CN107061423B - A kind of hydraulic cylinder braking stabilization control device and method - Google Patents
A kind of hydraulic cylinder braking stabilization control device and method Download PDFInfo
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- CN107061423B CN107061423B CN201710513530.XA CN201710513530A CN107061423B CN 107061423 B CN107061423 B CN 107061423B CN 201710513530 A CN201710513530 A CN 201710513530A CN 107061423 B CN107061423 B CN 107061423B
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- control valve
- hydraulic cylinder
- actuator
- shake control
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- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- 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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
本发明提供了一种液压缸制动过程中的防抖控制装置，包括：压力油源、方向控制阀、防抖控制阀、液压缸、执行机构、传感检测模块和控制器模块；压力油源与方向控制阀连接，方向控制阀与液压缸连接，防抖控制阀也与液压缸连接；液压缸用于驱动执行机构进行作业，传感检测模块用于检测执行机构的作业情况；控制器模块根据执行机构作业的实际情况，通过切换防抖控制阀的工作状态，实现液压缸2个工作油腔的连通或切断。本发明提供的技术方案，能够有效抑制液压缸制动过程中的反向抖动现象。同时，本发明还提供了包括有该防抖控制装置的一种液压缸制动过程中的防抖控制方法。
The invention provides an anti-shake control device in the braking process of a hydraulic cylinder, comprising: a pressure oil source, a directional control valve, an anti-shake control valve, a hydraulic cylinder, an actuator, a sensor detection module and a controller module; The source is connected to the directional control valve, the directional control valve is connected to the hydraulic cylinder, and the anti-shake control valve is also connected to the hydraulic cylinder; the hydraulic cylinder is used to drive the actuator to work, and the sensor detection module is used to detect the operation of the actuator; the controller According to the actual situation of the actuator operation, the module realizes the connection or cut-off of the two working oil chambers of the hydraulic cylinder by switching the working state of the anti-shake control valve. The technical solution provided by the invention can effectively suppress the reverse shaking phenomenon in the braking process of the hydraulic cylinder. At the same time, the invention also provides an anti-shake control method during braking of a hydraulic cylinder including the anti-shake control device.
Description
Technical field
The present invention relates to technical field of hydraulic, more particularly, in a kind of hydraulic cylinder actuators braking process
Stabilization control device and method.
Background technique
With the high speed development of national economy, mechanical equipment industry development is swift and violent, and the good ring of executing agency's runnability
Directly influence the performance and safety of mechanical equipment.Currently, a large amount of mechanical equipment all uses Driven by Hydraulic Cylinder executing agency
It works, i.e., removes the every activity for realizing executing agency using the pressure-driven hydraulic cylinder of oil liquid.
In the prior art, when the braking process of hydraulic cylinder mainly passes through position in hydraulic valve go back to, the oil back chamber of hydraulic cylinder
Oil circuit is closed, and executing agency is since inertia also will continue to move, so that the oil back chamber oil pressure of hydraulic cylinder is sharply increased and produced
Plugging power goes to realize hydraulic cylinder braking.But when the movement velocity of executing agency is braked to zero, the two of hydraulic cylinder at this time
Oil pressure difference between working oil chamber is very big, prevent executing agency is from stopping immediately, but has carried out opposite direction shake.Hydraulic
In the braking process of cylinder executing agency, this reversed jitter phenomenon can generally repeat repeatedly, to exist so as to cause executing agency
It runs unstable in braking process, has seriously affected the performance and operating efficiency of equipment, also brought to equipment operation very big
Security risk.Therefore, there is an urgent need to find a kind of technology to effectively prevent or inhibit in hydraulic cylinder actuators braking process
Reversed jitter phenomenon.
Summary of the invention
In order to solve above-mentioned technical problem present in existing hydraulic cylinder actuators braking process, the present invention provides one
Kind hydraulic cylinder brakes stabilization control device and method, it is intended to the reversed shake effectivelying prevent in hydraulic cylinder actuators braking process
Phenomenon.
