CN108488121B - Hydraulic self-walking control method and control system for moving device - Google Patents
Hydraulic self-walking control method and control system for moving device Download PDFInfo
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- CN108488121B CN108488121B CN201810147076.5A CN201810147076A CN108488121B CN 108488121 B CN108488121 B CN 108488121B CN 201810147076 A CN201810147076 A CN 201810147076A CN 108488121 B CN108488121 B CN 108488121B
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- 238000006073 displacement reaction Methods 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 102
- 239000010720 hydraulic oil Substances 0.000 description 3
- 241000191291 Abies alba Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
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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
- 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
- F15B11/18—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
- F15B11/183—Linear stepwise operation
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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
- 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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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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
- 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
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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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
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/008—Valve failure
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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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
- 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
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
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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
The invention discloses a hydraulic self-walking control system of a transfer device, which comprises a load-sensitive variable pump, wherein one end of the load-sensitive variable pump is connected to an oil tank, the other end of the load-sensitive variable pump is connected with a load-sensitive proportional multi-way valve, the load-sensitive proportional multi-way valve is connected with a stepping hydraulic cylinder through a hydraulic pipeline, and a reversing valve block is connected between the stepping hydraulic cylinder and the load-sensitive proportional multi-way valve. The invention also discloses a control method of the hydraulic self-walking control system of the transfer device, namely, when the piston rod of the stepping hydraulic cylinder is completely extended or retracted, under the condition of reversing without manually operating the load-sensitive multi-way reversing valve, the reversing valve blocks automatically reverse through pressure transmission and detection, so that the pressure oil entering the stepping hydraulic cylinder changes the direction, thereby achieving the self-walking purpose. The invention adopts a load sensitive system, the variable displacement pump automatically adjusts the discharge capacity according to the feedback signal of the load sensitive multi-way valve, provides the required flow, realizes automatic adjustment, improves the working efficiency, and has high efficiency and energy saving.
Description
Technical Field
The invention belongs to the technical field of ocean platform deck equipment, and particularly relates to a hydraulic self-walking control method of a moving and transporting device and a hydraulic self-walking control system of the moving and transporting device.
Background
At present, ocean platform moving and transporting devices are divided into two types according to transmission forms: one type is rack and pinion, such as BOP trolleys, christmas tree trolleys; one type is a hydraulic cylinder stepping type, such as a christmas tree skid, a drill floor skid. The invention aims at a hydraulic cylinder stepping type moving device. The working principle of the hydraulic cylinder stepping type moving device is that the whole moving device is driven to complete the forward and backward work by the extending and retracting action of a piston rod of the hydraulic cylinder. The safety valve of the traditional hydraulic cylinder stepping type moving device is used for limiting the highest working pressure of a system, and meanwhile, a pump is unloaded in a reversing valve, so that the power loss is large; the three-position four-way reversing valve is responsible for reversing the hydraulic cylinder, common reversing modes comprise manual reversing and electric reversing, a system adopting manual reversing is low in cost, workers need to frequently operate the reversing valve, the workload is large, and the efficiency is low; the adoption of electric control reversing is an advanced control mode at present, a feedback device needs to be additionally arranged in a system, if the system is arranged in an explosion-proof area, explosion prevention needs to be considered, the structure is complex, and the manufacturing cost is high.
Disclosure of Invention
The invention aims to provide a hydraulic self-walking control system of a moving device, which solves the problems that the manual operation of a reversing valve and the low working efficiency of the moving device in the prior art are solved.
Another object of the present invention is to provide a self-traveling control method of a hydraulic self-traveling control system of a transfer device.
The hydraulic self-walking control system comprises a load-sensitive variable pump, wherein one end of the load-sensitive variable pump is connected to an oil tank, the other end of the load-sensitive variable pump is connected with a load-sensitive proportional multi-way valve, the load-sensitive proportional multi-way valve is connected with a stepping hydraulic cylinder through a hydraulic pipeline, and a reversing valve block is connected between the stepping hydraulic cylinder and the load-sensitive proportional multi-way valve.
The present invention is also characterized in that,
the load sensitive variable pump is used as a power source and provides pressure oil for a system and is connected with a port P of the load sensitive proportional multi-way valve, the load sensitive proportional multi-way valve is a direction switching valve and selects the pressure oil to enter a main oil way A or a main oil way B, the load sensitive proportional multi-way valve comprises an oil return channel T, and the oil return channel T is connected with an oil tank.
