CN114506690A - Device for automatically adjusting gravity center position of material machine and control method thereof - Google Patents
Device for automatically adjusting gravity center position of material machine and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The invention relates to a device for automatically adjusting the gravity center position of a material machine and a control method thereof, belonging to the technical field of material machine equipment. The material machine comprises a portal and a rotary platform, wherein the portal and the rotary platform are connected through a rotary bearing, and the material machine is characterized in that: the upper part of the rotary platform is connected with an upper structural part through a pin shaft, and the upper structural part is driven by a pitching oil cylinder to perform pitching motion around the pin shaft; one side of the upper structural part is provided with a cantilever, the other side opposite to the cantilever is provided with a fixed weight box, and a fixed counter weight is installed in the fixed weight box. The invention can reduce the weight of the fixed counter weight of the material machine, reduce the height of the whole gravity center of the material machine, improve the stability of the material machine, and automatically correct the position change of the movable counter weight arranged on the rotary platform, so that the material machine is always in a safe and stable working state.
Description
Technical Field
The invention relates to a device for automatically adjusting the gravity center position of a material machine and a control method thereof, belonging to the technical field of material machine equipment.
Background
When the cantilever type material machine does pitching action, along with the change of a pitching angle, the gravity center of an upper structural part of the material machine is changed, and the tilting moment born by a rotary bearing of the material machine is changed. The smaller the pitching angle of a general material machine is, namely the higher the cantilever height of the material machine is, the more the gravity center of the upper structural part can fall within the support diameter range of the slewing bearing of the material machine, the larger the pitching angle of the material machine is, namely the lower the cantilever height of the material machine is, the more the gravity center of the upper structural part is shifted out of the support diameter range of the slewing bearing, the larger the tilting moment is borne by the slewing bearing, and particularly when the material machine takes materials at a large pitching angle, the larger the gravity center shift of the upper structural part is, so that the service life of the slewing bearing of the material machine is influenced, and even the dangerous accident that the whole material machine tilts is caused.
When the material machine is installed, the main method for keeping the upper structural member of the material machine basically balanced is to install a fixed balancing weight at the tail end of a balance beam of the upper structural member. The weight of the balancing weight is based on the fact that when a cantilever of an upper structural part of the material machine keeps a basic level, the gravity center of the upper structural part of the material machine can be located in the supporting range of the slewing bearing.
After the installation of material machine, the actual operation in-process, along with the change of every single move angle, the material machine focus changes, when getting material or windrow operation, the focus of material machine upper portion structure also changes, the size of material flow also arouses the focus of material machine upper portion structure to change during operation even, and these changes are unavoidable, and can not be through the fixed balancing weight adjustment of installing on the compensating beam.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the adjusting device for the material machine, which can keep the gravity center of the upper structural member of the material machine at different positions and relatively stabilize the upper structural member in different operation states, reduce the integral shaking of the material machine and prolong the integral service life of the material machine.
The technical scheme provided by the invention for solving the technical problems is as follows: a device for automatically adjusting the gravity center position of a material machine comprises a portal frame and a rotary platform, wherein the portal frame is connected with the rotary platform through a rotary bearing, the upper part of the rotary platform is connected with an upper structural part through a pin shaft, and the upper structural part is driven by a pitching oil cylinder to perform pitching motion around the pin shaft;
a cantilever is arranged on one side of the upper structural part, a fixed weight box is arranged on the other side opposite to the cantilever, and a fixed counterweight is arranged in the fixed weight box;
the rotary platform with the upper surface with one side of fixed weight box is equipped with the track, and the activity weight box is placed through walking the wheel on the track, and the weight box driving cylinder passes through the hydro-cylinder support mounting and is in on the rotary platform, the weight box driving cylinder is connected the activity weight box, when the weight box driving cylinder is concertina movement, the drive the activity weight box is followed reciprocating motion is to the track.