In order to achieve the above object, present invention employs following technical solutions:
Hydraulic cylinder brakes stabilization control device and method, comprising: pressure oil-source, directional control valve, stabilization control valve, hydraulic
Cylinder, executing agency, sensing detection module and controller module, wherein the high pressure oil that the pressure oil-source provides is connected to described
The oil liquid oil return opening of the high pressure oil oil inlet of directional control valve, the directional control valve is connected to oil return line, the direction controlling
2 actuator ports of valve are respectively communicated with 2 working oil chambers of the hydraulic cylinder；2 actuator ports of the stabilization control valve
It is also respectively communicated with 2 working oil chambers of the hydraulic cylinder, the stabilization control valve is for being connected to or cutting off the 2 of the hydraulic cylinder
A working oil chamber；The hydraulic cylinder is connect with the executing agency, and the executing agency is driven to carry out every operation, the sensing
Detection module is used to detect the handling situations of the executing agency；The controller module and the directional control valve, stabilization control
Valve processed is connected with sensing detection module, and the controller module can be according to the control information and the biography of the directional control valve
The job information for feeling the executing agency detected by detection device, by switching the working condition of the stabilization control valve,
To control the connection or cutting of 2 working oil chambers of the hydraulic cylinder, it is finally reached and effectively inhibits hydraulic cylinder actuators braking
Reversed jitter phenomenon in the process.
In the above-mentioned technical solutions, it is preferable that the stabilization control valve is the solenoid directional control valve of bi-bit bi-pass, the stabilization
First working condition of control valve cuts off 2 working oil chambers of the hydraulic cylinder, the second work of the stabilization control valve
Make state to be connected to 2 working oil chambers of the hydraulic cylinder.
In the above-mentioned technical solutions, it is preferable that the sensing detection device is velocity sensor, for detecting the execution
The movement velocity of mechanism.
In the above-mentioned technical solutions, it is preferable that the directional control valve is three-position four-way electromagnetic directional valve, the direction control
First working condition and second working condition of valve processed control respectively executing agency described in the Driven by Hydraulic Cylinder carry out to
Right and left movement；The directional control valve controls the hydraulic cylinder and is braked in middle position working condition.
In the above-mentioned technical solutions, it is preferable that controller module basis in the braking process of the executing agency
It is controlled when the movement velocity for the executing agency that the sensing detection module detects drops to about 0 as signal described
2 working oil chambers of the hydraulic cylinder are connected to a period of time by stabilization control valve, so that the oil of 2 working oil chambers of the hydraulic cylinder
Pressure difference is quickly decreased to close to zero, and the heterodromous driving force of executing agency is reduced rapidly, so as to effectively prevent
Or the reversed jitter phenomenon in inhibition hydraulic cylinder braking process.
Technical solution provided by the present invention have it is following significant the utility model has the advantages that
In the braking process of hydraulic cylinder actuators, when the executing agency will be transformed to by positive direction movement of taking advantage of a situation
When opposite direction moves, the movement velocity that the sensing detection module can be immediately detected the executing agency is had decreased to about
It is 0, and passes to the controller module in time as signal, the controller module is described in signal controls rapidly according to this
2 working oil chambers of the hydraulic cylinder are connected to by stabilization control valve in short-term, the oil pressure of 2 working oil chambers of the hydraulic cylinder poor moment
It is reduced to close to zero, so that the executing agency just significantly loses reversely in the initial phase that will occur reversely shaking
The driving force of movement, to effectively inhibit the reversed jitter phenomenon in the hydraulic cylinder actuators braking process.
Detailed description of the invention
Fig. 1 is the structure diagram that hydraulic cylinder of the present invention brakes stabilization control device.
Fig. 2 is the control block diagram that hydraulic cylinder of the present invention brakes stabilization control device.
Corresponding relationship in figure between appended drawing reference and component names are as follows:
1- pressure oil-source；
2- directional control valve, 201- high pressure oil oil inlet, the first actuator port of 202-, the second actuator port of 203-, 204-
Oil liquid oil return opening, first working condition of 21-, 22- second working condition, position working condition in 23-；
3- stabilization control valve, the first actuator port of 301-, the second actuator port of 302-, first working condition of 31-, 32-
Second working condition；
4- hydraulic cylinder, the first working oil chamber of 41-, the second working oil chamber of 42-；
5- executing agency；
6- sensing detection module；
7- controller module.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other modes described herein are different from, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
Fig. 1 is the structure diagram that hydraulic cylinder of the present invention brakes stabilization control device；Fig. 2 is hydraulic cylinder of the present invention
Brake the control block diagram of stabilization control device.
