EP4265918A1 - Hydraulisches ausgleichszylindersystem - Google Patents

Hydraulisches ausgleichszylindersystem Download PDF

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Publication number
EP4265918A1
EP4265918A1 EP21905211.5A EP21905211A EP4265918A1 EP 4265918 A1 EP4265918 A1 EP 4265918A1 EP 21905211 A EP21905211 A EP 21905211A EP 4265918 A1 EP4265918 A1 EP 4265918A1
Authority
EP
European Patent Office
Prior art keywords
cavity
accumulator
pressure
oil
oil circuit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21905211.5A
Other languages
English (en)
French (fr)
Other versions
EP4265918A4 (de
Inventor
Xianyu ZHU
Yi SHEN
Sijing CHENG
Zhenyu Wang
Dong Lu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kuka Robotics Guangdong Co Ltd
KUKA Robotics Guangdong Co Ltd
Original Assignee
Kuka Robotics Guangdong Co Ltd
KUKA Robotics Guangdong Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Robotics Guangdong Co Ltd, KUKA Robotics Guangdong Co Ltd filed Critical Kuka Robotics Guangdong Co Ltd
Publication of EP4265918A1 publication Critical patent/EP4265918A1/de
Publication of EP4265918A4 publication Critical patent/EP4265918A4/de
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F15B20/005—Leakage; Spillage; Hose burst
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/625—Accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7055—Linear output members having more than two chambers

Definitions

  • the present disclosure relates to the field of hydraulic systems, in particular to a balance cylinder hydraulic system.
  • the balance cylinder plays an irreplaceable role as a component for providing balance force.
  • a dynamic seal is usually used between the piston and the cylinder wall in the hydraulic balance cylinder, which leads to inevitable internal leakage in the balance cylinder.
  • internal leakage refers to the leakage of oil from a high-pressure cavity with a higher pressure to a low-pressure cavity with a lower pressure. For a long time, the internal leakage will cause the accumulator pressure of the balance cylinder to drop, which leads to the decrease of the balance force of the balance cylinder.
  • An object of the present disclosure is to propose a balance cylinder hydraulic system, which can automatically complete the internal leakage compensation without stopping the operation of the balance cylinder after the internal leakage of the balance cylinder occurs; meanwhile, it also can automatically complete internal leakage compensation in response to a decrease in the pressure of the accumulator without monitoring the pressure of the accumulator by external equipment.
  • a balance cylinder hydraulic system comprising:
  • the valve assembly comprises a one-way valve and a reversing valve, wherein the one-way valve is used to control the unidirectional flow of oil in each oil circuit in the system, and the reversing valve is used to switch the various oil circuits in the system.
  • the one-way valve comprises a compensation one-way valve disposed in the compensation oil circuit, and the oil flow direction of the compensation one-way valve is from the third cavity to the first cavity.
  • the one-way valve comprises a second one-way valve disposed in the second oil circuit, and the oil flow direction of the second one-way valve is from the first cavity to the second accumulator.
  • the one-way valve further comprises a first one-way valve disposed in the first oil circuit, wherein a liquid inlet end of the second one-way valve is connected to the liquid inlet end of the one-way valve, and the oil flow direction of the first one-way valve is from the first cavity to the first accumulator.
  • the reversing valve comprises a hydraulic reversing valve for detecting the pressure of the first accumulator and the pressure of the second accumulator, and switch the oil circuit under the action of the pressure of the first accumulator and the pressure of the second accumulator.
  • the main port of the hydraulic reversing valve is communicated with the first cavity, and the first branch port of the hydraulic reversing valve is communicated with the first accumulator to form the target oil circuit, the second branch port of the hydraulic reversing valve is simultaneously communicated to the first accumulator and the second accumulator to form the first oil circuit and the second oil circuit;
  • the initial pressure of the first accumulator is equal to the initial pressure of the second accumulator.
