Patent ID: 12228152

DETAILED DESCRIPTION

More comprehensive description of the present disclosure will be made below with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure, and it is obvious that the embodiments described are only some embodiments of the present disclosure, rather than all embodiments. All other embodiments, which are obtained by one of ordinary skill in the art based on the embodiments of the present disclosure without making any creative labor, shall fall within the protection scope of the present disclosure. The technical solution of the present disclosure will be described in various aspects below in conjunction with the various drawings and embodiments.

In the related art known to the inventors, an existing calibration method of a pilot proportional control valve apparatus has the following disadvantages:1. low calibration efficiency: different actuators need to be configured with different sensors to achieve detection of a proportional valve pressure, and calibration is performed according to an actual pressure value; and the number of the sensors affects difficulty in configuration of a signal receiving device, causing longer preparation time for the calibration, so that operation efficiency of the calibration is affected;2. high investment cost: a large number of sensors need to be mounted to meet a requirement for the calibration, so that greater economic investment is brought;3. poor mounting compatibility: since the large number of sensors need to be mounted, requirements for space and layout of a hydraulic system are high; and4. low calibration precision: there are a large number of to-be-calibrated actuators, so that manual calibration results in low precision and a waste of time.

In view of this, one technical problem to be solved by the present invention is to provide a pilot proportional control valve apparatus, an automatic calibration method, engineering machinery, and a storage medium, capable of continuously and automatically calibrating all proportional pressure reducing valves, so that calibration efficiency is greatly improved; when factory calibration is performed on a plurality of proportional pressure reducing valves, only one pressure sensor needs to be configured, so that calibration and detection cost can be reduced.

In some embodiments, as shown inFIGS.1to3, the present disclosure provides a pilot proportional control valve apparatus, which may be a pilot proportional control valve bank. The pilot proportional control valve apparatus comprises a hydraulic system and a controller81. The hydraulic system comprises: a plurality of proportional pressure reducing valves, a calibration reversing valve20and a pressure sensor51. The number of the proportional pressure reducing valves varies according to the pilot proportional control valve apparatus, for example, the number of the proportional pressure reducing valves may be 5, 6, 7, etc., and the valves may be existing proportional pressure reducing valves. The present disclosure is described by taking six proportional pressure reducing valves as an example.

The six proportional pressure reducing valves comprise a proportional pressure reducing valve11, a proportional pressure reducing valve12, a proportional pressure reducing valve13, a proportional pressure reducing valve14, a proportional pressure reducing valve15, and a proportional pressure reducing valve16. The calibration reversing valve20, which is a multi-way reversing valve, comprises a plurality of reversing units that comprise a reversing unit21, a reversing unit22, a reversing unit23, a reversing unit24, a reversing unit25, a reversing unit26, and the like.

Output ends of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15and the proportional pressure reducing valve16are respectively connected with an input end P1of the corresponding reversing unit21, an input end P2of the reversing unit22, an input end P3of the reversing unit23, an input end P4of the reversing unit24, an input end P5of the reversing unit25and an input end P6of the reversing unit26. Input ends of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, and the proportional pressure reducing valve16are all connected with a pilot oil source.

A first output end A1of the reversing unit21is connected with a working oil path61, a first output end A2of the reversing unit22is connected with a working oil path62, a first output end A3of the reversing unit23is connected with a working oil path63, a first output end A4of the reversing unit24is connected with a working oil path64, a first output end A5of the reversing unit25is connected with a working oil path65, and a first output end A6of the reversing unit26is connected with a working oil path66.

A second output end B1of the reversing unit21, a second output end B2of the reversing unit22, a second output end B3of the reversing unit23, a second output end B4of the reversing unit24, a second output end B5of the reversing unit25, and a second output end B6of the reversing unit26are all connected with one detection oil path71via a connection pipeline. The pressure sensor51is arranged in the detection oil path71. An unloading reversing valve41is arranged in a detection oil return oil path91, both ends of which are respectively connected with the detection oil path71and an oil return oil tank.

As shown inFIG.3, damping holes42and43are arranged in the detection oil return oil path91. Hydraulic unloading may be controlled by using a two-position two-way solenoid valve (unloading reversing valve41), or by providing a damping hole, wherein the unloading reversing valve41may be replaced with the damping holes42and43for unloading of a detection loop. The damping holes42and43may be existing damping holes.