The further improvement of the technical scheme is as follows: the hydraulic control system also comprises a reversing valve, a first one-way throttle valve, a balance valve, a first hydraulic lock, a safety valve group, a first explosion-proof valve, a second explosion-proof valve, a displacement sensor, a first pressure sensor and a second pressure sensor; the reversing valve is respectively connected with a port P and a port T of the liquid station and is respectively connected with a rod cavity and a rodless cavity of the pitching oil cylinder through a first one-way throttle valve, a balance valve, a first hydraulic lock, a safety valve group, a first explosion-proof valve and a second explosion-proof valve; the first pressure sensor and the second pressure sensor are respectively arranged at the upper end and the lower end of the pitching oil cylinder body.
The further improvement of the technical scheme is as follows: the hydraulic control system further comprises a second hydraulic lock, a second one-way throttle valve and a proportional reversing valve 24, wherein the proportional reversing valve is respectively connected with a port P and a port T of the hydraulic station and is respectively connected with a rod cavity and a rodless cavity of the pitching oil cylinder through the second one-way throttle valve and the second hydraulic lock.
The further improvement of the technical scheme is as follows: the rotary platform does rotary motion relative to the gantry through the rotary bearing.
The further improvement of the technical scheme is as follows: an inclinometer is installed on the pin shaft.
A control method of a device for automatically adjusting the gravity center position of a material machine comprises the following steps:
the method comprises the following steps: the cantilever of the upper structural part is kept in a horizontal state through the action of the pitching oil cylinder;
step two: extending a piston rod of the weight box driving cylinder by one third of the maximum stroke of the piston rod, and keeping the movable weight box connected with the weight box driving cylinder at a corresponding position;
step three: adjusting a fixed balancing weight in the fixed weight box and a balancing weight in the movable weight box until the supporting load borne by the pitching oil cylinder is basically 0;
step four: when the inclinometer detects that the pitching angle of the material machine is zero, namely the gravity center of the upper structural part is in a relatively stable state, a piston rod of the weight box driving cylinder is positioned at one third of the maximum stroke of the weight box driving cylinder, and the corresponding position of the movable weight box on the track is recorded;
step five: when the inclinometer detects that the pitching angle of the material machine changes to a negative angle, the upper structural part changes downwards in a pitching mode, and when the cantilever changes downwards from a horizontal state, the gravity center of the upper structural part shifts towards the anticlockwise direction, so that the weight box driving cylinders synchronously extend out to drive the movable weight box to move towards the clockwise direction;
step six: when the inclinometer detects that the pitching angle of the material machine changes towards a positive angle, the upper structural part changes upwards in pitching direction, and when the cantilever changes upwards from a horizontal state, the gravity center of the upper structural part shifts towards the clockwise direction, then the weight box driving cylinder retracts synchronously to drive the movable weight box to move towards the anticlockwise direction.
The further improvement of the technical scheme is as follows: the lower the pitch angle of the upper structural part is, the longer the material driving cylinder extends until the material driving cylinder extends to the whole stroke, namely the more the position of the movable weight box moves outwards to the maximum outwards moving position, so that the tilting moment of the rotary bearing to one side is reduced to the maximum extent, and the integral balance and stability of the material machine are kept.
The further improvement of the technical scheme is as follows: the higher the pitch angle of the upper structural part is, the more the material driving cylinder retracts until the material driving cylinder is completely retracted, namely the position of the movable weight box is completely retracted, so that the tilting moment of the slewing bearing to one side is reduced to the maximum extent, and the integral balance and stability of the material machine are kept.
The invention adopts the technical scheme that the method has the beneficial effects that: the rotary platform of the material machine is additionally provided with the movable counter weight, so that the weight of the fixed counter weight of the material machine can be reduced, the overall gravity center height of the material machine is reduced, and the stability of the material machine is improved. The position change of the movable counter weight arranged on the rotary platform is automatically corrected, so that the material machine is always in a safe and stable working state.
Drawings
The invention will be further explained with reference to the drawings.
Fig. 1 is a schematic structural diagram of an embodiment of the present patent.
Fig. 2 is a hydraulic control schematic diagram of the embodiment of the patent.
