CN109737110B - Small-size step bridge based on hydraulic system - Google Patents

Small-size step bridge based on hydraulic system Download PDF

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CN109737110B
CN109737110B CN201811307078.2A CN201811307078A CN109737110B CN 109737110 B CN109737110 B CN 109737110B CN 201811307078 A CN201811307078 A CN 201811307078A CN 109737110 B CN109737110 B CN 109737110B
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valve
pitching
telescopic
rolling
pipeline
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CN109737110A (en
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陈懿
郭安罗
王江
梁兆环
刘忠饶
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South China Marine Machinery Co Ltd
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South China Marine Machinery Co Ltd
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Abstract

The invention discloses a small-sized walking bridge based on a hydraulic system, which comprises a mechanical part and the hydraulic system; the mechanical part comprises a base, a slewing bearing, a slewing platform, a slewing driving mechanism, a fixed channel, a telescopic channel, a variable amplitude oil cylinder, a telescopic oil cylinder and a butt joint device. The hydraulic system comprises a main oil supply system, a constant thrust energy accumulator system, a rolling compensation system, a pitching compensation system, a telescopic system and a rotary system. By utilizing the structure of the walking bridge, the lap joint of the walking bridge is reliable, safe and high in efficiency, the walking bridge can be driven after the lap joint is finished, stable people passing and material transportation are realized, and better driving and compensation can be realized through a hydraulic system.

Description

Small-size step bridge based on hydraulic system
Technical Field
The invention relates to a walking bridge.
Background
Walking bridges or trestles are mainly used for transporting people or goods, and on land, the construction of walking bridges is relatively simple, but the walking bridges used on the sea for transporting people and goods between two ships are relatively difficult to construct, because the ships move with each other, the walking bridges are generally constructed on one ship, and if the walking bridges are needed to be used, the walking bridges are arranged between the two ships in an overlapping mode. In the lapping process, the relative position between the walking bridge and another ship needs to be considered for realizing better lapping, otherwise, the walking bridge collides with the ship due to the floating of the ship; after the lap joint is finished, the relative positions of the two ships are also required to be considered, and the walking bridge is in a passive compensation state according to the relative positions of the two ships, so that the normal use can be ensured; in addition, in case of emergency, the walking bridge and another ship can be separated from each other in an emergency, so that the safety performance is ensured.
The patent document with Chinese patent application number 201510045917.8 discloses a step bridge device, include the base and install the rotary platform of base top, rotary platform pass through rotation mechanism with the base is connected, be provided with the driver's cabin on the rotary platform, rotary platform is connected with the step bridge, the both sides of step bridge have safety barrier, the suspension end of step bridge is provided with interfacing apparatus. Compared with the prior art, the marine platform has reasonable structural arrangement and stable operation, and can realize the transportation of personnel between the ship and the marine platform in a complex and severe environment. Although the above-described bridge device is capable of transporting persons and materials between ships, after the bridge device is lapped and the bridge device is lapped, the bridge device cannot be subjected to corresponding position change according to the position change between the ships, and thus, there are problems such as accidents and the like, and in an emergency, the bridge device cannot be separated from the bridge device in an emergency.
The Chinese patent application No. 200610049538.7 discloses a fully hydraulic driven boarding ladder, which comprises a main ladder composed of a ladder frame fixed on a wharf and provided with a running ladder, and an auxiliary ladder capable of moving to a deck surface of a ship and provided with a triangular ladder and a gangway ladder, wherein the auxiliary ladder is composed of a slide, a variable-amplitude rotating mechanism, a hydraulic station, a travelling wheel device and a lifting mechanism fixed on the wharf, the travelling wheel device on the slide is lifted along an I-steel guide rail on the ladder frame by a lifting oil cylinder, a rotating platform on the slide rotates around a central shaft on a horizontal plane, the front end of the rotating platform is hinged with the gangway ladder, the gangway ladder rotates on a vertical plane around a support on the rotating platform by the expansion and contraction of the variable-amplitude oil cylinder, the heights of the triangular ladder and the gangway ladder are adjusted, the rotating oil cylinder rotates the gangway in a 120-degree range of the horizontal plane, the hydraulic station, the variable-amplitude rotating mechanism are all in, the device has the advantages of compact structure, simplified oil path, reduced oil pipe, safe and reliable use, good working synchronization stability and high sensitivity, and is particularly suitable for meeting the requirement of large drop change on oil products and chemical wharfs. Although the structure has certain advantages, the ship runs or stops on water, due to the influence of a plurality of factors, the ship can rise, sink, shake and the like, so that great trouble is brought to the lap joint, and after the lap joint, if the auxiliary ladder cannot be followed, the boarding ladder is easy to damage, and people can not pass and materials can not be conveyed stably.
The patent document with Chinese patent application number 201611205250.4 discloses a three-degree-of-freedom wave compensation boarding trestle, which adopts the technical scheme that: it includes: the device comprises a base platform, a control system, an attitude sensor, a trestle support, a trestle channel, a luffing cylinder and a rolling compensation cylinder; although the invention can realize real-time compensation of the rolling, pitching and heaving motions of the ship, how to control the amplitude-variable oil cylinder and the rolling compensation oil cylinder is not recorded in the technical scheme, the technical scheme realizes active compensation, when the trestle channel is well lapped, the control system is required to control the amplitude-variable oil cylinder and needs a certain reaction time, so that the phenomenon of delay control is easy to occur, the energy consumption is high, the weight of the trestle channel is heavy, and when the trestle channel is well lapped, most of the weight of the trestle channel falls on the lapping point.
The Chinese patent application No. 201610396070.2 discloses a boarding device and a method with a wave compensation function in the fields of marine transportation and marine ship operation, wherein before boarding, a gangway ladder is perpendicular to a deck and is fixedly connected with a gangway ladder support, a motion controller firstly controls an active wave compensation platform to compensate rolling, pitching and heaving of a ship in real time, then controls a motor to rotate reversely, the motor drives a steel wire rope to release the gangway ladder, the gangway ladder rotates anticlockwise around a universal joint, and when a gangway ladder angle sensor detects that the gangway ladder rotates to a preset angle relative to an upper platform in a releasing way, the motor stops operating; after the boarding is finished, the motion controller controls the motor to rotate forwards, when the gangway ladder angle sensor detects that the gangway ladder rotates to a preset angle relative to the upper platform, the gangway ladder is perpendicular to the deck, and the gangway ladder is fixed on the gangway ladder support; the wave compensation platform compensates the rolling, pitching and heaving of the ship in real time in severe sea conditions, the automatic folding and unfolding gangway ladder is folded and unfolded when the upper platform is compensated to a certain stable state, and the stability and the safety during boarding are improved. This structure is through the position of initiative wave compensation regulation platform, then realizes the overlap joint, and because boats and ships are rocked, is difficult to guarantee the position between gangway ladder and the boats and ships at the overlap joint in-process, and the overlap joint is very difficult, and after the overlap joint, if the gangway ladder can not realize the follow-up, then damage this structure easily, also can not carry out steady passerby and transport the goods and materials.
For small walking bridges, the weight is relatively light, the use is convenient, in the lapping process, a quick butting device is usually adopted for butting, but in the practical application process, due to the rolling of the hull, the walking bridges can be better compensated by the rolling at present. In addition, the operation of the walking bridge is unstable due to the control system and the hydraulic system.
Disclosure of Invention
The invention aims to provide a small walking bridge based on a hydraulic system, and by utilizing the structure, the lapping of the walking bridge is reliable, safe and high in efficiency, the walking bridge can be driven after the lapping is finished, stable people passing and material transportation are realized, and better follow-up and compensation can be realized through the hydraulic system.
In order to achieve the purpose, the small-sized walking bridge based on the hydraulic system comprises a mechanical part, a master control system and the hydraulic system;
the mechanical part comprises a base, a slewing bearing, a slewing platform, a slewing driving mechanism, a fixed channel, a telescopic channel, a variable amplitude oil cylinder, a telescopic oil cylinder and a butt joint device;
the rotary platform is arranged on the rotary support; the rotary driving mechanism comprises a rotary motor arranged on the rotary platform, a transmission arranged on an output shaft of the rotary motor and a gear arranged on an output shaft of the transmission, and the gear is meshed with the rotary support; the fixed channel is hinged on the rotary platform; the telescopic channel is slidably arranged on the fixed channel; the amplitude-variable oil cylinder is hinged between the rotary platform and the fixed channel; the telescopic oil cylinder is hinged between the fixed channel and the telescopic channel; the butt joint device is arranged at the free end of the telescopic channel;
a rolling platform is hinged on the base, and a rolling oil cylinder is hinged between the base and the rolling platform; the slewing bearing is arranged on the rolling platform;
for a mechanical part, such as a rotary motor, the rotary motor drives a gear to rotate through a transmission, and the gear and a rotary support act to enable the rotary platform, the fixed channel, the telescopic channel, the docking device, the variable amplitude oil cylinder and the telescopic oil cylinder to integrally rotate so as to realize the rotary action of the docking device. If the amplitude variation oil cylinder works, the fixed channel, the telescopic channel and the butt joint device are driven to swing. If the telescopic oil cylinder works, the telescopic channel is telescopic relative to the fixed channel. In the invention, because the rolling platform and the rolling oil cylinder are arranged, the butt joint device can be relatively static relative to the overlapped part, and stable people passing and material transportation are realized.
