阅读说明：本技术 泵阀复合控缸力控与阀控缸位控组合加载装置及控制方法 (Pump valve composite cylinder control force control and valve control cylinder position control combined loading device and control method ) 是由 巴凯先 俞滨 娄文韬 刘瑞栋 孔祥东 于 2019-10-11 设计创作，主要内容包括：本发明公开了一种泵阀复合控缸力控与阀控缸位控组合加载装置及控制方法。该装置包括：泵阀复合控缸力控制系统、阀控缸位置闭环系统、控制装置以及供油油箱；泵阀复合控缸力控制系统包括第一非对称缸、第一压力传感器、第二压力传感器、第一伺服阀、第二伺服阀、第一动力装置、力传感器和补油装置；阀控缸位置闭环系统包括第二非对称缸、位移传感器、第三伺服阀和第二动力装置；力传感器、第一压力传感器、第二压力传感器和位移传感器分别与控制装置的输入端电连接；第一动力装置、第一伺服阀、第二伺服阀和第三伺服阀分别与控制装置的控制端电连接。采用本发明的装置及方法,能够在提高响应速度的同时提高控制精度。(The invention discloses a combined loading device and a control method for force control of a pump valve combined cylinder control and position control of a valve control cylinder. The device includes: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank; the pump valve composite control cylinder force control system comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the valve control cylinder position closed-loop system comprises a second asymmetric cylinder, a displacement sensor, a third servo valve and a second power device; the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device. By adopting the device and the method, the response speed can be improved, and the control precision can be improved.)

1. The utility model provides a pump valve is compound accuse jar power accuse and valve control jar position control combination loading device which characterized in that includes: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank;

the compound cylinder control force control system of pump valve specifically includes: the device comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the first end of the first servo valve is connected with a rod cavity of the first asymmetric cylinder, and the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the rodless cavity of the first asymmetric cylinder, and the second end of the second servo valve is connected with the oil supply tank; the first pressure sensor is arranged on a pipeline between the first asymmetric cylinder rod cavity and the first servo valve and is close to the first asymmetric cylinder rod cavity, and the first pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rod cavity; the second pressure sensor is arranged on a pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and is close to the first asymmetric cylinder rodless cavity, and the second pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rodless cavity; a first output end of the first power device is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first power device is connected with the rodless cavity of the first asymmetric cylinder; the oil inlet end of the oil supplementing device is connected with the oil supply oil tank, and the first asymmetric cylinder rod cavity and the first asymmetric cylinder rodless cavity are respectively connected with the oil outlet end of the oil supplementing device;

the closed loop system for the position of the valve control cylinder specifically comprises: the second asymmetric cylinder, the displacement sensor, the third servo valve and the second power device; the rod cavity of the first asymmetric cylinder is connected with the rod cavity of the second asymmetric cylinder; the force sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the first asymmetric cylinder rod cavity, and the force sensor is used for detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the second asymmetric cylinder rod cavity, and the displacement sensor is used for detecting an output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with a rodless cavity of a second asymmetric cylinder, the second end of the third servo valve is connected with a rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of a second power device, the third end of the first servo valve and the third end of the second servo valve, and the fourth end of the third servo valve is connected with the oil supply tank; the input end of the second power device is connected with the oil supply tank;

the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.

2. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 1, wherein the control device specifically comprises:

the device comprises a first control module, a second control module, a third control module and a fourth control module;

the first control module specifically includes: the device comprises an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected with the input force conversion module, the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor and is used for converting the load force detected by the force sensor into a load force signal; the first controller is used for carrying out deviation processing on the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal;

the second control module specifically includes: the system comprises a first pressure conversion module and a second controller; a first input end of the second controller is connected with the first pressure sensor, a second input end of the second controller is connected with the first pressure conversion module, and a control end of the second controller is connected with the first servo valve; the second controller is used for carrying out deviation processing on a pressure signal of a rod cavity of the first asymmetric cylinder detected by the first pressure sensor and a first input pressure voltage signal converted by the first pressure conversion module to obtain a second deviation signal, and controlling the first servo valve to adjust the size of the valve port according to the second deviation signal;

the third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected with the second pressure sensor, the second input end of the third controller is connected with the second pressure conversion module, and the control end of the third controller is connected with the second servo valve; the third controller is used for carrying out deviation processing on a pressure signal of the first asymmetric cylinder rodless cavity detected by the second pressure sensor and a second input pressure voltage signal converted by the second pressure conversion module to obtain a third deviation signal, and controlling the second servo valve to adjust the size of the valve port according to the third deviation signal;

the fourth control module specifically includes: inputting a position conversion module and a fourth controller; a first input end of the fourth controller is connected with the input position conversion module, a second input end of the fourth controller is connected with the displacement sensor, and a control end of the fourth controller is connected with the third servo valve; the fourth controller is used for performing deviation processing on an input position voltage signal obtained by conversion of the input position conversion module and an output position voltage signal detected by the displacement sensor to obtain a fourth deviation signal, and controlling the third servo valve to adjust the size of the valve port according to the fourth deviation signal.

