CN110240067B - Shore bridge tilting-hanging integrated electrohydraulic control system and control method thereof - Google Patents
Shore bridge tilting-hanging integrated electrohydraulic control system and control method thereof Download PDFInfo
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- CN110240067B CN110240067B CN201910648055.6A CN201910648055A CN110240067B CN 110240067 B CN110240067 B CN 110240067B CN 201910648055 A CN201910648055 A CN 201910648055A CN 110240067 B CN110240067 B CN 110240067B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000003921 oil Substances 0.000 claims abstract description 76
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000011010 flushing procedure Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000011990 functional testing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
Abstract
The invention provides a bank bridge tilting-hanging bin integrated electrohydraulic control system and a control method thereof, wherein the control system comprises a servo driver, an electrohydraulic driving module and a hydraulic cylinder; the electrohydraulic driving module comprises a servo motor, a hydraulic pump, a valve block and an integrated oil tank, wherein the servo motor is connected with the servo driver, one end surface of the valve block is connected with a mounting flange surface of the servo motor, the other end surface of the valve block is connected with the mounting flange surface of the integrated oil tank and is sealed, the hydraulic pump is arranged in the integrated oil tank, an input shaft of the hydraulic pump is connected with an output shaft of the servo motor through a coupling, and an oil port of the hydraulic pump is connected with the valve block through a hydraulic pipe; the hydraulic pump inputs/outputs hydraulic oil, and is respectively connected with a first oil way block and a second oil way block by adopting a hydraulic pipe after passing through the valve block, and the hydraulic cylinder is controlled by the first oil way block and the second oil way block. The invention changes the configuration of the existing system into a distributed integrated servo direct-drive pump control hydraulic cylinder system, and overcomes the defects of complex hydraulic pipeline, high energy consumption and complex fault handling of the existing system.
Description
Technical Field
The invention relates to the field of port machinery quay bridges, in particular to a quay bridge tilting-hanging bin integrated electrohydraulic control system and a control method thereof.
Background
The quay bridge in the container terminal is core equipment in a loading and unloading system, the running state of equipment must be in a highly controllable state, and once the uncontrollable state occurs, the quay bridge and even the loading and unloading ship are very easy to be safe. The tilting-hanging cabin system of the shore bridge is a system for improving the working efficiency and urgently handling the hanging cabin risk, and the tilting function and the hanging cabin function are controlled by controlling the state of the main lifting steel wire rope, so that the two functions are integrated in a unified system.
The tilting-hanging cabin system is a necessary system of the novel shore bridge, and at present, the tilting-hanging cabin system is realized by adopting a hydraulic control system. According to the different quantity of the lifting appliances, the tilting-hanging bin system is generally provided with 4 or 8 hydraulic cylinders, so that the hydraulic systems all adopt centralized hydraulic stations, a centralized power source transmits hydraulic oil to each hydraulic cylinder through a pipeline, each hydraulic cylinder is controlled by a proportional valve to realize tilting, and when the hanging bin working condition occurs, large-flow hydraulic oil discharged by the hydraulic cylinder is discharged back to the centralized hydraulic station through an unloading pipeline. The configuration of the hydraulic system can meet the functional requirement, but because of the existence of the hydraulic pipeline between the centralized hydraulic station and the hydraulic cylinder, different shore bridges need to be subjected to pipeline arrangement design in a targeted manner during production, the hydraulic system is complex in work and strong in repeatability, and also is easy to interfere with equipment structures, electric systems and the like to bring about design problems, and the proportional valve control hydraulic cylinder system is adopted to belong to a throttling control principle, so that the efficiency of the hydraulic system is very low, and when a hanging bin occurs, hydraulic oil in the hydraulic cylinder needs to be rapidly discharged to play a buffering role, and the existence of a long pipeline restricts rapid lifting. Meanwhile, the existence of a large number of hydraulic pipelines inevitably leads to leakage of hydraulic oil during system installation, maintenance or failure, thereby bringing about the problem of environmental pollution, and the serious thing is that once the hydraulic pipelines burst during operation, a large amount of hydraulic oil leaks out, and the danger is that the hydraulic cylinders are out of control to generate danger.