean world, the underwater vehicle has become an important task for scientific and technological workers to ensure the reliability and technological advancement of its basic equipment, and the safe opening and closing of the hatch is to ensure the normal operation of the underwater vehicle. It is an important link that deserves further study.
目前，国内、外水下航行器舱门启闭系统多采用机械传动机构，即采用电动机配合减速器作为动力元件，以机械传动方式使舱门两侧同轴相连的链轮带动链条同步运行，进而实现基本的舱门开闭功能，但采用该种方式实现舱门启闭时存在响应速度慢、过程不平稳等现象，具有一定的局限性。该领域也有一些采用常规液压传动来实现舱门启闭，通常采用液压马达作为动力元件，但在其动力传递过程中仍未摆脱机械传动的弊端，舱门在启闭时仍需要用液压马达通过减速器拉动链条来实现，仍存在过程不平稳现象，而且可靠性较低，一旦传动环节某一重要零部件失效，则舱门将无法正常启闭。At present, the door opening and closing systems of domestic and foreign underwater vehicles mostly use mechanical transmission mechanisms, that is, motors and reducers are used as power components, and the coaxially connected sprockets on both sides of the hatch drive the chains to run synchronously through mechanical transmission. Furthermore, the basic function of opening and closing the cabin door can be realized. However, when using this method to realize the opening and closing of the cabin door, there are phenomena such as slow response speed and unstable process, which have certain limitations. There are also some conventional hydraulic transmissions in this field to realize the opening and closing of hatches, usually using hydraulic motors as power components, but the disadvantages of mechanical transmission have not been overcome in the process of power transmission, and the hatches still need to be opened and closed by hydraulic motors. The reducer pulls the chain to achieve it, but the process is still unstable and the reliability is low. Once an important part of the transmission link fails, the hatch will not be able to open and close normally.
发明内容Contents of the invention
本发明的目的是提供一种能够快速、平稳实现水下航行器舱门启闭且具有高可靠性的水下航行器舱门启闭液压控制系统。The object of the present invention is to provide a hydraulic control system for opening and closing the hatch of the underwater vehicle that can quickly and smoothly realize the opening and closing of the hatch of the underwater vehicle and has high reliability.
本发明主要包括油箱、温度计、液位计、加热器、空气滤清器、液压泵、联轴器、电动机、单向阀、溢流阀A、溢流阀B、溢流阀C、二位二通电磁换向阀A、二位二通电磁换向阀B、二位二通电磁换向阀C、压力继电器、精过滤器、压力表、蓄能器、伺服阀A、伺服阀B、回油过滤器、冷却器、压力传感器A、压力传感器B、三位四通电磁换向阀、液控单向阀A、液控单向阀B、非对称液压缸A、非对称液压缸B、截止阀A、截止阀B、截止阀C、截止阀D、位移传感器A、位移传感器B、控制器、伺服放大器A和伺服放大器B。其中，所述油箱上设有温度计、液位计、加热器和空气滤清器；位于油箱上的主供油路上设有液压泵；液压泵的输入轴与联轴器的一端相连，联轴器的另一端与电动机相连；液压泵出油口与单向阀进油口相连；液压泵与单项阀之间的分支油路上设有溢流阀A；溢流阀A的出油口与油箱联通；溢流阀A的遥控口通过二位二通电磁换向阀A与油箱联通；单向阀出油口与精过滤器的进油口连接；单向阀与精过滤器之间的一分支油路上设有压力继电器；单向阀与精过滤器之间的另一分支油路上依次设有压力表和蓄能器；精过滤器的出油口与伺服阀A的P口相连；精过滤器的出油口还与伺服阀B的P口相连；位于油箱上的主回油路上设有回油过滤器，回油过滤器的进油口与冷却器的出油口相连；冷却器的进油口与伺服阀A的T口相连；冷却器的进油口还与伺服阀B的T口相连。The invention mainly includes fuel tank, thermometer, liquid level gauge, heater, air filter, hydraulic pump, coupling, motor, one-way valve, overflow valve A, overflow valve B, overflow valve C, two position Two-way electromagnetic reversing valve A, two-position two-way electromagnetic reversing valve B, two-position two-way electromagnetic reversing valve C, pressure relay, fine filter, pressure gauge, accumulator, servo valve A, servo valve B, Oil return filter, cooler, pressure sensor A, pressure sensor B, three-position four-way electromagnetic reversing valve, hydraulic control check valve A, hydraulic control check valve B, asymmetric hydraulic cylinder A, asymmetric hydraulic cylinder B , Stop valve A, stop valve B, stop valve C, stop valve D, displacement sensor A, displacement sensor B, controller, servo amplifier A and servo amplifier B. Wherein, the oil tank is provided with a thermometer, a liquid level gauge, a heater and an air filter; a hydraulic pump is arranged on the main oil supply road on the oil tank; the input shaft of the hydraulic pump is connected with one end of the shaft coupling, and the shaft coupling The other end of the device is connected to the motor; the oil outlet of the hydraulic pump is connected to the oil inlet of the one-way valve; an overflow valve A is provided on the branch oil circuit between the hydraulic pump and the one-way valve; the oil outlet of the overflow valve A is connected to the oil tank Unicom; the remote control port of the overflow valve A is connected to the oil tank through the two-position two-way electromagnetic reversing valve A; the oil outlet of the check valve is connected to the oil inlet of the fine filter; A pressure relay is installed on the branch oil circuit; a pressure gauge and an accumulator are arranged in turn on the other branch oil circuit between the check valve and the fine filter; the oil outlet of the fine filter is connected to the P port of the servo valve A; The oil outlet of the filter is also connected with the P port of the servo valve B; an oil return filter is arranged on the main oil return road on the oil tank, and the oil inlet of the oil return filter is connected with the oil outlet of the cooler; the cooler The oil inlet of the cooler is connected with the T port of the servo valve A; the oil inlet of the cooler is also connected with the T port of the servo valve B.
