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CN109630504A - A kind of pressure compensated oil inlet and outlet autonomous control system of band - Google Patents

A kind of pressure compensated oil inlet and outlet autonomous control system of band Download PDF

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Publication number
CN109630504A
CN109630504A CN201811601434.1A CN201811601434A CN109630504A CN 109630504 A CN109630504 A CN 109630504A CN 201811601434 A CN201811601434 A CN 201811601434A CN 109630504 A CN109630504 A CN 109630504A
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CN
China
Prior art keywords
valve
compensation valve
oil
outlet
control chamber
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Granted
Application number
CN201811601434.1A
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Chinese (zh)
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CN109630504B (en
Inventor
权龙�
王波
刘赫
夏连鹏
杨敬
王鹤
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Taiyuan University of Technology
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Taiyuan University of Technology
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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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • 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
    • 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
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • 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
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B2013/0448—Actuation by solenoid and permanent magnet

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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 present invention provides a kind of pressure compensated oil inlet and outlet autonomous control system of band, comprising: hydraulic power supply (1), overflow valve (2), inlet and outlet independent control valve group (3), hydraulic actuator (5)；It is characterized by: further having additional load selector valve (4), novel electron pressure-compensated valve (6) or electro-hydraulic pressure recuperation valve (7), improve the handling of multi executors oil inlet and outlet autonomous system, simplify the control complexity that system is balanced multi executors load variations, system cost can also be reduced simultaneously, realizes the real-time continuous regulation of compensating differential pressure and the monitoring of compensating spool real time position feedback.The pressure compensated oil inlet and outlet autonomous control system of a kind of band disclosed by the invention has many advantages, such as that control is simple, intelligence degree is high, operating condition strong applicability, low energy consumption, response is fast.

Description

A kind of pressure compensated oil inlet and outlet autonomous control system of band
Technical field
The invention belongs to construction machinery hydraulic systems, and in particular to a kind of inlet and outlet independent control with pressure-compensated valve System.
Background technique
Existing engineering machinery is all made of the speed of service of traditional multi-way valve control actuator, four Bian Liandong of hydraulic valve, disengaging Mouth throttles simultaneously, and synchronization can only control the pressure or flow of actuator single-chamber, and poor controllability, there are restriction losses greatly, hair The problems such as heat is serious, especially under Exceed load operating condition, this problem is even more serious.
Traditional four side of multi-way valve link throttling control there are aiming at the problem that, existing solution is independent using inlet and outlet The method of control, using two three-position three-way valves or four two position two-way valves control respectively two chamber of hydraulic actuator pressure and Flow increases control freedom degree, reduces system pressure loss and energy consumption.But for excavator this kind single-power The engineering machinery of source parallel drive multi executors, when multiple actuator composite moves, to keep good handling, reduction is respectively held Row device load pressure influences, and so that each actuator flow is distributed according to need, needs using multiple sensors, while acquiring multiple actuators The multiple reversal valves of pressure/flow state modulator, control strategy is extremely complex, and system cost is high.
Summary of the invention
To solve the above-mentioned problems, the present invention is intended to provide a kind of pressure compensated oil inlet and outlet autonomous control system of band, Simplify multi executors composite move and import and export independent control strategy, reduce system cost, while again with high assignment of traffic essence Degree and extensive operating condition applicability.
To achieve the above object, the invention adopts the following technical scheme: a kind of pressure compensated oil inlet and outlet of band is independently controlled System processed, comprising: hydraulic power supply (1), overflow valve (2), inlet and outlet independent control valve group (3), hydraulic actuator (5)；It is special Sign is: further including load selector valve (4), electron pressure recuperation valve (6) or electro-hydraulic pressure recuperation valve (7), which kind of is specifically used Pressure-compensated valve is determined by system load pressure and flow；
The electron pressure recuperation valve is the pressure-compensated valve of proportion electro-magnet control or the pressure of linear motor control Recuperation valve or the pressure-compensated valve of rotating electric machine driving ball-screw control, electron pressure recuperation valve are proportion electro-magnet control It include displacement sensor (12), proportion electro-magnet (13), compensation valve body (14), compensating spool (15), bullet when pressure-compensated valve Spring (16), oil inlet (A), oil outlet (B), the Ith control chamber (PF) and the IIth control chamber (PE)；Compensating spool is arranged in recuperation valve Among body, spring one end is acted on the C of compensating spool left side, and the other end acts on compensation valve body and compensating spool is formed Ith control chamber PF, proportion electro-magnet connect, acts on the D of compensating spool right side with compensation valve body, and with compensating spool, benefit It repays valve body and forms the IIth control chamber PE, displacement sensor and proportion electro-magnet integrated installation；
