CN113790182A - Cantilever crane self-weight retraction control system and control method - Google Patents
Cantilever crane self-weight retraction control system and control method Download PDFInfo
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- CN113790182A CN113790182A CN202111108549.9A CN202111108549A CN113790182A CN 113790182 A CN113790182 A CN 113790182A CN 202111108549 A CN202111108549 A CN 202111108549A CN 113790182 A CN113790182 A CN 113790182A
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- 238000000034 method Methods 0.000 title claims description 9
- 239000003921 oil Substances 0.000 claims abstract description 272
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 60
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000012530 fluid Substances 0.000 claims description 5
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 13
- 230000003247 decreasing effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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- 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
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
Abstract
The invention discloses a self-weight retraction control system of an arm support, which comprises: the hydraulic lifting device comprises a telescopic hydraulic cylinder, an oil pump, a proportional valve, a sensor and a control component, wherein a piston rod for lifting a load is arranged in the telescopic hydraulic cylinder, and the piston rod divides the interior of the telescopic hydraulic cylinder into a rod cavity and a rodless cavity; an oil inlet of the oil pump is connected with an oil tank for storing hydraulic oil, and an oil outlet of the oil pump is connected with the rod cavity; the proportional valve is respectively connected with the oil tank and the rodless cavity and is used for controlling the flow of the hydraulic oil flowing into the oil tank from the rodless cavity; the sensor is used for detecting the movement speed of the piston rod; the control component is used for receiving the detection result of the sensor and sequentially controlling the rotating speed of the oil pump and the opening of the proportional valve according to the detection result of the sensor. According to the boom self-weight retraction control system provided by the invention, the piston rod is retracted under the assistance of the gravity of the load in the working state of retraction of the piston rod, so that the energy consumption of an oil pump is effectively reduced.
Description
Technical Field
The invention relates to the field of overhead working trucks, in particular to a boom dead-weight retraction control system and a control method.
Background
At present, an aerial working vehicle is a special vehicle for transporting workers and using equipment to the high altitude to install, maintain and clean equipment located at the high altitude, and compared with traditional working modes such as scaffold and ladder building, the aerial working vehicle has the advantages of good working performance, high working efficiency, safe working and the like, and is widely applied to the infrastructure industries such as electric power, traffic, petrifaction, communication, gardens and the like. At present, a commonly used high-altitude operation vehicle is in consideration of energy conservation, and when high-altitude operation is carried out after parking, a hydraulic lifting system is electrically driven to reduce oil consumption of an engine. However, the hydraulic lifting system has high energy consumption, and the capacity of the vehicle-mounted battery is limited, so that the battery consumes more power quickly, and the operation time is shortened.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a boom self-weight retraction control system and a control method, which can effectively reduce the energy consumption of the overhead working truck during overhead working and prolong the working time.
According to the embodiment of the first aspect of the invention, the boom dead-weight retraction control system comprises: the hydraulic lifting device comprises a telescopic hydraulic cylinder, an oil pump, a proportional valve, a sensor and a control component, wherein a piston rod for lifting a load is arranged in the telescopic hydraulic cylinder, and the piston rod divides the interior of the telescopic hydraulic cylinder into a rod cavity and a rodless cavity; an oil inlet of the oil pump is connected with an oil tank for storing hydraulic oil, and an oil outlet of the oil pump is communicated with the rod cavity; the proportional valve is respectively connected with the oil tank and the rodless cavity and is used for controlling the flow of the hydraulic oil flowing back to the oil tank from the rodless cavity; the sensor is used for detecting the movement speed of the piston rod; the control component is used for receiving the detection result of the sensor and sequentially controlling the rotating speed of the oil pump and the opening of the proportional valve according to the detection result of the sensor.
The boom self-weight retraction control system provided by the embodiment of the invention at least has the following technical effects: according to the boom dead-weight retraction control system provided by the embodiment of the invention, when the piston rod retracts under the gravity of a load, the oil pump conveys hydraulic oil to the rod cavity, the space in the rod-free cavity is compressed, the hydraulic oil in the rod-free cavity flows into the oil tank through the proportional valve, the sensor detects the movement speed of the piston rod, and when the load descending speed is too high, the control component can reduce the rotating speed of the oil pump so as to reduce the hydraulic oil pressure in the rod cavity, thereby reducing the movement speed of the piston rod, controlling the opening of the proportional valve until the oil pump stops completely, reducing the flow of the hydraulic oil flowing from the rod-free cavity to the proportional valve, and further controlling the movement speed of the piston rod. Under the working condition that the piston rod retracts, the piston rod retracts under the assistance of the gravity of the load, the energy consumption of the oil pump is effectively reduced, and the working time is prolonged.