The reversing valve block comprises a two-position four-way hydraulic control reversing valve, a three-position four-way hydraulic control reversing valve, an overflow valve a and an overflow valve B, a main oil path A is connected to an oil inlet P of the two-position four-way hydraulic control reversing valve, a main oil path B is connected to an oil return port T of the two-position four-way hydraulic control reversing valve, and a working oil port A and a working oil port B of the two-position four-way hydraulic control reversing valve are respectively connected with a rodless cavity and a rod cavity of the stepping hydraulic cylinder.
A pilot oil port C and a pilot oil port D of the two-position four-way hydraulic control reversing valve are respectively connected to a working oil port A and a working oil port B of the three-position four-way hydraulic control reversing valve through oil circuit pipelines,
a pilot oil port C and a pilot oil port D of the three-position four-way hydraulic control reversing valve are respectively connected with the main oil way A and the main oil way B,
one end of the overflow valve a is connected to an oil inlet P of the three-position four-way hydraulic control reversing valve, the other end of the overflow valve a is connected to a rodless cavity oil way of the stepping hydraulic cylinder, one end of the overflow valve b is connected to an oil return port T of the three-position four-way hydraulic control reversing valve, the other end of the overflow valve b is connected to a rod cavity oil way of the stepping hydraulic cylinder,
one end of the overflow valve a is connected to the end P of the oil inlet of the three-position four-way hydraulic control reversing valve, the other end of the overflow valve a is connected to the main oil path A passing through the two-position four-way hydraulic control reversing valve, one end of the overflow valve B is connected to the oil return port T of the three-position four-way hydraulic control reversing valve, and the other end of the overflow valve B is connected to the main oil path B passing through.
The reversing valve block is provided with two spare pipelines, and the external joints of the spare pipelines are quick-pull joints.
The second technical scheme adopted by the invention is that a self-walking control method of a hydraulic self-walking control system of a moving device is implemented according to the following steps:
step 1: when the load sensitive proportional multi-way valve is operated, pressure oil in a main oil path A flows to an opening A of a reversing valve block through an oil inlet P of a two-position four-way hydraulic control reversing valve and enters a rodless cavity of a stepping hydraulic cylinder, a piston rod extends out,
when a piston rod of the stepping hydraulic cylinder is completely extended out, the clamping lock pin falls into the moving track clamping groove, the pressure of a rodless cavity of the stepping hydraulic cylinder begins to rise, when the pressure rises to the opening pressure of the overflow valve a, the overflow valve a is opened, at the moment, the three-position four-way hydraulic control reversing valve is acted by the oil pressure of a main oil path A, the oil overflowing from the overflow valve a passes through an oil inlet P of the three-position four-way reversing valve to push the two-position four-way hydraulic control reversing valve with the positioning device to a first position, and the oil of the path A flows out from a port B of the reversing valve block and enters the;
step 2: after the rod cavity of the stepping hydraulic cylinder starts to feed oil, the piston rod starts to retract, the cylinder body of the stepping hydraulic cylinder drives the transfer base to start moving along with the pressure rise of the rod cavity of the stepping hydraulic cylinder and the volume increase of oil liquid until the bottom of the stepping hydraulic cylinder is contacted with the piston, the pressure of the rod cavity of the stepping hydraulic cylinder starts to rise at the moment, when the pressure rises to the opening pressure of an overflow valve b, the overflow valve b is opened, the oil liquid overflowing from the overflow valve b passes through a three-position four-way hydraulic control reversing valve to push the two-position four-way hydraulic control reversing valve to the second position to work, the oil liquid in the path A starts to enter the rod-free cavity of the stepping hydraulic cylinder again to push the transfer device.
The reversing valve block is provided with two spare pipelines 7, and the external joints of the spare pipelines 7 are quick-pull joints.
The hydraulic self-walking control system has the advantages that the moving device of the hydraulic self-walking control system of the moving device can automatically move forward, the working efficiency is improved, and the characteristics of energy consumption reduction and energy source saving are achieved by adopting the load sensitive system.