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a bank bridge tilting-hanging bin integrated electrohydraulic control system and a control method thereof, change the system configuration of the existing system, change a proportional valve control hydraulic cylinder system for oil supply of a centralized hydraulic station into a distributed integrated servo direct-drive pump control hydraulic cylinder system, and overcome the defects of complex hydraulic pipeline, high energy consumption and complex fault handling of the existing system.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on the one hand, the shore bridge tilting-hanging integrated electrohydraulic control system comprises a servo driver, an electrohydraulic driving module and a hydraulic cylinder which are sequentially connected;
the electrohydraulic driving module comprises a servo motor, a hydraulic pump, a valve block and an integrated oil tank, wherein the servo motor is electrically connected with the servo driver, one end face of the valve block is connected with a mounting flange face of the servo motor, the other end face of the valve block is connected with the mounting flange face of the integrated oil tank and is sealed, the hydraulic pump is arranged in the integrated oil tank, an input shaft of the hydraulic pump is connected with an output shaft of the servo motor through a coupler, and an oil port of the hydraulic pump is connected with the valve block through a hydraulic pipe;
the input/output hydraulic oil of the hydraulic pump is respectively connected with a first oil way block and a second oil way block through a hydraulic pipe after passing through the valve block, and the movement of the hydraulic cylinder is controlled through the first oil way block and the second oil way block.
The valve block comprises a first balance valve, a second balance valve, a one-way valve, an overflow valve and a flushing valve, one oil port of the hydraulic pump is communicated with a rodless cavity of the hydraulic cylinder through the second balance valve, the other oil port of the hydraulic pump is communicated with a rod cavity of the hydraulic cylinder through the first balance valve, the rod cavity of the hydraulic cylinder is communicated with the integrated oil tank through the one-way valve, and the rodless cavity of the hydraulic cylinder is communicated with the integrated oil tank through the flushing valve and the overflow valve.
The rodless cavity of the hydraulic cylinder is also connected with a pressure relay.
And the hydraulic cylinder is also connected with a displacement sensor.
On the other hand, the bank bridge tilting-hanging integrated electrohydraulic control method comprises tilting movement state control and hanging emergency state control;
the tilting motion state is controlled in such a way that after a quay crane operator gives a tilting command, each hydraulic cylinder corresponds to an extending/retracting length according to the resolving of the main controller, the command is sent to a corresponding servo driver, the servo driver controls the servo motor to move, and the hydraulic pump is driven to output different flow by adjusting the rotation direction and the rotation speed of the servo motor;
the hydraulic cylinder is quickly retracted to ensure that the tension of the steel wire rope does not exceed the limit, and at the moment, the high-pressure oil in the rodless cavity of the hydraulic cylinder is discharged back to an integrated oil tank through an overflow valve to realize buffering of the hanging cabin state;
and when the hanging bin state is released, the hydraulic cylinder is automatically controlled to return to the initial position.
When the hydraulic cylinder obtains an extension instruction, the servo driver controls the servo motor to move, the hydraulic pump is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor, high-pressure oil output by the hydraulic pump enters a rodless cavity of the hydraulic cylinder through a second balance valve to push the hydraulic cylinder to extend, low-pressure oil in a rod cavity of the hydraulic cylinder enters a low-pressure port of the hydraulic pump through a first balance valve, the area of the rodless cavity of the hydraulic cylinder is larger than that of the rod cavity of the hydraulic cylinder, hydraulic oil discharged from the rod cavity of the hydraulic cylinder is insufficient for the flow rate of the rodless cavity movement of the hydraulic cylinder, hydraulic oil is sucked from an integrated oil tank to be supplemented to a low-pressure port of the hydraulic pump through a one-way valve at the moment, after the hydraulic cylinder extends to a designated position, the hydraulic cylinder is stopped, the position of the hydraulic cylinder is ensured to be motionless through the first balance valve and the second balance valve, and the position of the hydraulic cylinder is detected through a displacement sensor.
