CN108105187A - A kind of position compensation extension type is gone on board trestle hydraulic system - Google Patents

A kind of position compensation extension type is gone on board trestle hydraulic system Download PDF

Info

Publication number
CN108105187A
CN108105187A CN201711236087.2A CN201711236087A CN108105187A CN 108105187 A CN108105187 A CN 108105187A CN 201711236087 A CN201711236087 A CN 201711236087A CN 108105187 A CN108105187 A CN 108105187A
Authority
CN
China
Prior art keywords
valve
flexible
luffing
accumulator
way
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.)
Granted
Application number
CN201711236087.2A
Other languages
Chinese (zh)
Other versions
CN108105187B (en
Inventor
梁兆环
安万平
王江
陈懿
叶衍强
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.)
South China Marine Machinery Co Ltd
Original Assignee
South China Marine Machinery 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 South China Marine Machinery Co Ltd filed Critical South China Marine Machinery Co Ltd
Priority to CN201711236087.2A priority Critical patent/CN108105187B/en
Publication of CN108105187A publication Critical patent/CN108105187A/en
Application granted granted Critical
Publication of CN108105187B publication Critical patent/CN108105187B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A kind of position compensation extension type is gone on board trestle hydraulic system, including dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system.Dynamical system includes hydraulic oil container, main pump group and high-low pressure pump group.Hydraulic slewing system includes revolution selector valve, direction speed control valve, brake control valve, model selection valve, balanced valve one, weighing apparatus valve two, two-way directional valve, sequence valve, hydraulic motor and brake.Telescopic hydraulic system includes flexible selector valve, direction speed control valve, brake control valve, model selection valve, balanced valve one, balanced valve two, two-way directional valve, sequence valve, hydraulic motor and flexible brake.Variable amplitude hydraulic system includes luffing selector valve, becomes width direction speed control valve, luffing accumulator control valve, luffing accumulator switch valve, the oil-filled control valve of luffing accumulator, plunger type accumulator and amplitude oil cylinder.The system can realize manual overlap joint, Active Compensation, servo-actuated compensation, make the overlap joint of fore-and-aft gangway reliable, safe.