The hydraulic system comprises a main oil supply system, a constant thrust energy accumulator system, a rolling compensation system, a pitching compensation system, a telescopic system and a rotary system;
the main oil supply system comprises an oil tank, a first hydraulic pump and a second hydraulic pump, wherein the first hydraulic pump and the second hydraulic pump are connected to the oil tank; the first hydraulic pump is driven by a motor M1, and the second hydraulic pump is driven by a motor M2; the output ends of the first hydraulic pump and the second hydraulic pump are converged to form a total output end;
when the motor M1 and the motor M2 are started, the first hydraulic pump and the second hydraulic pump are started to pump hydraulic oil out of the oil tank to the general output end. Adopt a plurality of hydraulic pumps, can improve the oil pressure and the flow among the hydraulic system, simultaneously when one of them hydraulic pump damage, other hydraulic pump can play emergent effect.
The constant thrust accumulator system is connected with the total output end and is provided with an output end PP(ii) a The constant-thrust energy accumulator system is used for providing constant thrust for the telescopic oil cylinder, so that the telescopic oil cylinder moves more stably in the follow-up process, and the telescopic channel moves stably.
The roll compensation system comprises a roll electric proportional directional valve and a roll combined valve block, the roll electric proportional directional valve is connected with the main output end, the roll electric proportional directional valve is connected with a roll oil cylinder through a roll first pipeline and a roll second pipeline, and the roll combined valve block is connected between the roll first pipeline and the roll second pipeline;
the rolling combined valve block comprises a rolling first balance valve, a rolling second balance valve, a rolling first shuttle valve, a rolling second shuttle valve, a rolling first check valve, a rolling second check valve, a rolling first overflow valve and a rolling second overflow valve; the first roll balance valve is connected to the first roll pipeline, and the second roll balance valve is connected to the second roll pipeline; one input end of the first rolling shuttle valve is connected with the input end of the first rolling balance valve, the other input end of the first rolling shuttle valve is connected with one input end of the second rolling shuttle valve, and the other input end of the second rolling shuttle valve is connected with the input end of the second rolling balance valve; the output end of the first rolling shuttle valve is connected to the second rolling balance valve, and the output end of the second rolling shuttle valve is connected to the first rolling balance valve; the output end of the first rolling check valve is connected with the output end of the first rolling balance valve, the output end of the second rolling check valve is connected with the output end of the second rolling balance valve, the input ends of the first rolling check valve and the second rolling check valve are communicated with an oil tank, the input end of the first rolling overflow valve is connected between the output end of the first rolling balance valve and a rolling oil cylinder, the output end of the first rolling overflow valve is connected with the oil tank, the input end of the second rolling overflow valve is connected between the output end of the second rolling balance valve and the rolling oil cylinder, and the output end of the second rolling overflow valve is connected with the oil tank; a rolling two-position four-way electromagnetic valve is connected between the first rolling shuttle valve and the second rolling shuttle valve, the P end of the rolling two-position four-way electromagnetic valve is connected with the main output end, the T end of the rolling two-position four-way electromagnetic valve is connected with the oil tank end, and the B end of the rolling two-position four-way electromagnetic valve is connected between the first rolling shuttle valve and the second rolling shuttle valve;
in the roll supplementing system, when the first hydraulic pump and the second hydraulic pump work, hydraulic oil enters the roll electric proportional directional valve from the main output end; and controlling the roll electric proportional directional valve, and enabling hydraulic oil to enter the roll oil cylinder through the roll electric proportional directional valve and the roll combined valve block to push the roll oil cylinder to move.
When the hydraulic oil pump works normally, if hydraulic oil enters from the first rolling pipeline, the hydraulic oil enters the first rolling oil cylinder through the first rolling balance valve, the hydraulic oil in the first rolling oil cylinder returns to the oil tank from the second rolling pipeline through the second rolling balance valve from the electric rolling proportional reversing valve, meanwhile, part of the hydraulic oil at the input end of the first rolling balance valve enters the second rolling balance valve from the first rolling shuttle valve, the flow of the second rolling balance valve is controlled, the hydraulic oil pressure and flow of the first rolling pipeline and the second rolling pipeline are balanced, meanwhile, the second rolling balance valve can improve back pressure, and the situation that the rolling oil cylinder is rapidly unloaded to cause the excessively high rolling speed is avoided. When the pressure of the hydraulic oil of the first rolling pipeline is larger than that of the first rolling overflow valve, an overflow phenomenon occurs, and the stability of the oil pressure entering the rolling oil cylinder is ensured.
If hydraulic oil enters from the second roll pipeline, the hydraulic oil enters into the roll cylinder through the second roll balance valve, the hydraulic oil in the roll cylinder returns to the oil tank from the first roll pipeline through the first roll balance valve from the electric proportional roll valve, meanwhile, part of the hydraulic oil at the input end of the second roll balance valve enters into the first roll balance valve from the second roll shuttle valve, the flow of the first roll balance valve is controlled, the hydraulic oil pressure and flow of the first roll pipeline and the second roll pipeline are balanced, meanwhile, the first roll balance valve can improve the back pressure, and the phenomenon that the roll cylinder is rapidly unloaded to cause the excessively fast roll speed is avoided. When the hydraulic oil pressure of the second rolling pipeline is greater than the pressure of the second rolling overflow valve, an overflow phenomenon occurs, and the stability of the oil pressure entering the rolling oil cylinder is ensured.
If roll compensation is needed, the roll two-position four-way electromagnetic valve is switched, hydraulic oil enters between the first roll shuttle valve and the second roll shuttle valve through the roll two-position four-way electromagnetic valve, then the first roll balance valve and the second roll balance valve are in short circuit under the action of the hydraulic oil, the hydraulic oil can directly pass through the first roll balance valve or the second roll balance valve, and the first roll balance valve and the second roll balance valve cannot provide any pressure.
The pitching compensation system comprises a pitching electric proportional reversing valve and a pitching combined valve block, the pitching electric proportional reversing valve is connected with the main output end, the pitching electric proportional reversing valve is connected with a luffing cylinder through a pitching first pipeline and a pitching second pipeline, and the pitching combined valve block is connected between the pitching first pipeline and the pitching second pipeline;
the pitching combined valve block comprises a pitching balance valve, a pitching first shuttle valve 422a, a pitching second shuttle valve, a pitching first check valve, a pitching second check valve, a pitching first overflow valve and a pitching second overflow valve; the pitching balance valve is connected to the pitching first pipeline; one input end of the pitching first shuttle valve is connected to the pitching second pipeline, the output end of the pitching first shuttle valve is connected to one input end of the pitching second shuttle valve, and the other input end of the pitching second shuttle valve is connected to the input end of the pitching balance valve; the output end of the pitching second shuttle valve is connected to the pitching balance valve; the output end of the pitching first check valve is connected to the pitching second pipeline, the output end of the pitching second check valve is connected to the output end of the pitching balance valve, the input ends of the pitching first check valve and the pitching second check valve are communicated with an oil tank, the input end of the pitching first overflow valve is connected to the pitching second pipeline, the output end of the pitching first overflow valve is connected to the oil tank, the input end of the pitching second overflow valve is connected between the output end of the pitching balance valve and the amplitude-variable oil cylinder, and the output end of the pitching second overflow valve is connected to the oil tank; the other input end of the pitching first shuttle valve is connected with a pitching two-position four-way electromagnetic valve, the P end of the pitching two-position four-way electromagnetic valve is connected with the main output end, the T end of the pitching two-position four-way electromagnetic valve is connected with the oil tank end, and the B end of the pitching two-position four-way electromagnetic valve is connected to the other input end of the pitching first shuttle valve;
the main output end is connected with a pitching main follow-up electromagnetic directional valve, the P end of the pitching main follow-up electromagnetic directional valve is connected with the main input end, the T end of the pitching main follow-up electromagnetic directional valve is connected with an oil tank, and the B end of the pitching main follow-up electromagnetic directional valve is connected with a pitching second pipeline;
the pitching first pipeline and the pitching second pipeline are respectively connected with a hydraulic control one-way valve, and the control end of the hydraulic control one-way valve is connected with the B end of the pitching main follow-up electromagnetic directional valve;
when the first hydraulic pump and the second hydraulic pump work, the hydraulic oil enters the pitching electric proportional directional valve from the main output end; and controlling the pitching electric proportional reversing valve, and enabling hydraulic oil to enter the amplitude-variable oil cylinder through the pitching electric proportional reversing valve and the pitching combined valve block to push the amplitude-variable oil cylinder to move.
When the pitch servo electromagnetic directional valve works normally, no signal is given by the pitch servo electromagnetic directional valve, if hydraulic oil enters from the pitch first pipeline, the hydraulic oil enters into the amplitude variation oil cylinder through the pitch balance valve, and the hydraulic oil in the amplitude variation oil cylinder returns to the oil tank from the pitch electric proportional directional valve through the pitch second pipeline. When the pressure of the hydraulic oil of the pitching first pipeline is greater than that of the pitching first overflow valve, an overflow phenomenon occurs, and the stability of the oil pressure entering the pitching oil cylinder is ensured.
If hydraulic oil enters from the pitching second pipeline, the hydraulic oil enters into the amplitude-variable oil cylinder through the pitching second pipeline, the hydraulic oil in the transverse amplitude-variable oil cylinder returns to the oil tank from the amplitude-variable first pipeline through the amplitude-variable balance valve from the amplitude-variable electric proportional reversing valve, meanwhile, part of the hydraulic oil on the pitching second pipeline enters into the pitching balance valve from the pitching first shuttle valve and the pitching second shuttle valve, the flow of the pitching balance valve is controlled, the effect of balancing the pressure and the flow of the hydraulic oil of the pitching first pipeline and the pitching second pipeline is achieved, meanwhile, the back pressure can be improved through the pitching balance valve, and the situation that the amplitude-variable speed is too high due to the fact that the amplitude-variable oil cylinder. When the pressure of the hydraulic oil of the pitching second pipeline is greater than that of the pitching second overflow valve, an overflow phenomenon occurs, and the stability of the oil pressure entering the amplitude-variable oil cylinder is ensured.