所述伺服阀A的A口与三位四通电磁换向阀的P口相连；伺服阀A与三位四通电磁换向阀之间的一分支油路上设有压力传感器A；伺服阀A与三位四通电磁换向阀之间的另一分支油路上设有溢流阀B；溢流阀B的出油口与油箱联通；溢流阀B的遥控口通过二位二通电磁换向阀B与油箱联通；伺服阀B的A口与三位四通电磁换向阀的T口相连；伺服阀B与三位四通电磁换向阀之间的一分支油路上设有压力传感器B；伺服阀B与三位四通电磁换向阀之间的另一分支油路上设有溢流阀C；溢流阀C的出油口与油箱联通；溢流阀C的遥控口通过二位二通电磁换向阀C与油箱联通。The A port of the servo valve A is connected to the P port of the three-position four-way electromagnetic directional valve; a pressure sensor A is provided on a branch oil circuit between the servo valve A and the three-position four-way electromagnetic directional valve; the servo valve A There is a relief valve B on another branch oil circuit between the three-position four-way electromagnetic reversing valve; the oil outlet of the relief valve B is connected with the oil tank; Directional valve B is connected to the oil tank; A port of servo valve B is connected to T port of three-position four-way electromagnetic reversing valve; a pressure sensor is installed on a branch oil circuit between servo valve B and three-position four-way electromagnetic reversing valve B; There is a relief valve C on another branch oil circuit between the servo valve B and the three-position four-way electromagnetic reversing valve; the oil outlet of the relief valve C is connected with the oil tank; the remote control port of the relief valve C passes through two The position two-way electromagnetic reversing valve C communicates with the oil tank.
所述三位四通电磁换向阀的A口与液控单向阀A的进油口相连，三位四通电磁换向阀的A口还与液控单向阀B的控制油口相连；液控单向阀A的出油口与非对称液压缸A的无杆腔相连，二者之间设有截止阀A；液控单向阀A的出油口还与非对称液压缸B的无杆腔相连，二者之间设有截止阀B；三位四通电磁换向阀的B口与液控单向阀B的进油口相连，三位四通电磁换向阀的B口还与液控单向阀A的控制油口相连；液控单向阀B的出油口与非对称液压缸A的有杆腔相连，二者之间设有截止阀C；液控单向阀B的出油口还与非对称液压缸B的有杆腔相连，二者之间设有截止阀D；非对称液压缸A的活塞杆上设有位移传感器A，非对称液压缸B的活塞杆上设有位移传感器B。The A port of the three-position four-way electromagnetic reversing valve is connected with the oil inlet port of the hydraulic control check valve A, and the A port of the three-position four-way electromagnetic reversing valve is also connected with the control oil port of the hydraulic control check valve B ; The oil outlet of the hydraulic control check valve A is connected with the rodless chamber of the asymmetric hydraulic cylinder A, and a stop valve A is arranged between the two; the oil outlet of the hydraulic control check valve A is also connected with the asymmetric hydraulic cylinder B The rodless cavity is connected, and there is a stop valve B between the two; the B port of the three-position four-way electromagnetic reversing valve is connected with the oil inlet port of the hydraulic control check valve B, and the B port of the three-position four-way electromagnetic reversing valve The port is also connected with the control oil port of the hydraulic control check valve A; the oil outlet of the hydraulic control check valve B is connected with the rod chamber of the asymmetric hydraulic cylinder A, and a stop valve C is arranged between the two; The oil outlet of the valve B is also connected with the rod cavity of the asymmetric hydraulic cylinder B, and a shut-off valve D is arranged between the two; a displacement sensor A is installed on the piston rod of the asymmetric hydraulic cylinder A, and a There is a displacement sensor B on the piston rod.
压力继电器通过电路与二位二通电磁换向阀A的电磁铁Y1连接；控制器通过电路分别与二位二通电磁换向阀B、二位二通电磁换向阀C的电磁铁Y2、Y3相连；控制器通过电路分别与伺服放大器A、伺服放大器B的信号输入端相连；伺服放大器A的信号输出端通过电路与伺服阀A的电磁铁Y4相连；伺服放大器B的信号输出端通过电路与伺服阀B的电磁铁Y5相连；控制器通过电路分别与三位四通电磁换向阀的电磁铁Y6、Y7相连；控制器通过电路分别与位移传感器A、位移传感器B的信号输出端相连。The pressure relay is connected to the electromagnet Y1 of the two-position two-way electromagnetic directional valve A through the circuit; the controller is respectively connected to the electromagnet Y2 of the two-position two-way electromagnetic directional valve B and the two-position two-way electromagnetic directional valve C Y3 is connected; the controller is connected to the signal input terminals of servo amplifier A and servo amplifier B respectively through the circuit; the signal output terminal of servo amplifier A is connected with the electromagnet Y4 of servo valve A through the circuit; the signal output terminal of servo amplifier B is connected through the circuit It is connected with the electromagnet Y5 of the servo valve B; the controller is respectively connected with the electromagnets Y6 and Y7 of the three-position four-way electromagnetic reversing valve through the circuit; the controller is respectively connected with the signal output ends of the displacement sensor A and displacement sensor B through the circuit .
控制器为德国西门子公司的PLC控制器，型号为SIMATICS7-300。The controller is a PLC controller of German Siemens Company, the model is SIMATIC S7-300.
为了提高系统的安全性和可靠性，本发明系统多处采用了冗余设计：In order to improve the safety and reliability of the system, the system of the present invention adopts redundant design in many places:
(1)两个液压缸有杆腔和无杆腔油口前均设有截止阀，当非对称液压缸A出现故障不能正常工作时，可以通过关闭截止阀A和截止阀C使非对称液压缸A与系统隔离，由非对称液压缸B实现单缸驱动舱门启闭；当非对称液压缸B出现故障不能正常工作时，可以通过关闭截止阀B和截止阀D使非对称液压缸B与系统隔离，由非对称液压缸A实现单缸驱动舱门启闭。(1) There are cut-off valves in front of the oil ports of the rod chamber and the rodless chamber of the two hydraulic cylinders. When the asymmetric hydraulic cylinder A fails to work normally, the asymmetric hydraulic cylinder can be turned off by closing the cut-off valve A and the cut-off valve C. Cylinder A is isolated from the system, and the asymmetric hydraulic cylinder B realizes the opening and closing of the cabin door driven by a single cylinder; when the asymmetric hydraulic cylinder B fails to work normally, the asymmetric hydraulic cylinder B can be made Isolated from the system, the asymmetric hydraulic cylinder A realizes the opening and closing of the cabin door driven by a single cylinder.
