阅读说明：本技术 液压控制系统、支腿装置和控制方法 (Hydraulic control system, support leg device and control method ) 是由 胡磊 王清波 覃会勇 于 2019-11-01 设计创作，主要内容包括：本发明提供了一种液压控制系统、支腿装置和控制方法。其中,液压控制系统包括：油缸；主换向阀和辅换向阀,主换向阀的第一阀口通过辅路与辅换向阀的第二阀口连通,主换向阀的第二阀口通过主路与油缸的无杆腔连通,辅换向阀的第一阀口与油缸的有杆腔连通,辅换向阀的第三阀口通过差动管路接入至主路；液压油泵,与主换向阀的第三阀口连通；液压油箱,与液压油泵、主换向阀的第四阀口连通。通过本发明的技术方案,可实现液压油缸的加速伸出,提升了操作效率,节省时间,还可实现故障检测。(The invention provides a hydraulic control system, a support leg device and a control method. Wherein, hydraulic control system includes: an oil cylinder; the first valve port of the main reversing valve is communicated with the second valve port of the auxiliary reversing valve through an auxiliary path, the second valve port of the main reversing valve is communicated with the rodless cavity of the oil cylinder through a main path, the first valve port of the auxiliary reversing valve is communicated with the rod cavity of the oil cylinder, and the third valve port of the auxiliary reversing valve is connected to the main path through a differential pipeline; the hydraulic oil pump is communicated with the third valve port of the main reversing valve; and the hydraulic oil tank is communicated with the hydraulic oil pump and the fourth valve port of the main reversing valve. By the technical scheme, the hydraulic oil cylinder can be extended out in an accelerated manner, the operation efficiency is improved, the time is saved, and the fault detection can be realized.)

1. A hydraulic control system, comprising:

an oil cylinder;

the first valve port of the main reversing valve is communicated with the second valve port of the auxiliary reversing valve through an auxiliary path, the second valve port of the main reversing valve is communicated with the rodless cavity of the oil cylinder through a main path, the first valve port of the auxiliary reversing valve is communicated with the rod cavity of the oil cylinder, and the third valve port of the auxiliary reversing valve is connected to the main path through a differential pipeline;

the hydraulic oil pump is communicated with the third valve port of the main reversing valve;

and the hydraulic oil tank is communicated with the hydraulic oil pump and the fourth valve port of the main reversing valve.

2. The hydraulic control system of claim 1, further comprising:

the controller is electrically connected with the main reversing valve and the auxiliary reversing valve respectively;

the auxiliary reversing valve comprises a position sensor used for detecting the position of a valve core of the auxiliary reversing valve.

3. The hydraulic control system of claim 2, further comprising:

the pressure sensor is arranged on the main path and electrically connected with the controller, and when the detection pressure value of the pressure sensor is greater than the pressure threshold value, the hydraulic control system stops running; and/or

The safety locking piece is arranged in the main road and the auxiliary road and is a hydraulic lock or a balance valve.

4. The hydraulic control system according to any one of claims 1 to 3,

the main reversing valve is a three-position four-way electromagnetic valve, four valve ports are closed at the first position of the three-position four-way electromagnetic valve, a third valve port is communicated with the first valve port at the second position, a second valve port is communicated with the fourth valve port at the third position, and the first valve port is communicated with the fourth valve port at the third position;

the auxiliary reversing valve is a two-position four-way electromagnetic valve, the first position of the two-position four-way electromagnetic valve is that a first valve port is communicated with a second valve port, a third valve port is communicated with a fourth valve port, the second position is that the first valve port is communicated with the third valve port, the second valve port is communicated with the fourth valve port, the fourth valve port of the auxiliary reversing valve is normally closed, and the auxiliary reversing valve automatically reverses to the first position after power failure.

5. A leg arrangement, comprising:

a leg body;

a leg portion deployable outwardly or retractable inwardly relative to the leg body;

the supporting part is connected with the leg part and can extend downwards or retract upwards;

the first system is connected with the leg part to drive the extension or the retraction of the leg part, and the second system is connected with the supporting part to drive the extension or the retraction of the supporting part;

wherein at least one of the first system and the second system is the hydraulic control system according to any one of claims 1 to 4.

6. A control method for the leg device as claimed in claim 5, comprising:

acquiring a starting signal corresponding to a hydraulic control system;

judging whether the starting signal is an extension signal or not,

if the starting signal is an extension signal, controlling the first system to operate to enable the leg part of the leg device to be unfolded to a first leg position;

controlling the second system to operate to enable the supporting part of the supporting leg device to extend to a first supporting position;

if the starting signal is not an extension signal, controlling the second system to operate, and enabling the supporting part of the supporting leg device to retract to a second supporting position;

and controlling the first system to operate so that the leg part of the leg device is retracted to the second leg position.