  • the axial cross-section side of the first cavity is convex
  • the axial cross-section of the second cavity is in the shape of two symmetrically separated steps
  • the third cavity includes a fourth cavity and a fifth cavity that communicate with each other
  • the axial section of the fourth cavity is in the shape of two symmetrically separated inverted steps
  • the axial section of the fifth cavity is in the form of two symmetrically separated rectangles
  • the first cavity is located in the center of the hollow area surrounded by the shell, the second cavity is attached to the first cavity and is located at the lower part of the hollow area, and the fourth cavity is matched with the second cavity and is attached to the first cavity and is arranged on the upper part of the hollow area, and the fifth cavity is matched with the table provided by the second cavity and is attached to the fourth cavity and is arranged on the periphery of the hollow area.
  • an area of the piston member acting on the fourth cavity is equal to an area of the piston member acting on the fifth cavity.
  • the oil leaking to the third cavity will be automatically replenished to the low pressure accumulator through the first cavity as the piston rod rises and falls.
  • the system can automatically complete the internal leakage compensation without stopping the operation of the balance cylinder after the internal leakage of the balance cylinder occurs; meanwhile, it also can automatically complete internal leakage compensation in response to a decrease in the pressure of the accumulator without monitoring the pressure of the accumulator by external equipment.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these example embodiments are provided so that this description of the present disclosure will be thorough and complete, and will consolidate the concept of the example embodiments. It will be fully conveyed to those skilled in the art.
  • the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale.
  • the same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted.
  • the present disclosure provides a balance cylinder hydraulic system, comprising:
  • the balance cylinder hydraulic system is mainly composed of four major components: balance cylinder, valve assembly, first accumulator, and second accumulator.
  • the balance cylinder obtains three cavities under the action of the dynamic seal of its piston parts: the first cavity, the second cavity, and the third cavity.
  • the volume of the first cavity and the volume of the second cavity are expanded synchronously; with the descending of the piston piece, the volume of the first cavity and the volume of the second cavity shrink synchronously.
  • the pressure of the first cavity is the same as the pressure of the second cavity and is greater than the pressure of the third cavity.
  • the three cavities of the balance cylinder are mainly divided based on the pressure level in the cavity, and connected multiple cavities at the same pressure level will be divided into the same cavity, which does not mean that there are only three cavities obtained by dividing the balance cylinder by physical space in the present disclosure.
  • the first accumulator is mainly used to store the pressure generated by the compression of the first cavity when the first cavity is compressed through the circulation of oil, and to replenish the pressure to the first cavity when the first cavity expands.
  • the first accumulator is communicated with the first cavity through the target oil circuit, and the pressure of the first accumulator and the pressure of the first cavity are dynamically maintained the same.
  • the target oil circuit is used for the first accumulator to store or release the pressure of the first cavity when no internal leakage occurs; the first oil circuit is used to replenish the leaked oil input to the first cavity back to the first accumulator after the internal leakage occurs.
  • the second accumulator is mainly used to store the pressure generated by the compression of the second cavity when the second cavity is compressed through the circulation of oil, and to replenish the pressure to the second cavity when the second cavity expands.
  • the second accumulator is always communicated with the second cavity, and the pressure of the first accumulator and the pressure of the first cavity are dynamically maintained the same.
  • the pressure of the first cavity is the same as the pressure of the second cavity, the pressure of the first accumulator and the pressure of the first cavity are dynamically maintained the same, and the pressure of the second accumulator and the pressure of the second cavity are dynamically maintained the same, so the pressure of the first accumulator is the same as the pressure of the second accumulator When there is no internal leakage.
  • the charging and discharging of oil from the first accumulator into the first cavity is not only synchronized with the charging and discharging of oil from the second accumulator into the second cavity, but also the volume of oil charged and discharged from the first accumulator into the first cavity is equal to the volume of oil charged and discharged from the second accumulator into the second cavity.
