WO2023109049A1 - Intelligent hydraulic system and hydraulic jacking device - Google Patents

Abstract

Provided in the present application are an intelligent hydraulic system and a hydraulic jacking device. An oil path of the intelligent hydraulic system is provided with a first pressure measurement point for measuring an oil pressure of an oil output end of a hydraulic pump, a second pressure measurement point for measuring an oil pressure of an oil intake end of a balance valve, and a third pressure measurement point for measuring an oil pressure of an oil output end of a rod cavity of a jacking oil cylinder. The system further comprises a controller, which is configured to: respectively collect a first oil pressure value Ps of the first pressure measurement point, a second oil pressure value P₂ of the second pressure measurement point, and a third oil pressure value P₁ of the third pressure measurement point; calculate a first loop section pressure difference P_s1 between the first pressure measurement point and the third pressure measurement point, and a second loop section pressure difference P_s2 between the first pressure measurement point and the second pressure measurement point; and process the first oil pressure value Ps, the second oil pressure value P₂, the third oil pressure value P₁, the first loop section pressure difference P_s1 and the second loop section pressure difference P_s2, and perform feedback determination on a hydraulic element of the intelligent hydraulic system according to a processing result. The aim of intelligent determination is achieved, and manual errors are reduced.

Description

Intelligent hydraulic system and hydraulic jacking device

Cross References to Related Applications

This application claims priority to Chinese patent application 202111552590.5 filed on December 17, 2021, the contents of which are incorporated herein by reference.

technical field

The application belongs to the field of hydraulic technology, and in particular relates to an intelligent hydraulic system and a hydraulic jacking device.

Background technique

The hydraulic jacking device is a tower crane climbing power device driven by a hydraulic cylinder. The hydraulic system currently used in the tower crane is mainly operated manually, and if a fault occurs, it will be manually eliminated, depending on the professional level of the operator and maintenance personnel; according to According to user quality feedback statistics, faults and quality problems mainly include: inappropriate setting pressure of relief valve, inappropriate setting pressure of balance valve, slow lifting speed compared to design speed, structural damage caused by abnormal lifting force, etc.; such abnormalities are caused by Skilled technicians check and solve. However, in the process of manual inspection, on the one hand, it depends on the professional level of operators and maintenance personnel, and human operation is prone to errors. On the other hand, it is impossible to detect faults before they occur.

Contents of the invention

The main purpose of this application is to propose an intelligent hydraulic system and a hydraulic jacking device, aiming to solve the technical problem that there are large errors in the parameters of the hydraulic jacking device in the prior art when manual detection is used.

In order to achieve the above purpose, the present application provides an intelligent hydraulic system, the oil circuit of the intelligent hydraulic system is provided with a plurality of pressure measuring points for detecting oil pressure, the intelligent hydraulic system also includes a controller, and the controller is configured as:

Collecting the oil pressure values respectively corresponding to a plurality of said pressure measuring points;

calculating the differential pressure of multiple circuit segments between multiple pressure measuring points;

The oil pressure values corresponding to the plurality of pressure measuring points and the pressure difference of the plurality of circuit sections are processed, and the hydraulic components of the intelligent hydraulic system are fed back and judged according to the processing results.

In the embodiment of the present application, the intelligent hydraulic system includes a fuel tank, a hydraulic pump reversing valve, a jacking cylinder and a balance valve. The second working oil port of the directional valve is connected with the rod chamber of the jacking cylinder, the hydraulic pump is used to pump hydraulic oil to the oil inlet port of the directional valve, and the oil return port of the directional valve is connected to the oil tank.

In the embodiment of the present application, the number of pressure measuring points is three, and the first pressure measuring point is used to detect the oil pressure of the oil outlet end of the hydraulic pump, and the second pressure measuring point is used to detect the oil pressure of the oil inlet end of the balance valve. The pressure measuring point and the third pressure measuring point for detecting the oil pressure of the oil outlet end of the rod chamber of the jacking cylinder, the controller is further configured to:

Collect the first oil pressure value P _s of the first pressure measuring point, the second oil pressure value P ₂ of the second pressure measuring point and the third oil pressure value P ₁ of the third pressure measuring point;

Calculate the pressure difference P _s1 of the first circuit section between the first pressure measuring point and the third pressure measuring point and the pressure difference P _s2 of the second circuit section between the first pressure measuring point and the second pressure measuring point;

Process the first oil pressure value P _s , the second oil pressure value P ₂ , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section and the pressure difference P _s2 of the second circuit section, and according to the processing results Hydraulic component feedback judgment of intelligent hydraulic system.