The controller81is respectively connected with the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, the proportional pressure reducing valve16, the calibration reversing valve20, the pressure sensor51, and the unloading reversing valve41. The controller81controls the reversing unit21, the reversing unit22, the reversing unit23, the reversing unit24, the reversing unit25, or the reversing unit26for reversing, so that pilot oil outputted by the corresponding proportional pressure reducing valve11, proportional pressure reducing valve12, proportional pressure reducing valve13, proportional pressure reducing valve14, proportional pressure reducing valve15, or proportional pressure reducing valve16is inputted into the detection oil path71.

The controller81acquires a pilot oil detection pressure acquired by the pressure sensor51, and performs calibration processing on the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16, according to the pilot oil detection pressure and an output pressure value of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16.

The controller81controls the unloading reversing valve41to unload the detection oil path71. The controller81outputs a control current to a control end of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16, to control an opening of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16, so that the pilot oil outputted by the output end of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16has an output pressure value corresponding to the control current.

The controller81sends a control signal to a control end of the calibration reversing valve20, to control the first output end and the second output end of the reversing unit21, the reversing unit22, the reversing unit23, the reversing unit24, the reversing unit25, or the reversing unit26to be opened or closed, so that the pilot oil outputted by the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, or the proportional pressure reducing valve16, which respectively corresponds to the reversing unit21, the reversing unit22, the reversing unit23, the reversing unit24, the reversing unit25, or the reversing unit26, is inputted into the detection oil path71or the corresponding working oil path.

The hydraulic system further comprises a check valve31, a check valve32, a check valve33, a check valve34, a check valve35and a check valve36. The check valve31, the check valve32, the check valve33, the check valve34, the check valve35, and the check valve36are respectively provided in the connection pipelines between the second output end B1of the reversing unit21, the second output end B2of the reversing unit22, the second output end B3of the reversing unit23, the second output end B4of the reversing unit24, the second output end B5of the reversing unit25, the second output end B6of the reversing unit26, and the detection oil path71.

In some embodiments, in an oil feed loop of the hydraulic system, a power source is provided for the hydraulic system by a pilot oil pressure P0. A pilot oil path is provided with the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, and the proportional pressure reducing valve16for factory calibration. The proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, and the proportional pressure reducing valve16respectively provide a pilot pressure to a main valve via a port XA1of the working oil path61, a port XB1of the working oil path62, a port XA2of the working oil path63, a port XB2of the working oil path64, a port XA3of the working oil path65, and a port XB3of the working oil path66.

The calibration reversing valve20is used for controlling whether the pilot oil enters each working oil path or the detection oil path71, wherein the pilot oil enters each working oil path for achieving control of the pilot proportional control valve apparatus for the main valve; and the pilot oil enters the detection oil path71for achieving automatic calibration of the proportional pressure reducing valve.

When the automatic calibration is performed, the check valve31, the check valve32, the check valve33, the check valve34, the check valve35, and the check valve36are used for preventing interference with the detection oil path71by other five pilot oil paths, so that a calibration result is not affected. The detection oil return oil path91is provided with the unloading reversing valve41, which is used for, when calibrating different proportional pressure reducing valves, unloading the detection oil path71in advance to ensure calibration precision. The other side of the detection oil path71is provided with the pressure sensor51, which is used for detecting a calibration pressure.

In some embodiments, an oil feed oil path of the calibration reversing valve20is, inside the valve body, divided into six loops, which respectively form the reversing unit21, the reversing unit22, the reversing unit23, the reversing unit24, the reversing unit25and the reversing unit26, each reversing unit being communicated with one proportional pressure reducing valve.

Oil feed inlets of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15and the proportional pressure reducing valve16are communicated with the pilot oil P0(pilot oil source), the controller81controls the control end of the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15or the proportional pressure reducing valve16, and the proportional pressure reducing valve11, the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15or the proportional pressure reducing valve16outputs a corresponding pressure according to the control current outputted by the controller81, so that the pilot oil P0supplies oil to the calibration reversing valve20.

A control end of the unloading reversing valve41is activated so that an oil return oil path of the pilot oil to the oil tank is closed. The control end of the calibration reversing valve20is activated so that the working oil path to the main valve is closed, and pressure oil outputted by one proportional pressure reducing valve is supplied to the detection oil path71. An output pressure of the proportional pressure reducing valve is acquired by the pressure sensor51.