When the electron pressure recuperation valve is the pressure-compensated valve of linear motor control, including displacement sensor, compensation Valve body, compensating spool, spring, linear motor (17), oil inlet (A), oil outlet (B), the Ith control chamber (PF) and the IIth control chamber (PE)；Compensating spool is arranged among compensation valve body, and spring one end acts on the C of compensating spool left side, and the other end acts on It compensates on valve body and forms the Ith control chamber P with compensating spoolF, displacement sensor by compensate valve body be installed in compensating spool On, the position X and speed XV of spool are directly detected, linear motor connect with compensation valve body, is installed in compensating spool right side D On, and the IIth control chamber P is formed with compensation valve body, compensating spoolE；
When the electron pressure recuperation valve is the pressure-compensated valve of rotating electric machine driving ball-screw control, including displacement Sensor, compensating spool, spring, rotating electric machine (18), ball-screw (19), connecting rod (20), oil inlet (A), goes out compensation valve body Hydraulic fluid port (B), the Ith control chamber (PF) and the IIth control chamber (PE)；Compensating spool is arranged among compensation valve body, spring one end effect On the C of compensating spool left side, the other end acts on compensation valve body and forms the Ith control chamber P with compensating spoolF, displacement biography Sensor is installed on compensating spool by compensating valve body, directly detects the position X and speed XV, rotating electric machine and recuperation valve of spool Body connection simultaneously forms the IIth control chamber P with compensation valve body, compensating spoolE, the screw rod company of rotating electric machine projecting shaft and ball-screw It connects, the nut of ball-screw is connect with connecting rod, and rotating electric machine drives ball-screw rotation, by ball-screw by the rotation of motor Movement is converted to linear motion, so that drive link exports different power and displacement；
The electro-hydraulic pressure recuperation valve include displacement sensor, compensation valve body, compensating spool, spring, oil inlet (A), Oil outlet (B), the Ith control chamber (PF), the IIth control chamber (PE) and the IIIth control chamber (PG)；Compensating spool is arranged in compensation valve body Among, spring one end acts on the C of compensating spool left side, and the other end is acted on compensation valve body and formed with compensating spool Ith control chamber PF, displacement sensor by compensate valve body be installed on compensating spool, directly detection spool position X and speed XV, the compensating spool other end form the IIth control chamber P with recuperation valve body respectivelyEWith the IIIth control chamber PG；
When using electro-hydraulic pressure recuperation valve, system also includes guide's oil circuit (21) and guide proportion pressure reducing valve (22), The output oil port of guide proportion pressure reducing valve and the IIIth control chamber P of electro-hydraulic pressure recuperation valveGConnection, guide proportion pressure reducing valve It is connected to respectively with guide's oil circuit and fuel tank into and out of hydraulic fluid port；
Importing and exporting independent control valve group is by the Ith bi-bit bi-pass proportional reversing valve (8), the IIth bi-bit bi-pass proportional reversing valve (9), the IIIth bi-bit bi-pass proportional reversing valve (10) and the IVth bi-bit bi-pass proportional reversing valve (11) are constituted；
The oil inlet A of electron pressure recuperation valve or electro-hydraulic pressure recuperation valve is connected to the oil outlet of hydraulic power supply, electronics The IIth control chamber P of the oil outlet B and pressure-compensated valve of pressure-compensated valve or electro-hydraulic pressure recuperation valveE, the IIth bi-bit bi-pass ratio The hydraulic fluid port C of example reversal valveⅡWith the hydraulic fluid port C of the IIIth bi-bit bi-pass proportional reversing valveⅢConnection, the Ith bi-bit bi-pass proportional reversing valve Hydraulic fluid port CⅠWith the hydraulic fluid port C of the IVth bi-bit bi-pass proportional reversing valveⅣIt is connected to respectively with fuel tank, the commutation of the I, the IIth bi-bit bi-pass ratio The hydraulic fluid port D of valveⅠ、DⅡPass through oil circuit L1 and hydraulic actuator control chamber pAConnection, the III, the IVth bi-bit bi-pass proportional reversing valve Hydraulic fluid port DⅢ、DⅣPass through oil circuit L2 and hydraulic actuator control chamber pAConnection, load selector valve hydraulic fluid port E, F respectively with oil circuit L1, L2 Connection, load selector valve hydraulic fluid port G and the Ith control chamber P of pressure-compensated valveFConnection passes through the operating position of control load selector valve It may be selected actuator pAOr pBOil liquid introduce the Ith control chamber P of pressure-compensated valveFIt controls it；
Alternatively, inlet and outlet independent control valve group is by the Ith three position three-way change valve (23) and the IIth three position three-way change valve (24) it constitutes；The oil inlet A of electron pressure recuperation valve or electro-hydraulic pressure recuperation valve is connected to the oil outlet of hydraulic power supply, electronics The oil outlet B of the pressure-compensated valve or electro-hydraulic pressure recuperation valve oil inlet P with the Ith three position three-way change valve respectivelyⅠWith the IIth 3 The oil inlet P of position three-way diverter valveⅡConnection, the oil outlet T of the Ith three position three-way change valveⅠAnd the IIth three position three-way change valve Oil outlet TⅡIt is connected to respectively with fuel tank, the actuator port H of the Ith three position three-way change valveⅠWith the work of the IIth three position three-way change valve Make hydraulic fluid port HⅡPass through pipeline L1, L2 and two chamber p of hydraulic actuator respectivelyA、pBConnection, load selector valve hydraulic fluid port E, F respectively with oil circuit L1, L2 connection, load selector valve hydraulic fluid port G and the Ith control chamber P of pressure-compensated valveFConnection.
The electron pressure recuperation valve and electro-hydraulic pressure recuperation valve is one of open in usual and normally closed type.
The electron pressure recuperation valve and electro-hydraulic pressure recuperation valve can also be arranged in inlet and outlet independent control valve group it Afterwards.
The displacement sensor is integrated on proportion electro-magnet, detects spool position by detection ratio electromagnet X and speed XV, or be installed on compensating spool, directly detect the position X and speed XV of spool.
