CN110510545A - A kind of heavy double crossing type lifting apparatus hydraulic synchronization control loops - Google Patents
A kind of heavy double crossing type lifting apparatus hydraulic synchronization control loops Download PDFInfo
- Publication number
- CN110510545A CN110510545A CN201811394510.6A CN201811394510A CN110510545A CN 110510545 A CN110510545 A CN 110510545A CN 201811394510 A CN201811394510 A CN 201811394510A CN 110510545 A CN110510545 A CN 110510545A
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- plc controller
- valve
- scissor cylinder
- cylinder
- balanced valve
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The present invention is the double crossing type lifting apparatus hydraulic synchronization control loops of the heavy type imperial for van container dress.It is made of functional component and structure member, functional component has left stay wire sensor, right stay wire sensor, left and right displacement sensor, left and right balanced valve, proportional reversing valve and PLC controller.Left and right stay wire sensor connects upper mounting plate and PLC controller；Left and right displacement sensor connects left and right scissor oil cylinder and PLC controller；Left-right balance valve connects proportional reversing valve and each scissor cylinder；Proportional reversing valve connects proportional amplifier, PLC controller and Variable plunger pump；Left and right stay wire sensor and left and right displacement sensor are separately connected PLC controller.Left stay wire sensor and right stay wire sensor are separately connected upper mounting plate and PLC controller；It is suitable for automation, excess weight, large volume, the imperial transport of multiple batches of container dress, has the advantages that control precision height, synchronous error is small, structure is simple, accurate positioning, flexible operation and operational safety.
Description
Technical field
The present invention is to be related to a kind of double crossing type lifting apparatus hydraulic synchronization controls of heavy type that van container fills imperial field
Circuit processed.
Background technique
In the prior art, scissors fork elevating mechanism is single group scissor liter mostly to reduce unnecessary hydraulic synchronization control
Descending mechanism.What double shear fork elevating mechanism generallyd use is 1-2 branch Hydraulic Cylinder scissors fork elevating, and lifting quality is smaller, hydraulic
It has a single function, to decline safety poor.And the hydraulic synchronization circuit of van container double shear fork elevating mechanism is to utilize hydraulic control
Function is realized.Using the hydraulic synchronization control of series connection synchronous hydraulic cylinder, due to hydraulic leak and foozle, therefore exist same
Walk error；Using the hydraulic synchronization circuit of speed governing valve speed-regulating function, due to speed regulation valve performance, oil temperature, load, leakage and resistance
It is little to control not high precision, control limited mass, control volume for difference.
Summary of the invention
The invention aims to provide a kind of heavy double crossing type lifting apparatus hydraulic synchronization control loops, it can
Control precision is effectively improved, control quality and control volume are reliably increased.
A kind of heavy double crossing type lifting apparatus hydraulic synchronization control loops are designed, it is by functional component and structure member
Composition, functional component are provided with left stay wire sensor, right stay wire sensor, left position displacement sensor, right displacement sensor, Zuo Pingheng
Valve, right balanced valve, proportional reversing valve and PLC controller；The respective both ends of left stay wire sensor and right stay wire sensor connect respectively
Connect platform and PLC controller；Left position displacement sensor is arranged in left scissor cylinder A, one end connection PLC control of left position displacement sensor
Device processed；Right displacement sensor is arranged in right scissor cylinder A, and one end of right displacement sensor connects PLC controller；Left balanced valve,
Right balanced valve is connected separately with left scissor cylinder A, left scissor cylinder B, right scissor cylinder A, right scissor cylinder B and upper mounting plate；Proportional reversing valve
It is connected separately with PLC controller, proportional amplifier, motor, Variable plunger pump, left balanced valve and right balanced valve.
Meanwhile left balanced valve connects left scissor cylinder A, left scissor cylinder B and upper mounting plate, realize left balanced valve to left scissor cylinder A,
The control of the balance of left scissor cylinder B and upper mounting plate；Right balanced valve connects right scissor cylinder A, right scissor cylinder B and upper mounting plate, realizes right flat
The valve that weighs controls the balance of right scissor cylinder A, right scissor cylinder B and upper mounting plate；Proportional reversing valve and left balanced valve and right balanced valve point
It does not connect, realizes that proportional reversing valve cuts left balanced valve, right balanced valve, left scissor cylinder A, left scissor cylinder B, right scissor cylinder A, the right side
Pitch lifting commutation control, speed control and the synchronously control of cylinder B and upper mounting plate.