When the hydraulic cylinder obtains a retraction instruction, the servo driver controls the servo motor to move, the hydraulic pump is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor, high-pressure oil output by the hydraulic pump enters a rod cavity of the hydraulic cylinder through a first balance valve to push the hydraulic cylinder to retract, rodless cavity low-pressure oil of the hydraulic cylinder enters a low-pressure port of the hydraulic pump through the first balance valve, the rodless cavity area of the hydraulic cylinder is larger than that of the hydraulic cylinder, hydraulic oil discharged from the rodless cavity of the hydraulic cylinder is larger than the flow rate of the rod cavity motion of the hydraulic cylinder, redundant hydraulic oil is discharged back to an integrated oil tank through a flushing valve at the moment, after the hydraulic cylinder is retracted to a designated position, the hydraulic cylinder is stopped, the position of the hydraulic cylinder is ensured to be motionless through the first balance valve and a second balance valve, and the position of the hydraulic cylinder is detected through a displacement sensor.
In the technical scheme, the shore bridge tilting-hanging integrated electrohydraulic control system and the control method thereof provided by the invention have the following beneficial effects:
1) The electrohydraulic control system provided by the invention eliminates the original hydraulic station and complex hydraulic pipelines and wiring, combines a power source with a hydraulic cylinder, and only needs to provide one power wire and one data transmission line outside, so that the system is greatly simplified, the construction quantity is reduced, the oil leakage risk is reduced, the fault removal efficiency is improved, the assembly and the debugging of the whole system are completed in a production workshop, and the field debugging time is saved;
2) The electro-hydraulic control system adopts the servo direct-drive pump system to replace a proportional valve control system, so that the efficiency of the hydraulic system is greatly improved under the tilting working condition, and meanwhile, the temperature rise of hydraulic oil is reduced, and the energy conservation is further realized;
3) According to the electrohydraulic control system, the integrated oil tank and the hydraulic cylinder are integrally arranged, so that high-flow return oil directly enters the integrated oil tank under the working condition of hanging a cabin without a longer pipeline, and the quick response characteristic of hanging the cabin is improved;
4) The electro-hydraulic control system enables the bank bridge tilting-hanging bin system to better meet modularized and standardized requirements, the tilting-hanging bin system is designed in series according to different bank bridge products, repeated designs of different equipment pipeline systems are reduced, functional tests can be completed before the tilting-hanging bin system leaves a factory, the field test period is reduced, and the reduction of the number of spare parts of users is facilitated.
Drawings
FIG. 1 is a hydraulic schematic of an electro-hydraulic control system of the present invention;
FIG. 2 is a schematic diagram of the electro-hydraulic control system of the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1 to 2, the invention provides a shore bridge tilting-hanging integrated electrohydraulic control system, which comprises a servo driver, an electrohydraulic driving module and a hydraulic cylinder 1 which are sequentially connected.
Preferably, the electrohydraulic driving module comprises a servo motor 2, a hydraulic pump 3, a valve block 7 and an integrated oil tank 4, wherein the servo motor 2 is electrically connected with the servo driver, one end face of the valve block 7 is connected with a mounting flange face of the servo motor, the other end face of the valve block 7 is connected with and sealed with the mounting flange face of the integrated oil tank 4, the hydraulic pump 3 is arranged in the integrated oil tank 4, an input shaft of the hydraulic pump 3 is connected with an output shaft of the servo motor 2 through a coupling, and an oil port of the hydraulic pump 3 is connected with the valve block 7 through a hydraulic pipe.
Preferably, the input/output hydraulic oil of the hydraulic pump 3 is connected with a first oil path block 5 and a second oil path block 6 respectively by adopting hydraulic pipes after passing through a valve block 7, and the movement of the hydraulic cylinder 1 is controlled by the first oil path block 5 and the second oil path block 6.
Preferably, the servo driver receives a motion instruction of the main controller of the quay crane to control the output flow of the hydraulic pump 3, so as to control the tilting position of the hydraulic cylinder 1, realize volume control and greatly reduce energy loss during control of the proportional valve of the original system.