  • the cavities in the balance cylinder are dynamically sealed, it is unavoidable that the oil will leak from the place with higher pressure to the place with lower pressure. That is, the oil in the first cavity may leak to the third cavity, or the oil in the second cavity may leak to the third cavity.
  • the pressure in the third cavity increases and the pressure in the first cavity decreases.
  • the first accumulator replenishes its oil to the first cavity, so that the pressure of the first accumulator also decreases. As a result, the pressure of the first accumulator is lower than the pressure of the second accumulator, and the first accumulator is a low-pressure accumulator.
  • the pressure in the third cavity increases and the pressure in the second cavity decreases.
  • the second accumulator replenishes its oil to the first cavity, so that the pressure of the second accumulator also decreases.
  • the pressure of the second accumulator is lower than the pressure of the first accumulator, and the second accumulator is a low-pressure accumulator.
  • the compensation oil circuit controlled by the valve assembly is arranged between the first cavity and the third cavity; the first oil circuit controlled by the valve assembly is arranged between the first accumulator and the first cavity; and the second oil circuit controlled by the valve assembly is arranged between the second accumulator and the second cavity.
  • the pressure of the first accumulator is not equal to the pressure of the second accumulator: the lift of the piston member triggers the valve assembly to open only the compensation oil circuit, and with the lifting of the piston member, the oil leaking to the third chamber is input into the first cavity; then, the drop of the piston part triggers the valve assembly to only open the oil circuit between the low pressure accumulator and the first cavity, and as the piston part descends, the leaked oil that is input into the first cavity is input into the low pressure accumulator.
  • the system realizes compensation for internal leakage of the balance rod.
  • the system can automatically complete the internal leakage compensation without stopping the operation of the balance cylinder after the internal leakage of the balance cylinder occurs; meanwhile, it also can automatically complete internal leakage compensation in response to a decrease in the pressure of the accumulator without monitoring the pressure of the accumulator by external equipment.
  • the valve assembly comprises a one-way valve and a reversing valve, wherein the one-way valve is used to control the unidirectional flow of oil in each oil circuit in the system, and the reversing valve is used to switch the various oil circuits in the system.
  • the valve assembly for controlling each oil circuit in the system includes a one-way valve and a reversing valve.
  • the one-way valve is used to control the oil in each oil circuit in the system to only flow in one direction fixedly according to the oil flow direction of the one-way valve;
  • the reversing valve is used to control the switching of each oil circuit in the system.
  • the reversing valve is used to only switch to the target oil circuit when the pressure of the first accumulator is equal to the pressure of the second accumulator to open the target oil circuit, so that the first accumulator is communicated with the first cavity; and only switch to the oil circuit between the low-pressure accumulator and the first cavity When the pressure of the first accumulator is not equal to the pressure of the second accumulator, so that the low-pressure accumulator is communicated with the first cavity.
  • the one-way valve comprises a compensation one-way valve disposed in the compensation oil circuit, and the oil flow direction of the compensation one-way valve is from the third cavity to the first cavity.
  • a compensation one-way valve is provided on the compensation oil circuit between the first cavity and the third cavity. Under the restriction of the compensation one-way valve, between the first cavity and the third cavity, the oil can only flow from the third cavity to the first cavity.
  • the advantage of this embodiment is that, through the setting of the compensation one-way valve, it is ensured that the oil leaked to the third cavity will not flow back to the third cavity through the compensation oil circuit after being replenished into the first cavity.
  • the one-way valve comprises a second one-way valve disposed in the second oil circuit, and the oil flow direction of the second one-way valve is from the first cavity to the second accumulator.
  • a second one-way valve is provided on the second oil circuit between the second accumulator and the first cavity. Under the restriction of the second one-way valve, between the second accumulator and the first cavity, the oil can only flow from the first cavity to the second accumulator.
  • the advantage of this embodiment is that, through the setting of the second one-way valve, it is ensured that the oil leaked to the third cavity will not flow back to the first cavity through the second oil circuit after being replenished into the first cavity and then replenished into the second accumulator cavity.