The proportion electro-magnet is one of unidirectional proportion electro-magnet and two-way proportional solenoid.
The rotating electric machine is one of direct current generator, synchronous motor and asynchronous machine.
The hydraulic pump of the hydraulic power supply can be mechanical load sensitive pump, electrical proportional pressure pump and electronics ratio One kind of example variable-displacement pump, drives the power source of hydraulic pump to can be the threephase asynchronous machine of permanent revolving speed, can be AC servo Motor can be switched reluctance machines, be also possible to internal combustion engine.
The hydraulic actuator can be one of asymmetric servo cylinder, double outlet-rod hydraulic cylinders and hydraulic motor.
Further, system can also have multiple hydraulic actuators simultaneously, and multiple oil inlet and outlet independent control valve groups are multiple The combination of electron pressure recuperation valve or electro-hydraulic pressure recuperation valve or two kinds of pressure-compensated valves, and only one is hydraulic dynamic for system Power source.
Compared with prior art, the invention has the following advantages:
The present invention is additionally arranged electron pressure recuperation valve or electro-hydraulic pressure compensation in traditional oil inlet and outlet autonomous control system Valve improves the handling of multi executors oil inlet and outlet autonomous system, and the system that simplifies is balanced multi executors load variations Control complexity, while the use of pressure sensor can be also reduced, reduce system cost.
The present invention devises novel electron pressure-compensated valve and electro-hydraulic pressure recuperation valve, using electronics or electrohydraulic control unit Change recuperation valve and control pressure difference, realize the real-time continuous regulation of recuperation valve compensating differential pressure, is supervised using displacement sensor Real-time Feedback Compensating spool position is surveyed, overcomes that conventional pressure recuperation valve compensating spool is uncontrollable, immesurable problem, realizes pressure compensation The intelligentized control method of valve lays the foundation further to implement Advanced Control Techniques.
The present invention has stronger advanced technology, applicable different type of machines and operating condition, based on duty requirements matching compensation Pressure difference when accurate operation, reduces compensating differential pressure, reduces valve port flow gain, improves manipulation stability；When quick acting, improve Recuperation valve compensating differential pressure increases valve port flow gain, realizes actuator quick response and efficient operation.
Detailed description of the invention
Fig. 1 is the systematic schematic diagram of the specific embodiment of the invention 1；
Fig. 2 is the first structure schematic diagram of electron pressure recuperation valve of the present invention；
Fig. 3 is the second structure principle chart of electron pressure recuperation valve of the present invention；
Fig. 4 is the third structure principle chart of electron pressure recuperation valve of the present invention；
Fig. 5 is the systematic schematic diagram of the specific embodiment of the invention 2；
Fig. 6 is the structure principle chart of electro-hydraulic pressure recuperation valve of the present invention；
Fig. 7 is the systematic schematic diagram of the specific embodiment of the invention 3.
In figure: 1- hydraulic power supply, 2- overflow valve, 3- oil inlet and outlet independent control valve group, 4- load selector valve, and 5- is hydraulic Actuator, 6- electron pressure recuperation valve, 7- electro-hydraulic pressure recuperation valve, the Ith bi-bit bi-pass proportional reversing valve of 8-, 9- the IIth 2 two Logical proportional reversing valve, the IIIth bi-bit bi-pass proportional reversing valve of 10-, the IVth bi-bit bi-pass proportional reversing valve of 11-, 12- displacement sensing Device, 13- proportion electro-magnet, 14- compensate valve body, 15- compensating spool, 16- spring, 17- linear motor, 18- rotating electric machine, 19- Ball-screw, 20- connecting rod, 21- guide's oil circuit, 22- guide proportion pressure reducing valve, the Ith three position three-way change valve of 23-, 24- the IIth 3 Position three-way diverter valve.
Specific embodiment
1~7 couple of present invention is described in further details with reference to the accompanying drawing.
