WO2013026209A1 - Method, controller and device for detecting hydraulic valve in hydraulic circuit, method and device for detecting hydraulic circuit fault， and fault processing system for hydraulic circuit - Google Patents

Abstract

Disclosed is a method for detecting a hydraulic valve in a hydraulic circuit, which method comprises: obtaining an actual pressure difference value of hydraulic oil between an oil inlet of the hydraulic valve and an oil outlet thereof; obtaining an actual flow rate value of hydraulic oil at the oil outlet of the hydraulic valve; and comparing the actual pressure difference value and the actual flow value to a theoretical flow-pressure difference curve of the hydraulic valve, so as to determine whether there is a fault in the hydraulic valve. Also disclosed are a controller and a device for detecting a hydraulic valve in a hydraulic circuit, a method and a device for detecting a hydraulic circuit fault, and a fault processing system for a hydraulic circuit. Utilizing these technical solutions, it is possible to determine which hydraulic valve is faulty quickly and accurately, and to provide a processing solution, when a hydraulic valve in the hydraulic circuit is faulty.

Description

Method, controller and device for detecting hydraulic valve in hydraulic circuit, method and device for detecting hydraulic circuit failure, and hydraulic circuit fault processing system

 Technical field

 Field of the Invention This invention relates to the field of hydraulic control and, in particular, to a method, controller and apparatus for detecting a hydraulic valve in a hydraulic circuit, a method and apparatus for detecting a hydraulic circuit failure, and a hydraulic circuit fault handling system.

Background technique

 Since the hydraulic system has the advantages of large output force or torque, easy to realize stepless speed change, and high safety, it is widely used in large-scale machinery and equipment of various industries, for example, concrete pumps for conveying and pouring concrete. Moreover, hydraulic systems used in large-scale mechanical equipment are often complex to meet the functional requirements of various large-scale mechanical equipment, but this poses a problem of system reliability.

 Since the hydraulic system applied to large-scale mechanical equipment is complicated, the possibility of failure of the hydraulic system is relatively high, and in the event of failure or unstable operation, the normal operation of the mechanical equipment is severely affected.

 In response to the existence of this problem, in order to improve the reliability of large-scale mechanical equipment (such as concrete pump), Chinese patent CN101178061A proposes a concrete pump intelligent detection and control system, so that the concrete pump can be monitored in real time to determine whether the concrete pump is in In normal working conditions, high reliability is obtained. The concrete pump intelligent detection and control system installs a displacement sensor on the piston rod of the main cylinder, installs a pressure sensor at a position such as a hydraulic component (such as a main cylinder, an oil pump), and installs a flow meter at the outlet of the oil pump, thereby realizing the working state of the concrete pump. Real-time monitoring to determine whether the concrete pump is in normal working condition in a short period of time, thereby reducing fault judgment and maintenance time.

However, the drawbacks of this traditional concrete pump intelligent detection and control system are: Although the system can be used to obtain timely information on whether the concrete pump is in normal working condition, it is still difficult to accurately predict the abnormality of the working state of the concrete pump. Determine where the fault is. In other words, the intelligent detection and control system proposed by Chinese patent CN101178061A detects and evaluates the running state of the concrete pump from a macroscopic perspective, and does not pay attention to the operating state of a single hydraulic component from a microscopic point, so even this conventional detection system When the working state of the concrete pump is detected, it is difficult to judge the cause of the failure, that is, it is impossible to accurately determine which one of the hydraulic components is problematic. Therefore, when the above-mentioned conventional intelligent detection and control system detects that the system is not working properly, since the specific cause of the failure cannot be accurately determined, when troubleshooting, the troubleshooting method is generally used to eliminate the possible failure points one by one. However, this method relies heavily on the maintenance personnel's work experience. If the experience is insufficient, it is difficult to find the fault point in a short time. Moreover, even experienced maintenance personnel are not fully aware of the ability to accurately locate the point of failure in a short period of time. In addition, the use of the elimination method one by one is time consuming, labor intensive, labor intensive, and inefficient.

 Therefore, how to accurately determine a faulty component has become a technical problem to be solved in the art.

Summary of the invention

 It is an object of the present invention to provide a technical solution capable of accurately determining a faulty component.

 In order to achieve the above object, according to an aspect of the invention, a method for detecting a hydraulic valve in a hydraulic circuit, the method comprising: obtaining hydraulic oil between an oil inlet and an oil outlet of the hydraulic valve The actual pressure difference value is obtained, the actual flow rate value of the hydraulic oil at the oil outlet of the hydraulic valve is obtained, and the actual pressure difference value and the actual flow rate value are compared with the theoretical flow pressure difference relationship curve of the hydraulic valve, thereby A determination is made as to whether the hydraulic valve is faulty.

 Preferably, comparing the actual pressure difference value and the actual flow rate value with the theoretical flow pressure difference relationship curve of the hydraulic valve comprises: obtaining a theoretical pressure difference value corresponding to the actual flow rate value according to the actual flow rate value; The theoretical pressure difference corresponding to the actual flow value is compared with the actual pressure difference.

 Preferably, comparing the theoretical pressure difference value corresponding to the actual flow rate value with the actual pressure difference value comprises: performing a correction range of the theoretical pressure difference value corresponding to the actual flow rate value and the actual pressure difference value Comparing, if the actual pressure difference falls within the correction range of the theoretical pressure difference corresponding to the actual flow value, the hydraulic valve is normal; if the actual pressure difference falls within the correction range In addition, the hydraulic valve is malfunctioning.

 Preferably, the hydraulic valve is a directional control valve, a flow control valve or a pressure control valve.

 Preferably, the hydraulic valve includes a drain port, and the method includes: detecting hydraulic oil at a position before comparing the actual pressure difference value and the actual flow rate value with a theoretical flow pressure difference curve of the hydraulic valve a drain port pressure of a drain port of the hydraulic valve, if the drain port pressure is higher than a predetermined drain port pressure, processing a leaky oil passage of the hydraulic circuit connected to the drain port until the draining The port pressure is not higher than the predetermined drain pressure.

According to another aspect of the present invention, there is provided a controller for detecting a hydraulic valve in a hydraulic circuit, the controller comprising: a processing unit for using the obtained hydraulic oil at the hydraulic pressure Comparing the actual pressure difference between the oil inlet and the oil outlet of the valve and the actual flow value of the hydraulic oil at the oil outlet of the hydraulic valve and the theoretical flow pressure difference curve of the hydraulic valve; and output And an output unit configured to output an electrical signal indicating whether the hydraulic valve is faulty according to a comparison result of the processing unit.

 Preferably, the controller further includes a receiving unit for receiving an electrical signal indicating a pressure value of the hydraulic oil at the oil inlet of the hydraulic valve and indicating that the hydraulic oil is discharged from the hydraulic valve The electrical signal of the outlet pressure value at the mouth, the processing unit is further configured to obtain the actual differential pressure value by subtracting the oil outlet pressure value from the oil inlet pressure value.

 Preferably, the actual flow rate value is calculated according to a flow rate of a hydraulic pump that supplies oil to an oil inlet of the hydraulic valve; or the controller further includes a receiving unit, the receiving unit is configured to receive that the hydraulic oil is An electrical signal of the pressure value of the oil inlet port at the oil inlet of the hydraulic valve, indicating an electrical signal of the pressure value of the oil outlet at the oil outlet of the hydraulic valve, and indicating the oil output of the hydraulic oil in the hydraulic valve The electrical signal of the actual flow value at the mouth, the processing unit is further configured to obtain the actual differential pressure value by subtracting the oil outlet pressure value from the oil inlet pressure value.

