CN201105321Y - Hydraulic automatic leveling system for foundry ladle vehicle - Google Patents
Hydraulic automatic leveling system for foundry ladle vehicle Download PDFInfo
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- CN201105321Y CN201105321Y CNU2007200646692U CN200720064669U CN201105321Y CN 201105321 Y CN201105321 Y CN 201105321Y CN U2007200646692 U CNU2007200646692 U CN U2007200646692U CN 200720064669 U CN200720064669 U CN 200720064669U CN 201105321 Y CN201105321 Y CN 201105321Y
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Abstract
The utility model discloses a hydraulic pressure automatic leveling system of the ladle vehicle, comprising a main control unit, four sets of electric controlled flow regulating valves, two drift angle sensors used to collect the horizontal position signals of the vehicle body, four sets of hanging cylinders which are respectively arranged between the tire and the vehicle body and the position sensors corresponding to the hanging cylinders, wherein the drift angle sensors and the position sensors are respectively connected with the input ends of the main control unit, the output ends of which are respectively connected with the four sets of hanging cylinders through the four sets of electric controlled flow regulating valves. The hanging cylinders are connected with the hydraulic pressure control mechanism. The hydraulic pressure automatic leveling system of the ladle vehicle has the advantages of simple and compact structure, convenient installation and can realize the real-time automatic regulation of the status of the ladle vehicle according to actual situation in driving, so as to avoid declination or deviation of the center of gravity.
Description
Technical field
The utility model is mainly concerned with the control technology field of engineering machinery, refers in particular to a kind of hydraulic pressure automatic horizontal control system of ladle car.
Background technology
In the prior art, metallurgical is a kind of special transportation vehicle of specific use with ladle car, is mainly used in the high-temperature liquid state molten iron transportation in the smelting iron and steel production process.In use, on ladle car travels road surface in injustice or when turning to, canned molten iron can run-off the straight on the ladle car, deviation of gravity center.This situation is very disadvantageous, may cause great accident when serious.And up to the present, conventional solution, just the hanging oil cylinder of the simple control of installing on ladle car realizes the rising and the decline of vehicle body, also do not have and to regulate in real time according to the actual state on road surface, with the automatic horizontal control system of the level that keeps vehicle body as far as possible.
The utility model content
Problem to be solved in the utility model just is: at the technical problem of prior art existence, the utility model provide a kind of simple and compact for structure, easy for installation, can regulate in real time automatically the ladle car body gesture according to the actual conditions in the driving process, thereby avoid the hydraulic pressure automatic horizontal control system of the ladle car of run-off the straight or deviation of gravity center situation.
For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of hydraulic pressure automatic horizontal control system of ladle car, it is characterized in that: it comprises main control unit, four groups of automatically controlled flow control valves, be used for gathering two obliquity sensors of vehicle body horizontal level signal and be installed in four groups of hanging oil cylinder and the position sensor corresponding between the tire and car body on the ladle car respectively with hanging oil cylinder, described obliquity sensor links to each other with the input of main control unit respectively with position sensor, the output of main control unit links to each other with four groups of hanging oil cylinder respectively by four groups of automatically controlled flow control valves, and hanging oil cylinder and vehicle body hinge connect.
Described obliquity sensor links to each other with the input of main control unit with AD conversion unit by signal amplifier respectively successively with position sensor.
The output of described main control unit links to each other with hanging oil cylinder with power amplifier by AD conversion unit successively.
Described hydraulic control mainly comprises variable pump, filter, overflow valve, check valve and safety valve, variable pump links to each other with fuel tank, variable pump links to each other with hanging oil cylinder with automatically controlled flow control valve by filter, wherein be provided with overflow valve between variable pump and the automatically controlled flow control valve, be provided with check valve and safety valve between automatically controlled flow control valve and the hanging oil cylinder.