Description

A kind of position compensation extension type is gone on board trestle hydraulic system
Technical field
The present invention relates to hydraulic systems.
Background technology
Walk bridges or trestle are mainly used to conveying personnel or cargo, and the construction of , Walk bridges is relatively easy on land, but use exists Marine be used for conveying personnel and goods and materials Walk bridges between two ships is built with regard to relative difficult, because, between ship and ship It mutually moves, is generally built on a ship because of Ci , Walk bridges, if necessary to use, in two ships by way of overlap joint Between She Zhi Walk bridges.And during overlap joint, to realize better overlap joint, it is necessary to the phase between Kao Lv Walk bridges and another ship To position, Walk bridges and foul otherwise can be made into because of the floating of ship；After the completion of overlap joint, also need consider two ships between Relative position, according to the relative position of two ships Walk bridges is allowed to be in the state that passively compensates, in this way, just can guarantee normally makes With；In addition, be in an emergency Xia , Walk bridges can realize ejection escape with another ship, to ensure security performance.
A kind of fore-and-aft gangway device is disclosed in the patent document for being 201510045917.8 in Chinese Patent Application No., including base Seat and the revolving platform above the pedestal, the revolving platform are connected by swing mechanism with the pedestal, institute It states and driver's cabin is provided on revolving platform, the revolving platform is connected with fore-and-aft gangway, and the both sides of the fore-and-aft gangway have safety barrier, The suspension end of the fore-and-aft gangway is provided with docking facilities.The present invention is compared to the prior art, and reasonable structural arrangement, operation are flat Surely, conveying people between ship and ocean platform can be realized under complicated, adverse circumstances.Shang Shu Walk Biodge devices, although can be real Personnel and Material Transportation between spot oceangoing ship, but cannot root in Da Jie Walk Biodge devices and Da Jie Walk Biodge device Hou , Walk Biodge devices The problems such as carrying out corresponding change in location according to the change in location between ship, be susceptible to accident, and in emergency circumstances , Walk Bridge can not carry out ejection escape.
A kind of full hydraulic drive is disclosed in the patent document for being 200610049538.7 in Chinese Patent Application No. to go on board Ladder, by be fixed on harbour with main ladder that the ladder for running ladder is formed with can activity on the face of boat deck with triangle ladder, gangway ladder Auxiliary ladder composition, the auxiliary ladder by connected on slide and slide luffing, rotating mechanism, hydraulic station, pulley device and be fixed on code Hoisting mechanism on head is formed, and lift cylinder makes the pulley device on slide be lifted along the I-steel guide rail on ladder, slide On rotating platform in the horizontal plane around center axis rotation, rotating platform front end is hinged gangway ladder, and flexible by amplitude oil cylinder makes Bearing of the gangway ladder on rotating platform rotates on the vertical plane, and adjusting triangle ladder, the height of gangway ladder, rotary oil cylinder make gangway ladder in water It is rotated in the range of 120 degree of plane, hydraulic station, luffing, rotating mechanism lift in slide and with slide, compact-sized, simplified Oil circuit reduces oil pipe, safe to use, reliable, and the work stability of synchronization is good, high sensitivity, particularly suitable in oil product, chemical industry code The needs of meeting drop variation on head greatly.Although said structure generates certain benefit, but ship is operation or rests in Waterborne, due to the influence of factors, ship can generate heave, rock, therefore bring very big trouble to overlap joint, and And after overlapping, if auxiliary ladder can not achieve servo-actuated, boarding ladder is easily damaged, can not carry out smoothly remarkable and transports object Money.
A kind of Three Degree Of Freedom wave is disclosed in the patent document for being 201611205250.4 in Chinese Patent Application No. to mend It repays to step on and multiplies trestle, technical solution is：It includes：Base platform, control system, attitude transducer, trestle bearing, trestle lead to Road, amplitude oil cylinder, rolling compensating cylinder；Ship rolling, pitching, heave movement are mended in real time although the present invention can realize It repays, but changes not recorded in technical solution be how to control amplitude oil cylinder, rolling compensating cylinder, which is accomplished that Active Compensation, after trestle passage has overlapped, it is necessary to it is controlled by control system, and when control system needs certain reaction Between, therefore, the phenomenon that being susceptible to delays time to control, while it is also big to consume energy, and the heavier-weight of trestle passage, when trestle passage After putting up, the weight of trestle passage largely falls in overlapped points.
A kind of marine transportation and sea are disclosed in the patent document for being 201610396070.2 in Chinese Patent Application No. In shipping work field there is stepping on by device and method for compensation of undulation, step on forward, gangway ladder is perpendicular to deck and fixed connects Gangway ladder stent is connect, motion controller first controls active compensation of undulation platform to the rolling of ship, pitching and heave real-time compensation, then Motor reversal is controlled, motor drives steel wire rope release gangway ladder, and gangway ladder rotates counterclockwise around universal joint, when gangway ladder angular transducer is examined Measure gangway ladder with respect to upper mounting plate release rotate to predetermined angle when, motor shuts down；It steps on after leaning on, motion controller control Motor rotates forward, when gangway ladder angular transducer detects that gangway ladder rotates to predetermined angle with respect to upper mounting plate, gangway ladder perpendicular to deck, Gangway ladder is fixed on gangway ladder stent；Rolling, pitching and the heave of compensation of undulation platform real-time compensation ship in severe sea situation, Automatic deploying and retracting gangway ladder when compensating for upper mounting plate to certain plateau just carry out folding and unfolding, improve step on by when stationarity and peace Quan Xing.The structure is that the position of platform is adjusted by active compensation of undulation, then realizes overlap joint, and since ship rocks, The position being difficult to ensure that during overlap joint between gangway ladder and ship, overlap joint is very difficult, after overlap joint, if gangway ladder cannot be real It is now servo-actuated, is then easily damaged the structure, can not carry out smoothly remarkable and transport goods and materials.
The content of the invention
It goes on board trestle hydraulic system the object of the present invention is to provide a kind of position compensation extension type, which can realize hand Dynamic overlap joint, Active Compensation, servo-actuated compensation make the overlap joint of fore-and-aft gangway reliable, safe.
In order to achieve the above objectives, a kind of position compensation extension type is gone on board trestle hydraulic system, including dynamical system, revolution Hydraulic system, telescopic hydraulic system and variable amplitude hydraulic system；
Dynamical system includes hydraulic oil container, main pump group and high-low pressure pump group, and the input terminal of main pump group is connected to hydraulic oil container, main pump Group has an output terminal, and the input terminal of high-low pressure pump group is connected to hydraulic oil container, high-low pump group be respectively provided with low-voltage output and High-voltage output end；Oil return line is connected on hydraulic oil container；Unloading line is connected on hydraulic oil container；
The Hydraulic slewing system includes revolution selector valve, gyratory directions speed control valve, revolution brake control valve, mold rotation Formula selector valve, revolution balanced valve one turn round balanced valve two, revolution two-way directional valve, revolution sequence valve, rotary fluid motor and return Turn brake；The output terminal of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output terminal of selector valve The input terminal of gyratory directions speed control valve is connected to, the A output terminals of gyratory directions control valve are connected by turning round check valve one To one end of rotary fluid motor, the B output terminals of gyratory directions control valve are connected to revolution two-way side by turning round check valve two To one end of valve, the output terminal for turning round check valve one is connected with turning round the other end of two-way directional valve；Turn round brake control valve Input terminal is connected to the output terminal of revolution selector valve, and the output terminal for turning round brake control valve is connected to by turning round pilot operated directional control valve In revolution brake；The input terminal of switchback mode selector valve with turn round selector valve output terminal be connected, switchback mode selector valve it is defeated Outlet is connected by turning round sequence valve with turning round the control terminal of two-way directional valve, while the output terminal of switchback mode selector valve is with returning The control terminal connection of rotating hydraulic motor；The one end for turning round balanced valve one is connected with turning round the output terminal of check valve one, revolution balance The output terminal of valve one is connected with oil return line；The input terminal for turning round balanced valve two is connected with turning round the output terminal of check valve two, is returned The output terminal for turning balanced valve two is connected with oil return line；
The telescopic hydraulic system includes flexible selector valve, telescopic direction speed control valve, flexible brake control valve, flexible mould It formula selector valve, flexible balanced valve one, flexible balanced valve two, flexible two-way directional valve, flexible sequence valve, telescopic hydraulic motor and stretches Contracting brake；The output terminal of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output terminal for the selector valve that stretches The input terminal of telescopic direction speed control valve is connected to, the A output terminals of telescopic direction control valve are connected by flexible check valve one To one end of telescopic hydraulic motor, the B output terminals of telescopic direction control valve are connected to flexible two-way side by flexible check valve two To one end of valve, the output terminal of flexible check valve one is connected with the other end of flexible two-way directional valve；Flexible brake control valve Input terminal is connected to the output terminal of flexible selector valve, and the output terminal of flexible brake control valve is connected to by flexible pilot operated directional control valve In flexible brake；The input terminal of stretch mode selector valve is connected with the output terminal of flexible selector valve, stretch mode selector valve it is defeated Outlet is connected by flexible sequence valve with the control terminal of flexible two-way directional valve, and the output terminal of simultaneous retractable model selection valve is with stretching The control terminal connection of contracting hydraulic motor；The input terminal of flexible balanced valve one is connected with the output terminal of flexible check valve one, is stretched flat The output terminal of weighing apparatus valve one is connected with oil return line；The input terminal of flexible balanced valve two is connected with the output terminal of flexible check valve two, The output terminal of flexible balanced valve two is connected with oil return line；
The variable amplitude hydraulic system includes luffing selector valve, becomes width direction speed control valve, luffing accumulator control valve, luffing Accumulator switch valve, the oil-filled control valve of luffing accumulator, plunger type accumulator and amplitude oil cylinder；The input terminal of luffing selector valve leads to The output terminal that check valve one is connected to main pump group is crossed, the output terminal of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve Enter end, the A output terminals for becoming width direction speed control valve are connected to one end of amplitude oil cylinder by luffing check valve one, become width direction The B output terminals of speed control valve are connected to the other end of amplitude oil cylinder；Luffing accumulator control valve by luffing check valve two with One end connection of amplitude oil cylinder, luffing accumulator control valve are connected simultaneously with luffing accumulator switch valve, luffing accumulator switch Valve is connected with the tie point that luffing check valve two and amplitude oil cylinder are formed, the input terminal and main pump of the oil-filled control valve of luffing accumulator The output terminal connection of group, the output terminal of the oil-filled control valve of luffing accumulator is connected with plunger type accumulator, plunger type accumulator and Accumulator switch valve connects, while plunger type accumulator is connected by luffing check valve three with luffing accumulator control valve.
The method of work of the hydraulic system includes bridging method, servo-actuated compensation method and release methods；
Bridging method includes manual operation bridging method and Active Compensation bridging method：
Bridging method, which is manually operated, is：After main pump group starts, hydraulic oil is pumped out to the defeated of main pump group by main pump group from hydraulic oil container Outlet starts revolution, flexible and variable amplitude hydraulic system, the flexible trestle of fore-and-aft gangway is allowed to move in the range of overlap joint；
Wherein Hydraulic slewing system control revolving platform rotate method be：Switchback mode selector valve is controlled in normal mode, is returned Turn brake control valve control in off position, gyratory directions control valve turns left according to the signal behavior of transmission or right turn state, beats Revolution selector valve is opened, the hydraulic oil of the output terminal of main pump group is entered through check valve one on revolution selector valve, turns round selector valve Hydraulic oil is input to gyratory directions speed control valve, revolution brake control valve and switchback mode selector valve, hydraulic oil by output terminal The control terminal of revolution two-way directional valve is reached through switchback mode selector valve, revolution sequence valve, control revolution two-way directional valve is closed, Hydraulic oil is entered through turning round brake control valve and revolution pilot operated directional control valve in revolution brake, and revolution brake is allowed to close, meanwhile, liquid Pressure oil is entered from gyratory directions speed control valve in rotary fluid motor, and driving rotary fluid motor turns left or turns right, so as to Revolving platform is controlled to turn left or turn right, the oil return of rotary fluid motor enters back from revolution balanced valve one or revolution balanced valve two In oil pipe line；
The method that telescopic hydraulic system controls telescopic arm to stretch is：The control of stretch mode selector valve is in normal mode, brake of stretching Control valve controls in off position, and telescopic direction control valve is stretched out according to signal behavior or retracted mode, opens flexible selector valve, The hydraulic oil of the output terminal of main pump group is entered through check valve one on flexible selector valve, and the output terminal for the selector valve that stretches is by hydraulic oil Telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve, hydraulic oil is input to select through stretch mode Valve, flexible sequence valve reach the control terminal of flexible two-way directional valve, flexible two-way directional valve are controlled to close, hydraulic oil is stopped through flexible Vehicle control valve and flexible pilot operated directional control valve are entered in flexible brake, and flexible brake is allowed to close, meanwhile, hydraulic oil is from telescopic direction Speed control valve is entered in telescopic hydraulic motor, telescopic hydraulic motor forward or reverse is driven, so as to which telescopic arm be driven to stretch out Or retract, the oil return of telescopic hydraulic motor is entered from flexible balanced valve one or flexible balanced valve two in oil return line；
The method that variable amplitude hydraulic system controls flexible trestle to swing is：Luffing accumulator control valve is controlled to close, control luffing storage It can the closing of device switch valve；Luffing directional control valve rises or falls state according to signal behavior, opens luffing selector valve, main pump group The hydraulic oil of output terminal entered through check valve one on luffing selector valve, hydraulic oil is input to by the output terminal of luffing selector valve Become width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil enters luffing from width direction speed control valve is become In oil cylinder, flexible trestle is driven to rise or fall；
After the flexible trestle of fore-and-aft gangway is moved in the range of overlap joint, state, Active Compensation bridging method are overlapped into Active Compensation For：The signal of detection is input into gyratory directions speed control valve, telescopic direction speed control valve and becomes width direction speed control On valve, direction of rotation and the speed of rotary fluid motor are controlled by gyratory directions speed control valve, passes through telescopic direction speed The direction of rotation of control valve control telescopic hydraulic motor and speed control the fortune of amplitude oil cylinder by becoming width direction speed control valve Dynamic direction and speed；
Enter servo-actuated compensation after the completion of flexible trestle overlap joint, be servo-actuated the method for compensation include revolution follow-up method, it is flexible with Dynamic method and the passive compensation method of luffing；
Turning round follow-up method is：Switchback mode selector valve is controlled to the control terminal emptying that two-way directional valve is turned round to follower model, The reset of revolution two-way directional valve is simultaneously open-minded, and revolution two-way directional valve is by the oil inlet of rotary fluid motor and oil outlet together with real Existing zero delivery allows rotary fluid motor to be in servo-actuated state；
Flexible follow-up method is：Stretch mode selector valve is controlled to follower model, the control terminal emptying for the two-way directional valve that stretches, Flexible two-way directional valve reset is simultaneously open-minded, and the two-way directional valve that stretches is by the oil inlet of telescopic hydraulic motor and oil outlet together with real Existing zero delivery allows telescopic hydraulic motor to be in servo-actuated state；
The passive compensation method of luffing is：Luffing selector valve is controlled to close, control luffing accumulator control valve is opened and control luffing Accumulator switch valve is opened；Amplitude oil cylinder is allowed to be in passive state and is in permanent by amplitude oil cylinder by plunger type accumulator simultaneously Under force mode；
Release methods dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system in order to control, allow flexible trestle It disengages.
Above-mentioned hydraulic system, when flexible trestle is introduced into the range of overlap joint, by controlling dynamical system, revolution hydraulic pressure System, telescopic hydraulic system and variable amplitude hydraulic system, allow flexible trestle quickly to enter in the range of overlap joint, improve overlap joint Efficiency；When flexible trestle is entered in the range of overlap joint, by by the signal transmission of acquisition to gyratory directions speed control valve, stretch Contracting direction speed control valve and change width direction speed control valve, by controlling gyratory directions speed control valve, telescopic direction speed Control valve and become the commutation of width direction speed control valve and uninterrupted controls rotary fluid motor, telescopic hydraulic motor respectively And amplitude oil cylinder, allow flexible trestle free end constantly close to overlapped points while follow be overlapped platform posture carry out actively Variation makes overlap joint more easy, safe and steady.After the completion of overlap joint, two-way directional valve is turned round by controlling, allows and turns round hydraulic pressure The oil inlet of motor is connected with oil outlet, and when there is the tractive force for being overlapped platform, rotary fluid motor, which can be realized, to be servo-actuated simultaneously Realize zero delivery, not consumed energy；By controlling flexible two-way directional valve, the oil inlet of telescopic hydraulic motor and oil outlet is allowed to connect Logical, when there is the tractive force for being overlapped platform, telescopic hydraulic motor can be realized servo-actuated while realize zero delivery, not consumed energy； For variable amplitude hydraulic system, oil condition is unloaded in one end output of amplitude oil cylinder, increases plunger type storage in the other end of amplitude oil cylinder Can device, when being overlapped platform and having tractive force, amplitude oil cylinder realizes passive compensation, while plunger type accumulator is given always One constant-tension of amplitude oil cylinder reduces flexible load of the trestle to overlapped points；Therefore, it is flat with being overlapped after the completion of overlap joint The change in location of platform, rotary fluid motor and telescopic hydraulic motor are realized servo-actuated, and amplitude oil cylinder realizes passive compensation, allow flexible stack Bridge is steady, in this way, remarkable and transport goods are safe, steady.Due to being provided with revolution balanced valve one and revolution balanced valve two, because This, can give rotary fluid motor one and damp on the oil return line of rotary fluid motor, allow the operating steadily of rotary fluid motor； Similarly, since there is provided flexible balanced valve one and flexible balanced valves two, therefore, can be given on the oil return line of telescopic hydraulic motor Telescopic hydraulic motor one damps, and allows the operating steadily of telescopic hydraulic motor.Due to being provided with luffing accumulator control valve and luffing Accumulator switch valve in this way, in passive compensation process, just can give amplitude oil cylinder one constant pressure using plunger type accumulator Power, while passive compensation can be realized again.