 Preferably, the processing unit is configured to: obtain a theoretical pressure difference corresponding to the actual flow value according to the actual flow value; compare the theoretical pressure difference corresponding to the actual flow value with the actual pressure difference .

 Preferably, the processing unit is configured to compare a correction range of the theoretical pressure difference value corresponding to the actual flow rate value with the actual pressure difference value, if the comparison result of the processing unit is the actual pressure difference value And falling within the correction range of the theoretical pressure difference corresponding to the actual flow value, the output unit outputs an electrical signal indicating that the hydraulic valve is normal; if the comparison result of the processing unit is the actual The pressure difference falls outside the correction range, and the output unit outputs an electrical signal indicating that the hydraulic valve is malfunctioning.

 Preferably, the hydraulic valve is a directional control valve, a flow control valve or a pressure control valve.

 Preferably, the hydraulic valve includes a drain port, wherein the processing unit is configured to: compare the actual differential pressure difference and the actual flow rate value with a theoretical flow differential pressure curve of the hydraulic valve, and compare Depressing the drain pressure and the drain pressure of the hydraulic oil at the drain port of the hydraulic valve, and performing the actual pressure difference value if the drain port pressure is not higher than the predetermined drain port pressure And a comparison of the actual flow value to the theoretical flow differential pressure curve of the hydraulic valve.

According to still another aspect of the present invention, there is provided a device for detecting a hydraulic valve in a hydraulic circuit, the device comprising: a pressure sensor, the pressure sensor being connected in series with an oil inlet and an oil outlet of the hydraulic valve, respectively For detecting the oil inlet pressure of the hydraulic oil at the oil inlet of the hydraulic valve and the oil outlet pressure of the hydraulic oil at the oil outlet of the hydraulic valve; and a controller, the controller is provided by the invention The above controller, wherein the controller includes a processing unit and an output unit, where The actual pressure difference between the oil inlet and the oil outlet of the hydraulic valve and the hydraulic oil in the hydraulic unit obtained according to the inlet pressure and the outlet pressure detected by the sensor Comparing the actual flow rate value at the oil outlet of the hydraulic valve with the theoretical flow pressure difference curve of the hydraulic valve; the output unit is configured to output whether the hydraulic valve exists according to the comparison result of the processing unit Faulty electrical signal.

 Preferably, the plurality of hydraulic valves are plural.

 According to still another aspect of the present invention, there is also provided a method of detecting a hydraulic circuit failure, the hydraulic circuit including a power element, an actuator, and a control element connecting the power element and the actuator, the control element having a plurality of hydraulic valves, The method includes detecting which one of the plurality of hydraulic valves is faulty using the above method provided by the present invention.

 According to still another aspect of the present invention, there is also provided a device for detecting a failure of a hydraulic circuit, the hydraulic circuit including a power element, an actuator, and a control element connecting the power element and the actuator, the control element having a plurality of hydraulic valves, The apparatus includes the above apparatus provided by the present invention to detect which one of the plurality of hydraulic valves is faulty.

 According to another aspect of the present invention, a hydraulic circuit fault processing system is provided, the system comprising: the above-mentioned device for detecting a hydraulic circuit failure provided by the present invention and a fault processing unit electrically connected to the device, the fault processing unit In a case where the detection result of the device for detecting a failure of the hydraulic circuit is that at least one of the hydraulic valves is faulty, a failure treatment scheme corresponding to the detection result is output.

 Preferably, the fault processing unit comprises: a memory for storing a fault handling scheme for each hydraulic valve; a fault processor electrically connecting the memory and the device detecting the hydraulic circuit fault The fault processor is configured to read and output a fault processing scheme stored in the memory corresponding to the detection result in a case where the detection result of the device for detecting a failure of the hydraulic circuit is that the at least one hydraulic valve is faulty.

 Preferably, the fault handling scheme for each hydraulic valve stored in the memory includes a fault temporary processing method and a troubleshooting method, and the fault processing unit further includes a human-machine interaction device electrically connected to the fault processor, The human-machine interaction device has a first option and a second option, when the first option is selected, the fault processor reads from the memory and outputs the fault temporary processing to the human-machine interaction device Method, when the second option is selected, the fault processor reads from the memory and outputs the fault elimination method to the human-machine interaction device.

Preferably, the faulty processor is further electrically connected to the power component of the hydraulic circuit to send the power component to the power component if the detection result of the device detecting the hydraulic circuit failure is that the at least one hydraulic valve is faulty. Stop the running electrical signal. The inventors have found that a relatively high probability of failure in a hydraulic system is a control element, i.e., various hydraulic valves that control the flow of hydraulic oil. For example, when the spool of the hydraulic valve encounters jamming, the action of the spool is prone to inaccurate defects, which causes the hydraulic valve to malfunction, which in turn causes the entire hydraulic system to be in an abnormal working state. Further, in terms of the number of constituent elements of a hydraulic system, the number of hydraulic valves as control elements is also often more than that of power components (such as oil pumps) and actuators (such as hydraulic cylinders or hydraulic motors).

 Therefore, based on the above understanding, the inventors of the present invention have proposed a technical solution for detecting a hydraulic valve which is most prone to failure in a hydraulic system, so that when a problem occurs in the hydraulic system, it is possible to quickly and accurately determine which one of the hydraulic valve components There is a fault. In addition, it is also preferable to provide a fault handling scheme based on the fault condition.

 Other features and advantages of the invention will be described in detail in the detailed description which follows. DRAWINGS

 The drawings are intended to provide a further understanding of the invention, and are in the In the drawing:

 1 is a flow chart of a method for detecting a hydraulic valve in a hydraulic circuit provided by the present invention; FIG. 2 is a view showing parameters required for detecting a hydraulic valve having a drain port; FIG. 3 is a view showing actual and actual A schematic diagram comparing the theoretical pressure difference corresponding to the flow value with the actual pressure difference;

 Fig. 4 is a schematic view showing a hydraulic circuit provided with a detection point.

detailed description

 The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.

According to an aspect of the invention, a method for detecting a hydraulic valve in a hydraulic circuit is provided, the method comprising: obtaining an actual pressure difference between a hydraulic oil inlet and an oil outlet of the hydraulic valve to obtain a hydraulic pressure Comparing the actual flow rate value of the oil at the oil outlet of the hydraulic valve, comparing the actual pressure difference value and the actual flow rate value with the theoretical flow pressure difference curve of the hydraulic valve, thereby determining whether the hydraulic valve is faulty . During operation of the hydraulic circuit, hydraulic oil from a hydraulic pump of the power component typically flows through the hydraulic valve to a predetermined actuator (eg, a hydraulic cylinder, etc.). The control of the hydraulic oil flowing through the hydraulic valve by the hydraulic valve is usually achieved by moving the valve core to adjust the flow area between the oil inlet and the oil outlet of the hydraulic valve. For example, when the spool moves but the flow area between the oil inlet and the oil outlet is zero, the oil inlet and the oil outlet are closed; by moving the valve core, the oil inlet can also be adjusted. The flow area between the oil outlet and the oil outlet, so as to control the flow of hydraulic oil flowing between the oil inlet and the oil outlet; when the spool moves to the maximum opening, the oil inlet and the oil outlet The flow area between the largest is the largest.