Embodiment 1
A kind of pressure compensated oil inlet and outlet autonomous control system of band, comprising: hydraulic power supply 1, overflow valve 2, inlet and outlet Independent control valve group 3, hydraulic actuator 5；It is characterized by also including load selector valve 4, electron pressure recuperation valves 6；
As shown in Figure 1, inlet and outlet independent control valve group 3 is by the Ith bi-bit bi-pass proportional reversing valve 8, the IIth bi-bit bi-pass Proportional reversing valve 9, the IIIth bi-bit bi-pass proportional reversing valve 10 and the IVth bi-bit bi-pass proportional reversing valve 11 are constituted；
The oil inlet A of electron pressure recuperation valve 6 is connected to the oil outlet of hydraulic power supply 1, and electron pressure recuperation valve 6 goes out The IIth control chamber P of hydraulic fluid port B and electron pressure recuperation valve 6E, the IIth bi-bit bi-pass proportional reversing valve 9 hydraulic fluid port CⅡWith the IIIth 2 The hydraulic fluid port C of position two-way proportional reversing valve 10ⅢConnection, the hydraulic fluid port C of the Ith bi-bit bi-pass proportional reversing valve 8ⅠWith the IVth bi-bit bi-pass ratio The hydraulic fluid port C of example reversal valve 11ⅣIt is connected to respectively with fuel tank, the Ith bi-bit bi-pass proportional reversing valve 8, the commutation of the IIth bi-bit bi-pass ratio The hydraulic fluid port D of valve 9Ⅰ、DⅡPass through oil circuit L1 and 5 control chamber p of hydraulic actuatorAConnection, the IIIth bi-bit bi-pass proportional reversing valve 10, the The hydraulic fluid port D of IV bi-bit bi-pass proportional reversing valve 11Ⅲ、DⅣPass through oil circuit L2 and 5 control chamber p of hydraulic actuatorAConnection, load selection Valve 4 hydraulic fluid port E, F are connected to oil circuit L1, L2 respectively, load 4 hydraulic fluid port G of selector valve and the Ith control chamber P of electron pressure recuperation valve 6FEven It is logical, it may be selected by the operating position of control load selector valve 4 by actuator pAOr pBOil liquid introduce electron pressure recuperation valve 6 Ith control chamber PFIt controls it；
The electron pressure recuperation valve 6 is the pressure-compensated valve of proportion electro-magnet control or the pressure of linear motor control Recuperation valve or the pressure-compensated valve of rotating electric machine driving ball-screw control, as shown in Fig. 2, electron pressure recuperation valve 6 is ratio It include displacement sensor 12, proportion electro-magnet 13, compensation valve body 14, recuperation valve when the pressure-compensated valve that electromagnet 13 controls Core 15, spring 16, oil inlet A, oil outlet B, the Ith control chamber PFWith the IIth control chamber PE；Compensating spool 15 is arranged in compensation valve body Among 14,16 one end of spring is acted on 15 left side C of compensating spool, and the other end acts on compensation valve body 14 and recuperation valve Core 15 forms the Ith control chamber PF, proportion electro-magnet 13 connect, acts on 15 right side D of compensating spool with compensation valve body 14, and The IIth control chamber P is formed with compensating spool 15, compensation valve body 14E, displacement sensor 12 and 13 integrated installation of proportion electro-magnet；
As shown in figure 3, when the electron pressure recuperation valve 6 is the pressure-compensated valve that linear motor 17 controls, including position Displacement sensor 12, compensation valve body 14, compensating spool 15, spring 16, linear motor 17, oil inlet A, oil outlet B, the Ith control chamber PFWith the IIth control chamber PE；Compensating spool 15 is arranged among compensation valve body 14, and 16 one end of spring acts on 15 left end of compensating spool On the C of face, the other end acts on compensation valve body 14 and forms the Ith control chamber P with compensating spool 15F, displacement sensor 12 passes through Compensation valve body 14 is installed on compensating spool 15, directly detects the position X and speed XV of spool 15, linear motor 17 and recuperation valve The connection of body 14 is installed on 15 right side D of compensating spool, and forms the IIth control chamber P with compensation valve body 14, compensating spool 15E；
As shown in figure 4, the electron pressure recuperation valve 6 is that the pressure that rotating electric machine 18 drives ball-screw 19 to control is mended When repaying valve, including displacement sensor 12, compensation valve body 14, compensating spool 15, spring 16, rotating electric machine 18, ball-screw 19, company Bar 20, oil inlet A, oil outlet B, the Ith control chamber PFWith the IIth control chamber PE；Compensating spool 14 is arranged among compensation valve body 15, 16 one end of spring acts on 15 left side C of compensating spool, the other end act on compensation valve body 14 on and with 15 shape of compensating spool At the Ith control chamber PF, displacement sensor 12 by compensate valve body 14 be installed on compensating spool 15, directly detection spool 15 position X and speed XV are set, rotating electric machine 18 connect with compensation valve body 14 and forms the IIth control with compensation valve body 14, compensating spool 15 Chamber PE, 18 projecting shaft of rotating electric machine connect with the screw rod of ball-screw 19, and the nut of ball-screw 19 is connect with connecting rod, electric rotating Machine 18 drives ball-screw 19 to rotate, and the rotary motion of motor is converted to linear motion by ball-screw 19, to drive Connecting rod 20 exports different power and displacement；
The electron pressure recuperation valve 6 is one of open in usual and normally closed type.
The electron pressure recuperation valve 6 can also be arranged in after inlet and outlet independent control valve group 3.
The displacement sensor 12 is integrated on proportion electro-magnet 13, detects valve by detection ratio electromagnet 13 Core position X and speed XV, or be installed on compensating spool 15, directly detect the position X and speed XV of spool.
The proportion electro-magnet 13 is one of unidirectional proportion electro-magnet and two-way proportional solenoid.
The rotating electric machine 18 is one of direct current generator, synchronous motor and asynchronous machine.
The hydraulic pump of the hydraulic power supply 1 can be mechanical load sensitive pump, electrical proportional pressure pump and electronics One kind of ratio variable-displacement pump drives the power source of hydraulic pump to can be the threephase asynchronous machine of permanent revolving speed, can be exchange and watches Motor is taken, can be switched reluctance machines, is also possible to internal combustion engine.
The hydraulic actuator 5 can be one of asymmetric servo cylinder, double outlet-rod hydraulic cylinders and hydraulic motor.
Further, system can also have multiple hydraulic actuators 5 simultaneously, and multiple oil inlet and outlet independent control valve groups 3 are more A electron pressure recuperation valve 6, and system only one hydraulic power supply 1.