If active pitching compensation is needed, the pitching two-position four-way electromagnetic valve is switched, hydraulic oil enters the pitching first shuttle valve through the pitching two-position four-way electromagnetic valve, then enters the pitching second shuttle valve from the pitching first shuttle valve, the hydraulic oil enters the pitching balance valve from the pitching second shuttle valve, the pitching balance valve is short-circuited under the action of the hydraulic oil, the hydraulic oil can directly pass through the pitching balance valve, and the pitching balance valve cannot provide any pressure, so that the fast and accurate pitching compensation can be realized, the pitching compensation speed is matched with the pitching speed, and the working stability of the walking bridge is improved.
When the butt joint device is well butted, follow-up pitching compensation is needed, and the principle is as follows: the pitching main follow-up electromagnetic directional valve is electrified to enable the pitching main follow-up electromagnetic directional valve to be switched, the pitching two-position four-way electromagnetic valve is electrified to enable the pitching two-position four-way electromagnetic valve to be switched, hydraulic oil enters the pitching first shuttle valve through the pitching two-position four-way electromagnetic valve and then enters the pitching second shuttle valve from the pitching first shuttle valve, the hydraulic oil enters the pitching balance valve from the pitching second shuttle valve, the pitching balance valve is short-circuited under the action of the hydraulic oil, the hydraulic oil can directly pass through the pitching balance valve, the pitching balance valve cannot provide any pressure, meanwhile, the hydraulic oil enters the control end of the hydraulic control one-way valve through the pitching main follow-up electromagnetic directional valve, the hydraulic oil in the amplitude-variable oil cylinder returns to an oil tank from the hydraulic control one-way valve, follow-up compensation is achieved, and the pitching balance valve is short-circuited, so that rapid.
The pitching compensation system can realize active work, active compensation and follow-up compensation, and enables the walking bridge to work more stably.
The telescopic system comprises a telescopic electric proportional reversing valve and a telescopic combined valve, the telescopic electric proportional reversing valve is connected with the main output end, the telescopic electric proportional reversing valve is connected with a telescopic oil cylinder through a telescopic first pipeline and a telescopic second pipeline, and the telescopic combined valve is connected with the telescopic first pipeline and the telescopic second pipeline;
the telescopic combined valve group comprises a telescopic balance valve, a first two-position one-way hydraulic control reversing valve and a second two-position one-way hydraulic control reversing valve, the telescopic balance valve is connected between a telescopic first pipeline and a telescopic second pipeline, and the A end of the first two-position one-way hydraulic control reversing valve is connected with the output end PpThe end B of the first two-position one-way hydraulic control reversing valve is connected with the end A of the second two-position one-way hydraulic control reversing valve, the end B of the second two-position one-way hydraulic control reversing valve is connected to the telescopic second pipeline, and the end B of the first two-position one-way hydraulic control reversing valve is connected to the telescopic first pipeline; one end control ends of the two-position one-way hydraulic control reversing valve I and the two-position one-way hydraulic control reversing valve II are converged and then connected to an oil return pipeline L, the other end control ends of the two-position one-way hydraulic control reversing valve I and the two-position one-way hydraulic control reversing valve II are converged and then connected to a telescopic main servo electromagnetic reversing valve, and the P end of the telescopic main servo electromagnetic reversing valve is connected with an output end PpThe T end of the telescopic main follow-up electromagnetic directional valve is connected with an oil tank, and the B end of the telescopic main follow-up electromagnetic directional valveThe control end junction point of the other ends of the two-position one-way hydraulic control reversing valve I and the two-position one-way hydraulic control reversing valve II is connected with the junction point;
in the telescopic system, when the first hydraulic pump and the second hydraulic pump work, hydraulic oil enters the telescopic electric proportional directional valve from the main output end; and controlling the telescopic electric proportional reversing valve, and enabling hydraulic oil to enter the telescopic oil cylinder through the telescopic combined valve group through the telescopic electric proportional reversing valve to push the telescopic oil cylinder to move.
When the telescopic electric proportional reversing valve works normally, a control signal is not given to the telescopic main follow-up electromagnetic reversing valve, if hydraulic oil enters the telescopic oil cylinder from the telescopic first pipeline, the hydraulic oil in the telescopic oil cylinder returns to the oil tank from the telescopic electric proportional reversing valve from the telescopic second pipeline. Because the telescopic balance valve is arranged, the pressure and the flow of the telescopic first pipeline and the telescopic second pipeline can be adjusted.
When the butt joint device is in butt joint, follow-up telescopic compensation is needed, and the principle is as follows: the telescopic electric proportional reversing valve is reset, a control signal is given to the telescopic main follow-up electromagnetic reversing valve, the telescopic main follow-up electromagnetic reversing valve is enabled to change the position, and the output end PpThe hydraulic oil slave telescopic main servo electromagnetic directional valve controls a first two-position one-way hydraulic directional valve and a second two-position one-way hydraulic directional valve, the first two-position one-way hydraulic directional valve and the second two-position one-way hydraulic directional valve are switched, and an output end P is connected with a power supplypThe hydraulic oil gives a constant thrust to the telescopic oil cylinder, so that the telescopic oil cylinder is compensated at a constant speed, in the process, if the pressure of the telescopic oil cylinder is small, the pressure is provided through the constant thrust energy storage system, and if the pressure of the telescopic oil cylinder is overlarge, the pressure of the telescopic oil cylinder is stored in the constant thrust energy storage system, so that the telescopic action is stable.
The rotary system comprises a rotary electric proportional valve, and the rotary electric proportional valve is connected with a rotary motor through a rotary first pipeline and a rotary second pipeline; a rotary balance valve is connected between the rotary first pipeline and the rotary second pipeline; the rotary balance valve is connected to the rotary motor brake mechanism through a rotary motor brake mechanism pipeline;
a rotary shuttle valve is arranged on a pipeline of the rotary motor braking mechanism, one input end of the rotary shuttle valve is connected with a rotary balance valve, and the output end of the rotary shuttle valve is connected with the rotary motor braking mechanism;
the other input end of the rotary shuttle valve is connected with a rotary main follow-up electromagnetic directional valve, the P end of the rotary main follow-up electromagnetic directional valve is connected with the main output end, the T end of the main follow-up electromagnetic directional valve is connected to an oil return pipeline L, and the B end of the main follow-up electromagnetic directional valve is connected to the rotary shuttle valve;
a first follow-up shuttle valve is connected between a first rotary pipeline and a second rotary pipeline between a rotary balance valve and a rotary motor, the output end of the first follow-up shuttle valve is connected with a first follow-up overflow valve, the output end of the first follow-up overflow valve is connected to an oil tank, a second follow-up shuttle valve is connected to the first follow-up shuttle valve in parallel, the output end of the second follow-up shuttle valve is connected with the oil tank, an X port of the first follow-up overflow valve is connected with a follow-up two-position one-way hydraulic control reversing valve, the follow-up two-position one-way hydraulic control reversing valve is connected with a second follow-up overflow valve, the output end of the second follow-up overflow valve is connected with an oil return pipeline L, one control end of the follow-up two-position one-way hydraulic control reversing valve is connected with the oil return pipeline L, and the other control end of the follow-up two-position one-way.
In the rotary system, when the first hydraulic pump and the second hydraulic pump work, hydraulic oil enters the rotary electric proportional directional valve from the main output end; and controlling the rotary electric proportional reversing valve, and enabling hydraulic oil to enter the rotary oil cylinder through the rotary electric proportional reversing valve to push the rotary oil cylinder to rotate. The positive and negative rotation of the rotary oil cylinder is realized by controlling the position of the rotary electric proportional reversing valve. When the rotary oil cylinder works, hydraulic oil enters the rotary motor brake mechanism from the rotary shuttle valve to brake and release the rotary motor brake mechanism.
If rotation follow-up compensation is needed, a control signal is given to a rotation main follow-up electromagnetic directional valve, the rotation main follow-up electromagnetic directional valve is switched, hydraulic oil controls a follow-up two-position one-way hydraulic directional valve from the rotation main follow-up electromagnetic directional valve, the follow-up two-position one-way hydraulic directional valve is switched, an X port of a first follow-up overflow valve is communicated with a second follow-up overflow valve, and the pressure of the first follow-up overflow valve is greater than that of the second follow-up overflow valve, so that when the pressure of the hydraulic oil in the rotation motor is greater than that of the second follow-up overflow valve, the first follow-up overflow valve is switched on, the hydraulic oil in the rotation motor can freely flow through the first follow-up shuttle valve and the second follow-up shuttle valve at two ends, and the rotation follow-up compensation effect.
Furthermore, the butt joint device comprises a seat body hinged on the free end of the telescopic channel, a connecting seat fixed on the seat body, a butt joint seat fixed on the connecting seat and an oil cylinder hinged between the telescopic channel and the seat body; the butt joint seat is provided with a butt joint port. This interfacing apparatus simple structure adopts the structure of interface for interfacing apparatus and butt joint mode that is can break away from at any time by the butt joint thing, like this, not only convenient butt joint can realize breaking away from fast moreover, and the protection that can be better is stepped the bridge.
Furthermore, a rubber pad is arranged on the inner wall of the butt joint port. Adopt the rubber pad, avoid rigid contact, play the effect of protection interface and butt joint thing.