(2)本发明系统中的重要元件伺服阀亦采用了冗余设计，当某个伺服阀出现故障不能正常工作时，由另一个伺服阀仍可以控制油路的流量，进而推动液压缸实现舱门正常启闭。当伺服阀A出现故障不能正常工作时，控制器发出控制信号使其阀芯回到中位，进而使伺服阀A所在的分支油路与系统断开，同时控制器发出控制信号使伺服阀B的右位与主供油路联通，由伺服阀B控制主供油路的流量，此时回油路流回的油液则由溢流阀B和二位二通电磁换向阀B组成的压力卸荷回路流回油箱；当伺服阀B出现故障不能正常工作时，控制器发出控制信号使其阀芯回到中位，进而使伺服阀B所在的分支油路与系统断开，同时控制器发出控制信号使伺服阀A的左位与主供油路联通，由伺服阀A控制主供油路的流量，此时回油路流回的油液则由溢流阀C和二位二通电磁换向阀C组成的压力卸荷回路流回油箱。(2) The servo valve, an important component in the system of the present invention, also adopts a redundant design. When a certain servo valve fails to work normally, another servo valve can still control the flow of the oil circuit, and then push the hydraulic cylinder to realize the oil tank. The door opens and closes normally. When the servo valve A breaks down and cannot work normally, the controller sends a control signal to make the spool return to the neutral position, and then the branch oil circuit where the servo valve A is located is disconnected from the system. At the same time, the controller sends a control signal to make the servo valve B The right position of the valve is connected with the main oil supply circuit, and the flow of the main oil supply circuit is controlled by the servo valve B. At this time, the oil flowing back from the oil return circuit is composed of the overflow valve B and the two-position two-way electromagnetic reversing valve B. The pressure unloading circuit flows back to the oil tank; when the servo valve B fails to work normally, the controller sends a control signal to make the spool return to the neutral position, and then the branch oil circuit where the servo valve B is located is disconnected from the system, and at the same time the control The controller sends out a control signal to make the left position of servo valve A communicate with the main oil supply circuit, and the flow of the main oil supply circuit is controlled by servo valve A. The pressure unloading circuit composed of electromagnetic reversing valve C flows back to the oil tank.
本发明在使用时，当舱门需要开启时，打开截止阀A、截止阀B、截止阀C、截止阀D；控制器发出控制信号使Y4、Y5、Y6得电，伺服阀A、伺服阀B、三位四通电磁换向阀的左位与主油路联通。电动机带动液压泵高速旋转，液压泵从油箱中吸取油液并从出口泵出高压油，高压油流经单向阀和精过滤器后进入伺服阀A的P口。油液由伺服阀A的A口流出后流向三位四通电磁换向阀的P口，经由三位四通电磁换向阀的A口流出后分别流向液控单向阀A的进油口和液控单向阀B的控制油口，使液控单向阀B逆向打开。油液从液控单向阀A的出油口流出后分为两路，一路通过截止阀A进入非对称液压缸A的无杆腔，另一路通过截止阀B进入非对称液压缸B的无杆腔，使非对称液压缸A和非对称液压缸B的活塞杆伸出推动舱门开启；活塞杆上安装的位移传感器A和位移传感器B可实时记录活塞杆的伸出位移并反馈给控制器，与控制器组成闭环控制。非对称液压缸A有杆腔中的油液流经截止阀C和液控单向阀B后流入三位四通电磁换向阀的B口，非对称液压缸B有杆腔中的油液流经截止阀D和液控单向阀B后流入三位四通电磁换向阀的B口。油液从三位四通电磁换向阀的T口流出后流向伺服阀B的A口，经伺服阀B的T口流出后，再流经冷却器和回油过滤器流入油箱。When the present invention is in use, when the cabin door needs to be opened, the shut-off valve A, shut-off valve B, shut-off valve C, and shut-off valve D are opened; the controller sends a control signal to make Y4, Y5, and Y6 energized, and the servo valve A, servo valve B. The left position of the three-position four-way electromagnetic reversing valve is connected with the main oil circuit. The motor drives the hydraulic pump to rotate at a high speed. The hydraulic pump absorbs oil from the oil tank and pumps out high-pressure oil from the outlet. The high-pressure oil flows through the check valve and fine filter and then enters the P port of the servo valve A. The oil flows out from the A port of the servo valve A and then flows to the P port of the three-position four-way electromagnetic reversing valve, and flows out through the A port of the three-position four-way electromagnetic reversing valve to the oil inlet port of the hydraulic control check valve A respectively. And the control oil port of the hydraulic control check valve B, so that the hydraulic control check valve B is reversely opened. After the oil flows out from the oil outlet of the hydraulic control check valve A, it is divided into two paths, one path enters the non-rod chamber of the asymmetric hydraulic cylinder A through the stop valve A, and the other path enters the non-rod chamber of the asymmetric hydraulic cylinder B through the stop valve B. Rod cavity, so that the piston rods of asymmetric hydraulic cylinder A and asymmetric hydraulic cylinder B stretch out to push the hatch to open; the displacement sensor A and displacement sensor B installed on the piston rod can record the protruding displacement of the piston rod in real time and feed it back to the control The controller forms a closed-loop control with the controller. The oil in the rod cavity of asymmetric hydraulic cylinder A flows through the stop valve C and the hydraulic control check valve B, and then flows into the B port of the three-position four-way electromagnetic reversing valve, and the oil in the rod cavity of asymmetric hydraulic cylinder B After flowing through the stop valve D and the hydraulic control check valve B, it flows into the B port of the three-position four-way electromagnetic reversing valve. The oil flows out from the T port of the three-position four-way electromagnetic reversing valve to the A port of the servo valve B, flows out through the T port of the servo valve B, and then flows through the cooler and the oil return filter into the oil tank.
当舱门开启到特定角度，需要锁紧时，控制器发出控制信号使Y4、Y5、Y6失电，伺服阀A、伺服阀B、三位四通电磁换向阀的中位与主油路联通。同时，控制器发出控制信号使二位二通电磁换向阀C的电磁铁Y3得电，进而使溢流阀C接通油箱，主回油路压力卸荷。液控单向阀A和液控单向阀B均自动逆向关闭，封锁住非对称液压缸A和非对称液压缸B杆腔中的油液，使活塞杆保持所在位置不变，实现舱门的锁紧。When the cabin door is opened to a specific angle and needs to be locked, the controller sends a control signal to de-energize Y4, Y5, and Y6, and the neutral positions of servo valve A, servo valve B, and three-position four-way electromagnetic reversing valve are connected to the main oil circuit. Unicom. At the same time, the controller sends a control signal to energize the electromagnet Y3 of the two-position two-way electromagnetic reversing valve C, and then connects the overflow valve C to the oil tank, and the pressure of the main return oil circuit is unloaded. Both the hydraulic control check valve A and the hydraulic control check valve B are automatically closed in reverse, blocking the oil in the rod cavity of the asymmetric hydraulic cylinder A and the asymmetric hydraulic cylinder B, so that the piston rod remains in the same position and realizes the opening of the hatch. of the lock.