As shown in Figure 1, the stabilization control device of the hydraulic cylinder actuators of embodiment according to the present invention, comprising: pressure
Oil sources 1, directional control valve 2, stabilization control valve 3, hydraulic cylinder 4, executing agency 5, sensing detection module 6 and controller module 7；Pressure
The high pressure oil that power oil sources 1 provides is connected to the high pressure oil oil inlet 201 of directional control valve 2, the oil liquid oil return opening of directional control valve 2
204 are connected to oil return line, and the first actuator port 202 of directional control valve 2 is connected to the first working oil chamber 41 of hydraulic cylinder 4, side
Second working oil chamber 42 of the second actuator port 203 and hydraulic cylinder 4 to control valve 2 is connected to；First work of stabilization control valve 3
Hydraulic fluid port 301 is connected to the first working oil chamber 41 of hydraulic cylinder 4, the second actuator port 302 and the hydraulic cylinder 4 of stabilization control valve 3
The connection of second working oil chamber 42, stabilization control valve 3 is the first working oil chamber 41 and the second work for being connected to or cutting off hydraulic cylinder 4
Make the oil circuit between oil pocket 42；Hydraulic cylinder 4 is connect with executing agency 5, for driving executing agency 5 to carry out every operation；Sensing
Detection module 6 is velocity sensor, for detecting the movement velocity situation of executing agency 5；Controller module 7 and directional control valve
2, stabilization control valve 3 and sensing detection module 6 connect, and directional control valve 2 passes to the control for brake information to executing agency 5
The motion velocity information of executing agency 5 is passed to controller module 7, controller mould by controller module 7, sensing detection module 6
Block 7 can the motion velocity information according to measured by the control for brake information of directional control valve 2 and sensing detection module 6, pass through
The working condition for switching stabilization control valve 3, to control between the first working oil chamber 41 of hydraulic cylinder 4 and the second working oil chamber 42
Connection or cutting, be finally reached and effectively inhibit reversed jitter phenomenon of the executing agency 5 in braking process.
In the present embodiment, directional control valve 2 is the three-position four-way electromagnetic directional valve of O-shaped function, when directional control valve 2 exists
When first working condition 21, the high pressure oil that pressure oil-source 1 provides enters the first working oil chamber 41 driving execution machine of hydraulic cylinder 4
Structure 5 is moved right；When directional control valve 2 is in second working condition 22, the high pressure oil that pressure oil-source 1 provides enters liquid
The second working oil chamber 42 driving executing agency 5 of cylinder pressure 4 is moved downward；When directional control valve 2 is in middle position working condition 23
When, the oil circuit of two working oil chambers of hydraulic cylinder 4 is closed, and executing agency 5 is braked.
In the present embodiment, stabilization control valve 3 is the solenoid directional control valve of bi-bit bi-pass, when stabilization control valve 3 is at first
When working condition 31, the first working oil chamber 41 of hydraulic cylinder 4 and the second working oil chamber 42 are cut off；When stabilization control valve 3 is second
When the working condition 32 of position, the first working oil chamber 41 of hydraulic cylinder 4 is connected with the second working oil chamber 42.
In the present embodiment, stabilization control when only being braked under the state that moves right with Driven by Hydraulic Cylinder executing agency
It is described in detail for process processed, but the present invention is not limited thereto, the present invention can be used for Driven by Hydraulic Cylinder executing agency
The stabilization control in braking process is carried out under motion state in any direction.
When directional control valve 2 is in first working condition 21, stabilization control valve 3 is in first working condition 31,
The high pressure oil of pressure oil-source 1 is entered hydraulic by the high pressure oil oil inlet 201 and the first actuator port 202 of directional control valve 2
The first working oil chamber 41 driving executing agency 5 of cylinder 4 moves right, the oil liquid side of passing through of the second working oil chamber 42 of hydraulic cylinder 4
Oil return is completed to the second actuator port 203 and oil liquid oil return opening 204 of control valve 2.