Compared with prior art, advantage of the present utility model just is:
1, the hydraulic pressure automatic horizontal control system of ladle car of the present utility model can be regulated the body gesture of ladle car in real time automatically, makes its maintenance level of trying one's best, thereby has avoided ladle car to turn to or the unfavorable situation of when the uneven road surface body sway of travelling;
2, the hydraulic pressure automatic horizontal control system of the utility model ladle car, hanging oil cylinder only rises and does not descend in the leveling process, if deadweight of ladle car vehicle body and carrying thereof are heavier in the time of can avoiding decline to regulate, big inertia force will make vehicle body produce vibration, therefore oil cylinder moves like this, body movement is more steady, and speed is slower, helps vehicle attitude control;
3, the hydraulic pressure automatic horizontal control system of the utility model ladle car, " master-slave mode " driven in synchronism of two hanging oil cylinder transfers the distortion infringement that body structure is caused minimum like this, is difficult for forming " empty leg ", and the leveling precision is higher;
4, the hydraulic pressure automatic horizontal control system of the utility model ladle car, in the leveling process, the target location that each oil cylinder rises is 90% of desirable leveling position, carry out repeatedly loop control then and carry out leveling, finally reach the vehicle body level, this excessive vibration that causes of having avoided rising, the leveling process is steady;
5, the hydraulic pressure automatic horizontal control system of the utility model ladle car, the distortion infringement that in the leveling process body structure is caused is minimum, be difficult for forming " empty leg ", it is excessive also can not rise, body movement is more steady in the leveling process, vibrates for a short time, and precision is higher, be applicable to the Ferry Status of ladle car, application prospect is extensive.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the hydraulic control principle schematic of the utility model specific embodiment;
Fig. 3 is the mounting structure schematic diagram of hanging oil cylinder on ladle car in the utility model.
Fig. 4 is the local structure for amplifying schematic diagram among Fig. 3;
Fig. 5 is the inclination angle schematic diagram during body sway in the utility model specific embodiment;
Fig. 6 is the concrete leveling flow chart of the utility model;
Fig. 7 is two hanging oil cylinder " master-slave mode " Principle of Synchronic Control schematic diagram in the utility model;
Marginal data
1, main control unit 2, hanging oil cylinder
3, automatically controlled flow control valve 4, position sensor
5, obliquity sensor 6, signal amplifier
7, AD conversion unit 8, power amplifier
9, variable pump 10, filter
11, overflow valve 12, check valve
13, safety valve 14, tire
15, vehicle body 16, transversal swinging arm
The specific embodiment
Below with reference to the drawings and specific embodiments the utility model is described in further details.
As shown in Figure 1, the hydraulic pressure automatic horizontal control system of ladle car of the present utility model, it comprises main control unit 1, four groups of automatically controlled flow control valves 3, be used for gathering two obliquity sensors 5 of vehicle body horizontal level signal and be installed on the ladle car four groups of hanging oil cylinder 2 between the tire and car body respectively and the position sensor 4 corresponding with hanging oil cylinder 2, obliquity sensor 5 links to each other with the input of main control unit 1 respectively with position sensor 4, and the output of main control unit 1 links to each other with four groups of hanging oil cylinder 2 respectively by four groups of automatically controlled flow control valves 3.Obliquity sensor 5 links to each other with the input of AD conversion unit 7 with main control unit 1 by signal amplifier 6 respectively successively with position sensor 4.The output of main control unit 1 links to each other with hanging oil cylinder 2 with power amplifier 8 by AD conversion unit 7 successively.In the present embodiment, hanging oil cylinder 2 adopts the hanging oil cylinder 2 that carries position sensor 4.Referring to Fig. 2 and shown in Figure 3, in the present embodiment, hydraulic control mainly comprises variable pump 9, filter 10, overflow valve 11, check valve 12 and safety valve 13, variable pump 9 links to each other with fuel tank, variable pump 9 links to each other with hanging oil cylinder 2 with automatically controlled flow control valve 3 by filter 10, wherein be provided with overflow valve 11 between variable pump 9 and the automatically controlled flow control valve 3, be provided with check valve 12 and safety valve 13 between automatically controlled flow control valve 3 and the hanging oil cylinder 2.Referring to Fig. 3 and shown in Figure 4, four groups of hanging oil cylinder 2 are installed in respectively between four tires 14 of ladle car and the vehicle body 15, in the present embodiment, hanging oil cylinder 2 one ends are fixed in vehicle body 15 bottoms, the other end is fixed on the transversal swinging arm 16, during hanging oil cylinder 2 work, can drive vehicle body 15 liftings.