  • the one-way valve further comprises a first one-way valve disposed in the first oil circuit, wherein a liquid inlet end of the second one-way valve is connected to the liquid inlet end of the one-way valve, and the oil flow direction of the first one-way valve is from the first cavity to the first accumulator.
  • a first one-way valve is provided on the first oil circuit between the first accumulator and the first cavity. Under the restriction of the first one-way valve, between the first accumulator and the first cavity, the oil can only flow from the first cavity to the first accumulator.
  • the liquid inlet end of the second one-way valve is communicated with the liquid inlet end of the first one-way valve, that is: when the low-pressure accumulator is the first accumulator and only the first oil circuit is opened, the oil in the first cavity will try to open the second one-way valve to open the second oil circuit while flowing to the first accumulator through the first oil circuit; when the low-pressure accumulator is the second accumulator and only the second oil circuit is opened, the oil in the first cavity will try to open the first one-way valve to open the first oil circuit while flowing to the second accumulator through the second oil circuit.
  • the low-pressure accumulator is the first accumulator
  • the pressure of the first accumulator is lower than the pressure of the second accumulator
  • the oil in the first cavity will preferentially flow to the first accumulator, and the pressure of the first accumulator gradually increases.
  • the second one-way valve Only when the pressure of the first accumulator rises to be equal to the pressure of the second accumulator (that is, the moment when the compensation of internal leakage oil is completed), the second one-way valve will be opened, and the second oil circuit will be opened; Once both the first oil circuit and the second oil circuit are opened, and the reversing valve can detect that the end assembly of the first oil circuit (i.e., the first accumulator) and the end assembly of the second oil circuit (i.e., the second accumulator) are equal in pressure.
  • the pressure of the first accumulator is detected to be equal to the pressure of the second accumulator, so that the valve assembly instantly opens only the target oil circuit, and the first accumulator and the first cavity are communicated through the target oil circuit, and the balance cylinder operates normally without internal leakage.
  • the low-pressure accumulator is the second accumulator
  • the pressure of the second accumulator is lower than the pressure of the first accumulator
  • the oil in the first cavity will preferentially flow to the second accumulator, and the pressure of the second accumulator gradually increases.
  • the first one-way valve will be opened, and the second oil circuit will be opened; Once both the first oil circuit and the second oil circuit are opened, and the reversing valve can detect that the end assembly of the first oil circuit and the end assembly of the second oil circuit are equal in pressure.
  • the pressure of the first accumulator is detected to be equal to the pressure of the second accumulator, so that the valve assembly instantly opens only the target oil circuit, and the first accumulator and the first cavity are communicated through the target oil circuit, and the balance cylinder operates normally without internal leakage.
  • the advantage of this embodiment is that, through the further setting of the second one-way valve, it is ensured that the oil leaked to the third cavity will not flow back to the first cavity through the first oil circuit after being replenished into the first cavity and then replenished into the first accumulator; and the first oil circuit and the second oil circuit share a part of the oil circuit, which simplifies the arrangement of the oil circuit.
  • the reversing valve comprises a hydraulic reversing valve for detecting the pressure of the first accumulator and the pressure of the second accumulator, and switch the oil circuit under the action of the pressure of the first accumulator and the pressure of the second accumulator.
  • the hydraulic reversing valve is used for switching the relevant oil circuit of the accumulator in the reversing valve. Pushed by the oil pressure, the internal valve core of the hydraulic reversing valve moves. Specifically, driven by the relative pressure between the first accumulator and the second accumulator, the internal valve core of the hydraulic reversing valve moves, thereby realizing the switching of the oil circuit.
  • the advantage of this embodiment is that, through the setting of the hydraulic reversing valve, the valve assembly can automatically complete the switching of the oil circuit under the action of the oil pressure in the system.