1) Pure hydraulic automatic advancing: the automatic switching of the oil inlet and return paths of the stepping hydraulic cylinder is controlled through a control valve block, so that the automatic forward movement of the transfer device is realized;
2) and (3) redundancy design: if the reversing valve block for controlling the automatic stepping of the hydraulic cylinder fails, a standby pipeline can be connected in the shortest time by quickly pulling the joint, and the stepping of the stepping hydraulic cylinder is directly controlled by using the load sensitive proportional multi-way valve;
3) high efficiency and energy conservation: the invention adopts a load sensitive system, and the variable displacement pump automatically adjusts the displacement according to the feedback signal of the load sensitive multi-way valve to provide the required flow; when the load sensitive proportional multi-way valve is in the middle position, the pump displacement is zero, only certain starting pressure is kept, and energy is saved;
4) safe and reliable: the control valve block is provided with quick-shifting joints and spare pipelines, so that once the valve block has a problem, the spare pipelines can be quickly connected without influencing the normal operation of the transfer device;
5) the old transporting device is convenient to upgrade and reform: the method does not involve any electronic element, the mechanical structure is not affected, and the upgrading and the reconstruction of the old transporting device are convenient.
Drawings
FIG. 1 is a schematic structural diagram of a hydraulic self-walking control system of a moving and transporting device of the invention;
fig. 2 is a schematic installation diagram of the stepping hydraulic cylinder and the moving device of the hydraulic self-walking control system of the moving device.
In the figure, 1, a load sensitive variable pump, 2, a load sensitive multi-way valve, 3, a two-position four-way hydraulic control reversing valve, 4, a three-position four-way hydraulic control reversing valve, 5, an overflow valve a, 6, a stepping hydraulic cylinder, 7, a standby pipeline and 8, an overflow valve b are arranged.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The hydraulic self-walking control system structure of the moving device is shown in figure 1 and comprises a load sensitive variable pump 1, wherein one end of the load sensitive variable pump 1 is connected to an oil tank, the other end of the load sensitive variable pump 1 is connected with a load sensitive proportional multi-way valve 2, the load sensitive proportional multi-way valve 2 is connected with a stepping hydraulic cylinder 6 through a hydraulic pipeline, and a reversing valve block is connected between the stepping hydraulic cylinder 6 and the load sensitive proportional multi-way valve 2.
The load-sensitive variable displacement pump 1 is a power source and is used for providing pressure oil for a system and is connected with a port P of the load-sensitive proportional multi-way valve 2, the load-sensitive proportional multi-way valve 2 is a direction switching valve and selects the pressure oil to enter a main oil way A or a main oil way B, the load-sensitive proportional multi-way valve 2 comprises an oil return channel T, and the oil return channel T is connected with an oil tank.
The reversing valve block comprises a two-position four-way hydraulic control reversing valve 3, a three-position four-way hydraulic control reversing valve 4, an overflow valve a5 and an overflow valve B8, a main oil path A is connected to an oil inlet P of the two-position four-way hydraulic control reversing valve 3, a main oil path B is connected to an oil return port T of the two-position four-way hydraulic control reversing valve 3, and a working oil port A and a working oil port B of the two-position four-way hydraulic control reversing valve 3 are respectively connected with a rodless cavity and a rod cavity of the stepping hydraulic cylinder 6.
A pilot oil port C and a pilot oil port D of the two-position four-way hydraulic control reversing valve 3 are respectively connected to a working oil port A and a working oil port B of the three-position four-way hydraulic control reversing valve 4 through oil circuit pipelines,
and a pilot oil port C and a pilot oil port D of the three-position four-way hydraulic control reversing valve 4 are respectively connected with the main oil way A and the main oil way B.
One end of an overflow valve a5 is connected to an oil inlet P of the three-position four-way hydraulic control reversing valve 4, the other end of the overflow valve a5 is connected to a rodless cavity oil way of the stepping hydraulic cylinder 6, one end of an overflow valve b8 is connected to an oil return port T of the three-position four-way hydraulic control reversing valve 4, the other end of the overflow valve b8 is connected to a rod cavity oil way of the stepping,
one end of an overflow valve a5 is connected to the end P of an oil inlet of the three-position four-way hydraulic control reversing valve 4, the other end of the overflow valve a is connected to a main oil path A passing through the two-position four-way hydraulic control reversing valve 3, one end of an overflow valve B8 is connected to an oil return port T of the three-position four-way hydraulic control reversing valve 4, and the other end of the overflow valve B is connected to a main oil path B passing through the.
The reversing valve block is provided with two spare pipelines 7, and the external joints of the spare pipelines 7 are quick-pull joints.