当舱门需要关闭时，控制器发出控制信号使Y4、Y5、Y7得电，伺服阀A、伺服阀B的左位与主油路联通，三位四通电磁换向阀的右位与主油路联通。电动机带动液压泵高速旋转，液压泵从油箱中吸取油液并从出口泵出高压油，高压油流经单向阀和精过滤器后进入伺服阀A的P口。油液由伺服阀A的A口流出后流向三位四通电磁换向阀的P口，经由三位四通电磁换向阀的B口流出后分别流向液控单向阀B的进油口和液控单向阀A的控制油口，使液控单向阀A逆向打开。油液从液控单向阀B的出油口流出后分为两路，一路通过截止阀C进入非对称液压缸A的有杆腔，另一路通过截止阀D进入非对称液压缸B的有杆腔，使非对称液压缸A和非对称液压缸B的活塞杆缩回拉动舱门关闭；活塞杆上安装的位移传感器A和位移传感器B可实时记录活塞杆的缩回位移并反馈给控制器，与控制器组成闭环控制。非对称液压缸A无杆腔中的油液流经截止阀A和液控单向阀A后流入三位四通电磁换向阀的A口，非对称液压缸B无杆腔中的油液流经截止阀B和液控单向阀A后流入三位四通电磁换向阀的A口。油液从三位四通电磁换向阀的T口流出后流向伺服阀B的A口，经伺服阀B的T口流出后，再流经冷却器和回油过滤器流入油箱。When the cabin door needs to be closed, the controller sends a control signal to energize Y4, Y5, and Y7, the left positions of servo valve A and servo valve B are connected to the main oil circuit, and the right position of the three-position four-way electromagnetic reversing valve is connected to the main oil circuit. Oil connection. The motor drives the hydraulic pump to rotate at a high speed. The hydraulic pump absorbs oil from the oil tank and pumps out high-pressure oil from the outlet. The high-pressure oil flows through the check valve and fine filter and then enters the P port of the servo valve A. The oil flows out from the A port of the servo valve A and then flows to the P port of the three-position four-way electromagnetic reversing valve, and flows out through the B port of the three-position four-way electromagnetic reversing valve to the oil inlet port of the hydraulic control check valve B respectively and the control oil port of the hydraulic control check valve A, so that the hydraulic control check valve A is reversely opened. After the oil flows out from the oil outlet of the hydraulic control check valve B, it is divided into two paths, one path enters the rod chamber of the asymmetric hydraulic cylinder A through the stop valve C, and the other path enters the rod cavity of the asymmetric hydraulic cylinder B through the stop valve D. The rod cavity makes the piston rods of asymmetric hydraulic cylinder A and asymmetric hydraulic cylinder B retract and pull the hatch to close; the displacement sensor A and displacement sensor B installed on the piston rod can record the retraction displacement of the piston rod in real time and feed it back to the control The controller forms a closed-loop control with the controller. The oil in the rodless chamber of asymmetric hydraulic cylinder A flows through the stop valve A and the hydraulic control check valve A, and then flows into port A of the three-position four-way electromagnetic reversing valve, and the oil in the rodless chamber of asymmetric hydraulic cylinder B After flowing through the stop valve B and the hydraulic control check valve A, it flows into port A of the three-position four-way electromagnetic reversing valve. The oil flows out from the T port of the three-position four-way electromagnetic reversing valve to the A port of the servo valve B, flows out through the T port of the servo valve B, and then flows through the cooler and the oil return filter into the oil tank.
上述过程中，当主供油路压力升高到异常值时，压力继电器发出信号使二位二通电磁换向阀A的电磁铁Y1得电，进而使溢流阀A接通油箱，液压泵卸荷；当主供油路压力不足时，压力继电器复位使二位二通电磁换向阀A的电磁铁Y1失电，液压泵重新恢复工作状态。During the above process, when the pressure of the main oil supply circuit rises to an abnormal value, the pressure relay sends out a signal to energize the electromagnet Y1 of the two-position two-way electromagnetic reversing valve A, and then the overflow valve A is connected to the oil tank, and the hydraulic pump discharges. When the pressure of the main oil supply circuit is insufficient, the pressure relay resets to de-energize the electromagnet Y1 of the two-position two-way electromagnetic reversing valve A, and the hydraulic pump resumes working status.
另外，当液压泵保持正常工作状态情况下，压力传感器A可实时检测主供油路压力，当系统出现异常情况导致主供油路压力异常时，控制器发出控制信号使二位二通电磁换向阀B的电磁铁Y2得电，进而使溢流阀B接通油箱，主供油路压力卸荷；压力传感器B可实时检测主回油油路压力，当系统出现异常情况导致主回油路压力异常时，控制器发出控制信号使二位二通电磁换向阀C的电磁铁Y3得电，进而使溢流阀C接通油箱，主回油路压力卸荷。In addition, when the hydraulic pump is in normal working condition, the pressure sensor A can detect the pressure of the main oil supply circuit in real time. The electromagnet Y2 of the valve B is energized, and then the overflow valve B is connected to the fuel tank, and the pressure of the main oil supply circuit is unloaded; the pressure sensor B can detect the pressure of the main oil return circuit in real time. When the line pressure is abnormal, the controller sends a control signal to energize the electromagnet Y3 of the two-position two-way electromagnetic reversing valve C, and then the overflow valve C is connected to the oil tank, and the pressure of the main return oil line is unloaded.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
(1)本发明系统采用了电液伺服技术，响应速度快且可以实现水下航行器舱门启闭的自动化操作。而且所采用的液压缸具有换向缓冲调节功能，可降低换向冲击；另外，系统中的蓄能器可降低压力交换时由于高低压转换而造成的压力冲击与波动，提高了系统的平稳性。(1) The system of the present invention adopts the electro-hydraulic servo technology, which has a fast response speed and can realize the automatic operation of opening and closing the cabin door of the underwater vehicle. Moreover, the hydraulic cylinder used has the function of reversing buffer adjustment, which can reduce the reversing impact; in addition, the accumulator in the system can reduce the pressure shock and fluctuation caused by the high and low pressure conversion during pressure exchange, and improve the stability of the system .