Embodiment 2
As shown in figure 5, a kind of second of embodiment of the pressure compensated oil inlet and outlet autonomous control system of band of the present invention, The difference from embodiment 1 is that: including electro-hydraulic pressure recuperation valve 7, the hydraulic pump of the hydraulic power supply 1 is mechanically to load Sensitive pump；
Mechanically the LS oil circuit of load sensitive pump while the Ith control chamber P with electro-hydraulic pressure recuperation valve 7F, load selector valve 4 hydraulic fluid port G connection.The oil inlet A of electro-hydraulic pressure recuperation valve 7 is connected to the oil outlet of hydraulic power supply 1, electro-hydraulic pressure recuperation valve 7 oil outlet B and the IIth control chamber P of electro-hydraulic pressure recuperation valve 7E, the IIth bi-bit bi-pass proportional reversing valve 9 hydraulic fluid port CⅡWith The hydraulic fluid port C of III bi-bit bi-pass proportional reversing valve 10ⅢConnection, the hydraulic fluid port C of the Ith bi-bit bi-pass proportional reversing valve 8ⅠWith the IVth 2 two The hydraulic fluid port C of logical proportional reversing valve 11ⅣIt is connected to respectively with fuel tank, the Ith bi-bit bi-pass proportional reversing valve 8, the IIth bi-bit bi-pass ratio The hydraulic fluid port D of reversal valve 9Ⅰ、DⅡPass through oil circuit L1 and 5 control chamber p of hydraulic actuatorAConnection, the IIIth bi-bit bi-pass proportional reversing valve 10, the hydraulic fluid port D of the IVth bi-bit bi-pass proportional reversing valve 11Ⅲ、DⅣPass through oil circuit L2 and 5 control chamber p of hydraulic actuatorAConnection is born It carries selector valve 4 hydraulic fluid port E, F to be connected to oil circuit L1, L2 respectively, load 4 hydraulic fluid port G of selector valve and electron pressure recuperation valve 6 the Ith control Chamber PFConnection may be selected by the operating position of control load selector valve 4 by actuator pAOr pBOil liquid introduce electron pressure mend Repay the Ith control chamber P of valve 6FIt controls it；
When using electro-hydraulic pressure recuperation valve 7, system also includes guide's oil circuit 21 and guide proportion pressure reducing valve 22, guide The output oil port of proportional pressure-reducing valve 22 and the IIIth control chamber P of electro-hydraulic pressure recuperation valve 7GConnection, guide proportion pressure reducing valve 22 It is connected to respectively with guide's oil circuit 21 and fuel tank into and out of hydraulic fluid port；
As shown in fig. 6, the electro-hydraulic pressure recuperation valve 7 includes displacement sensor 12, compensation valve body 14, compensating spool 15, spring 16, oil inlet A, oil outlet B, the Ith control chamber PF, the IIth control chamber PEWith the IIIth control chamber PG；15 cloth of compensating spool It sets among compensation valve body 14,16 one end of spring acts on 15 left side C of compensating spool, and the other end acts on compensation valve body 14 Above and with compensating spool 15 form the Ith control chamber PF, displacement sensor 12 by compensate valve body 14 be installed in compensating spool 15 On, the position X and speed XV of spool are directly detected, 15 other end of compensating spool forms the IIth control chamber with compensation valve body 14 respectively PEWith the IIIth control chamber PG；
The electro-hydraulic pressure recuperation valve 7 is one of open in usual and normally closed type.
The electro-hydraulic pressure recuperation valve 7 can also be arranged in after inlet and outlet independent control valve group.
Further, system can also have multiple hydraulic actuators 5 simultaneously, and multiple oil inlet and outlet independent control valve groups 3 are more A electro-hydraulic pressure recuperation valve 7, and system only one hydraulic power supply 1.
Embodiment 3
As shown in fig. 7, a kind of the third embodiment of the pressure compensated oil inlet and outlet autonomous control system of band of the present invention, The difference from embodiment 1 is that: inlet and outlet independent control valve group 3 is changed by the Ith three position three-way change valve 23 and the IIth 3-position-3-way It is constituted to valve 24；
The oil inlet A of electron pressure recuperation valve 6 is connected to the oil outlet of hydraulic power supply 1, and electron pressure recuperation valve 6 goes out The hydraulic fluid port B oil inlet P with the Ith three position three-way change valve 23 respectivelyⅠWith the oil inlet P of the IIth three position three-way change valve 24ⅡConnection, The oil outlet T of Ith three position three-way change valve 23ⅠAnd the IIth three position three-way change valve 24 oil outlet TⅡIt is connected to respectively with fuel tank, The actuator port H of Ith three position three-way change valve 23ⅠWith the actuator port H of the IIth three position three-way change valve 24ⅡPass through pipeline respectively L1, L2 and 5 liang of chamber p of hydraulic actuatorA、pBConnection, load selector valve 4 hydraulic fluid port E, F are connected to oil circuit L1, L2 respectively, load selection 4 hydraulic fluid port G of valve and the Ith control chamber P of electron pressure recuperation valve 23FConnection.
The above is merely a part but not all of the embodiments of the present application.Based on the reality in the application Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered When the range for belonging to the application protection.