According to some embodiments of the present invention, the oil pump is connected to a first solenoid valve and a second solenoid valve, the first solenoid valve and the second solenoid valve are both two-position three-way solenoid valves, the first solenoid valve has a first working oil port a, a first oil inlet B, and a first oil return port C, the second solenoid valve has a second working oil port D, a second oil inlet E, and a second oil return port F, the first working oil port a and the second working oil port D are both connected to an oil outlet of the oil pump, the first oil inlet B is connected to the rodless cavity through the proportional valve, the second oil inlet E is connected to the rod cavity, and the first oil return port C and the second oil return port F are both connected to the oil tank.
According to some embodiments of the present invention, a first external control overflow valve is connected between the second oil inlet E and the rod cavity, a control port of the first external control overflow valve is connected to the first oil inlet B, when the first oil inlet B has no pressure, the first external control overflow valve is closed to isolate the second oil inlet E from the rod cavity, and when the first oil inlet B has pressure, the first external control overflow valve is opened to communicate the second oil inlet E with the rod cavity.
According to some embodiments of the present invention, a first check valve is connected to the second oil inlet E, and an end of the first check valve, which is away from the second oil inlet E, is connected to the rod chamber, and the first check valve is configured to prevent hydraulic oil in the rod chamber from flowing to the second oil inlet E through the first check valve.
According to some embodiments of the invention, a switch valve is arranged between the proportional valve and the rodless cavity, and the switch valve is used for controlling on-off between the proportional valve and the rodless cavity.
According to some embodiments of the invention, the first oil inlet B is connected with an overflow valve for limiting the highest pressure at the first oil inlet B.
According to some embodiments of the invention, an oil pressure control valve group is arranged between the oil outlet of the oil pump and the rod chamber, and is used for controlling the pressure in the rodless chamber when the piston rod extends out.
The invention also provides a control method of the boom dead weight retraction control system, which comprises the following steps
S1: and when the telescopic hydraulic cylinder needs to retract after extending, the first electromagnetic valve is switched to enable the first oil inlet B to be communicated with the first oil return port C, and the second electromagnetic valve is switched to enable the second oil inlet E to be communicated with the second working oil port D.
S2: start the oil pump is followed hydraulic oil is carried to the oil tank oil pressure control valves, carry behind the regulated pressure the second solenoid valve second working fluid port D, hydraulic oil flows through the second solenoid valve is followed second oil inlet E flows through thereby first check valve gets into there is the pole chamber, hydraulic oil is in there promote in the pole chamber the piston rod motion, hydraulic oil is compressed in the no pole chamber, opens the proportional valve with the ooff valve, hydraulic oil in the no pole chamber flows through the proportional valve with the ooff valve flows back to the oil tank.
S3: and detecting the movement speed of the piston rod by using the sensor, and transmitting the detection result to the control part.
S4: the control unit controls the rotation speed of the oil pump and the opening degree of the proportional valve according to the detection result of the sensor.
According to some embodiments of the present invention, in step S4, when the detection result of the sensor received by the control unit is greater than a preset safety value, the oil pump speed is reduced until the oil pump speed is equal to zero, the second solenoid valve is switched to communicate the second oil inlet E with the second oil return opening F, and then the proportional valve opening degree is reduced.
According to some embodiments of the invention, in the step S4, when the detection result of the sensor received by the control part is smaller than a preset safety value, the control part detects the proportional valve opening, and if the proportional valve opening is not fully opened, the proportional valve opening is increased; and if the opening degree of the proportional valve is fully opened, increasing the rotating speed of the oil pump and switching the second electromagnetic valve to enable the second oil inlet E to be communicated with the second working oil port D.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a general schematic of a first embodiment of the invention;
fig. 2 is a general schematic diagram of a second embodiment of the invention.