The working principle is as follows: the load sensitive variable displacement pump 1 converts mechanical energy into pressure energy of hydraulic oil, the hydraulic oil with pressure moves to the stepping hydraulic cylinder 6 through a hydraulic pipeline, and finally the stepping hydraulic cylinder converts the pressure energy of the hydraulic oil into mechanical energy again, and the expression form is that the moving device is pushed to move forwards. The hydraulic cylinder is stepped by the extending and retracting action of the piston rod of the hydraulic cylinder (as shown in fig. 2).
This action is accomplished by the cooperation of control valve blocks in the system. The load-sensitive proportional multi-way valve 2 plays a role in controlling the on-off of an oil path from pressure oil to the stepping hydraulic cylinder 6, the stepping hydraulic cylinder 6 can act only when the load-sensitive variable pump 1 and the load-sensitive proportional multi-way valve 2 are opened, and the two-position four-way hydraulic control reversing valve 3, the three-position four-way hydraulic control reversing valve 4, the overflow valve a5 and the overflow valve b8 interact with each other to jointly determine and control the automatic reversing action of the stepping hydraulic cylinder 6. Namely, after the piston rod of the stepping hydraulic cylinder is completely extended or retracted, the two-position four-way hydraulic control reversing valve 3 and the three-position four-way hydraulic control reversing valve 4 automatically reverse through pressure transmission and detection, so that the pressure oil entering the stepping hydraulic cylinder 6 changes the direction.
The load-sensitive variable pump 1 and the load-sensitive proportional multi-way valve 2 together form a load-sensitive system, and the system has the greatest characteristic that the flow of an execution unit can be controlled independently of the variable load of the system, and the run-out and the vibration related to the run-out when the execution element is started are restrained or eliminated. Secondly, the load-sensitive proportional multi-way valve 2 transmits an oil path pressure signal to the load-sensitive variable displacement pump 1 in real time. The signal well reflects the condition of the execution part, and particularly when the execution part is in no-load, the load-sensitive variable pump 1 can reduce the discharge capacity to the minimum according to the pressure oil signal to achieve the unloading purpose, so that the energy loss and waste are greatly reduced compared with a fixed displacement pump. And the variable system is more efficient because redundant flow is avoided. The invention adopts a load sensitive system, the variable displacement pump automatically adjusts the discharge capacity according to the feedback signal of the load sensitive multi-way valve, provides the required flow, realizes automatic adjustment, improves the working efficiency, and has high efficiency and energy saving.
A control method of a hydraulic self-walking control system of a moving and transporting device comprises the following specific implementation steps:
step 1: when the load sensitive proportional multi-way valve 2 is operated, the pressure oil of the main oil path A flows to a port A1 of a reversing valve block through an oil inlet P of a two-position four-way hydraulic control reversing valve 3, enters a rodless cavity of a stepping hydraulic cylinder 6, a piston rod extends out,
when a piston rod of the stepping hydraulic cylinder 6 is completely extended out, the clamping lock pin falls into the moving track clamping groove, the pressure of a rodless cavity of the stepping hydraulic cylinder 6 begins to rise, when the pressure rises to the opening pressure of an overflow valve a5, the overflow valve a5 is opened, at the moment, the three-position four-way hydraulic control reversing valve 4 is acted by the oil pressure of a main oil way A, oil overflowing from the overflow valve a5 passes through an oil inlet P of the three-position four-way reversing valve 4, the two-position four-way hydraulic control reversing valve 3 with the positioning device is pushed to the first position, and the oil in the A way flows out of a port B1 of a reversing valve block and enters a;
step 2: after the rod cavity of the stepping hydraulic cylinder 6 starts to feed oil, the piston rod starts to retract, as the clamping lock pin is clamped in the clamping groove, along with the increase of the pressure of the rod cavity of the stepping hydraulic cylinder 6 and the increase of the volume of oil liquid, the cylinder body of the stepping hydraulic cylinder 6 drives the transfer base to start to move until the bottom of the stepping hydraulic cylinder 6 is contacted with the piston, at the moment, the pressure of the rod cavity of the stepping hydraulic cylinder 6 starts to increase, when the pressure is increased to the opening pressure of an overflow valve b8, the overflow valve b8 is opened, the oil liquid overflowing from the overflow valve b8 passes through the three-position four-way hydraulic control reversing valve 4, the two-position four-way hydraulic control reversing valve 3 is pushed to the second position to work, the A-way oil starts to enter the rodless cavity of the stepping.