The examples in the figure are: the device comprises a gantry 1, a slewing bearing 2, a slewing platform 3, a pitching oil cylinder 4, an upper structural member 5, a movable weight box 6, a weight box driving cylinder 7, an oil cylinder support 8, an inclinometer 9, a walking wheel 10, a track 11, a 501 fixed weight box, a 502 cantilever, a reversing valve 12, a first one-way throttle valve 13, a balance valve 14, a first hydraulic lock 15, a safety valve bank 16, a first explosion-proof valve 17, a second explosion-proof valve 18, a displacement sensor 19, a first pressure sensor 20, a second pressure sensor 21, a second hydraulic lock 22, a second one-way throttle valve 23 and a proportional reversing valve 24.
Detailed Description
Examples
As shown in fig. 1, the device for automatically adjusting the gravity center position of the material machine comprises a gantry 1 and a rotary platform 3, wherein the gantry 1 is connected with the rotary platform 3 through a rotary bearing 2, the upper part of the rotary platform 3 is connected with an upper structural part 5 through a pin shaft, and the upper structural part 5 makes pitching motion around the pin shaft under the driving of a pitching oil cylinder 4;
a cantilever 502 is arranged on one side of the upper structural member 5, a fixed weight box 501 is arranged on the other side opposite to the cantilever 502, and a fixed weight is arranged in the fixed weight box 501;
the upper surface of the same side of the rotary platform 3 and the fixed weight box 501 is provided with a track 11, the movable weight box 6 is placed on the track 11 through a walking wheel 10, a weight box driving cylinder 7 is installed on the rotary platform 3 through an oil cylinder support 8, the weight box driving cylinder 7 is connected with the movable weight box 6, and when the weight box driving cylinder 7 does telescopic motion, the movable weight box 6 is driven to do reciprocating motion along the track 11. The rotary platform 3 makes rotary motion relative to the gantry 1 through the rotary bearing 2. The pin shaft is provided with an inclinometer 9.
As shown in fig. 2, the hydraulic control system further comprises a pitch cylinder 4, a reversing valve 12, a first one-way throttle valve 13, a balance valve 14, a first hydraulic lock 15, a safety valve group 16, a first explosion-proof valve 17, a second explosion-proof valve 18, a displacement sensor 19, a first pressure sensor 20 and a second pressure sensor 21. The reversing valve 12 is respectively connected with a port P and a port T of the liquid station and is respectively connected with a rod cavity and a rodless cavity of the pitching cylinder 4 through a first one-way throttle valve 13, a balance valve 14, a first hydraulic lock 15, a safety valve group 16, a first explosion-proof valve 17 and a second explosion-proof valve 18. The first explosion-proof valve 17 and the second explosion-proof valve 18 are built-in and are respectively arranged in the pipeline interfaces of a rod cavity and a rodless cavity of the pitching oil cylinder 4.
The first pressure sensor 20 and the second pressure sensor 21 are respectively and directly installed at the upper end and the lower end of the pitching cylinder 4, and respectively detect the pressure of the rod cavity and the pressure of the rodless cavity, so that the accuracy of the cylinder pressure detection is improved.
When the pitching oil cylinder 4 extends: when the electromagnet at the right end of the reversing valve 12 is electrified, pressure oil at a port P passes through the right position of the reversing valve 12, respectively enters the left ends of the first one-way throttle valve 13, the balance valve 14 and the first hydraulic lock 15, and then enters the rodless cavity of the pitching cylinder 4 through the second explosion-proof valve 18; the return oil of the rod cavity respectively enters the right ends of the first hydraulic lock 15, the balance valve 14 and the first one-way throttle valve 13 from the first explosion-proof valve 17, and finally passes through the right position of the reversing valve 12 and returns to the oil tank through a T port.