7. The control method of claim 6, wherein the controlling the first system to operate to deploy the leg portion of the leg apparatus to the first leg position comprises:

judging whether a pressure value in a main path of the first system is smaller than a first acceleration threshold, and if the pressure value is smaller than the first acceleration threshold, controlling a first valve port of an auxiliary reversing valve of the first system to be communicated with a third valve port;

determining whether the valve core position of the auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the third valve port, if so, executing the next step, otherwise, finishing the operation;

if the pressure value is larger than or equal to the first acceleration threshold value, controlling a first valve port and a second valve port of an auxiliary reversing valve of the first system to be communicated;

determining whether the valve core position of the auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation;

controlling a first valve port and a fourth valve port of a main reversing valve of the first system to be communicated, and controlling a second valve port and a third valve port to be communicated, so that a cylinder of the first system drives a leg part of the leg device to be unfolded;

and judging whether the pressure value in the main path of the first system is greater than or equal to the pressure value corresponding to the position of the first support leg, if so, controlling the main reversing valve of the first system to close, and otherwise, keeping the current operation state.

8. The control method according to claim 6, wherein the controlling the second system to operate to extend the support portion of the leg device to the first support position comprises:

judging whether a pressure value in a main path of the second system is smaller than a second acceleration threshold value or not, and controlling a first valve port and a third valve port of an auxiliary reversing valve of the second system to be communicated if the pressure value is smaller than the second acceleration threshold value;

determining whether the valve core position of the auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the third valve port, if so, executing the next step, otherwise, finishing the operation;

if the pressure value is larger than or equal to a second acceleration threshold value, controlling a first valve port and a second valve port of an auxiliary reversing valve of the second system to be communicated;

determining whether the valve core position of the auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, sending a fault signal, and finishing the operation;

controlling the first valve port and the fourth valve port of the main reversing valve of the second system to be communicated, and controlling the second valve port and the third valve port to be communicated, so that the oil cylinder of the second system drives the supporting part of the supporting leg device to extend;

and judging whether the pressure value in the main path of the second system is greater than or equal to the pressure value corresponding to the first supporting position, if so, ending the operation, and otherwise, keeping the current operation state.

9. The control method according to claim 6, wherein the controlling the second system to operate to retract the support portion of the leg device to the second support position comprises:

controlling a first valve port and a second valve port of an auxiliary reversing valve of the second system to be communicated;

determining whether the valve core position of the auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation;

controlling the first valve port and the third valve port of the main reversing valve of the second system to be communicated, and controlling the second valve port and the fourth valve port to be communicated, so that the oil cylinder of the second system drives the supporting part of the supporting leg device to retract;

controlling a main directional control valve of the second system to be closed when the support portion is retracted to the second support position.

10. The control method of claim 6, wherein said controlling the operation of the first system of the hydraulic control system to retract the leg portion of the leg apparatus to a second leg position comprises:

controlling a first valve port of an auxiliary reversing valve of the first system to be communicated with a second valve port;

determining whether the valve core position of the auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation;

controlling the first valve port and the third valve port of the main reversing valve of the first system to be communicated, and controlling the second valve port and the fourth valve port to be communicated, so that the oil cylinder of the first system drives the leg part of the leg device to retract;

and when the leg part is retracted to the second leg position, ending the operation.

Technical Field

The invention relates to the technical field of hydraulic control, in particular to a hydraulic control system, a supporting leg device and a control method.

Background

At present, a supporting leg device of engineering equipment or a vehicle is mostly controlled by a hydraulic system, and a supporting leg is driven to extend out through a hydraulic oil cylinder, but the problem that the extending process consumes a long time exists. In the hydraulic system capable of accelerating the extending process of the supporting leg, provided in the prior art, the supporting leg needs to be extended in an accelerating manner by increasing the pumping flow of an oil pump or adding an auxiliary oil pump to supplement oil, but the problems that the hydraulic system is complex and high in cost, the reliability of the hydraulic system is influenced by the large fluctuation of the system in the accelerating process, and fault detection cannot be realized still exist.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, it is an object of the present invention to provide a hydraulic control system.

Another object of the present invention is to provide a leg arrangement.

An object of the present invention is to provide a control method.

In order to achieve the above object, an aspect of the present invention provides a hydraulic control system including: an oil cylinder; the first valve port of the main reversing valve is communicated with the third valve port of the auxiliary reversing valve through an auxiliary path, the second valve port of the main reversing valve is communicated with the rodless cavity of the oil cylinder through a main path, the first valve port of the auxiliary reversing valve is communicated with the rod cavity of the oil cylinder, and the third valve port of the auxiliary reversing valve is connected to the main path through a differential pipeline; the hydraulic oil pump is communicated with the third valve port of the main reversing valve; and the hydraulic oil tank is communicated with the hydraulic oil pump and the fourth valve port of the main reversing valve.

According to the hydraulic control system in the technical scheme of the first aspect of the invention, the hydraulic control system comprises the oil cylinder, the main directional control valve and the auxiliary directional control valve, wherein the hydraulic oil pump is communicated with the hydraulic oil pump and the fourth valve port of the main directional control valve, so that hydraulic oil in the hydraulic oil tank is pumped outwards through the hydraulic oil pump, the oil cylinder is driven to extend or retract by the pressure of the hydraulic oil, and meanwhile, the hydraulic oil pressurized in the oil cylinder returns to the hydraulic oil tank.