Furthermore, the butt joint device comprises a base body hinged on the free end of the telescopic channel, a butt joint fixed on the base body and an oil cylinder hinged between the telescopic channel and the base body; and a buffer rubber is arranged on the butt joint. The buffer rubber is adopted to avoid rigid contact, and the function of protecting the butt joint port and the butt joint object is achieved.
Further, a main accumulator combination valve is connected to the main output end; the main accumulator combination valve comprises an accumulator two-position two-way hydraulic control reversing valve, an accumulator two-position two-way electromagnetic reversing valve and an accumulator overflow valve; the main output end is connected with an energy accumulator, the main output end is connected with the input end of an overflow valve of the energy accumulator, and the output end of the overflow valve of the energy accumulator is connected with an oil tank; the main output end is connected to the P end of the energy accumulator two-position two-way hydraulic control reversing valve, and the A end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the rolling compensation system, the pitching compensation system, the telescopic system and the rotary system; one control end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the end A and the end P of the energy accumulator two-position two-way hydraulic control reversing valve, the other control end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the energy accumulator two-position two-way electromagnetic reversing valve, and the energy accumulator two-position two-way electromagnetic reversing valve is connected with; the total output end is connected to the constant thrust energy accumulator system through an oil filling valve.
When the first hydraulic pump and the second hydraulic pump work, hydraulic oil can directly store energy for standby application for the main energy accumulator, and if the pressure of the main energy accumulator is overlarge, the overflow valve of the energy accumulator overflows. When hydraulic oil enters the P end of the two-position two-way hydraulic control reversing valve of the energy accumulator, the two-position two-way hydraulic control reversing valve of the energy accumulator is transposed, and the P end of the two-position two-way hydraulic control reversing valve of the energy accumulator is communicated with the A end, so that oil supply to the rolling compensation system, the pitching compensation system, the telescopic system and the rotary system is realized. If the oil filling valve is transposed, oil can be filled into the constant thrust accumulator system.
Furthermore, the constant thrust energy accumulator system comprises an oil-filling pressure reducing valve, an oil-filling one-way valve, an oil-filling manual valve, an oil-discharging manual valve, an oil-filling overflow valve and a constant thrust energy accumulator; the oil charging and reducing valve, the oil charging one-way valve, the oil charging manual valve and the constant thrust energy accumulator are sequentially connected, the oil charging and reducing valve is connected to the main output end, one end of the oil discharging manual valve is connected with the constant thrust energy accumulator, the other end of the oil discharging manual valve is connected with the oil tank, the input end of the oil charging overflow valve is connected with the constant thrust energy accumulator, and the output end of the oil charging overflow valve is connected with the oil tank; the output end of the constant thrust energy accumulator is an output end PP。
The oil filling process comprises the following steps: and opening the oil-filled manual valve, and allowing the hydraulic oil to enter the constant-thrust energy accumulator through the oil-filled valve, the oil-filled pressure reducing valve, the oil-filled check valve and the oil-filled manual valve, wherein the hydraulic oil overflows through the oil-filled overflow valve if the constant-thrust energy accumulator exists. And if the hydraulic oil of the constant-thrust accumulator is to be released, the oil-releasing manual valve is opened.
Furthermore, a telescopic pressure reducing valve is arranged between the main output end and the telescopic electric proportional reversing valve, an X port of the telescopic pressure reducing valve is connected with a first shuttle valve, two input ends of the first shuttle valve are respectively connected with a telescopic first pipeline and a telescopic second pipeline, and first overflow valves are respectively arranged on the telescopic first pipeline and the telescopic second pipeline. The output pressure of the telescopic reducing valve is controlled through the action of the first shuttle valve and the telescopic reducing valve, so that the output pressure is stable.
Furthermore, a rotary pressure valve is arranged between the main output end and the rotary electric proportional reversing valve, an X port of the rotary pressure valve is connected with a second shuttle valve, and two input ends of the second shuttle valve are respectively connected with a rotary first pipeline and a rotary second pipeline. The output pressure of the rotary pressure valve is controlled through the action of the second shuttle valve and the rotary pressure valve, and the output pressure is stable.
Drawings
Fig. 1 is a schematic view of a small walking bridge based on a hydraulic system. Fig. 2 is a top view of a small walking bridge based on a hydraulic system. Fig. 3 is a schematic view of the roll platform and roll cylinders. Fig. 4 is a schematic view of a first structure of the docking device. Fig. 5 is a front view of a second configuration of the docking device. Fig. 6 is a top view of a second configuration of the docking device. Fig. 7 is a schematic view of a tank portion of the hydraulic system. Fig. 8 is a hydraulic system implementing part system. Fig. 9 is an enlarged view of E in fig. 7. Fig. 10 is an enlarged view of F in fig. 7. Fig. 11 is an enlarged view of G in fig. 8. Fig. 12 is an enlarged view of H in fig. 8. Fig. 13 is an enlarged view of I in fig. 8. FIG. 14 is a partial schematic view of a swing system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 2, a small-sized walking bridge based on a hydraulic system includes a mechanical part and a hydraulic system.
As shown in fig. 1 and 2, the mechanical part comprises a base 1, a rolling platform 2, a rolling oil cylinder 3, a slewing bearing 4, a slewing platform 5, a slewing driving mechanism 6, a fixed channel 7, a telescopic channel 8, a luffing oil cylinder 9, a telescopic oil cylinder 10 and a docking device 11.
The base 1 is mounted on a deck 100. As shown in fig. 3, a rolling platform 2 is hinged on a base 1, and a rolling oil cylinder 3 is hinged between the base 1 and the rolling platform 2; in the present invention, the lower end of the roll platform 2 has two hinge lugs 21 symmetrical with respect to the center, the hinge lugs 21 are hinged to a hinge seat 1101 of the base through hinge shafts 22, and two roll cylinders 3 are disposed at positions symmetrical with respect to the axis of the hinge shafts.
The slewing bearing 4 is arranged on the rolling platform 3; the slewing platform 5 is mounted on the slewing bearing 4. The rotary driving mechanism 6 comprises a rotary motor 61 arranged on the rotary platform 5, a transmission 62 arranged on an output shaft of the rotary motor 61 and a gear 63 arranged on an output shaft of the transmission, wherein the gear 63 is meshed with an inner ring of the rotary support; the fixed channel 7 is hinged on the rotary platform 5; the telescopic channel 8 is slidably arranged on the fixed channel 7 through a guide rail; the amplitude variation oil cylinder 9 is hinged between the rotary platform 5 and the fixed channel 7; the telescopic oil cylinder 10 is hinged between the fixed channel 7 and the telescopic channel 8.
As shown in fig. 4, the docking device 11 includes a base 111 hinged on the free end of the telescopic channel 8, a connecting seat 112 fixed on the base 111, a docking seat 113 fixed on the connecting seat 112, and an oil cylinder 114 hinged between the telescopic channel and the base; the docking socket 113 is provided with a docking interface 1131. A rubber pad 115 is arranged on the inner wall of the butt joint port. This interfacing apparatus simple structure adopts the structure of interface for interfacing apparatus and butt joint mode that is can break away from at any time by the butt joint thing, like this, not only convenient butt joint can realize breaking away from fast moreover, and the protection that can be better is stepped the bridge. Adopt the rubber pad, avoid rigid contact, play the effect of protection interface and butt joint thing.
As another embodiment, as shown in fig. 5 and 6, the docking device 11 includes a base 111 hinged on the free end of the telescopic channel, a docking head 116 fixed on the base, and an oil cylinder 114 hinged between the telescopic channel and the base; the butt joint is a round butt joint, and a cushion rubber 117 is mounted on the butt joint. The buffer rubber is adopted to avoid rigid contact, and the function of protecting the butt joint port and the butt joint object is achieved.
For a mechanical part, such as a rotary motor, the rotary motor drives a gear to rotate through a transmission, and the gear and a rotary support act to enable the rotary platform, the fixed channel, the telescopic channel, the docking device, the variable amplitude oil cylinder and the telescopic oil cylinder to integrally rotate so as to realize the rotary action of the docking device. If the amplitude variation oil cylinder works, the fixed channel, the telescopic channel and the butt joint device are driven to swing. If the telescopic oil cylinder works, the telescopic channel is telescopic relative to the fixed channel. In the invention, because the rolling platform and the rolling oil cylinder are arranged, the butt joint device can be relatively static relative to the overlapped part, and stable people passing and material transportation are realized.
As shown in fig. 1, a climbing ladder 12 is installed on a base 1, and the climbing ladder 12 can enter into a revolving platform. In this embodiment the hydraulic pump, energy storage etc. are mounted on the base 1 outside the climbing ladder, as another embodiment the hydraulic pump, energy storage etc. are mounted inside the climbing ladder.
As shown in fig. 7 and 8, the hydraulic system comprises a main oil supply system 1a, a constant thrust accumulator system 2a, a rolling compensation system 3a, a pitching compensation system 4a, a telescopic system 5a and a slewing system 6 a.
The main oil supply system 1a includes an oil tank 11a, a first hydraulic pump 12a and a second hydraulic pump 13a connected to the oil tank 11 a; the first hydraulic pump 12a is driven by a motor M1, and the second hydraulic pump 13a is driven by a motor M2; the outputs of the first hydraulic pump 12a and the second hydraulic pump 13a are combined to form a total output O.
When the motor M1 and the motor M2 are activated, the first hydraulic pump 12a and the second hydraulic pump 13a are activated to pump out the hydraulic oil from the oil tank 11a to the main output O. Adopt a plurality of hydraulic pumps, can improve the oil pressure and the flow among the hydraulic system, simultaneously when one of them hydraulic pump damage, other hydraulic pump can play emergent effect.