Claims (9)

1.一种带压力补偿的进出油口独立控制系统，包括：液压动力源(1)、溢流阀(2)、进出口独立控制阀组(3)、液压执行器(5)；其特征在于：还包括负载选择阀(4)，电子压力补偿阀(6)或电液压力补偿阀(7)，具体采用哪种压力补偿阀由系统负载压力和流量决定；1. An independent oil inlet and outlet control system with pressure compensation, comprising: a hydraulic power source (1), a relief valve (2), an inlet and outlet independent control valve group (3), and a hydraulic actuator (5); it is characterized by: It also includes a load selection valve (4), an electronic pressure compensation valve (6) or an electro-hydraulic pressure compensation valve (7). The specific pressure compensation valve used is determined by the system load pressure and flow; 所述的电子压力补偿阀是比例电磁铁控制的压力补偿阀或直线电机控制的压力补偿阀或旋转电机驱动滚珠丝杠控制的压力补偿阀，电子压力补偿阀是比例电磁铁控制的压力补偿阀时，包含有位移传感器(12)、比例电磁铁(13)、补偿阀体(14)、补偿阀芯(15)、弹簧(16)、进油口(A)、出油口(B)、第Ⅰ控制腔(PF)和第Ⅱ控制腔(PE)；补偿阀芯布置在补偿阀体之中，弹簧一端作用在补偿阀芯左端面C上，另一端作用在补偿阀体上、并补偿阀芯形成第Ⅰ控制腔PF，比例电磁铁与补偿阀体连接、作用在补偿阀芯右端面D上，并与补偿阀芯、补偿阀体形成第Ⅱ控制腔PE，位移传感器与比例电磁铁集成安装；The electronic pressure compensation valve is a pressure compensation valve controlled by a proportional solenoid or a pressure compensation valve controlled by a linear motor or a pressure compensation valve controlled by a ball screw driven by a rotary motor. The electronic pressure compensation valve is a pressure compensation valve controlled by a proportional solenoid. , including displacement sensor (12), proportional solenoid (13), compensation valve body (14), compensation spool (15), spring (16), oil inlet (A), oil outlet (B), The first control chamber (P F ) and the second control chamber ( PE ); the compensation valve core is arranged in the compensation valve body, one end of the spring acts on the left end face C of the compensation valve core, and the other end acts on the compensation valve body, And the compensation valve core forms the first control chamber P F , the proportional electromagnet is connected with the compensation valve body, acts on the right end face D of the compensation valve core, and forms the second control chamber PE with the compensation valve core and the compensation valve body, displacement sensor Integrated installation with proportional electromagnet; 所述的电子压力补偿阀是直线电机控制的压力补偿阀时，包括位移传感器、补偿阀体、补偿阀芯、弹簧、直线电机(17)、进油口(A)、出油口(B)、第Ⅰ控制腔(PF)和第Ⅱ控制腔(PE)；补偿阀芯布置在补偿阀体之中，弹簧一端作用在补偿阀芯左端面C上，另一端作用在补偿阀体上、并与补偿阀芯形成第Ⅰ控制腔PF，位移传感器通过补偿阀体安设在补偿阀芯上，直接检测阀芯的位置X和速度XV，直线电机与补偿阀体连接、安设在补偿阀芯右端面D上，并与补偿阀体、补偿阀芯形成第Ⅱ控制腔PE；When the electronic pressure compensation valve is a pressure compensation valve controlled by a linear motor, it includes a displacement sensor, a compensation valve body, a compensation valve core, a spring, a linear motor (17), an oil inlet (A), and an oil outlet (B) , I control chamber (P F ) and II control chamber ( PE ); the compensation valve core is arranged in the compensation valve body, one end of the spring acts on the left end face C of the compensation valve core, and the other end acts on the compensation valve body , and form the first control chamber PF with the compensation valve core. The displacement sensor is installed on the compensation valve core through the compensation valve body, and directly detects the position X and speed XV of the valve core. The linear motor is connected with the compensation valve body and installed in On the right end face D of the compensation valve core, and form the second control chamber PE with the compensation valve body and the compensation valve core; 所述的电子压力补偿阀是旋转电机驱动滚珠丝杠控制的压力补偿阀时，包括位移传感器、补偿阀体、补偿阀芯、弹簧、旋转电机(18)、滚珠丝杠(19)、连杆(20)、进油口(A)、出油口(B)、第Ⅰ控制腔(PF)和第Ⅱ控制腔(PE)；补偿阀芯布置在补偿阀体之中，弹簧一端作用在补偿阀芯左端面C上，另一端作用在补偿阀体上、并与补偿阀芯形成第Ⅰ控制腔PF，位移传感器通过补偿阀体安设在补偿阀芯上，直接检测阀芯的位置X和速度XV，旋转电机与补偿阀体连接、并与补偿阀体、补偿阀芯形成第Ⅱ控制腔PE，旋转电机伸出轴与滚珠丝杠的螺杆连接，滚珠丝杠的螺母与连杆连接，旋转电机带动滚珠丝杠旋转，通过滚珠丝杠将电机的旋转运动转换为直线运动，从而驱动连杆输出不同的力和位移；When the electronic pressure compensation valve is a pressure compensation valve controlled by a ball screw driven by a rotary motor, it includes a displacement sensor, a compensation valve body, a compensation valve core, a spring, a rotary motor (18), a ball screw (19), and a connecting rod. (20), the oil inlet ( A ), the oil outlet (B), the first control chamber (P F ) and the second control chamber (PE ); the compensation spool is arranged in the compensation valve body, and one end of the spring acts On the left end face C of the compensation valve core, the other end acts on the compensation valve body, and forms the first control chamber P F with the compensation valve core. The displacement sensor is installed on the compensation valve core through the compensation valve body to directly detect the valve core. Position X and speed XV, the rotary motor is connected with the compensation valve body, and forms the second control chamber PE with the compensation valve body and the compensation valve core , the extension shaft of the rotary motor is connected with the screw of the ball screw, and