The first valve port of the main reversing valve and the second valve port of the first auxiliary reversing valve are communicated through the auxiliary path, and the valve port of the auxiliary reversing valve is communicated with the rod cavity of the oil cylinder, so that hydraulic oil in the rod cavity flows to a hydraulic oil tank through the auxiliary path when the oil cylinder extends out, or hydraulic oil in the oil tank flows to the rod cavity of the oil cylinder through the auxiliary path when the oil cylinder retracts; the second valve port of the main reversing valve is communicated with the rodless cavity of the oil cylinder through the main path, so that hydraulic oil in the hydraulic oil tank flows to the rodless cavity of the oil cylinder when the oil cylinder extends out, and hydraulic oil in the rodless cavity of the oil cylinder flows to the hydraulic oil tank when the oil cylinder retracts; the third valve port of the auxiliary reversing valve is communicated with the main road through the first differential pipeline, so that the differential pipeline is closed when the first valve port of the auxiliary reversing valve is communicated with the second valve port, the flow direction of hydraulic oil in the auxiliary road is prevented from being influenced, and when the first valve port of the auxiliary reversing valve is communicated with the third valve port, the hydraulic oil in the rod cavity of the oil cylinder enters the main road through the differential pipeline and enters the rodless cavity of the oil cylinder again, so that the pressure in the rodless cavity of the oil cylinder is increased, and the oil cylinder extends out in an accelerated manner. It should be emphasized that, during the retraction of the cylinder, the main directional control valve needs to be shifted to a position where the first port is communicated with the third port and the second port is communicated with the fourth port, so as to avoid affecting the return of the hydraulic oil to the hydraulic oil tank.

The valve core position detection can be realized through the first auxiliary reversing valve and the second auxiliary reversing valve, so that the valve core position is determined, the detection signal is fed back, and the alarm prompt is carried out on the valve core fault, so that the possibility that the valve core position of the first auxiliary reversing valve or the second auxiliary reversing valve is wrong in the operation process of the hydraulic control system is reduced, and the reliability of the hydraulic control system is improved.

It should be noted that when the load relates to a plurality of components to be driven, the load can be realized by operating a plurality of hydraulic control systems in parallel. For example, when the support leg system is driven by the hydraulic control system, the support leg can be driven to extend out by one hydraulic control system, and when the support leg extends to a target position, the support leg is driven to lift up by the other hydraulic control system.

It will be appreciated that the cylinder may also be a multi-stage cylinder or a combination cylinder.

In addition, the hydraulic control system in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical solution, the hydraulic control system further comprises a controller electrically connected to the main directional control valve and the auxiliary directional control valve, respectively; the auxiliary directional valve includes a position sensor to detect a spool position of the auxiliary directional valve.

In the technical scheme, the controller is arranged, the main reversing valve and the auxiliary reversing valve are electrically connected with the controller, so that the main reversing valve and the auxiliary reversing valve are respectively controlled through the controller, the signal response speed is high, the mutual connection accuracy is high, the control precision and the response speed of the hydraulic control system are favorably improved, and the operation efficiency and the reliability of a load are improved. The auxiliary reversing valve comprises a position sensor, so that the position of a valve core of the auxiliary reversing valve is detected through the position sensor, and a detection signal is fed back, further, when the position of the valve core of the auxiliary reversing valve is detected to be in a wrong position before the hydraulic control system operates, an alarm prompt can be given, for example, when the oil cylinder is retracted, if the auxiliary reversing valve is detected to be in a position where a first valve port is communicated with a third valve port, namely a rod cavity of the oil cylinder is communicated with a differential pipeline through the auxiliary reversing valve, hydraulic oil in the rod cavity of the oil cylinder cannot normally flow back to a hydraulic oil tank at the moment, the detection signal is fed back through the position sensor, and the alarm prompt is given to the position state of the valve core of the auxiliary reversing valve, so that the possibility that the hydraulic control system operates in a wrong pipeline connection state is reduced, the reliability of the hydraulic control system is improved.

In the above technical solution, the hydraulic control system further includes: the pressure sensor is arranged on the main road and electrically connected with the controller, and when the detection pressure value of the pressure sensor is greater than the pressure threshold value, the hydraulic control system finishes operation; and/or a safety locking piece which is arranged in the main road and the auxiliary road, wherein the safety locking piece is a hydraulic lock or a balance valve.