Through an internal program of the controller81, it is judged whether a difference between a target output pressure corresponding to the control current outputted by the controller81and the actual pressure acquired by the pressure sensor51is within a tolerance range, and according to the result, it is judged whether calibration on the proportional pressure reducing valve needs to be performed again. After the calibration is ended or the program judges that the calibration is not needed, the unloading reversing valve41is powered off, and the detection loop71is communicated with a port T (connected to the oil return oil tank) to achieve pressure unloading. When calibration is performed again on other proportional pressure reducing valves, the unloading reversing valve41is powered on. The above calibration steps are repeated, and again and again, calibration on all the proportional pressure reducing valves can be completed.

In some embodiments, the present disclosure provides engineering machinery, comprising the pilot proportional control valve apparatus in any of the above embodiments. There are various engineering machinery such as an excavator and the like.

In some embodiments, the present disclosure provides an automatic calibration method based on the pilot proportional control valve apparatus in the above embodiments, which is applied in the controller of the pilot proportional control valve apparatus.FIG.4is a flow schematic diagram in some embodiments of an automatic calibration method according to the present disclosure, as shown inFIG.4:

Step401, in a calibration mode, determining one proportional pressure reducing valve as a to-be-calibrated proportional pressure reducing valve, and determining a target reversing unit corresponding to the to-be-calibrated proportional pressure reducing valve.

Step402, controlling a first output end of the target reversing unit to be closed and a second output end of the target reversing unit to be opened so that pilot oil outputted by the corresponding to-be-calibrated proportional pressure reducing valve is inputted into the detection oil path.

Step403, acquiring a pilot oil detection pressure acquired by the pressure sensor and an output pressure value of the proportional pressure reducing valve.

Step404, performing calibration processing on the to-be-calibrated proportional pressure reducing valve according to the pilot oil detection pressure and the output pressure value of the proportional pressure reducing valve.

The calibration processing on the to-be-calibrated proportional pressure reducing valve may be performed by using various methods. After a pilot oil detection pressure and an output pressure value of one to-be-calibrated proportional pressure reducing valve are acquired, calibration processing is immediately performed on the to-be-calibrated proportional pressure reducing valve. In the calibration mode, one of the plurality of proportional pressure reducing valves is sequentially determined as a to-be-calibrated proportional pressure reducing valve and subjected to the calibration processing, and the calibration processing is performed cyclically for continuous automatic calibration on the plurality of proportional pressure reducing valves.

Alternatively, the pilot oil detection pressure and the output pressure value corresponding to each to-be-calibrated proportional pressure reducing valve are stored, that is, the pilot oil detection pressures and the output pressure values of all the to-be-calibrated proportional pressure reducing valves are stored. When a calibration instruction is received, a pilot oil detection pressure and an output pressure value corresponding to one to-be-calibrated proportional pressure reducing valve are sequentially acquired, and calibration processing is performed on the to-be-calibrated proportional pressure reducing valve. After calibration processing is performed on the one to-be-calibrated proportional pressure reducing valve, a pilot oil detection pressure and an output pressure value corresponding to a next to-be-calibrated proportional pressure reducing valve are acquired, and calibration processing is performed on the next to-be-calibrated proportional pressure reducing valve until calibration processing is performed on all the to-be-calibrated proportional pressure reducing valves.

In some embodiments, when the target reversing unit is controlled for reversing, the unloading reversing valve is controlled to be closed, so that the detection oil return oil path is disconnected. A control current is determined according to a preset pressure versus current curve, and the control current is outputted to a control end of the to-be-calibrated proportional pressure reducing valve for controlling an opening of the to-be-calibrated proportional pressure reducing valve, so that the pilot oil outputted by an output end of the to-be-calibrated proportional pressure reducing valve has the output pressure value.

Calibration processing on the to-be-calibrated proportional pressure reducing valve can be performed by using various methods. for example, it is judged whether a deviation value between the pilot oil detection pressure and the output pressure value is within a preset allowable range, if the deviation value is within the preset allowable range, the calibration processing on the to-be-calibrated proportional pressure reducing valve is ended, and if the deviation value is not within the preset allowable range, a current compensation value is determined, and calibration processing is performing again on the to-be-calibrated proportional pressure reducing valve according to the current compensation value.