  • the main port of the hydraulic reversing valve is communicated with the first cavity, and the first branch port of the hydraulic reversing valve is communicated with the first accumulator to form the target oil circuit, the second branch port of the hydraulic reversing valve is simultaneously communicated to the first accumulator and the second accumulator to form the first oil circuit and the second oil circuit;
  • the hydraulic reversing valve has one main port and two branch ports; the main port is communicated with the first cavity; the first branch port is communicated with the first accumulator to form a target oil circuit; the second branch port is communicated with the first accumulator to form a first oil circuit, and is communicated with a second accumulator to form a second oil circuit.
  • the first oil circuit is opened (for example, when the one-way valve on the first oil circuit is opened)
  • the second branch port is communicated with the first accumulator
  • the second oil circuit is opened (for example: when the one-way valve set on the second oil circuit is opened) the second branch port is communicated with the second accumulator;
  • the main port can be communicated with only one branch port at the same time.
  • the initial pressure of the first accumulator is equal to the initial pressure of the second accumulator.
  • the initial pressure of the first accumulator is adjusted to be the same as the initial pressure of the second accumulator.
  • the advantage of this embodiment is that, by setting the initial pressure of the accumulator to the same level, the balancing cylinder is initially in a state where no adjustment of the accumulator pressure is required.
  • the initial pressure of the first accumulator may not be equal to the initial pressure of the second accumulator.
  • the pressure of the first accumulator will be equal to the pressure of the second accumulator after several times of lifting and lowering of the piston member.
  • This embodiment is only an exemplary illustration, and should not limit the function and scope of the present disclosure.
  • the axial cross-section side of the first cavity is convex
  • the axial cross-section of the second cavity is in the shape of two symmetrically separated steps
  • the third cavity includes a fourth cavity and a fifth cavity that communicate with each other, the axial section of the fourth cavity is in the shape of two symmetrically separated inverted steps, and the axial section of the fifth cavity is in the form of two symmetrically separated rectangles;
  • the first cavity is located in the center of the hollow area surrounded by the shell, the second cavity is attached to the first cavity and is located at the lower part of the hollow area, and the fourth cavity is matched with the second cavity and is attached to the first cavity and is arranged on the upper part of the hollow area, and the fifth cavity is matched with the table provided by the second cavity and is attached to the fourth cavity and is arranged on the periphery of the hollow area.
  • the low-pressure third cavity is physically divided into two cavities: the fourth cavity and the fifth cavity.
  • the fourth cavity and the fifth cavity is communicated with each other, so the pressure of the fourth cavity is equal to the pressure of the fifth cavity.
  • the first cavity is in a "convex" shape and is located in the center;
  • the second cavity is in two stepped shapes that are symmetrical to the first cavity, and is attached to the first cavity and is located at the lower part;
  • the fourth cavity is in the shape of two inverted steps symmetrical to the first cavity, and is attached to the first cavity and is arranged on the upper part.
  • the fifth cavity is in the shape of two rectangles that are symmetrical to the first cavity, and is matched with the table provided by the second cavity and is attached to the fourth cavity and is arranged on the periphery.
  • the volume of the first cavity expands, the volume of the second cavity expands, the volume of the fourth cavity decreases, and the volume of the fifth cavity increases; as the piston piece descends, the volume of the first cavity shrinks, the volume of the second cavity decreases, the volume of the fourth cavity increases, and the volume of the fifth cavity decreases.
  • an area of the piston member acting on the fourth cavity is equal to an area of the piston member acting on the fifth cavity.
  • the advantage of this embodiment is that since the fourth cavity is communicated with the fifth cavity and the volume change of the fourth cavity is opposite to the volume change of the fifth cavity, therefore, by configuring the area of the piston member acting on the fourth chamber to be equal to the area of the piston member acting on the fifth chamber, the oil in the fourth cavity can completely enter the fifth cavity as the piston member rises and falls, or the oil in the fifth cavity can completely enter the fourth cavity.