In the technical scheme, the pressure sensor is arranged on the main path, the pressure sensor is used for detecting the pressure value in the main path, meanwhile, the pressure sensor is electrically connected with the controller to feed back the detected pressure signal to the controller, the controller is used for judging the pressure value, and therefore when the pressure value in the main path reaches the pressure value corresponding to the target position, the controller is used for controlling the hydraulic control system to stop running. In the operation process of the hydraulic control system, if the detection pressure value of the pressure sensor is larger than the first pressure threshold value, the pressure value in the system is indicated to exceed the safe pressure range which can be borne by the pipeline, the pipeline of the system can be failed when the system is continuously operated, the main reversing valve is controlled to be reversed to the closing position, oil supply is stopped, safety accidents are prevented, and therefore safety early warning is achieved. The safety locking piece is arranged in the main road and the auxiliary road to lock and protect the hydraulic control system, so that the original pressure can be still kept when a part of pipelines in the hydraulic control system are in fault, the phenomenon that the oil cylinder is out of control due to sudden pressure loss caused by the fault is avoided, and safety accidents can be effectively prevented. Further, the safety latch may be a hydraulic lock or a balanced valve. The safety locking piece is arranged to be a hydraulic lock, so that when hydraulic oil flows from the main reversing valve to the oil cylinder through the main path or the auxiliary path, the main path and the auxiliary path are all communicated, and when no hydraulic oil flows between the main reversing valve and the safety locking piece, the main path and the auxiliary path are all closed, the main reversing valve is locked, the pressure born by the main reversing valve in a closed state is reduced, and the safety protection effect is achieved. The safety locking piece is arranged as the balance valve, so that when hydraulic oil flows from the main reversing valve to the oil cylinder through the main path or the auxiliary path, the main path and the auxiliary path are all communicated, and when no hydraulic oil flows between the main reversing valve and the safety locking piece, the hydraulic oil in the oil cylinder cannot flow to the main reversing valve through the auxiliary path and the safety locking piece, so that the main reversing valve is prevented from directly bearing the pressure load of a rod cavity of the oil cylinder, and the possibility of failure of the main reversing valve due to overlarge pressure is reduced.

In the technical scheme, the main reversing valve is a three-position four-way electromagnetic valve, the first position of the three-position four-way electromagnetic valve is that four valve ports are closed, the second position is that a third valve port is communicated with the first valve port and a second valve port is communicated with a fourth valve port, and the third position is that the first valve port is communicated with the fourth valve port and the third valve port is communicated with the second valve port; the auxiliary reversing valve is a two-position four-way electromagnetic valve, the first position of the two-position four-way electromagnetic valve is that the first valve port is communicated with the second valve port, the second valve port is communicated with the fourth valve port, the second position of the two-position four-way electromagnetic valve is that the first valve port is communicated with the third valve port, the second valve port is communicated with the fourth valve port, the fourth valve port of the auxiliary reversing valve is normally closed, and the auxiliary reversing valve automatically reverses to the first position after power failure.

In the technical scheme, the main reversing valve is limited to be a three-position four-way electromagnetic valve, so that the operation state of the hydraulic control system is changed by controlling the reversing of the main reversing valve, specifically, the first position of the main reversing valve is that four valve ports are all closed, the second position is that a third valve port is communicated with the first valve port and a second valve port is communicated with a fourth valve port, the third position is that the first valve port is communicated with the fourth valve port and the third valve port is communicated with the second valve port, when the main reversing valve is located at the first position, the hydraulic control system is in a stop operation state, when the main reversing valve is located at the second position, the oil cylinder is driven to retract, and when the main reversing valve is located at the third position, the oil cylinder is driven to extend.

The auxiliary reversing valve is a two-position four-way valve, so that the extending state of the oil cylinder is changed through the auxiliary reversing valve, namely the extending state in a conventional mode or the extending state in an accelerating mode. Specifically, when the auxiliary reversing valve is at the first position, the first valve port is communicated with the second valve port, the third valve port is communicated with the fourth valve port, when the two-position four-way electromagnetic valve is at the second position, the first valve port is communicated with the third valve port, the second valve port is communicated with the fourth valve port, when the auxiliary reversing valve is at the first position, the auxiliary path is communicated, the oil cylinder is subjected to extension operation in a conventional mode, when the auxiliary reversing valve is at the second position, the auxiliary path is disconnected, the differential pipeline is conducted, and the oil cylinder is subjected to extension operation in an accelerating mode.

The automatic return function is set for the auxiliary reversing valve, so that the valve core automatically returns to the first position after the auxiliary reversing valve is powered off, and the valve core of the auxiliary reversing valve is located at the conventional position of the first position when the hydraulic control system is started again after the hydraulic control system is powered off every time, so that the possibility of abnormal pipeline connection is reduced, and the reliability of the hydraulic control system is improved.

In a second aspect of the present invention, there is provided a leg device, including: a leg body; a leg portion which can be expanded outwards or retracted inwards relative to the leg body; the supporting part is connected with the leg part and can extend downwards or retract upwards; the first system is connected with the leg part to drive the leg part to be unfolded or retracted, and the second system is connected with the supporting part to drive the supporting part to be extended or retracted; wherein at least one of the first system and the second system is the hydraulic control system according to any one of the above-described first aspect.