Further, the revolution selector valve includes revolution two-position two-way solenoid valve and revolution logical valve, turns round two One end of two-way electromagnetic valve is connected with unloading line, turns round the control terminal of the other end and revolution logical valve of two-position two-way solenoid valve Connection；Check valve one is connected to the input terminal of revolution logical valve, and the output terminal for turning round logical valve is connected to gyratory directions speed control The input terminal of valve processed.When revolution two-position two-way solenoid valve does not have signal, revolution logical valve is closed, when revolution two-position two-way solenoid valve After having opening signal, revolution two-position two-way solenoid valve is opened, and revolution two-position two-way solenoid valve control revolution logical valve is opened, and is realized Turn round the selection whether opened.In this way, can reliably select whether revolution opens.
Further, gyratory directions speed control valve includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way liquid controlled reversing Valve turns round the control terminal that electric proportional pressure-reducing valve is connected to revolution 3-position 4-way pilot operated directional control valve；The output terminal for turning round selector valve connects The input terminal of revolution 3-position 4-way pilot operated directional control valve is connected to, revolution 3-position 4-way pilot operated directional control valve is connected with oil return line, turns round 3-position 4-way pilot operated directional control valve has A and B output terminals；Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution.When the electric ratio of revolution After pressure reducing valve receives signal, the size that electric proportional pressure-reducing valve is opened and opened according to signal is turned round, is subtracted by turning round electric ratio Pressure valve control revolution 3-position 4-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of rotary fluid motor.In this configuration, if returned Turn the signal that electric proportional pressure-reducing valve receives left-hand rotation, the revolution electricity proportional pressure-reducing valve of left-hand rotation is opened, and the revolution electricity ratio of left-hand rotation subtracts Pressure valve control revolution 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output terminal of revolution selector valve is through turning round 3-position 4-way Pilot operated directional control valve is exported from B output terminals, is then entered through turning round check valve two in rotary fluid motor, rotary fluid motor Oil return is returned to through turning round balanced valve one in oil return line, and due to being provided with revolution balanced valve one, oil return can be given certain Damping, in this way, the rotation of rotary fluid motor is steady.If the electric proportional pressure-reducing valve of revolution receives the signal of right-hand rotation, right-hand rotation The electric proportional pressure-reducing valve of revolution is opened, the revolution electricity proportional pressure-relief valve control revolution 3-position 4-way pilot operated directional control valve of right-hand rotation, from revolution The hydraulic oil of the output terminal output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output terminals, then single through revolution It being entered to valve one in rotary fluid motor, the oil return of rotary fluid motor is returned to through turning round balanced valve two in oil return line, and Due to being provided with revolution balanced valve two, the damping that oil return can be given certain, in this way, the rotation of rotary fluid motor is steady.
Further, revolution decompression is equipped between the input terminal of revolution selector valve and revolution 3-position 4-way pilot operated directional control valve Valve.Due to being provided with revolution pressure reducing valve, enter revolution 3-position 4-way pilot operated directional control valve in hydraulic oil pressure it is steady It is fixed.
Further, turning round brake valve includes revolution check valve three and revolution two-position three way magnetic valve one, turns round selector valve Output by turn round overflow pressure reducing valve be connected to revolution check valve three on, revolution check valve three output terminal be connected to revolution two The input terminal of position-3-way solenoid valve one, another input terminal of revolution two-position three way magnetic valve one are connected with oil return line, revolution two The output terminal of position-3-way solenoid valve one is connected on revolution pilot operated directional control valve.Control revolution two-position three way magnetic valve one is closing shape During state, hydraulic oil enters revolution brake through turning round check valve three, revolution two-position three way magnetic valve one and revolution hydraulicdirectional control valve Interior, revolution brake is closed；Control revolution two-position three way magnetic valve one is input to revolution two-position three way magnetic valve in opening state One hydraulic oil is ended, and the hydraulic oil for turning round brake is laid down through turning round hydraulicdirectional control valve and revolution two-position three way magnetic valve one, Revolution brake is opened.In the present invention, recorded brake, which is closed, refers to release active force of the brake to motor, and brake, which is opened, is After referring to emptying, under the action of the spring, brake and motor is acted on.The control signal for turning round two-position three way magnetic valve one comes from industry control Machine.
Further, the switchback mode selector valve is revolution two-position three way magnetic valve two.By controlling revolution two Three-way magnetic valve two realizes the selection of switchback mode, and specific method is：Control revolution two-position three way magnetic valve two is normal Under pattern, revolution two-way is controlled through turning round two-position three way magnetic valve two, turning round sequence valve from the hydraulic oil of revolution selector valve output Direction valve, revolution two-way directional valve are closed, and the hydraulic oil on revolution two-way directional valve both sides does not connect, to realize the manual control of revolution System and Active Compensation；Control revolution two-position three way magnetic valve two exists under follower model from the hydraulic oil of revolution selector valve output Revolution two-position three way magnetic valve two is ended, and the hydraulic oil for being connected to revolution two-way directional valve control terminal is laid down, and turns round two-way The hydraulic oil connection on direction valve both sides, realizes that the revolution of zero delivery is servo-actuated compensation.
Further, turn round between pilot operated directional control valve and revolution brake and be equipped with revolution brake voltage stabilizing accumulator.Pass through revolution The voltage stabilizing accumulator that brakes provides stable brake pressure to revolution brake so that brake is more reliable and stablizes.
Further, check valve two is connected on low-voltage output, the output terminal of check valve two is unidirectional by turning round all the way Valve four is connected to the output terminal of revolution check valve two, and the another way of the output terminal of check valve two is connected to by turning round check valve five Turn round the output terminal of check valve one.Low-voltage quantitative repairing is carried out to rotary fluid motor by low-voltage output, prevents from turning round The hydraulic oil of rotary fluid motor is emptied the phenomenon that causing cavitation erosion in servomechanism process.
Further, the flexible selector valve includes flexible two-position two-way solenoid valve and flexible logical valve, stretches two One end of two-way electromagnetic valve is connected with unloading line, the stretch other end of two-position two-way solenoid valve and the control terminal of flexible logical valve Connection；Check valve one is connected to the input terminal of flexible logical valve, and the output terminal of flexible logical valve is connected to telescopic direction speed control The input terminal of valve processed.When flexible two-position two-way solenoid valve does not have signal, the logical valve that stretches is closed, when flexible two-position two-way solenoid valve After having opening signal, the two-position two-way solenoid valve that stretches is opened, and the flexible logical valve of two-position two-way solenoid valve control that stretches is opened, and is realized The flexible selection whether opened.In this way, flexible whether open can be reliably selected.
Further, telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way liquid controlled reversing Valve, flexible electricity proportional pressure-reducing valve are connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve；The output terminal of flexible selector valve connects The input terminal of flexible 3-position 4-way pilot operated directional control valve is connected to, flexible 3-position 4-way pilot operated directional control valve is connected with oil return line, is stretched 3-position 4-way pilot operated directional control valve has A and B output terminals；Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric ratio After pressure reducing valve receives signal, the electricity proportional pressure-reducing valve that stretches is opened according to signal and the size of opening, is subtracted by flexible electric ratio The flexible 3-position 4-way pilot operated directional control valve of pressure valve control, realizes the left-hand rotation or right-hand rotation of telescopic hydraulic motor.In this configuration, if stretched The electric proportional pressure-reducing valve of contracting receives the signal of stretching, and the flexible electric proportional pressure-reducing valve of stretching is opened, and the flexible electric ratio of stretching subtracts The flexible 3-position 4-way pilot operated directional control valve of pressure valve control, from the hydraulic oil that the output terminal of flexible selector valve exports through flexible 3-position 4-way Pilot operated directional control valve is exported from B output terminals, is then entered through flexible check valve two in telescopic hydraulic motor, telescopic hydraulic motor Oil return is returned to through flexible balanced valve one in oil return line, and due to being provided with flexible balanced valve one, oil return can be given certain Damping, in this way, the rotation of telescopic hydraulic motor is steady.If flexible electricity proportional pressure-reducing valve receives the signal of retraction, retraction Flexible electricity proportional pressure-reducing valve is opened, and the flexible electric proportional pressure-relief valve control of retraction stretches 3-position 4-way pilot operated directional control valve, from flexible The hydraulic oil of the output terminal output of selector valve is exported through flexible 3-position 4-way pilot operated directional control valve from A output terminals, then through flexible single It being entered to valve one in telescopic hydraulic motor, the oil return of telescopic hydraulic motor is returned to through flexible balanced valve two in oil return line, and Due to being provided with flexible balanced valve two, the damping that oil return can be given certain, in this way, the rotation of telescopic hydraulic motor is steady.
Further, flexible decompression is equipped between flexible selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve Valve.Due to being provided with flexible pressure reducing valve, the pressure for entering hydraulic oil in flexible 3-position 4-way pilot operated directional control valve is steady It is fixed.
Further, the brake valve that stretches includes flexible check valve three and flexible two-position three way magnetic valve one, and stretch selector valve Output be connected to by flexible overflow pressure reducing valve on flexible check valve three, the output terminal of flexible check valve three is connected to flexible two The input terminal of position-3-way solenoid valve one, another input terminal of flexible two-position three way magnetic valve one are connected with oil return line, and flexible two The output terminal of position-3-way solenoid valve one is connected on flexible pilot operated directional control valve.The flexible two-position three way magnetic valve one of control is closing shape During state, hydraulic oil enters flexible brake through flexible check valve three, flexible two-position three way magnetic valve one and telescopic hydraulic reversal valve Interior, brake of stretching is closed；The flexible two-position three way magnetic valve one of control is input to flexible two-position three way magnetic valve in opening state One hydraulic oil is ended, and the hydraulic oil of flexible brake is laid down through telescopic hydraulic reversal valve and flexible two-position three way magnetic valve one, Flexible brake is opened.The control signal of flexible two-position three way magnetic valve one comes from industrial personal computer.
Further, the stretch mode selector valve is flexible two-position three way magnetic valve two.It is two flexible by controlling Three-way magnetic valve two realizes the selection of stretch mode, and specific method is：The flexible two-position three way magnetic valve two of control is normal Under pattern, from the hydraulic oil that flexible selector valve exports through flexible two-position three way magnetic valve two, the flexible flexible two-way of sequence valve control Direction valve, the two-way directional valve that stretches are closed, and the hydraulic oil on flexible two-way directional valve both sides does not connect, to realize flexible manual control System and Active Compensation；Under follower model, the hydraulic oil exported from flexible selector valve exists the flexible two-position three way magnetic valve two of control Flexible two-position three way magnetic valve two is ended, and the hydraulic oil for being connected to flexible two-way directional valve control terminal is laid down, two-way of stretching The flexible servo-actuated compensation of zero delivery is realized in the hydraulic oil connection on direction valve both sides.
Further, stretch and flexible brake voltage stabilizing accumulator is equipped between pilot operated directional control valve one and flexible brake.By stretching Contracting brake voltage stabilizing accumulator provides stable brake pressure to flexible brake so that brake is more reliable and stablizes.
Further, check valve two is connected on low-voltage output, the output terminal a-road-through of check valve two is excessively flexible unidirectional Valve four is connected to the output terminal of flexible check valve two, and the another way of the output terminal of check valve two is connected to by flexible check valve five Turn round the output terminal of check valve one.Low-voltage quantitative repairing is carried out to telescopic hydraulic motor by low-voltage output, is prevented flexible The hydraulic oil of telescopic hydraulic motor is emptied the phenomenon that causing cavitation erosion in servomechanism process.
Further, the luffing selector valve includes luffing two-position two-way solenoid valve and luffing logical valve, luffing two One end of two-way electromagnetic valve is connected with unloading line, the other end of luffing two-position two-way solenoid valve and the control terminal of luffing logical valve Connection；Check valve one is connected to the input terminal of luffing logical valve, and the output terminal of luffing logical valve, which is connected to, becomes width direction speed control The input terminal of valve processed.When luffing two-position two-way solenoid valve does not have signal, luffing logical valve is closed, when luffing two-position two-way solenoid valve After having opening signal, luffing two-position two-way solenoid valve is opened, and luffing two-position two-way solenoid valve control luffing logical valve is opened, and is realized The selection whether luffing is opened.
Further, becoming width direction speed control valve includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way liquid controlled reversing Valve, luffing electricity proportional pressure-reducing valve are connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve；The output terminal of luffing selector valve connects The input terminal of luffing 3-position 4-way pilot operated directional control valve is connected to, luffing 3-position 4-way pilot operated directional control valve is connected with oil return line, luffing 3-position 4-way pilot operated directional control valve has A and B output terminals；Industrial personal computer is connected with luffing electricity proportional pressure-reducing valve.When luffing electricity ratio subtracts After pressure valve receives signal, luffing electricity proportional pressure-reducing valve is opened according to signal and the size of opening, passes through luffing electricity ratio and depressurizes Valve controls luffing 3-position 4-way pilot operated directional control valve, realizes the movement of amplitude oil cylinder.In this configuration, if luffing electricity ratio depressurizes Valve receives the signal of rising, and the luffing electricity proportional pressure-reducing valve of rising is opened, the luffing electricity proportional pressure-relief valve control luffing of rising 3-position 4-way pilot operated directional control valve, from the hydraulic oil that the output terminal of luffing selector valve exports through luffing 3-position 4-way pilot operated directional control valve from B output terminals are output in amplitude oil cylinder.If luffing electricity proportional pressure-reducing valve receives the signal of decline, the luffing electricity ratio of decline Pressure reducing valve is opened, the luffing electricity proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve of decline, from the defeated of luffing selector valve The hydraulic oil of outlet output is exported through luffing 3-position 4-way pilot operated directional control valve from A output terminals, is then entered through luffing check valve one Into luffing hydraulic motor.
Further, the luffing accumulator control valve includes luffing two-position three way magnetic valve, luffing bi-bit bi-pass electricity Magnet valve one and luffing two-position two-way solenoid valve two；The accumulator switch valve includes valve body and taper valve core, and taper valve core is set In valve body, the bottom of valve body has the first hydraulic fluid port, and the side wall of valve body is equipped with the second hydraulic fluid port, taper valve core close to the first oil port Upper end for piston, be equipped with the 3rd hydraulic fluid port positioned at the top of piston on valve body, the be equipped with positioned at the lower section of piston on valve body Four hydraulic fluid ports are equipped with spring between piston and valve body；One input terminal of luffing two-position three way magnetic valve and luffing check valve two and The output terminal of luffing check valve three connects simultaneously, and the output terminal of luffing check valve is connected with luffing two-position two-way solenoid valve two；Become Another input terminal of width two-position three way magnetic valve is connected respectively with the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two Connection；The output terminal of luffing two-position two-way solenoid valve is connected to the 3rd hydraulic fluid port, the 3rd hydraulic fluid port through luffing two-position two-way solenoid valve one It is connected with luffing two-position two-way solenoid valve two；First hydraulic fluid port is connected with the input terminal of luffing check valve two；Second hydraulic fluid port respectively with The input terminal connection of luffing check valve three is connected with plunger type accumulator；Plunger type accumulator passes through luffing check valve four and luffing The input terminal connection of check valve two.Under non-follow-up compensating coefficient, luffing two-position three way magnetic valve is closed, plunger type The hydraulic oil of accumulator is through luffing check valve three, luffing two-position three way magnetic valve, one and the 3rd oil of luffing two-position two-way solenoid valve Mouth enters the top of piston, and under the pressure effect of hydraulic oil, taper valve core blocks the first hydraulic fluid port, i.e. luffing accumulator is opened Valve is closed to close；Under the passive compensating coefficient of luffing, luffing two-position three way magnetic valve is in opening state, luffing accumulator switch valve In opening state, the 3rd hydraulic fluid port and the 4th hydraulic fluid port are connected by luffing two-position three way magnetic valve and luffing two-position two-way solenoid valve one Logical, amplitude oil cylinder is in passive state, gives amplitude oil cylinder one constant-tension by plunger type accumulator.It is passively compensated in luffing Under state, if overlapped points have the tractive force of decline, then overlapped points pull amplitude oil cylinder movement, and plunger type accumulator gives luffing oil The constant pressure that cylinder one rises prevents flexible trestle from the load excessive of overlapped points, if overlapped points have the tractive force of rising, then overlapping Point pulls amplitude oil cylinder movement, and plunger type accumulator gives the constant pressure of the rising of amplitude oil cylinder one, prevents flexible trestle from overlapping The load excessive of point.