  • composition structure of the specific cavity of the balancing cylinder are only exemplary descriptions, and should not limit the function and scope of use of the present disclosure.
  • FIG. 1 shows a schematic structural diagram of a balance cylinder hydraulic system according to an embodiment of the present disclosure.
  • the hydraulic system of the balance cylinder includes a balance cylinder 1, a hydraulic rod, 2,a first accumulator 3, a second accumulator 4, a compensation one-way valve5 , a first one-way valve6 , a second one-way valve 7, a first hydraulic reversing valve 8, a second hydraulic reversing valve 9.
  • the balance cylinder 1 is a rodless cavity pressure-charged balance cylinder, including four cavities: cavity A, cavity B, cavity C, and cavity D.
  • the cavity C is communicated with the cavity D, the pressure of cavity C is equal to the pressure of cavity D; the pressure of cavity A is equal to the pressure of cavity B, and both are greater than the pressure of cavity C and cavity D; when the hydraulic rod 2 is lifted, the volume of cavity A becomes larger, and the pressure of cavity B becomes larger, the volume of cavity becomes larger, the volume of cavity C becomes larger, and the volume of cavity D becomes smaller; when the hydraulic rod 2 descends, the volume of cavity A becomes smaller, the volume of cavity B becomes smaller, the volume of cavity C becomes smaller, and the volume of cavity D becomes larger.
  • the initial pressure of the first accumulator 3 is equal to the initial pressure of the second accumulator 4; the second accumulator 4 is always communicated with the B cavity.
  • the two ends of the first hydraulic reversing valve 8 are respectively 1E and 2E.
  • 1E detects the pressure of the first accumulator 3 and is affected by the pressure of the first accumulator 3
  • 2E detects the pressure of the second accumulator 4 and is affected by the pressure of the second accumulator 4
  • V1 When the pressure of the accumulator 3 is equal to the pressure of the second accumulator 4, C1 is communicated with V1; when the pressure of the first accumulator 3 is not equal to the pressure of the second accumulator 4, C1 is communicated with V2.
  • the two ends of the second hydraulic reversing valve 9 are respectively 1F and 2F.
  • 1F detects the pressure of cavity D and is affected by the pressure of cavity D; the pressure of 2F is fixed equal to the initial pressure of cavity D; when the pressure of cavity C is higher than the initial pressure of cavity D, D1 is communicated with P1.
  • the oil in the cavity C is input to the cavity A; Then, with the lowering of the hydraulic rod 2, since the pressure of the first accumulator 3 on the right side is lower, the oil preferentially pushes the one-way valve 6, so that the oil in the cavity A is replenished to the first accumulator 3; With the replenishment of oil, when the pressure of the first accumulator 3 is equal to that of the second accumulator 4, the one-way valve 7 is also pushed open. The first hydraulic reversing valve 8 detects that the first accumulator 3 and the second accumulator 4 are at the same pressure. At this time, C1 is communicated with V1.
  • FIG. 2 shows a schematic structural diagram of the balance cylinder in FIG. 1 according to an embodiment of the present disclosure.
  • the balance cylinder 1 includes four cavities: cavity A, cavity B, cavity C, and cavity D.
  • the oil inlet and outlet of cavity A is 10, which is used to exchange oil with cavity C or the first accumulator 3 or the second accumulator 4;
  • the oil inlet and outlet of cavity B is 11, which is used to exchange oil with cavity A or the second accumulator 4;
  • the oil inlet and outlet of the C cavity is 13, which is used to exchange oil with the cavity A;
  • the oil inlet and outlet of cavity D is 12, which is used to apply pressure on the second hydraulic reversing valve 9.