It is well known to those skilled in the art that according to the small hole flow formula in the principle of hydraulic fluid dynamics, the flow rate Q of the liquid flowing through the small hole and the pressure difference Δ ρ between the oil inlet and the oil outlet are as well There is a direct correspondence between the flow area 小 of the small holes. For example, for thin-walled small holes, Q is proportional to the square root of Δ ρ and proportional to Α. The theoretical basis of the technical solution of the present invention is the small hole flow formula of hydraulic fluid mechanics. In other words, for a specific hydraulic valve that operates correctly (ie, has no fault), the flow rate of hydraulic oil Q _a 3⁄4 flowing through the hydraulic valve, the pressure difference Δ ρ of the hydraulic oil, and the passage of the valve port of the hydraulic valve The flow area Α theory is in accordance with the small hole flow pressure difference formula, so as to obtain the theoretical flow pressure difference curve of the hydraulic valve.

When the hydraulic valve is actually applied in the hydraulic circuit, when hydraulic oil flows through the hydraulic valve, the hydraulic oil flowing through the hydraulic valve has an actual flow rate Q ^, and the actual flow rate Q corresponds to Δ ρ actual and The flow area is practical. By comparing the relationship between the Δ ρ theory and the actual Δ ρ actually corresponding to Q, the relationship between the flow area A _a and the flow area Α can be obtained. Specifically, if the Δ ρ theory meets the Δ 实际 actual (for example, eight equals the gossip theory, or Δ ρ falls within the allowable deviation range of the Δ Ρ theory), then the flow area of the valve port of the hydraulic valve is also It conforms to A _a1⁄2 , so it can be judged that the spool action of the hydraulic valve is normal and reliable. On the other hand, if the Δ ρ theory does not meet the Δ ρ actual, it means that the flow area of the valve port of the hydraulic valve does not actually conform to the A theory, so it can be judged that the spool action of the hydraulic valve is not normal and reliable, that is, there is a fault. .

 Therefore, by analyzing the change of the actual flow rate and the actual pressure difference, it can be evaluated whether the spool of the hydraulic valve has the correct flow area of the hydraulic valve, so that for each hydraulic valve in the hydraulic circuit, it is possible to accurately determine which one A hydraulic valve is faulty to determine the fault in the hydraulic circuit as quickly as possible.

As shown in Fig. 1, during the actual operation of the hydraulic circuit, the hydraulic oil enters the hydraulic valve through the oil inlet port and flows out of the hydraulic valve from the oil outlet port. The hydraulic oil is at the oil inlet and the oil outlet of the hydraulic valve. There is a pressure difference between the actual pressure difference Δ ρ . In addition, it is also necessary to obtain the actual flow rate value Q of the hydraulic oil at the oil outlet of the hydraulic valve. By obtaining Q actual and Δ ρ actual, the above parameters Q actual and Δ ρ are actually the actual operating parameters of the hydraulic valve, so that the actual working state of the hydraulic valve can be reflected. At the same time, the actual pressure that will be obtained indicating the actual working state of the hydraulic valve The difference Δ ρ and the actual flow value Q ^ are compared with a theoretical flow differential pressure curve of the hydraulic valve to determine if the hydraulic valve is faulty.

Specifically, as shown in FIG. 3, as described above, if the Δ ρ theory conforms to Δ ρ actual, it indicates that the hydraulic valve is normally reliable. Conversely, if Δ ρ _3⁄4 does not meet Δ ρ ₃₅ , it means that the hydraulic valve is not normally reliable, that is, there is a fault.

 As a criterion for evaluating whether the hydraulic valve is working normally, for the hydraulic valve, the theoretical flow pressure difference relationship curve is a relationship curve as shown in Fig. 3, wherein the abscissa is the flow value and the ordinate is the pressure difference. The theoretical flow pressure difference curve shows the theoretical flow rate Q of the hydraulic oil passing through the oil outlet and the theoretical pressure difference Δ ρ between the oil inlet and the oil outlet of the hydraulic valve. The theoretical flow differential pressure relationship curve can be obtained by at least two ways:

 First, the theoretical flow pressure difference curve of the hydraulic valve may be a theoretical characteristic curve of the hydraulic valve. For standard or series of hydraulic valve products, the general manufacturer can provide the characteristic parameters of the hydraulic valve, wherein the theoretical flow differential pressure curve can be the characteristic curve of the hydraulic valve product sample. Of course, the theoretical characteristic curve is different for different hydraulic valve products. Different hydraulic valve products have different pressure drop flow curve liquids of the same type of valve due to different design of spool diameter and valve port form. For example, the following is a sample data showing the differential pressure flow curve of Shanghai Lixin Hydraulic Directional Valve (WEH25 Electro-Hydraulic Valve).

 Flow rate (L1⁄2i n)

 WEF25 electro-hydraulic over-preload valve ffi force loss curve

(Test strip ^ = 4 : D In addition, it is also possible to detect the corresponding relationship between the flow rate and the pressure difference of the hydraulic valve by testing the hydraulic valve product without failure, thereby obtaining a theoretical flow pressure difference relationship curve. When the hydraulic valve of a certain brand is working normally, the flow rate of the hydraulic valve is detected when the working state is detected, and the pressure difference between the inlet and the outlet of the hydraulic valve at the flow rate is detected, and the hydraulic valve is obtained. Pressure difference flow curve; and the differential pressure flow curve of the hydraulic valve under the above method on the same type of equipment; Finally, multiple sets of data are processed, and the maximum differential pressure at the same flow rate is taken as the differential pressure at the flow rate The value, so that the flow pressure difference curve of the hydraulic valve can be obtained. In addition, for a hydraulic valve, the theoretical flow pressure difference curve of the hydraulic valve can also be obtained by other means. For example, the pressure difference value at the actual working flow rate of the hydraulic valve can be detected, and the value obtained by multiplying the pressure difference 値 by the amplification factor is used, and the theoretical flow pressure difference curve is plotted against the actual working flow rate of the hydraulic valve. Wherein, the amplification factor can take into account the interference caused by the wear of the valve core, the detection error, etc., and the coefficient is generally given by experience, and the average weighting coefficient can be detected multiple times by multiple devices. Moreover, the above amplification factors are also different depending on the application.

 For a hydraulic valve, the theoretical flow pressure difference curve of the hydraulic valve can be obtained by the above method, thereby detecting the actual operating parameters of the hydraulic valve, and comparing the actual operating parameters with the theoretical parameters to determine whether the hydraulic valve exists. malfunction.

 Further, although the theoretical flow pressure difference curve shown in Fig. 3 is expressed as a curve. However, it should be understood by those skilled in the art that the theoretical flow differential pressure curve is not limited to this form. For example, the theoretical differential pressure curve can be represented by a plurality of coordinate points.

 The actual operating parameters of the hydraulic valve can be obtained as follows.

 The actual pressure difference is obtained by, for example, as shown in FIG. 2, detecting the pressure value of the oil inlet at the oil inlet of the hydraulic valve, and detecting the hydraulic oil at the oil outlet of the hydraulic valve. The outlet pressure value, the inlet pressure value minus the outlet pressure value is the actual differential pressure Δ ρ . For example, the inlet pressure value and the outlet pressure value may be separately detected by a pressure sensor.