(2)本发明系统采用了电液伺服闭环控制技术，位移传感器、控制器、伺服阀形成位置闭环控制，可精确控制液压缸活塞杆的位移，提高了系统的精确性。(2) The system of the present invention adopts the electro-hydraulic servo closed-loop control technology, and the position closed-loop control is formed by the displacement sensor, the controller and the servo valve, which can precisely control the displacement of the piston rod of the hydraulic cylinder and improve the accuracy of the system.
(3)本发明系统设计了双液压缸驱动舱门启闭，增加了舱门启闭时的动力，进而提高了舱门启闭速度。另外，每个液压缸有杆腔和无杆腔油口前均设有截止阀，当某个液压缸出现故障不能正常工作时，可以通过截止阀与系统隔离，进而实现单缸驱动舱门启闭，提高了系统的可靠性。(3) The system of the present invention is designed with double hydraulic cylinders to drive the opening and closing of the cabin door, which increases the power when the cabin door is opened and closed, and then improves the opening and closing speed of the cabin door. In addition, each hydraulic cylinder has a cut-off valve in front of the rod chamber and the rodless chamber oil port. When a hydraulic cylinder fails to work normally, it can be isolated from the system through the cut-off valve, thereby realizing single-cylinder drive hatch door opening. Closed, improving the reliability of the system.
(4)本发明系统为执行机构—液压缸设计了液压锁紧回路，保证了舱门启闭过程中的定位锁紧需求；并且，供油路和回油路上均设计了压力卸荷回路，当系统出现异常情况时，可快速卸荷。提高了系统的安全性。(4) The system of the present invention designs a hydraulic locking circuit for the actuator-hydraulic cylinder, which ensures the positioning and locking requirements in the opening and closing process of the cabin door; and, a pressure unloading circuit is designed on the oil supply circuit and the oil return circuit, When the system is abnormal, it can be unloaded quickly. Improved system security.
(5)本发明系统中的重要元件伺服阀采用了冗余设计，不仅两个伺服阀同时并用可以实现舱门启闭，而且当某个伺服阀出现故障不能正常工作时，由另一个伺服阀仍可以实现舱门正常启闭，提高了系统的可靠性。(5) The servo valve, an important component in the system of the present invention, adopts a redundant design. Not only can two servo valves be used simultaneously to realize the opening and closing of the hatch, but also when a certain servo valve breaks down and cannot work normally, another servo valve The normal opening and closing of the cabin door can still be realized, which improves the reliability of the system.
附图说明Description of drawings
图1是本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.
图中，1-油箱、2-温度计、3-液位计、4-加热器、5-空气滤清器、6-液压泵、7-联轴器、8-电动机、9-单向阀、10.1-溢流阀A、10.2-溢流阀B、10.3-溢流阀C、11.1-二位二通电磁换向阀A、11.2-二位二通电磁换向阀B、11.3-二位二通电磁换向阀C、12-压力继电器、13-精过滤器、14-压力表、15-蓄能器、16.1-伺服阀A、16.2-伺服阀B、17-回油过滤器、18-冷却器、19.1-压力传感器A、19.2-压力传感器B、20-三位四通电磁换向阀、21.1-液控单向阀A、21.2-液控单向阀B、22.1-非对称液压缸A、22.2-非对称液压缸B、23.1-截止阀A、23.2-截止阀B、23.3-截止阀C、23.4-截止阀D、24.1-位移传感器A、24.2-位移传感器B、25-控制器、26.1-伺服放大器A和26.2-伺服放大器B。In the figure, 1-oil tank, 2-thermometer, 3-liquid level gauge, 4-heater, 5-air filter, 6-hydraulic pump, 7-coupling, 8-electric motor, 9-one-way valve, 10.1-Relief valve A, 10.2-Relief valve B, 10.3-Relief valve C, 11.1-Two-position two-way electromagnetic directional valve A, 11.2-Two-position two-way electromagnetic directional valve B, 11.3-Two-position two-way Through electromagnetic reversing valve C, 12-pressure relay, 13-fine filter, 14-pressure gauge, 15-accumulator, 16.1-servo valve A, 16.2-servo valve B, 17-oil return filter, 18- Cooler, 19.1-pressure sensor A, 19.2-pressure sensor B, 20-three-position four-way electromagnetic reversing valve, 21.1-hydraulic control check valve A, 21.2-hydraulic control check valve B, 22.1-asymmetrical hydraulic cylinder A, 22.2-Asymmetric hydraulic cylinder B, 23.1-Stop valve A, 23.2-Stop valve B, 23.3-Stop valve C, 23.4-Stop valve D, 24.1-Displacement sensor A, 24.2-Displacement sensor B, 25-Controller , 26.1 - Servo amplifier A and 26.2 - Servo amplifier B.
具体实施方式detailed description
在图1所示的本发明的示意简图中，所述油箱1上设有温度计2、液位计3、加热器4和空气滤清器5；位于油箱1上的主供油路上设有液压泵6；液压泵6的输入轴与联轴器7的一端相连，联轴器的另一端与电动机8相连；液压泵6出油口与单向阀9进油口相连；液压泵6与单项阀9之间的分支油路上设有溢流阀A10.1；溢流阀A10.1的出油口与油箱1联通；溢流阀A10.1的遥控口通过二位二通电磁换向阀A11.1与油箱1联通；单向阀9出油口与精过滤器13的进油口连接；单向阀9与精过滤器13之间的一分支油路上设有压力继电器12；单向阀9与精过滤器13之间的另一分支油路上依次设有压力表14和蓄能器15；精过滤器13的出油口与伺服阀A16.1的P口相连；精过滤器13的出油口还与伺服阀B16.2的P口相连；位于油箱1上的主回油路上设有回油过滤器17，回油过滤器17的进油口与冷却器18的出油口相连；冷却器18的进油口与伺服阀A16.1的T口相连；冷却器18的进油口还与伺服阀B16.2的T口相连。In the schematic diagram of the present invention shown in Fig. 1, a thermometer 2, a liquid level gauge 3, a heater 4 and an air filter 5 are arranged on the fuel tank 1; Hydraulic pump 6; the input shaft of the hydraulic pump 6 is connected to one end of the coupling 7, and the other end of the coupling is connected to the motor 8; the oil outlet of the hydraulic pump 6 is connected to the oil inlet of the one-way valve 9; the hydraulic pump 6 is connected to the oil inlet of the one-way valve 9 An overflow valve A10.1 is provided on the branch oil circuit between the single valves 9; the oil outlet of the overflow valve A10.1 is connected with the oil tank 1; The valve A11.1 is connected with the oil tank 1; the oil outlet of the check valve 9 is connected with the oil inlet of the fine filter 13; a pressure switch 12 is arranged on a branch oil circuit between the check valve 9 and the fine filter 13; A pressure gauge 14 and an accumulator 15 are arranged in turn on another branch oil road between the valve 9 and the fine filter 13; the oil outlet of the fine filter 13 is connected with the P port of the servo valve A16.1; the fine filter The oil outlet of 13 is also connected with the P port of the servo valve B16.2; the oil return filter 17 is arranged on the main oil return road on the oil tank 1, and the oil inlet of the oil return filter 17 is connected with the oil outlet of the cooler 18 The oil inlet of the cooler 18 is connected with the T port of the servo valve A16.1; the oil inlet of the cooler 18 is also connected with the T port of the servo valve B16.2.