Reference numerals:
a telescopic hydraulic cylinder 100, a piston rod 110, a rod cavity 120 and a rodless cavity 130;
the oil pump 200, the second check valve 201, the oil tank 210, the filter screen 211, the first electromagnetic valve 220, the second electromagnetic valve 230, the first externally controlled overflow valve 240, the first check valve 250, the switch valve 260, the overflow valve 270 and the second externally controlled overflow valve 280;
a proportional valve 300;
an oil pressure control valve group 400;
a-a first working oil port of the first solenoid valve 220;
b-a first oil inlet of the first solenoid valve 220;
c-a first oil return port of the first solenoid valve 220;
d-a second working port of the second solenoid valve 230;
e-a second oil inlet of the second solenoid valve 230;
f-second oil return port of second solenoid valve 230.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, a boom self-weight retraction control system according to an embodiment of the present invention includes: the hydraulic lifting system comprises a telescopic hydraulic cylinder 100, an oil pump 200, a proportional valve 300, a sensor and a control component, wherein a piston rod 110 for lifting load is arranged in the telescopic hydraulic cylinder 100, and the piston rod 110 can move along the inner wall of the telescopic hydraulic cylinder 100. The piston at the end of the piston rod 110 divides the interior of the telescopic hydraulic cylinder 100 into a rod cavity 120 and a rodless cavity 130; one end of the piston rod 110 far away from the piston is connected with a load such as an arm support, an aerial work platform and the like. Oil pump 200 prefers to select the plunger pump, and the oil inlet of oil pump 200 is provided with filter screen 211 to reduce the impurity that gets into oil pump 200, improve oil pump 200 life. An oil inlet of the oil pump 200 is connected with an oil tank 210 for storing hydraulic oil, an oil outlet of the oil pump 200 is communicated with the rod cavity 120, and the oil pump 200 conveys the hydraulic oil from the oil tank 210 to the rod cavity 120; the proportional valve 300 is respectively connected with the oil tank 210 and the rodless chamber 130, and the proportional valve 300 is used for controlling the flow of the hydraulic oil which flows back to the oil tank 210 from the rodless chamber 130; the sensor is used to detect the speed of movement of the piston rod 110. The sensors and control components are not shown in fig. 1. It is anticipated that the sensor may be a length sensor, a distance sensor, or the like that can directly or indirectly measure the moving speed of the piston rod 110, and the sensor measures the length of the boom, and then calculates the moving speed of the piston rod from the feedback signal of the length sensor. The control component is used for receiving the detection result of the sensor, and when the speed of the movement of the piston rod 110 is greater than a set value, the control component can reduce the rotating speed of the oil pump 200 so as to reduce the hydraulic oil pressure in the rod cavity 120 and reduce the speed of the movement of the piston rod 110 so as to reduce the electric energy consumption of the oil pump 200. When the oil pump 200 stops completely and the oil pump 200 consumes no more electric power, the control part controls the opening of the proportional valve 300 to reduce the flow rate of the hydraulic oil flowing from the rodless chamber 130 to the proportional valve 300, thereby controlling the speed at which the piston rod 110 moves.
According to the boom dead-weight retraction control system provided by the invention, when the piston rod 110 retracts under the gravity of a load, the oil pump 200 conveys hydraulic oil to the rod cavity 120, the space in the rodless cavity 130 is compressed, the hydraulic oil in the rodless cavity 130 flows into the oil tank 210 through the proportional valve 300, the sensor detects the movement speed of the piston rod 110, when the load descending speed is too fast, the control component can reduce the rotating speed of the oil pump 200 so as to reduce the hydraulic oil pressure in the rod cavity 120, thereby reducing the movement speed of the piston rod 110, and controlling the opening degree of the proportional valve 300 until the oil pump 200 stops completely, thereby reducing the flow of the hydraulic oil flowing from the rodless cavity 130 to the proportional valve 300, and further controlling the movement speed of the piston rod 110. Under the working condition that the piston rod 110 retracts, the piston rod 110 is retracted by the aid of gravity of the load, energy consumption of the oil pump 200 is effectively reduced, and working time is prolonged.