 The actual flow value is obtained by: calculating the movement speed of the actuator (such as a piston cylinder or a hydraulic motor) connected in series on the hydraulic valve according to the hydraulic circuit, or directly detecting the flow directly through the flowmeter, or Troubleshoot at a specific flow or maximum flow in the hydraulic circuit. For example, the hydraulic oil in the hydraulic circuit is mostly driven by a hydraulic pump, and the flow through the hydraulic pump is relatively easy to obtain, so for a directional control valve that is in direct communication with the hydraulic pump, usually the directional control valve is out. The actual flow rate of the port is equal to the pumping flow of the hydraulic pump. For example, for a proportional valve, the actual flow rate of the oil outlet of the proportional valve is proportional to the flow rate of the oil inlet, and the proportional relationship and the flow rate of the hydraulic oil of the system can obtain the oil outlet of the proportional valve. Actual flow value.

 Alternatively, as shown in Fig. 2, the actual flow value of the hydraulic oil at the oil outlet of the hydraulic valve can also be detected to obtain the actual flow value. For example, a flow sensor or flow meter may be provided at the oil outlet of the hydraulic valve to detect the actual flow value.

For a hydraulic valve, after obtaining the actual flow value Q indicating the actual operating state of the hydraulic valve and the actual differential pressure Δ ρ and obtaining the theoretical flow differential pressure curve of the hydraulic valve, the actual differential pressure is obtained. The value and the actual flow value are related to the theoretical flow pressure difference of the hydraulic valve. The curve is compared, wherein the step includes:

 Obtaining a theoretical pressure difference Δ p theory corresponding to the actual flow value Q according to the actual flow value Q;

The theoretical pressure difference Δ p _a corresponding to the actual flow value Q is compared with the actual pressure difference Δ p to determine whether the hydraulic valve is faulty based on the comparison result.

As described above, if Δρ _3⁄4 corresponds to Δρ ₃₅ , it indicates that the hydraulic valve is normally reliable. Conversely, if the Δρ theory does not meet the Δρ actual, it indicates that the hydraulic valve is not normally reliable, that is, there is a fault.

 Δ ρ is the pressure difference between the oil inlet and the oil outlet of the hydraulic valve, so the pressure difference is a data point, and the theoretical pressure difference Δρ corresponding to the actual flow value Q is also a Data points, so the two data points Δ ρ theory and Δ ρ can actually be compared in size.

For example, if the actual flow value Q is a flow value between the maximum flow rate of the hydraulic valve and zero, Δρ may be greater or less than the Δρ theory corresponding to the actual flow value Q ₅ , but if between Δρ^ and Δρ _3⁄4 If the deviation is within the allowable range, then the two are considered to be corresponding, that is, the hydraulic valve is not faulty, otherwise the hydraulic valve is considered to be faulty.

 For another example, if the actual flow value is the maximum flow rate of the hydraulic valve (at this time, the flow passage area between the oil inlet port and the oil outlet port of the hydraulic valve is the largest, that is, the opening degree of the hydraulic valve is the largest), if the hydraulic valve is If there is a fault, that is, the opening degree of the hydraulic valve is not large enough, Δρ may only be larger than the Δρ theory which actually corresponds to the actual flow value Q. Therefore, in this case, if Δρ is actually larger than the Δρ theory which actually corresponds to the actual flow value Q, it indicates that the hydraulic valve is defective.

Preferably, comparing the theoretical pressure difference value Δρ _a1⁄2 corresponding to the actual flow rate value Q with the actual pressure difference value Δρ includes: theoretically different the theoretical pressure difference value _ΔΡ corresponding to the actual flow rate value Q The correction range is actually compared with the actual pressure difference Δρ.

In the preferred embodiment, for example, as shown in Fig. 3, the theoretical pressure difference Δρ corresponding to the actual flow value is corrected to obtain a correction range or a permissible range of the theoretical pressure difference Δρ. If the actual pressure difference value Δρ ₃₅ falls within the correction range of the theoretical pressure difference value Ap _ai corresponding to the actual flow rate value Q, the hydraulic valve is normal; if the actual pressure difference value Δp falls Below the correction range, the hydraulic valve fails.

The determination of the correction range varies according to different applications, but the principle is determined that the hydraulic pressure is reflected by the deviation between the theoretical pressure difference Δp theory that Δ p actually corresponds to the actual flow value Q. The deviation of the valve spool position does not affect the normal operation of the hydraulic valve. In other words, even if the position of the spool of the hydraulic valve is not very accurate, if the deviation or inaccuracy does not reach the extent that it affects the normal operation of the hydraulic valve, it can still be considered as an acceptable error in the engineering field. The hydraulic valve is in normal working condition. In addition, the theoretical pressure difference Δ ρ theory in which Δ ρ actually corresponds to the actual flow value Q can be compared in other ways, for example, according to the Δ ρ actual / Δ ρ theory (ie, the ratio of the two) Whether the hydraulic valve is malfunctioning.

 The technical solution provided by the present invention is applicable to various hydraulic valve components in the hydraulic field.

 For example, the technical solution of the present invention can be applied to various flow control valves, including a throttle valve, a speed control valve, a diverter valve, a proportional valve, a servo valve, and the like. For various flow control valves, the inlet and outlet of the flow control valve are typically constant.

 The technical solution of the present invention can also be applied to various directional control valves, such as a check valve and a spool type directional control valve. For check valves, the inlet and outlet are usually constant. However, for a spool type directional control valve, the oil inlet port is usually constant, but the oil outlet port will change depending on the position of the spool valve spool, thereby changing the flow direction of the hydraulic oil. effect. In this case, in any case, when hydraulic oil flows from the oil inlet into the spool type directional control valve and flows out from an oil outlet, there is always a corresponding oil inlet and outlet. The technical solution of the present invention can also be applied to a pressure control valve.

 Further, as shown in Fig. 2, the technical solution of the present invention can also be applied to a hydraulic valve having a drain port (e.g., a pressure reducing valve having a drain port, which is normally connected to the tank through a drain line). For such a hydraulic valve, the method includes: detecting a hydraulic oil draining of the hydraulic valve before comparing the actual differential pressure value and the actual flow rate value with a theoretical flow differential pressure relationship curve of the hydraulic valve a drain port pressure of the port, if the drain port pressure is higher than a predetermined drain port pressure, processing a leaky oil passage of the hydraulic circuit that communicates with the drain port until the drain port pressure is not higher than a predetermined Drain pressure.

 That is to say, for a hydraulic valve having a drain port, before determining whether the hydraulic valve itself is faulty, it is determined whether there is a fault (such as whether it is blocked) of the leaky oil line connected to the drain port of the hydraulic valve. Specifically, when hydraulic oil flows through the drain port of the hydraulic valve, the pressure of the drain port of the hydraulic oil at the drain port can be detected (since the drain port is usually connected to the tank, therefore, the drain port pressure is usually not Above the standard value, if the drain pressure is too high, there is a fault in the leaky oil line. In this case, the leaky oil line is first maintained to ensure that the leaking oil path is eliminated. On the premise that there is no fault in the leaking oil circuit, it is detected whether the hydraulic valve itself has a fault.

 According to another aspect of the present invention, there is also provided a controller suitable for the above-described method for detecting a hydraulic valve in a hydraulic circuit, that is, a controller for detecting a hydraulic valve in a hydraulic circuit, the controller comprising:

a processing unit for using the obtained hydraulic oil at an actual pressure difference between the oil inlet and the oil outlet of the hydraulic valve and an actual flow rate of the hydraulic oil at the oil outlet of the hydraulic valve The value is compared with a theoretical flow differential pressure curve of the hydraulic valve; and And an output unit configured to output an electrical signal indicating whether the hydraulic valve is faulty according to a comparison result of the processing unit.