According to the leg device in the technical scheme of the second aspect, the leg part is unfolded or retracted outwards relative to the leg body to realize the horizontal movement of the leg, so that the radiation area of the leg device is enlarged, the overall stability is improved, and the possibility of side tilting is reduced; the supporting part connected to the leg part extends downwards to abut against the ground or a mounting surface so as to realize the supporting function of the leg device, and the equipment carrying the leg device can be lifted integrally to leave the ground according to specific conditions so as to reduce the pressure effect on the equipment and avoid influencing the stability of the leg device. In addition, the leg device further comprises a first system and a second system, wherein the oil cylinder of the first system is connected with the leg portion to drive the leg portion to expand or retract, and the oil cylinder of the second system is connected with the supporting portion to drive the supporting portion to extend or retract, wherein at least one of the first system and the second system is the hydraulic control system in any one of the above technical solutions of the first aspect. This scheme still has all beneficial effects of the hydraulic control system in the above-mentioned first aspect technical scheme, and no longer repeated here.

It should be emphasized that the motion form of the leg part can be either telescopic or rotary.

It can be understood that, most of the equipment using the leg device is heavy engineering equipment, and particularly when a swing mechanism or a lifting mechanism is mounted on the equipment, the center of gravity of the whole equipment is shifted, and at this time, the center of gravity of the whole equipment can be adjusted by adjusting the extension and retraction of the leg device to keep stable.

It should be noted that, when the equipment using the leg device is a wheeled vehicle, the wheels of the vehicle may elastically deform when being pressed, and the vehicle is likely to shake, which affects the overall stability of the vehicle.

In a third aspect of the present invention, there is provided a control method for a leg device in the second aspect, including: acquiring a starting signal corresponding to a hydraulic control system;

judging whether the starting signal is an extending signal or not, and if the starting signal is the extending signal, controlling a first system to operate to enable the leg part of the leg device to be unfolded to a first leg position; controlling the second system to operate to enable the supporting part of the supporting leg device to extend to the first supporting position; if the starting signal is not the extension signal, controlling the second system to operate, and enabling the supporting part of the supporting leg device to retract to a second supporting position; and controlling the first system to operate so that the leg part of the leg device is retracted to the second leg position.

According to the control method in the third aspect of the present invention, whether to activate the hydraulic control system is determined by acquiring an activation signal corresponding to the hydraulic control system; determining to control the starting of the first system or the second system by judging whether the starting signal is an extending signal or a retracting signal, specifically, if the starting signal is determined to be the extending signal, firstly controlling the first system to operate, namely controlling the leg part of the leg device to be unfolded to a first leg position, wherein the first leg position is a target position corresponding to the unfolding state of the leg part, and then controlling the second system to operate, namely controlling the supporting part of the leg device to extend to the first supporting position, wherein the first supporting position is a target position corresponding to the extending state of the supporting part, so as to complete the extending operation; if the starting signal is determined to be the retracting signal, the second system is controlled to operate, namely the supporting part of the supporting leg device is controlled to retract to a second supporting position, the second supporting position is a target position corresponding to the retracting state of the supporting part, then the supporting leg part of the supporting leg device is controlled to retract to a second supporting leg position, and the second supporting leg position is a target position corresponding to the retracting state of the supporting leg part, so that the retracting operation is completed.

In the above technical solution, controlling the first system to operate so that the unfolding of the leg portion of the leg device to the first leg position specifically includes: judging whether the pressure value in the main path of the first system is smaller than a first acceleration threshold value or not, and controlling the first valve port and the third valve port of the auxiliary reversing valve of the first system to be communicated if the pressure value is smaller than the first acceleration threshold value; determining whether the valve core position of an auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the third valve port, if so, executing the next step, otherwise, finishing the operation; if the pressure value is larger than or equal to the first acceleration threshold value, controlling a first valve port and a second valve port of an auxiliary reversing valve of the first system to be communicated; determining whether the valve core position of an auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation; controlling the first valve port and the fourth valve port of the main reversing valve of the first system to be communicated, and controlling the second valve port and the third valve port to be communicated, so that the oil cylinder of the first system drives the leg part of the leg device to be unfolded; and judging whether the pressure value in the main path of the first system is greater than or equal to the pressure value corresponding to the position of the first support leg, if so, controlling the main reversing valve of the first system to close, and otherwise, keeping the current operation state.