The horizontal level signal of vehicle body is divided into directions X and Y direction according to vehicle body 15 planes, ladle car in the process of moving, the PLC of main control unit 1 will be by AD conversion unit 7 (A/D) and signal amplifier 6, and the measured value of each data channel in the position sensor 4 of the obliquity sensor 5 of the X of vehicle body 15 and Y both direction and four oil cylinders is read in circulation.To judging the highest strong point of vehicle body 15 to inclination angle value positive and negative, and by the size and the actual physics distance of four hanging oil cylinder 2 on X and Y direction at inclination angle, calculate the range difference of and peak at other 3 by X with Y.Be datum mark with the peak and keep motionless, regulate other and three press the descending method that only rises not and draw close to peak.Specifically, as shown in Figure 5, after system starts self check and sets the precision of leveling, the directions X inclination angle that will obtain by obliquity sensor 5 is the value of α and Y direction angle of inclination beta, with peak B point is datum mark, and other 3 differences in height of ordering with B can be expressed as: aa '=OAsin α, cc '=OCsin β, bb '=OAsin α+OCsin β, the difference in height that aa ' is ordered for C point and B in the formula; The difference in height that cc ' is ordered for A point and B; Bb ' is 0 and B point height difference.As shown in Figure 6, it is the control strategy of 2 synchronous leveling that leveling method is adopted, promptly according to the relation of difference in height, at first regulate the level of directions X, the hanging oil cylinder 2 that 0 of driven in synchronism and C are ordered is regulated, regulated quantity all is 90% of aa ', main control unit 1 sends the valve port opening of leveling instruction automatically controlled flow control valve 3 of control after D/A conversion and amplification processing, and then control the action of corresponding hanging oil cylinder 2,, repeatedly circulated to high site convergence by low points, the C point arrives the height that B is ordered, 0 arrives the height that A is ordered, will be up to the standard at directions X like this; Regulate the level of Y direction then, the hanging oil cylinder 2 that 0 of driven in synchronism and A orders is regulated, and regulated quantity is 90% of cc ' all, repeatedly circulates, and 0 also arrives the height that B is ordered with the A point, and the Y direction will be up to the standard like this.This moment, four points were positioned at sustained height, and vehicle body 15 is up to the standard.As shown in Figure 7, in the automatic leveling process of ladle car, two hanging oil cylinder 2 of driven in synchronism have adopted " master-slave mode " to control to adjust, promptly determine the real time position of two hanging oil cylinder 5 earlier by built-in position sensor 4, be output as desirable output with hanging oil cylinder 2 (A) again, and another hydraulic cylinder hanging oil cylinder 2 (B) adopts PID control to follow the tracks of this ideal output, reaches two cylinder driven in synchronism.Promptly be output as desirable output, and another hanging oil cylinder 2 calculates 2 displacement difference according to the built-in displacement transducer 4 of oil cylinder, and be controlled the ideal output of following the tracks of this, reach two cylinder driven in synchronism with one of them hanging oil cylinder 2.In addition, excessive for fear of rising, the target location that at every turn should make rising is 90% of desirable leveling position, carries out repeatedly loop control then and regulates, and finally reaches vehicle body 15 levels.
Claims (5)
1, a kind of hydraulic pressure automatic horizontal control system of ladle car, it is characterized in that: it comprises main control unit (1), four groups of automatically controlled flow control valves (3), be used for gathering two obliquity sensors (5) of vehicle body horizontal level signal and be installed in the four groups of hanging oil cylinder (2) between the tire and car body and the position sensor (4) corresponding on the ladle car respectively with hanging oil cylinder (2), described obliquity sensor (5) links to each other with the input of main control unit (1) respectively with position sensor (4), and the output of main control unit (1) links to each other with four groups of hanging oil cylinder (2) respectively by four groups of automatically controlled flow control valves (3).