the nut of the ball screw is connected with The connecting rod is connected, the rotating motor drives the ball screw to rotate, and the rotary motion of the motor is converted into a linear motion through the ball screw, thereby driving the connecting rod to output different forces and displacements; 所述的电液压力补偿阀包括位移传感器、补偿阀体、补偿阀芯、弹簧、进油口(A)、出油口(B)、第Ⅰ控制腔(PF)、第Ⅱ控制腔(PE)和第Ⅲ控制腔(PG)；补偿阀芯布置在补偿阀体之中，弹簧一端作用在补偿阀芯左端面C上，另一端作用在补偿阀体上、并与补偿阀芯形成第Ⅰ控制腔PF，位移传感器通过补偿阀体安设在补偿阀芯上，直接检测阀芯的位置X和速度XV，补偿阀芯另一端分别与补偿阀体形成第Ⅱ控制腔PE和第Ⅲ控制腔PG；The electro-hydraulic pressure compensation valve includes a displacement sensor, a compensation valve body, a compensation valve core, a spring, an oil inlet (A), an oil outlet (B), the first control chamber (P F ), the second control chamber ( P E ) and the third control chamber (P G ); the compensation valve core is arranged in the compensation valve body, one end of the spring acts on the left end face C of the compensation valve core, the other end acts on the compensation valve body, and is connected with the compensation valve core The first control chamber P F is formed. The displacement sensor is installed on the compensation valve core through the compensation valve body to directly detect the position X and speed XV of the valve core. The other end of the compensation valve core and the compensation valve body respectively form the second control chamber PE. and the third control chamber P G ; 当采用电液压力补偿阀时，系统还包含有先导油路(21)和先导比例减压阀(22)，先导比例减压阀的输出油口与电液压力补偿阀的第Ⅲ控制腔PG连通，先导比例减压阀的进、出油口分别与先导油路和油箱连通；When the electro-hydraulic pressure compensation valve is used, the system also includes a pilot oil circuit (21) and a pilot proportional pressure reducing valve (22), the output oil port of the pilot proportional pressure reducing valve and the third control chamber P of the electro-hydraulic pressure compensation valve G is connected, and the inlet and outlet ports of the pilot proportional pressure reducing valve are respectively connected with the pilot oil circuit and the fuel tank; 进出口独立控制阀组是由第Ⅰ二位二通比例换向阀(8)、第Ⅱ二位二通比例换向阀(9)、第Ⅲ二位二通比例换向阀(10)和第Ⅳ二位二通比例换向阀(11)构成；The inlet and outlet independent control valve group is composed of the first two-position two-way proportional reversing valve (8), the second two-position two-way proportional reversing valve (9), the third two-position two-way proportional reversing valve (10) and The fourth four-position two-way proportional reversing valve (11) is constituted; 电子压力补偿阀或电液压力补偿阀的进油口A与液压动力源的出油口连通，电子压力补偿阀或电液压力补偿阀的出油口B与压力补偿阀的第Ⅱ控制腔PE、第Ⅱ二位二通比例换向阀的油口CⅡ和第Ⅲ二位二通比例换向阀的油口CⅢ连通，第Ⅰ二位二通比例换向阀的油口CⅠ和第Ⅳ二位二通比例换向阀的油口CⅣ分别与油箱连通，第Ⅰ、第Ⅱ二位二通比例换向阀的油口DⅠ、DⅡ通过油路L1与液压执行器控制腔pA连通，第Ⅲ、第Ⅳ二位二通比例换向阀的油口DⅢ、DⅣ通过油路L2与液压执行器控制腔pA连通，负载选择阀油口E、F分别与油路L1、L2连通，负载选择阀油口G与压力补偿阀第Ⅰ控制腔PF连通，通过控制负载选择阀的工作位置可选择将执行器pA或pB的油液引入压力补偿阀第Ⅰ控制腔PF对其进行控制；The oil inlet A of the electronic pressure compensation valve or electro-hydraulic pressure compensation valve is connected with the oil outlet of the hydraulic power source, and the oil outlet B of the electronic pressure compensation valve or electro-hydraulic pressure compensation valve is connected with the second control chamber P of the pressure compensation valve. E. The oil port C II of the second two-position two-way proportional reversing valve is connected with the oil port C III of the third two-position two-way proportional reversing valve, and the oil port C I of the second two-position two-way proportional reversing valve and the oil port C IV of the second-position two-way proportional reversing valve of IV are respectively connected with the oil tank, and the oil ports D I and D II of the second-position two-way proportional reversing valve of the first and second positions are connected to the hydraulic actuator through the oil circuit L1. The control chamber p A is connected, and the oil ports D III and D IV of the third and fourth two-position proportional reversing valves are communicated with the hydraulic actuator control chamber p A through the oil circuit L2, and the oil ports E and F of the load selection valve are respectively It is connected to the oil circuits L1 and L2, and the oil port G of the load selection valve is connected to the first control chamber PF of the pressure compensation valve. By controlling the working position of the load selection valve, the oil of the actuator p A or p B can be introduced into the pressure compensation valve. The valve I control chamber PF controls it; 或者，进出口独立控制阀组由第Ⅰ三位三通换向阀(23)和第Ⅱ三位三通换向阀(24)构成；电子压力补偿阀或电液压力补偿阀的进油口A与液压动力源的出油口连通，电子压力补偿阀或电液压力补偿阀的出油口B分别与第Ⅰ三位三通换向阀的进油口PⅠ和第Ⅱ三位三通换向阀的进油口PⅡ连通，第Ⅰ三位三通换向阀的出油口TⅠ及第Ⅱ三位三通换向阀的出油口TⅡ分别和油箱连通，第Ⅰ三位三通换向阀的工作油口HⅠ和第Ⅱ三位三通换向阀的工作油口HⅡ分别通过管路L1、L2与液压执行器两腔pA、pB连通，负载选择阀油口E、F分别与油路L1、L2连通，负载选择阀油口G与压力补偿阀第Ⅰ控制腔PF连通。