WO2015090097A1 - 一种起重机伸缩油缸检测及保护装置和方法 - Google Patents

一种起重机伸缩油缸检测及保护装置和方法 Download PDF

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Publication number
WO2015090097A1
WO2015090097A1 PCT/CN2014/087241 CN2014087241W WO2015090097A1 WO 2015090097 A1 WO2015090097 A1 WO 2015090097A1 CN 2014087241 W CN2014087241 W CN 2014087241W WO 2015090097 A1 WO2015090097 A1 WO 2015090097A1
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WIPO (PCT)
Prior art keywords
telescopic cylinder
small
oil pressure
oil
cavity
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PCT/CN2014/087241
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English (en)
French (fr)
Inventor
柴君飞
崔华鹏
张洪民
李磊
王翠萍
Original Assignee
徐州重型机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 徐州重型机械有限公司 filed Critical 徐州重型机械有限公司
Priority to EP14872677.1A priority Critical patent/EP3078622A4/en
Priority to RU2016129160A priority patent/RU2664030C1/ru
Publication of WO2015090097A1 publication Critical patent/WO2015090097A1/zh
Priority to US15/186,403 priority patent/US10196245B2/en

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Classifications

    • 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
    • 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
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • 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
    • 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
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically

Definitions

  • the invention relates to the field of cranes with telescopic arms, in particular to a crane telescopic cylinder detection and protection device and method.
  • the single-cylinder bolt type telescopic system can greatly improve the hoisting performance of the main boom of the crane, it is widely used in medium and large tonnage crane products.
  • the telescopic cylinder piston rod of the single cylinder latch system is fixed at one end to the main section arm, and the telescopic cylinder cylinder slides in the inner chute of each section arm.
  • Different combinations of the cylinder pin and the arm pin on the cylinder of the telescopic cylinder can realize the connection and separation of the telescopic cylinder and the arm sections, thereby realizing the telescopic expansion of the arm and the expansion and contraction of the empty cylinder.
  • FIG. 1 is a schematic diagram of an exemplary two-section single-cylinder latch telescopic system.
  • the telescopic cylinder can be used to extend and extend the two-section arm through the cylinder pin, and the arm pin is used to rigidly connect the two-section arm with the main-section arm. Most of the practical applications are above the five-section arm combination.
  • the telescopic cylinder When the main arm is deformed by force and has not been lubricated for a long time, the telescopic cylinder has a large expansion resistance, and when the main arm cannot be stretched, the pressure inside the cylinder is too large, and the forced pressurization may damage the entire system. .
  • the telescopic cylinder When detecting the failure of the last arm, the telescopic cylinder is overextended and the head of the telescopic cylinder collides with the main arm. When the head is affected, the oil pressure fluctuation will be very severe due to the impact of the instantaneous impact.
  • the large cavity pressure should be smaller than the small cavity pressure. If the pressure difference is too large, the shrinking speed will be too fast; if the pressure difference is too small, the action will be too slow.
  • the solenoid valve and the oil pump can be adjusted in real time according to the pressure difference, which can improve the smooth performance of the system.
  • the overflow valve technology in the hydraulic oil line, a relief valve is added, and when the oil pressure reaches the upper limit of the relief valve, the hydraulic oil passes through the overflow.
  • the flow valve is returned to the fuel tank to ensure that the oil line pressure is not higher than a certain upper limit value, thereby protecting the safety of the system.
  • the relief valve technology can only ensure that the oil line pressure is not higher than a certain upper limit value, and the change of oil pressure cannot be clearly known.
  • the oil pressure is too small, the oil pressure information cannot be known, and the corresponding treatments such as adjusting the oil pump, solenoid valve and engine cannot be performed.
  • the arm position detection technique is also used in the prior art. This technique uses the proximity switch to detect the arm position of each arm and determines the arm position information, that is, the telescopic cylinder is now in the range of the arm of the section. When the last arm is detected, make a corresponding judgment to prevent over-extension of the cylinder. However, the arm position detection technique can only prevent the overextension condition, and when the arm speed is too fast, the cylinder and the main arm arm head collide, there is no corresponding treatment.
  • the prior art also uses telescopic cylinder length measurement technology: an arm length sensor is used to measure the telescopic length of the single cylinder latch telescopic cylinder.
  • this technique only detects the result, and it cannot be judged for the reason that the stretching speed becomes faster, slower, or unable to expand and contract.
  • the operator mainly controls the size of the solenoid valve opening and/or the displacement of the oil pump by operating the joystick, thereby controlling the speed of the telescopic action. For example, the larger the handle is pulled, the larger the solenoid valve opening is, the larger the flow rate is, and the faster the telescopic movement speed will be.
  • this method is based on the manipulation of the joystick by the operator, and has high requirements on the maneuvering skill of the operator. And there is no quantitative feedback information on the controlled variable of the controlled object (the expansion and contraction speed of the telescopic cylinder). It is difficult to guarantee the smooth and safe safety of the system.
  • the inventors of the present invention have found that there is a problem in the above prior art, and thus propose a new technical solution to at least one of the problems.
  • One aspect of the present invention provides a crane telescopic cylinder detection and protection device, including a large cavity pressure sensor, a small cavity pressure sensor, a controller, a telescopic cylinder, and a telescopic cylinder regulator, wherein:
  • the large cavity pressure sensor is respectively connected with the telescopic cylinder and the controller;
  • the small chamber pressure sensor is respectively connected to the telescopic cylinder and the controller;
  • the controller is connected to the telescopic cylinder regulator
  • the telescopic cylinder regulator is connected to the telescopic cylinder.
  • the method includes: a large cavity pressure sensor measures a large cavity oil pressure of the telescopic cylinder; and a small cavity pressure sensor measures a small cavity oil pressure of the telescopic cylinder;
  • the controller controls the electric signal outputted to the telescopic cylinder regulator according to the large cavity oil pressure fed back by the large cavity pressure sensor and the small cavity oil pressure fed back by the small cavity pressure sensor, and controls the large and small cavity inlet and outlet hydraulic pressure of the telescopic cylinder through the electric signal.
  • the large chamber pressure sensor and the small chamber pressure sensor are respectively located in the cavity of the telescopic cylinder and/or the oil line.
  • the telescopic cylinder regulator refers to a solenoid valve or an oil pump, or an engine and an oil pump.
  • controller is connected with the electromagnetic valve, or the controller is connected with the oil pump, or the controller is sequentially connected with the engine and the oil pump, and the hydraulic oil of the large and small chambers is controlled by changing the engine speed, the oil pump displacement or the size of the solenoid valve opening. The change in quantity.
  • a proximity switch and/or a length measuring device Further comprising: a proximity switch and/or a length measuring device
  • the proximity switches are respectively connected to the controller and the telescopic cylinder, and the length measuring devices are respectively connected with the controller and the telescopic cylinder.
  • the controller further determines whether the oil pressure of the large and small chambers does not exceed the limit value, whether the oil pressure difference between the large chamber and the small chamber is normal, and whether the oil pressure fluctuations of the large and small chambers are normal, if Yes, the large and small cavity oil pressures are adjusted according to the feedback oil pressure.
  • the method further includes: the controller determines that the oil pressure of the large and small chambers exceeds the limit, the oil pressure difference between the large chamber and the small chamber is abnormal, and/or the oil pressure fluctuation between the large and small chambers is abnormal, and the abnormal treatment is performed.