 The actual pressure difference between the oil inlet and the oil outlet of the hydraulic valve and the actual flow rate of the hydraulic oil at the oil outlet of the hydraulic valve are the objects processed by the processing unit of the controller Data, the processing unit compares the actual pressure difference Δ ρ with the actual flow rate value Q and the theoretical flow pressure difference curve of the hydraulic valve to obtain an electrical signal indicating the comparison result. The output unit outputs an electrical signal indicating whether or not the hydraulic valve is faulty based on the processing result of the processing unit (i.e., the comparison result). The output unit can also be electrically connected to other display devices (such as light emitting diodes, displays, etc.) to indicate the detection result of the hydraulic valve to the outside through these display devices.

 As described above, the theoretical flow rate difference curve of the hydraulic valve is a theoretical characteristic curve of the hydraulic valve, or is obtained by testing a corresponding relationship between the flow rate and the differential pressure of the hydraulic valve.

 The actual pressure difference value can be obtained by: using a pressure sensor to respectively detect the pressure values at the oil inlet and the oil outlet of the hydraulic valve, and then using a comparator to obtain a difference between the two pressure values, thereby obtaining Actual pressure difference Δ ρ . Then, the actual differential pressure difference Δ ρ ^ is sent to the controller, and the controller performs the arithmetic processing.

 Further, preferably, the controller further includes a receiving unit for receiving an electrical signal indicating a pressure value of the oil inlet port of the hydraulic oil at the oil inlet of the hydraulic valve and indicating that the hydraulic oil is at the hydraulic valve The electrical signal of the outlet pressure value at the oil outlet, the processing unit is further configured to obtain the actual differential pressure value by subtracting the oil outlet pressure value from the oil inlet pressure value.

 That is to say, the processing unit in the controller integrates the function of the comparator, and after receiving the electrical signal indicating the pressure value of the oil inlet port and the pressure value of the oil outlet port by the receiving unit, the processing unit then charges the two electricity The signals are compared to obtain the actual differential pressure difference.

 As described above, the actual flow rate value can be calculated based on the flow rate of the hydraulic pump that supplies oil to the oil inlet of the hydraulic valve. In this case, for the hydraulic valve, the actual flow value is a known parameter and can be directly input into the controller for processing by the processing unit of the controller.

 Alternatively, the controller further includes a receiving unit for receiving an electrical signal indicating a pressure value of the oil inlet port of the hydraulic oil at the oil inlet of the hydraulic valve, indicating that the hydraulic oil is at the oil outlet of the hydraulic valve An electrical signal of the outlet pressure value, and an electrical signal indicative of the actual flow value of the hydraulic oil at the oil outlet of the hydraulic valve, the processing unit being further configured to subtract the inlet pressure value from the The actual pressure difference is obtained by the outlet pressure value.

This embodiment is suitable for the case where the flow sensor is used to obtain the actual flow value of the hydraulic oil at the oil outlet of the hydraulic valve. Specifically, the receiving unit receives an electrical signal of the oil inlet pressure value and the oil outlet pressure value, and receives an electrical signal detected by the flow sensor indicating the actual flow rate of the hydraulic oil at the oil outlet. Then, the actual pressure difference value and the actual flow rate value obtained are sent to Processing unit for the processing unit to perform data processing.

After obtaining the actual flow value and the actual pressure difference, the processing unit compares the actual flow value and the actual pressure difference with the theoretical flow differential pressure curve. Specifically, the processing unit is configured to: obtain a theoretical pressure difference Δ p theory corresponding to the actual flow value Q according to the actual flow value Q; and a theoretical pressure difference Δ that actually corresponds to the actual flow value Q The p _a theory is actually compared with the actual pressure difference Δ p . For example, the theoretical pressure difference Δ ρ theory actually corresponding to the actual flow value Q may be compared with the actual pressure difference Δ ρ actually, or may be the actual pressure difference corresponding to the actual flow value Q. The correction (permit) range of Δ ρ _3⁄4 is compared.

 Preferably, however, the processing unit is operative to compare the theoretical range of the theoretical differential pressure Δ ρ corresponding to the actual flow value Q with the actual differential pressure Δ ρ .

 If the comparison result of the processing unit is that the actual pressure difference Δ ρ falls within the correction range of the theoretical pressure difference Δ ρ theory actually corresponding to the actual flow value Q, the output unit outputs And indicating that the hydraulic valve is normal; if the comparison result of the processing unit is that the actual pressure difference Δ ρ falls outside the correction range, the output unit outputs electricity indicating that the hydraulic valve is faulty signal.

 The theoretical differential pressure Δ ρ actually corresponding to the actual flow value Q has a different correction range depending on different application conditions. The actual comparison of the theoretical differential pressure value Δ ρ corresponding to the actual flow value Q ^ and the actual differential pressure Δ ρ can be referred to the above description, and will not be described again here.

 The controller provided by the present invention can be used to detect various hydraulic valves in a hydraulic circuit, such as a directional control valve, a flow control valve, or a pressure control valve.

 In addition, the controller provided by the present invention can also be used to detect a hydraulic valve having a drain port, such as a pressure reducing valve having a drain port. Specifically, for a hydraulic valve having a drain port, the processing unit may be configured to: compare the actual pressure difference value and the actual flow rate value with a theoretical flow pressure difference curve of the hydraulic valve, and compare Depressing the drain pressure and the drain pressure of the hydraulic oil at the drain port of the hydraulic valve, and performing the actual pressure difference value if the drain port pressure is not higher than the predetermined drain port pressure And a comparison of the actual flow value to the theoretical flow differential pressure curve of the hydraulic valve.

 That is to say, for a hydraulic valve having a drain port, before determining whether the hydraulic valve itself is faulty, it is determined whether there is a fault (such as whether it is blocked) of the leaky oil line connected to the drain port of the hydraulic valve. In the case where the leakage path of the hydraulic valve is not faulty (i.e., the drain port pressure is not higher than the predetermined drain port pressure), it is detected or evaluated whether the hydraulic valve itself has a malfunction.

 The above controller may be a device that can be used as a controller, such as a PLC, a single chip microcomputer, or a microcomputer.

According to still another aspect of the present invention, there is also provided a method for detecting a hydraulic valve in a hydraulic circuit Device, the device includes:

 a pressure sensor, wherein the pressure sensor is respectively connected in series with the oil inlet and the oil outlet of the hydraulic valve for detecting the pressure of the oil inlet at the oil inlet of the hydraulic valve and the hydraulic oil in the hydraulic pressure The pressure at the outlet of the valve; and

 a controller, the controller comprising a processing unit and an output unit, the processing unit obtains hydraulic oil obtained according to the inlet pressure and the outlet pressure detected by the sensor at an oil inlet and outlet of the hydraulic valve The actual pressure difference between the oil ports and the actual flow rate value of the hydraulic oil at the oil outlet of the hydraulic valve are compared with the theoretical flow pressure difference curve of the hydraulic valve; the output unit is used according to the The result of the comparison of the processing units outputs an electrical signal indicating whether the hydraulic valve is faulty.

 The above apparatus for detecting a hydraulic valve in a hydraulic circuit includes a pressure sensor and a controller cooperating with the pressure sensor, wherein the pressure controller may be the above-described controller provided by the present invention. Therefore, the technical contents of the means for detecting the hydraulic valve in the hydraulic circuit are different from those of the above-described controller in the following. The description of the controller is simplified or omitted, and the controller can refer to the detailed description of the controller above.