2, the hydraulic pressure automatic horizontal control system of ladle car according to claim 1 is characterized in that: described obliquity sensor (5) links to each other with the input of AD conversion unit (7) with main control unit (1) by signal amplifier (6) respectively successively with position sensor (4).
3, the hydraulic pressure automatic horizontal control system of ladle car according to claim 1 and 2 is characterized in that: the output of described main control unit (1) links to each other with hanging oil cylinder (2) with power amplifier (8) by AD conversion unit (7) successively.
4, the hydraulic pressure automatic horizontal control system of ladle car according to claim 1 and 2, it is characterized in that: described hydraulic control comprises variable pump (9), filter (10), overflow valve (11), check valve (12) and safety valve (13), variable pump (9) links to each other with fuel tank, variable pump (9) links to each other with hanging oil cylinder (2) with automatically controlled flow control valve (3) by filter (10), wherein be provided with overflow valve (11) between variable pump (9) and the automatically controlled flow control valve (3), be provided with check valve (12) and safety valve (13) between automatically controlled flow control valve (3) and the hanging oil cylinder (2).
5, the hydraulic pressure automatic horizontal control system of ladle car according to claim 3, it is characterized in that: described hydraulic control comprises variable pump (9), filter (10), overflow valve (11), check valve (12) and safety valve (13), variable pump (9) links to each other with fuel tank, variable pump (9) links to each other with hanging oil cylinder (2) with automatically controlled flow control valve (3) by filter (10), wherein be provided with overflow valve (11) between variable pump (9) and the automatically controlled flow control valve (3), be provided with check valve (12) and safety valve (13) between automatically controlled flow control valve (3) and the hanging oil cylinder (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200646692U CN201105321Y (en) | 2007-10-09 | 2007-10-09 | Hydraulic automatic leveling system for foundry ladle vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200646692U CN201105321Y (en) | 2007-10-09 | 2007-10-09 | Hydraulic automatic leveling system for foundry ladle vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201105321Y true CN201105321Y (en) | 2008-08-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200646692U Expired - Lifetime CN201105321Y (en) | 2007-10-09 | 2007-10-09 | Hydraulic automatic leveling system for foundry ladle vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101592929B (en) * | 2009-07-06 | 2011-03-16 | 杭州恒宏机械有限公司 | Automatic levelling device controller of special vehicle |
| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN107352250A (en) * | 2017-07-05 | 2017-11-17 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
| CN107640162A (en) * | 2017-10-31 | 2018-01-30 | 中唐空铁集团有限公司 | It is a kind of to control the hangar system for hanging empty iron level operation |
| CN111255843A (en) * | 2020-01-15 | 2020-06-09 | 广东博智林机器人有限公司 | Gas-liquid composite suspension cylinder, hydraulic system and transport vehicle |
-
2007
- 2007-10-09 CN CNU2007200646692U patent/CN201105321Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101592929B (en) * | 2009-07-06 | 2011-03-16 | 杭州恒宏机械有限公司 | Automatic levelling device controller of special vehicle |
| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN102039791B (en) * | 2010-06-13 | 2012-07-25 | 中联重科股份有限公司 | Vehicle body inclination angle adjusting unit, oil-gas suspension mechanism and mobile crane |
| CN107352250A (en) * | 2017-07-05 | 2017-11-17 | 宁夏天地奔牛实业集团有限公司 | Self-leveling type belt self-movable foot end and belt self-movable foot end self-leveling method |
| CN107640162A (en) * | 2017-10-31 | 2018-01-30 | 中唐空铁集团有限公司 | It is a kind of to control the hangar system for hanging empty iron level operation |
| CN107640162B (en) * | 2017-10-31 | 2023-05-26 | 中唐空铁集团有限公司 | Hanging system for controlling horizontal running of suspended empty iron |
| CN111255843A (en) * | 2020-01-15 | 2020-06-09 | 广东博智林机器人有限公司 | Gas-liquid composite suspension cylinder, hydraulic system and transport vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080827 |
|
| CX01 | Expiry of patent term |