所述伺服阀A16.1的A口与三位四通电磁换向阀20的P口相连；伺服阀A16.1与三位四通电磁换向阀20之间的一分支油路上设有压力传感器A19.1；伺服阀A16.1与三位四通电磁换向阀20之间的另一分支油路上设有溢流阀B10.2；溢流阀B10.2的出油口与油箱联通；溢流阀B10.2的遥控口通过二位二通电磁换向阀B11.2与油箱联通；伺服阀B16.2的A口与三位四通电磁换向阀20的T口相连；伺服阀B16.2与三位四通电磁换向阀20之间的一分支油路上设有压力传感器B19.2；伺服阀B16.2与三位四通电磁换向阀20之间的另一分支油路上设有溢流阀C10.3；溢流阀C10.3的出油口与油箱联通；溢流阀C10.3的遥控口通过二位二通电磁换向阀C11.3与油箱联通。The A port of the servo valve A16.1 is connected with the P port of the three-position four-way electromagnetic reversing valve 20; a branch oil circuit between the servo valve A16.1 and the three-position four-way electromagnetic reversing valve 20 is provided with a pressure Sensor A19.1; another branch oil circuit between servo valve A16.1 and three-position four-way electromagnetic reversing valve 20 is provided with relief valve B10.2; the oil outlet of relief valve B10.2 is connected to the fuel tank ; The remote control port of the overflow valve B10.2 is connected with the oil tank through the two-position two-way electromagnetic directional valve B11.2; the A port of the servo valve B16.2 is connected with the T port of the three-position four-way electromagnetic directional valve 20; There is a pressure sensor B19.2 on the branch oil line between the valve B16.2 and the three-position four-way electromagnetic reversing valve 20; the other branch between the servo valve B16.2 and the three-position four-way electromagnetic reversing valve 20 There is an overflow valve C10.3 on the oil circuit; the oil outlet of the overflow valve C10.3 communicates with the fuel tank; the remote control port of the overflow valve C10.3 communicates with the fuel tank through the two-position two-way electromagnetic reversing valve C11.3.
所述三位四通电磁换向阀20的A口与液控单向阀A21.1的进油口相连，三位四通电磁换向阀20的A口还与液控单向阀B21.2的控制油口相连；液控单向阀A21.1的出油口与非对称液压缸A22.1的无杆腔相连，二者之间设有截止阀A23.1；液控单向阀A21.1的出油口还与非对称液压缸B22.2的无杆腔相连，二者之间设有截止阀B23.2；三位四通电磁换向阀20的B口与液控单向阀B21.2的进油口相连，三位四通电磁换向阀20的B口还与液控单向阀A21.1的控制油口相连；液控单向阀B21.2的出油口与非对称液压缸A22.1的有杆腔相连，二者之间设有截止阀C23.3；液控单向阀B21.2的出油口还与非对称液压缸B22.2的有杆腔相连，二者之间设有截止阀D23.4；非对称液压缸A22.1的活塞杆上设有位移传感器A24.1，非对称液压缸B22.2的活塞杆上设有位移传感器B24.2。The A port of the three-position four-way electromagnetic reversing valve 20 is connected to the oil inlet port of the hydraulic control check valve A21.1, and the A port of the three-position four-way electromagnetic reversing valve 20 is also connected to the hydraulic control check valve B21. The control oil port of 2 is connected; the oil outlet of the hydraulic control check valve A21.1 is connected with the rodless chamber of the asymmetric hydraulic cylinder A22.1, and there is a stop valve A23.1 between them; the hydraulic control check valve The oil outlet of A21.1 is also connected with the rodless cavity of the asymmetric hydraulic cylinder B22.2, and there is a stop valve B23.2 between them; the B port of the three-position four-way electromagnetic reversing valve 20 is connected to the The oil inlet port of the valve B21.2 is connected, and the B port of the three-position four-way electromagnetic reversing valve 20 is also connected with the control oil port of the hydraulic control check valve A21.1; the oil outlet of the hydraulic control check valve B21.2 The port is connected with the rod cavity of the asymmetric hydraulic cylinder A22.1, and a stop valve C23.3 is arranged between the two; the oil outlet of the hydraulic control check valve B21.2 is also connected with the asymmetric hydraulic cylinder B22.2 The rod cavity is connected, and there is a stop valve D23.4 between the two; a displacement sensor A24.1 is provided on the piston rod of the asymmetric hydraulic cylinder A22.1, and a displacement sensor is provided on the piston rod of the asymmetric hydraulic cylinder B22.2 B24.2.