Further, variable amplitude hydraulic system is provided with two sets, is equipped between the amplitude oil cylinder of two sets of variable amplitude hydraulic systems Luffing rodless cavity string fuel tap.
Further, high-voltage output end passes sequentially through accumulator oil charge valve block and accumulator control valve block is connected with accumulator Group；The output terminal of accumulator control valve block is connected to the output terminal of check valve one.When main pump group output terminal can not fuel feeding when, lead to It crosses control accumulator oil charge valve block and accumulator control valve block is oil-filled to accumulator bank, control accumulator control valve block passes through energy storage Device group realizes emergent fuel feeding, whole system is allowed to pacify to Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system fuel feeding Entirely.
Further, accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logic Valve, accumulator two-position two-way electromagnetic directional valve and accumulator pressure reducing valve；The output terminal of accumulator oil charge valve is connected to accumulator list To the input terminal of valve one, the output terminal of accumulator check valve one connects accumulator bank, the output terminal of accumulator check valve two simultaneously With the input terminal of accumulator logical valve；The input terminal of accumulator check valve two is connected to the output terminal of check valve one；Accumulator is patrolled The output terminal for collecting valve is connected to the output terminal of check valve one by accumulator pressure reducing valve；Accumulator two-position two-way electromagnetic directional valve One end connects unloading line, and the other end of accumulator two-position two-way electromagnetic directional valve is connected to the control terminal of accumulator logic；When When main pump group can not achieve normal fuel injection, accumulator two-position two-way electromagnetic directional valve, accumulator bi-bit bi-pass electromagnetic switch are opened Valve is opened, and control accumulator pressure reducing valve is opened, and the hydraulic oil of accumulator bank gives revolution through accumulator logical valve, accumulator pressure reducing valve Hydraulic system, telescopic hydraulic system and variable amplitude hydraulic system fuel feeding.It realizes emergent fuel feeding, makes whole system safe.
Further, compensation voltage stabilizing accumulator is connected on the output terminal of accumulator pressure reducing valve.Realize accumulator Fuel feeding voltage stabilizing.
Further, emergent hand control valve is connected with by emergency line on accumulator bank, hand control valve of meeting an urgent need Output terminal be divided into two-way, be connected with emergency brake control valve and check valve three in turn all the way, check valve three is respectively with turning round liquid Control reversal valve is connected with the control terminal of flexible pilot operated directional control valve；Another way is connected with emergent luffing raising hand control valve, meets an urgent need The output terminal of luffing raising hand control valve is divided into two-way, is connected to luffing accumulator control valve all the way, and another way is connected to change On width oil cylinder；It such as to realize emergency brake, open emergent hand control valve and emergency brake control valve, the hydraulic oil of accumulator bank Revolution pilot operated directional control valve and flexible pilot operated directional control valve are entered through emergent hand control valve, emergency brake control valve and check valve three Control terminal, revolution brake and flexible brake emptying realize brake；It such as to realize emergent luffing raising, open emergent hand Dynamic control valve and emergent luffing raising hand control valve drive amplitude oil cylinder by accumulator bank, realize emergent raising action.With Improve security performance.
Further, it is connected with emergent luffing raising voltage stabilizing energy storage in the output terminal of emergent luffing raising hand control valve Device.
Further, it is connected with voltage stabilizing accumulator in the output terminal of check valve three.
Description of the drawings
Fig. 1 is that position compensation extension type is gone on board the schematic diagram of the first structure of trestle.
Fig. 2 is that position compensation extension type is gone on board the downward schematic diagram of the first structure of trestle.
Fig. 3 is that position compensation extension type is gone on board the schematic diagram of second of structure of trestle.
Fig. 4 is that position compensation extension type is gone on board the downward schematic diagram of second of structure of trestle.
Fig. 5 be in Fig. 3 C to enlarged diagram.
Fig. 6 be in Fig. 1 A to enlarged diagram.
Fig. 7 is B enlarged drawings in Fig. 6.
Fig. 8 is the side schematic view of Fig. 7.
Fig. 9 is the enlarged drawing of D in Fig. 1.
Figure 10 is the schematic diagram of landing gear.
Figure 11 is the schematic diagram of position compensation control system.
Figure 12 is the schematic diagram of position compensation fore-and-aft gangway hydraulic system.
Figure 13 is the schematic diagram of main power system.
Figure 14 is Hydraulic slewing system, telescopic hydraulic system and emergency hydraulic system schematic diagram.
Figure 15 is Hydraulic slewing system schematic diagram.
Figure 16 is telescopic hydraulic system schematic.
Figure 17 is variable amplitude hydraulic system schematic diagram.
Figure 18 is the schematic diagram of accumulator switch valve.
Figure 19 is vacuum emergency hydraulic system schematic diagram.
Specific embodiment
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 6, position compensation extension type is gone on board, and trestle includes pedestal 11, revolving platform 12, stretch trestle 13rd, landing gear 14, rotary fluid motor 10, amplitude oil cylinder 20, position compensation control system 4 and position compensation fore-and-aft gangway hydraulic pressure system System 5.
As shown in figure 9, revolving platform 12 includes the ring gear 121 being rotatably mounted on pedestal 11 and mounted on revolution Revolution driving gear 122 on 10 output shaft of hydraulic motor and the revolving bed 123 being fixed on ring gear 121, turn round hydraulic pressure horse Up to 10 installations on the base 11.Rotary fluid motor 10 is provided with two or more.There is accommodating cavity 1231 in revolving bed 123, Available for the hydraulic systems such as control system, hydraulic oil container are placed, space can be effectively utilized, reduces position compensation extension type and steps on The volume of ship trestle.
As shown in Figures 1 to 4, pedestal maintenance platform 15 is installed on the base 11, maintenance personal station is facilitated to be tieed up in pedestal It is repaired on equating platform 15.Pedestal ascending stair 16 is fixed on the base 11, and passage cat ladder 17 is connected in the upper end of pedestal ascending stair 16, Passage cat ladder 17 leads on the platform of revolving bed 123.Driver's cabin 18 is installed on revolving bed 123.
As shown in Figures 1 to 6, the trestle 13 that stretches includes principal arm 131 and telescopic arm 132.Principal arm 131 is aluminum alloy frame, Telescopic arm 132 is aluminum alloy frame, in this way, the light-weight of trestle that entirely stretch, in amplitude changing process, the energy of consumption is small.It is main One end of arm 131 is hinged on revolving bed 123, guardrail 1311 is equipped on principal arm 131, when remarkable, guardrail can play protection Effect.In the present invention, what telescopic arm 132 slided is located on principal arm 131, since principal arm 131 and telescopic arm 132 are all using aluminium Alloy material, although lighter weight, when intensity and wearability are relatively low, and in order to adapt to the slip of telescopic arm 132, in principal arm Steel guide rail 133 is installed, the intensity height of steel guide rail 133, wearability are good, the upper-lower position difference in principal arm 131 in 132 It is provided with steel guide rail 133.Aluminium alloy is contacted directly with steel, then the phenomenon that being susceptible to anodic attack, therefore, in the present invention Aluminium alloy structure uses 134 structure of insulating fixing device with steel guide rail：As shown in Figure 7 and Figure 8, the insulating fixing device 134 include lower platen 1341, top board 1342, screw arbor assembly 1343 and rubber pad 1344；It is set in the upper surface of lower platen 1341 There is rubber pad 1344, be equipped with rubber pad 1344 in the lower surface of top board 1342, clamped between two rubber pads 1344 in principal arm A square tube；The screw arbor assembly includes screw rod, nuts and washers, and screw arbor assembly passes through top board 1341, lower platen 1342 A square tube in principal arm is clamped with rubber pad 1344, has gap between screw arbor assembly and the corresponding square tube of principal arm, in this way, keeping away Exempt from screw arbor assembly to contact with principal arm；Steel guide rail is mounted on lower platen and/or top board, by setting rubber pad by aluminium alloy It insulate with steel guide rail, avoids anodic attack, preferably protect aluminium alloy principal arm and telescopic arm.
As shown in Figure 5 and Figure 6, the first idler wheel contacted with the steel guide rail 133 of upside is equipped in the upside of telescopic arm 132 Group 135 is equipped with the second roller group 136 contacted with the steel guide rail 133 of downside in the downside of telescopic arm 132, in telescopic arm 132 Upside be equipped with stent 137, the 3rd idler wheel contacted with the steel guide rail 133 of upside that laterally sets is equipped on stent 137 Group 138.As shown in Figures 1 to 4, the first roller group 135 includes the first support 1351 being mounted on telescopic arm and is located at first The first idler wheel 1352 on stent 1351, the first idler wheel 1352 are rubber roll.Second roller group 136 includes second Frame 1361,1362 and second idler wheel 1363 of swing arm, second support 1361 are fixed on telescopic arm 132, the middle part hinge of swing arm 1362 It is connected in second support 1361, the second idler wheel 1363 is respectively equipped at the both ends of swing arm 1362, the second idler wheel 1363 rolls for rubber Wheel.3rd roller group includes the 3rd rolling for being located at the 3rd stent 1381 of stent both sides and being located on the 3rd stent 1381 Wheel 1382.The 4th pulley blocks 139 are equipped in the free end of principal arm 131, the 4th pulley blocks 139 include be mounted on principal arm the Four stents 1391 and the 4th pulley being located on the 4th stent 1391；It is respectively equipped on left and right side on the inside of the free end of principal arm 5th pulley blocks 1310.After telescopic arm 132 stretches out, the 4th pulley blocks 139 can keep out first, second pulley blocks, prevent from stretching Arm skids off principal arm；Due to being provided with first, first, the three, the four, the 5th pulley blocks, the flexible resistance of telescopic arm is small, Telescopic arm operates steadily.The 5th pulley in three, the 4th pulleys and the 5th pulley blocks is rubber pulley.
Telescopic arm stroke limit sensor is separately installed at the both ends of principal arm 131, when telescopic arm stroke limit sensor When detecting that telescopic arm reaches the position of /V, telescopic arm stop motion.
Retractable driving device is equipped between principal arm 131 and telescopic arm 132, the retractable driving device includes flexible liquid Pressure motor 20, telescopic drive gear 21 and telescopic drive rack 22.Telescopic hydraulic motor 20 is mounted on principal arm 131, is stretched and is driven Moving gear 21 is mounted on the output shaft of telescopic hydraulic motor, and telescopic drive rack 22 is mounted on telescopic arm 132, telescopic drive Gear 21 is engaged with telescopic drive rack 22, and when telescopic hydraulic motor 20 works, flexible gear 21 rotates, flexible so as to drive Drive rack 22 moves along a straight line, and telescopic arm 132 is driven to stretch out or retract.
Telescopic support rod 1311 is installed on principal arm 132, for supporting principal arm 132, while can be according to the pendulum of principal arm Dynamic angle is stretched.
Cat ladder 1312 is installed in the free end of telescopic arm 132.
As shown in Fig. 1, Fig. 3 and Figure 10, landing gear is mounted on the free end of telescopic arm, and the landing gear 14 includes Bearing 141, the bulb on bearing 141 and the supporting disk 142 with bulb active link.The structure, when flexible trestle 13 After snapping into overlapped points, supporting disk 142 and the contact with platform being overlapped, and pass through bindiny mechanism by supporting disk 142 with being overlapped Platform connects, and when being overlapped platform has change in location, due to the effect of bulb, can give certain swing cushion space, so It only needs to consider revolution, flexible and compensation of luff, without the concern for other swing angles in addition to change angle, letter Compensation Design is changed.
As shown in figures 1 and 3, one end of amplitude oil cylinder 30 is hinged on revolving bed 123, the other end hinge of amplitude oil cylinder 30 It is connected on principal arm 131.
As shown in Figure 3 and Figure 4, position compensation extension type is gone on board another structure of trestle, is equipped on the base 11 Pedestal elevating mechanism 19.The pedestal elevating mechanism 19 includes the fixing sleeve 191 being fixed on deck 100, is hinged on deck Lifting cylinder 192 and lifting column 193 on 100, lifting column 193 are fixed on the base 11, and the lower end of lifting column 193 is plugged into admittedly Surely in set 191, the upper end of lifting cylinder 192 is hinged on the base 11.By lifting cylinder pedestal is controlled to rise or fall；Specifically Method be：The piston rod of lifting cylinder moves upwards, and lifting cylinder promotes pedestal, revolving platform, flexible trestle upward together Movement, lifting column do exercises in fixing sleeve, the movement of lifting column are oriented to by fixing sleeve；Such as the piston of lifting cylinder Bar moves downward, then band moving base, revolving platform and flexible trestle move downward, so as to reach adjust pedestal, revolving platform and The purpose of flexible trestle upper-lower position.
Elevating and locking mechanism is equipped between fixing sleeve 191 and lifting column 193, the elevating and locking mechanism includes installation Locking cylinder 194 and the jack 195 being located on lifting column on fixing sleeve, the piston rod of locking cylinder 194 can be with jack 195 Cooperation.Start locking cylinder, the piston rod of locking cylinder can be inserted into jack, realize the locking to lifting column, and direction starts Locking cylinder, the piston rod of locking cylinder depart from jack, release the locking to lifting column.It so can be achieved with the lock to lifting column Tight and release, is such as not required lifting base, by retaining mechanism, the connection that can allow lifting column and fixing sleeve is more reliable.
It is connected on the base 11 through principal arm 131 and is connected to the oil transportation on telescopic arm and/or water-supply-pipe 1000, be located at Oil transportation and/or water-supply-pipe on principal arm can be hose, or hard tube, and be located at telescopic arm is then hose.In this way, side Just Jiang Shui and oil are transported to the free end of flexible trestle, also can Jiang Shui and oil be transported to and be overlapped on platform.
As shown in figure 11, the position compensation control system 4 include industrial personal computer 41, MRU sensors 42, data process system 43, Decoder 44, operation handle 45, driver's cabin button 46, driver's cabin touch-screen 47, visual alarm 48.
In the free end of telescopic arm and it is overlapped on platform or ship and is separately installed with MRU sensors, MUR sensors and work Control machine connects, and data process system is connected by this platform and the control room being overlapped on platform with industrial personal computer, and decoder includes decoder One and decoder two, operation handle is connected on decoder one, and Digiplex, decoder and industrial personal computer are connected on decoder two Connection, driver's cabin button are connected with industrial personal computer, and driver's cabin touch-screen 47, visual alarm 48 are connected respectively with industrial personal computer, industry control Machine 41 is connected with position compensation fore-and-aft gangway hydraulic system 5.
Smoke alarm, gas detection sensor, hydraulic oil low oil level sensor and hydraulic oil are connected on industrial personal computer Too low fuel level sensor, hydraulic height sensor, hydraulic oil temperature sensor, air velocity transducer, system pressure sensor, revolution Limit sensors, telescopic arm stroke limit sensor, change angle sensor, camera system.When corresponding sensor detects To after signal, touch screen display in driver's cabin or alarmed by visual alarm, improve security performance.
As shown in figure 12, the position compensation fore-and-aft gangway hydraulic system 5 include dynamical system 51, Hydraulic slewing system 52, Telescopic hydraulic system 53, variable amplitude hydraulic system 54 and emergency hydraulic system 55.
As shown in figure 13, dynamical system 51 includes hydraulic oil container 511, main pump group 512 and high-low pressure pump group 513.In this reality It applies in example, main pump group 512 is provided with two groups, and main pump group 512 is driven respectively by main pump motor 514, and main pump motor 514 is connected to Industrial personal computer, and powered by transmission line of electricity.Low hydraulic selector 515, too low hydraulic selector 516 are connected on hydraulic oil container 511 With temperature switch 517；Main pump unloading valve 518 is connected in main pump group 512；System pressure is connected in main pump group 512 It tries hard to keep protecting system 519；The input terminal of main pump group 512 is connected to hydraulic oil container 511, and main pump group 512 has output terminal 5121.Just The input terminal of press pump group 513 is connected to hydraulic oil container 511, and high-low pressure pump group 513 includes high-pressure pump and low-lift pump, high-pressure pump and low Press pump is driven by same motor 5110, and motor 5110 is connected with industrial personal computer, while is powered by power supply circuit to motor 5110； Low-lift pump has low-voltage output 5131, and high-pressure pump has high-voltage output end 5132；Pass through filter on hydraulic oil container 511 5112 are connected with oil return line 5113；Unloading line 5114 is connected on hydraulic oil container 511.
As shown in Figure 14 and Figure 15, the Hydraulic slewing system 52 includes revolution selector valve 521, gyratory directions speed control Valve 522 processed, revolution brake control valve 523, switchback mode selector valve 524, revolution balanced valve 1, revolution balanced valve 2 526, Turn round two-way directional valve 527, revolution sequence valve 528, rotary fluid motor 10 and revolution brake 529.
The output terminal of main pump group is accumulated all the way by check valve 1.Main system is equipped in the output terminal of check valve 1 Pressure sensor.
The revolution selector valve 521 includes revolution two-position two-way solenoid valve and revolution logical valve, revolution bi-bit bi-pass electricity One end of magnet valve is connected with unloading line DR, and the control terminal for turning round the other end and revolution logical valve of two-position two-way solenoid valve connects It connects；Check valve 1 is connected to the input terminal of revolution logical valve, and the output terminal for turning round logical valve is connected to gyratory directions speed control The input terminal of valve processed.When revolution two-position two-way solenoid valve does not have signal, revolution logical valve is closed, when revolution two-position two-way solenoid valve After having opening signal, revolution two-position two-way solenoid valve is opened, and revolution two-position two-way solenoid valve control revolution logical valve is opened, and is realized Turn round the selection whether opened.In this way, can reliably select whether revolution opens.