When the pitching cylinder 4 retracts: when the electromagnet at the left end of the reversing valve 12 is electrified, pressure oil at a port P passes through the left position of the reversing valve 12, respectively enters the right ends of the first one-way throttle valve 13, the balance valve 14 and the first hydraulic lock 15, and then enters the rod cavity of the pitching oil cylinder 4 through the first explosion-proof valve 17; the return oil of the rodless cavity respectively enters the left ends of the first hydraulic lock 15, the balance valve 14 and the first one-way throttle valve 13 from the second explosion-proof valve 18, and finally passes through a T-shaped port oil return tank through the left position of the reversing valve 12.
The proportional reversing valve 24 is respectively connected with a port P and a port T of the liquid station and is respectively connected with a rod cavity and a rodless cavity of the pitching cylinder 4 through a second one-way throttle valve 23 and a second hydraulic lock 22.
When the weight box driving cylinder 4 extends: when the electromagnet at the left end of the proportional reversing valve 24 is electrified, the pressure oil at the port P passes through the left position of the proportional reversing valve 24 and respectively enters a rodless cavity of the weight box driving cylinder 7 through the second one-way throttle valve 23 and the right end of the second hydraulic lock 22; the return oil of the rod cavity respectively returns to the oil tank from the left ends of the second hydraulic lock 22 and the second one-way throttle valve 23 and finally passes through a T port through the left position of the proportional reversing valve 24.
When the weight box driving cylinder 4 retracts: when the electromagnet at the right end of the proportional reversing valve 24 is electrified, the pressure oil at the port P passes through the right position of the proportional reversing valve 24 and respectively enters a rod cavity of the weight box driving cylinder 7 through the second one-way throttle valve 23 and the right end of the second hydraulic lock 22; the return oil of the rodless cavity respectively returns to the oil tank from the right ends of the second hydraulic lock 22 and the second one-way throttle valve 23 and finally passes through a T port through the right position of the proportional reversing valve 24.
Specifically, the control method of the device for automatically adjusting the gravity center position of the material machine comprises the following steps:
step one, the cantilever 502 of the upper structural part 5 of the material machine is in a horizontal state through the action of the pitching oil cylinder 4.
And step two, extending a piston rod of the weight box driving cylinder 7 by one third of the maximum stroke of the piston rod, and connecting the piston rod with the movable weight box 6 to keep the piston rod at a corresponding position. Preferably, the maximum stroke of the weight box drive cylinder 7 is 3000 mm.
And step three, adjusting the fixed balancing weight in the fixed weight box 501 and the balancing weight in the movable weight box 6 in the upper structural member 5 of the material machine until the supporting load borne by the pitching oil cylinder 4 is basically 0. Preferably, the weight of the weight block in the movable weight box is about 5000Kg to 6000 Kg.
Step one, when the inclinometer 9 detects that the pitching angle of the material machine is zero, namely the gravity center of an upper structural member of the material machine is in a relatively stable state, the piston rod of the weight box driving cylinder 7 is positioned at one third of the stroke of the weight box driving cylinder 7, and the movable weight box 6 is correspondingly positioned at the corresponding position of the track 11.
Step five, when the inclinometer 9 detects that the pitching angle of the material machine changes to a negative angle, namely the upper structural part of the material machine changes downwards in a pitching mode, and when the cantilever 502 changes downwards from a horizontal state, the gravity center of the upper structural part of the material machine deviates from the anticlockwise direction in figure 1, the weight box driving cylinder 7 synchronously extends out to drive the movable weight box 6 to move from the clockwise direction in figure 1, so that the tilting moment of the gravity center of the upper structural part of the material machine, caused by the fact that the gravity center deviates to the right along with the reduction of the pitching angle, of the slewing bearing 2 to one side is balanced, and the unstable state of the material machine is reduced.
The lower the pitching angle of the upper structural part 5 of the material machine is, the longer the material driving cylinder 7 extends until the material driving cylinder extends to the full stroke, namely the more the position of the movable weight box 6 moves outwards to the maximum outward movement position, so that the tilting moment of the slewing bearing 2 to one side is reduced to the maximum extent, and the integral balance and stability of the material machine are kept.