压力继电器12通过电路与二位二通电磁换向阀A11.1的电磁铁Y1连接；控制器25通过电路分别与二位二通电磁换向阀B11.2、二位二通电磁换向阀C11.3的电磁铁Y2、Y3相连；控制器25通过电路分别与伺服放大器A26.1、伺服放大器B26.2的信号输入端相连；伺服放大器A26.1的信号输出端通过电路与伺服阀A16.1的电磁铁Y4相连；伺服放大器B26.2的信号输出端通过电路与伺服阀B16.2的电磁铁Y5相连；控制器25通过电路分别与三位四通电磁换向阀20的电磁铁Y6、Y7相连；控制器25通过电路分别与位移传感器A24.1、位移传感器B24.2的信号输出端相连。The pressure relay 12 is connected with the electromagnet Y1 of the two-position two-way electromagnetic reversing valve A11.1 through the circuit; the controller 25 is respectively connected with the two-position two-way electromagnetic reversing valve B11.2 and the two-position two-way electromagnetic reversing valve B11. The electromagnets Y2 and Y3 of C11.3 are connected; the controller 25 is connected with the signal input terminals of the servo amplifier A26.1 and the servo amplifier B26.2 respectively through the circuit; the signal output terminal of the servo amplifier A26.1 is connected with the servo valve A16 through the circuit .1 is connected to the electromagnet Y4; the signal output terminal of the servo amplifier B26.2 is connected to the electromagnet Y5 of the servo valve B16.2 through a circuit; the controller 25 is connected to the electromagnet of the three-position four-way electromagnetic reversing valve 20 through the circuit Y6 and Y7 are connected; the controller 25 is respectively connected with the signal output ends of the displacement sensor A24.1 and the displacement sensor B24.2 through a circuit.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610041731.XA CN105604991B (en) | 2016-01-21 | 2016-01-21 | A kind of submarine navigation device hatch door opens and closes hydraulic control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610041731.XA CN105604991B (en) | 2016-01-21 | 2016-01-21 | A kind of submarine navigation device hatch door opens and closes hydraulic control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105604991A true CN105604991A (en) | 2016-05-25 |
| CN105604991B CN105604991B (en) | 2017-08-25 |
Family
ID=55985217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610041731.XA Expired - Fee Related CN105604991B (en) | 2016-01-21 | 2016-01-21 | A kind of submarine navigation device hatch door opens and closes hydraulic control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105604991B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015123A (en) * | 2016-06-27 | 2016-10-12 | 广西柳工机械股份有限公司 | Pressure relief control method for energy accumulator of mining dump truck |
| CN107288941A (en) * | 2017-07-25 | 2017-10-24 | 北京航空航天大学 | A kind of micro hydraulic drive system for ankle-joint artificial limb |
| CN109505811A (en) * | 2018-12-19 | 2019-03-22 | 中冶南方工程技术有限公司 | A kind of energy-saving RH hydraulic lifting Proportional Valve-controlled system |
| CN110847745A (en) * | 2019-11-15 | 2020-02-28 | 上海交通大学 | Automatic cover opening and closing device and method suitable for waterproof pressure-resistant cabin |
| CN110924783A (en) * | 2019-11-01 | 2020-03-27 | 武汉船用机械有限责任公司 | Cabin door automatic opening and closing hydraulic system |
| CN111167863A (en) * | 2019-12-30 | 2020-05-19 | 太原重工股份有限公司 | Ejector rod trolley mechanism control system |
| CN111197602A (en) * | 2020-01-14 | 2020-05-26 | 宝鸡石油机械有限责任公司 | Seabed base plate hydraulic system and energy-saving control method of system |
| CN111608967A (en) * | 2020-04-30 | 2020-09-01 | 太原科技大学 | A hydraulic pressure control system for a spinning machine die |
| CN111637104A (en) * | 2020-04-22 | 2020-09-08 | 北京精密机电控制设备研究所 | Coaxial modular design's three-redundancy electro-static pressure servo mechanism |
| CN112503041A (en) * | 2020-12-02 | 2021-03-16 | 杭州瀚陆海洋科技有限公司 | Deep sea hydraulic station |
| CN113503275A (en) * | 2021-05-12 | 2021-10-15 | 江苏省交通工程集团有限公司 | Intelligent servo hoist system for ship lock |
| CN114046290A (en) * | 2021-11-25 | 2022-02-15 | 太原理工大学 | Pressure pulse testing device and method for automobile radiator |
| CN114109943A (en) * | 2021-12-08 | 2022-03-01 | 中冶南方工程技术有限公司 | Hydraulic servo system for converter two venturi throats |
| CN114776648A (en) * | 2022-04-22 | 2022-07-22 | 江苏航天水力设备有限公司 | Hydraulic system for water conservancy flap valve |
| CN115401948A (en) * | 2022-11-02 | 2022-11-29 | 合肥合锻智能制造股份有限公司 | Stability design and control method for quick-falling motion curve of large hydraulic forming equipment |
| CN115783798A (en) * | 2022-11-24 | 2023-03-14 | 景津装备股份有限公司 | Hydraulic control system and control method of unloading carriage of silo |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0483908A (en) * | 1990-07-24 | 1992-03-17 | Kayaba Ind Co Ltd | hydraulic control circuit |
| CN1278494A (en) * | 2000-08-08 | 2001-01-03 | 李世六 | Full hydraulic automobile hydraulic transmission and control system |
| US6814770B2 (en) * | 2002-01-18 | 2004-11-09 | Ritdisplay Corporation | Vapor transferring apparatus for purification |
| CN101121078A (en) * | 2007-05-22 | 2008-02-13 | 河南中南工业有限责任公司 | Heating and pressure-maintaining direction unisotonic oil-supplying hydraulic controlling system for hexahedral top pressing machine |
| CN201554009U (en) * | 2009-11-17 | 2010-08-18 | 昆明理工大学 | A piston type double lifting point hydraulic hoist |
| CN201560422U (en) * | 2009-11-16 | 2010-08-25 | 昆明理工大学 | An electro-hydraulic proportional control piston type single lifting point hydraulic hoist |
| CN204571646U (en) * | 2015-02-10 | 2015-08-19 | 扬州盛达特种车有限公司 | Back door opens and closes and locking hydraulic control system |
-
2016
- 2016-01-21 CN CN201610041731.XA patent/CN105604991B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0483908A (en) * | 1990-07-24 | 1992-03-17 | Kayaba Ind Co Ltd | hydraulic control circuit |
| CN1278494A (en) * | 2000-08-08 | 2001-01-03 | 李世六 | Full hydraulic automobile hydraulic transmission and control system |
| US6814770B2 (en) * | 2002-01-18 | 2004-11-09 | Ritdisplay Corporation | Vapor transferring apparatus for purification |
| CN101121078A (en) * | 2007-05-22 | 2008-02-13 | 河南中南工业有限责任公司 | Heating and pressure-maintaining direction unisotonic oil-supplying hydraulic controlling system for hexahedral top pressing machine |