Preferably, the hydraulic cylinder 1 has two functions: 1) The tilting function controls the pose of four lifting points of a container spreader of a quay crane through telescopic movement of the hydraulic cylinder 1 (the four lifting points are positioned on the upper plane of the spreader to form a quadrilateral), and when the lengths of steel wire ropes of different lifting points are different, the spreader can generate the pose of left rotation, right rotation, forward tilting and backward tilting, so that the spreader is aligned with the upper plane of the container, and the operation of lifting a container is completed; 2) The hanging bin is an emergency protection function of the quay crane in an emergency state, namely when the container is clamped at a cabin door opening or other positions due to misoperation and the like after the container is lifted by the lifting appliance, the lifting speed is high, the lifting is stopped due to manual operation, the lifted of the hung lifting appliance and the container is not enough, the safety of the quay crane and a cargo ship can be threatened, therefore, the hanging bin is judged by the pressure detection of the hydraulic cylinder through the hanging bin protection function, once the lifting motor is triggered, namely, the main lifting motor is automatically cut off, meanwhile, the lifting is stopped from the hanging bin due to the fact that the lifting speed is very high, a certain lifting distance is generated due to the stopping delay of the main lifting winding drum and the inertial movement of the lifting appliance, and the lifting distance is compensated by the movement of the hanging bin oil cylinder, so that the lifting distance corresponding to the passive movement of the oil cylinder under the set protection pressure plays a role of buffer protection.
Preferably, the valve block 7 comprises a first balance valve 8, a second balance valve 9, a one-way valve 10, an overflow valve 11 and a flushing valve 12, one oil port of the hydraulic pump 3 is communicated with the rodless cavity of the hydraulic cylinder 1 through the second balance valve 9, the other oil port of the hydraulic pump 3 enters the rod cavity of the hydraulic cylinder 1 through the first balance valve 8 to be communicated with the integrated oil tank 4 through the one-way valve 10 for supplementing hydraulic oil in the rod cavity of the hydraulic cylinder 1, and the rodless cavity of the hydraulic cylinder 1 is communicated with the integrated oil tank 4 through two pipelines respectively provided with the flushing valve 12 and the overflow valve 11 to realize the extending/retracting movement of the hydraulic cylinder 1.
Preferably, the rodless cavity of the hydraulic cylinder 1 is further connected with a pressure relay 13 for detecting whether the rodless cavity pressure of the hydraulic cylinder 1 reaches the hanging bin protection set pressure.
Preferably, the hydraulic cylinder 1 is further connected with a displacement sensor 14 for detecting the extending/retracting position of the hydraulic cylinder 1.
The invention also provides a bank bridge tilting-hanging integrated electrohydraulic control method, which comprises tilting movement state control and hanging emergency state control;
preferably, the tilting motion state is controlled in such a way that after a quay crane operator gives a tilting command, according to the calculation of the main controller, each hydraulic cylinder 1 corresponds to an extension/retraction length, the command is sent to a corresponding servo driver, the servo driver controls the servo motor 2 to move, and the hydraulic pump 3 is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor 2.
Preferably, when the hydraulic cylinder 1 obtains the extension instruction, the servo driver controls the servo motor 2 to move, the hydraulic pump 3 is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor 2, high-pressure oil output by the hydraulic pump 3 enters a rodless cavity of the hydraulic cylinder 1 through the second balance valve 9 to push the hydraulic cylinder 1 to extend, low-pressure oil with a rod cavity of the hydraulic cylinder 1 enters a low-pressure port of the hydraulic pump 3 through the first balance valve 8, the hydraulic oil discharged from the rod cavity of the hydraulic cylinder 1 is insufficient for the flow rate of the rodless cavity movement of the hydraulic cylinder 1 because the rodless cavity area of the hydraulic cylinder 1 is larger than the rod cavity area of the hydraulic cylinder 1, at the moment, the hydraulic oil is sucked from the integrated oil tank 4 to be supplemented to the low-pressure port of the hydraulic pump 3 through the one-way valve 10, after the hydraulic cylinder 1 extends to a designated position, the hydraulic cylinder 1 is stopped, the position of the hydraulic cylinder 1 is ensured to be motionless through the first balance valve 8 and the second balance valve 9, and the position of the hydraulic cylinder 1 is detected through the displacement sensor 14.