The calibration processing on the to-be-calibrated proportional pressure reducing valve according to the current compensation value can be performed again by using various methods. For example, if there is the pilot oil in the detection oil path, the unloading reversing valve is controlled to be opened so that the detection oil return oil path is connected to unload the detection oil path; the unloading reversing valve is controlled to be closed so that the detection oil return oil path is disconnected; a target reversing unit corresponding to the to-be-calibrated proportional valve is determined; a first output end of the target reversing unit is controlled to be closed and a second output end of the target reversing unit is controlled to be opened so that pilot oil outputted by the corresponding to-be-calibrated proportional pressure reducing valve is inputted into the detection oil path; and a new control current is determined according to the current compensation value, and the new control current is outputted to a control end of the to-be-calibrated proportional pressure reducing valve so that pilot oil outputted by the to-be-calibrated proportional pressure reducing valve has an output pressure value corresponding to the new control current.

If a deviation value is within the preset allowable range, the calibration processing on the to-be-calibrated proportional pressure reducing valve is ended; and if a deviation value is not within the preset allowable range, a new current compensation value is determined, and calibration processing on the to-be-calibrated proportional pressure reducing valve is performed again according to the new current compensation value until the deviation value is within the allowable range.

In a working mode, the second output end of the target reversing unit is controlled to be closed and the first output end of the target reversing unit is controlled to be opened, so that the pilot oil outputted by the corresponding proportional pressure reducing valve is inputted into the working oil path. In the working mode, the unloading reversing valve is controlled to be closed, so that the detection oil return oil path is disconnected.

In some embodiments, the automatic calibration on the proportional pressure reducing valve is illustrated by taking the proportional pressure reducing valve11as an example:Step 1, controlling, by the controller81, the reversing unit21of the calibration reversing valve20for reversing and the unloading reversing valve41to be powered on for reversing, so that the detection oil return oil path91is closed to control the output end of the proportional pressure reducing valve11to supply oil to the detection oil path71. The controller81controls the proportional pressure reducing valve11to output a preset calibration pressure through the internal program, the controller81outputs a corresponding control current to the proportional pressure reducing valve11according to the default pressure versus current curve through the internal program, so that an electromagnet in the proportional pressure reducing valve11is powered on and outputs a corresponding pressure. The pressure sensor51acquires an actual pressure outputted by the proportional pressure reducing valve11.Step 2, when there is a deviation between an actual pressure value acquired by the pressure sensor51and an output pressure value (which is a target pressure value corresponding to the control current outputted by the controller81) of the proportional pressure reducing valve11and a deviation value is not within the allowable range, obtaining, by the controller81, a current compensation value through an automatic calibration program.

The controller81controls the unloading reversing valve41to be powered off for reversing and unloading, and after the unloading, the unloading reversing valve41is powered on again to a reversing position, so that the controller81outputs a compensated control current again according to a target pressure through the calibration program, and the electromagnet of the proportional pressure reducing valve11is powered on again to output a corresponding pressure.

The pressure sensor51detects an actual pressure outputted by the proportional pressure reducing valve11again; it is calculated again whether a difference value between an actual pressure value acquired by the pressure sensor51and an output pressure value of the proportional pressure reducing valve11is within the allowable range, and if the difference value is not within the specified tolerance range, the step 2 is performed again until the deviation between the actual pressure value acquired by the pressure sensor51and the output pressure value of the proportional pressure reducing valve11falls within the tolerance range.

Before the automatic calibration on the proportional pressure reducing valve12, the controller81controls the unloading valve41to be powered off and the detection loop (oil path)71to unload pressure, and after a certain time, the controller81controls the unloading valve41to be powered on to a closing position, to make a detection preparation for the calibration on the proportional pressure reducing valve12. By adopting the above steps 1 to 2 in the automatic calibration method for the proportional pressure, reducing valve11, automatic continuous calibration on the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, and the proportional pressure reducing valve16is sequentially performed for calibration of the actual pressure factory value.