In the technical scheme, whether the first system is controlled to start the accelerated extension mode or not is determined by determining the magnitude relation between the pressure value in the main path of the first system and the first acceleration threshold. Specifically, if the pressure value in the main path of the first system is smaller than the first acceleration threshold, the rod chamber of the cylinder of the first system is communicated with the differential pipeline of the first system by controlling the communication between the first valve port and the third valve port of the auxiliary reversing valve of the first system. Detecting the position of a valve core of an auxiliary reversing valve of the first system through a position sensor of the first system to ensure that the valve core of the auxiliary reversing valve of the first system moves to a specified position, if the condition that the valve core of the auxiliary reversing valve of the first system does not move to the specified position is detected, indicating that the auxiliary reversing valve of the first system breaks down, feeding a fault signal back to a controller by the position sensor of the first system, and controlling the system to stop running to be overhauled by the controller; furthermore, an alarm prompt can be given, such as a fault lamp is lightened, a buzzer sounds, and a voice prompt is given; when the valve core of the auxiliary reversing valve of the first system moves to a specified position, the first valve port and the fourth valve port of the main reversing valve of the first system are controlled to be communicated, the second valve port and the third valve port are controlled to be communicated, the main path and the differential pipeline of the first system are simultaneously communicated, namely, the first system is controlled to be in an accelerated extension mode, at the moment, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank, the hydraulic oil flows into the rodless cavity of the oil cylinder through the main path of the first system, the oil cylinder is further pushed to extend, the leg portion is driven to extend, the hydraulic oil in the rod cavity of the oil cylinder is converged into the main path through the differential pipeline and enters the rodless cavity of the oil cylinder again, and therefore, the extending speed of the oil cylinder is increased by increasing the flow of the hydraulic.

If the pressure value in the main path of the first system is larger than or equal to the first acceleration threshold value, the rod cavity of the oil cylinder of the first system is communicated with the auxiliary path by controlling the first valve port of the auxiliary reversing valve of the first system to be communicated with the second valve port. Detecting the position of a valve core of the auxiliary reversing valve through a position sensor of the first system to ensure that the valve core of the auxiliary reversing valve moves to a specified position, if the valve core of the auxiliary reversing valve of the first system is detected not to move to the specified position, indicating that the auxiliary reversing valve fails, feeding a failure signal back to the controller through the position sensor, and controlling the system to stop running to be overhauled by the controller; furthermore, an alarm prompt can be given, such as a fault lamp lighting, a buzzer sounding and a voice prompt. When a valve core of an auxiliary reversing valve of the first system moves to a designated position, the first valve port and the fourth valve port of the main reversing valve of the first system are controlled to be communicated, the second valve port and the third valve port are controlled to be communicated, so that a main path and an auxiliary path of the first system are simultaneously communicated, namely the first system is controlled to be in a conventional extension mode, at the moment, a hydraulic oil pump pumps hydraulic oil in a hydraulic oil tank and flows into a rodless cavity of an oil cylinder through the main path of the first system, a piston rod of the oil cylinder is further pushed to extend, a leg portion is driven to extend, and the hydraulic oil in a rod cavity of the oil cylinder flows back to the hydraulic oil tank through the auxiliary path of the first system. Monitoring the extending position of an oil cylinder of the first system by determining a pressure value in a main path of the first system, if the pressure value is greater than or equal to the pressure value corresponding to the position of the first supporting leg, indicating that the supporting leg is unfolded to a target position, controlling a main reversing valve of the first system to reverse to a closing position, stopping supplying oil to the main path of the first system, and completing the extending operation of the supporting leg; and if the pressure value in the main path of the first system does not reach the position corresponding to the first supporting leg, indicating that the supporting leg does not extend to the target position, continuously supplying oil to the main path of the first system. The first acceleration threshold may be determined through testing, or may be set manually, for example, 80% of the maximum pressure value that the system can bear, and 80% of the first main path flow area ratio. The pressure values corresponding to the first leg positions are all determined by testing.

In the above technical solution, controlling the second system to operate to extend the support portion of the leg device to the first support position specifically includes: judging whether the pressure value in the main path of the second system is smaller than a second acceleration threshold value or not, and controlling the first valve port and the third valve port of the auxiliary reversing valve of the second system to be communicated if the pressure value is smaller than the second acceleration threshold value; determining whether the valve core position of an auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the third valve port, if so, executing the next step, otherwise, finishing the operation; if the pressure value is larger than or equal to the second acceleration threshold value, controlling the first valve port and the second valve port of the auxiliary reversing valve of the second system to be communicated; determining whether the valve core position of an auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, sending a fault signal and finishing the operation; controlling the first valve port and the fourth valve port of the main reversing valve of the second system to be communicated, and controlling the second valve port and the third valve port to be communicated, so that the supporting part of the oil cylinder driving support leg device of the second system extends out; and judging whether the pressure value in the main path of the second system is greater than or equal to the pressure value corresponding to the first supporting position, if so, ending the operation, and otherwise, keeping the current operation state.