As shown in fig. 7 and 9, a main accumulator combination valve 7a is connected to the main output O; the main accumulator combination valve 7a comprises an accumulator two-position two-way hydraulic control reversing valve 71a, an accumulator two-position two-way electromagnetic reversing valve 72a and an accumulator overflow valve 73 a; the total output end O is connected with an energy accumulator 74a, the total output end O is connected with the input end of an energy accumulator overflow valve 73a, and the output end of the energy accumulator overflow valve 73a is connected with the oil tank 11 a; the main output end O is connected to the P end of the energy accumulator two-position two-way hydraulic control reversing valve 71a, and the A end of the energy accumulator two-position two-way hydraulic control reversing valve 71a is connected with the rolling compensation system, the pitching compensation system, the telescopic system and the rotary system; one control end of the energy accumulator two-position two-way hydraulic control reversing valve 71a is connected with the end A and the end P of the energy accumulator two-position two-way hydraulic control reversing valve 71a, the other control end of the energy accumulator two-position two-way hydraulic control reversing valve 71a is connected with the energy accumulator two-position two-way electromagnetic reversing valve 72a, and the energy accumulator two-position two-way electromagnetic reversing valve 72a is connected with; the overall output O is connected to the constant thrust accumulator system 2a through an oil fill valve 20 a.
When the first hydraulic pump 12a and the second hydraulic pump 13a are operated, the hydraulic oil may directly charge the main accumulator for standby, and if the pressure of the main accumulator is excessive, the accumulator relief valve 73a is relieved. When hydraulic oil enters the two-position two-way hydraulic control reversing valve 71aP end of the energy accumulator, the two-position two-way hydraulic control reversing valve 71a of the energy accumulator is transposed, and the P end of the two-position two-way hydraulic control reversing valve 71a of the energy accumulator is communicated with the A end, so that oil supply to the rolling compensation system, the pitching compensation system, the telescopic system and the rotary system is realized. If the oil filling valve is transposed, oil can be filled into the constant thrust accumulator system.
The constant-thrust energy accumulator system 2a is connected to the general output O, the constant-thrust energy accumulator system 2a having an output PP(ii) a The constant-thrust energy accumulator system 2a is used for providing constant thrust for the telescopic oil cylinder, so that the telescopic oil cylinder moves more stably in the follow-up process, and the telescopic channel moves stably.
As shown in fig. 7 and 10, the constant thrust accumulator system 2a includes an oil-filling pressure-reducing valve 21a, an oil-filling check valve 22a, an oil-filling manual valve 23a, an oil-discharging manual valve 24a, an oil-filling overflow valve 25a, and a constant thrust accumulator 26 a; the oil charging pressure reducing valve 21a, the oil charging one-way valve 22a, the oil charging manual valve 23a and the constant thrust energy accumulator 26a are sequentially connected, the oil charging pressure reducing valve 21a is connected to the general output end O, one end of the oil discharging manual valve 24a is connected with the constant thrust energy accumulator 26a, the other end of the oil discharging manual valve 24a is connected with the oil tank 11a, the input end of the oil charging overflow valve 25a is connected with the constant thrust energy accumulator 26a, and the output end of the oil charging overflow valve 25a is connected with the oil tank 11 a; the output end of the constant-thrust energy accumulator 26a is an output end PP。
The oil filling process comprises the following steps: and opening the oil-filled manual valve 23a, and allowing the hydraulic oil to enter the constant-thrust energy accumulator 26a through the oil-filled valve, the oil-filled pressure reducing valve 21a, the oil-filled check valve 22a and the oil-filled manual valve 23a, wherein if the constant-thrust energy accumulator 26a exists, the hydraulic oil overflows through the oil-filled overflow valve 25 a. If the hydraulic oil of the constant thrust accumulator 26a is to be released, the oil-release manual valve 24a is opened.
As shown in fig. 8, the roll compensation system 3a includes a roll electric proportional directional valve 31a and a roll combination valve block 32a, the roll electric proportional directional valve 31a is connected to the main output O, the roll electric proportional directional valve 31a is connected to the roll cylinder 3 through a roll first pipeline 34a and a roll second pipeline 35a, and the roll combination valve block 32a is connected between the roll first pipeline 34a and the roll second pipeline 35 a.
As shown in fig. 11, the roll combination valve block 32a includes a roll first counter balance valve 321a, a roll second counter balance valve 322a, a roll first shuttle valve 323a, a roll second shuttle valve 324a, a roll first check valve 325a, a roll second check valve 326a, a roll first relief valve 327a, and a roll second relief valve 328 a; the first roll balance valve 321a is connected to the first roll line 34a, and the second roll balance valve 322a is connected to the second roll line 35 a; one input terminal of the first shuttle valve 323a is connected to the input terminal of the first balancing valve 321a, the other input terminal of the first shuttle valve 323a is connected to one input terminal of the second shuttle valve 324a, and the other input terminal of the second shuttle valve 324a is connected to the input terminal of the second balancing valve 322 a; the output end of the first shuttle valve 323a is connected to the second balance valve 322a, and the output end of the second shuttle valve 324a is connected to the first balance valve 321 a; the output end of the first rolling check valve 325a is connected with the output end of the first rolling balance valve 321a, the output end of the second rolling check valve 326a is connected with the output end of the second rolling balance valve 322a, the input ends of the first rolling check valve 325a and the second rolling check valve 326a are communicated with the oil tank 11a, the input end of the first rolling overflow valve 327a is connected between the output end of the first rolling balance valve 321a and the rolling oil cylinder 3, the output end of the first rolling overflow valve 327a is connected with the oil tank 11a, the input end of the second rolling overflow valve 328a is connected between the output end of the second rolling balance valve 322a and the rolling oil cylinder 3, and the output end of the second rolling overflow valve 328a is connected with the oil tank 11 a; a rolling two-position four-way solenoid valve is connected between the first rolling shuttle valve 323a and the second rolling shuttle valve 324a, the P end of the rolling two-position four-way solenoid valve is connected with the main output end O, the T end of the rolling two-position four-way solenoid valve is connected with the end of the oil tank 11a, and the B end of the rolling two-position four-way solenoid valve is connected between the first rolling shuttle valve 323a and the second rolling shuttle valve 324 a.
In the roll supplement system, when the first hydraulic pump 12a and the second hydraulic pump 13a work, hydraulic oil enters the roll electric proportional directional valve 31a from the main output end O; and controlling the roll electric proportional directional valve 31a, and allowing hydraulic oil to enter the roll oil cylinder 3 through the roll electric proportional directional valve 31a through the roll combined valve block 32a to push the roll oil cylinder 3 to move.
During normal operation, if hydraulic oil enters from the first roll pipeline 34a, the hydraulic oil enters into the roll cylinder 3 through the first roll balance valve 321a, the hydraulic oil in the roll cylinder 3 returns to the oil tank 11a from the second roll pipeline 35a through the second roll balance valve 322a from the roll electric proportional directional control valve 31a, meanwhile, a part of the hydraulic oil at the input end of the first roll balance valve 321a enters into the second roll balance valve 322a from the first roll shuttle valve 323a, the flow of the second roll balance valve 322a is controlled, the hydraulic oil pressure and flow of the first roll pipeline 34a and the second roll pipeline 35a are balanced, meanwhile, the second roll balance valve 322a can increase the back pressure, and the situation that the roll cylinder 3 unloads oil quickly to cause the over-fast roll speed is avoided. When the pressure of the hydraulic oil in the first roll pipe 34a is higher than the pressure of the first roll relief valve 327a, an overflow phenomenon occurs, and it is ensured that the oil pressure entering the roll cylinder 3 is stable.
If hydraulic oil enters from the second roll pipeline 35a, the hydraulic oil enters into the roll cylinder 3 through the second roll balance valve 322a, the hydraulic oil in the roll cylinder 3 returns to the oil tank 11a from the first roll pipeline 34a through the first roll balance valve 321a from the electric proportional directional control valve 31a, meanwhile, part of the hydraulic oil at the input end of the second roll balance valve 322a enters into the first roll balance valve 321a from the second roll shuttle valve 324a, the flow of the first roll balance valve 321a is controlled, the hydraulic oil pressure and flow of the first roll pipeline 34a and the second roll pipeline 35a are balanced, meanwhile, the first roll balance valve 321a can increase the back pressure, and the situation that the roll cylinder 3 unloads oil quickly to cause the over-fast roll speed is avoided. When the pressure of the hydraulic oil in the roll second pipe 35a is greater than the pressure of the roll second relief valve 328a, an overflow phenomenon occurs, and it is ensured that the oil pressure entering the roll cylinder 3 is stable.
If roll compensation is needed, the roll two-position four-way solenoid valve is switched, hydraulic oil enters between the first roll shuttle valve 323a and the second roll shuttle valve 324a through the roll two-position four-way solenoid valve, then the first roll balance valve 321a and the second roll balance valve 322a are short-circuited under the action of the hydraulic oil, the hydraulic oil can directly pass through the first roll balance valve 321a or the second roll balance valve 322a, and the first roll balance valve 321a and the second roll balance valve 322a cannot provide any pressure, so that rapid and accurate roll compensation can be achieved, the speed of the roll compensation is matched with the speed of the roll, and the working stability of the walking bridge is improved.