In some embodiments, the automatic calibration on the proportional pressure reducing valves11to16is performed in a centralized manner:Step 1, controlling, by the controller81, the reversing unit21of the calibration reversing valve20for reversing and the unloading reversing valve41to be powered on for reversing, so that the detection oil return oil path91is closed to control the output end of the proportional pressure reducing valve11to supply oil to the detection oil path71. The controller81controls the proportional pressure reducing valve11to output a preset calibration pressure through the internal program, and the controller81outputs a corresponding control current to the proportional pressure reducing valve11according to the default pressure versus current curve through the internal program, so that an electromagnet in the proportional pressure reducing valve11is powered on and outputs a corresponding pressure. The pressure sensor51acquires an actual pressure outputted by the proportional pressure reducing valve11. The controller81stores an actual pressure value and an output pressure value corresponding to the proportional pressure reducing valve11in a storage module.Step 2, repeating the control operation based on the step 1, so that the controller81stores actual pressure values and output pressure values corresponding to the proportional pressure reducing valves12to16in the storage module.Step 3, receiving, by the controller81, a calibration instruction and acquiring, from the storage module, the actual pressure value and the output pressure value corresponding to the proportional pressure reducing valve11.Step 4, when there is a deviation between the actual pressure value corresponding to the proportional pressure reducing valve11and the output pressure value (which is the target pressure value corresponding to the control current outputted by the controller81) corresponding to the proportional pressure reducing valve11and a deviation value is not within the allowable range, obtaining, by the controller81, a current compensation value through the automatic calibration program.

The controller81controls the unloading reversing valve41to be closed and controls the output end of the proportional pressure reducing valve11to supply oil to the detection oil path71. The controller81outputs a compensated control current again according to a target pressure through the calibration program, and an electromagnet of the proportional pressure reducing valve11is powered on again to output a corresponding pressure.

The pressure sensor51detects an actual pressure outputted by the proportional pressure reducing valve11again; it is calculated again whether a difference value between an actual pressure value acquired by the pressure sensor51and an output pressure value of the proportional pressure reducing valve11is within the allowable range, and if the difference value is not within the specified tolerance range, the step 4 is performed again until the deviation between the actual pressure value acquired by the pressure sensor51and the output pressure value of the proportional pressure reducing valve11falls within the tolerance range.

By adopting the above steps 3 and 4 in the calibration method for the proportional pressure, reducing valve11, the calibration on the proportional pressure reducing valve12, the proportional pressure reducing valve13, the proportional pressure reducing valve14, the proportional pressure reducing valve15, and the proportional pressure reducing valve16is sequentially performed for calibration of the actual pressure factory value.

In some embodiments, the present disclosure provides a computer-readable storage medium having thereon stored computer instructions which, when executed by a processor, implement the automatic calibration method in any of the above embodiments.

The pilot proportional control valve apparatus, the automatic calibration method, the engineering machinery and the storage medium provided in the above embodiments can solve the following technical problems: an excessive number of pressure sensors for calibrating the actual pressure factory value of the proportional pressure reducing valves; increase in mounting costs due to the large number of sensors; and low working efficiency due to a complex process of the calibration method.

It should be appreciated by those skilled in the art that, the embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take a form of an entire hardware embodiment, an entire software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take a form of a computer program product implemented on one or more computer-available non-transitory storage media (including, but not limited to, a disk memory, CD-ROM, optical memory, etc.) having computer-usable program code embodied therein.

The present disclosure is described with reference to flow diagrams and/or block diagrams of the method, apparatus (system) and computer program product according to the embodiments of the present disclosure. It should be understood that each flow and/or block of the flow diagrams and/or block diagrams, and a combination of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatuses to produce a machine, such that the instructions, which are executed via the processor of the computer or other programmable data processing apparatuses, create means for implementing functions specified in one or more flows of the flow diagrams and/or one or more blocks of the block diagrams.

These computer program instructions may also be stored in a computer-readable memory that can guide a computer or other programmable data processing apparatuses to work in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the functions specified in one or more flows of the flow diagrams and/or one or more blocks of the block diagrams.

The pilot proportional control valve apparatus, the automatic calibration method, the engineering machinery and the storage medium provided in the above embodiments can achieve automatic calibration on all the proportional pressure reducing valves, so that calibration efficiency is greatly improved; when factory calibration is performed on the plurality of proportional pressure reducing valves, only one pressure sensor needs to be provided, so that calibration detection cost can be reduced; complete machine test and assembly can save resources, and reduce cost of the complete machine test.

The method and system of the present disclosure may be implemented in a number of manners. For example, the method and system of the present disclosure may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for performing the method according to the present disclosure.

The description of the present disclosure has been presented for purposes of examples and description, and is not intended to be exhaustive or limit this disclosure to the form disclosed. Many modifications and variations are apparent to one of ordinary skill in the art. The selection and description of the embodiments are to better explain the principles and practical applications of the present disclosure, and to enable one of ordinary skill in the art to understand the present disclosure and therefore design various embodiments with various modifications suitable for a specific purpose.