Referring to fig. 1, in the first embodiment of the present invention, an oil outlet of an oil pump 200 is respectively connected to a first solenoid valve 220 and a second solenoid valve 230, the first solenoid valve 220 and the second solenoid valve 230 are two-position three-way solenoid valves, the first solenoid valve 220 has a first working oil port a, a first oil inlet B, and a first oil return port C, the second solenoid valve 230 has a second working oil port D, a second oil inlet E, and a second oil return port F, the first working oil port a and the second working oil port D are both connected to an oil pressure control valve group 400, the first oil inlet B is connected to a rodless cavity 130 through a proportional valve 300, the second oil inlet E is connected to a rod cavity 120, and the first oil return port C and the second oil return port F are both connected to an oil tank 210. The first solenoid valve 220 has a first state and a second state, and when the first solenoid valve 220 is in the first state, the first working oil port a is communicated with the first oil inlet B. When the first solenoid valve 220 is in the second state, the first oil inlet B is communicated with the first oil return port C, the second solenoid valve 230 has a third state and a fourth state, when the second solenoid valve 230 is in the third state, the second working oil port D is communicated with the second oil inlet E, when the second solenoid valve 230 is in the fourth state, the second oil inlet E is communicated with the second oil return port F, the rodless cavity 130 can be sequentially connected with the oil pump 200 and the oil tank 210 by switching the first solenoid valve 220, and the rod cavity 120 can be sequentially connected with the oil pump 200 and the oil tank 210 by switching the second solenoid valve 230. The hydraulic oil output from the oil pump 200 can sequentially enter the rod chamber 120 and the rodless chamber 130, thereby sequentially achieving the retraction and the extension of the piston rod 110.
Referring to fig. 1, in the first embodiment of the present invention, a first external control relief valve 240 is connected between the second oil inlet E and the rod cavity 120, a control port of the first external control relief valve 240 is connected to the first oil inlet B, when the first oil inlet B has no pressure, the first external control relief valve 240 is closed to block the second oil inlet E from the rod cavity 120, when the first oil inlet B has pressure, the first external control relief valve 240 is opened to communicate the second oil inlet E with the rod cavity 120, the piston rod 110 needs to be kept stationary, the oil pump 200 is stopped, the proportional valve 300 is closed to block the rod-free cavity 130, the control port pressure of the first external control relief valve 240 disappears to block the rod cavity 120, and at this time, the oil pump 200 can also fix the piston rod 110 in the telescopic hydraulic cylinder 100, thereby effectively saving energy.
Referring to fig. 1, in the first embodiment of the present invention, the second oil inlet E is connected to a first check valve 250, one end of the first check valve 250, which is away from the second oil inlet E, is connected to the rod chamber 120, and the first check valve 250 is used for preventing hydraulic oil in the rod chamber 120 from flowing to the second oil inlet E through the first check valve 250. When the piston rod 110 retracts, the first externally controlled relief valve 240 is in a closed state, and hydraulic oil can enter the rod chamber 120 through the first check valve 250, which facilitates the retraction of the piston rod 110.
Referring to fig. 1, in the first embodiment of the present invention, an on-off valve 260 is disposed between the proportional valve 300 and the rodless chamber 130, the on-off valve 260 is used for controlling on-off between the proportional valve 300 and the rodless chamber 130, and the on-off valve 260 has better sealing performance than the proportional valve 300, and can prevent the piston rod 110 from retracting due to leakage of the proportional valve 300 when the piston rod 110 is at rest.
Referring to fig. 1, in the first embodiment of the present invention, the first oil inlet B is connected to a relief valve 270, and the opening pressure of the relief valve 270 is 145 bar. The overflow valve 270 is used for limiting the highest pressure at the first oil inlet B, the overflow valve 270 is in a closed state under normal working conditions, when the load is too large and a pipeline is blocked, the oil pump 200 may continuously operate to increase the pressure in the pipeline, and at this time, the overflow valve 270 can effectively limit the highest pressure at the first oil inlet B to prevent the pipeline from being damaged.
Referring to fig. 1, in the first embodiment of the present invention, a second check valve 201 is connected to the oil tank 210, a second oil return port F and a second oil inlet E are respectively connected to an end of the second check valve 201 away from the oil tank 210, and the second check valve 201 is configured to prevent hydraulic oil in the oil tank from flowing to the second oil return port F and the second oil inlet E.