Gyratory directions speed control valve 53 includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way pilot operated directional control valve, revolution Electric proportional pressure-reducing valve is connected to the control terminal of revolution 3-position 4-way pilot operated directional control valve；The output terminal of revolution selector valve is connected to revolution The input terminal of 3-position 4-way pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve are connected with oil return line DR, turn round three four Logical pilot operated directional control valve has A and B output terminals；Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution.When the electric proportional pressure-reducing valve of revolution It after receiving signal, turns round whether electric proportional pressure-reducing valve opens the size having already turned on according to signal, is subtracted by turning round electric ratio Pressure valve control revolution 3-position 4-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of rotary fluid motor.In this configuration, if returned Turn the signal that electric proportional pressure-reducing valve receives left-hand rotation, the revolution electricity proportional pressure-reducing valve of left-hand rotation is opened, and the revolution electricity ratio of left-hand rotation subtracts Pressure valve control revolution 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output terminal of revolution selector valve is through turning round 3-position 4-way Pilot operated directional control valve is exported from B output terminals, is then entered through turning round check valve two in rotary fluid motor, rotary fluid motor Oil return is returned to through turning round balanced valve one in oil return line, and due to being provided with revolution balanced valve one, oil return can be given certain Damping, in this way, the rotation of rotary fluid motor is steady.If the electric proportional pressure-reducing valve of revolution receives the signal of right-hand rotation, right-hand rotation The electric proportional pressure-reducing valve of revolution is opened, the revolution electricity proportional pressure-relief valve control revolution 3-position 4-way pilot operated directional control valve of right-hand rotation, from revolution The hydraulic oil of the output terminal output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output terminals, then single through revolution It being entered to valve one in rotary fluid motor, the oil return of rotary fluid motor is returned to through turning round balanced valve two in oil return line, and Due to being provided with revolution balanced valve two, the damping that oil return can be given certain, in this way, the rotation of rotary fluid motor is steady.
Revolution pressure reducing valve is equipped between the input terminal of revolution selector valve and revolution 3-position 4-way pilot operated directional control valve.Due to setting Revolution pressure reducing valve has been put, therefore, has entered the pressure stability of the hydraulic oil in revolution 3-position 4-way pilot operated directional control valve.
Rotary system pressure sensor is equipped between revolution logical valve output terminal and revolution pressure reducing valve.
Turning round brake valve includes revolution check valve three and revolution two-position three way magnetic valve one, and the output for turning round selector valve passes through Revolution overflow pressure reducing valve is connected on revolution check valve three, and the output terminal of revolution check valve three is connected to revolution two-position three-way electromagnetic The input terminal of valve one, another input terminal of revolution two-position three way magnetic valve one are connected with oil return line, turn round two-position three-way electromagnetic The output terminal of valve one is connected to by turning round pilot operated directional control valve 5210 in revolution brake 529, in revolution pilot operated directional control valve 5210 Output terminal is connected with revolution brake pressure sensor.When control turns round two-position three way magnetic valve one in off position, hydraulic oil warp Revolution check valve three, revolution two-position three way magnetic valve one and revolution hydraulicdirectional control valve are entered in revolution brake, and revolution brake is closed It closes；Control revolution two-position three way magnetic valve one is input to the hydraulic oil quilt of revolution two-position three way magnetic valve one in opening state Cut-off, the hydraulic oil for turning round brake are laid down through turning round hydraulicdirectional control valve and revolution two-position three way magnetic valve one, and revolution brake is opened. In the present invention, the recorded active force closed and refers to that releasing is braked to motor that brakes, after brake opening refers to emptying, in bullet Under the action of spring, brake and motor is acted on.The control signal for turning round two-position three way magnetic valve one comes from industrial personal computer.
The input terminal of switchback mode selector valve is connected with turning round the output terminal of selector valve, the output terminal of switchback mode selector valve It is connected by turning round sequence valve with turning round the control terminal of two-way directional valve, while the output terminal of switchback mode selector valve and revolution liquid The control terminal connection of pressure motor；The switchback mode selector valve is revolution two-position three way magnetic valve two.In revolution two-position three way The output terminal of solenoid valve two is connected with rotary motor displacement control pressure sensor.Two-position three way magnetic valve two is turned round by controlling Realize the selection of switchback mode, specific method is：Control turns round two-position three way magnetic valve two in the normal mode, from revolution The hydraulic oil of selector valve output is through turning round two-position three way magnetic valve two, revolution sequence valve control revolution two-way directional valve, revolution two Logical direction valve is closed, and the hydraulic oil on revolution two-way directional valve both sides does not connect, to realize the manual control of revolution and Active Compensation； Control revolution two-position three way magnetic valve two is turning round two-position three way electricity under follower model, from the hydraulic oil of revolution selector valve output Magnet valve two is ended, and the hydraulic oil for being connected to revolution two-way directional valve control terminal is laid down, the liquid on revolution two-way directional valve both sides Pressure oil connects, and realizes that the revolution of zero delivery is servo-actuated compensation.
It turns round between pilot operated directional control valve 5210 and revolution brake 529 and is equipped with revolution brake voltage stabilizing accumulator 5211.By returning Turn brake voltage stabilizing accumulator and provide stable brake pressure to revolution brake so that brake is more reliable and stablizes.
The A output terminals of revolution 3-position 4-way pilot operated directional control valve are connected to rotary fluid motor 10 by turning round check valve one One end turns round the B output terminals of 3-position 4-way pilot operated directional control valve are connected to revolution two-way directional valve by turning round check valve two one End, the output terminal for turning round check valve one are connected with turning round the other end of two-way directional valve 527；One end of balanced valve one is turned round with returning Turn the output terminal connection of check valve one, the output terminal of revolution balanced valve one is connected with oil return line；Turn round the input of balanced valve two It holds and is connected with turning round the output terminal of check valve two, the output terminal of revolution balanced valve two is connected with oil return line.
As shown in Figure 14 and Figure 16, the telescopic hydraulic system 53 includes flexible selector valve 531, telescopic direction speed control Valve 532 processed, flexible brake control valve 533, stretch mode selector valve 534, flexible balanced valve 1, flexible balanced valve 2 536, Flexible two-way directional valve 537, flexible sequence valve 538, telescopic hydraulic motor 20 and flexible brake 539.
The flexible selector valve 531 includes flexible two-position two-way solenoid valve and flexible logical valve, and stretch bi-bit bi-pass electricity One end of magnet valve is connected with unloading line, and the other end of flexible two-position two-way solenoid valve is connected with the control terminal of flexible logical valve； Check valve 1 is connected to the input terminal of flexible logical valve, and the output terminal of flexible logical valve is connected to telescopic direction speed control valve Input terminal.When flexible two-position two-way solenoid valve does not have signal, the logical valve that stretches is closed, and is beaten when flexible two-position two-way solenoid valve has After ON signal, the two-position two-way solenoid valve that stretches is opened, and the flexible logical valve of two-position two-way solenoid valve control that stretches is opened, and is realized flexible The selection whether opened.In this way, flexible whether open can be reliably selected.
Telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way pilot operated directional control valve, and stretch electricity Proportional pressure-reducing valve is connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve；The output terminal of flexible selector valve is connected to flexible three The input terminal of position four-way pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve are connected with oil return line, and stretch 3-position 4-way liquid Controlling reversal valve has A and B output terminals；Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric proportional pressure-reducing valve receives To after signal, the electricity proportional pressure-reducing valve that stretches is opened according to signal and the size of opening, is stretched by flexible electric proportional pressure-relief valve control Contracting 3-position 4-way pilot operated directional control valve realizes the left-hand rotation or right-hand rotation of telescopic hydraulic motor.In this configuration, if flexible electricity ratio subtracts Pressure valve receives the signal of stretching, and the flexible electric proportional pressure-reducing valve of stretching is opened, and the flexible electric proportional pressure-relief valve control of stretching is stretched Contracting 3-position 4-way pilot operated directional control valve, from the hydraulic oil that the output terminal of flexible selector valve exports through flexible 3-position 4-way pilot operated directional control valve It exports from B output terminals, is then entered through flexible check valve two in telescopic hydraulic motor, the oil return of telescopic hydraulic motor is through flexible Balanced valve one is returned in oil return line, and due to being provided with flexible balanced valve one, the damping that oil return can be given certain, in this way, The rotation of telescopic hydraulic motor is steady.If flexible electricity proportional pressure-reducing valve receives the signal of retraction, the flexible electric ratio of retraction Pressure reducing valve is opened, and the flexible electric proportional pressure-relief valve control of retraction stretches 3-position 4-way pilot operated directional control valve, from the defeated of flexible selector valve The hydraulic oil of outlet output is exported through flexible 3-position 4-way pilot operated directional control valve from A output terminals, is then entered through flexible check valve one Into telescopic hydraulic motor, the oil return of telescopic hydraulic motor is returned to through flexible balanced valve two in oil return line, and due to being provided with Flexible balanced valve two, therefore, the damping that oil return can be given certain, in this way, the rotation of telescopic hydraulic motor is steady.
Flexible pressure reducing valve is equipped between flexible selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve.Due to setting Flexible pressure reducing valve has been put, therefore, has entered the pressure stability of the hydraulic oil in flexible 3-position 4-way pilot operated directional control valve.
Telescopic system pressure sensor is equipped between flexible logical valve and flexible 3-position 4-way pilot operated directional control valve.
Flexible brake valve includes flexible check valve three and flexible two-position three way magnetic valve one, and the output of flexible selector valve passes through Flexible overflow pressure reducing valve is connected on flexible check valve three, and the output terminal of flexible check valve three is connected to flexible two-position three-way electromagnetic The input terminal of valve one, another input terminal of flexible two-position three way magnetic valve one are connected with oil return line, and stretch two-position three-way electromagnetic The output terminal of valve one is connected on flexible pilot operated directional control valve 5310, and flexible pilot operated directional control valve 5310 is connected in flexible brake 539, Flexible brake pressure sensor is equipped between flexible pilot operated directional control valve 5310 and flexible brake 539.The flexible two-position three way of control Solenoid valve one in off position when, hydraulic oil is through flexible check valve three, flexible two-position three way magnetic valve one and telescopic hydraulic commutation Valve is entered in flexible brake, and brake of stretching is closed；The flexible two-position three way magnetic valve one of control is input to and stretches in opening state The hydraulic oil of contracting two-position three way magnetic valve one is ended, and the hydraulic oil for brake of stretching through telescopic hydraulic reversal valve and stretches two three Three-way electromagnetic valve one is laid down, and brake of stretching is opened.The control signal of flexible two-position three way magnetic valve one comes from industrial personal computer.
The input terminal of stretch mode selector valve is connected with the output terminal of flexible selector valve, the output terminal of stretch mode selector valve It is connected by flexible sequence valve with the control terminal of flexible two-way directional valve 537, the output terminal of simultaneous retractable model selection valve is with stretching The control terminal connection of contracting hydraulic motor；The stretch mode selector valve is flexible two-position three way magnetic valve two, two flexible The output terminal of two-way electromagnetic valve two is connected with flexible motor displacement control pressure sensor.By controlling flexible two-position three-way electromagnetic Valve two realizes the selection of stretch mode, and specific method is：Control stretches two-position three way magnetic valve two in the normal mode, from The hydraulic oil of flexible selector valve output is stretched through flexible two-position three way magnetic valve two, the flexible flexible two-way directional valve of sequence valve control Contracting two-way directional valve is closed, and the hydraulic oil on flexible two-way directional valve both sides does not connect, with the flexible manual control of realization and actively Compensation；The flexible two-position three way magnetic valve two of control is under follower model, from the hydraulic oil that flexible selector valve exports two flexible Three-way magnetic valve two is ended, and the hydraulic oil for being connected to flexible two-way directional valve control terminal is laid down, and stretch two-way directional valve two The flexible servo-actuated compensation of zero delivery is realized in the hydraulic oil connection on side.
Flexible brake voltage stabilizing accumulator 5311 is equipped between flexible pilot operated directional control valve one and flexible brake.Pass through flexible brake Voltage stabilizing accumulator provides stable brake pressure to flexible brake so that brake is more reliable and stablizes.
The A output terminals of flexible 3-position 4-way pilot operated directional control valve are connected to the one of telescopic hydraulic motor by flexible check valve one End, the B output terminals of flexible 3-position 4-way pilot operated directional control valve are connected to one end of flexible two-way directional valve by the check valve two that stretches, The output terminal of flexible check valve one is connected with the other end of flexible two-way directional valve；The input terminal of flexible balanced valve 1 is with stretching The output terminal connection of contracting check valve one, the output terminal of flexible balanced valve 1 are connected with oil return line；Flexible balanced valve 2 536 Input terminal be connected with the output terminal of flexible check valve two, the output terminal of flexible balanced valve 2 536 is connected with oil return line；Industry control Machine is connected with flexible selector valve, telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve.
Oil sump tank is connected in the unloading port of telescopic hydraulic motor 20, since telescopic hydraulic motor is arranged on principal arm, Therefore, the distance of telescopic hydraulic motor and hydraulic oil container is remote, by setting oil sump tank that can preferably collect hydraulic oil, and conveys meeting In hydraulic oil container.
Check valve 2 57 is connected on low-voltage output, the output terminal of check valve 2 57 is all the way by turning round check valve four 5213 are connected to the output terminal of revolution check valve two, and the another way of the output terminal of check valve 2 57 is by turning round check valve 5 5214 It is connected to the output terminal of revolution check valve one.Low-voltage quantitative repairing is carried out to rotary fluid motor by low-voltage output, is prevented The phenomenon that causing cavitation erosion is emptied in the hydraulic oil of rotary fluid motor in turning round servomechanism process.The output terminal one of check valve 2 57 Road is connected to the output terminal of flexible check valve two by the check valve 4 5313 that stretches, and the another way of the output terminal of check valve two passes through Flexible check valve 5 5314 is connected to the output terminal of revolution check valve one.Determined by low-voltage output to telescopic hydraulic motor Low pressure repairing is measured, the hydraulic oil of the telescopic hydraulic motor in flexible servomechanism process is prevented to be emptied the phenomenon that causing cavitation erosion.
As shown in figure 17, the variable amplitude hydraulic system 54 is provided with two sets, in the luffing oil of two sets of variable amplitude hydraulic systems Luffing rodless cavity string fuel tap 547 is equipped between cylinder.Variable amplitude hydraulic system includes luffing selector valve 541, becomes width direction speed control Valve 542, luffing accumulator control valve 543, luffing accumulator switch valve 544, the oil-filled control valve 545 of luffing accumulator, plunger type Accumulator 546 and amplitude oil cylinder 30.
The input terminal of luffing selector valve is connected to the output terminal of main pump group, the output terminal of luffing selector valve by check valve one The input terminal for becoming width direction speed control valve is connected to, the A output terminals for becoming width direction speed control valve pass through luffing check valve one One end of amplitude oil cylinder is connected to, the B output terminals for becoming width direction speed control valve are connected to the other end of amplitude oil cylinder；Luffing stores up Can device control valve be connected by luffing check valve two with one end of amplitude oil cylinder, luffing accumulator control valve at the same with luffing energy storage Device switch valve connects, and luffing accumulator switch valve is connected with the tie point that luffing check valve two and amplitude oil cylinder are formed, luffing storage The input terminal of the energy oil-filled control valve of device is connected with the output terminal of main pump group, the output terminal and plunger of the oil-filled control valve of luffing accumulator Formula accumulator connects, and plunger type accumulator is connected with accumulator switch valve, while plunger type accumulator passes through luffing check valve three It is connected with luffing accumulator control valve；Industrial personal computer is controlled with luffing selector valve, change width direction speed control valve, luffing accumulator Valve, luffing accumulator switch valve are connected with the oil-filled control valve of luffing accumulator.
The luffing selector valve 541 includes luffing two-position two-way solenoid valve and luffing logical valve, luffing bi-bit bi-pass electricity One end of magnet valve is connected with unloading line, and the other end of luffing two-position two-way solenoid valve is connected with the control terminal of luffing logical valve； Check valve 1 is connected to the input terminal of luffing logical valve, and the output terminal of luffing logical valve, which is connected to, becomes width direction speed control valve Input terminal.When luffing two-position two-way solenoid valve does not have signal, luffing logical valve is closed, and is beaten when luffing two-position two-way solenoid valve has After ON signal, luffing two-position two-way solenoid valve is opened, and luffing two-position two-way solenoid valve control luffing logical valve is opened, and realizes luffing The selection whether opened.