In addition, PLC controller, proportional amplifier and proportional reversing valve are sequentially connected, PLC controller and ratio enlargement are realized
The control of device comparative example reversal valve；Motor, Variable plunger pump couple with PLC controller, realize PLC controller to motor and variable
The control of plunger pump；Variable plunger pump and proportional reversing valve are connected with each other, and realize proportional reversing valve to the feedback of Variable plunger pump
Control.
The method have the benefit that: since functional component is provided with left stay wire sensor, right stay wire sensor, a left side
Displacement sensor, right displacement sensor, left balanced valve, right balanced valve, proportional reversing valve and PLC controller, thus can reduce
Synchronous error.Simultaneously because control unit is provided with PLC controller, proportional amplifier, proportional reversing valve, it is thus possible to reliably
Mention high control precision.The present invention also has simple structure, accurate positioning, flexible operation, operational safety, carrying quality weight, lifting
The advantages of volume is big and can realize automation circulate operation.
Detailed description of the invention
Fig. 1 is control block；Fig. 2 is part structure diagram；Fig. 3 is the left view of Fig. 2；Fig. 4 is the right view of Fig. 2.
In figure, 1, functional component, 2, structure member, 3, left scissors mechanism, 4, right scissors mechanism, 5, left stay wire sensor,
6, right stay wire sensor, 7, left position displacement sensor, 8, right displacement sensor, 9, left scissor cylinder A, 10, left scissor cylinder B, 11, the right side cuts
Pitch cylinder A, 12, right scissor cylinder B, 13, left balanced valve, 14, right balanced valve, 15, proportional reversing valve, 16, motor, 17, variable piston
Pump, 18, proportional amplifier, 19, PLC controller, 20, upper mounting plate, 21, lower platform, 22, pulley, 23, support, 24, rod chamber,
25, rodless cavity, 26, guide groove, 27, upper beam, 28, underbeam.
Specific embodiment
The invention will be further described for two parts of embodiment point provided below by attached drawing.
First part, mechanism part.
Embodiment of the present invention includes: functional component (1), structure member (2)；
Functional component (1) includes: left scissors mechanism (3), right scissors mechanism (4), left stay wire sensor (5), right stay wire sensor
(6), left position displacement sensor (7), right displacement sensor (8), left scissor cylinder A (9), left scissor cylinder B (10), right scissor cylinder A (11),
Right scissor cylinder B (12), left balanced valve (13), right balanced valve (14), proportional reversing valve (15), motor (16), Variable plunger pump
(17), proportional amplifier (18), PLC controller (19)；
Structure member (2) includes: upper mounting plate (20), lower platform (21), pulley (22), support (23), rod chamber (24), no bar
Chamber (25), guide groove (26), upper beam (27), underbeam (28).
Second part, synchronously control process.
It starts switch and gives electric PLC controller (19), starting automatic lifting switch is issued by PLC controller (19) and followed automatically
Ring motion flow issues signal enabling motor (16), issues the pressure of signal setting Variable plunger pump (17), makes Variable plunger pump
(17) it rotates and sets up initial pressure, issued after 5 seconds and rise or fall signal.
When executing vertical motion, PLC controller (19) issues upper mounting plate (20) rising signals, through proportional amplifier (18)
Amplification passes to proportional reversing valve (15), and two proportional reversing valves (15) are commutated simultaneously according to Setting signal, and hydraulic oil passes through change
Amount plunger pump (17), proportional reversing valve (15), left balanced valve (13) and right balanced valve (14) respectively enter left scissor cylinder A (9), a left side
Scissor cylinder B (10), right scissor cylinder A (11), right scissor cylinder B (12) rodless cavity (25), piston rod stretching pushes left scissor respectively
Mechanism (3), right scissors mechanism (4) rise, so that upper mounting plate (20) be pushed to rise.Rod chamber (24) hydraulic oil then passes through a left side respectively
Balanced valve (13), right balanced valve (14), proportional reversing valve (15) flow back to fuel tank.