3. The combined cylinder force control and valve cylinder position control loading device of the pump valve according to claim 2,

the first input pressure voltage signal is 5bar or (A)₁P₁-F)/A₂；

The second input pressure voltage signal is 5bar or (F + A)₂P₂)/A₁；

Wherein F represents a load force signal, P₁Representing the pressure signal, P, of the rodless chamber of the first asymmetric cylinder₂Indicating the pressure signal of the rod chamber of the first asymmetric cylinder, A₁Denotes the first asymmetric cylinder rodless chamber piston contact area, A₂Showing the first asymmetric cylinder rod chamber piston contact area.

4. The combined loading device of force control and position control of the pump-valve cylinder according to claim 1, wherein the oil supplementing device specifically comprises:

the oil pump comprises a pressurizing oil tank, a first one-way valve, a second one-way valve, a third one-way valve, an oil discharge one-way valve, a first filter, an oil supplementing pump and an oil supplementing motor;

the pressurizing oil tank is respectively connected with the first one-way valve conducting end, the second one-way valve conducting end, the third one-way valve stopping end and the oil unloading one-way valve conducting end; the stop end of the first check valve is connected with the rod cavity of the first asymmetric cylinder; the stop end of the second one-way valve is connected with the rodless cavity of the first asymmetric cylinder; the cut-off end of the oil discharge one-way valve is connected with the oil supply tank; the input of fuel feeding pump with the fuel feeding oil tank is connected, the feed end of fuel feeding pump with the fuel feeding motor is connected, the output end of fuel feeding pump with the input of first filter is connected, the output of first filter with the end connection that switches on of third check valve.

5. The combined cylinder force control and valve cylinder position control loading device of the pump valve according to claim 4,

the first power device specifically comprises: a first gear pump and a first servo motor; the power supply end of the first gear pump is connected with the first servo motor; a first output end of the first gear pump is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder;

the second power device specifically comprises: a second gear pump and a second servo motor; the power supply end of the second gear pump is connected with the second servo motor; and the output end of the second gear pump is connected with the third end of the third servo valve, and the input end of the second gear pump is connected with the oil supply tank.

6. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 5, wherein the second power device further comprises:

the first stop valve, the second stop valve, the third stop valve, the second filter, the fourth one-way valve, the pressure gauge and the energy accumulator;

the output end of the second gear pump is respectively connected with the conducting end of the fourth one-way valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the stop end of the fourth one-way valve is respectively connected with one end of the second filter and one end of the second stop valve, and the other end of the second stop valve is connected with the energy accumulator; the other end of the second filter is connected with one end of the first stop valve, and the other end of the first stop valve is connected with the third end of the third servo valve.

7. The combined cylinder force control and valve cylinder position control loading device of the pump valve as claimed in claim 5, wherein the combined cylinder force control and valve cylinder position control loading device of the pump valve further comprises:

a liquid level liquid thermometer, a cooler, a low-pressure ball valve and an air filter;

one end of the cooler is connected with the oil supply tank, and the other end of the cooler is respectively connected with the second end of the first servo valve, the second end of the second servo valve, the cut-off end of the oil discharge one-way valve, the input end of the oil replenishing pump and the input end of the second gear pump; the liquid level thermometer is arranged on a pipeline of the cooler and the oil supply tank; one end of the low-pressure ball valve is connected with the air filter, and the other end of the low-pressure ball valve is connected with the cooler.

8. A combined loading control method of force control and position control of a pump valve combined cylinder control is applied to the combined loading device of force control and position control of the pump valve combined cylinder control and valve cylinder control of any one of claims 1 to 7, and is characterized by comprising the following steps:

acquiring the load force of a first asymmetric cylinder detected by a force sensor, and carrying out force load servo control on a first power device by a control device according to the load force of the first asymmetric cylinder;

the control device performs pressure servo control on a first servo valve according to the pressure signal of the rod cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusts the size of a valve port of the first servo valve, and performs oil supplement or oil discharge on the rod cavity of the first asymmetric cylinder;

acquiring a pressure signal of a rodless cavity of a first asymmetric cylinder detected by a second pressure sensor, and carrying out pressure servo control on a second servo valve by the control device according to the pressure signal of the rodless cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusting the size of a valve port of the second servo valve, and carrying out oil supplement or oil discharge on the rodless cavity of the first asymmetric cylinder;

and acquiring an output position voltage signal of a second asymmetric cylinder detected by a displacement sensor, and carrying out displacement closed-loop control on a third servo valve by the control device according to the output position voltage signal of the second asymmetric cylinder.