  • the area ⁇ D 3 2 of the hydraulic rod 2 acting on the cavity A is equal to the area ( ⁇ D 4 2 - ⁇ D 3 2 ) of the hydraulic rod 2 acting on the cavity B, so that in the case of no internal leakage: with the lifting of the hydraulic rod 2, the first accumulator 3 and the second accumulator 4 can simultaneously charge and discharge the same volume of oil, and the pressure of the first accumulator 3 is always the same as the pressure of the second accumulator 4.
  • the area ( ⁇ D 1 2 - ⁇ D 2 2 ) of the hydraulic rod 2 acting on the cavity C is equal to the area ( ⁇ D 4 2 - ⁇ D 1 2 ) of the hydraulic rod 2 acting on the cavity D, so that with the lifting of the hydraulic rod 2, the oil in cavity C can completely enter the cavity D, or, the oil in the cavity D can completely enter the cavity C.
  • FIG. 1 to FIG. 2 only exemplarily show a feasible solution of an embodiment of the present disclosure, and should not limit the function and scope of use of the present disclosure.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
EP21905211.5A 2020-12-15 2021-09-29 Hydraulisches ausgleichszylindersystem Pending EP4265918A4 (de)

Applications Claiming Priority (2)

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CN202011481878.3A CN112610542B (zh) 2020-12-15 2020-12-15 平衡缸液压系统
PCT/CN2021/121586 WO2022127281A1 (zh) 2020-12-15 2021-09-29 平衡缸液压系统

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EP4265918A1 true EP4265918A1 (de) 2023-10-25
EP4265918A4 EP4265918A4 (de) 2024-11-06

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CN112610542B (zh) * 2020-12-15 2022-03-25 库卡机器人(广东)有限公司 平衡缸液压系统
CN120992320B (zh) * 2025-10-24 2026-01-27 湖南省特种设备检验检测研究院 用于高压储氢瓶的液压疲劳试验装置及方法

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DE1116950B (de) * 1960-01-30 1961-11-09 Teves Kg Alfred Abdichtung fuer Kolben bzw. Kolbenstangen von hydraulischen Zylindern
SE457744B (sv) * 1987-05-29 1989-01-23 Asea Ab Utbalanseringsenhet foer t ex en roerlig arm i en industrirobot
EP0857256B1 (de) * 1995-11-03 1999-03-31 Ivan Cyphelly Pneumo-hydraulischer wandler für energiespeicherung
JP2011038298A (ja) * 2009-08-10 2011-02-24 Hitachi Constr Mach Co Ltd 建設機械の油圧制御装置
CN101639133B (zh) * 2009-09-09 2010-11-17 四川神坤装备股份有限公司 自动平衡阀
DE102009043405B3 (de) * 2009-09-29 2011-04-07 Kuka Roboter Gmbh Industrieroboter mit einem Gewichtsausgleichssystem
CN203161691U (zh) * 2013-02-01 2013-08-28 佛山市南海兴迪机械制造有限公司 可单缸调整且不用降低系统工作压力的同步油缸液压系统
JP2017026085A (ja) * 2015-07-24 2017-02-02 日立建機株式会社 作業機械の油圧制御装置
CN105443466B (zh) * 2015-12-19 2017-07-18 太原重工股份有限公司 用于快开缸及上辊平衡缸的钢管矫直机液压控制系统
DE102018205821A1 (de) * 2018-04-17 2019-10-17 Robert Bosch Gmbh Vibrationsantreiben mit einem Mehrflächenzylinder
CN209228784U (zh) * 2018-12-04 2019-08-09 燕山大学 一种三腔控制的多功能伺服液压缸及其液压控制回路
CN110748514B (zh) * 2019-11-28 2025-01-14 三一重机有限公司 一种轮胎式挖掘机平衡油缸控制系统及轮胎式挖掘机
CN112610542B (zh) * 2020-12-15 2022-03-25 库卡机器人(广东)有限公司 平衡缸液压系统

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CN112610542B (zh) 2022-03-25
WO2022127281A1 (zh) 2022-06-23
CN112610542A (zh) 2021-04-06

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