 The pressure sensors are respectively connected in series with the oil inlet and the oil outlet of the hydraulic valve, and may be disposed on an oil circuit connected in series with the oil inlet and the oil outlet of the hydraulic valve, or directly installed on the hydraulic valve. At the oil inlet and outlet. The pressure sensor can be any existing sensor for detecting the pressure of the liquid, and the specific model can be selected according to the specific working conditions.

 The pressure sensor can obtain the pressure of the oil inlet port at the oil inlet of the hydraulic valve and the oil pressure of the hydraulic oil at the oil outlet of the hydraulic valve, according to the inlet pressure and the oil outlet. The pressure is used to obtain the actual differential pressure Δ ρ (for example, an electrical signal indicating the inlet pressure minus the outlet pressure can be output by the comparator).

Then, the processing unit of the controller determines whether the hydraulic valve is faulty based on the actual pressure difference value Δ ρ _β , the actual flow rate value Q, and the theoretical flow pressure difference curve. The specific judgment process has been described in detail above and will not be described here.

 Preferably, the theoretical flow pressure difference relationship curve is a theoretical characteristic curve of the hydraulic valve, or is obtained by testing a corresponding relationship between a flow rate of the hydraulic valve and a pressure difference.

 Preferably, the controller further includes a receiving unit for receiving an electrical signal from the pressure sensor indicating a pressure value of the oil inlet port of the hydraulic oil at the oil inlet of the hydraulic valve and indicating the hydraulic pressure The electric signal of the oil outlet pressure value of the oil at the oil outlet of the hydraulic valve, the processing unit is further configured to obtain the actual pressure difference by subtracting the oil outlet pressure value from the oil inlet pressure value value.

For the actual flow value Q, as described above, the actual flow value Q sw can be It is calculated based on the flow rate of the hydraulic pump that supplies oil to the oil inlet of the hydraulic valve.

 Alternatively, the sensor further includes a flow sensor in series with the oil outlet of the hydraulic valve for detecting an actual flow rate Q of the hydraulic oil at the oil outlet of the hydraulic valve. For example, the flow sensor may be mounted on an oil line in series with the oil outlet of the hydraulic valve, or directly mounted on the oil outlet of the hydraulic valve. The flow sensor can use various existing sensors suitable for collecting liquid flow, and the specific model can be selected according to the specific working conditions.

 Preferably, the controller further comprises a receiving unit, configured to receive an electrical signal from the pressure sensor indicating the pressure of the oil inlet at the oil inlet of the hydraulic valve, indicating the hydraulic oil An electrical signal at the outlet pressure at the oil outlet of the hydraulic valve, and an electrical signal from the flow sensor indicating the actual flow value of the hydraulic oil at the outlet of the hydraulic valve

(to thereby obtain Q), the processing unit is further configured to reduce the inlet pressure by the outlet pressure to obtain the actual differential pressure ΔP actual.

After obtaining Q ι^Β Δ ρ , the processing unit of the controller compares the two data with the theoretical flow differential pressure curve. Preferably, the processing unit is configured to: obtain a theoretical pressure difference Δ ρ theory corresponding to the actual flow value Q according to the actual flow value Q; and calculate a theoretical pressure difference corresponding to the actual flow value Q The Δ p _a argument is compared to the actual differential pressure Δ p .

Preferably, the processing unit is configured to compare the correction range of the theoretical pressure difference value Δ ρ _3⁄4 corresponding to the actual flow rate value Q ^ with the actual pressure difference value. In other words, the correction range of the theoretical pressure difference Δ ρ theory can also be regarded as the error tolerance range.

 If the comparison result of the processing unit is that the actual pressure difference Δ ρ falls within the correction range of the theoretical pressure difference Δ ρ « corresponding to the actual flow value, the output unit outputs a representation The normal electrical signal of the hydraulic valve; if the comparison result of the processing unit is that the actual differential pressure falls outside the correction range, the output unit outputs an electrical signal indicating that the hydraulic valve is faulty.

The apparatus for detecting a hydraulic valve in a hydraulic circuit provided by the present invention may be adapted to detect a directional control valve, a flow control valve, or a pressure control valve in a hydraulic circuit. It can also be applied to a hydraulic valve including a drain port (such as a pressure reducing valve), wherein the device further includes a drain port pressure sensor for detecting oil drain of the hydraulic oil in the hydraulic valve The drain pressure of the mouth. The receiving unit is further configured to receive an electrical signal from the drain pressure sensor that is indicative of the drain pressure. The processing unit is configured to compare the predetermined drain pressure and the hydraulic oil before comparing the actual pressure difference Δ ρ ^ and the actual flow value Q with the theoretical flow pressure difference curve of the hydraulic valve The drain port pressure of the drain port of the hydraulic valve, where the drain port pressure is not higher than the predetermined drain port pressure, the actual differential pressure value and the actual flow rate value are A comparison of the theoretical flow differential pressure curves of a hydraulic valve.

 Further, preferably, the plurality of hydraulic valves are plural. That is to say, the number of hydraulic valves in the hydraulic circuit is plural, and the above-mentioned device for detecting the hydraulic valve in the hydraulic circuit provided by the present invention can detect any one of the plurality of hydraulic valves, or simultaneously detect the multiple Any one of the plurality of hydraulic valves can quickly determine which of the plurality of hydraulic valves of the hydraulic circuit has failed.

 In order to be adapted to a plurality of hydraulic valves, the above-mentioned means for detecting the hydraulic valve in the hydraulic circuit may be a plurality of separate devices to respectively detect the respective hydraulic valves; or the above devices may be a collective device, ie the controller is concentrated Together, a centralized inspection of a plurality of hydraulic valves can be achieved. According to yet another aspect of the present invention, a method of detecting a hydraulic circuit failure is provided, the hydraulic circuit including a power element, an actuator, and a coupling of the power element and the actuator. A control element having a plurality of hydraulic valves, the method comprising detecting which one of the plurality of hydraulic valves is faulty using the above method for detecting a hydraulic valve in a hydraulic circuit.

 The hydraulic circuit includes a power component, an actuator component, and a control component, wherein the power component can be various hydraulic pumps, and the power component converts mechanical energy into hydraulic energy of the hydraulic oil; the actuator component can be various hydraulic cylinders and hydraulic motors. The function of the actuator is to convert the hydraulic energy of the hydraulic oil into mechanical energy; the control element can be a variety of hydraulic valves, the function of which is to control and regulate the pressure, flow and direction of the hydraulic oil in the hydraulic circuit. In addition, the hydraulic circuit may include other auxiliary components such as joints, accumulators, etc., and will not be described in detail herein.

 In the method for detecting a hydraulic circuit failure provided by the present invention, each of the hydraulic valves in the hydraulic circuit is detected by the above method for detecting a hydraulic valve in a hydraulic circuit provided by the present invention, thereby determining which one of the hydraulic valves A fault has occurred so that the faulty hydraulic valve can be accurately located.

 According to still another aspect of the present invention, there is provided a device for detecting a failure of a hydraulic circuit, the hydraulic circuit including a power element, an actuator, and a control element connecting the power element and the actuator, the control element having a plurality of hydraulic valves, The apparatus includes the above-described apparatus for detecting a hydraulic valve in a hydraulic circuit provided by the present invention to detect which one of the plurality of hydraulic valves is faulty.

 With the above apparatus for detecting a hydraulic valve in a hydraulic circuit, the means for detecting a failure of the hydraulic circuit can detect each hydraulic valve in the hydraulic circuit to determine which one of the hydraulic valves is faulty, thereby enabling accurate positioning Faulty hydraulic valve.