Preferably, when the hydraulic cylinder 1 obtains a retraction command, the servo driver controls the servo motor 2 to move, the hydraulic pump 3 is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor 2, high-pressure oil output by the hydraulic pump 3 enters a rod cavity of the hydraulic cylinder 1 through the first balance valve 8 to push the hydraulic cylinder 1 to retract, rodless cavity low-pressure oil of the hydraulic cylinder 1 enters a low-pressure port of the hydraulic pump 3 through the second balance valve 9, because the rodless cavity area of the hydraulic cylinder 1 is larger than the rod cavity area of the hydraulic cylinder 1, hydraulic oil discharged from the rodless cavity of the hydraulic cylinder 1 is more than the flow rate of the rod cavity motion of the hydraulic cylinder 1, at the moment, redundant hydraulic oil is discharged back into the integrated oil tank 4 through the flushing valve 12, after the hydraulic cylinder 1 is retracted to a specified position, the hydraulic cylinder 1 is stopped, the position of the hydraulic cylinder 1 is ensured to be motionless through the first balance valve 8 and the second balance valve 9, and the position of the hydraulic cylinder 1 is detected through the displacement sensor 14.
Preferably, the emergency state of hanging cabin is controlled in such a way that when the pressure relay 13 detects that the pressure of the rodless cavity of the hydraulic cylinder 1 reaches the set pressure for hanging cabin protection, the pressure relay 13 triggers, a signal is sent to the main controller of the shore bridge, the main controller controls the main lifting motor to stop, meanwhile, the lifting appliance continues to run due to inertia, in order to ensure the safety of the main lifting steel wire rope and the shore bridge, the hydraulic cylinder 1 is retracted quickly, the tension of the steel wire rope is ensured not to exceed the limit, and at the moment, the high-pressure oil in the rodless cavity of the hydraulic cylinder 1 is discharged back to the integrated oil tank 4 through the overflow valve 11, so that the buffering of the state of hanging cabin is realized;
when the hanging bin state is released, the hydraulic cylinder 1 is automatically controlled to return to the initial position.
In summary, the electrohydraulic control system of the invention integrates each hydraulic cylinder and the oil supply system thereof, and has simple construction. In addition, once the electric hydraulic driving module fails in use, a user can detach and replace the electric hydraulic driving module integrally, the problem is not required to be solved on site by a professional, the downtime is shortened, the loss caused by the downtime is reduced, and the electric hydraulic driving module can be tested and maintained in a factory by the professional.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (7)
1. A bank bridge tilting-hanging storehouse integrated electrohydraulic control system is characterized in that: comprises a servo driver, an electrohydraulic driving module and a hydraulic cylinder which are connected in sequence;
the electrohydraulic driving module comprises a servo motor, a hydraulic pump, a valve block and an integrated oil tank, wherein the servo motor is connected with the servo driver, one end face of the valve block is connected with a mounting flange face of the servo motor, the other end face of the valve block is connected with the mounting flange face of the integrated oil tank and is sealed, the hydraulic pump is arranged in the integrated oil tank, an input shaft of the hydraulic pump is connected with an output shaft of the servo motor through a coupler, and an oil port of the hydraulic pump is connected with the valve block through a hydraulic pipe;
the input/output hydraulic oil of the hydraulic pump is respectively connected with a first oil way block and a second oil way block through a hydraulic pipe after passing through the valve block, and the movement of the hydraulic cylinder is controlled through the first oil way block and the second oil way block.
2. A quay crane tilting-hanging integrated electrohydraulic control system according to claim 1, wherein: the valve block comprises a first balance valve, a second balance valve, a one-way valve, an overflow valve and a flushing valve, one oil port of the hydraulic pump is communicated with a rodless cavity of the hydraulic cylinder through the second balance valve, the other oil port of the hydraulic pump is communicated with a rod cavity of the hydraulic cylinder through the first balance valve, the rod cavity of the hydraulic cylinder is communicated with the integrated oil tank through the one-way valve, and the rodless cavity of the hydraulic cylinder is communicated with the integrated oil tank through the flushing valve and the overflow valve.