Becoming width direction speed control valve 542 includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve, becomes Width electricity proportional pressure-reducing valve is connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve；The output terminal of luffing selector valve is connected to change The input terminal of width 3-position 4-way pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve are connected with oil return line, luffing three four Logical pilot operated directional control valve has A and B output terminals；Industrial personal computer is connected with luffing electricity proportional pressure-reducing valve.In luffing selector valve and luffing side Changing-breadth system pressure sensor is equipped between method for control speed.After luffing electricity proportional pressure-reducing valve receives signal, luffing The size that electric proportional pressure-reducing valve is opened and opened according to signal, passes through luffing electricity proportional pressure-relief valve control luffing 3-position 4-way hydraulic control Reversal valve realizes the movement of amplitude oil cylinder.In this configuration, if luffing electricity proportional pressure-reducing valve receives the signal of rising, on The luffing electricity proportional pressure-reducing valve risen is opened, the luffing electricity proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve of rising, from The hydraulic oil of the output terminal output of luffing selector valve is output to amplitude oil cylinder through luffing 3-position 4-way pilot operated directional control valve from B output terminals It is interior.If luffing electricity proportional pressure-reducing valve receives the signal of decline, the luffing electricity proportional pressure-reducing valve of decline is opened, the luffing of decline Electric proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output terminal of luffing selector valve is through luffing 3-position 4-way pilot operated directional control valve is exported from A output terminals, is then entered through luffing check valve one in luffing hydraulic motor.
The luffing accumulator control valve 543 includes luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one With luffing two-position two-way solenoid valve two.As shown in figure 18, the accumulator switch valve 544 includes valve body 5441 and taper valve core 5442, taper valve core 5442 is located in valve body 5441, and the bottom of valve body 5441 has the first hydraulic fluid port 5444, the side wall of valve body 5441 The second hydraulic fluid port 5445 is equipped at the first hydraulic fluid port 5444, the upper end of taper valve core 5442 is piston 5443, on valve body 5441 The 3rd hydraulic fluid port 5446 is equipped with positioned at the top of piston, the 4th hydraulic fluid port 5447 is equipped with positioned at the lower section of piston on valve body, in piston Spring 5448 is equipped between 5443 and valve body 5441.One input terminal of luffing two-position three way magnetic valve and luffing check valve two and change The output terminal of width check valve three connects simultaneously, and the output terminal of luffing check valve is connected with luffing two-position two-way solenoid valve two；Luffing Another input terminal of two-position three way magnetic valve connects respectively with the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two connects It connects；The output terminal of luffing two-position two-way solenoid valve is connected to the 3rd hydraulic fluid port through luffing two-position two-way solenoid valve one, the 3rd hydraulic fluid port with Luffing two-position two-way solenoid valve two connects；First hydraulic fluid port is connected with the input terminal of luffing check valve two；Second hydraulic fluid port respectively with change The input terminal connection of width check valve three is connected with plunger type accumulator；Plunger type accumulator passes through luffing check valve four and luffing list It is connected to the input terminal of valve two.Under non-follow-up compensating coefficient, luffing two-position three way magnetic valve is closed, plunger type storage The hydraulic oil of energy device is through luffing check valve three, luffing two-position three way magnetic valve, one and the 3rd hydraulic fluid port of luffing two-position two-way solenoid valve The top of piston is entered, under the pressure effect of hydraulic oil, taper valve core blocks the first hydraulic fluid port, i.e., luffing accumulator switchs Valve is closed；Under the passive compensating coefficient of luffing, luffing two-position three way magnetic valve is in opening state, at luffing accumulator switch valve In opening state, the 3rd hydraulic fluid port and the 4th hydraulic fluid port are connected by luffing two-position three way magnetic valve and luffing two-position two-way solenoid valve one Logical, amplitude oil cylinder is in passive state, gives amplitude oil cylinder one constant-tension by plunger type accumulator.It is passively compensated in luffing Under state, if overlapped points have the tractive force of decline, then overlapped points pull amplitude oil cylinder movement, and plunger type accumulator gives luffing oil The constant pressure that cylinder one rises prevents flexible trestle from the load excessive of overlapped points, if overlapped points have the tractive force of rising, then overlapping Point pulls amplitude oil cylinder movement, and plunger type accumulator gives the constant pressure of the rising of amplitude oil cylinder one, prevents flexible trestle from overlapping The load excessive of point.
As shown in figure 19, emergency hydraulic system uses following hydraulic system：High-voltage output end passes sequentially through accumulator and fills Fuel tap block 581 and accumulator control valve block 582 are connected with accumulator bank 583；The output terminal of accumulator control valve block 582 is connected to The output terminal of check valve 1.When main pump group output terminal can not fuel feeding when, by controlling accumulator oil charge valve block and accumulator Control valve block is oil-filled to accumulator bank, and control accumulator control valve block is by accumulator bank to Hydraulic slewing system, telescopic hydraulic System and variable amplitude hydraulic system fuel feeding realize emergent fuel feeding, make whole system safe.
Accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logical valve, accumulator two Two electric change valves of position and accumulator pressure reducing valve；The output terminal of accumulator oil charge valve is connected to the input of accumulator check valve one End, the output terminal of accumulator check valve one connect accumulator bank, the output terminal of accumulator check valve two and accumulator logic simultaneously The input terminal of valve；The input terminal of accumulator check valve two is connected to the output terminal of check valve one；The output terminal of accumulator logical valve The output terminal of check valve one is connected to by accumulator pressure reducing valve；One end connection emptying of accumulator two-position two-way electromagnetic directional valve Pipeline, the other end of accumulator two-position two-way electromagnetic directional valve are connected to the control terminal of accumulator logic；When main pump group cannot be real During existing normal fuel injection, accumulator two-position two-way electromagnetic directional valve is opened, accumulator two-position two-way electromagnetic directional valve is opened, control storage Can device pressure reducing valve open, the hydraulic oil of accumulator bank is through accumulator logical valve, accumulator pressure reducing valve to Hydraulic slewing system, flexible Hydraulic system and variable amplitude hydraulic system fuel feeding.It realizes emergent fuel feeding, makes whole system safe.
Compensation voltage stabilizing accumulator is connected on the output terminal of accumulator pressure reducing valve.Realize the fuel feeding voltage stabilizing of accumulator.
Emergent hand control valve is connected with by emergency line on accumulator bank, the output terminal point for hand control valve of meeting an urgent need Into two-way, be connected with emergency brake control valve and check valve three in turn all the way, check valve three respectively with revolution pilot operated directional control valve and The control terminal connection of flexible pilot operated directional control valve；Another way is connected with emergent luffing raising hand control valve, luffing raising hand of meeting an urgent need The output terminal of dynamic control valve is divided into two-way, is connected to luffing accumulator control valve all the way, another way is connected in amplitude oil cylinder；Such as It realizes emergency brake, opens emergent hand control valve and emergency brake control valve, the hydraulic oil of accumulator bank is through emergent manual Control valve, emergency brake control valve and check valve three enter the control terminal of revolution pilot operated directional control valve and flexible pilot operated directional control valve, Revolution brake and flexible brake emptying, realize brake；Such as to realize emergent luffing raising, open emergent hand control valve and Emergent luffing raising hand control valve drives amplitude oil cylinder by accumulator bank, realizes emergent raising action.To improve security Energy.
Emergent luffing raising voltage stabilizing accumulator 584 is connected in the output terminal of emergent luffing raising hand control valve.
Voltage stabilizing accumulator 585 is connected in the output terminal of check valve three.
The go on board method of work of trestle of the position compensation extension type includes bridging method, servo-actuated compensation method and de- The extraction of root；
Bridging method includes manual operation bridging method and Active Compensation bridging method：
Bridging method, which is manually operated, is：Operation handle is operated by operating personnel, decoder translates the signal of operation handle Code is simultaneously sent in industrial personal computer, and industrial personal computer control main pump group starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container Output terminal；Industrial personal computer control Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, pass through Hydraulic slewing system control Revolving platform rotation processed, controls telescopic arm to stretch by telescopic hydraulic system, by variable amplitude hydraulic system flexible trestle is controlled to put It is dynamic, flexible trestle is allowed to move in the range of overlap joint；
Wherein Hydraulic slewing system control revolving platform rotate method be：Switchback mode selector valve is controlled in normal mode, is returned Turn brake control valve control in off position, gyratory directions control valve turns left according to the signal behavior of operation handle or right-hand rotation shape State opens revolution selector valve, and the hydraulic oil of the output terminal of main pump group is entered through check valve one on revolution selector valve, revolution selection Hydraulic oil is input to gyratory directions speed control valve, revolution brake control valve and switchback mode selector valve, liquid by the output terminal of valve Pressure oil reaches the control terminal of revolution two-way directional valve, control revolution two-way directional valve through switchback mode selector valve, revolution sequence valve It closes, hydraulic oil is entered through turning round brake control valve and revolution pilot operated directional control valve in revolution brake, revolution brake is allowed to close, together When, hydraulic oil is entered from gyratory directions speed control valve in rotary fluid motor, and driving rotary fluid motor turns left or turns right, So as to which revolving platform be controlled to turn left or turned right, the oil return of rotary fluid motor enters from revolution balanced valve one or revolution balanced valve two Into oil return line；The method that telescopic hydraulic system controls telescopic arm to stretch is：Stretch mode selector valve is controlled in normal mode, In off position, telescopic direction control valve is stretched out according to the signal behavior of operation handle or retraction shape for flexible brake control valve control State opens flexible selector valve, and the hydraulic oil of the output terminal of main pump group is entered through check valve one on flexible selector valve, selection of stretching Hydraulic oil is input to telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve, liquid by the output terminal of valve Pressure oil reaches the control terminal of flexible two-way directional valve through stretch mode selector valve, flexible sequence valve, controls flexible two-way directional valve It closes, hydraulic oil is entered through flexible brake control valve and flexible pilot operated directional control valve in flexible brake, flexible brake is allowed to close, together When, hydraulic oil is entered from telescopic direction speed control valve in telescopic hydraulic motor, drives telescopic hydraulic motor forward or reverse, So as to which telescopic arm be driven to stretch out or retracted, the oil return of telescopic hydraulic motor is entered from flexible balanced valve one or flexible balanced valve two In oil return line；
The method that variable amplitude hydraulic system controls flexible trestle to swing is：By industrial personal computer luffing accumulator control valve is controlled to close, By industrial personal computer luffing accumulator switch valve is controlled to close；Luffing directional control valve according to the signal behavior of operation handle rise or Decline state opens luffing selector valve, and the hydraulic oil of the output terminal of main pump group is entered through check valve one on luffing selector valve, becomes Hydraulic oil is input to by the output terminal of width selector valve becomes width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil It is entered from width direction speed control valve is become in amplitude oil cylinder, flexible trestle is driven to rise or fall；
After flexible trestle is moved in the range of overlap joint, state is overlapped into Active Compensation, Active Compensation bridging method is：Pass through MRU sensors and data process system acquisition overlapped points location information simultaneously location information is transmitted in industrial personal computer, in industrial personal computer into Row calculates, and the signal of processing is input to gyratory directions speed control valve, telescopic direction speed control valve and becomes width direction speed On control valve, direction of rotation and the speed of rotary fluid motor are controlled by gyratory directions speed control valve, passes through telescopic direction The direction of rotation of speed control valve control telescopic hydraulic motor and speed control amplitude oil cylinder by becoming width direction speed control valve The direction of motion and speed；
Enter servo-actuated compensation after the completion of flexible trestle overlap joint, be servo-actuated the method for compensation include revolution follow-up method, it is flexible with Dynamic method and the passive compensation method of luffing；
Turning round follow-up method is：Switchback mode selector valve is controlled by industrial personal computer to follower model, revolution two-way directional valve Control terminal emptying, the reset of revolution two-way directional valve is simultaneously open-minded, and revolution two-way directional valve is by the oil inlet of rotary fluid motor and goes out Hydraulic fluid port is together with realization zero delivery allows rotary fluid motor to be in servo-actuated state；
Flexible follow-up method is：Stretch mode selector valve is controlled by industrial personal computer to follower model, stretch two-way directional valve Control terminal emptying, flexible two-way directional valve reset is simultaneously open-minded, and flexible two-way directional valve is by the oil inlet of telescopic hydraulic motor and goes out Hydraulic fluid port is together with realization zero delivery allows telescopic hydraulic motor to be in servo-actuated state；
The passive compensation method of luffing is：By industrial personal computer luffing selector valve is controlled to close, control luffing accumulator control valve is opened It is opened with control luffing accumulator switch valve；Amplitude oil cylinder is allowed to be in passive state simultaneously by plunger type accumulator by luffing oil Cylinder is under identical tension pattern；
Release methods are to control dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system by industrial personal computer, Flexible trestle is allowed to disengage.
When being in an emergency, start emergency hydraulic system.
Above-mentioned position compensation extension type is gone on board trestle and method of work, is introduced into flexible trestle in the range of overlap joint When, dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system are manually controlled, makes flexible trestle fast Entering in the range of overlap joint for speed, improves the efficiency of overlap joint；When flexible trestle is entered in the range of overlap joint, passed by MRU Sensor obtains the position of X, Y, Z six direction and corresponding acceleration, while obtains this platform by data process system and be overlapped The state of platform by the signal transmission of acquisition to industrial personal computer, obtains control signal by calculating, gives gyratory directions speed respectively Control valve, telescopic direction speed control valve and change width direction speed control valve, by controlling gyratory directions speed control valve, stretching Direction speed control valve and become commutation and the uninterrupted of width direction speed control valve to control rotary fluid motor, flexible respectively Hydraulic motor and amplitude oil cylinder, allow flexible trestle free end constantly close to overlapped points while follow the posture for being overlapped platform Active variation is carried out, makes overlap joint more easy, safe and steady.In the present invention, the computational methods of industrial personal computer are existing Computational methods, such as digital PID operation etc..After the completion of overlap joint, two-way directional valve is turned round by controlling, allows rotary fluid motor Oil inlet is connected with oil outlet, and when there is the tractive force for being overlapped platform, rotary fluid motor can realize servo-actuated while realization zero Discharge capacity, not consumed energy；By the flexible two-way directional valve of control, the oil inlet of telescopic hydraulic motor is allowed to be connected with oil outlet, When having the tractive force for being overlapped platform, telescopic hydraulic motor can be realized servo-actuated while realize zero delivery, not consumed energy；For becoming Oil condition is unloaded in width hydraulic system, one end output of amplitude oil cylinder, increases by a plunger type accumulator in the other end of amplitude oil cylinder, when When being overlapped platform has tractive force, amplitude oil cylinder realizes passive compensation, while plunger type accumulator gives luffing oil always One constant-tension of cylinder reduces flexible load of the trestle to overlapped points；Therefore, after the completion of overlap joint, with the position for being overlapped platform Variation is put, rotary fluid motor and telescopic hydraulic motor, which are realized, to be servo-actuated, and amplitude oil cylinder realizes passive compensation, and flexible trestle is allowed to put down Surely, in this way, remarkable and transport goods are safe, steady.Due to being provided with revolution balanced valve one and revolution balanced valve two, it returns Rotary fluid motor one can be given on the oil return line of rotating hydraulic motor to damp, and allow the operating steadily of rotary fluid motor；Equally, Due to being provided with flexible balanced valve one and flexible balanced valve two, it can be given on the oil return line of telescopic hydraulic motor flexible Hydraulic motor one damps, and allows the operating steadily of telescopic hydraulic motor.Due to being provided with luffing accumulator control valve and luffing energy storage Device switch valve in this way, in passive compensation process, just can give amplitude oil cylinder one constant pressure using plunger type accumulator, It can realize passive compensation again simultaneously.For principal arm and telescopic arm, due to using cantilever design, to improve the steady of structure It is qualitative to reduce the weight of principal arm and telescopic arm, it is necessary to try one's best, therefore, aluminum alloy materials are selected, but telescopic arm is needed in principal arm It slides, and using aluminum alloy guide rail, then intensity and wearability are all bad, and therefore, guide rail uses steel construction, but aluminium alloy and steel knot Structure contacts directly, then the phenomenon that being susceptible to anodic attack, therefore, in the present invention by setting rubber pad by aluminium alloy and steel Guide rail insulation processed, avoids anodic attack, preferably protects aluminium alloy principal arm and telescopic arm.