Step six, when the inclinometer 9 detects that the pitching angle of the material machine changes towards a positive angle, namely the upper structural member 5 of the material machine changes in a pitching direction, and when the cantilever 502 changes upwards from a horizontal state, the gravity center of the upper structural member of the material machine moves towards the clockwise direction in fig. 1, the weight box driving cylinder 7 retracts synchronously, the movable weight box 6 is driven to move towards the anticlockwise direction in fig. 1, so that the leftward tipping moment of the slewing bearing 2 caused by the fact that the gravity center of the upper structural member 5 of the material machine deviates towards one side along with the increase of the pitching angle is balanced, and the unstable state of the material machine is reduced. The higher the pitching angle of the upper structural part 5 of the material machine, the more the material driving cylinder 7 retracts until the material driving cylinder is fully retracted, namely the position of the movable weight box 6 is fully retracted, so that the leftward tilting moment of the slewing bearing 2 is reduced to the maximum extent, and the overall balance and stability of the material machine are kept.
In this embodiment, the specific actions of the pitching cylinder 4 include the following steps:
step one, the pitching oil cylinder 4 of the material machine acts to drive the upper structural part 5 of the material machine to do pitching motion. The belt on the feeder boom 502 runs to perform stacking or material taking operation; the load of the pitch rams 4 is affected by changes in the pitch of the upper structure and the size of the belt material flow on the boom 502 of the feeder.
Step two, real-time detecting the pressure P of the rod cavity of the pitching oil cylinder 4 through the first pressure sensor 20 and the second pressure sensor 21 which are arranged at the upper end and the lower end of the cylinder body of the pitching oil cylinder 42And pressure P of rodless chamber1。
Step three, balance equation P through hydraulic cylinder1*A1=P2*A2+ F, the load F of the pitch cylinder 4 is calculated.
Step four, setting a reference load value F in the controller0While the movable weight box 6 is set in the corresponding reference position, i.e. the piston rod of the weight drive cylinder 7 is set in the corresponding reference position. Preferably, the reference load value F is set to a value corresponding to half the maximum permissible tilting moment among the design parameters of the slewing bearing0The setting is performed.
Step five, the calculated value F of the load in the step three and the reference load value F set in the controller are compared0A comparison is made. When F is greater than F0When the counterweight is used, the piston rod of the counterweight driving cylinder 7 extends out from the reference position, and the movable counterweight box 6 moves outwards; when less than F0When the counterweight is used, the piston rod of the counterweight driving cylinder 7 is retracted from the reference position, and the movable counterweight box 6 moves inwards;
in this embodiment, the constant voltage control module, the proportional reversing valve 24, the displacement sensor 19 of every single move hydro-cylinder among the material machine PLC realize the proportional control of the movable weight box 6 shift position, and material machine focus position automatically regulated is more steady and accurate.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for a person skilled in the art, several modifications and additions can be made without departing from the method of the present invention, and these modifications and additions should also be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a device of automatic adjustment of material machine focus position, the material machine includes portal and rotary platform, connect its characterized in that through slewing bearing between portal and the rotary platform: the upper part of the rotary platform is connected with an upper structural part through a pin shaft, and the upper structural part is driven by the pitching oil cylinder to perform pitching motion around the pin shaft;
a cantilever is arranged on one side of the upper structural part, a fixed weight box is arranged on the other side opposite to the cantilever, and a fixed counterweight is arranged in the fixed weight box;
the rotary platform with the upper surface with one side of fixed weight box is equipped with the track, and the activity weight box is placed through walking the wheel on the track, and the weight box driving cylinder passes through the hydro-cylinder support mounting and is in on the rotary platform, the weight box driving cylinder is connected the activity weight box, when the weight box driving cylinder is concertina movement, the drive the activity weight box is followed reciprocating motion is to the track.