Since the above-described method and apparatus for detecting a hydraulic valve in a hydraulic circuit have been described in detail above, no further details will be described herein. Above for the detection of hydraulic valves in hydraulic circuits The above description of the method and apparatus can be combined in various ways into the above described method and apparatus for detecting a hydraulic circuit.

 How to detect the fault in the hydraulic circuit will be described below in conjunction with the hydraulic circuit in FIG. Figure 4 shows a hydraulic control circuit of a concrete pump comprising three hydraulic pumps, wherein the dosing pump 10 is used to drive the agitator motor 13, and a first as a control element is provided between the dosing pump 10 and the agitator motor 13 The reversing valve 100; the first variable pump 11 is for driving the distribution cylinder 14, between the first variable pump 11 and the distribution cylinder 14 is provided with a second reversing valve 200 as a control element; the second variable pump 12 is for driving The main pumping cylinder 15 is provided with a third reversing valve 300 as a control element between the second variable pump 12 and the main pumping cylinder 15. In addition, several other hydraulic valves are provided to form a complete hydraulic circuit.

 In order to realize the detection of the predetermined hydraulic valve, a plurality of detection points are arranged in the hydraulic circuit, and a required sensor can be provided at each detection point for detecting the pressure and/or flow of the hydraulic oil flowing through the detection point. . The following describes how to detect the failure of the hydraulic circuit in conjunction with several detection points set in FIG.

 For example, as shown in FIG. 4, the hydraulic circuit is provided with detection points M14, M15 and M16 for determining whether the first reversing valve 100 is faulty; the detection points M4, M5 and M6 are set in the hydraulic circuit for judging Whether there is a fault in the second reversing valve 200; Ml, M2, M3 and M7 are provided in the hydraulic circuit for determining whether the third reversing valve 300 is faulty.

 For example, during the operation of the hydraulic system, for the first reversing valve 100, by comparing the pressure difference between M14 and M15 or M14 and M16, to obtain the actual differential pressure, the flow through the first reversing valve The actual flow rate value of the hydraulic oil of 100, by the theoretical flow pressure difference curve with the first reversing valve 100, can determine whether the first reversing valve 100 is faulty. For the second reversing valve 200, by comparing the pressure difference between M6 and M4 or M6 and M5, to obtain the actual pressure difference, in combination with the actual flow value of the hydraulic oil flowing through the second reversing valve 200, By the theoretical flow pressure difference curve with the second reversing valve 200, it can be determined whether the second reversing valve 200 has a fault. For the third reversing valve 300, it can be judged that the spool of the third reversing valve 300 is in the upper position of the orientation shown in FIG. 4 by comparing the pressure difference between M7 and M1 and the pressure difference between M2 and M3. Whether there is a fault at the time, by comparing the pressure difference between M7 and M2 and the pressure difference between M1 and M3, it can be judged whether there is a fault when the spool of the third reversing valve 300 is in the lower position of the orientation shown in FIG. .

 In addition, in Fig. 4, a plurality of detection points, such as M8-M11, are also provided for other hydraulic valves. The detection of these test points and the corresponding hydraulic valves will not be described in detail.

By using the technical solution provided by the invention, when the hydraulic circuit is in the running process, the hydraulic circuit can be monitored by using the sensors set by the respective detection points, and on the one hand, the whole can be judged If the hydraulic circuit is in a normal operating state, on the other hand, if there is a problem in the hydraulic circuit, it can accurately determine which one of the hydraulic valves has failed, so that the fault can be eliminated as soon as possible to ensure the normal operation of the system. This is a very significant technological advance compared to traditional detection systems that traditionally only judge whether the system has problems or not, and cannot accurately locate the fault.

 In addition, the present invention also provides a hydraulic circuit fault processing system, the system comprising: the above-mentioned device for detecting a hydraulic circuit failure and a fault processing unit electrically connected to the device provided by the present invention, the fault processing unit being used in The detection result of the device for detecting the failure of the hydraulic circuit is that in the case where at least one of the hydraulic valves is faulty, a failure treatment scheme corresponding to the detection result is output.

 In other words, the hydraulic circuit failure processing system can utilize the detection result of the device for detecting the failure of the hydraulic circuit, and then provide a treatment plan to the operator in a targeted manner to guide the operator to perform the corresponding processing. For example, the fault handling unit may pre-store a plurality of fault handling schemes for the case where at least one hydraulic valve is faulty, and when any one of the fault conditions occurs, a fault handling scheme may be provided for the faulty condition.

 The fault handling unit can be a logical computing device such as a PLC or an industrial computer.

 Preferably, the fault processing unit comprises: a memory for storing a fault handling scheme for each hydraulic valve; a fault processor electrically connecting the memory and the device detecting the hydraulic circuit fault The fault processor is configured to read and output a fault processing scheme stored in the memory corresponding to the detection result in a case where the detection result of the device for detecting a failure of the hydraulic circuit is that the at least one hydraulic valve is faulty.

 In this embodiment, the fault handling unit further includes a memory so that the corresponding fault handling scheme can be read and output according to the fault condition. This memory is internal memory, ie the memory is integrated in the fault handling unit. However, it can be understood that the fault handling unit can also utilize an external memory to store the above fault handling scheme.

 Preferably, the fault handling scheme for each hydraulic valve stored in the memory includes a fault temporary processing method and a fault elimination method, so that a fault handling scheme capable of being able to be selected according to different fault conditions can be selected, for example, when a fault occurs. In the case of the situation, if the existence of the fault does not affect the continued operation of the system, in this case, the fault temporary processing method can be selected, for example, by adjusting the operating parameters of the system to ensure that the system continues to work; and if the presence of the fault affects the system If you continue to run, you can perform troubleshooting methods such as stopping the unit to replace parts.

In order to adapt to different fault handling situations, preferably, the fault processing unit further includes a human-machine interaction device electrically connected to the faulty processor, the human-machine interaction device having a first option and a second option, when the first The fault processor reads from the memory when an option is selected And outputting the fault temporary processing method to the human-machine interaction device, when the second option is selected, the fault processor reads from the memory and outputs the to the human-machine interaction device Troubleshooting method. In addition, the human-machine interaction device can also have various functions, for example, an operation control function of the entire hydraulic system can be integrated, a display can be integrated to display various information, and the like, and various option buttons can be provided as described above. .

 Preferably, the faulty processor is further electrically connected to a power component (such as a hydraulic pump) of the hydraulic circuit, in a case where the detection result of the device detecting the failure of the hydraulic circuit is that at least one hydraulic valve is faulty, The power element issues an electrical signal that stops operating. In this case, operations such as equipment inspection and replacement of defective components can be performed.

 The faulty processor may be a separate device from the controller described above, but may also be integrated with the controller.

 The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments, and various simple modifications of the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. These simple variations are within the scope of the invention.

 It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not be further described in various possible combinations.

 In addition, any combination of various embodiments of the invention may be made, as long as it does not deviate from the idea of the invention, and should also be regarded as the disclosure of the invention.