When executing lowering action, PLC controller (19) issues upper mounting plate (20) dropping signal, puts through proportional amplifier
Greatly, it passes to proportional reversing valve (15), proportional reversing valve (15) commutates according to Setting signal, and hydraulic oil passes through Variable plunger pump
(17), proportional reversing valve (15), left balanced valve (13) and right balanced valve (14) respectively enter left scissor cylinder A (9), left scissor cylinder B
(10), the rod chamber (24) of right scissor cylinder A (11), right scissor cylinder B (12), piston rod retract, and pull left scissors mechanism respectively
(3), right scissors mechanism (4) decline, so that upper mounting plate (20) be pulled to decline.The hydraulic oil of rodless cavity (25) is then respectively by left flat
Weighing apparatus valve (13), right balanced valve (15), proportional reversing valve (15) flow back to fuel tank.
The movements such as upper mounting plate (20) up and down, stopping switching, each proportional reversing valve can be achieved in proportional reversing valve (15)
(15) uninterrupted and pressure height can individually be set.Can by PLC controller (19) set adjustment aperture to control flow,
To control left scissor cylinder A (9), left scissor cylinder B (10), right scissor cylinder A (11), right scissor cylinder B (12) extend and retract
Speed adjusts the speed of upper mounting plate (20) raising and lowering.
The flow of Variable plunger pump (17) is controlled by proportional reversing valve (15), proportional reversing valve (15) and Variable plunger pump
(17) connection has control oil circuit between, and proportional reversing valve (15) adjusts Variable plunger pump by the flow and pressure change of control oil
(17) output flow.The setting pressure of Variable plunger pump (17) is controlled by PLC controller (19), and PLC controller (19) issues
Pressure setting, Variable plunger pump (17) can set different pressures rank.
The setting pressure of left balanced valve (13) and right balanced valve (14) is greater than left scissors mechanism (3), right scissors mechanism (4) institute
By load pressure, make the rodless cavity of left scissor cylinder A (9), left scissor cylinder B (10), right scissor cylinder A (11), right scissor cylinder B (12)
(25) back pressure is generated.When proportional reversing valve (15) commutate simultaneously stopping rise or fall when, left scissors mechanism (3) and right scissor machine
Structure (4) stops, and left balanced valve (13) and right balanced valve (14) make the back pressure of rodless cavity (25) generation, can make left scissor cylinder A (9),
Left scissor cylinder B (10), left scissor cylinder B (11), right scissor cylinder B (12) are steadily parked in setting position, to make left scissors mechanism (3)
With right scissors mechanism (4) during liter or drop, desired height position can be rested on, positioning accuracy reaches 1mm.
When left scissors mechanism (3) and right scissors mechanism (4) need to decline, the control oil of rod chamber (24) is by left balanced valve
(13) and right balanced valve (14) oil circuit opens certain aperture, so that the oil liquid of rodless cavity (25) is flowed back to fuel tank, and keep centainly
Return oil pressure declines left scissor cylinder A (9), left scissor cylinder B (10), left scissor cylinder B (11), right scissor cylinder B (12) steadily, and
It is unlikely to rapid decrease occur, damages complete machine.
Left stay wire sensor (5) and right stay wire sensor (6) respectively fill one in the left and right side of upper mounting plate (20), are used for
Upper mounting plate (20) height controls and leveling control.When upper mounting plate (20) raising and lowering, left stay wire sensor (5) and right bracing wire
Sensor (6) can detect upper mounting plate (20) left end and right end height value, and be transmitted to PLC controller (19), upper mounting plate (20)
Left stay wire sensor (5) and the lifting of right stay wire sensor (6) height value are set by PLC controller (19) or are stopped.PLC controller
(19) comparison that upper mounting plate (20) left end and right end height value may be implemented, on the basis of the height of upper mounting plate (20) left end, when two
When height error being held to be greater than 1mm, PLC controller (19) is issued a signal to proportional reversing valve (15), and proportional reversing valve (15) increases
Or reduce aperture, be adjusted into the flow of right scissor cylinder A (11) and right scissor cylinder B (12), adjust right scissors mechanism (4) rising or
The speed of decline, until upper mounting plate (20) left and right ends difference in height control in 1mm, make upper mounting plate (20) level.
Left position displacement sensor (7) and right displacement sensor (8) is each on left scissor cylinder A (9), right scissor cylinder A (11) fills one
Branch, left position displacement sensor (7) and right displacement sensor (8) detect left scissor cylinder A (9) and right scissor cylinder A (11) travel displacement,
And sending PLC controller (19) to, PLC controller (19) is after operation compares, when left position displacement sensor (7) and right displacement pass
When the difference of sensor (8) exceeds 5mm, PLC controller (19) is sounded an alarm and is shut down, and prevents left scissor cylinder A (9), right scissor cylinder A
(11) asynchronous problem, plays the role of secondary safety protection and monitoring.