As shown in fig. 8, the pitch compensation system 4a includes a pitch electro-proportional directional valve 41a and a pitch combination valve block 42a, the pitch electro-proportional directional valve 41a is connected to the main output O, the pitch electro-proportional directional valve 41a is connected to a luffing cylinder through a pitch first pipeline 44a and a pitch second pipeline 45a, and the pitch combination valve block 42a is connected between the pitch first pipeline and the pitch second pipeline;
as shown in fig. 12, pitch combining valve block 42a includes pitch balance valve 421a, pitch first shuttle valve 422a, pitch second shuttle valve 423a, pitch first check valve 424a, pitch second check valve 425a, pitch first spill valve 426a, and pitch second spill valve 427 a; the pitch balance valve 421a is connected to the pitch first pipe; an input of pitch first shuttle valve 422a is connected to pitch first conduit 44a, an output of pitch first shuttle valve 422a is connected to an input of pitch second shuttle valve 423a, and another input of pitch second shuttle valve 423a is connected to an input of pitch balancing valve 421 a; the output of pitch second shuttle valve 423a is connected to pitch balance valve 421 a; the output end of the pitching first check valve 424a is connected to the pitching second pipeline 45a, the output end of the pitching second check valve 425a is connected to the output end of the pitching balance valve, the input ends of the pitching first check valve 424a and the pitching second check valve 425a are communicated with the oil tank 11a, the input end of the pitching first overflow valve 426a is connected to the pitching second pipeline 45a, the output end of the pitching first overflow valve 426a is connected to the oil tank 11a, the input end of the pitching second overflow valve 427a is connected between the output end of the pitching balance valve and the luffing cylinder 9, and the output end of the pitching second overflow valve 427a is connected to the oil tank 11 a; the other input end of the first pitching shuttle valve 422a is connected with a two-position four-way solenoid valve 428a, the P end of the two-position four-way solenoid valve 428a is connected with the general output end O, the T end of the two-position four-way solenoid valve 428a is connected with the oil tank 11a, and the B end of the two-position four-way solenoid valve 428a is connected with the other input end of the first pitching shuttle valve 422 a.
A pitch main follow-up electromagnetic directional valve 429a is connected to the main output end O, wherein the P end of the pitch main follow-up electromagnetic directional valve 429a is connected to the main input end, the T end of the pitch main follow-up electromagnetic directional valve 429a is connected to the oil tank 11a, and the B end of the pitch main follow-up electromagnetic directional valve 429a is connected to the second pitch pipeline.
A hydraulic control one-way valve is connected to the pitching first pipeline 44a and the pitching second pipeline respectively, and the control end of the hydraulic control one-way valve is connected with the B end of the pitching main follow-up electromagnetic directional valve 429 a.
In the pitch supplementing system, when the first hydraulic pump 12a and the second hydraulic pump 13a work, hydraulic oil enters the pitch electric proportional directional valve 41a from the main output end O; and controlling the pitching electric proportional directional valve 41a, and allowing hydraulic oil to enter the amplitude variation oil cylinder through the pitching electric proportional directional valve 41a and the pitching combined valve block 42a to push the amplitude variation oil cylinder to move.
During normal operation, the pitch main slave solenoid 429a does not provide a signal, as hydraulic oil enters from the pitch first conduit 44a, hydraulic oil enters the luffing cylinder through the pitch balancing valve 421a, and hydraulic oil in the luffing cylinder returns from the pitch second conduit from the pitch electro-proportional directional valve 41a to the tank 11 a. When the pressure of the hydraulic oil in the pitching first pipeline 44a is greater than the pressure of the pitching first overflow valve 426a, an overflow phenomenon occurs, and it is ensured that the oil pressure entering the pitching cylinder is stable.
If hydraulic oil enters from the pitching second pipeline, the hydraulic oil enters into the amplitude-variable cylinder through the pitching second pipeline, the hydraulic oil in the transverse amplitude-variable cylinder returns to the oil tank 11a from the amplitude-variable first pipeline through the amplitude-variable balance valve from the amplitude-variable electric proportional reversing valve, meanwhile, part of the hydraulic oil on the pitching second pipeline enters into the pitching balance valve 421a from the pitching first shuttle valve 422a and the pitching second shuttle valve 423a, the flow of the pitching balance valve 421a is controlled, the effects of balancing the hydraulic oil pressure and the flow of the pitching first pipeline 44a and the pitching second pipeline are achieved, meanwhile, the pitching balance valve 421a can improve the back pressure, and the situation that the amplitude-variable speed is too fast due to the fast oil discharge of the amplitude-variable cylinder is avoided. When the hydraulic oil pressure of the pitching second pipeline is greater than the pressure of the pitching second overflow valve 427a, an overflow phenomenon occurs, and the oil pressure entering the amplitude-variable oil cylinder is ensured to be stable.
If active pitch compensation is needed, the pitch two-position four-way electromagnetic valve 428a is switched, hydraulic oil enters the pitch first shuttle valve 422a through the pitch two-position four-way electromagnetic valve 428a, then enters the pitch second shuttle valve 423a from the pitch first shuttle valve 422a, the hydraulic oil enters the pitch balance valve 421a from the pitch second shuttle valve 423a, the pitch balance valve 421a is short-circuited under the action of the hydraulic oil, the hydraulic oil can directly pass through the pitch balance valve 421a, and the pitch balance valve 421a cannot provide any pressure, so that rapid and accurate pitch compensation can be realized, the pitch compensation speed is matched with the pitch speed, and the working stability of the walking bridge is improved.
When the butt joint device is well butted, follow-up pitching compensation is needed, and the principle is as follows: the pitching main follow-up electromagnetic directional valve 429a is electrified to enable the pitching main follow-up electromagnetic directional valve 429a to be switched, the pitching two-position four-way electromagnetic valve 428a is electrified to enable the pitching two-position four-way electromagnetic valve 428a to be switched, hydraulic oil enters the pitching first shuttle valve 422a through the pitching two-position four-way electromagnetic valve 428a and then enters the pitching second shuttle valve 423a from the pitching first shuttle valve 422a, the hydraulic oil enters the pitching balance valve 421a from the pitching second shuttle valve 423a, the pitching balance valve 421a is short-circuited under the action of the hydraulic oil, the hydraulic oil can directly pass through the pitching balance valve 421a, the pitching balance valve 421a cannot provide any pressure, meanwhile, the hydraulic oil enters the control end of the pilot-controlled one-way valve through the pitching main follow-up electromagnetic directional valve 429a, the hydraulic oil in the luffing cylinder returns to the oil tank 11a from the pilot-controlled one-way valve to realize follow-up compensation, and, The compensation of precision makes the work of walking bridge more steady.
The pitching compensation system can realize active work, active compensation and follow-up compensation, and enables the walking bridge to work more stably.
As shown in fig. 8, the telescopic system 5a includes a telescopic electro-proportional directional valve 51a and a telescopic combination valve 52a, the telescopic electro-proportional directional valve 51a is connected to the main output O, the telescopic electro-proportional directional valve 51a is connected to a telescopic cylinder through a telescopic first pipeline and a telescopic second pipeline, and the telescopic combination valve 52a is connected to a telescopic first pipeline 54a and a telescopic second pipeline 55 a.
As shown in fig. 13, the group of telescopic combination valves 52a includes a telescopic balance valve 521a, a first two-position and one-way hydraulic control directional valve 522a and a second two-position and one-way hydraulic control directional valve 523a, the telescopic balance valve 521a is connected between the telescopic first pipeline 54a and the telescopic second pipeline 55a, and an a end of the first two-position and one-way hydraulic control directional valve 522a is connected with the output end PpThe end B of the first two-position one-way hydraulic control reversing valve 522a is connected with the end A of the second two-position one-way hydraulic control reversing valve 523a, the end B of the second two-position one-way hydraulic control reversing valve 523a is connected to the telescopic second pipeline 55a, and the end B of the first two-position one-way hydraulic control reversing valve 522a is connected to the telescopic first pipeline 54 a; one end control ends of the two-position one-way hydraulic control reversing valve I522 a and the two-position one-way hydraulic control reversing valve II 523a are converged and then connected to the oil return pipeline L, the other end control ends of the two-position one-way hydraulic control reversing valve I522 a and the two-position one-way hydraulic control reversing valve II 523a are converged and then connected to a telescopic main follow-up electromagnetic reversing valve 524a, and the P end of the telescopic main follow-up electromagnetic reversing valve 524a is connected with an output end PpThe T end of the telescopic main follow-up electromagnetic directional valve 524a is connected with the oil tank 11a, and the B end of the telescopic main follow-up electromagnetic directional valve 524a is connected with a junction of the control ends of the first two-position one-way hydraulic directional valve 522a and the second two-position one-way hydraulic directional valve 523 a.
In the telescopic system, when the first hydraulic pump 12a and the second hydraulic pump 13a work, hydraulic oil enters the telescopic electric proportional directional valve 51a from the main output end O; and controlling the telescopic electric proportional directional valve 51a, and allowing hydraulic oil to enter the telescopic oil cylinder through the telescopic electric proportional directional valve 51a and the telescopic combined valve 52a group to push the telescopic oil cylinder to move.
During normal operation, no control signal is given to the telescopic main servo electromagnetic directional valve 524a, and if hydraulic oil enters the telescopic cylinder from the telescopic first pipeline 54a, the hydraulic oil in the telescopic cylinder returns to the oil tank 11a from the telescopic electric proportional directional valve 51a through the telescopic second pipeline 55 a. Since the telescopic balance valve 521a is provided, the pressure and flow rate of the telescopic first line 54a and the telescopic second line 55a can be adjusted.