The reversing valve block is provided with two spare pipelines 7, and the external joints of the spare pipelines 7 are quick-pull joints.
The utility model provides a move and transport device hydraulic pressure from walking control system can realize under the arbitrary operating mode, move and transport the device and all step by step according to the anticipated direction is automatic:
the working condition I is as follows: the moving device advances. The load sensitive proportional multi-way valve 2 is operated to enable an oil inlet to be formed in an A port, the three-position four-way hydraulic control reversing valve 4 works at the first position under the action of pressure of a working oil way A, and due to the fact that the two-position four-way hydraulic control reversing valve 3 has a position locking function and does not have a self-resetting function, when the two-position four-way hydraulic control reversing valve 3 is affected by the previous working condition, the starting station of the two-position four-way hydraulic:
1) when the two-position four-way hydraulic control reversing valve 3 is at the first position, oil directly enters a rodless cavity of the stepping hydraulic cylinder 6, and a piston rod extends out to start stepping;
2) when the two-position four-way hydraulic control reversing valve 3 is at the second position, oil enters the rod cavity of the stepping hydraulic cylinder 6 through the two-position four-way hydraulic control reversing valve 3, the piston rod is fixed under the action of the clamping locking pin, when the pressure of the rod cavity is increased to the opening pressure of the overflow valve b8, the overflow valve b8 is opened, the three-position four-way hydraulic control reversing valve 4 works at the first position, the oil pushes the two-position four-way hydraulic control reversing valve 3 to the first position through the three-position four-way hydraulic control reversing valve 4 to work, the oil starts to enter the rodless cavity of the stepping hydraulic cylinder 6, the piston rod extends out, and the moving device starts to;
working conditions are as follows: and in the moving process of the moving device, the system is suddenly powered off. At the moment, the load-sensitive variable pump 1 stops working, the moving device can possibly stop at any position, and because the load-sensitive proportional multi-way valve 3 and the two-position four-way hydraulic control reversing valve 3 are both provided with the positioning devices, under the condition of no operation, after the load-sensitive variable pump 1 is started again, the moving device continues to move forward along the direction before power failure until a reversing or stopping signal is input into the system.
Working conditions are as follows: and (3) retreating the moving device, operating the load-sensitive proportional multi-way valve 2 to enable the port B to feed oil, enabling the three-position four-way hydraulic control reversing valve 4 to work at the right position under the pressure action of the main oil way, and in the same working condition I, stopping the two-position four-way hydraulic control reversing valve 3 at the first position or the second position no matter the vehicle is stopped at the last time, and retreating the moving device under the combined action of the two-position four-way hydraulic control reversing valve 3, the three-position four-way hydraulic control reversing valve 4 and the overflow valve 5.
Working conditions are as follows: the diverter valve block is disabled. If a reversing valve block consisting of the two-position four-way hydraulic control reversing valve 3, the three-position four-way hydraulic control reversing valve 4, the overflow valve a5 and the overflow valve a8 has problems, which cause that an oil path is blocked, cannot be reversed or is wrong in reversing, the quick-pull joint can be quickly connected to a standby pipeline after the vehicle is stopped, and the oil inlet direction of the stepping hydraulic cylinder 6 is changed by adopting a mode of manually operating the load sensitive proportional multi-way valve 2 to reverse, so that stepping is realized, and the normal operation of the transfer device is ensured.
Claims (6)
1. The hydraulic self-walking control system of the moving and transporting device is characterized by comprising a load-sensitive variable pump (1), wherein one end of the load-sensitive variable pump (1) is connected to an oil tank, the other end of the load-sensitive variable pump is connected with a load-sensitive proportional multi-way valve (2), the load-sensitive proportional multi-way valve (2) is connected with a stepping hydraulic cylinder (6) through a hydraulic pipeline, and a reversing valve block is connected between the stepping hydraulic cylinder (6) and the load-sensitive proportional multi-way valve (2); the reversing valve block comprises a two-position four-way hydraulic control reversing valve (3), a three-position four-way hydraulic control reversing valve (4), an overflow valve a (5) and an overflow valve B (8), a main oil path A is connected to an oil inlet P of the two-position four-way hydraulic control reversing valve (3), a main oil path B is connected to an oil return port T of the two-position four-way hydraulic control reversing valve (3), and a working oil port A and a working oil port B of the two-position four-way hydraulic control reversing valve (3) are respectively connected with a rodless cavity and a rod cavity of a stepping hydraulic cylinder (6) through hydraulic pipelines.