Claims (10)

  1. The trestle hydraulic system 1. a kind of position compensation extension type is gone on board, including dynamical system, Hydraulic slewing system, telescopic hydraulic System and variable amplitude hydraulic system；It is characterized in that：
    Dynamical system includes hydraulic oil container, main pump group and high-low pressure pump group, and the input terminal of main pump group is connected to hydraulic oil container, main pump Group has an output terminal, and the input terminal of high-low pressure pump group is connected to hydraulic oil container, high-low pump group be respectively provided with low-voltage output and High-voltage output end；Oil return line is connected on hydraulic oil container；Unloading line is connected on hydraulic oil container；
    The Hydraulic slewing system includes revolution selector valve, gyratory directions speed control valve, revolution brake control valve, mold rotation Formula selector valve, revolution balanced valve one turn round balanced valve two, revolution two-way directional valve, revolution sequence valve, rotary fluid motor and return Turn brake；The output terminal of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output terminal of selector valve The input terminal of gyratory directions speed control valve is connected to, the A output terminals of gyratory directions control valve are connected by turning round check valve one To one end of rotary fluid motor, the B output terminals of gyratory directions control valve are connected to revolution two-way side by turning round check valve two To one end of valve, the output terminal for turning round check valve one is connected with turning round the other end of two-way directional valve；Turn round brake control valve Input terminal is connected to the output terminal of revolution selector valve, and the output terminal for turning round brake control valve is connected to by turning round pilot operated directional control valve In revolution brake；The input terminal of switchback mode selector valve with turn round selector valve output terminal be connected, switchback mode selector valve it is defeated Outlet is connected by turning round sequence valve with turning round the control terminal of two-way directional valve, while the output terminal of switchback mode selector valve is with returning The control terminal connection of rotating hydraulic motor；The one end for turning round balanced valve one is connected with turning round the output terminal of check valve one, revolution balance The output terminal of valve one is connected with oil return line；The input terminal for turning round balanced valve two is connected with turning round the output terminal of check valve two, is returned The output terminal for turning balanced valve two is connected with oil return line；
    The telescopic hydraulic system includes flexible selector valve, telescopic direction speed control valve, flexible brake control valve, flexible mould It formula selector valve, flexible balanced valve one, flexible balanced valve two, flexible two-way directional valve, flexible sequence valve, telescopic hydraulic motor and stretches Contracting brake；The output terminal of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output terminal for the selector valve that stretches The input terminal of telescopic direction speed control valve is connected to, the A output terminals of telescopic direction control valve are connected by flexible check valve one To one end of telescopic hydraulic motor, the B output terminals of telescopic direction control valve are connected to flexible two-way side by flexible check valve two To one end of valve, the output terminal of flexible check valve one is connected with the other end of flexible two-way directional valve；Flexible brake control valve Input terminal is connected to the output terminal of flexible selector valve, and the output terminal of flexible brake control valve is connected to by flexible pilot operated directional control valve In flexible brake；The input terminal of stretch mode selector valve is connected with the output terminal of flexible selector valve, stretch mode selector valve it is defeated Outlet is connected by flexible sequence valve with the control terminal of flexible two-way directional valve, and the output terminal of simultaneous retractable model selection valve is with stretching The control terminal connection of contracting hydraulic motor；The input terminal of flexible balanced valve one is connected with the output terminal of flexible check valve one, is stretched flat The output terminal of weighing apparatus valve one is connected with oil return line；The input terminal of flexible balanced valve two is connected with the output terminal of flexible check valve two, The output terminal of flexible balanced valve two is connected with oil return line；
    The variable amplitude hydraulic system includes luffing selector valve, becomes width direction speed control valve, luffing accumulator control valve, luffing Accumulator switch valve, the oil-filled control valve of luffing accumulator, plunger type accumulator and amplitude oil cylinder；The input terminal of luffing selector valve leads to The output terminal that check valve one is connected to main pump group is crossed, the output terminal of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve Enter end, the A output terminals for becoming width direction speed control valve are connected to one end of amplitude oil cylinder by luffing check valve one, become width direction The B output terminals of speed control valve are connected to the other end of amplitude oil cylinder；Luffing accumulator control valve by luffing check valve two with One end connection of amplitude oil cylinder, luffing accumulator control valve are connected simultaneously with luffing accumulator switch valve, luffing accumulator switch Valve is connected with the tie point that luffing check valve two and amplitude oil cylinder are formed, the input terminal and main pump of the oil-filled control valve of luffing accumulator The output terminal connection of group, the output terminal of the oil-filled control valve of luffing accumulator is connected with plunger type accumulator, plunger type accumulator and Accumulator switch valve connects, while plunger type accumulator is connected by luffing check valve three with luffing accumulator control valve.
  2. The trestle hydraulic system 2. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Described returns Turning selector valve includes revolution two-position two-way solenoid valve and revolution logical valve, turns round one end and the unloading line of two-position two-way solenoid valve Connection, the other end for turning round two-position two-way solenoid valve are connected with turning round the control terminal of logical valve；Check valve one is connected to revolution and patrols The input terminal of valve is collected, the output terminal for turning round logical valve is connected to the input terminal of gyratory directions speed control valve；
    Gyratory directions speed control valve includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way pilot operated directional control valve, turns round electric ratio Pressure reducing valve is connected to the control terminal of revolution 3-position 4-way pilot operated directional control valve；The output terminal of revolution selector valve is connected to revolution three four The input terminal of logical pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve are connected with oil return line, and revolution 3-position 4-way hydraulic control is changed There is A and B output terminals to valve；Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution；
    Revolution pressure reducing valve is equipped between the input terminal of revolution selector valve and revolution 3-position 4-way pilot operated directional control valve；
    Turning round brake valve includes revolution check valve three and revolution two-position three way magnetic valve one, and the output for turning round selector valve passes through revolution Overflow pressure reducing valve is connected on revolution check valve three, and the output terminal of revolution check valve three is connected to revolution two-position three way magnetic valve one Input terminal, revolution two-position three way magnetic valve one another input terminal be connected with oil return line, revolution two-position three way magnetic valve one Output terminal be connected to revolution pilot operated directional control valve on；
    The switchback mode selector valve is revolution two-position three way magnetic valve two.
  3. The trestle hydraulic system 3. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Turn round hydraulic control Revolution brake voltage stabilizing accumulator is equipped between reversal valve and revolution brake.
  4. The trestle hydraulic system 4. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Low pressure exports Check valve two is connected on end, the output terminal of check valve two is connected to the defeated of revolution check valve two by turning round check valve four all the way Outlet, the another way of the output terminal of check valve two are connected to the output terminal of revolution check valve one by turning round check valve five.
  5. The trestle hydraulic system 5. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Described stretches Contracting selector valve includes flexible two-position two-way solenoid valve and flexible logical valve, the one end for the two-position two-way solenoid valve that stretches and unloading line Connection, the other end of flexible two-position two-way solenoid valve are connected with the control terminal of flexible logical valve；Check valve one is connected to flexible patrol The input terminal of valve is collected, the output terminal of flexible logical valve is connected to the input terminal of telescopic direction speed control valve；
    Telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way pilot operated directional control valve, electricity ratio of stretching Pressure reducing valve is connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve；The output terminal of flexible selector valve is connected to flexible three four The input terminal of logical pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve are connected with oil return line, and flexible 3-position 4-way hydraulic control is changed There is A and B output terminals to valve；Industrial personal computer is connected on flexible electric proportional pressure-reducing valve；
    Flexible pressure reducing valve is equipped between flexible selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve；
    Flexible brake valve includes flexible check valve three and flexible two-position three way magnetic valve one, and the output for the selector valve that stretches, which passes through, stretches Overflow pressure reducing valve is connected on flexible check valve three, and the output terminal of flexible check valve three is connected to flexible two-position three way magnetic valve one Input terminal, another input terminal of flexible two-position three way magnetic valve one is connected with oil return line, flexible two-position three way magnetic valve one Output terminal be connected on flexible pilot operated directional control valve；
    The stretch mode selector valve is flexible two-position three way magnetic valve two.
  6. The trestle hydraulic system 6. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Flexible hydraulic control Flexible brake voltage stabilizing accumulator is equipped between reversal valve one and flexible brake.
  7. The trestle hydraulic system 7. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Low pressure exports Check valve two is connected on end, the excessively flexible check valve four of output terminal a-road-through of check valve two is connected to the defeated of flexible check valve two Outlet, the another way of the output terminal of check valve two are connected to the output terminal of revolution check valve one by the check valve five that stretches.
  8. The trestle hydraulic system 8. position compensation extension type according to claim 1 is gone on board, it is characterised in that：The change Width selector valve includes luffing two-position two-way solenoid valve and luffing logical valve, one end of luffing two-position two-way solenoid valve and unloading line Connection, the other end of luffing two-position two-way solenoid valve are connected with the control terminal of luffing logical valve；Check valve one is connected to luffing and patrols The input terminal of valve is collected, the output terminal of luffing logical valve is connected to the input terminal for becoming width direction speed control valve；
    Becoming width direction speed control valve includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve, luffing electricity ratio Pressure reducing valve is connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve；The output terminal of luffing selector valve is connected to luffing three four The input terminal of logical pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve are connected with oil return line, and luffing 3-position 4-way hydraulic control is changed There is A and B output terminals to valve；Industrial personal computer is connected with luffing electricity proportional pressure-reducing valve；
    The luffing accumulator control valve includes luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one and luffing two Position two-way electromagnetic valve two；The accumulator switch valve includes valve body and taper valve core, and taper valve core is located in valve body, valve body Bottom has the first hydraulic fluid port, and the side wall of valve body is equipped with the second hydraulic fluid port close to the first oil port, and the upper end of taper valve core is piston, On valve body positioned at piston top be equipped with the 3rd hydraulic fluid port, on valve body positioned at piston lower section be equipped with the 4th hydraulic fluid port, piston with Spring is equipped between valve body；One input terminal of luffing two-position three way magnetic valve and luffing check valve two and luffing check valve three it is defeated Outlet connects simultaneously, and the output terminal of luffing check valve is connected with luffing two-position two-way solenoid valve two；Luffing two-position three way magnetic valve Another input terminal be connected respectively with the connection of the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two；Luffing bi-bit bi-pass The output terminal of solenoid valve is connected to the 3rd hydraulic fluid port, the 3rd hydraulic fluid port and luffing bi-bit bi-pass electromagnetism through luffing two-position two-way solenoid valve one Valve two connects；First hydraulic fluid port is connected with the input terminal of luffing check valve two；The input with luffing check valve three respectively of second hydraulic fluid port End connection is connected with plunger type accumulator；Plunger type accumulator is connected by the input terminal of luffing check valve four and luffing check valve two It connects.
  9. The trestle hydraulic system 9. position compensation extension type according to claim 1 is gone on board, it is characterised in that：High voltage output End passes sequentially through accumulator oil charge valve block and accumulator control valve block is connected with accumulator bank；The output terminal of accumulator control valve block It is connected to the output terminal of check valve one；
    Accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logical valve, accumulator two two Electric change valve and accumulator pressure reducing valve；The output terminal of accumulator oil charge valve is connected to the input terminal of accumulator check valve one, The output terminal of accumulator check valve one connects accumulator bank, the output terminal of accumulator check valve two and accumulator logical valve simultaneously Input terminal；The input terminal of accumulator check valve two is connected to the output terminal of check valve one；The output terminal of accumulator logical valve passes through Accumulator pressure reducing valve is connected to the output terminal of check valve one；One end connection oil discharge pipe of accumulator two-position two-way electromagnetic directional valve Road, the other end of accumulator two-position two-way electromagnetic directional valve are connected to the control terminal of accumulator logic；
    Compensation voltage stabilizing accumulator is connected on the output terminal of accumulator pressure reducing valve.
  10. The trestle hydraulic system 10. position compensation extension type according to claim 9 is gone on board, it is characterised in that：In energy storage Emergent hand control valve is connected with by emergency line in device group, the output terminal of emergent hand control valve is divided into two-way, all the way according to Secondary to be connected with emergency brake control valve and check valve three, check valve three is respectively with turning round pilot operated directional control valve and flexible pilot operated directional control valve Control terminal connection；Another way is connected with emergent luffing raising hand control valve, the output for luffing raising hand control valve of meeting an urgent need End is divided into two-way, is connected to luffing accumulator control valve all the way, another way is connected in amplitude oil cylinder；
    Emergent luffing raising voltage stabilizing accumulator is connected in the output terminal of emergent luffing raising hand control valve；
    Voltage stabilizing accumulator is connected in the output terminal of check valve three.
CN201711236087.2A 2017-11-30 2017-11-30 A kind of position compensation extension type is gone on board trestle hydraulic system Active CN108105187B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711236087.2A CN108105187B (en) 2017-11-30 2017-11-30 A kind of position compensation extension type is gone on board trestle hydraulic system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711236087.2A CN108105187B (en) 2017-11-30 2017-11-30 A kind of position compensation extension type is gone on board trestle hydraulic system