2. The automatic adjusting device for the gravity center position of the material machine according to claim 1, characterized in that: the hydraulic control system also comprises a reversing valve, a first one-way throttle valve, a balance valve, a first hydraulic lock, a safety valve group, a first explosion-proof valve, a second explosion-proof valve, a displacement sensor, a first pressure sensor and a second pressure sensor; the reversing valve is respectively connected with a port P and a port T of the liquid station and is respectively connected with a rod cavity and a rodless cavity of the pitching oil cylinder through a first one-way throttle valve, a balance valve, a first hydraulic lock, a safety valve group, a first explosion-proof valve and a second explosion-proof valve; the first pressure sensor and the second pressure sensor are respectively arranged at the upper end and the lower end of the pitching oil cylinder body.
3. The automatic adjusting device for the gravity center position of the material machine according to claim 1, characterized in that: the hydraulic control system further comprises a second hydraulic lock, a second one-way throttle valve and a proportional reversing valve 24, wherein the proportional reversing valve is respectively connected with a port P and a port T of the hydraulic station and is respectively connected with a rod cavity and a rodless cavity of the pitching oil cylinder through the second one-way throttle valve and the second hydraulic lock.
4. The automatic adjusting device for the gravity center position of the material machine according to claim 1, characterized in that: the rotary platform does rotary motion relative to the gantry through the rotary bearing.
5. The automatic adjusting device for the gravity center position of the material machine according to claim 1, characterized in that: an inclinometer is installed on the pin shaft.
6. A control method of a device for automatically adjusting the gravity center position of a material machine is characterized by comprising the following steps:
the method comprises the following steps: the cantilever of the upper structural part is kept in a horizontal state through the action of the pitching oil cylinder;
step two: extending a piston rod of the weight box driving cylinder by one third of the maximum stroke of the piston rod, and keeping the movable weight box connected with the weight box driving cylinder at a corresponding position;
step three: adjusting a fixed balancing weight in the fixed weight box and a balancing weight in the movable weight box until the supporting load borne by the pitching oil cylinder is basically 0;
step four: when the inclinometer detects that the pitching angle of the material machine is zero, namely the gravity center of the upper structural part is in a relatively stable state, a piston rod of the weight box driving cylinder is positioned at one third of the maximum stroke of the weight box driving cylinder, and the corresponding position of the movable weight box on the track is recorded;
step five: when the inclinometer detects that the pitching angle of the material machine changes to a negative angle, the upper structural part changes downwards in a pitching mode, and when the cantilever changes downwards from a horizontal state, the gravity center of the upper structural part shifts towards the anticlockwise direction, so that the weight box driving cylinders synchronously extend out to drive the movable weight box to move towards the clockwise direction;
step six: when the inclinometer detects that the pitching angle of the material machine changes towards a positive angle, the upper structural part changes upwards in pitching direction, and when the cantilever changes upwards from a horizontal state, the gravity center of the upper structural part shifts towards the clockwise direction, then the weight box driving cylinder retracts synchronously to drive the movable weight box to move towards the anticlockwise direction.
7. The control method of the automatic gravity center position adjusting device of the material machine according to claim 4, characterized in that: the lower the pitch angle of the upper structural part is, the longer the material driving cylinder extends until the material driving cylinder extends to the whole stroke, namely the more the position of the movable weight box moves outwards to the maximum outwards moving position, so that the tilting moment of the rotary bearing to one side is reduced to the maximum extent, and the integral balance and stability of the material machine are kept.
8. The control method of the automatic gravity center position adjusting device of the material machine according to claim 4, characterized in that: the higher the pitch angle of the upper structural part is, the more the material driving cylinder retracts until the material driving cylinder is completely retracted, namely the position of the movable weight box is completely retracted, so that the tilting moment of the slewing bearing to one side is reduced to the maximum extent, and the integral balance and stability of the material machine are kept.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115595547A (en) * | 2022-10-26 | 2023-01-13 | 中国航发沈阳黎明航空发动机有限责任公司（Cn） | Duplex low-vortex guide vane EB-PVD coating clamp capable of adjusting blade spin inclination angle |
| CN117920980A (en) * | 2024-03-21 | 2024-04-26 | 中国机械总院集团云南分院有限公司 | Synchronous jacking device of non-ferrous metal ingot casting automatic demolding oil cylinder |
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Application publication date: 20220517 |