In an embodiment of the present application, the controller is further configured to:

Obtain the design set pressure of the balancing valve;

Calculate the actual set pressure of the balance valve according to the second oil pressure value _P2 and the third oil pressure value _P1 ;

According to the design set pressure and the actual set pressure, judge whether the design set pressure of the balance valve is accurate.

In the embodiment of this application, the actual set pressure of the balance valve is obtained using the following calculation formula:

P′ _c =(i+i _A )P ₂ -(1+i)P ₁

Among them, i is the pilot ratio of the balance valve, i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder; P _c ′ is the actual set pressure of the balance valve.

In an embodiment of the present application, the controller is further configured to:

Obtain the absolute value of the difference between the actual set pressure and the design set pressure of the balance valve;

When the absolute value of the difference is less than the allowable value of the pressure error, it is determined that the design setting pressure of the balance valve is accurate;

When the absolute value of the difference is greater than or equal to the allowable value of the pressure error, it is determined that the design setting pressure of the balancing valve is inaccurate.

In the embodiment of the present application, a relief valve is also connected between the oil outlet of the hydraulic pump and the fuel tank, the oil inlet of the relief valve is connected to the outlet of the hydraulic pump, and the oil return port of the relief valve is connected to the fuel tank. The controller is further configured to:

Obtain the set pressure P _rc of the relief valve;

Compare the set pressure P _rc of the relief valve with the first oil pressure value P _s and judge whether there is relief in the relief valve;

When P _s >0.85P _rc , there is overflow in the overflow valve;

When P _s ≤0.85P _rc , the overflow valve is closed.

In an embodiment of the present application, the controller is further configured to:

Calibrate the first oil pressure value P _s , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section, and the pressure difference P _s2 of the second circuit section at different temperatures, and obtain the first oil pressure calibration value P _sTR , the third oil pressure calibration value P _1TR , the pressure differential calibration value P _s1R of the first circuit section, and the pressure differential calibration value P _s2R of the second circuit section, and judge the direction of action of the piston rod of the jacking cylinder;

When P ₁ ≤α _T P _1TR and P ₁ >P _zero , P _s2 <α _T P _s2R and P _s2 >P _zero , the piston rod of the jacking cylinder is stretched out;

when

And when P _zero <P _s1 <α _T P _s1R and P _zero <P ₂ <α _T P _sTR , the piston rod of the jacking cylinder is retracted;

Among them, α _T is the temperature influence coefficient, P _zero is the allowable value of pressure error, i is the pilot ratio of the balance valve, and P _c is the design setting pressure of the balance valve.

In the embodiment of the present application, the jacking end of the piston rod of the jacking cylinder is connected to the load, and the controller is further configured to:

When different loads are connected, the second oil pressure calculation value P ₂ ′ when the piston rod of the jacking cylinder is extended and the third oil pressure calculation value P ₁ ′ when it is retracted are respectively obtained;

The load type is determined according to the second calculated oil pressure value P ₂ ′ and the third calculated oil pressure value P ₁ ′.

In the embodiment of the present application, the second oil pressure calculation value P ₂ ′ can be calculated by the following formula:

Among them, f is the friction force, F _L is the load pressure on the piston rod of the jacking cylinder, A ₀ is the cross-sectional area of the rodless cavity of the jacking cylinder, ΔP is the pressure difference of the oil passing through the channel of the balance valve, P ₁ is the third oil pressure value, and i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder.

In the embodiment of the present application, the third oil pressure calculation value P ₁ ′ can be calculated by the following formula:

Among them, i _A is the ratio of the area of the rod cavity to the rodless cavity of the jacking cylinder, k is the spring stiffness of the balance valve spool, P _c0 is the set pressure when the balance valve spool starts to open, f is the friction force, F _L is the load pressure on the piston rod of the jacking cylinder, x _v is the opening displacement of the spool of the balance valve, and i is the pilot ratio of the balance valve.