Claims

Rights request A method for detecting a hydraulic valve in a hydraulic circuit, the method comprising: obtaining an actual pressure difference between a hydraulic oil inlet port and an oil outlet of the hydraulic valve, obtaining hydraulic oil at the hydraulic valve The actual flow rate value at the oil outlet is compared with the theoretical flow pressure difference curve of the hydraulic valve to determine whether the hydraulic valve is faulty. 2. The method according to claim 1, wherein comparing the actual pressure difference value and the actual flow rate value with a theoretical flow pressure difference relationship curve of the hydraulic valve comprises:  Obtaining a theoretical pressure difference corresponding to the actual flow value according to the actual flow value; comparing the theoretical pressure difference corresponding to the actual flow value with the actual pressure difference. 3. The method according to claim 2, wherein comparing the theoretical pressure difference corresponding to the actual flow value with the actual pressure difference comprises: calculating a theoretical pressure difference corresponding to the actual flow value Comparing the correction range with the actual pressure difference value, wherein if the actual pressure difference value falls within the correction range of the theoretical pressure difference value corresponding to the actual flow rate value, the hydraulic valve is normal; If the actual pressure difference falls outside the correction range, the hydraulic valve is faulty. The method according to any one of claims 3, wherein the hydraulic valve is a directional control valve, a flow control valve or a pressure control valve. The method according to any one of claims 1 to 4, wherein the hydraulic valve includes a drain port, the method comprising: combining the actual differential pressure value and an actual flow rate value with the hydraulic valve Before comparing the theoretical flow pressure difference curve, detecting the pressure of the hydraulic oil at the drain port of the hydraulic valve, and if the drain pressure is higher than the predetermined drain pressure, processing the hydraulic circuit a leaking oil passage that communicates with the drain port until the drain port pressure is not higher than a predetermined drain port pressure.  6. A controller for detecting a hydraulic valve in a hydraulic circuit, the controller comprising: a processing unit for using the obtained hydraulic oil at an actual pressure difference between the oil inlet and the oil outlet of the hydraulic valve and an actual flow rate of the hydraulic oil at the oil outlet of the hydraulic valve The value is compared with a theoretical flow differential pressure curve of the hydraulic valve; and And an output unit configured to output an electrical signal indicating whether the hydraulic valve is faulty according to a comparison result of the processing unit. The controller according to claim 6, wherein the controller further comprises a receiving unit for receiving electricity indicating a pressure value of the oil inlet port of the hydraulic oil at an oil inlet of the hydraulic valve And an electrical signal indicating a pressure value of the oil outlet at the oil outlet of the hydraulic valve, the processing unit is further configured to subtract the pressure value of the oil inlet from the pressure value of the oil outlet The controller according to claim 6, wherein the actual flow value is calculated according to a flow rate of a hydraulic pump that supplies oil to an oil inlet of the hydraulic valve; or the controller further includes a receiving unit The receiving unit is configured to receive an electrical signal indicating a pressure value of the oil inlet port of the hydraulic oil at the oil inlet of the hydraulic valve, and an electrical signal indicating a pressure value of the oil outlet of the hydraulic oil at the oil outlet of the hydraulic valve And an electrical signal indicating an actual flow rate value of the hydraulic oil at the oil outlet of the hydraulic valve, the processing unit is further configured to obtain the actual value by subtracting the oil outlet pressure value from the oil inlet pressure value Pressure difference. The controller according to claim 6, wherein the processing unit is configured to: obtain a theoretical pressure difference corresponding to the actual flow value according to the actual flow value; and calculate a theoretical pressure corresponding to the actual flow value The difference is compared to the actual pressure difference. The controller according to claim 9, wherein the processing unit is configured to compare a correction range of a theoretical pressure difference value corresponding to the actual flow rate value with the actual pressure difference value, wherein The comparison result of the processing unit is that the actual pressure difference falls within the correction range of the theoretical pressure difference corresponding to the actual flow value, and the output unit outputs an electrical signal indicating that the hydraulic valve is normal. And if the comparison result of the processing unit is that the actual pressure difference value falls outside the correction range, the output unit outputs an electrical signal indicating that the hydraulic valve is faulty. 11. The controller of claim 10, wherein the hydraulic valve is a directional control valve, a flow control valve, or a pressure control valve. The controller according to any one of claims 6 to 11, wherein the hydraulic valve includes a drain port, wherein the processing unit is configured to: combine the actual differential pressure value and the actual flow rate value Before comparing the theoretical flow pressure difference curve of the hydraulic valve, comparing the predetermined drain pressure and the drain pressure of the hydraulic oil at the drain port of the hydraulic valve, the pressure at the drain port is not higher than the predetermined In the case of the drain pressure, a comparison is made between the actual differential pressure and the actual flow value and the theoretical flow differential pressure curve of the hydraulic valve. 13. Apparatus for detecting a hydraulic valve in a hydraulic circuit, the apparatus comprising:  a pressure sensor, wherein the pressure sensor is respectively connected in series with the oil inlet and the oil outlet of the hydraulic valve for detecting the pressure of the oil inlet at the oil inlet of the hydraulic valve and the hydraulic oil in the hydraulic pressure The pressure at the outlet of the valve; and  a controller, the controller of any one of claims 6 to 12, the controller being electrically connected to the pressure sensor, the processing unit of the controller detecting the input according to the sensor The actual pressure difference between the oil inlet and the oil outlet of the hydraulic valve and the actual flow value of the hydraulic oil at the oil outlet of the hydraulic valve are obtained by the port pressure and the outlet pressure. Comparing with a theoretical flow pressure difference curve of the hydraulic valve; an output unit of the controller is configured to output an electrical signal indicating whether the hydraulic valve is faulty according to a comparison result of the processing unit. 14. The apparatus according to claim 13, wherein the plurality of hydraulic valves are plural. 15. A method of detecting a hydraulic circuit fault, the hydraulic circuit comprising a power element, an actuator, and a control element connecting the power element and the actuator, the control element having a plurality of hydraulic valves, the method comprising utilizing claim 1 The method of any of 5, detecting which of the plurality of hydraulic valves has a fault. 16. A device for detecting a hydraulic circuit fault, the hydraulic circuit comprising a power element, an actuating element and a control element connecting the power element and the actuating element, the control element having a plurality of hydraulic valves, the device comprising claim 13 or 14 The device to detect which one of the plurality of hydraulic valves is faulty. 17. A hydraulic circuit fault handling system, the system comprising: the apparatus for detecting a hydraulic circuit fault of claim 16 and a fault handling unit electrically coupled to the apparatus, the fault handling list And configured to output a fault handling scheme corresponding to the detection result in a case where the detection result of the device for detecting a failure of the hydraulic circuit is that the at least one hydraulic valve is faulty. The hydraulic circuit fault processing system according to claim 17, wherein the fault processing unit comprises:  a memory for storing a fault handling scheme for each hydraulic valve; a fault processor electrically coupled to the memory and the means for detecting a hydraulic circuit fault, the fault processor being used for the detecting The detection result of the device of the hydraulic circuit failure is that, in the case where there is a failure of at least one of the hydraulic valves, the failure processing scheme corresponding to the detection result stored in the memory is read and output. 19. The hydraulic circuit fault processing system according to claim 18, wherein a fault handling scheme for each hydraulic valve stored in the memory includes a fault temporary processing method and a troubleshooting method,  The fault processing unit further includes a human-machine interaction device electrically connected to the faulty processor, the human-machine interaction device having a first option and a second option, when the first option is selected, the faulty processor Reading from the memory and outputting the fault temporary processing method to the human-machine interaction device, when the second option is selected, the fault processor reads from the memory and to the person The machine interaction device outputs the troubleshooting method.  20. The hydraulic circuit fault processing system according to claim 17, wherein the fault processor is further electrically connected to the power component of the hydraulic circuit to detect at least one hydraulic valve in the device detecting the hydraulic circuit failure. In the event of a fault, an electrical signal to stop operation is sent to the power element.