  • Another aspect of the invention provides a method for detecting and protecting a crane telescopic cylinder, comprising:
  • the large cavity pressure sensor measures the large cavity oil pressure of the telescopic cylinder
  • the small cavity pressure sensor measures the small chamber oil pressure of the telescopic cylinder
  • the controller controls the output electrical signal according to the large cavity oil pressure fed back by the large cavity pressure sensor and the small cavity oil pressure fed back by the small cavity pressure sensor, and the change of the hydraulic oil amount of the large and small cavity of the telescopic cylinder is controlled by the electrical signal, To adjust the oil pressure in large and small chambers.
  • the controller is connected with the electromagnetic valve, or the controller is connected with the oil pump, or the controller is sequentially connected with the engine and the oil pump, and controls an electric signal output to the electromagnetic valve, the oil pump or the engine, and the engine speed is changed by the electric signal, and the oil pump row is changed.
  • the amount or the size of the solenoid valve opening controls the change in the amount of hydraulic oil entering and exiting the large and small chambers of the telescopic cylinder.
  • the controller further determines whether the oil pressure of the large and small chambers does not exceed the limit value, whether the oil pressure difference between the large chamber and the small chamber is normal, and whether the oil pressure fluctuations of the large and small chambers are normal, and if so, according to the feedback
  • the oil pressure adjusts the large and small cavity oil pressure.
  • the method further includes: the controller determines that the oil pressure of the large and small chambers exceeds the limit, the oil pressure difference between the large chamber and the small chamber is abnormal, and/or the oil pressure fluctuation between the large and small chambers is abnormal, and the abnormal treatment is performed.
  • the invention obtains the oil pressure state in the telescopic cylinder through the detection of the oil pressure in the large and small cavities of the telescopic cylinder of the single cylinder latch system, and is used for the telescopic control of the telescopic cylinder, which is beneficial to the system to smoothly perform the telescopic movement.
  • the invention can also judge and process the abnormal state according to the oil pressure in the large and small cavities of the telescopic cylinder, realize the functions of pressure indication, alarm processing, optimization control logic, etc., and realize effective protection of the entire telescopic system.
  • FIG. 1 is a schematic illustration of an exemplary two-section boom single cylinder latch telescoping system.
  • FIG. 2A is a block diagram showing a telescopic cylinder detection and protection device in accordance with an embodiment of the present invention.
  • FIG. 2B is a block diagram showing a telescopic cylinder detection and protection device in accordance with another embodiment of the present invention.
  • FIG. 3 is a flow chart showing a method of detecting and protecting a telescopic cylinder according to an embodiment of the present invention.
  • FIG. 4 is a flow chart showing a detection pressure exceeding limit value of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • Fig. 5 is a flow chart showing the detection of abnormal pressure difference between large and small chambers of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • Fig. 6 is a flow chart showing an abnormality in detecting oil pressure fluctuation of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • Fig. 7 is a flow chart showing the normal detection of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • FIG. 8 is a flow chart showing that the telescopic cylinder detecting and protecting device determines that the arm pin cannot be pulled out in accordance with an embodiment of the present invention.
  • FIG. 2A is a block diagram showing a telescopic cylinder detection and protection device in accordance with an embodiment of the present invention.
  • the apparatus includes a large chamber pressure sensor 205, a small chamber pressure sensor 206, a controller 203, a telescopic cylinder 213, and a telescopic cylinder regulator. among them:
  • the large chamber pressure sensor 205 is connected to the telescopic cylinder 213 and the controller 203, respectively.
  • the small chamber pressure sensor 206 is coupled to the telescopic cylinder 213 and the controller 203, respectively.
  • the controller 203 is coupled to the telescopic cylinder regulator.
  • the telescopic cylinder regulator For example: wired connection, which can prevent external interference.
  • the telescopic cylinder regulator is connected to the hydraulic oil passage of the telescopic cylinder 213.
  • connection mode of the large and small cavity pressure sensors and the controller 203 includes: an analog electric signal (for example, 4 to 20 mA) and/or a CAN (Controller Area Network) bus signal.
  • the controller 203 includes a PLC (Programmable Logic Controller) controller, a single chip microcomputer, and/or an ARM microcontroller.
  • the large chamber pressure sensor 205 and the small chamber pressure sensor 206 may be located in the chamber of the telescopic cylinder and/or the oil line, respectively.
  • the large chamber pressure sensor 205 is located in the large chamber, and the small chamber pressure sensor 206 is located in the small chamber; or, the large chamber pressure sensor 205 is located on the oil line, and the small chamber pressure sensor 206 is located on the oil line; or, the large chamber The pressure sensor 205 is located in the large chamber, and the small chamber pressure sensor 206 is located on the oil line.
  • the large chamber pressure sensor 205 is located on the oil line, and the small chamber pressure sensor 206 is located in the small chamber.
  • the telescopic cylinder regulator referred to herein means a solenoid valve 209 or an oil pump 211, or an engine 207 and an oil pump 211.
  • engine 207, solenoid valve 209, and oil pump 211 may also be included.
  • the controller 203 is connected to the telescopic cylinder regulator such that the controller is connected to the solenoid valve, or the controller is connected to the oil pump, or the controller is sequentially connected to the engine and the oil pump, that is, the oil pump is controlled by the engine.
  • the invention installs a large cavity pressure sensor and a small cavity pressure sensor on the telescopic cylinder, and knows the pressure condition of the large and small cavity of the oil cylinder in real time, and acts as feedback information to act on the telescopic cylinder control and optimizes the control logic. Especially suitable for maintenance inspection of cranes. For example, pressure indication, pressure alarm, low pressure caused by oil leakage and oil leakage, explosion-proof cylinder, anti-stretching, anti-shrinking and so on.
  • “manual input” refers to an operation command that the operator tells the controller 203 through a handle, a button, a touch screen, or the like.
  • the controller is connected to the solenoid valve, or the controller is connected to the oil pump, or the controller is connected to the engine and the oil pump in sequence.
  • the controller 203 controls an electric signal (current value or voltage value) output to the engine, the oil pump and/or the electromagnetic valve according to the oil pressure fed back by the large chamber pressure sensor and the small chamber pressure sensor, and the engine speed is changed by the electric signal, and the oil pump is changed.
  • the displacement and the size of the solenoid valve opening in turn, control the change of the amount of hydraulic oil in the large and small chambers of the telescopic cylinder to adjust the oil pressure in the large and small chambers. Among them, the more oil that enters the cavity per unit time, the corresponding pressure will become larger, and vice versa.
  • one end of the valve core is subjected to the spring force, one end is subjected to the electromagnetic force, the current or voltage given by the controller becomes larger, the electromagnetic force becomes larger, and the valve opening degree is larger, and vice versa. The larger the opening, the greater the flow rate through which the hydraulic oil passes.
  • the oil pump itself has a swash plate mechanism, the voltage or current controls the electromagnetic force, the electromagnetic force controls the angle of the swash plate, and the angle determines the displacement of the oil pump.
  • the engine torque and speed can be controlled via the CAN bus signal.
  • controller 203 will be described in detail based on the large chamber oil pressure measured by the large chamber pressure sensor 205 and the small chamber oil pressure measured by the small chamber pressure sensor 206, and the operation of controlling the expansion and contraction operation of the telescopic cylinder 213 will be described in detail.