| CN201560422U (en) * | 2009-11-16 | 2010-08-25 | 昆明理工大学 | An electro-hydraulic proportional control piston type single lifting point hydraulic hoist |
| CN201554009U (en) * | 2009-11-17 | 2010-08-18 | 昆明理工大学 | A piston type double lifting point hydraulic hoist |
| CN204571646U (en) * | 2015-02-10 | 2015-08-19 | 扬州盛达特种车有限公司 | Back door opens and closes and locking hydraulic control system |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106015123A (en) * | 2016-06-27 | 2016-10-12 | 广西柳工机械股份有限公司 | Pressure relief control method for energy accumulator of mining dump truck |
| CN106015123B (en) * | 2016-06-27 | 2018-06-26 | 广西柳工机械股份有限公司 | Quarry tipper accumulator pressure release control method |
| CN107288941A (en) * | 2017-07-25 | 2017-10-24 | 北京航空航天大学 | A kind of micro hydraulic drive system for ankle-joint artificial limb |
| CN107288941B (en) * | 2017-07-25 | 2018-09-11 | 北京航空航天大学 | A kind of micro hydraulic drive system for ankle-joint artificial limb |
| CN109505811A (en) * | 2018-12-19 | 2019-03-22 | 中冶南方工程技术有限公司 | A kind of energy-saving RH hydraulic lifting Proportional Valve-controlled system |
| CN109505811B (en) * | 2018-12-19 | 2023-12-29 | 中冶南方工程技术有限公司 | Energy-saving RH hydraulic jacking proportional valve control system |
| CN110924783A (en) * | 2019-11-01 | 2020-03-27 | 武汉船用机械有限责任公司 | Cabin door automatic opening and closing hydraulic system |
| CN110847745B (en) * | 2019-11-15 | 2021-08-17 | 上海交通大学 | Applicable to automatic opening and closing cover device and automatic opening and closing method of waterproof and pressure chamber |
| CN110847745A (en) * | 2019-11-15 | 2020-02-28 | 上海交通大学 | Automatic cover opening and closing device and method suitable for waterproof pressure-resistant cabin |
| CN111167863A (en) * | 2019-12-30 | 2020-05-19 | 太原重工股份有限公司 | Ejector rod trolley mechanism control system |
| CN111197602A (en) * | 2020-01-14 | 2020-05-26 | 宝鸡石油机械有限责任公司 | Seabed base plate hydraulic system and energy-saving control method of system |
| CN111637104A (en) * | 2020-04-22 | 2020-09-08 | 北京精密机电控制设备研究所 | Coaxial modular design's three-redundancy electro-static pressure servo mechanism |
| CN111637104B (en) * | 2020-04-22 | 2022-07-05 | 北京精密机电控制设备研究所 | Coaxial modular design's three-redundancy electro-static pressure servo mechanism |
| CN111608967B (en) * | 2020-04-30 | 2022-05-10 | 太原科技大学 | Hydraulic pressing control system for spinning machine die |
| CN111608967A (en) * | 2020-04-30 | 2020-09-01 | 太原科技大学 | A hydraulic pressure control system for a spinning machine die |
| CN112503041A (en) * | 2020-12-02 | 2021-03-16 | 杭州瀚陆海洋科技有限公司 | Deep sea hydraulic station |
| CN113503275A (en) * | 2021-05-12 | 2021-10-15 | 江苏省交通工程集团有限公司 | Intelligent servo hoist system for ship lock |
| CN114046290A (en) * | 2021-11-25 | 2022-02-15 | 太原理工大学 | Pressure pulse testing device and method for automobile radiator |
| CN114046290B (en) * | 2021-11-25 | 2023-07-14 | 太原理工大学 | An automobile radiator pressure pulse testing device and method |
| CN114109943A (en) * | 2021-12-08 | 2022-03-01 | 中冶南方工程技术有限公司 | Hydraulic servo system for converter two venturi throats |
| CN114109943B (en) * | 2021-12-08 | 2023-05-26 | 中冶南方工程技术有限公司 | Converter two-venturi throat hydraulic servo system |
| CN114776648A (en) * | 2022-04-22 | 2022-07-22 | 江苏航天水力设备有限公司 | Hydraulic system for water conservancy flap valve |
| CN115401948A (en) * | 2022-11-02 | 2022-11-29 | 合肥合锻智能制造股份有限公司 | Stability design and control method for quick-falling motion curve of large hydraulic forming equipment |
| CN115783798A (en) * | 2022-11-24 | 2023-03-14 | 景津装备股份有限公司 | Hydraulic control system and control method of unloading carriage of silo |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105604991B (en) | 2017-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105604991B (en) | A kind of submarine navigation device hatch door opens and closes hydraulic control system | |
| CN104047912B (en) | The digital pump controlled hydraulic differential cylinder in self-powered source | |
| CN109779985A (en) | Gear pump control hydraulic control system of bender and its control method | |
| CN103950850B (en) | Car hosit turn table hydraulic brake system | |
| CN105257889A (en) | Electro-hydraulic driving system for sluice valve and sluice valve | |
| CN103671364B (en) | Electrohydraulic control system is turned to for remote control loader | |
| CN103148041A (en) | Energy-saving active/passive load double electrohydraulic servo valve control system and control method thereof | |
| CN201560422U (en) | An electro-hydraulic proportional control piston type single lifting point hydraulic hoist | |
| CN110435757A (en) | A kind of automatically controlled steering system of steeraxle | |
| CN105805065A (en) | ESD valve electrohydraulic actuator with variable speed | |
| CN201396344Y (en) | Digital electro-hydraulic isochronous control system | |
| CN105201951A (en) | High-efficiency high-precision controllable-flow TBM (tunnel boring machine) support hydraulic system | |
| CN110950244A (en) | Servo cylinder hydraulic control system | |
| CN205013408U (en) | Differential hydraulic control device is entirely cut to steel scrap | |
| CN108119419A (en) | A kind of electrohydraulic servo system of new type hydraulic turbine governor | |
| CN203879827U (en) | Servo drive hydraulic system | |
| CN105782148A (en) | Undercarriage rising and landing control hydraulic device for helicopter | |
| CN203452856U (en) | Electro-hydraulic servo hydraulic actuator of turbine adjustment system | |
| CN204403021U (en) | A kind of high integrated Double-directional back rotary valve for pilot control pattern | |
| CN110217290B (en) | An unmanned vehicle steering system and method based on a two-stage planetary steering machine | |
| CN2531185Y (en) | Integrated electrohydraulic control quick-shutting off valve | |
| CN211288292U (en) | Hydraulic load locking protection system | |
| CN204253471U (en) | Adjustable hydraulic hydraulic driver | |
| CN217713130U (en) | Intelligent servo hoist system for ship lock | |
| CN107120325B (en) | Hoistable platform Pure water hydraulic drive system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 |