Referring to fig. 1, in the first embodiment of the present invention, an oil pressure control valve assembly 400 is disposed between an oil outlet of an oil pump 200 and a rod chamber 120, the oil pressure control valve assembly 400 is composed of a plurality of throttle valves or electromagnetic valves, and the oil pressure control valve assembly 400 is prior art and will not be described in detail. The oil pressure control valve group 400 controls the pressure at the oil outlet of the oil pump 200 through throttling action, and prevents the hydraulic pipeline from being damaged due to overhigh pressure at the oil outlet of the oil pump 200.
Referring to fig. 1, in the first embodiment of the present invention, an oil pressure control valve assembly 400 is disposed between an oil outlet of an oil pump 200 and a rod chamber 120, the oil pressure control valve assembly 400 is composed of a plurality of throttle valves or electromagnetic valves, and the oil pressure control valve assembly 400 is prior art and will not be described in detail. The oil pressure control valve set 400 controls the pressure behind the oil outlet of the oil pump 200 through throttling action, and controls the pressure in the rodless cavity 130 when the piston rod 110 extends, so that the extending speed of the piston rod 110 is controlled.
Referring to fig. 2, in the second embodiment of the present invention, a second externally controlled relief valve 280 and a third check valve are connected between the rodless cavity 130 and the first oil inlet B, a proportional valve 300 and a switching valve 260 are disposed between the rodless cavity 130 and the oil tank 210, and a control port of the second externally controlled relief valve 280 is connected to the second oil inlet E, so that when the piston rod 110 retracts, the retraction speed of the piston rod 110 can be adjusted by controlling the opening degree of the proportional valve 300.
Referring to fig. 2, the working steps of the retraction in the second embodiment of the present invention are: switching the first solenoid valve 220 to a first state, switching the second solenoid valve 230 to a third state, starting the oil pump 200, delivering hydraulic oil from the oil tank 210 to the oil pressure control valve set 400, throttling and adjusting pressure of the oil pressure control valve set 400, delivering the hydraulic oil to the second working oil port D of the second solenoid valve 230, flowing the hydraulic oil through the second solenoid valve 230 and from the second oil inlet E, flowing the hydraulic oil from the second oil inlet E through the first check valve 250 and entering the rod chamber 120, opening the second externally controlled overflow valve 280 by the control port of the second externally controlled overflow valve 280 due to the hydraulic oil pressure of the second oil inlet E, flowing the hydraulic oil in the rodless chamber 130 from the second externally controlled overflow valve 280 to the first solenoid valve 220, and then returning the hydraulic oil to the oil tank, detecting the movement speed of the piston rod 110 by the sensor, detecting the rotation speed of the oil pump 200 when the detection result of the sensor received by the control unit is greater than a preset safety value, if the rotation speed of the oil pump 200 is greater than zero, the rotation speed of the oil pump 200 is reduced, and the pressure of the hydraulic oil in the rod chamber 120 is reduced after the rotation speed of the oil pump 200 is reduced until the oil pump 200 stops operating. If the rotation speed of the oil pump 200 is equal to zero, the proportional valve 300 and the on-off valve 260 are opened, the hydraulic oil in the rodless chamber 130 directly returns to the oil tank through the on-off valve 260 and the proportional valve 300, and the control part controls the opening degree of the proportional valve 300 and adjusts the flow rate of the hydraulic oil passing through the proportional valve 300 to control the movement speed of the piston rod 110.
The invention also provides a control method of the boom self-weight retraction control system, which is used for controlling the boom self-weight retraction control system in the first specific embodiment and comprises the following steps:
s1: when the telescopic hydraulic cylinder 100 needs to retract after extending, the first solenoid valve 220 is switched to the first state, so that the first oil inlet B is communicated with the first oil return port C, and the second solenoid valve 230 is switched to the third state, so that the second oil inlet E is communicated with the second working port D.