Or, the inlet and outlet independent control valve group is composed of the third three-position three-way reversing valve (23) and the third II three-position three-way reversing valve (24); the oil inlet of the electronic pressure compensation valve or the electro-hydraulic pressure compensation valve A is connected with the oil outlet of the hydraulic power source, and the oil outlet B of the electronic pressure compensation valve or the electro-hydraulic pressure compensation valve is connected with the oil inlet P I and the third three-position three-way valve of the third three-way valve. The oil inlet P II of the reversing valve is connected, the oil outlet T I of the third three-way reversing valve and the oil outlet T II of the third three-way reversing valve are respectively connected to the fuel tank, and the third three-way reversing valve is connected to the oil tank. The working oil port H I of the three-position three-way directional valve and the working oil port H II of the third three-way directional valve are connected to the two cavities p A and p B of the hydraulic actuator through the pipelines L1 and L2 respectively. The valve oil ports E and F are respectively communicated with the oil circuits L1 and L2, and the load selection valve oil port G is communicated with the first control chamber PF of the pressure compensation valve. 2.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的电子压力补偿阀和电液压力补偿阀是常开式和常闭式中的一种。2. An independent control system for oil inlet and outlet with pressure compensation according to claim 1, wherein the electronic pressure compensation valve and the electro-hydraulic pressure compensation valve are one of a normally open type and a normally closed type. kind. 3.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的电子压力补偿阀和电液压力补偿阀还可以布置在进出口独立控制阀组之后。3. A kind of independent control system of oil inlet and outlet with pressure compensation according to claim 1, it is characterized in that: described electronic pressure compensation valve and electro-hydraulic pressure compensation valve can also be arranged after the inlet and outlet independent control valve group . 4.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的位移传感器是集成在比例电磁铁上，通过检测检测比例电磁铁来检测阀芯位置X和速度XV，或是安设在补偿阀芯上，直接检测阀芯的位置X和速度XV。4. An independent control system for oil inlet and outlet with pressure compensation according to claim 1, characterized in that: the displacement sensor is integrated on the proportional electromagnet, and the valve core position is detected by detecting the proportional electromagnet X and speed XV, or installed on the compensation spool, directly detect the position X and speed XV of the spool. 5.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的比例电磁铁是单向比例电磁铁和双向比例电磁铁中的一种。5 . The independent control system for oil inlet and outlet with pressure compensation according to claim 1 , wherein the proportional electromagnet is one of a unidirectional proportional electromagnet and a bidirectional proportional electromagnet. 6 . 6.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的旋转电机是直流电机、同步电机和异步电机中的一种。6 . The oil inlet and outlet independent control system with pressure compensation according to claim 1 , wherein the rotating electrical machine is one of a DC motor, a synchronous motor and an asynchronous motor. 7 . 7.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的液压动力源的液压泵可以是机械式负载敏感泵、电子比例压力泵和电子比例变排量泵的一种，驱动液压泵的动力源可以是恒转速的三相异步电机，可以是交流伺服电机，可以是开关磁阻电机，也可以是内燃发动机。7 . The independent control system for oil inlet and outlet with pressure compensation according to claim 1 , wherein the hydraulic pump of the hydraulic power source can be a mechanical load-sensitive pump, an electronic proportional pressure pump and an electronic proportional pressure pump. 8 . A type of variable displacement pump, the power source for driving the hydraulic pump can be a three-phase asynchronous motor with constant speed, an AC servo motor, a switched reluctance motor, or an internal combustion engine. 8.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：所述的液压执行器可以是单出杆液压缸、双出杆液压缸和液压马达中的一种。8 . The independent control system for oil inlet and outlet with pressure compensation according to claim 1 , wherein the hydraulic actuator can be a single-rod hydraulic cylinder, a double-rod hydraulic cylinder and a hydraulic motor. 9 . A sort of. 9.根据权利要求1所述的一种带压力补偿的进出油口独立控制系统，其特征在于：系统可以同时具有多个液压执行器，多个进出油口独立控制阀组，多个电子压力补偿阀或电液压力补偿阀、或者两种压力补偿阀的组合，而系统只有一个液压动力源。9. An independent control system for oil inlet and outlet with pressure compensation according to claim 1, characterized in that: the system can simultaneously have multiple hydraulic actuators, multiple independent control valve groups for oil inlet and outlet, multiple electronic pressure Compensation valve or electro-hydraulic pressure compensation valve, or a combination of both pressure compensation valves, and the system has only one hydraulic power source.
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