When the butt joint device is in butt joint, follow-up telescopic compensation is needed, and the principle is as follows: the telescopic electric proportional directional valve 51a is reset, a control signal is sent to the telescopic main follow-up electromagnetic directional valve 524a, the telescopic main follow-up electromagnetic directional valve 524a is switched, and the output end PpThe hydraulic oil slave telescopic main follow-up electromagnetic directional valve 524a controls a first two-position one-way hydraulic directional valve 522a and a second two-position one-way hydraulic directional valve 523a, the first two-position one-way hydraulic directional valve 522a and the second two-position one-way hydraulic directional valve 523a are transposed, and an output end P is connected with the hydraulic oil slave telescopic main follow-up electromagnetic directional valvepThe hydraulic oil gives a constant thrust to the telescopic oil cylinder, so that the telescopic oil cylinder is compensated at a constant speed, in the process, if the pressure of the telescopic oil cylinder is small, the pressure is provided through the constant thrust energy storage system, and if the pressure of the telescopic oil cylinder is overlarge, the pressure of the telescopic oil cylinder is stored in the constant thrust energy storage system, so that the telescopic action is stable.
As shown in fig. 8, the swing system 6a includes a swing electro-proportional valve 61a, and the swing electro-proportional valve 61a is connected to a swing motor 61 through a swing first pipe 64a and a swing second pipe 65 a; a swing balancing valve 63a is connected between the swing first line 64a and the swing second line 65 a; the rotary trim valve 63a is connected to the rotary motor brake 66a via a rotary motor brake line.
As shown in fig. 14, a rotary shuttle valve 671a is arranged on a pipeline of the rotary motor brake mechanism, one input end of the rotary shuttle valve 671a is connected with the rotary balance valve 63a, and the output end of the rotary shuttle valve 671a is connected with the rotary motor brake mechanism 66 a;
the other input end of the rotary shuttle valve 671a is connected with a rotary main follow-up electromagnetic directional valve 672a, the P end of the rotary main follow-up electromagnetic directional valve is connected with a main output end O, the T end of the rotary main follow-up electromagnetic directional valve is connected to an oil return pipeline L, and the B end of the rotary main follow-up electromagnetic directional valve is connected to the rotary shuttle valve 671 a.
A first follower shuttle valve 673a is connected between a rotary first pipeline 64a and a rotary second pipeline 65a between the rotary balance valve 63a and the rotary motor, an output end of the first follower shuttle valve 673a is connected with a first follower relief valve 675a, an output end of the first follower relief valve 675a is connected to the oil tank 11a, the first follow-up shuttle valve 673a is connected with a second follow-up shuttle valve 674a in parallel, the output end of the second follow-up shuttle valve 674a is connected with the oil tank 11a, the X port of the first follow-up overflow valve 675a is connected with a follow-up two-position one-way hydraulic control reversing valve 676a, the follow-up two-position one-way hydraulic control reversing valve 676a is connected with a second follow-up overflow valve 677a, the output end of the second follow-up overflow valve 677a is connected with an oil return pipeline L, one control end of the follow-up two-position one-way hydraulic control reversing valve 676a is connected with the oil return pipeline L, and the other control end of the follow-up two-position one-way hydraulic control reversing valve 676a is connected with the B end of the main follow-up. The set pressure of the first follow-up overflow valve is greater than the set pressure of the second follow-up overflow valve.
In the slewing system, when the first hydraulic pump 12a and the second hydraulic pump 13a work, hydraulic oil enters the slewing electric proportional directional valve from the main output end O; and controlling the rotary electric proportional reversing valve, and enabling hydraulic oil to enter the rotary oil cylinder through the rotary electric proportional reversing valve to push the rotary oil cylinder to rotate. The positive and negative rotation of the rotary oil cylinder is realized by controlling the position of the rotary electric proportional reversing valve. When the rotary cylinder is operated, hydraulic oil enters the rotary motor brake mechanism 66a from the rotary shuttle valve 671a, and the rotary motor brake mechanism 66a is released.
If rotation follow-up compensation is needed, a signal is sent to the rotation main follow-up electromagnetic directional valve 672a, the rotation main follow-up electromagnetic directional valve 672a is switched, hydraulic oil controls the follow-up two-position one-way hydraulic directional valve 676a from the rotation main follow-up electromagnetic directional valve 672a, the follow-up two-position one-way hydraulic directional valve 676a is switched, an X port of the first follow-up overflow valve 675a is communicated with the second follow-up overflow valve 677a, and the pressure of the first follow-up overflow valve 675a is larger than that of the second follow-up overflow valve 677a, so when the pressure of the hydraulic oil in the rotation motor is larger than that of the second follow-up overflow valve 677a, the first follow-up overflow valve 675a is switched on, the hydraulic oil in the rotation motor can freely flow through the first follow-up shuttle valve 673a and the second follow-up shuttle valve 674a at two ends, and the rotation follow-up compensation effect is achieved.
As shown in fig. 13, a telescopic pressure reducing valve is provided between the main output end O and the telescopic electro-proportional directional valve 51a, an X port of the telescopic pressure reducing valve is connected to a first shuttle valve, two input ends of the first shuttle valve are respectively connected to a telescopic first pipeline 54a and a telescopic second pipeline 55a, and first overflow valves are respectively provided on the telescopic first pipeline 54a and the telescopic second pipeline 55 a. The output pressure of the telescopic reducing valve is controlled through the action of the first shuttle valve and the telescopic reducing valve, so that the output pressure is stable.
As shown in fig. 14, a rotary pressure valve is provided between the main output O and the rotary electric proportional directional valve, a second shuttle valve is connected to an X port of the rotary pressure valve, and both input ends of the second shuttle valve are connected to the rotary first pipeline 64a and the rotary second pipeline 65a, respectively. The output pressure of the rotary pressure valve is controlled through the action of the second shuttle valve and the rotary pressure valve, and the output pressure is stable.

Claims (8)

1. A small-sized walking bridge based on a hydraulic system comprises a mechanical part and the hydraulic system;
the mechanical part comprises a base, a slewing bearing, a slewing platform, a slewing driving mechanism, a fixed channel, a telescopic channel, a variable amplitude oil cylinder, a telescopic oil cylinder and a butt joint device;
the rotary platform is arranged on the rotary support; the rotary driving mechanism comprises a rotary motor arranged on the rotary platform, a transmission arranged on an output shaft of the rotary motor and a gear arranged on an output shaft of the transmission, and the gear is meshed with the rotary support; the fixed channel is hinged on the rotary platform; the telescopic channel is slidably arranged on the fixed channel; the amplitude-variable oil cylinder is hinged between the rotary platform and the fixed channel; the telescopic oil cylinder is hinged between the fixed channel and the telescopic channel; the butt joint device is arranged at the free end of the telescopic channel; the method is characterized in that:
a rolling platform is hinged on the base, and a rolling oil cylinder is hinged between the base and the rolling platform; the slewing bearing is arranged on the rolling platform;
the hydraulic system comprises a main oil supply system, a constant thrust energy accumulator system, a rolling compensation system, a pitching compensation system, a telescopic system and a rotary system;
the main oil supply system comprises an oil tank, a first hydraulic pump and a second hydraulic pump, wherein the first hydraulic pump and the second hydraulic pump are connected to the oil tank; the first hydraulic pump is driven by a motor M1, and the second hydraulic pump is driven by a motor M2; the output ends of the first hydraulic pump and the second hydraulic pump are converged to form a total output end;
the constant thrust accumulator system is connected with the total output end and is provided with an output end PP；
The roll compensation system comprises a roll electric proportional directional valve and a roll combined valve block, the roll electric proportional directional valve is connected with the main output end, the roll electric proportional directional valve is connected with a roll oil cylinder through a roll first pipeline and a roll second pipeline, and the roll combined valve block is connected between the roll first pipeline and the roll second pipeline;
the rolling combined valve block comprises a rolling first balance valve, a rolling second balance valve, a rolling first shuttle valve, a rolling second shuttle valve, a rolling first check valve, a rolling second check valve, a rolling first overflow valve and a rolling second overflow valve; the first roll balance valve is connected to the first roll pipeline, and the second roll balance valve is connected to the second roll pipeline; one input end of the first rolling shuttle valve is connected with the input end of the first rolling balance valve, the other input end of the first rolling shuttle valve is connected with one input end of the second rolling shuttle valve, and the other input end of the second rolling shuttle valve is connected with the input end of the second rolling balance valve; the output end of the first rolling shuttle valve is connected to the second rolling balance valve, and the output end of the second rolling shuttle valve is connected to the first rolling balance valve; the output end of the first rolling check valve is connected with the output end of the first rolling balance valve, the output end of the second rolling check valve is connected with the output end of the second rolling balance valve, the input ends of the first rolling check valve and the second rolling check valve are communicated with an oil tank, the input end of the first rolling overflow valve is connected between the output end of the first rolling balance valve and a rolling oil cylinder, the output end of the first rolling overflow valve is connected with the oil tank, the input end of the second rolling overflow valve is connected between the output end of the second rolling balance valve and the rolling oil cylinder, and the output end of the second rolling overflow valve is connected with the oil tank; a rolling two-position four-way electromagnetic valve is connected between the first rolling shuttle valve and the second rolling shuttle valve, the P end of the rolling two-position four-way electromagnetic valve is connected with the main output end, the T end of the rolling two-position four-way electromagnetic valve is connected with the oil tank end, and the B end of the rolling two-position four-way electromagnetic valve is connected between the first rolling shuttle valve and the second rolling shuttle valve;
the pitching compensation system comprises a pitching electric proportional reversing valve and a pitching combined valve block, the pitching electric proportional reversing valve is connected with the main output end, the pitching electric proportional reversing valve is connected with a luffing cylinder through a pitching first pipeline and a pitching second pipeline, and the pitching combined valve block is connected between the pitching first pipeline and the pitching second pipeline;