  • the controller 203 receives the large chamber oil pressure and the small chamber oil pressure, and determines whether the large chamber oil pressure and the small chamber oil pressure do not exceed the respective limit values (including the upper limit value and the lower limit value), between the large chamber and the small chamber. Whether the oil pressure difference is normal, and whether the large-cavity or small-cavity oil pressure fluctuation is normal, and if so, the telescopic movement of the telescopic cylinder is controlled according to the oil pressure.
  • the limits here are the upper and lower limits, ie the upper limit of the large cavity, the lower limit of the large cavity, the upper limit of the small cavity and the lower limit of the small cavity.
  • the telescopic cylinder regulator When doing the arm extension, adjust the telescopic cylinder regulator according to the oil pressure, so that the oil pressure in the large cavity of the telescopic cylinder becomes large, and the back pressure is in the small cavity (the purpose of the back pressure is to ensure oil in the cavity to prevent the action from appearing Stretching ', 'shrinking' and other phenomena), and the oil pressure difference between the large cavity and the small cavity has a process of changing from small to large, stable, and from large to small, so that the arm has a static-acceleration-steady speed- Deceleration-stationary process, where oil pressure is applied to the control process, so that the acceleration and deceleration are controlled more smoothly, and the stability of the arm movement is improved.
  • the oil pressure difference is not greater than the first set value. This first set value can be set and changed as needed.
  • the telescopic cylinder regulator When doing the retracting arm movement, the telescopic cylinder regulator is adjusted according to the oil pressure, so that the oil pressure in the small cavity of the telescopic cylinder becomes large, and the back pressure is in the large cavity, and the oil pressure difference between the small cavity and the large cavity becomes small and large.
  • the process of stability from large to small, improves the smooth performance of the contraction arm movement, and the oil pressure difference is not greater than the second set value when stable. This second set value can be set and changed as needed.
  • the invention obtains the oil pressure state in the telescopic cylinder through the detection of the oil pressure in the large and small cavities of the telescopic cylinder of the single cylinder latch system, and is used for the telescopic control of the telescopic cylinder, which is beneficial to the system to smoothly perform the telescopic movement.
  • the abnormal processing sequence for the above three cases may be: first, ensure that the large cavity oil pressure and the small cavity oil pressure do not exceed the limit (that is, the system does not have a big problem), and the oil pressure difference is abnormal after the treatment. Finally, the oil pressure fluctuation is abnormal.
  • the scope of the invention is not limited thereto.
  • the invention can also perform the judgment and processing of the abnormal state according to the oil pressure in the large and small cavities of the telescopic cylinder, realize the functions of pressure indication, alarm processing, optimization control logic, etc., and realize effective protection of the entire telescopic system.
  • the apparatus may also include a proximity switch 217 and/or a length measuring device 219.
  • the proximity switch 217 is used to measure the position of the telescopic cylinder in the arm, and the length measuring device 219 is used to measure the telescopic length of the telescopic cylinder.
  • the proximity switch 217 is respectively connected to the controller and the telescopic cylinder, and the length measuring device 219 is respectively connected to the controller and the telescopic cylinder.
  • the controller combines the arm position information measured by the proximity switch 217 with the length information measured by the length measuring device 219, and the telescopic action of the telescopic cylinder together with the pressure information of the large cavity pressure sensor 205 and the small cavity pressure sensor 206.
  • Optimize control including the length of the telescopic, speed, etc., to improve control accuracy.
  • the controller 203 controls the oil pump 211 and/or the solenoid valve 209 to adjust the inside of the telescopic cylinder.
  • the oil pressure (measured by the large chamber pressure sensor 205 and the small chamber pressure sensor 206) causes the pressure of the small chamber to be greater than the pressure of the large chamber, thereby performing the contraction arm movement; when the length measuring device 219 measures the length information of the contraction arm, and is close to
  • the controller 203 controls the oil pump 211 and/or the solenoid valve 209 to adjust the oil pressure in the large and small chambers in advance, for example, the oil pressure in the large and small chambers is gradually increased.
  • the balance because of the gravity of the telescopic cylinder, etc., when the action is stopped, the pressures of the two chambers are not equal, but in a state of force balance), and the contraction of the arms is stopped.
  • FIG. 3 is a flow chart showing a method of detecting and protecting a telescopic cylinder according to an embodiment of the present invention. The method includes the following steps:
  • the large chamber pressure sensor measures the large chamber oil pressure of the telescopic cylinder.
  • the small chamber pressure sensor measures the small chamber oil pressure of the telescopic cylinder.
  • step 303 the controller controls the output electrical signal according to the large cavity oil pressure fed back by the large cavity pressure sensor and the small cavity oil pressure fed back by the small cavity pressure sensor, and the large and small cavity inlet and outlet hydraulic oil of the telescopic cylinder is controlled by the electrical signal. The amount of change to adjust the large and small cavity oil pressure.
  • the method further comprises: determining whether the large chamber oil pressure and the small chamber oil pressure have not exceeded the respective limit values, whether the oil pressure difference between the large chamber and the small chamber is normal, and the large chamber Whether the small chamber oil pressure fluctuation is normal, and if so, adjust the large and small chamber oil pressure according to the feedback oil pressure.
  • the limits here refer to the upper and lower limits.
  • the large chamber oil pressure and the small chamber oil pressure exceed the respective limits, the oil pressure difference between the large chamber and the small chamber is abnormal, and/or the large chamber and small chamber oil pressure fluctuations are abnormal, abnormal treatment is performed.
  • Fig. 7 is a flow chart showing the normal detection of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • step 702 is performed, that is, normal processing.
  • Normal processing includes: normal oil pressure display, normal control of the device, and the like.
  • the opening size of the solenoid valve and/or the displacement of the oil pump are adjusted. This can improve the smooth handling of the system.
  • the solenoid valve opening size ⁇ is quantized from 0 to 100%, and the handle value corresponding to the telescopic action is quantized from 0 to 100%, and the large and small cavity oil pressures are quantized from 0 to 100%. It should be understood that in order to ensure the fretting and speed of the telescopic action, there is a correlation between the handle value, the solenoid valve opening, the cavity pressure value, and the telescopic speed, but it is not a general linear relationship. In the embodiment of the present invention, for example, when the handle value is 10 to 40% when the empty cylinder is extended, the pressure of the large cavity should be kept at 20 to 25% in order to ensure that the speed of the arm is in the range of 0 to 20%.
  • the solenoid valve corresponding to the large cavity is 0 to 35% to meet the requirements.
  • the pressure value of the large cavity should be maintained at 35-45%, and the opening of the solenoid valve corresponding to the large cavity is 70-100%.
  • the small cavity pressure value should have a back pressure of 1.5 to 2%, and the corresponding solenoid valve opening of the small cavity should be controlled within the range of 80 to 85%.
  • the above is an example of adjusting the pressure difference between the large and small cavities by controlling the size of the opening of the solenoid valve, The process of achieving the telescopic action.
  • the controller limits the relevant output, so that the telescopic speed is reduced to 15% of the maximum speed, which is beneficial to the system safety and smooth telescopic action.
  • the above ⁇ may also be the output torque of the engine or the power of the oil pump. A similar description will not be repeated here.
  • the load of the telescopic cylinder is increased as the number of extension arms increases, and in order to ensure sufficient pressure support, the telescopic cylinder has a large cavity at this time.
  • the oil pressure needs to be increased, so the engine output torque is required to be larger at this time.
  • the empty cylinder is extended (without arm extension)
  • the load is reduced because the weight of each arm is subtracted, so that the engine is no longer required to provide too much torque. While ensuring the power required by the system, avoiding the phenomenon of 'large horse-drawn carriages', energy saving and emission reduction can be achieved.
  • one or more set values may be set for the large and small cavity oil pressures, for example, two set values are set, and when the arm is extended, the small cavity pressure is normal, and the large cavity pressure is gradually formed.
  • 4 to 6 are process flows of an abnormal situation. Those skilled in the art should understand whether detecting whether the pressure in the telescopic cylinder exceeds the limit value 401, detecting whether the large or small cavity oil pressure difference is abnormal 501, and detecting whether the oil pressure fluctuation of the telescopic cylinder is abnormal 601, the three detecting operations The order of execution may be determined by those skilled in the art, depending on the circumstances and needs.
  • step 401 it is detected whether the large cavity oil pressure and the small cavity oil pressure in the telescopic cylinder exceed respective limits, including upper and lower limits.
  • limits including upper and lower limits.
  • large cavity oil The upper limit of pressure is 160 bar
  • the lower limit of large chamber oil pressure is 5 bar
  • the upper limit of small chamber oil pressure is 240 bar
  • the lower limit of small chamber oil pressure is 8 bar. It is to be understood that the above-described oil pressure limits are merely exemplary and are not to be construed as limiting the invention.
  • step 403 When it is detected that the oil pressure in the telescopic cylinder exceeds the respective limit values, step 403 is performed, that is, abnormal processing is performed.
  • the exception handling mode includes:
  • the controller 203 automatically adjusts the oil pressure difference between the large and small chambers to realize the deceleration processing, checks whether the load is too large, whether the boom is deformed, whether the lubrication is maintained, and the corresponding solenoid valve 209 is open, closed, normal, and so on.
  • Fig. 5 is a flow chart showing the detection of an abnormality in the oil pressure difference between the large and small chambers of the telescopic cylinder detecting and protecting device according to the embodiment of the present invention.
  • step 501 it is detected whether the large chamber oil pressure difference and the small chamber oil pressure difference are abnormal.
  • step 503 is performed, that is, abnormal processing is performed.
  • exception handling includes:
  • the engine 207, the oil pump 211, and/or the solenoid valve 209 are adjusted to increase the oil pressure of the chamber having a smaller oil pressure and/or reduce the oil pressure. Larger chamber oil pressure;
  • the engine 207, the oil pump 211, and/or the solenoid valve 209 are adjusted to reduce the oil pressure of the chamber having a small oil pressure and/or increase the oil. Pressurize the oil pressure of a larger chamber.
  • Fig. 6 is a flow chart showing an abnormality in detecting oil pressure fluctuation of the telescopic cylinder detecting and protecting device according to an embodiment of the present invention.
  • step 601 it is detected whether the oil pressure fluctuation of the telescopic cylinder is abnormal.
  • the normal oil pressure fluctuation means that the oil pressure fluctuation is within the allowable oil pressure fluctuation range
  • the abnormal oil pressure fluctuation means that the oil pressure fluctuation exceeds the allowable oil pressure fluctuation range.
  • the fluctuation range of the oil pressure is different.
  • the oil pressure fluctuation range of the telescopic cylinder of the tested crane can be determined through repeated tests, and will not be described here.
  • step 603 is performed, that is, abnormal processing is performed.
  • exception handling includes:
  • the large and small cavity oil pressures should fluctuate within a narrow range (derived from repeated tests), if the fluctuation range Exceeding a wide range may be caused by a sudden fault. If the handle signal does not return to zero, the control solenoid valve opening becomes small until it is closed, that is, decelerates until it stops. If the handle signal returns to zero, the operator realizes that If the fault occurs and the action is stopped artificially, close the solenoid valve according to the handle signal and stop the action.
  • the wide range is generally 1.5 to 3 times the normal narrow range.
  • the abnormal conditions such as excessively large and too small oil pressure of the telescopic cylinder, excessive or small oil pressure difference between large and small chambers, and severe fluctuation of oil pressure are treated, which is beneficial to the normal operation and effective protection of the device.
  • FIG. 8 is a flow chart showing that the telescopic cylinder detecting and protecting device determines that the arm pin cannot be pulled out in accordance with an embodiment of the present invention.
  • the oil pressure detection of the telescopic cylinder can be utilized, and the cause of the failure that the arm pin cannot be pulled out is also analyzed.
  • the arm pin operation when the arm pin operation is performed, the large cavity and the small cavity are detected.
  • oil pressure if one of the hydraulic pressures is lower than the lower limit, in order to prevent the expansion and contraction of the arm pin, the non-stationary action phenomenon such as the expansion and the sudden expansion of the expansion and contraction is caused by the low hydraulic pressure.
  • the arm pin is actuated, and the sound and light alarms are processed, and the 'undervoltage' fault is reported.
  • the arm pin is tightened, if the large cavity oil pressure is less than the limit of the large cavity pressure, the arm pin action is not performed, and the oil is supplied to the large cavity until it is not less than the set value. The arm pin moves.
  • step 801 it is determined whether the telescopic cylinder oil pressure is normal.
  • step 805 If the oil pressure of the large and small chambers of the telescopic cylinder is normal, proceed to step 805 to determine that the arm pin cylinder may be faulty, and the arm pin cannot be pulled out;
  • step 803 determines whether the large chamber oil pressure is too large or too small: if it is too large, proceed to step 807 to determine that the expansion resistance may be too large, such as deformation of the main arm or belt If the load is not higher than the upper limit, the pressure is increased, if the pressure is higher than the upper limit, and the pressure is too high, if the pressure is too small, the process proceeds to step 809, and it may be determined that the oil pump is insufficient.
  • the large and small ones mentioned here are different depending on different cranes or different working conditions, and those skilled in the art can judge whether the oil pressure in a specific case is too large or too small.
  • a hydraulic pressure value can be set, and when it is larger than the hydraulic pressure value, it is considered to be too large, otherwise it is too small. It should be understood by those skilled in the art that the present invention is not to be construed as limiting.
  • the invention obtains the oil pressure state in the telescopic cylinder through the detection of the oil pressure in the large and small cavities of the telescopic cylinder of the single cylinder latch system, and is used for the telescopic control and abnormal state treatment of the telescopic cylinder, and can be alarmed and decelerated before the danger occurs. Wait for processing, analyze the cause of the fault, optimize the control logic and other functions to achieve effective protection of the entire telescopic system.
  • the method and apparatus of the present invention may be implemented in a number of ways.
  • the methods and apparatus of the present invention can be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware.
  • the above-described sequence of steps for the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless otherwise specifically stated.
  • the present invention may also be embodied as a program recorded in a recording medium, these The program comprises machine readable instructions for implementing the method according to the invention.
  • the invention also covers a recording medium storing a program for performing the method according to the invention.

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Abstract

一种起重机伸缩油缸检测及保护装置，包括大腔压力传感器（205）、小腔压力传感器（206）、控制器（203）、伸缩油缸（213）以及伸缩油缸调节器；还公开了一种起重机伸缩油缸检测及保护方法：大腔压力传感器（205）测量伸缩油缸（213）的大腔油压，小腔压力传感器（206）测量伸缩油缸（213）的小腔油压，控制器（203）根据大腔压力传感器（205）反馈的大腔油压和小腔压力传感器（206）反馈的小腔油压控制输出的电信号，通过电信号控制伸缩油缸的大、小腔进出液压油量的变化以调节大、小腔油压。

Description

一种起重机伸缩油缸检测及保护装置和方法 技术领域
本发明涉及带有伸缩臂的起重机领域，尤其涉及一种起重机伸缩油缸检测及保护装置和方法。
背景技术
由于单缸插销式伸缩系统可以大幅提升起重机主臂的吊重性能，因而被广泛应用于中大吨位的起重机产品。
单缸插销系统的伸缩油缸活塞杆一端固定在主节臂，伸缩油缸缸筒在各节臂的内部的滑槽内滑动。伸缩油缸缸筒上的缸销和臂销的不同组合，可以实现伸缩油缸与各节臂的连接和分离，进而可以实现带臂伸缩和空缸伸缩。
图1是示例性的两节臂单缸插销伸缩系统示意图，伸缩油缸可以通过缸销带动二节臂伸缩，臂销用于将二节臂与主节臂刚性连接。实际应用的多为五节臂组合以上。
带臂伸、带臂缩、空缸伸、空缸缩等多个状态，不同变幅角度，伸缩臂的数量和组合工况，对应伸缩油缸负载大小不同，所以伸缩油缸内油压值大小也是不同的。由于油路管路上的电磁阀的开口越大，流量越大，伸缩动作就会越快，因此为保证伸缩动作的平稳，对电磁阀的开口大小调节有很高的要求。
当由于油路管路破损、阀路损坏造成漏油时，伸缩油缸内压力建立不起来，油压值会偏小。例如：图1中，二节臂伸臂后，若因大腔油路问题造成大腔内液压油漏空，则拔臂销后，大腔内无压力支撑，在油缸和伸缩臂自身重力以及小腔油压的巨大压力作用下，会造成伸出的臂快速坠落，极易造成车辆损坏和安全事故。
当由于主臂受力变形、长时间没做润滑保养等原因，造成伸缩油缸伸缩动作阻力变大，无法正常主臂伸缩时，容易造成油缸内压力过大，强行加压会对整个系统造成损坏。
当检测末节臂失效，伸缩油缸过伸，伸缩油缸头部碰撞到主臂臂 头时，受瞬间撞击影响，油压波动会非常剧烈。
当带臂缩时，大腔压力应该比小腔压力小一些，如果压差过大，缩的速度也会过快；若压差过小，动作就会太慢。根据压差值实时调节电磁阀和油泵，可以提高系统平稳性能。
在现有技术中，为了防止油压过高，经常采用溢流阀技术：在液压油路管路中，添加溢流阀，当油压达到溢流阀的上限值时，液压油通过溢流阀回到油箱，保证油路压力不高于某个上限值，进而保护系统安全。但是该溢流阀技术只能保证油路压力不高于某个上限值，无法清楚知道油压的变化情况。当油压过小时，无法得知油压信息，同时也无法进行调节油泵、电磁阀及发动机等相应处理。
现有技术中还采用了臂位检测技术。该技术通过接近开关进行每节臂的臂位检测，判断出臂位信息，即现在伸缩油缸处于第几节臂的范围内。当检测到末节臂时，做出相应判断，预防油缸过伸。但是通过臂位检测技术只能对过伸情况起预防作用，而当伸臂速度过快，油缸与主臂臂头发生碰撞时，无相应处理。
此外，现有技术中还采用伸缩油缸长度测量技术：用一个臂位长度传感器测量单缸插销伸缩油缸伸缩长度。但是该技术只是对结果的检测，而对于伸缩速度变快、变慢或无法伸缩的原因，则不能做出判断。
在现有技术中，操作人员主要靠操作操纵手柄来控制电磁阀开口的大小和/或油泵排量大小，进而控制伸缩动作的快慢。例如，操纵手柄扳动越大，电磁阀开口越大，流量越大，伸缩动作速度就会越快。但这种方式以操纵人员对操纵手柄的操纵为依据，对操纵人员的操纵技能有较高要求。并且对被控对象的被控变量(伸缩油缸伸缩快慢)没有一个量化的反馈信息。难以保证系统的平稳安全性。
现实当中单缸插销系统经常会出现拔臂销困难的情况。主要原因可分为两类：一是伸缩油缸油压建立不起来，无法伸臂，使得臂销不能脱钩；二是臂销油缸故障，无法进行拔臂销。但是从目前的技术来说，还无法判断是哪种原因导致的臂销无法拔出。
以上几个例子现实中都发生过，所以对伸缩油缸状态的检测是十 分必要的。
发明内容
本发明的发明人发现上述现有技术中存在问题，并因此针对所述问题中的至少一个问题提出了一种新的技术方案。
本发明的一个方面提供一种起重机伸缩油缸检测及保护装置，包括大腔压力传感器、小腔压力传感器、控制器、伸缩油缸以及伸缩油缸调节器，其中：
大腔压力传感器分别与伸缩油缸和控制器连接；
小腔压力传感器分别与伸缩油缸和控制器连接；
控制器与伸缩油缸调节器连接；
伸缩油缸调节器与伸缩油缸连接。
进一步包括：大腔压力传感器测量伸缩油缸的大腔油压；小腔压力传感器测量伸缩油缸的小腔油压；
控制器根据大腔压力传感器反馈的大腔油压和小腔压力传感器反馈的小腔油压，控制输出到伸缩油缸调节器上的电信号，通过该电信号控制伸缩油缸大、小腔进出液压油量的变化，以调节大、小腔油压。
进一步包括：大腔压力传感器和小腔压力传感器分别位于伸缩油缸的腔内和/或油路管路上。
进一步包括：伸缩油缸调节器指电磁阀或者油泵，或者是发动机和油泵。
进一步包括：控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接，通过改变发动机转速、油泵排量或电磁阀开口大小，进而控制大、小腔进出液压油量的变化。
进一步还包括：接近开关和/或长度测量设备；
其中，接近开关分别与控制器和伸缩油缸连接，长度测量设备分别与控制器和伸缩油缸连接。
进一步包括：控制器判断大、小腔油压是否未超过限值、大腔和小腔之间的油压差是否正常、以及大、小腔油压波动是否正常，如果 是，则根据反馈的油压调节大、小腔油压。
进一步包括：控制器判断大、小腔油压超过限值、大腔和小腔之间的油压差异常、和/或大、小腔油压波动异常，则进行异常处理。
本发明的另一个方面提供一种起重机伸缩油缸检测及保护方法，包括：
大腔压力传感器测量伸缩油缸的大腔油压；
小腔压力传感器测量伸缩油缸的小腔油压；
控制器根据大腔压力传感器反馈的大腔油压和小腔压力传感器反馈的小腔油压，控制输出的电信号，通过该电信号控制伸缩油缸的大、小腔进出液压油量的变化，以调节大、小腔油压。
进一步包括：控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接，控制输出到电磁阀、油泵或者发动机的电信号，通过该电信号改变发动机转速、油泵排量或电磁阀开口大小，进而控制伸缩油缸大、小腔进出液压油量的变化。
进一步包括：控制器判断大、小腔油压是否未超过限值、大腔和小腔之间的油压差是否正常、以及大、小腔油压波动是否正常，如果是，则根据反馈的油压调节大、小腔油压。
进一步包括：控制器判断大、小腔油压超过限值、大腔和小腔之间的油压差异常、和/或大、小腔油压波动异常，则进行异常处理。
本发明通过单缸插销系统的伸缩油缸的大、小腔内油压的检测，得到伸缩油缸内的油压状态，用于伸缩油缸的伸缩控制，有利于系统平稳地进行伸缩动作。
此外，本发明还可以根据伸缩油缸的大、小腔内的油压，进行异常状态的判断和处理，实现压力指示、报警处理、优化控制逻辑等功能，实现对整个伸缩系统的有效保护。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
构成说明书的一部分的附图描述了本发明的实施例，并且连同说 明书一起用于解释本发明的原理。
参照附图，根据下面的详细描述，可以更加清楚地理解本发明，其中：
图1是示例性的两节臂单缸插销伸缩系统示意图。
图2A是示出根据本发明的实施例的伸缩油缸检测及保护装置的框图。
图2B是示出根据本发明的另一个实施例的伸缩油缸检测及保护装置的框图。
图3是示出根据本发明的实施例的伸缩油缸检测及保护方法的流程示意图。
图4是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测压力超限值时的流程图。
图5是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测大、小腔压差异常时的流程图。
图6是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测油压波动异常时的流程图。
图7是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测正常时的流程图。
图8是示出根据本发明的实施例的伸缩油缸检测及保护装置判断臂销无法拔出故障的流程图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详 细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。
图2A是示出根据本发明的实施例的伸缩油缸检测及保护装置的框图。该装置包括：大腔压力传感器205、小腔压力传感器206、控制器203、伸缩油缸213以及伸缩油缸调节器。其中：
大腔压力传感器205分别与伸缩油缸213和控制器203连接。
小腔压力传感器206分别与伸缩油缸213和控制器203连接。
控制器203与伸缩油缸调节器连接。例如：有线连接，这能够防止外界干扰。
伸缩油缸调节器与伸缩油缸213的液压油路连接。
在本发明的实施例中，大、小腔压力传感器与控制器203的连接方式包括：模拟量电信号(例如4～20mA)和/或CAN(Controller Area Network，控制器局域网)总线信号等。控制器203包括：PLC(Programmable Logic Controller，可编程逻辑控制器)控制器、单片机和/或ARM微控制器等。
在本发明的实施例中，大腔压力传感器205和小腔压力传感器206可以分别位于伸缩油缸的腔内和/或油路管路上。
例如，大腔压力传感器205位于大腔内，小腔压力传感器206位于小腔内；或者，大腔压力传感器205位于油路管路上，小腔压力传感器206位于油路管路上；或者，大腔压力传感器205位于大腔内，小腔压力传感器206位于油路管路上；又或者，大腔压力传感器205位于油路管路上，小腔压力传感器206位于小腔内。
这里所说的伸缩油缸调节器指电磁阀209或者油泵211，或者是发动机207和油泵211。当然，在一个实施例中，也可以包括发动机207、电磁阀209和油泵211。如图2A所示，控制器203与伸缩油缸调节器连接为：控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接，即，通过发动机控制油泵。
本发明在伸缩油缸上安装大腔压力传感器和小腔压力传感器，实时的知道油缸大、小腔的压力情况，作为反馈信息，作用于伸缩油缸控制，在控制逻辑方面做优化。尤其适用于对起重机进行维修检测。例如，进行压力指示、压力报警、油路破损漏油造成的压力偏低、防爆缸、防猛伸、防猛缩等等。
在本发明的实施例中，如图2A所示，其中，“人工输入“指操作人员通过手柄、按键、触摸屏等方式告诉控制器203要进行的操作命令。
控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接。
控制器203根据大腔压力传感器和小腔压力传感器反馈的油压，控制输出到发动机、油泵和/或电磁阀上的电信号(电流值或电压值)，通过该电信号改变发动机转速、油泵排量、电磁阀开口大小，进而控制伸缩油缸大、小腔进出液压油量的变化，以调节大、小腔油压。其中，单位时间内进入腔内的油量越多，相应压力就会变大，反之越少。
对于电磁阀的调节：阀芯一端受弹簧力，一端受电磁力，控制器给的电流或电压变大，电磁力变大，阀口开度越大，反之亦然。开口越大，液压油通过的流量越大。
对于油泵，油泵本身里面有个斜盘机构，电压或电流控制电磁力，电磁力控制斜盘的角度大小，角度大小决定了油泵的排量。
对于发动机，只要发动机厂商开发功率控制，就可以通过CAN总线信号，控制发动机扭矩和转速。
下面将对控制器203根据大腔压力传感器205测量的大腔油压和小腔压力传感器206测量的小腔油压，控制伸缩油缸213的伸缩动作的操作进行详细说明。
控制器203接收大腔油压和小腔油压，判断大腔油压和小腔油压是否未超过各自的限值(包括上限值、下限值)、大腔和小腔之间的油压差是否正常、以及大腔、小腔油压波动是否正常，如果是，根据油压控制伸缩油缸的伸缩动作。这里的限值是上限和下限，即大腔的上限、大腔的下限、小腔的上限和小腔的下限。
在做伸臂动作时，根据油压调节伸缩油缸调节器，使得伸缩油缸大腔油压变大，小腔内具有背压(背压的目的是保证腔内有油，防止动作时出现‘猛伸’、‘猛缩’等现象)，而大腔和小腔之间的油压差具有由小变大、稳定、由大变小的过程，从而伸臂时具有静止-加速度-稳速-减速度-静止的过程，这里将油压作用于控制过程，使得加速度和减速度控制得更平顺，提高伸臂动作平稳性能，稳定时油压差不大于第一设定值。该第一设定值可以根据需要进行设置以及更改。
在做缩臂动作时，根据油压调节伸缩油缸调节器，使得伸缩油缸小腔油压变大，大腔内具有背压，而小腔和大腔之间的油压差具有由小变大、稳定、由大变小的过程，提高缩臂动作平稳性能，稳定时油压差不大于第二设定值。该第二设定值可以根据需要进行设置以及更改。
本发明通过单缸插销系统的伸缩油缸的大、小腔内油压的检测，得到伸缩油缸内的油压状态，用于伸缩油缸的伸缩控制，有利于系统平稳地进行伸缩动作。
在本发明的另一实施例中，如果大腔油压和小腔油压超过各自的限值、大腔和小腔之间的油压差异常、和/或大腔、小腔油压波动异常，则进行异常处理。根据本发明的实施例，对上述三种情况的异常处理顺序可以是：先保证大腔油压和小腔油压不超过限值(即系统不会出现大问题)，再处理油压差异常，最后处理油压波动异常。当然，本发明的范围并不仅限于此。
本发明还可以根据伸缩油缸的大、小腔内的油压，进行异常状态的判断和处理，实现压力指示、报警处理、优化控制逻辑等功能，实现对整个伸缩系统的有效保护。
图2B是示出根据本发明的另一个实施例的伸缩油缸检测及保护装置的框图。在本发明的该实施例中，该装置还可以包括接近开关217和/或长度测量设备219。接近开关217用于测量伸缩油缸在臂中的位置，长度测量设备219用于测量伸缩油缸的伸缩长度。其中，接近开关217分别与控制器和伸缩油缸连接，长度测量设备219分别与控制器和伸缩油缸连接。
根据本发明的实施例，控制器结合接近开关217测量的臂位信息和长度测量设备219测量的长度信息，与大腔压力传感器205、小腔压力传感器206的压力信息一起对伸缩油缸的伸缩动作进行优化控制，包括伸缩的长度、快慢等，从而提高控制精度。例如，当接近开关217测量到伸缩油缸位于二节臂的位置时，并且期望伸缩油缸缩回到主节臂，则控制器203通过控制油泵211和/或电磁阀209，以调节伸缩油缸内的油压(由大腔压力传感器205、小腔压力传感器206测量)，使得小腔的压力大于大腔的压力，进而进行缩臂动作；当长度测量设备219测量出缩臂的长度信息，并且接近开关217测量出伸缩油缸位于主节臂时，控制器203通过控制油泵211和/或电磁阀209，从而提前调节大、小腔中的油压，例如使大、小腔中的油压逐渐趋于平衡(因为伸缩油缸自身重力等原因，动作停止时，两腔压力并不相等，而是处于一种力平衡状态)，进而停止缩臂动作。
图3是示出根据本发明的实施例的伸缩油缸检测及保护方法的流程示意图。该方法包括以下步骤：
在步骤301，大腔压力传感器测量伸缩油缸的大腔油压。
在步骤302，小腔压力传感器测量伸缩油缸的小腔油压。
在步骤303，控制器根据大腔压力传感器反馈的大腔油压和小腔压力传感器反馈的小腔油压，控制输出的电信号，通过该电信号控制伸缩油缸的大、小腔进出液压油量的变化，以调节大、小腔油压。
根据本发明的一个实施例，在步骤303中还包括：判断大腔油压和小腔油压是否未超过各自的限值、大腔和小腔之间的油压差是否正常、以及大腔、小腔油压波动是否正常，如果是，则根据反馈的油压调节大、小腔油压。这里的限值指上限和下限。
如果大腔油压和小腔油压超过各自的限值、大腔和小腔之间的油压差异常、和/或大腔、小腔油压波动异常，则进行异常处理。
图7是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测正常时的流程图。
当检测伸缩油缸内的油压未超过限值，大、小腔油压差正常且油压波动正常时，则进行步骤702，即正常处理。
正常处理包括：正常油压显示、对装置的正常控制等。
在本发明的一个实施例中，在调节电磁阀的开口大小时，可以以下面这样的情况调节：
Figure PCTCN2014087241-appb-000001
Φ-电磁阀开口大小；
J-伸缩动作对应的手柄值大小；
A-伸缩油缸大腔油压；
B-伸缩油缸小腔油压。
根据伸缩油缸大腔油压、伸缩油缸小腔油压以及伸缩动作对应的手柄值大小调节电磁阀的开口大小和/或油泵排量大小。这样可以提高系统的平稳操纵性能。
电磁阀开口大小Φ以0～100％量化，伸缩动作对应的手柄值大小以0～100％量化，大、小腔油压大小以0～100％量化。应当理解，为了保证伸缩动作的微动性和速度，手柄值、电磁阀开口、大小腔压力值、伸缩速度之间具有相关性，但并非是一般的线性关系。在本发明的实施例中，例如空缸伸动作时，手柄值为10～40％时，为保证伸臂速度在0～20％范围内，大腔压力值应保持在20～25％，调节大腔对应的电磁阀开口在0～35％才能满足要求。又例如，手柄值为80～100％时，为保证伸臂速度在60～100％范围内，大腔压力值应保持在35～45％，调节大腔对应的电磁阀开口在70～100％才能满足要求。在整个过程中，小腔压力值应该有1.5～2％的背压，小腔对应的电磁阀开口应该控制在80～85％范围内。然而，应当理解，上述实施例仅是示例性的，并不能限制本发明的范围。
上述以通过控制电磁阀开口大小来调节大、小腔的压差为例，说 明实现伸缩动作的过程。本发明中，也可以通过控制发动机和油泵，或者单独控制油泵来调节大、小腔的压差，调节伸缩动作以及伸缩动作的速度。例如，当油压异常而又人为“强制”伸缩动作时，控制器限制相关输出，使得伸缩动作速度降低至最大速度的15％，这样有利于系统安全以及平稳地进行伸缩动作。
在其他的实施例中，上面的Φ还可以是发动机的输出扭矩或者油泵的功率。相似的描述这里不再赘述。
在本发明的实施例中，在做带臂伸动作时，随着伸出臂节数的增加，伸缩油缸的负载也越来越大，为了保证足够的压力支撑，此时的伸缩油缸大腔油压需要变大，因此，此时需要发动机输出扭矩更大。而做空缸伸(不带臂伸)动作时，因为减去了各节臂的重力，所以负载会变小，因此，此时不再需要发动机提供太大的扭矩。在保证系统所需动力的同时，避免‘大马拉小车’的现象，可实现节能减排的效果。
在本发明的实施例中，对于大、小腔油压可以设定一个或多个设定值，例如设置两个设定值，在带臂伸动作时，小腔压力正常，大腔压力逐渐提高，若大腔油压高于第一设定值，还无动作则进行预警处理(例如声光报警)；若大腔油压高于第二设定值(第二设定值大于第一设定值)，则关闭电磁阀停止带臂伸动作，以防止压力过大造成伸缩系统损坏，比如爆缸等。
图4～图6是异常情况的处理流程。本领域的技术人员应当理解，检测伸缩油缸内的压力是否超过限值401，检测大、小腔油压差是否异常501，以及检测伸缩油缸的油压波动是否异常601，这三个检测操作的执行顺序可以根据具体情况以及需要由本领域的技术人员自行决定。
下面将结合附图和具体实施例，对各个异常情况分别进行说明。
图4是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测压力超限值时的流程图。其中在步骤401处，检测伸缩油缸内的大腔油压、小腔油压是否超过各自的限值，包括上限和下限。对于不同的起重机，本领域的技术人员能够设置不同的限值。例如，大腔油 压上限为160bar，大腔油压下限为5bar，小腔油压上限为240bar，小腔油压下限为8bar。应该理解，上述油压限值仅是示例性的，不应理解为对本发明的限制。
当检测伸缩油缸内的油压超过各自的限值时，则进行步骤403，即进行异常处理。
所述异常处理模式包括：
若判断油压偏低，则进行报警，检查液压油管路是否有破损、漏油现象，以及相应的电磁阀209打开、关闭状态是否正常等；
若判断油压偏高，则进行报警，所述控制器203自动调节大、小腔油压差来实现减速处理，检查负载是否过大、吊臂是否变形、是否经过润滑保养以及相应的电磁阀209打开、关闭状态是否正常等。
图5是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测大、小腔油压差异常时的流程图。在步骤501处，检测大腔油压差和小腔油压差是否异常。
本领域的技术人员应该理解，不同的起重机，其大、小腔油压差异常状态是不同的，例如，不同的起重机的伸缩油缸所能承受的大、小腔的油压差是不同的；对于同一起重机，在不同的情况下的大、小腔油压差也是不同的，例如在伸臂和缩臂动作时，要求的速度快慢不同导致大、小腔油压差不同。本领域的技术人员应当理解，可以通过多次反复测试起重机的伸缩油缸的所能承受的大、小腔油压差以及伸缩动作等，来确定所测试起重机的伸缩油缸的大、小腔异常状态，这里不再赘述。
当判断大腔油压差和小腔油压差异常时，则进行步骤503，即进行异常处理。
其中，异常处理包括：
若判断大腔油压差和/或小腔油压差过大，则调节发动机207、油泵211和/或电磁阀209，以增加油压较小的腔的油压和/或减小油压较大的腔的油压；
若判断大腔油压差和/或小腔油压差过小，则调节发动机207、油泵211和/或电磁阀209，以减小油压较小的腔的油压和/或增加油 压较大的腔的油压。
图6是示出根据本发明的实施例的伸缩油缸检测及保护装置的检测油压波动异常时的流程图。在步骤601处，检测伸缩油缸的油压波动是否异常。
本领域的技术人员应当理解，油压波动正常是指油压波动在允许的油压波动范围内；油压波动异常是指油压波动超出所允许的油压波动范围。对于不同的起重机，以及同一起重机的不同的运行状态，例如在伸臂和缩臂动作时，油压的波动范围均是不同的。可以通过多次反复测试，来确定所测试起重机的伸缩油缸的油压波动范围，这里不再赘述。
当检测伸缩油缸的油压波动为异常时，则进行步骤603，即进行异常处理。
其中，异常处理包括：
进行报警，以及调节发动机207、油泵211和/或电磁阀209，使得油压波动正常。
在本发明的实施例中，当进行伸缩动作且手柄信号趋于稳定时，此时大、小腔油压均应在一个窄的范围(由多次反复测试得出)内波动，如果波动范围超出一个宽幅范围则可能是由突发故障引起，此时若手柄信号不归于零，则控制电磁阀开口变小直至关闭，即减速直至停止动作；若手柄信号归零，说明操作人员意识到故障，并且人为停止动作，按照手柄信号关闭电磁阀，停止动作。宽幅范围一般取正常窄幅的1.5～3倍。
经过上述异常处理，处理了伸缩油缸油压过大、过小，大、小腔油压差过大或过小，油压波动剧烈等异常状况，有利于装置的正常运行以及有效保护。
图8是示出根据本发明的实施例的伸缩油缸检测及保护装置判断臂销无法拔出故障的流程图。在实际的工作中，经常遇到臂销无法拔出的故障，根据本发明的实施例，可以利用伸缩油缸的油压检测，还分析出臂销无法拔出的故障原因。
在本发明的实施例中，当进行拔臂销操作时，检测大腔和小腔的 油压，若有一方油压低于下限值，为了防止拔臂销后进行伸缩动作时，由于一方油压太低造成伸缩动作‘猛伸’、‘猛缩’等非平稳动作现象，禁止拔臂销动作，并且声、光报警处理，并报‘欠压’故障。例如，拔臂销缩臂时，若大腔油压小于该大腔压力的限值，则不进行拔臂销动作，先往大腔内供油至不小于设定值时，方可进行拔臂销动作。
在本发明的实施例中，遇到臂销无法拔出的故障时：
若无欠压故障，在步骤801处，判断伸缩油缸油压是否正常。
若伸缩油缸的大、小腔油压正常，则进行至步骤805，判断可能是臂销油缸故障，则报臂销无法拔出故障；
若伸缩油缸的油压异常，则进行至步骤803，判断大腔油压是偏大还是偏小：如果偏大，则进行至步骤807，判断可能是伸缩阻力太大，如主臂变形或者带载伸缩等，若不高于上限值继续加压，若高于上限值停止加压且报压力过高故障；如果偏小，则进行至步骤809，判断可能是油泵供油不足等。这里所说的偏大、偏小依据不同的起重机、或者不同的工况有所不同，本领域技术人员可以判断具体情况下的油压是偏大还是偏小。例如，对于某种型号的起重机，可以设置一个油压值，当大于该油压值时认为是偏大，否则是偏小。本领域技术人员应该可以理解，这里只是用于举例，不应理解为对本发明的限制。
本发明通过单缸插销系统的伸缩油缸的大、小腔内油压的检测，得到伸缩油缸内的油压状态，用于伸缩油缸的伸缩控制和异常状态处理，可以在危险发生前提前报警减速等处理，分析故障原因，优化控制逻辑等功能，实现对整个伸缩系统的有效保护。
至此，已经详细描述了本发明。为了避免遮蔽本发明的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
可能以许多方式来实现本发明的方法以及装置。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本发明的方法以及装置。用于所述方法的步骤的上述顺序仅是为了进行说明，本发明的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本发明实施为记录在记录介质中的程序，这些 程序包括用于实现根据本发明的方法的机器可读指令。因而，本发明还覆盖存储用于执行根据本发明的方法的程序的记录介质。
虽然已经通过示例对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上示例仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。

Claims (12)

  1. 一种起重机伸缩油缸检测及保护装置，其特征在于，包括大腔压力传感器、小腔压力传感器、控制器、伸缩油缸以及伸缩油缸调节器，其中：
    大腔压力传感器分别与伸缩油缸和控制器连接；
    小腔压力传感器分别与伸缩油缸和控制器连接；
    控制器与伸缩油缸调节器连接；
    伸缩油缸调节器与伸缩油缸连接。
  2. 根据权利要求1所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    大腔压力传感器测量伸缩油缸的大腔油压；
    小腔压力传感器测量伸缩油缸的小腔油压；
    控制器根据大腔压力传感器反馈的大腔油压和小腔压力传感器反馈的小腔油压，控制输出到伸缩油缸调节器上的电信号，通过该电信号控制伸缩油缸大、小腔进出液压油量的变化，以调节大、小腔油压。
  3. 根据权利要求1所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    大腔压力传感器和小腔压力传感器分别位于伸缩油缸的腔内和/或油路管路上。
  4. 根据权利要求1所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    伸缩油缸调节器指电磁阀或者油泵，或者是发动机和油泵。
  5. 根据权利要求4所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接，通过改变发动机转速、油泵排量或电磁阀开口大小，进而控制大、小腔进出液压油量的变化。
  6. 根据权利要求1至5中任一所述起重机伸缩油缸检测及保护装置，其特征在于，还包括：
    接近开关和/或长度测量设备；
    其中，接近开关分别与控制器和伸缩油缸连接，长度测量设备分别与控制器和伸缩油缸连接。
  7. 根据权利要求2所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    控制器判断大、小腔油压是否未超过限值、大腔和小腔之间的油压差是否正常、以及大、小腔油压波动是否正常，如果是，则根据反馈的油压调节大、小腔油压。
  8. 根据权利要求2或7所述起重机伸缩油缸检测及保护装置，其特征在于，包括：
    控制器判断大、小腔油压超过限值、大腔和小腔之间的油压差异常、和/或大、小腔油压波动异常，则进行异常处理。
  9. 一种起重机伸缩油缸检测及保护方法，其特征在于，包括：
    大腔压力传感器测量伸缩油缸的大腔油压；
    小腔压力传感器测量伸缩油缸的小腔油压；
    控制器根据大腔压力传感器反馈的大腔油压和小腔压力传感器反馈的小腔油压，控制输出的电信号，通过该电信号控制伸缩油缸的大、小腔进出液压油量的变化，以调节大、小腔油压。
  10. 根据权利要求9所述起重机伸缩油缸检测及保护方法，其特征在于，包括：
    控制器与电磁阀连接，或者控制器与油泵连接，或者控制器与发动机和油泵依次连接，控制输出到电磁阀、油泵或者发动机的电信号，通过该电信号改变发动机转速、油泵排量或电磁阀开口大小，进而控制伸缩油缸大、小腔进出液压油量的变化。
  11. 根据权利要求9或10所述起重机伸缩油缸检测及保护方法，其特征在于，包括：
    控制器判断大、小腔油压是否未超过限值、大腔和小腔之间的油压差是否正常、以及大、小腔油压波动是否正常，如果是，则根据反馈的油压调节大、小腔油压。
  12. 根据权利要求9或10所述起重机伸缩油缸检测及保护方法，其特征在于，包括：
    控制器判断大、小腔油压超过限值、大腔和小腔之间的油压差异常、和/或大、小腔油压波动异常，则进行异常处理。
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