Claims (3)
1. a kind of heavy double crossing type lifting apparatus hydraulic synchronization control loops, it is by functional component (1) and structure member (2)
Composition, it is characterised in that: functional component (1) is provided with left stay wire sensor (5), right stay wire sensor (6), left position displacement sensor
(7), right displacement sensor (8), left balanced valve (13), right balanced valve (14), proportional reversing valve (15) and PLC controller (19)；
The respective both ends of left stay wire sensor (5) and right stay wire sensor (6) are separately connected upper mounting plate (20) and PLC controller (19)；
Left position displacement sensor (7) is arranged in left scissor cylinder A(9) in, one end of left position displacement sensor (7) connects PLC controller (19)；It is right
In right scissor cylinder A (11), one end of right displacement sensor (8) connects PLC controller (19) for displacement sensor (8) setting；It is left
Balanced valve (13), right balanced valve (14) are connected separately with left scissor cylinder A (9), left scissor cylinder B (10), right scissor cylinder A (11), the right side
Scissor cylinder B (12) and upper mounting plate (20)；Proportional reversing valve (15) be connected separately with PLC controller (19), proportional amplifier (18),
Motor (16), Variable plunger pump (17), left balanced valve (13) and right balanced valve (14).
2. heavy double crossing type lifting apparatus hydraulic synchronization control loops according to claim 1, it is characterized in that: Zuo Ping
Weigh the left scissor cylinder A (9) of valve (13) connection, left scissor cylinder B (10) and upper mounting plate (20), realizes left balanced valve to left scissor cylinder (9)
A, the balance of left scissor cylinder B (10) and upper mounting plate (20) controls；Right balanced valve (14) connects right scissor cylinder A (11), right scissor cylinder B
(12) and upper mounting plate (20), realize right balanced valve (14) to right scissor cylinder A (11), right scissor cylinder B (12) and upper mounting plate (20)
Balance control；Proportional reversing valve (15) is separately connected with left balanced valve (13) and right balanced valve (14), realizes proportional reversing valve
(15) to left balanced valve (13), right balanced valve (14), left scissor cylinder (9) A, left scissor cylinder B (10), right scissor cylinder A (11), the right side
Lifting commutation control, speed control and the synchronously control of scissor cylinder B (12) and upper mounting plate (20).
3. heavy double crossing type lifting apparatus hydraulic synchronization control loops according to claim 1, it is characterized in that: PLC
Controller (19), proportional amplifier (18) and proportional reversing valve (15) are sequentially connected, and realize PLC controller (19) and ratio enlargement
The control of device (18) comparative example reversal valve (15)；Motor (16), Variable plunger pump (17) couple with PLC controller (19), realize
Control of the PLC controller (19) to motor (16) and Variable plunger pump (17)；Variable plunger pump (17) and proportional reversing valve (15)
It is connected with each other, realizes proportional reversing valve (15) to the feedback control of Variable plunger pump (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394510.6A CN110510545B (en) | 2018-11-22 | 2018-11-22 | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394510.6A CN110510545B (en) | 2018-11-22 | 2018-11-22 | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110510545A true CN110510545A (en) | 2019-11-29 |
| CN110510545B CN110510545B (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811394510.6A Active CN110510545B (en) | 2018-11-22 | 2018-11-22 | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device |
Country Status (1)
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| CN (1) | CN110510545B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902856A (en) * | 2023-09-11 | 2023-10-20 | 烟台市劲拓汽车科技有限公司 | Lifting machine and lifting method |
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| CN116902856B (en) * | 2023-09-11 | 2023-11-14 | 烟台市劲拓汽车科技有限公司 | Lifting machine and lifting method |
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| CN110510545B (en) | 2023-08-08 |
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Address after: 441057 No.5, zhuiri Road, high tech Zone, Xiangyang City, Hubei Province Applicant after: China Ordnance Industry Group Jiangshan Heavy Industry Research Institute Co.,Ltd. Address before: 441004 No.1, Lianhua Road, Nissan Industrial Park, high tech Zone, Xiangyang City, Hubei Province Applicant before: HUBEI JIANGSHAN HEAVY INDUSTRIES Co.,Ltd. |
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| GR01 | Patent grant |