the pitching combined valve block comprises a pitching balance valve, a pitching first shuttle valve, a pitching second shuttle valve, a pitching first one-way valve, a pitching second one-way valve, a pitching first overflow valve and a pitching second overflow valve; the pitching balance valve is connected to the pitching first pipeline; one input end of the pitching first shuttle valve is connected to the pitching second pipeline, the output end of the pitching first shuttle valve is connected to one input end of the pitching second shuttle valve, and the other input end of the pitching second shuttle valve is connected to the input end of the pitching balance valve; the output end of the pitching second shuttle valve is connected to the pitching balance valve; the output end of the pitching first check valve is connected to the pitching second pipeline, the output end of the pitching second check valve is connected to the output end of the pitching balance valve, the input ends of the pitching first check valve and the pitching second check valve are communicated with an oil tank, the input end of the pitching first overflow valve is connected to the pitching second pipeline, the output end of the pitching first overflow valve is connected to the oil tank, the input end of the pitching second overflow valve is connected between the output end of the pitching balance valve and the amplitude-variable oil cylinder, and the output end of the pitching second overflow valve is connected to the oil tank; the other input end of the pitching first shuttle valve is connected with a pitching two-position four-way electromagnetic valve, the P end of the pitching two-position four-way electromagnetic valve is connected with the main output end, the T end of the pitching two-position four-way electromagnetic valve is connected with the oil tank end, and the B end of the pitching two-position four-way electromagnetic valve is connected to the other input end of the pitching first shuttle valve;
the main output end is connected with a pitching main follow-up electromagnetic directional valve, the P end of the pitching main follow-up electromagnetic directional valve is connected with the main input end, and the T end of the pitching main follow-up electromagnetic directional valve is connected with an oil tank;
the pitching first pipeline and the pitching second pipeline are respectively connected with a hydraulic control one-way valve, and the control end of the hydraulic control one-way valve is connected with the B end of the pitching main follow-up electromagnetic directional valve;
the telescopic system comprises a telescopic electric proportional reversing valve and a telescopic combined valve, the telescopic electric proportional reversing valve is connected with the main output end, the telescopic electric proportional reversing valve is connected with a telescopic oil cylinder through a telescopic first pipeline and a telescopic second pipeline, and the telescopic combined valve is connected with the telescopic first pipeline and the telescopic second pipeline;
the telescopic combined valve group comprises a telescopic balance valve, a first two-position one-way hydraulic control reversing valve and a second two-position one-way hydraulic control reversing valve, the telescopic balance valve is connected between a telescopic first pipeline and a telescopic second pipeline, and the A end of the first two-position one-way hydraulic control reversing valve is connected with the output end PpThe end B of the first two-position one-way hydraulic control reversing valve is connected with the end A of the second two-position one-way hydraulic control reversing valve, the end B of the second two-position one-way hydraulic control reversing valve is connected to the telescopic second pipeline, and the end B of the first two-position one-way hydraulic control reversing valve is connected to the telescopic first pipeline; one end control ends of the two-position one-way hydraulic control reversing valve I and the two-position one-way hydraulic control reversing valve II are converged and then connected to an oil return pipeline L, the other end control ends of the two-position one-way hydraulic control reversing valve I and the two-position one-way hydraulic control reversing valve II are converged and then connected to a telescopic main servo electromagnetic reversing valve, and the P end of the telescopic main servo electromagnetic reversing valve is connected with an output end PpThe T end of the telescopic main follow-up electromagnetic directional valve is connected with an oil tank, and the B end of the telescopic main follow-up electromagnetic directional valve is connected with a junction point of the control ends of the other ends of the two-position one-way hydraulic directional valve I and the two-position one-way hydraulic directional valve II;
the rotary system comprises a rotary electric proportional valve, and the rotary electric proportional valve is connected with a rotary motor through a rotary first pipeline and a rotary second pipeline; a rotary balance valve is connected between the rotary first pipeline and the rotary second pipeline; the rotary balance valve is connected to the rotary motor brake mechanism through a rotary motor brake mechanism pipeline;
a rotary shuttle valve is arranged on a pipeline of the rotary motor braking mechanism, one input end of the rotary shuttle valve is connected with a rotary balance valve, and the output end of the rotary shuttle valve is connected with the rotary motor braking mechanism;
the other input end of the rotary shuttle valve is connected with a rotary main follow-up electromagnetic directional valve, the P end of the rotary main follow-up electromagnetic directional valve is connected with the main output end, the T end of the main follow-up electromagnetic directional valve is connected to an oil return pipeline L, and the B end of the main follow-up electromagnetic directional valve is connected to the rotary shuttle valve;
a first follow-up shuttle valve is connected between a first rotary pipeline and a second rotary pipeline between a rotary balance valve and a rotary motor, the output end of the first follow-up shuttle valve is connected with a first follow-up overflow valve, the output end of the first follow-up overflow valve is connected to an oil tank, a second follow-up shuttle valve is connected to the first follow-up shuttle valve in parallel, the output end of the second follow-up shuttle valve is connected with the oil tank, an X port of the first follow-up overflow valve is connected with a follow-up two-position one-way hydraulic control reversing valve, the follow-up two-position one-way hydraulic control reversing valve is connected with a second follow-up overflow valve, the output end of the second follow-up overflow valve is connected with an oil return pipeline L, one control end of the follow-up two-position one-way hydraulic control reversing valve is connected with the oil return pipeline L, and the other control end of the follow-up two-position one-way.
2. The hydraulic system based small foot bridge according to claim 1, characterized in that: the butt joint device comprises a base body hinged on the free end of the telescopic channel, a connecting seat fixed on the base body, a butt joint seat fixed on the connecting seat and an oil cylinder hinged between the telescopic channel and the base body; the butt joint seat is provided with a butt joint port.
3. The hydraulic system based small foot bridge according to claim 2, characterized in that: and a rubber pad is arranged on the inner wall of the butt joint port.
4. The hydraulic system based small foot bridge according to claim 1, characterized in that: the butt joint device comprises a base body hinged on the free end of the telescopic channel, a butt joint fixed on the base body and an oil cylinder hinged between the telescopic channel and the base body; and a buffer rubber is arranged on the butt joint.
5. The hydraulic system based small foot bridge according to claim 1, characterized in that: the main output end is connected with a main accumulator combination valve; the main accumulator combination valve comprises an accumulator two-position two-way hydraulic control reversing valve, an accumulator two-position two-way electromagnetic reversing valve and an accumulator overflow valve; the main output end is connected with an energy accumulator, the main output end is connected with the input end of an overflow valve of the energy accumulator, and the output end of the overflow valve of the energy accumulator is connected with an oil tank; the main output end is connected to the P end of the energy accumulator two-position two-way hydraulic control reversing valve, and the A end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the rolling compensation system, the pitching compensation system, the telescopic system and the rotary system; one control end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the end A and the end P of the energy accumulator two-position two-way hydraulic control reversing valve, the other control end of the energy accumulator two-position two-way hydraulic control reversing valve is connected with the energy accumulator two-position two-way electromagnetic reversing valve, and the energy accumulator two-position two-way electromagnetic reversing valve is connected with; the total output end is connected to the constant thrust energy accumulator system through an oil filling valve.
6. The hydraulic system based small foot bridge according to claim 1, characterized in that: the constant thrust energy accumulator system comprises an oil-filling pressure-reducing valve, an oil-filling one-way valve, an oil-filling manual valve, an oil-discharging manual valve, an oil-filling overflow valve and a constant thrust energy accumulator; the oil charging and reducing valve, the oil charging one-way valve, the oil charging manual valve and the constant thrust energy accumulator are sequentially connected, the oil charging and reducing valve is connected to the main output end, one end of the oil discharging manual valve is connected with the constant thrust energy accumulator, the other end of the oil discharging manual valve is connected with the oil tank, the input end of the oil charging overflow valve is connected with the constant thrust energy accumulator, and the output end of the oil charging overflow valve is connected with the oil tank; the output end of the constant thrust energy accumulator is an output end PP。
7. The hydraulic system based small foot bridge according to claim 1, characterized in that: a telescopic pressure reducing valve is arranged between the main output end and the telescopic electric proportional reversing valve, an X port of the telescopic pressure reducing valve is connected with a first shuttle valve, two input ends of the first shuttle valve are respectively connected with a telescopic first pipeline and a telescopic second pipeline, and first overflow valves are respectively arranged on the telescopic first pipeline and the telescopic second pipeline.
8. The hydraulic system based small foot bridge according to claim 1, characterized in that: a rotary pressure valve is arranged between the main output end and the rotary electric proportional reversing valve, an X port of the rotary pressure valve is connected with a second shuttle valve, and two input ends of the second shuttle valve are respectively connected with a rotary first pipeline and a rotary second pipeline.
CN201811307078.2A 2018-11-05 2018-11-05 Small-size step bridge based on hydraulic system Active CN109737110B (en)

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CN110284416A (en) * 2019-06-26 2019-09-27 中船黄埔文冲船舶有限公司 One kind is flexible to pass a bridge
CN114215801A (en) * 2021-11-09 2022-03-22 中船华南船舶机械有限公司 Control method for rotary damping control hydraulic system
CN115432127B (en) * 2022-09-05 2023-08-22 上海峰轶机电工程技术启东有限公司 Boarding ladder
CN116044843B (en) * 2023-02-01 2023-07-07 北京千尧新能源科技开发有限公司 Floating type hydraulic control system for boarding bridge

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