3. A quay crane tilting-hanging integrated electrohydraulic control system according to claim 2, wherein: the rodless cavity of the hydraulic cylinder is also connected with a pressure relay.
4. A quay crane tilting-hanging integrated electrohydraulic control system according to claim 2, wherein: and the hydraulic cylinder is also connected with a displacement sensor.
5. A method for controlling a quay crane tilting-hanging integrated electrohydraulic control system according to any of the claims 1-4, characterized by: the method comprises tilting motion state control and hanging bin emergency state control;
the tilting motion state is controlled in such a way that after a quay crane operator gives a tilting command, each hydraulic cylinder corresponds to an extending/retracting length according to the resolving of the main controller, the command is sent to a corresponding servo driver, the servo driver controls the servo motor to move, and the hydraulic pump is driven to output different flow by adjusting the rotation direction and the rotation speed of the servo motor;
the hydraulic cylinder is controlled to be in a suspended bin emergency state, when the pressure relay detects that the rodless cavity pressure of the hydraulic cylinder reaches the suspended bin protection set pressure, the pressure relay is triggered to send a signal to the main controller, the main controller controls the main lifting motor to stop, meanwhile, the lifting appliance continues to run due to inertia, in order to ensure the safety of the main lifting steel wire rope and the shore bridge, the hydraulic cylinder is retracted quickly, the tension of the steel wire rope is ensured not to exceed the limit, and at the moment, the rodless cavity high-pressure oil of the hydraulic cylinder is discharged back to the integrated oil tank through the overflow valve, so that the suspended bin state is buffered;
and when the hanging bin state is released, the hydraulic cylinder is automatically controlled to return to the initial position.
6. The control method according to claim 5, characterized in that: when the hydraulic cylinder obtains an extension instruction, the servo driver controls the servo motor to move, the hydraulic pump is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor, high-pressure oil output by the hydraulic pump enters a rodless cavity of the hydraulic cylinder through a second balance valve to push the hydraulic cylinder to extend, low-pressure oil in a rod cavity of the hydraulic cylinder enters a low-pressure port of the hydraulic pump through a first balance valve, the area of the rodless cavity of the hydraulic cylinder is larger than that of the rod cavity of the hydraulic cylinder, hydraulic oil discharged from the rod cavity of the hydraulic cylinder is insufficient for the flow rate of the rodless cavity movement of the hydraulic cylinder, hydraulic oil is sucked from an integrated oil tank to be supplemented to a low-pressure port of the hydraulic pump through a one-way valve at the moment, after the hydraulic cylinder extends to a designated position, the hydraulic cylinder is stopped, the position of the hydraulic cylinder is ensured to be motionless through the first balance valve and the second balance valve, and the position of the hydraulic cylinder is detected through a displacement sensor.
7. The control method according to claim 6, characterized in that: when the hydraulic cylinder obtains a retraction instruction, the servo driver controls the servo motor to move, the hydraulic pump is driven to output different flow rates by adjusting the rotation direction and the rotation speed of the servo motor, high-pressure oil output by the hydraulic pump enters a rod cavity of the hydraulic cylinder through a first balance valve to push the hydraulic cylinder to retract, rodless cavity low-pressure oil of the hydraulic cylinder enters a low-pressure port of the hydraulic pump through the first balance valve, because the rodless cavity area of the hydraulic cylinder is larger than that of the hydraulic cylinder, the hydraulic oil discharged from the rodless cavity of the hydraulic cylinder is more than that of the rod cavity movement of the hydraulic cylinder, at the moment, redundant hydraulic oil is discharged back into an integrated oil tank through a flushing valve, and when the hydraulic cylinder is retracted to a designated position
After the hydraulic cylinder is placed, the hydraulic cylinder is stopped, the position of the hydraulic cylinder is ensured to be fixed through the first balance valve and the second balance valve,
the position of the hydraulic cylinder is detected by a displacement sensor.
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| WO2015078249A1 (en) * | 2013-11-26 | 2015-06-04 | 三一汽车制造有限公司 | Integrated hydraulic valve unit, hydraulic driving system and concrete pump |
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| CN110240067A (en) | 2019-09-17 |
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