S2: the oil pump 200 is started to deliver hydraulic oil from the oil tank 210 to the oil pressure control valve group 400, the oil pressure control valve group 400 throttles and adjusts pressure and then delivers the hydraulic oil to the second working oil port D of the second electromagnetic valve 230, the hydraulic oil flows through the second electromagnetic valve 230 and from the second oil inlet E, the hydraulic oil flows from the second oil inlet E through the first check valve 250 and enters the rod chamber 120, the hydraulic oil pushes the piston rod 110 in the rod chamber 120, the piston rod 110 moves and retracts towards the rodless chamber 130 under the push of an external load and the hydraulic oil pressure in the rod chamber 120, the hydraulic oil in the rodless chamber 130 is compressed and then opens the proportional valve 300 and the switch valve 260, the hydraulic oil in the rodless chamber 130 flows through the proportional valve 300 and the switch valve 260 to the first oil inlet B, and the hydraulic oil flows through the first electromagnetic valve 220 and flows back to the oil tank 210 from the first oil return port C.
S3: the moving speed of the piston rod 110 is detected using a sensor and the detection result is transmitted to the control part.
S4: the control unit controls the rotation speed of the oil pump 200 and the opening degree of the proportional valve 300, respectively, based on the detection result of the sensor.
In the first embodiment of the present invention, in step S4, when the detection result of the sensor received by the control unit is greater than the preset safety value, the rotation speed of the oil pump 200 is detected, and if the rotation speed of the oil pump 200 is greater than zero, the rotation speed of the oil pump 200 is decreased, and the hydraulic oil pressure in the rod chamber 120 is decreased after the rotation speed of the oil pump 200 is decreased, so that the speed of the piston rod 110 is decreased, and the power consumption of the oil pump 200 can be decreased; if the rotation speed of the oil pump 200 is equal to zero, the second electromagnetic valve 230 is switched to the fourth state, so that the second oil inlet E is communicated with the second oil return port F, then the opening degree of the proportional valve 300 is reduced, the hydraulic oil in the rodless cavity 130 passes through the switch valve 260 and then flows back to the second oil return port F through throttling of the proportional valve 300, at this time, negative pressure is generated in the rod cavity 120 due to load pushing, and the hydraulic oil is sucked into the rod cavity 120.
In the first embodiment of the present invention, in step S4, when the detection result of the sensor received by the control part is smaller than the preset safety value, the control part will detect the opening degree of the proportional valve 300, and if the opening degree of the proportional valve 300 is not fully opened, increase the opening degree of the proportional valve 300 to increase the retraction speed of the piston rod 110; if the opening degree of the proportional valve 300 is fully opened, the rotation speed of the oil pump 200 is increased and the second solenoid valve 230 is switched to the third state to communicate the second oil inlet E with the second working oil port D, so that the hydraulic oil flows through the second solenoid valve 230 and from the second oil inlet E, and the hydraulic oil flows through the first check valve 250 from the second oil inlet E, and thus enters the rod cavity 120 to push the piston rod 110, thereby accelerating the retraction speed of the piston rod 110.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a cantilever crane dead weight retraction control system which characterized in that includes:
the hydraulic lifting device comprises a telescopic hydraulic cylinder (100), wherein a piston rod (110) for lifting load is arranged in the telescopic hydraulic cylinder (100), and the telescopic hydraulic cylinder (100) is divided into a rod cavity (120) and a rodless cavity (130) by the piston rod (110);
an oil inlet of the oil pump (200) is connected with an oil tank (210) for storing hydraulic oil, and an oil outlet of the oil pump (200) is communicated with the rod cavity (120);
a proportional valve (300), the proportional valve (300) being respectively connected to the oil tank (210) and the rodless chamber (130), the proportional valve (300) being used for controlling the flow of the hydraulic oil flowing back from the rodless chamber (130) to the oil tank (210);
a sensor for detecting the speed of movement of the piston rod (110);
and the control component is used for receiving the detection result of the sensor and sequentially controlling the rotating speed of the oil pump (200) and the opening of the proportional valve (300) according to the detection result of the sensor.
2. The boom self-weight retraction control system according to claim 1, characterized in that: oil pump (200) are connected with first solenoid valve (220) and second solenoid valve (230), first solenoid valve (220) with second solenoid valve (230) are two three way solenoid valves, first solenoid valve (220) have first work hydraulic fluid port A, first oil inlet B, first oil return port C, second solenoid valve (230) have second work hydraulic fluid port D, second oil inlet E, second oil return port F, first work hydraulic fluid port A with second work hydraulic fluid port D all with the oil-out of oil pump (200) links to each other, first oil inlet B passes through proportional valve (300) with rodless chamber (130) links to each other, second oil inlet E with there is pole chamber (120) to link to each other, first oil return port C with second oil return port F all with oil tank (210) link to each other.