Technical Field

The invention relates to the technical field of fluid transmission and control, in particular to a combined loading device for force control of a pump-valve composite cylinder control and position control of a valve cylinder control and a control method.

Background

In recent years, mobile robots are more and more widely applied in various social industries, and at present, a leg joint power device of the more advanced hydraulic power type foot robot adopts a highly integrated valve control cylinder unit and is controlled by an electro-hydraulic servo valve; and the output flow and pressure of the pump are matched with the load requirement by changing the displacement or the rotating speed of the pump. The single valve control cylinder system belongs to a throttling type system, the energy loss is large, and the pressure and flow requirements of each joint on the system are different when the robot walks, so that the large energy loss can be caused, and the cruising ability of the legged robot in field work is reduced. The single pump control system belongs to a direct-drive system, and has a slow response speed and poor control precision compared with a valve control cylinder system. Therefore, how to improve the control accuracy while improving the response speed is an urgent problem to be solved.

Disclosure of Invention

The invention aims to provide a pump valve composite control cylinder, an integrated loading control device and a control method, which have the advantages of improving the response speed and improving the control precision.

In order to achieve the purpose, the invention provides the following scheme:

a combined loading device of pump valve composite cylinder control force control and valve control cylinder position control comprises: the system comprises a pump-valve compound cylinder control system, a valve control cylinder position closed-loop system, a control device and an oil supply tank;

the compound cylinder control force control system of pump valve specifically includes: the device comprises a first asymmetric cylinder, a first pressure sensor, a second pressure sensor, a first servo valve, a second servo valve, a first power device, a force sensor and an oil supplementing device; the first end of the first servo valve is connected with a rod cavity of the first asymmetric cylinder, and the second end of the first servo valve is connected with the oil supply tank; the first end of the second servo valve is connected with the rodless cavity of the first asymmetric cylinder, and the second end of the second servo valve is connected with the oil supply tank; the first pressure sensor is arranged on a pipeline between the first asymmetric cylinder rod cavity and the first servo valve and is close to the first asymmetric cylinder rod cavity, and the first pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rod cavity; the second pressure sensor is arranged on a pipeline between the first asymmetric cylinder rodless cavity and the second servo valve and is close to the first asymmetric cylinder rodless cavity, and the second pressure sensor is used for detecting a pressure signal of the first asymmetric cylinder rodless cavity; a first output end of the first power device is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first power device is connected with the rodless cavity of the first asymmetric cylinder; the oil inlet end of the oil supplementing device is connected with the oil supply oil tank, and the first asymmetric cylinder rod cavity and the first asymmetric cylinder rodless cavity are respectively connected with the oil outlet end of the oil supplementing device;

the closed loop system for the position of the valve control cylinder specifically comprises: the second asymmetric cylinder, the displacement sensor, the third servo valve and the second power device; the rod cavity of the first asymmetric cylinder is connected with the rod cavity of the second asymmetric cylinder; the force sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the first asymmetric cylinder rod cavity, and the force sensor is used for detecting the load force of the first asymmetric cylinder; the displacement sensor is arranged on a connecting pipeline of the first asymmetric cylinder rod cavity and the second asymmetric cylinder rod cavity and is close to the second asymmetric cylinder rod cavity, and the displacement sensor is used for detecting an output position voltage signal of the second asymmetric cylinder; the first end of the third servo valve is connected with a rodless cavity of a second asymmetric cylinder, the second end of the third servo valve is connected with a rod cavity of the second asymmetric cylinder, the third end of the third servo valve is respectively connected with the output end of a second power device, the third end of the first servo valve and the third end of the second servo valve, and the fourth end of the third servo valve is connected with the oil supply tank; the input end of the second power device is connected with the oil supply tank;

the force sensor, the first pressure sensor, the second pressure sensor and the displacement sensor are respectively and electrically connected with the input end of the control device; the first power device, the first servo valve, the second servo valve and the third servo valve are respectively and electrically connected with the control end of the control device; the control device is used for force load servo control, pressure servo control and displacement closed-loop control.