2. The hydraulic self-walking control system of a moving device according to claim 1, wherein the load-sensitive variable pump (1) is a power source, provides pressure oil for the system, and is connected with the port P of the load-sensitive proportional multi-way valve (2), the load-sensitive proportional multi-way valve (2) is a directional switching valve, the load-sensitive proportional multi-way valve (2) comprises an oil return channel T, and the oil return channel T is connected with an oil tank.
3. The hydraulic self-walking control system of a transfer device according to claim 1, wherein a pilot oil port C and a pilot oil port D of the two-position four-way hydraulic control directional control valve (3) are respectively connected to a working oil port a and a working oil port B of the three-position four-way hydraulic control directional control valve (4) through oil path pipelines, and the pilot oil port C and the pilot oil port D of the three-position four-way hydraulic control directional control valve (4) are respectively connected with a main oil path a and a main oil path B;
one end of the overflow valve a (5) is connected to an oil inlet P of the three-position four-way hydraulic control reversing valve (4), the other end of the overflow valve a is connected to a rodless cavity oil way of the stepping hydraulic cylinder (6), one end of the overflow valve b (8) is connected to an oil return port T of the three-position four-way hydraulic control reversing valve (4), the other end of the overflow valve b is connected to a rod cavity oil way of the stepping hydraulic cylinder (6),
one end of the overflow valve a (5) is connected to the end P of an oil inlet of the three-position four-way hydraulic control reversing valve (4), the other end of the overflow valve a is connected to a main oil path A passing through the two-position four-way hydraulic control reversing valve (3), one end of the overflow valve B (8) is connected to an oil return port T of the three-position four-way hydraulic control reversing valve (4), and the other end of the overflow valve B is connected to a main oil path B passing through the two-position four-way hydraulic.
4. The hydraulic self-walking control system of a transfer device according to claim 1, characterized in that the reversing valve block is provided with two spare lines (7), and the external joints of the spare lines (7) are quick-pull joints.
5. A self-walking control method adopting the hydraulic self-walking control system of the moving device is characterized by comprising the following specific implementation steps:
step 1: when the load sensitive proportional multi-way valve (2) is operated, the pressure oil of the main oil path A flows to a port A1 of a reversing valve block through an oil inlet P of a two-position four-way hydraulic control reversing valve (3) and enters a rodless cavity of a stepping hydraulic cylinder (6), a piston rod extends out,
when a piston rod of the stepping hydraulic cylinder (6) is completely extended out, the clamping lock pin falls into a moving track clamping groove, the pressure of a rodless cavity of the stepping liquid (6) begins to rise, when the pressure rises to the opening pressure of an overflow valve a (5), the overflow valve a (5) is opened, at the moment, the three-position four-way hydraulic control reversing valve (4) is acted by the oil pressure of a main oil way A, oil overflowing from the overflow valve a (5) passes through an oil inlet P of the three-position four-way reversing valve (4), the two-position four-way hydraulic control reversing valve (3) with the positioning device is pushed to a first position, and the oil of an A way flows out from a port B1 of a reversing valve block and enters the stepping hydraulic cylinder (6);
step 2: after the oil starts to enter the rod cavity of the stepping hydraulic cylinder (6), the piston rod starts to retract, along with the rising of the pressure of the rod cavity of the stepping hydraulic cylinder (6) and the increase of the volume of the oil, the cylinder body of the stepping hydraulic cylinder (6) drives the transfer base to move until the bottom of the stepping hydraulic cylinder (6) is contacted with the piston, at the moment, the pressure of the rod cavity of the stepping hydraulic cylinder (6) starts to rise, when the pressure rises to the opening pressure of the overflow valve b (8), the overflow valve b (8) is opened, the oil overflowing from the overflow valve b (8) passes through the three-position four-way hydraulic control reversing valve (4), the two-position four-way hydraulic control reversing valve (3) is pushed to the second position to work, the A-way oil starts to enter the rodless cavity of the stepping hydraulic cylinder (6) again, the transfer device.
6. The self-walking control method of a hydraulic self-walking control system of a transfer device according to claim 5, characterized in that the reversing valve block is provided with two spare lines (7), and the external joints of the spare lines (7) are quick-pull joints.
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