3. The boom self-weight retraction control system according to claim 2, characterized in that: a first external control overflow valve (240) is connected between the second oil inlet E and the rod cavity (120), a control port of the first external control overflow valve (240) is connected with the first oil inlet B, when the first oil inlet B has no pressure, the first external control overflow valve (240) is closed to isolate the second oil inlet E from the rod cavity (120), and when the first oil inlet B has pressure, the first external control overflow valve (240) is opened to communicate the second oil inlet E with the rod cavity (120).
4. The boom self-weight retraction control system according to claim 3, characterized in that: the second oil inlet E is connected with a first one-way valve (250), one end, far away from the second oil inlet E, of the first one-way valve (250) is connected with the rod cavity (120), and the first one-way valve (250) is used for preventing hydraulic oil in the rod cavity (120) from flowing to the second oil inlet E through the first one-way valve (250).
5. The boom self-weight retraction control system according to claim 2, characterized in that: and a switch valve (260) is arranged between the proportional valve (300) and the rodless cavity (130), and the switch valve (260) is used for controlling the on-off between the proportional valve (300) and the rodless cavity (130).
6. The boom self-weight retraction control system according to claim 2, characterized in that: the first oil inlet B is connected with an overflow valve (270), and the overflow valve (270) is used for limiting the highest pressure at the first oil inlet B.
7. The boom self-weight retraction control system according to claim 2, characterized in that: an oil pressure control valve group (400) is arranged between an oil outlet of the oil pump (200) and the rod cavity (120), and the oil pressure control valve group (400) is used for controlling the pressure in the rodless cavity (130) when the piston rod (110) extends out.
8. The control method of the boom self-weight retraction control system according to any one of claims 1 to 7, characterized by comprising the following steps:
s1: when the telescopic hydraulic cylinder (100) needs to retract after extending, the first electromagnetic valve (220) is switched to enable the first oil inlet B to be communicated with the first oil return port C, and the second electromagnetic valve (230) is switched to enable the second oil inlet E to be communicated with the second working oil port D;
s2: starting the oil pump (200) to convey hydraulic oil from the oil tank (210) to the oil pressure control valve group (400), adjusting the pressure and then conveying the hydraulic oil to the second working oil port D of the second electromagnetic valve (230), allowing the hydraulic oil to flow through the second electromagnetic valve (230) and from the second oil inlet E to flow through the first check valve (250) and enter the rod chamber (120), allowing the hydraulic oil to push the piston rod (110) to move in the rod chamber (120), allowing the hydraulic oil in the rodless chamber (130) to be compressed, opening the proportional valve (300) and the on-off valve (260), allowing the hydraulic oil in the rodless chamber (130) to flow through the proportional valve (300) and the on-off valve (260) and return to the oil tank (210);
s3: detecting the movement speed of the piston rod (110) by using the sensor and transmitting the detection result to the control part;
s4: the control part controls the rotation speed of the oil pump (200) and the opening of the proportional valve (300) according to the detection result of the sensor.
9. The control method according to claim 8, characterized in that: in the step S4, when the detection result of the sensor received by the control component is greater than a preset safety value, the rotation speed of the oil pump (200) is reduced until the rotation speed of the oil pump (200) is equal to zero, the second electromagnetic valve (230) is switched to communicate the second oil inlet E with the second oil return port F, and then the opening degree of the proportional valve (300) is reduced.
10. The control method according to claim 9, characterized in that: in step S4, when the detection result of the sensor received by the control unit is smaller than a preset safety value, the control unit detects the opening degree of the proportional valve (300), and increases the opening degree of the proportional valve (300) if the opening degree of the proportional valve (300) is not fully opened; and if the opening degree of the proportional valve (300) is fully opened, increasing the rotating speed of the oil pump (200) and switching the second electromagnetic valve (230) to enable the second oil inlet E to be communicated with the second working oil port D.
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