Publications (2)

Publication Number Publication Date
CN108105187A true CN108105187A (en) 2018-06-01
CN108105187B CN108105187B (en) 2019-09-10

Family

ID=62208886

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711236087.2A Active CN108105187B (en) 2017-11-30 2017-11-30 A kind of position compensation extension type is gone on board trestle hydraulic system

Country Status (1)

Country Link
CN (1) CN108105187B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108820140A (en) * 2018-06-28 2018-11-16 中国船舶重工集团公司第七0四研究所 Naval Architecture and Ocean Engineering telescoping mechanism
CN109114138A (en) * 2018-11-09 2019-01-01 天地科技股份有限公司上海分公司 Tunneling machine cutting pars contractilis band brake apparatus
CN109737110A (en) * 2018-11-05 2019-05-10 中船华南船舶机械有限公司 A kind of small-sized fore-and-aft gangway based on hydraulic system
CN112209275A (en) * 2020-11-16 2021-01-12 中船华南船舶机械有限公司 Brake valve
CN112922912A (en) * 2021-02-03 2021-06-08 山东大学 Wave compensation type closed rotary hydraulic control system for marine trestle
CN113562672A (en) * 2021-07-28 2021-10-29 徐州海伦哲特种车辆有限公司 Telescopic boom control device suitable for line pole comprehensive operation vehicle and operation vehicle
CN114215801A (en) * 2021-11-09 2022-03-22 中船华南船舶机械有限公司 Control method for rotary damping control hydraulic system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102900018A (en) * 2012-10-19 2013-01-30 江阴市黄山船舶配件有限公司 Full circle swinging telescopic gap bridge
CN103821077A (en) * 2012-11-19 2014-05-28 天津海德天润海上工程技术有限公司 Auto-telescoping trestle bridge applicable to movable platforms
CN104627325A (en) * 2015-01-29 2015-05-20 中船华南船舶机械有限公司 Gangway bridge device
CN106151148A (en) * 2016-08-31 2016-11-23 徐州徐工随车起重机有限公司 A kind of hydraulic control system of folding-jib high-altitude operation vehicle
CN206143615U (en) * 2016-10-28 2017-05-03 福建省新能海上风电研发中心有限公司 6 -degree of freedom initiatively compensates formula offshore platform and steps on and take advantage of landing stage
CN206352599U (en) * 2017-01-03 2017-07-25 泰安东岳重工有限公司 Hydraulic means for self-propelled trestle
WO2017200410A1 (en) * 2016-05-16 2017-11-23 Pgpi - Marcas E Patentes, S.A. Modular structural assembly, bridge construction system and corresponding construction method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102900018A (en) * 2012-10-19 2013-01-30 江阴市黄山船舶配件有限公司 Full circle swinging telescopic gap bridge
CN103821077A (en) * 2012-11-19 2014-05-28 天津海德天润海上工程技术有限公司 Auto-telescoping trestle bridge applicable to movable platforms
CN104627325A (en) * 2015-01-29 2015-05-20 中船华南船舶机械有限公司 Gangway bridge device
WO2017200410A1 (en) * 2016-05-16 2017-11-23 Pgpi - Marcas E Patentes, S.A. Modular structural assembly, bridge construction system and corresponding construction method
CN106151148A (en) * 2016-08-31 2016-11-23 徐州徐工随车起重机有限公司 A kind of hydraulic control system of folding-jib high-altitude operation vehicle
CN206143615U (en) * 2016-10-28 2017-05-03 福建省新能海上风电研发中心有限公司 6 -degree of freedom initiatively compensates formula offshore platform and steps on and take advantage of landing stage
CN206352599U (en) * 2017-01-03 2017-07-25 泰安东岳重工有限公司 Hydraulic means for self-propelled trestle

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108820140A (en) * 2018-06-28 2018-11-16 中国船舶重工集团公司第七0四研究所 Naval Architecture and Ocean Engineering telescoping mechanism
CN109737110A (en) * 2018-11-05 2019-05-10 中船华南船舶机械有限公司 A kind of small-sized fore-and-aft gangway based on hydraulic system
CN109737110B (en) * 2018-11-05 2020-06-16 中船华南船舶机械有限公司 Small-size step bridge based on hydraulic system
CN109114138A (en) * 2018-11-09 2019-01-01 天地科技股份有限公司上海分公司 Tunneling machine cutting pars contractilis band brake apparatus
CN112209275A (en) * 2020-11-16 2021-01-12 中船华南船舶机械有限公司 Brake valve
CN112922912A (en) * 2021-02-03 2021-06-08 山东大学 Wave compensation type closed rotary hydraulic control system for marine trestle
CN112922912B (en) * 2021-02-03 2022-04-12 山东大学 Wave compensation type closed rotary hydraulic control system for marine trestle
CN113562672A (en) * 2021-07-28 2021-10-29 徐州海伦哲特种车辆有限公司 Telescopic boom control device suitable for line pole comprehensive operation vehicle and operation vehicle
CN113562672B (en) * 2021-07-28 2022-10-04 徐州海伦哲特种车辆有限公司 Telescopic boom control device suitable for line pole comprehensive operation vehicle and operation vehicle
CN114215801A (en) * 2021-11-09 2022-03-22 中船华南船舶机械有限公司 Control method for rotary damping control hydraulic system

Also Published As

Publication number Publication date
CN108105187B (en) 2019-09-10

Similar Documents

Publication Publication Date Title
CN108105187B (en) A kind of position compensation extension type is gone on board trestle hydraulic system
CN108438150A (en) A kind of position compensation extension type is gone on board the working method of trestle
CN108412822A (en) A kind of position compensation extension type is gone on board trestle Hydraulic slewing system and working method
CN108411766A (en) A kind of position compensation extension type is gone on board trestle control system and control method
CN108425315A (en) A kind of position compensation extension type is gone on board trestle
TWI843736B (en) Device and method for lifting an object from a deck of a vessel subject to movements
CA1165061A (en) Automatic safety gangplank
JP5805314B2 (en) Vertically variable marine sail system
CN109466718B (en) Lifting ship balance system and working method thereof
AU2006274748B2 (en) Gangway apparatus
JP7355806B2 (en) Device and method for lifting objects from the deck of a ship exposed to movement
CN110525586A (en) A kind of harbour berthing device and adjustable harbour intelligence berthing device
CN102712280A (en) Transportation vehicle
CN108750021B (en) Folding telescopic walking bridge device with wave compensation function
CN100369787C (en) Full hydraulic driven boarding ladder
CN100472075C (en) Boarding bridge ferry plate hydraulic system
US5378082A (en) Ship lifting installation
CN106586774A (en) Supersized elevator for use in building large ship or offshore plant
CN105041007B (en) The dual drive float-type water-stage of closed-loop control
CN109707681A (en) A kind of main follow-up hydraulic system of small-sized fore-and-aft gangway
CN204150975U (en) Secondary motor control wave compensation system
WO2011019289A1 (en) A transport device and a method of operating the device
CN106560557B (en) A kind of self-propulsion type artificial floating island
CN203346853U (en) Water wharf hydraulic variation amplitude gangplank
CN108425898A (en) A kind of position compensation extension type is gone on board trestle variable amplitude hydraulic system and working method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant