CN108411766A - A kind of position compensation extension type is gone on board trestle control system and control method - Google Patents

A kind of position compensation extension type is gone on board trestle control system and control method Download PDF

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Publication number
CN108411766A
CN108411766A CN201711235999.8A CN201711235999A CN108411766A CN 108411766 A CN108411766 A CN 108411766A CN 201711235999 A CN201711235999 A CN 201711235999A CN 108411766 A CN108411766 A CN 108411766A
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valve
luffing
flexible
revolution
control
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CN108411766B (en
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梁兆环
安万平
王江
陈懿
叶衍强
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South China Marine Machinery Co Ltd
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South China Marine Machinery Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
    • E01D15/00—Movable or portable bridges; Floating bridges
    • E01D15/24—Bridges or similar structures, based on land or on a fixed structure and designed to give access to ships or other floating structures

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

It goes on board trestle control system and control method the invention discloses position compensation extension type, control system includes position compensation control system and position compensation hydraulic system, and position compensation hydraulic system includes dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system.Control method is to control dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system by position compensation control system by detecting signal, then handling signal.Control accuracy of the present invention is high, control is reliable.

Description

A kind of position compensation extension type is gone on board trestle control system and control method
Technical field
The present invention relates to trestle control system and the control methods of going on board.
Background technology
Walk bridges or trestle are mainly used to conveying personnel or cargo, and in land, the construction of , Walk bridges is relatively easy, but use exists Marine builds with regard to relative difficult for conveying personnel and goods and materials Walk bridges between two ships, because, between ship and ship It mutually moves, is generally built on a ship because of Ci , Walk bridges, if necessary to use, by overlapped mode in two ships 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, allow Walk bridges to be in the state that passively compensates according to the relative position of two ships, in this way, just can guarantee normally makes With；In addition, be in an emergency Xia , Walk bridges and another ship want to realize ejection escape, to ensure security performance.
A kind of fore-and-aft gangway device, including base are disclosed in the patent document that Chinese Patent Application No. is 201510045917.8 Seat and the revolving platform above the pedestal, the revolving platform are connected by swing mechanism with the pedestal, institute It states and is provided with driver's cabin 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 between spot oceangoing ship and Material Transportation, but Da Jie Walk Biodge devices and Da Jie Walk Biodge device Hou , Walk Biodge devices cannot root 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 that Chinese Patent Application No. is 200610049538.7 to go on board Ladder, by be fixed on the main ladder that is constituted with the ladder for running ladder on harbour 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 constituted, 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, adjusting triangle ladder, gangway ladder height, rotary oil cylinder makes gangway ladder in water It is rotated within the scope 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 stability of synchronization is good for work, high sensitivity, particularly suitable in oil product, chemical industry code Meets the needs of drop changes greatly on head.Although above structure produces certain benefit, but ship is operation or rests in Waterborne, due to the influence of factors, ship will produce heave, shaking etc., therefore bring prodigious trouble to overlap joint, and And after overlapping, if auxiliary ladder can not achieve servo-actuated, it is easily damaged boarding ladder, can not carry out smoothly remarkable and transports object Money.
A kind of Three Degree Of Freedom wave benefit is disclosed in the patent document that Chinese Patent Application No. is 201611205250.4 It repays to step on and multiplies trestle, technical solution is：It includes：Base platform, control system, attitude transducer, trestle bearing, trestle are logical 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 channel 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 in trestle channel, when trestle channel After putting up, the weight in trestle channel is largely fallen in overlapped points.
A kind of marine transportation and sea are disclosed in the patent document that Chinese Patent Application No. is 201610396070.2 It being stepped on by device and method with compensation of undulation function in shipping work field, stepping on forward, gangway ladder is perpendicular to deck and fixed connects Gangway ladder holder 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 to discharge 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 holder；The rolling, pitching and 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 is to shake, The position between gangway ladder and ship is difficult to ensure during overlap joint, 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.
Invention content
It goes on board trestle control system and control method, utilizes the object of the present invention is to provide a kind of position compensation extension type The structure and working method of the present invention, the control accuracy of control system is high, position compensation hydraulic system it is reliable for operation.
In order to achieve the above objectives, a kind of position compensation extension type is gone on board trestle control system, including position compensation control System and position compensation hydraulic system；It is characterized in that：
The position compensation control system includes industrial personal computer, MRU sensors, data process system, decoder, operation handle and driver's cabin Button；MUR sensors are connect with industrial personal computer, and data process system is connect with industrial personal computer, are connected with operation handle on decoder, decoder with Industrial personal computer connects, and driver's cabin button is connect with industrial personal computer, and industrial personal computer is connect with position compensation hydraulic system；
The position compensation hydraulic system includes dynamical system, Hydraulic slewing system, telescopic hydraulic system and luffing hydraulic pressure system 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 end, 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；Industrial personal computer is connected to In main pump group and high-low pressure pump group；
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 two, revolution two-way directional valve, turns round sequence valve, rotary fluid motor and returns at revolution balanced valve one Turn brake；The output end of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output end of selector valve It is connected to the input terminal of gyratory directions speed control valve, the A output ends of gyratory directions control valve are connected by turning round check valve one B output ends to one end of rotary fluid motor, gyratory directions control valve are connected to revolution two-way side by turning round check valve two To one end of valve, the output end for turning round check valve one is connect with the other end of revolution two-way directional valve；Turn round brake control valve Input terminal is connected to the output end of revolution selector valve, and the output end 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 revolution selector valve output end connect, switchback mode selector valve it is defeated Outlet by turn round sequence valve with turn round two-way directional valve control terminal connect, while the output end of switchback mode selector valve and time The control terminal of rotating hydraulic motor connects；The one end for turning round balanced valve one is connect with the output end of revolution check valve one, revolution balance The output end of valve one is connect with oil return line；The input terminal for turning round balanced valve two is connect with the output end of revolution check valve two, is returned The output end for turning balanced valve two is connect with oil return line；Industrial personal computer is stopped with revolution selector valve, gyratory directions speed control valve, revolution Vehicle control valve is connected with switchback mode selector valve；
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 end of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output end for the selector valve that stretches It is connected to the input terminal of telescopic direction speed control valve, the A output ends of telescopic direction control valve are connected by flexible check valve one B output ends to one end of telescopic hydraulic motor, telescopic direction control valve are connected to flexible two-way side by flexible check valve two To one end of valve, the output end of flexible check valve one is connect with the other end of flexible two-way directional valve；Flexible brake control valve Input terminal is connected to the output end of flexible selector valve, and the output end 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 connect with the output end of flexible selector valve, stretch mode selector valve it is defeated Outlet is connect by flexible sequence valve with the control terminal of flexible two-way directional valve, the output end of simultaneous retractable model selection valve with stretch The control terminal of contracting hydraulic motor connects；The input terminal of flexible balanced valve one is connect with the output end of flexible check valve one, is stretched flat The output end of weighing apparatus valve one is connect with oil return line；The input terminal of flexible balanced valve two is connect with the output end of flexible check valve two, The output end of flexible balanced valve two is connect with oil return line；Industrial personal computer and flexible selector valve, stretch telescopic direction speed control valve Brake control valve is connected with stretch mode selector valve；
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 is logical The output end that check valve one is connected to main pump group is crossed, the output end of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve Enter end, the A output ends 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 ends 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 of amplitude oil cylinder connects, and luffing accumulator control valve is connect with luffing accumulator switch valve simultaneously, luffing accumulator switch Valve is connect 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 end connection of group, the output end of the oil-filled control valve of luffing accumulator connect with plunger type accumulator, plunger type accumulator and Accumulator switch valve connects, while plunger type accumulator is connect by luffing check valve three with luffing accumulator control valve；Industry control Machine and luffing selector valve, change width direction speed control valve, luffing accumulator control valve, luffing accumulator switch valve and luffing energy storage The oil-filled control valve connection of device.
Position compensation extension type is gone on board the control method of trestle control system, includes being controlled by position control system Bridging method, servo-actuated compensation method and release methods；
Include manual operation bridging method and Active Compensation bridging method by the bridging method that position control system controls：
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 controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container Output end；Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches It is dynamic, allow flexible trestle to move in overlap joint range；
After flexible trestle moves in overlap joint range, 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 Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled 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, the method for being servo-actuated 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：The closing of luffing selector valve is controlled by industrial personal computer, 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.
In During manual operation, dynamical system, Hydraulic slewing system, telescopic hydraulic system are manually controlled by operation handle System and variable amplitude hydraulic system, allow rotary fluid motor, telescopic hydraulic motor and amplitude oil cylinder quickly to move, improve efficiency；When When being transformed into Active Compensation state, the position of X, Y, Z six direction and corresponding acceleration are obtained by MRU sensors, together When this platform is obtained by data process system and is overlapped the state of platform, by the signal transmission to industrial personal computer of acquisition, pass through calculating Control signal is obtained, give gyratory directions speed control valve, telescopic direction speed control valve respectively and becomes width direction speed control valve, By controlling gyratory directions speed control valve, telescopic direction speed control valve and the commutation and the flow that become width direction speed control valve Size controls rotary fluid motor, telescopic hydraulic motor and amplitude oil cylinder respectively.In the present invention, the computational methods of industrial personal computer For existing computational methods, such as digital PID operation etc..After the completion of Active Compensation, two-way directional valve is turned round by control, is allowed back The oil inlet of rotating hydraulic motor is connected to oil outlet, and rotary fluid motor can be realized servo-actuated while realize zero delivery, and energy is not consumed Amount；By the flexible two-way directional valve of control, the oil inlet of telescopic hydraulic motor is allowed to be connected to oil outlet, telescopic hydraulic motor can be real It is now servo-actuated while realizing zero delivery, do not consume energy；For variable amplitude hydraulic system, oil condition is unloaded in one end output of amplitude oil cylinder, Increase by a plunger type accumulator in the other end of amplitude oil cylinder, if amplitude oil cylinder plays the role of external force, amplitude oil cylinder realizes quilt Dynamic compensation, while plunger type accumulator gives amplitude oil cylinder one constant-tension always, reduces load of the trestle to overlapped points of stretching； Therefore, in servomechanism process, rotary fluid motor and telescopic hydraulic motor realize servo-actuated, the passive compensation of amplitude oil cylinder realization, because This, the control accuracy of control system is high, position compensation hydraulic system it is reliable for operation.
Further, driver's cabin touch screen and visual alarm are connected on industrial personal computer；The decoder includes translating Code device one and decoder two, decoder one be connected between industrial personal computer and operation handle, decoder two be connected to industrial personal computer with it is distant Between control device.Extension type is compensated by driver's cabin touch screen display location to go on board each parameter of trestle, is such as in an emergency, It is alarmed by visual alarm.In this configuration, decoder one corresponds to operation handle, and decoder two corresponds to remote controler, in this way, both Device Kong Walk bridges can also be controlled by Yao by operation handle Kong Walk bridges, when controlling device Kong Walk bridges using Yao, more Safety.
Further, smoke alarm, gas detection sensor, hydraulic oil low oil level sensor are connected on industrial personal computer It is passed with the too low fuel level sensor of hydraulic oil, hydraulic height sensor, hydraulic oil temperature sensor, air velocity transducer, system pressure Sensor, slewing limit sensor, telescopic arm stroke limit sensor, change angle sensor, camera system.
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 connect 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 end 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 The selection whether opened turned round.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 end for turning round selector valve connects It is connected to the input terminal of revolution 3-position 4-way pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve connect with oil return line, turns round 3-position 4-way pilot operated directional control valve has A and B output ends；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 end of revolution selector valve is through turning round 3-position 4-way Pilot operated directional control valve is exported from B output ends, is then entered in rotary fluid motor through turning round check valve two, 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, and the revolution electricity proportional pressure-relief valve control of right-hand rotation turns round 3-position 4-way pilot operated directional control valve, from revolution The hydraulic oil of the output end output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output ends, then single through revolution It being entered in rotary fluid motor to valve one, 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 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 end be connected to revolution two Another input terminal of the input terminal of position-3-way solenoid valve one, revolution two-position three way magnetic valve one is connect with oil return line, revolution two The output end 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 When 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, it refers to the active force for releasing brake to motor that recorded brake, which is closed, and brake, which is opened, is After referring to emptying, under the action of the spring, brake acts on motor.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 is to realize the selection of switchback mode, specific method：Control revolution two-position three way magnetic valve two is normal Under pattern, the hydraulic oil exported from revolution selector valve is through turning round two-position three way magnetic valve two, revolution sequence valve control revolution two-way Direction valve, revolution two-way directional valve are closed, and the hydraulic oil on revolution two-way directional valve both sides is not connected to, to realize the manual control of revolution System and Active Compensation；Under follower model, the hydraulic oil exported from revolution selector valve exists control revolution two-position three way magnetic valve two 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 two-way is turned round The hydraulic oil on direction valve both sides is connected to, and realizes the servo-actuated compensation of the revolution of zero delivery.
Further, the flexible selector valve includes flexible two-position two-way solenoid valve and flexible logical valve, is stretched two One end of two-way electromagnetic valve is connect with unloading line, the control terminal of the other end and flexible logical valve of the two-position two-way solenoid valve that stretches Connection；Check valve one is connected to the input terminal of flexible logical valve, and the output end 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 reliably be 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 end of flexible selector valve connects It is connected to the input terminal of flexible 3-position 4-way pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve is connect with oil return line, is stretched 3-position 4-way pilot operated directional control valve has A and B output ends；Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric ratio After pressure reducing valve receives signal, the size that the electricity proportional pressure-reducing valve that stretches is opened and opened according to signal 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, the hydraulic oil exported from the output end of flexible selector valve is through the 3-position 4-way that stretches Pilot operated directional control valve is exported from B output ends, is then entered in telescopic hydraulic motor through the check valve two that stretches, telescopic hydraulic motor Oil return is returned to through the balanced valve one that stretches 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 end output of selector valve is exported through the 3-position 4-way pilot operated directional control valve that stretches from A output ends, then through flexible single It being entered in telescopic hydraulic motor to valve one, the oil return of telescopic hydraulic motor is returned to through the balanced valve two that stretches 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, 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 on flexible check valve three by flexible overflow pressure reducing valve, the output end of flexible check valve three is connected to flexible two Another input terminal of the input terminal of position-3-way solenoid valve one, flexible two-position three way magnetic valve one is connect with oil return line, and flexible two The output end of position-3-way solenoid valve one is connected on flexible pilot operated directional control valve.Control stretches two-position three way magnetic valve one in closing shape When state, hydraulic oil enters flexible brake through the check valve three that stretches, flexible two-position three way magnetic valve one and telescopic hydraulic reversal valve Interior, brake of stretching is closed；Control stretches two-position three way magnetic valve one in opening state, is input to flexible two-position three way magnetic valve 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 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 connect with unloading line, the control terminal of the other end and luffing logical valve of luffing two-position two-way solenoid valve Connection；Check valve one is connected to the input terminal of luffing logical valve, and the output end 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 controls luffing logical valve and opens, and is realized The selection whether luffing is opened.
Further, it includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way liquid controlled reversing to become width direction speed control valve 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 end of luffing selector valve connects It is connected to the input terminal of luffing 3-position 4-way pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve is connect with oil return line, luffing 3-position 4-way pilot operated directional control valve has A and B output ends；Industrial personal computer is connect with luffing electricity proportional pressure-reducing valve.When luffing electricity ratio subtracts After pressure valve receives signal, the size that luffing electricity proportional pressure-reducing valve is opened and opened according to signal is depressurized by luffing electricity ratio 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 output end of luffing selector valve export hydraulic oil through luffing 3-position 4-way pilot operated directional control valve from B output ends 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 ends, 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, there is the first hydraulic fluid port, the side wall of valve body to be equipped with the second hydraulic fluid port, taper valve core close to the first oil port for the bottom of valve body Upper end be piston, be equipped with third 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 end of luffing check valve three connects simultaneously, and the output end of luffing check valve is connect with luffing two-position two-way solenoid valve two；Become Another input terminal of width two-position three way magnetic valve is connected to respectively with the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two Connection；The output end of luffing two-position two-way solenoid valve is connected to third hydraulic fluid port, third hydraulic fluid port through luffing two-position two-way solenoid valve one It is connect with luffing two-position two-way solenoid valve two；First hydraulic fluid port is connect 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 of check valve two connects.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, luffing two-position two-way solenoid valve one and third oil 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 the open state, luffing accumulator switch valve In the open state, third 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, plunger type accumulator to give luffing oil The constant pressure that cylinder one rises prevents flexible trestle from then being overlapped in the load excessive of overlapped points if overlapped points have the tractive force of rising Point pulls amplitude oil cylinder movement, plunger type accumulator to give the constant pressure of the rising of amplitude oil cylinder one, prevents flexible trestle from overlapping The load excessive of point.
Description of the drawings
Fig. 1 is that position compensation extension type is gone on board the schematic diagram of trestle work structure.
Fig. 2 is that position compensation extension type is gone on board the downward schematic diagram of trestle work structure.
Fig. 3 is the enlarged drawing of A in Fig. 1.
Fig. 4 is the schematic diagram of position compensation control system.
Fig. 5 is the schematic diagram of position compensation hydraulic system.
Fig. 6 is the schematic diagram of main power system.
Fig. 7 is Hydraulic slewing system, telescopic hydraulic system and emergency hydraulic system schematic diagram.
Fig. 8 is Hydraulic slewing system schematic diagram.
Fig. 9 is telescopic hydraulic system schematic.
Figure 10 is variable amplitude hydraulic system schematic diagram.
Figure 11 is the schematic diagram of accumulator switch valve.
Figure 12 is vacuum emergency hydraulic system schematic diagram.
Specific implementation mode
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 trestle of going on board includes pedestal 11, revolving platform 12, flexible trestle 13, landing gear 14, rotary fluid motor 10, amplitude oil cylinder 20, position compensation control system 4 and position compensation hydraulic system 5.
Position compensation fore-and-aft gangway control system includes position compensation control system 4 and position compensation hydraulic system 5.
As shown in figure 3, revolving platform 12 includes being rotatably mounted to ring gear 121 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 On the base 11 up to 10 installations.Rotary fluid motor 10 is provided with two or more.
As shown in Figure 1 to Figure 2, the trestle 13 that stretches includes principal arm 131 and telescopic arm 132.One end of principal arm 131 is hinged on back On transposase 11 23.In the present invention, what telescopic arm 132 slided is located on principal arm 131.
It is separately installed with telescopic arm stroke limit sensor at the both ends of principal arm 131, when telescopic arm stroke limit sensor When detecting that telescopic arm reaches the position of limit, 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, the gear 21 that stretches rotates, flexible to drive Drive rack 22 moves along a straight line, and telescopic arm 132 is driven to stretch out or retract.
As shown in Figure 1, one end of amplitude oil cylinder 30 is hinged on revolving bed 123, the other end of amplitude oil cylinder 30 is hinged on On principal arm 131.
As shown in figure 4, the position compensation control system 4 includes industrial personal computer 41, MRU sensors 42, data process system 43, translates Code device 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 connect 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 connect with industrial personal computer, and driver's cabin touch screen 47, visual alarm 48 are connect with industrial personal computer respectively, industry control Machine 41 is connect with position compensation 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, touches screen display in driver's cabin or alarmed by visual alarm, improve security performance.
As shown in figure 5, the position compensation hydraulic system 5 includes dynamical system 51, Hydraulic slewing system 52, flexible liquid Pressure system 53, variable amplitude hydraulic system 54 and emergency hydraulic system 55.
As shown in fig. 6, dynamical system 51 includes hydraulic oil container 511, main pump group 512 and high-low pressure pump group 513.In this implementation In example, main pump group 512 is provided with two groups, and main pump group 512 is driven by main pump motor 514 respectively, and main pump motor 514 is connected to work Control machine, and powered by transmission line of electricity.Low hydraulic selector 515,516 and of too low hydraulic selector are connected on hydraulic oil container 511 Temperature switch 517；Main pump unloading valve 518 is connected separately in main pump group 512；It is connected with system pressure in main pump group 512 Protection system 519；The input terminal of main pump group 512 is connected to hydraulic oil container 511, and main pump group 512 has output end 5121.High-low pressure The input terminal of 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 pressure Pump is driven by same motor 5110, and motor 5110 is connect with industrial personal computer, while being powered to motor 5110 by power supply circuit；It is low There is press pump low-voltage output 5131, high-pressure pump to have high-voltage output end 5132；Pass through filter 5112 on hydraulic oil container 511 It is connected with oil return line 5113；Unloading line 5114 is connected on hydraulic oil container 511.
As shown in Figure 7 and Figure 8, the Hydraulic slewing system 52 includes revolution selector valve 521, gyratory directions speed control Valve 522, switchback mode selector valve 524, revolution balanced valve 1, revolution balanced valve 2 526, returns at revolution brake control valve 523 Turn two-way directional valve 527, revolution sequence valve 528, rotary fluid motor 10 and revolution brake 529.
The output end of main pump group is accumulated all the way by check valve 1.It is equipped with main system in the output end 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 connect 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 end 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 The selection whether opened turned round.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 end 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 connect with oil return line DR, turn round three four Logical pilot operated directional control valve has A and B output ends；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 end of revolution selector valve is through turning round 3-position 4-way Pilot operated directional control valve is exported from B output ends, is then entered in rotary fluid motor through turning round check valve two, 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, and the revolution electricity proportional pressure-relief valve control of right-hand rotation turns round 3-position 4-way pilot operated directional control valve, from revolution The hydraulic oil of the output end output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output ends, then single through revolution It being entered in rotary fluid motor to valve one, 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 revolution selector valve and the input terminal of revolution 3-position 4-way pilot operated directional control valve.Due to setting Revolution pressure reducing valve has been set, therefore, has entered the pressure stability of the hydraulic oil in revolution 3-position 4-way pilot operated directional control valve.
It is equipped with rotary system pressure sensor between revolution logical valve output end and revolution pressure reducing valve.
It includes revolution check valve three and revolution two-position three way magnetic valve one to turn round brake valve, 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 end of revolution check valve three is connected to revolution two-position three-way electromagnetic Another input terminal of the input terminal of valve one, revolution two-position three way magnetic valve one is connect with oil return line, turns round two-position three-way electromagnetic The output end 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 end 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 enter 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, it refers to the active force for releasing brake to motor that recorded brake, which is closed, brake is opened refer to emptying after, in bullet Under the action of spring, brake acts on motor.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 connect with the output end of revolution selector valve, the output end of switchback mode selector valve It is connect with the control terminal for turning round two-way directional valve by turning round sequence valve, while the output end of switchback mode selector valve and revolution liquid The control terminal of pressure motor connects；The switchback mode selector valve is revolution two-position three way magnetic valve two.In revolution two-position three way The output end of solenoid valve two is connected with rotary motor displacement control pressure sensor.Two-position three way magnetic valve two is turned round by control To realize that the selection of switchback mode, specific method be：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 is not connected to, with realize revolution manually control and Active Compensation； Control revolution two-position three way magnetic valve two is under follower model, and the hydraulic oil exported from revolution selector valve is in revolution two-position three way electricity 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 is connected to, and realizes the servo-actuated compensation of the revolution of zero delivery.
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 ends for turning round 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 ends 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 end for turning round check valve one are connect with the other end of revolution two-way directional valve 527；It turns round one end of balanced valve one and returns Turn the output end connection of check valve one, the output end of revolution balanced valve one is connect with oil return line；Turn round the input of balanced valve two The output end with revolution check valve two is held to connect, the output end of revolution balanced valve two is connect with oil return line.
As shown in figures 7 and 9, the telescopic hydraulic system 53 includes flexible selector valve 531, telescopic direction speed control Valve 532, stretch mode selector valve 534, flexible balanced valve 1, flexible balanced valve 2 536, is stretched flexible brake control valve 533 Contracting 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 connect with unloading line, and the other end of flexible two-position two-way solenoid valve is connect with the control terminal of flexible logical valve； Check valve 1 is connected to the input terminal of flexible logical valve, and the output end 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 reliably be 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 end 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 connect with oil return line, and stretch 3-position 4-way liquid Controlling reversal valve has A and B output ends；Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric proportional pressure-reducing valve receives To after signal, the size that the electricity proportional pressure-reducing valve that stretches is opened and opened according to signal 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, the hydraulic oil exported from the output end of flexible selector valve is through the 3-position 4-way pilot operated directional control valve that stretches It exports from B output ends, is then entered in telescopic hydraulic motor through the check valve two that stretches, the oil return of telescopic hydraulic motor is through flexible Balanced valve one returns 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, the flexible electric flexible 3-position 4-way pilot operated directional control valve of proportional pressure-relief valve control of retraction, from the defeated of flexible selector valve The hydraulic oil of outlet output is exported through the 3-position 4-way pilot operated directional control valve that stretches from A output ends, is then entered through the check valve one that stretches Into telescopic hydraulic motor, the oil return of telescopic hydraulic motor is returned to through the balanced valve two that stretches 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 selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve flexible.Due to setting Flexible pressure reducing valve has been set, 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 end of flexible check valve three is connected to flexible two-position three-way electromagnetic Another input terminal of the input terminal of valve one, flexible two-position three way magnetic valve one is connect with oil return line, and stretch two-position three-way electromagnetic The output end 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 the check valve three that stretches, flexible two-position three way magnetic valve one and telescopic hydraulic commutation Valve enters in flexible brake, and brake of stretching is closed；Control stretches two-position three way magnetic valve one in opening state, is input to and stretches 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 connect with the output end of flexible selector valve, the output end of stretch mode selector valve Connect with the control terminal of flexible two-way directional valve 537 by flexible sequence valve, the output end of simultaneous retractable model selection valve with stretch The control terminal of contracting hydraulic motor connects；The stretch mode selector valve is flexible two-position three way magnetic valve two, two flexible The output end of two-way electromagnetic valve two is connected with flexible motor displacement control pressure sensor.Pass through the flexible two-position three-way electromagnetic of control Valve two is to realize the selection of stretch mode, specific method：Control stretches two-position three way magnetic valve two in the normal mode, from The hydraulic oil that flexible selector valve exports is stretched through the two-position three way magnetic valve two that stretches, 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 is not connected to, to realize flexible manually control and actively Compensation；Control stretches two-position three way magnetic valve two under follower model, and the hydraulic oil exported from flexible selector valve is 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 hydraulic oil on side is connected to, and realizes the flexible servo-actuated compensation of zero delivery.
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 ends 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 ends 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 end of flexible check valve one is connect with the other end of flexible two-way directional valve；The input terminal of flexible balanced valve 1 with stretch The output end of contracting check valve one connects, and the output end of flexible balanced valve 1 is connect with oil return line；Flexible balanced valve 2 536 Input terminal connect with the output end of flexible check valve two, the output end of flexible balanced valve 2 536 is connect with oil return line；Industry control Machine is connect with flexible selector valve, telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve.
It is connected with oil sump tank in the unloading port of telescopic hydraulic motor 20, since telescopic hydraulic motor is arranged on principal arm, Therefore, telescopic hydraulic motor is remote at a distance from hydraulic oil container, can preferably collect hydraulic oil by the way that oil sump tank is arranged, and convey meeting In hydraulic oil container.
Check valve 2 57 is connected on low-voltage output, the output end of check valve 2 57 is all the way by turning round check valve four 5213 are connected to the output end of revolution check valve two, and the another way of the output end of check valve 2 57 is by turning round check valve 5 5214 It is connected to the output end of revolution check valve one.Low-voltage quantitative repairing is carried out to rotary fluid motor by low-voltage output, is prevented It is emptied the phenomenon that causing cavitation erosion in the hydraulic oil of rotary fluid motor in turning round servomechanism process.The output end one of check valve 2 57 Road is connected to the output end of flexible check valve two by the check valve 4 5313 that stretches, and the another way of the output end of check valve two passes through Flexible check valve 5 5314 is connected to the output end of revolution check valve one.Determined to telescopic hydraulic motor by low-voltage output 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 10, 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 end of main pump group, the output end of luffing selector valve by check valve one It is connected to the input terminal for becoming width direction speed control valve, the A output ends for becoming width direction speed control valve pass through luffing check valve one It is connected to one end of amplitude oil cylinder, the B output ends for becoming width direction speed control valve are connected to the other end of amplitude oil cylinder；Luffing stores up Can device control valve connect with one end of amplitude oil cylinder by luffing check valve two, luffing accumulator control valve at the same with luffing energy storage Device switch valve connects, and luffing accumulator switch valve is connect 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 connect with the output end of main pump group, the output end and plunger of the oil-filled control valve of luffing accumulator Formula accumulator connects, and plunger type accumulator is connect with accumulator switch valve, while plunger type accumulator passes through luffing check valve three It is connect 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 connect with unloading line, and the other end of luffing two-position two-way solenoid valve is connect with the control terminal of luffing logical valve； Check valve 1 is connected to the input terminal of luffing logical valve, and the output end 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 controls luffing logical valve and opens, and realizes luffing The selection whether opened.
It includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve to become width direction speed control valve 542, is become 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 end 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 connect with oil return line, luffing three four Logical pilot operated directional control valve has A and B output ends；Industrial personal computer is connect with luffing electricity proportional pressure-reducing valve.In luffing selector valve and luffing side To between method for control speed be equipped with changing-breadth system pressure sensor.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 end 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 ends 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 end of luffing selector valve is through luffing 3-position 4-way pilot operated directional control valve is exported from A output ends, is then entered in luffing hydraulic motor through luffing check valve one.
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 11, 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 It is equipped with third hydraulic fluid port 5446 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 end of width check valve three connects simultaneously, and the output end of luffing check valve is connect with luffing two-position two-way solenoid valve two；Luffing Another input terminal of two-position three way magnetic valve is connected to the 4th hydraulic fluid port respectively and the control terminal of luffing two-position two-way solenoid valve two connects It connects；The output end of luffing two-position two-way solenoid valve is connected to third hydraulic fluid port through luffing two-position two-way solenoid valve one, third hydraulic fluid port with Luffing two-position two-way solenoid valve two connects；First hydraulic fluid port is connect 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, luffing two-position two-way solenoid valve one and third hydraulic fluid port The top for entering piston, 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 the open state, at luffing accumulator switch valve In opening state, third 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, plunger type accumulator to give luffing oil The constant pressure that cylinder one rises prevents flexible trestle from then being overlapped in the load excessive of overlapped points if overlapped points have the tractive force of rising Point pulls amplitude oil cylinder movement, plunger type accumulator to give 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 12, 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 end of accumulator control valve block 582 is connected to The output end of check valve 1.When the output end of main pump group can not fuel feeding when, pass through and control the oil-filled valve block of accumulator and accumulator It is oil-filled to accumulator bank to control valve block, control accumulator control valve block is by accumulator bank to Hydraulic slewing system, telescopic hydraulic System and variable amplitude hydraulic system fuel feeding realize fuel feeding of meeting an urgent need, and 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 end of accumulator oil charge valve is connected to the input of accumulator check valve one The output end at end, accumulator check valve one connects accumulator bank, the output end 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 end of check valve one；The output end of accumulator logical valve The output end of check valve one is connected to by accumulator pressure reducing valve；One end of accumulator two-position two-way electromagnetic directional valve connects emptying 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 When 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 fuel feeding of meeting an urgent need, makes whole system safe.
Compensation voltage stabilizing accumulator is connected on the output end 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 end point for hand control valve of meeting an urgent need At 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 end 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 meet an urgent need 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 meet an urgent need hand control valve and Emergent luffing raising hand control valve drives amplitude oil cylinder by accumulator bank, realizes raising action of meeting an urgent need.To improve safety Energy.
It is connected with emergent luffing raising voltage stabilizing accumulator 584 in the output end of emergent luffing raising hand control valve.
It is connected with voltage stabilizing accumulator 585 in the output end of check valve three.
The position compensation extension type go on board trestle control method include by control system control bridging method, Servo-actuated compensation method and release methods；
It includes manual operation bridging method and Active Compensation bridging method to control bridging method by control system：
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 controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container Output end；Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches It is dynamic, allow flexible trestle to move in overlap joint range；
Wherein Hydraulic slewing system control revolving platform rotation method be：The control of switchback mode selector valve is returned in normal mode 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 end 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 end 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, allows revolution brake 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, To control, revolving platform turns left or right-hand rotation, the oil return of rotary fluid motor enter from revolution balanced valve one or revolution balanced valve two Into oil return line；Telescopic hydraulic system controls the flexible method of telescopic arm：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 the selector valve that stretches, and the hydraulic oil of the output end 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 end of valve Pressure oil reaches the control terminal for the two-way directional valve that stretches through stretch mode selector valve, flexible sequence valve, controls the two-way directional valve that stretches It closes, hydraulic oil is entered through stretch brake control valve and flexible pilot operated directional control valve in flexible brake, allows flexible brake 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, To drive telescopic arm 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；
Variable amplitude hydraulic system controls the method that trestle is swung of stretching：Luffing accumulator control valve is controlled by industrial personal computer to close, Luffing accumulator switch valve is controlled by industrial personal computer 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 end of main pump group is entered through check valve one on luffing selector valve, becomes Hydraulic oil is input to by the output end of width selector valve becomes width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil It is entered in amplitude oil cylinder from width direction speed control valve is become, the trestle that stretches is driven to rise or fall；
After flexible trestle moves in overlap joint range, 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 Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled 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, the method for being servo-actuated 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：The closing of luffing selector valve is controlled by industrial personal computer, 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.
In the present invention, when flexible trestle does not enter in overlap joint range, by manually controlling dynamical system, revolution liquid Pressure system, telescopic hydraulic system and variable amplitude hydraulic system allow flexible trestle quickly to enter in overlap joint range, improve overlap joint Efficiency；When flexible trestle enter overlap joint range in when, by MRU sensors obtain X, Y, Z six direction position and Corresponding acceleration, while this platform is obtained by data process system and is overlapped the state of platform, by the signal transmission of acquisition to work In control machine, control signal is obtained by calculating, gives gyratory directions speed control valve, telescopic direction speed control valve and luffing respectively Direction speed control valve, by controlling gyratory directions speed control valve, telescopic direction speed control valve and becoming width direction speed control The commutation of valve processed and uninterrupted control rotary fluid motor, telescopic hydraulic motor and amplitude oil cylinder respectively, allow flexible trestle Free end constantly close to overlapped points while follow be overlapped platform posture carry out active variation, allow overlap joint more hold Easily, 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 control, allows the oil inlet of rotary fluid motor to be connected to oil outlet, is taken having When connecing the tractive force of platform, rotary fluid motor can be realized servo-actuated while realize zero delivery, and energy is not consumed；It is flexible by controlling Two-way directional valve allows the oil inlet of telescopic hydraulic motor to be connected to oil outlet, and when there is the tractive force for being overlapped platform, stretch liquid Pressure motor can be realized servo-actuated while realize zero delivery, and energy is not consumed；For variable amplitude hydraulic system, one end of amplitude oil cylinder exports Oil condition is unloaded, increases by a plunger type accumulator in the other end of amplitude oil cylinder, when being overlapped platform and having tractive force, luffing Oil cylinder realizes passive compensation, while plunger type accumulator gives amplitude oil cylinder one constant-tension always, reduces the trestle that stretches to taking The load of contact；Therefore, after the completion of overlap joint, with the change in location for being overlapped platform, rotary fluid motor and telescopic hydraulic Motor, which is realized, to be servo-actuated, and amplitude oil cylinder realizes passive compensation, makes flexible trestle steady, in this way, remarkable and transport goods are safe, flat Surely.Due to being provided with revolution balanced valve one and revolution balanced valve two, it can be given back on the oil return line of rotary fluid motor Rotating hydraulic motor one damps, and allows the operating steadily of rotary fluid motor；Similarly, since provided with flexible balanced valve one and stretching flat Weigh valve two, therefore, on the oil return line of telescopic hydraulic motor can give the damping of telescopic hydraulic motor one, allow telescopic hydraulic motor It operates steadily.Due to being provided with luffing accumulator control valve and luffing accumulator switch valve, in this way, in passive compensation process, It can give amplitude oil cylinder one constant pressure using plunger type accumulator, while can realize passive compensation again.For principal arm and For telescopic arm, due to using cantilever design, to improve the stability of structure, need to minimize principal arm and telescopic arm Therefore weight selects aluminum alloy materials, but telescopic arm needs slide in principal arm, and use aluminum alloy guide rail, then intensity and resistance to Mill property is all bad, and therefore, guide rail uses steel construction, but aluminium alloy is in direct contact with steel construction, then is susceptible to anodic attack Therefore phenomenon is insulated by aluminium alloy and steel guide rail by the way that rubber pad is arranged, avoids anodic attack, preferably in the present invention Protect aluminium alloy principal arm and telescopic arm.

Claims (9)

  1. The trestle control system 1. a kind of position compensation extension type is gone on board, including position compensation control system and position compensation hydraulic pressure System；It is characterized in that：
    The position compensation control system includes industrial personal computer, MRU sensors, data process system, decoder, operation handle and driver's cabin Button；MUR sensors are connect with industrial personal computer, and data process system is connect with industrial personal computer, are connected with operation handle on decoder, decoder with Industrial personal computer connects, and driver's cabin button is connect with industrial personal computer, and industrial personal computer is connect with position compensation hydraulic system；
    The position compensation hydraulic system includes dynamical system, Hydraulic slewing system, telescopic hydraulic system and luffing hydraulic pressure system 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 end, 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；Industrial personal computer is connected to In main pump group and high-low pressure pump group；
    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 two, revolution two-way directional valve, turns round sequence valve, rotary fluid motor and returns at revolution balanced valve one Turn brake；The output end of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output end of selector valve It is connected to the input terminal of gyratory directions speed control valve, the A output ends of gyratory directions control valve are connected by turning round check valve one B output ends to one end of rotary fluid motor, gyratory directions control valve are connected to revolution two-way side by turning round check valve two To one end of valve, the output end for turning round check valve one is connect with the other end of revolution two-way directional valve；Turn round brake control valve Input terminal is connected to the output end of revolution selector valve, and the output end 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 revolution selector valve output end connect, switchback mode selector valve it is defeated Outlet by turn round sequence valve with turn round two-way directional valve control terminal connect, while the output end of switchback mode selector valve and time The control terminal of rotating hydraulic motor connects；The one end for turning round balanced valve one is connect with the output end of revolution check valve one, revolution balance The output end of valve one is connect with oil return line；The input terminal for turning round balanced valve two is connect with the output end of revolution check valve two, is returned The output end for turning balanced valve two is connect with oil return line；Industrial personal computer is stopped with revolution selector valve, gyratory directions speed control valve, revolution Vehicle control valve is connected with switchback mode selector valve；
    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 end of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output end for the selector valve that stretches It is connected to the input terminal of telescopic direction speed control valve, the A output ends of telescopic direction control valve are connected by flexible check valve one B output ends to one end of telescopic hydraulic motor, telescopic direction control valve are connected to flexible two-way side by flexible check valve two To one end of valve, the output end of flexible check valve one is connect with the other end of flexible two-way directional valve；Flexible brake control valve Input terminal is connected to the output end of flexible selector valve, and the output end 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 connect with the output end of flexible selector valve, stretch mode selector valve it is defeated Outlet is connect by flexible sequence valve with the control terminal of flexible two-way directional valve, the output end of simultaneous retractable model selection valve with stretch The control terminal of contracting hydraulic motor connects；The input terminal of flexible balanced valve one is connect with the output end of flexible check valve one, is stretched flat The output end of weighing apparatus valve one is connect with oil return line；The input terminal of flexible balanced valve two is connect with the output end of flexible check valve two, The output end of flexible balanced valve two is connect with oil return line；Industrial personal computer and flexible selector valve, stretch telescopic direction speed control valve Brake control valve is connected with stretch mode selector valve；
    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 is logical The output end that check valve one is connected to main pump group is crossed, the output end of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve Enter end, the A output ends 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 ends 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 of amplitude oil cylinder connects, and luffing accumulator control valve is connect with luffing accumulator switch valve simultaneously, luffing accumulator switch Valve is connect 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 end connection of group, the output end of the oil-filled control valve of luffing accumulator connect with plunger type accumulator, plunger type accumulator and Accumulator switch valve connects, while plunger type accumulator is connect by luffing check valve three with luffing accumulator control valve；Industry control Machine and luffing selector valve, change width direction speed control valve, luffing accumulator control valve, luffing accumulator switch valve and luffing energy storage The oil-filled control valve connection of device.
  2. The trestle control system 2. position compensation extension type according to claim 1 is gone on board, it is characterised in that：In industrial personal computer On be connected with driver's cabin touch screen and visual alarm；The decoder includes decoder one and decoder two, decoder one It is connected between industrial personal computer and operation handle, decoder two is connected between industrial personal computer and remote controler.
  3. 3. position compensation fore-and-aft gangway control system according to claim 1, it is characterised in that：Smog is connected on industrial personal computer Alarm, gas detection sensor, hydraulic oil low oil level sensor and the too low fuel level sensor of hydraulic oil, hydraulic height sensing Device, hydraulic oil temperature sensor, air velocity transducer, system pressure sensor, slewing limit sensor, telescopic arm stroke limit pass Sensor, change angle sensor, camera system.
  4. The trestle control system 4. position compensation extension type according to claim 1 is gone on board, it is characterised in that：Described returns It includes revolution two-position two-way solenoid valve and revolution logical valve to turn selector 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 connect with the control terminal of revolution logical valve；Check valve one is connected to revolution and patrols The input terminal of valve is collected, the output end 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 end 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 connect with oil return line, and revolution 3-position 4-way hydraulic control is changed There is A and B output ends to valve；Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution；
    It includes revolution check valve three and revolution two-position three way magnetic valve one to turn round brake valve, 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 end 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 connect with oil return line, revolution two-position three way magnetic valve one Output end be connected to revolution pilot operated directional control valve on.
  5. The trestle control 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 The other end of connection, flexible two-position two-way solenoid valve is connect 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 end 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 end 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 connect with oil return line, and flexible 3-position 4-way hydraulic control is changed There is A and B output ends to valve；Industrial personal computer is connected on flexible electric proportional pressure-reducing 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 end 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 connect with oil return line, flexible two-position three way magnetic valve one Output end be connected on flexible pilot operated directional control valve.
  6. The trestle control system 6. 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 connect 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 end of luffing logical valve is connected to the input terminal for becoming width direction speed control valve；
    It includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve, luffing electricity ratio to become width direction speed control valve Pressure reducing valve is connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve；The output end 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 connect with oil return line, and luffing 3-position 4-way hydraulic control is changed There is A and B output ends to valve；Industrial personal computer is connect 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 There is the first hydraulic fluid port, the side wall of valve body to be equipped with the second hydraulic fluid port close to the first oil port for bottom, and the upper end of taper valve core is piston, On valve body positioned at piston top be equipped with third 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 end of luffing check valve is connect with luffing two-position two-way solenoid valve two；Luffing two-position three way magnetic valve Another input terminal connect 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 end of solenoid valve is connected to third hydraulic fluid port, third 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 connect 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.
  7. The control method of trestle control system 7. a kind of position compensation extension type described in claim 1 is gone on board, feature exist In：Include bridging method, servo-actuated compensation method and the release methods controlled by position control system；
    Include manual operation bridging method and Active Compensation bridging method by the bridging method that position control system controls：
    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 controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container Output end；Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches It is dynamic, allow flexible trestle to move in overlap joint range；
    After flexible trestle moves in overlap joint range, 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 Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled 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, the method for being servo-actuated 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：The closing of luffing selector valve is controlled by industrial personal computer, 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.
  8. The control method of trestle control system 8. position compensation extension type according to claim 7 is gone on board, feature exist In：Driver's cabin touch screen and visual alarm are connected on industrial personal computer；The decoder includes decoder one and decoder Two, decoder one is connected between industrial personal computer and operation handle, and decoder two is connected between industrial personal computer and remote controler, by driving It sails room touch screen display location compensation extension type to go on board each parameter of trestle, is such as in an emergency, passes through visual alarm Alarm.
  9. The control method of trestle control system 9. position compensation extension type according to claim 7 is gone on board, feature exist In：Smoke alarm, gas detection sensor, hydraulic oil low oil level sensor and the too low oil of hydraulic oil are connected on industrial personal computer Level sensor, hydraulic height sensor, hydraulic oil temperature sensor, air velocity transducer, system pressure sensor, slewing limit pass Sensor, telescopic arm stroke limit sensor, change angle sensor, camera system.
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CN110077533A (en) * 2018-11-05 2019-08-02 中船华南船舶机械有限公司 A kind of small-sized fore-and-aft gangway
CN110761172A (en) * 2019-11-07 2020-02-07 上海振华重工(集团)股份有限公司 Telescopic trestle system and control method thereof
CN111336139A (en) * 2020-03-26 2020-06-26 厦门理工学院 Hydraulic system and control method of ceramic brick press
CN113104153A (en) * 2021-04-25 2021-07-13 大连海事大学 Marine transfer trestle wave compensation control system and working method thereof
CN113232768A (en) * 2021-04-25 2021-08-10 大连海事大学 Offshore transfer trestle with wave compensation function and working method thereof

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CN103644163A (en) * 2013-11-19 2014-03-19 苏州蓝王机床工具科技有限公司 Position error compensation type hydraulic cylinder
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CN110077533A (en) * 2018-11-05 2019-08-02 中船华南船舶机械有限公司 A kind of small-sized fore-and-aft gangway
CN110761172A (en) * 2019-11-07 2020-02-07 上海振华重工(集团)股份有限公司 Telescopic trestle system and control method thereof
CN110761172B (en) * 2019-11-07 2021-06-29 上海振华重工(集团)股份有限公司 Telescopic trestle system and control method thereof
CN111336139A (en) * 2020-03-26 2020-06-26 厦门理工学院 Hydraulic system and control method of ceramic brick press
CN111336139B (en) * 2020-03-26 2021-10-22 厦门理工学院 Hydraulic system and control method of ceramic brick press
CN113104153A (en) * 2021-04-25 2021-07-13 大连海事大学 Marine transfer trestle wave compensation control system and working method thereof
CN113232768A (en) * 2021-04-25 2021-08-10 大连海事大学 Offshore transfer trestle with wave compensation function and working method thereof
CN113232768B (en) * 2021-04-25 2022-05-13 大连海事大学 Offshore transfer trestle with wave compensation function and working method thereof
CN113104153B (en) * 2021-04-25 2022-05-17 大连海事大学 Marine transfer trestle wave compensation control system and working method thereof

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