Optionally, the control device specifically includes:

the device comprises a first control module, a second control module, a third control module and a fourth control module;

the first control module specifically includes: the device comprises an input force conversion module, a load force conversion module, a first controller and a servo controller; the first input end of the first controller is connected with the input force conversion module, the second input end of the first controller is connected with the load force conversion module, and the control end of the first controller is connected with the servo controller; the load force conversion module is connected with the force sensor and is used for converting the load force detected by the force sensor into a load force signal; the first controller is used for carrying out deviation processing on the input force signal converted by the input force conversion module and the load force signal to obtain a first deviation signal; the servo controller is used for controlling the first power device according to the first deviation signal;

the second control module specifically includes: the system comprises a first pressure conversion module and a second controller; a first input end of the second controller is connected with the first pressure sensor, a second input end of the second controller is connected with the first pressure conversion module, and a control end of the second controller is connected with the first servo valve; the second controller is used for carrying out deviation processing on a pressure signal of a rod cavity of the first asymmetric cylinder detected by the first pressure sensor and a first input pressure voltage signal converted by the first pressure conversion module to obtain a second deviation signal, and controlling the first servo valve to adjust the size of the valve port according to the second deviation signal;

the third control module specifically includes: a second pressure conversion module and a third controller; the first input end of the third controller is connected with the second pressure sensor, the second input end of the third controller is connected with the second pressure conversion module, and the control end of the third controller is connected with the second servo valve; the third controller is used for carrying out deviation processing on a pressure signal of the first asymmetric cylinder rodless cavity detected by the second pressure sensor and a second input pressure voltage signal converted by the second pressure conversion module to obtain a third deviation signal, and controlling the second servo valve to adjust the size of the valve port according to the third deviation signal;

the fourth control module specifically includes: inputting a position conversion module and a fourth controller; a first input end of the fourth controller is connected with the input position conversion module, a second input end of the fourth controller is connected with the displacement sensor, and a control end of the fourth controller is connected with the third servo valve; the fourth controller is used for performing deviation processing on an input position voltage signal obtained by conversion of the input position conversion module and an output position voltage signal detected by the displacement sensor to obtain a fourth deviation signal, and controlling the third servo valve to adjust the size of the valve port according to the fourth deviation signal.

Optionally, the first input pressure voltage signal is 5bar or (a)₁P₁-F)/A₂；

The second input pressure voltage signal is 5bar or (F + A)₂P₂)/A₁；

Wherein F represents a load force signal, P₁Indicating pressure in the rodless chamber of the first asymmetric cylinderSignal, P₂Indicating the pressure signal of the rod chamber of the first asymmetric cylinder, A₁Denotes the first asymmetric cylinder rodless chamber piston contact area, A₂Showing the first asymmetric cylinder rod chamber piston contact area.

Optionally, the oil supply device specifically includes:

the oil pump comprises a pressurizing oil tank, a first one-way valve, a second one-way valve, a third one-way valve, an oil discharge one-way valve, a first filter, an oil supplementing pump and an oil supplementing motor;

the pressurizing oil tank is respectively connected with the first one-way valve conducting end, the second one-way valve conducting end, the third one-way valve stopping end and the oil unloading one-way valve conducting end; the stop end of the first check valve is connected with the rod cavity of the first asymmetric cylinder; the stop end of the second one-way valve is connected with the rodless cavity of the first asymmetric cylinder; the cut-off end of the oil discharge one-way valve is connected with the oil supply tank; the input of fuel feeding pump with the fuel feeding oil tank is connected, the feed end of fuel feeding pump with the fuel feeding motor is connected, the output end of fuel feeding pump with the input of first filter is connected, the output of first filter with the end connection that switches on of third check valve.

Optionally, the first power device specifically includes: a first gear pump and a first servo motor; the power supply end of the first gear pump is connected with the first servo motor; a first output end of the first gear pump is connected with the rod cavity of the first asymmetric cylinder, and a second output end of the first gear pump is connected with the rodless cavity of the first asymmetric cylinder;

the second power device specifically comprises: a second gear pump and a second servo motor; the power supply end of the second gear pump is connected with the second servo motor; and the output end of the second gear pump is connected with the third end of the third servo valve, and the input end of the second gear pump is connected with the oil supply tank.

Optionally, the second power device further includes:

the first stop valve, the second stop valve, the third stop valve, the second filter, the fourth one-way valve, the pressure gauge and the energy accumulator;

the output end of the second gear pump is respectively connected with the conducting end of the fourth one-way valve and one end of the third stop valve, and the other end of the third stop valve is connected with the pressure gauge; the stop end of the fourth one-way valve is respectively connected with one end of the second filter and one end of the second stop valve, and the other end of the second stop valve is connected with the energy accumulator; the other end of the second filter is connected with one end of the first stop valve, and the other end of the first stop valve is connected with the third end of the third servo valve.

Optionally, the combined loading device of force control of the pump-valve combined cylinder control and position control of the valve-controlled cylinder further includes:

a liquid level liquid thermometer, a cooler, a low-pressure ball valve and an air filter;

one end of the cooler is connected with the oil supply tank, and the other end of the cooler is respectively connected with the second end of the first servo valve, the second end of the second servo valve, the cut-off end of the oil discharge one-way valve, the input end of the oil replenishing pump and the input end of the second gear pump; the liquid level thermometer is arranged on a pipeline of the cooler and the oil supply tank; one end of the low-pressure ball valve is connected with the air filter, and the other end of the low-pressure ball valve is connected with the cooler.

The invention also provides a combined loading control method for force control and position control of the pump valve combined cylinder control and valve control cylinder, which is applied to the combined loading device for force control and position control of the pump valve combined cylinder control and valve control cylinder, and comprises the following steps:

acquiring the load force of a first asymmetric cylinder detected by a force sensor, and carrying out force load servo control on a first power device by a control device according to the load force of the first asymmetric cylinder;

the control device performs pressure servo control on a first servo valve according to the pressure signal of the rod cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusts the size of a valve port of the first servo valve, and performs oil supplement or oil discharge on the rod cavity of the first asymmetric cylinder;

acquiring a pressure signal of a rodless cavity of a first asymmetric cylinder detected by a second pressure sensor, and carrying out pressure servo control on a second servo valve by the control device according to the pressure signal of the rodless cavity of the first asymmetric cylinder and the load force of the first asymmetric cylinder, adjusting the size of a valve port of the second servo valve, and carrying out oil supplement or oil discharge on the rodless cavity of the first asymmetric cylinder;

and acquiring an output position voltage signal of a second asymmetric cylinder detected by a displacement sensor, and carrying out displacement closed-loop control on a third servo valve by the control device according to the output position voltage signal of the second asymmetric cylinder.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a combined loading control method for force control of a pump-valve composite cylinder and position control of a valve-controlled cylinder. Meanwhile, the bidirectional constant delivery pump and the servo valve composite control cylinder system can be set as a loading system, and the output force of the bidirectional constant delivery pump and the servo valve composite control cylinder loading system is interfered and loaded to the valve control cylinder position closed-loop system for high-precision output position control, so that the control method has the advantage of improving the response speed and the control precision.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a hydraulic schematic diagram of a combined cylinder control system of a pump valve according to an embodiment of the present invention;

FIG. 2 is a schematic block diagram of a bidirectional constant displacement pump and servo valve combined cylinder control system according to an embodiment of the present invention;

FIG. 3 is a process diagram of a bidirectional constant displacement pump and servo valve combined cylinder control system according to an embodiment of the present invention;

FIG. 4 is a diagram of a closed loop system control process for valve control cylinder position according to an embodiment of the present invention;

in the drawings, 1.1 denotes a first asymmetric cylinder, 1.2 denotes a second asymmetric cylinder, 2 denotes a pressurized oil tank, 3.1 denotes a first check valve, 3.2 denotes a second check valve, 3.3 denotes a third check valve, 3.4 denotes a fourth check valve, 4 denotes an oil replenishment pump, 5 denotes an oil replenishment motor, 6 denotes a first filter, 7.1 denotes a first gear pump, 7.2 denotes a second gear pump, 8.1 denotes a first servo motor, 8.2 denotes a second servo motor, 9.1 denotes a first servo valve, 9.2 denotes a second servo valve, 9.3 denotes a third servo valve, 10 denotes a cooler, 11 denotes a level liquid thermometer, 12 denotes an air cleaner, 13 denotes a low-pressure ball valve, 14 denotes an oil supply tank, 15 denotes an oil discharge check valve, 16.1 denotes a first pressure sensor, 16.2 denotes a second pressure sensor, 17 denotes a displacement sensor, 18.1 denotes a first cut-off valve, 18.2 denotes a second cut-off valve, 18.3 denotes a third cut-off valve, 19 denotes a pressure gauge, 20 denotes a second filter, 21 denotes an accumulator, and 22 denotes a force sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide a combined loading device and a control method for pump valve combined cylinder control and valve control cylinder position control, which have the advantages of improving response speed and control precision.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.