In the technical scheme, whether the second system is controlled to start the acceleration jacking mode or not is determined by determining the magnitude relation between the pressure value in the second main path of the hydraulic control system and the second acceleration threshold. Specifically, if the pressure value in the main path of the second system is smaller than the second acceleration threshold, the rod chamber of the cylinder of the second system is communicated with the differential pipeline of the second system by controlling the communication between the first valve port and the third valve port of the auxiliary reversing valve of the second system. Detecting the position of a valve core of an auxiliary reversing valve of the second system through a position sensor of the second system to ensure that the valve core of the auxiliary reversing valve of the second system moves to a specified position, if the condition that the valve core of the auxiliary reversing valve of the second system does not move to the specified position is detected, indicating that the auxiliary reversing valve fails, feeding a fault signal back to a controller by the position sensor, and controlling the system to stop running to be overhauled by the controller; furthermore, an alarm prompt can be given, such as a fault lamp lighting, a buzzer sounding and a voice prompt. When the valve core of the auxiliary reversing valve of the second system moves to a specified position, the first valve port and the fourth valve port of the main reversing valve of the second system are controlled to be communicated, the second valve port and the third valve port are controlled to be communicated, so that the main path and the differential pipeline of the second system are simultaneously communicated, namely the second system is controlled to be in an acceleration jacking mode, at the moment, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank, the hydraulic oil flows into the rodless cavity of the oil cylinder of the second system through the main path of the second system, the piston rod of the oil cylinder is further pushed to extend, the supporting part is driven to extend, the hydraulic oil in the rod cavity of the oil cylinder is converged into the main path through the differential pipeline of the second system and flows into the rodless cavity of the oil cylinder again, and the piston rod of the oil cylinder is accelerated to extend through the.

If the pressure value in the main path of the second system is larger than or equal to the second acceleration threshold value, the rod cavity of the oil cylinder of the second system is communicated with the auxiliary path by controlling the first valve port of the auxiliary reversing valve of the second system to be communicated with the second valve port. Detecting the position of a valve core of an auxiliary reversing valve of a second system through a position sensor of the second system to ensure that the valve core of the auxiliary reversing valve moves to a specified position, if the valve core of the auxiliary reversing valve of the second system is detected not to move to the specified position, indicating that the auxiliary reversing valve fails, feeding a failure signal back to a controller by the position sensor, and controlling the system to stop running to be overhauled by the controller; furthermore, an alarm prompt can be given, such as a fault lamp lighting, a buzzer sounding and a voice prompt. When the valve core of the auxiliary reversing valve of the second system moves to a specified position, the first valve port and the fourth valve port of the main reversing valve of the second system are controlled to be communicated, the second valve port and the third valve port are controlled to be communicated, so that the second main path and the second auxiliary path are simultaneously communicated, namely the second system is controlled to be in a conventional jacking mode, at the moment, the hydraulic oil pump pumps out hydraulic oil in the hydraulic oil tank and flows into the rodless cavity of the oil cylinder through the main path of the second system, the piston rod of the oil cylinder is further pushed to extend, the supporting part is driven to extend, and the hydraulic oil in the rod cavity of the oil cylinder returns to the hydraulic oil tank through the auxiliary path. Determining the extending position of the supporting part by determining the pressure value in the main path of the second system, if the pressure value is greater than or equal to the pressure value corresponding to the first supporting position, indicating that the supporting part extends to the target position, controlling the main reversing valve of the second system to reverse to the closing position, and stopping supplying oil to the main path of the second system; and if the pressure value in the main path of the second system does not reach the pressure value corresponding to the first support position, indicating that the support part does not extend to the first support position, continuously supplying oil to the main path of the second system. The second acceleration threshold may be determined through testing, or may be set manually, for example, 80% of the maximum pressure value that the system can bear, and 80% of the flow area ratio of the second main path. The pressure value corresponding to the first support position is determined by testing.

In the above technical solution, controlling the second system to operate to retract the support portion of the leg device to the second support position specifically includes: controlling a first valve port of an auxiliary reversing valve of the second system to be communicated with a second valve port; determining whether the valve core position of an auxiliary reversing valve of the second system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation; controlling the first valve port and the third valve port of the main reversing valve of the second system to be communicated, and controlling the second valve port and the fourth valve port to be communicated, so that the oil cylinder of the second system drives the supporting part of the supporting leg device to retract; and controlling the main reversing valve of the second system to be closed when the supporting part is retracted to the second supporting position.

In the technical scheme, a first valve port of an auxiliary reversing valve of a second system is controlled to be communicated with a second valve port, so that a rod cavity of an oil cylinder of the second system is communicated with an auxiliary path of the second system; the position sensor of the second system is used for detecting the valve core position of the auxiliary reversing valve of the second system, so that the rod cavity of the oil cylinder of the second system is communicated with the auxiliary path in the retracting process, and pipeline faults are avoided. Specifically, if the valve core is positioned at the position where the first valve port of the auxiliary reversing valve of the second system is communicated with the second valve port, the rod cavity of the oil cylinder is in a communicated state with the auxiliary path of the second system, and the next step is normally executed; if the auxiliary reversing valve of the second system is not located at the position where the first valve port is communicated with the second valve port, the auxiliary reversing valve is indicated to be in fault, the position sensor feeds back a fault signal to the controller, and the controller controls the system to finish running to be overhauled; furthermore, an alarm prompt can be given, such as a fault lamp lighting, a buzzer sounding and a voice prompt. When the valve core of the auxiliary reversing valve of the second system moves to the position where the first valve port is communicated with the second valve port, the first valve port and the third valve port of the main reversing valve of the second system are communicated, and the second valve port and the fourth valve port of the main reversing valve of the second system are communicated, so that the main road and the auxiliary road of the second system are simultaneously communicated, at the moment, the hydraulic oil pump pumps out the hydraulic oil in the hydraulic oil tank, the hydraulic oil flows into the rod cavity of the oil cylinder through the auxiliary road of the second system, the piston rod of the oil cylinder is pushed to retract, and the supporting part is driven to retract.

In the above technical solution, controlling the first system to operate so that the leg portion of the leg device is retracted to the second leg position specifically includes: controlling a first valve port of an auxiliary reversing valve of the first system to be communicated with a second valve port; determining whether the valve core position of an auxiliary reversing valve of the first system is in a position where the first valve port is communicated with the second valve port, if so, executing the next step, otherwise, finishing the operation; controlling the first valve port and the third valve port of the main reversing valve of the first system to be communicated, and controlling the second valve port and the fourth valve port to be communicated, so that the oil cylinder of the first system drives the leg part of the leg device to retract; and when the leg part is retracted to the second leg position, the operation is finished.

In the technical scheme, a first valve port of an auxiliary reversing valve of a first system is controlled to be communicated with a second valve port, so that a rod cavity of an oil cylinder of the first system is communicated with an auxiliary path of the first system; the position sensor of the first system is used for detecting the valve core position of the auxiliary reversing valve of the first system so as to ensure that the rod cavity of the oil cylinder of the first system is communicated with the auxiliary path of the first system in the retracting process, thereby avoiding pipeline failure. Specifically, if the valve core is positioned at a position where a first valve port and a second valve port of an auxiliary reversing valve of the first system are communicated, the rod cavity of the oil cylinder and an auxiliary path are in a communicated state, the next step is normally executed, if the auxiliary reversing valve is not positioned at the position where the first valve port and the second valve port are communicated, the auxiliary reversing valve is indicated to be in a fault state, a position sensor feeds a fault signal back to a controller, and the controller controls the system to finish running to be overhauled; furthermore, an alarm prompt can be given, such as a fault lamp lighting, a buzzer sounding and a voice prompt. When a valve core of the auxiliary reversing valve of the first system is positioned at a position where the first valve port is communicated with the second valve port, the first valve port and the third valve port of the main reversing valve of the first system are communicated, and the second valve port and the fourth valve port of the main reversing valve of the first system are communicated, so that a main road and an auxiliary road of the first system are simultaneously communicated, at the moment, the hydraulic oil pump pumps hydraulic oil in the hydraulic oil tank, the hydraulic oil flows into a rod cavity of the oil cylinder through the auxiliary road of the first system, pushes a piston rod of the oil cylinder to retract, and further drives the leg portion to retract, when the leg portion retracts to the position of the second leg, the leg portion is retracted to a target position, the main reversing valve of the first system is controlled to be reversed to a closed position, oil supply to the auxiliary road of the first system is stopped, and therefore.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 illustrates a schematic diagram of a hydraulic control system according to one embodiment of the present disclosure;

FIG. 2 illustrates a schematic diagram of a hydraulic control system according to one embodiment of the present disclosure;

FIG. 3 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 4 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 5 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 6 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 7 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 8 shows a schematic diagram of a hydraulic control system according to an embodiment of the present invention;

FIG. 9 shows a flow chart of a control method according to an embodiment of the invention;

FIG. 10 shows a flow chart of a control method according to an embodiment of the invention;

FIG. 11 shows a flow chart of a control method according to an embodiment of the invention;

FIG. 12 shows a flow chart of a control method according to an embodiment of the invention;

fig. 13 shows a flow chart of a control method according to an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 8 is:

1 the first system, 11 the first main diverter valve, 111 the first port of the first main diverter valve, 112 the second port of the first main diverter valve, 113 the third port of the first main diverter valve, 114 the fourth port of the first main diverter valve, 12 the first auxiliary diverter valve, 121 the first port of the first auxiliary diverter valve, 122 the second port of the first auxiliary diverter valve, 123 the third port of the first auxiliary diverter valve, 124 the fourth port of the first auxiliary diverter valve, 125 the first position sensor, 13 the first cylinder, 14 the hydraulic lock, 15 the first pressure sensor, 2 the second system, 21 the second main diverter valve, 211 the first port of the second main diverter valve, 212 the second port of the second main diverter valve, 213 the third port of the second main diverter valve, 214 the fourth port of the second main diverter valve, 22 the second auxiliary diverter valve, 221 of the second auxiliary diverter valve, 222 the second port of the second auxiliary diverter valve, 223 the third port of the second auxiliary diverter valve, 224 a fourth port of the second auxiliary reversing valve, 225 a second position sensor, 23 a second oil cylinder, 24 a balance valve, 25 a second pressure sensor, 3 a hydraulic oil pump and 4 a hydraulic oil tank.

In fig. 3 to 8, the thick solid line represents a pipeline communicated during the operation of the hydraulic control system, and the arrow direction represents the flow direction of the hydraulic oil.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A hydraulic control system, a leg device, a control method, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 13.