When executing agency 5 is braked, directional control valve 2 is switched to middle position working condition by first working condition 21
23, the first actuator port 202 and the second actuator port 203 are all cut off, the first working oil chamber 41 of hydraulic cylinder 4 and the second work
Oil pocket 42 is all respectively formed closing chamber, but executing agency 5 also will continue to move right due to inertia, the second work of hydraulic cylinder 4
The oil pressure of oil pocket 42 will will rise rapidly, and the oil pressure of the first working oil chamber 41 can be declined, so that the second of hydraulic cylinder 4 works
Oil pocket 42 forms that larger oil pressure is poor with the first working oil chamber 41, so that the active force for generating reversed (to the left) is braked, executes
The movement velocity of mechanism 5 can be gradually reduced.When the movement velocity of executing agency 5 is reduced to zero, but due to hydraulic cylinder 4 at this time
The oil pressure difference of second working oil chamber 42 and the first working oil chamber 41 is still very big, and executing agency 5 will can be produced by oil pressure difference
Reversed (to the left) active force under the action of there is reversed (to the left) movement tendency；And at this moment, the sensing detection in the present invention
The movement velocity that module 6 quickly detects executing agency 5 has decreased to about 0, and passes to controller mould as signal
Block 7, stabilization control valve 3 is switched to second work shape from first working condition 31 immediately to controller module 7 by signal according to this
It is 32 a period of time (the present embodiment is about 0.13 second) of state, the first working oil chamber 41 of hydraulic cylinder 4 and the second working oil chamber 42 is short
Shi Liantong, the second working oil chamber 42 of hydraulic cylinder 4 and the oil pressure of the first working oil chamber 41 poor moment are reduced to (i.e. oily close to zero
Also moment is reduced to close to zero) opposition caused by pressure difference, so that reversely trembling will occur in executing agency 5
Dynamic initial phase just significantly loses heterodromous driving force, and the amplitude reversely shaken is significantly suppressed；It crosses according to this
Journey then may make in hydraulic cylinder actuators braking process as shown in Fig. 2, carrying out stabilization control repeatedly (the present embodiment is 2 times)
Reversed jitter phenomenon be improved significantly.
It is merely a preferred embodiment of the present invention, is not intended to restrict the invention, come for those skilled in the art
It says, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any modification, equivalent
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513530.XA CN107061423B (en) | 2017-06-29 | 2017-06-29 | A kind of hydraulic cylinder braking stabilization control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513530.XA CN107061423B (en) | 2017-06-29 | 2017-06-29 | A kind of hydraulic cylinder braking stabilization control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107061423A CN107061423A (en) | 2017-08-18 |
| CN107061423B true CN107061423B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710513530.XA Expired - Fee Related CN107061423B (en) | 2017-06-29 | 2017-06-29 | A kind of hydraulic cylinder braking stabilization control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109142121B (en) * | 2018-09-30 | 2023-11-21 | 长沙学院 | A shield tool material wear test bench |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0517205U (en) * | 1991-08-22 | 1993-03-05 | 東芝機械株式会社 | Actuator drive hydraulic circuit |
| JPH0665602U (en) * | 1993-02-24 | 1994-09-16 | 住友建機株式会社 | Cylinder control circuit in construction machinery |
| JPH08296605A (en) * | 1995-04-26 | 1996-11-12 | Yutani Heavy Ind Ltd | Hydraulic cylinder control method |
| JPH10238504A (en) * | 1997-02-26 | 1998-09-08 | Yutani Heavy Ind Ltd | Vibration control device and method for hydraulic cylinder |
| US7913491B2 (en) * | 2007-11-30 | 2011-03-29 | Caterpillar Inc. | Hydraulic flow control system and method |
| CN104747535A (en) * | 2015-02-02 | 2015-07-01 | 三一重机有限公司 | Hydraulic buffering system and engineering machine |
-
2017
- 2017-06-29 CN CN201710513530.XA patent/CN107061423B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0517205U (en) * | 1991-08-22 | 1993-03-05 | 東芝機械株式会社 | Actuator drive hydraulic circuit |
| JPH0665602U (en) * | 1993-02-24 | 1994-09-16 | 住友建機株式会社 | Cylinder control circuit in construction machinery |
| JPH08296605A (en) * | 1995-04-26 | 1996-11-12 | Yutani Heavy Ind Ltd | Hydraulic cylinder control method |
| JPH10238504A (en) * | 1997-02-26 | 1998-09-08 | Yutani Heavy Ind Ltd | Vibration control device and method for hydraulic cylinder |
| US7913491B2 (en) * | 2007-11-30 | 2011-03-29 | Caterpillar Inc. | Hydraulic flow control system and method |
| CN104747535A (en) * | 2015-02-02 | 2015-07-01 | 三一重机有限公司 | Hydraulic buffering system and engineering machine |
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| Publication number | Publication date |
|---|---|
| CN107061423A (en) | 2017-08-18 |
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