In the embodiment of the present application, a liquid level liquid temperature gauge for detecting oil temperature is also arranged in the fuel tank, and the controller is further configured as:

Get the temperature range where the current oil temperature is located under the working condition of jacking up with load;

Respectively obtain the pressure difference P _s2 (T1), P _s2 (T2) of the second circuit section and the third oil pressure values P ₁ (T2), P ₁ (T2) at the two end temperatures of the temperature range;

According to the pressure difference P _s2 (T1), P s2 (T2) of the second circuit section at the two end points, the third oil pressure value P ₁ (T2), P ₁ (T2) and the second circuit section pressure at _the current temperature The difference P _s2 and the third oil pressure value P ₁ determine whether the intelligent hydraulic system is working normally.

In an embodiment of the present application, the controller is further configured to:

Obtain the load pressure PL received by _{the piston rod of the jacking cylinder and the calibrated initial value P L0 of} the jacking cylinder and judge whether the jacking force of the jacking cylinder is abnormal;

When P _L /P _L0 > 1.15, the jacking force of the jacking cylinder is abnormal;

When P _L /P _L0 ≤1.15, the jacking force of the jacking cylinder is normal.

In the embodiment of the present application, a hydraulic jacking device is also proposed, and the hydraulic jacking device includes the above intelligent hydraulic system.

In the above technical solution, multiple pressure measuring points for detecting oil pressure are set on the oil circuit of the intelligent hydraulic system. When judging the parameters in the hydraulic system, the controller first collects a plurality of pressure measuring points respectively The corresponding oil pressure value; then calculate the pressure difference of multiple circuit sections between multiple pressure measuring points; finally process the oil pressure values corresponding to multiple pressure measuring points and the pressure difference of multiple circuit sections, and according to the processing results Feedback and judgment of the hydraulic components of the intelligent hydraulic system, and then realize the intelligent judgment of the parameters of each hydraulic component in the hydraulic system, avoiding errors that occur during manual operation.

Description of drawings

The accompanying drawings are used to provide an understanding of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the present application, but do not constitute a limitation to the present application. In the attached picture:

Fig. 1 is a schematic structural diagram of an intelligent hydraulic system according to an embodiment of the present application;

Fig. 2 is a schematic diagram of the electronic control flow in the intelligent hydraulic system of the present application.

Explanation of reference signs

label	name	label		name
10	tank	60	Jacking cylinder
20	hydraulic pump	61	first pressure point
30	Reversing valve	62	Second pressure point
40	relief valve	63	third pressure point
50	balance valve	70	liquid level thermometer

Detailed ways

Specific embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present application, not to limit the present application.

The intelligent hydraulic system according to the present application is described below with reference to the accompanying drawings.

As shown in Figure 1, in the embodiment of the present application, a kind of intelligent hydraulic system is provided, the oil circuit of the intelligent hydraulic system is provided with a plurality of pressure measuring points for detecting the oil pressure, the intelligent hydraulic system also includes a controller, the controller is configured as:

Collect the oil pressure values corresponding to multiple pressure measuring points respectively;

Calculate the differential pressure of multiple circuit segments between multiple pressure measuring points;

The oil pressure values corresponding to multiple pressure measuring points and the pressure difference of multiple circuit sections are processed, and the hydraulic components of the intelligent hydraulic system are fed back and judged according to the processing results.

Wherein, the intelligent hydraulic system includes a fuel tank 10, a hydraulic pump 20, a reversing valve 30, a jacking cylinder 60, and a balance valve 50. The second working oil port of the reversing valve 30 is connected with the rod chamber of the jacking cylinder 60, the hydraulic pump 20 is used to pump hydraulic oil to the oil inlet of the reversing valve 30, and the oil return of the reversing valve 30 The port is connected to the oil tank 10;

Preferably, the number of pressure measuring points is three, and they are respectively the first pressure measuring point 61 for detecting the oil pressure of the oil outlet end of the hydraulic pump 20 and the second pressure measuring point 61 for detecting the oil pressure of the oil inlet end of the balance valve 50 . Pressure point 62 and the third pressure measuring point 63 for detecting the oil pressure of the oil outlet end of the rod cavity of the jacking cylinder 60; in addition, the number of pressure measuring points is not limited to three in the present application, and can also be used according to different The hydraulic system is used to set the pressure measuring points at different hydraulic components.

As shown in Figure 2, the intelligent hydraulic system also includes a controller. In addition, it also includes a collection module, a calculation module, and a feedback judgment module. The controller is electrically connected to the collection module, the calculation module, and the feedback judgment module; wherein:

The collection module is used to respectively collect the first oil pressure value P _s of the first pressure measuring point 61 , the second oil pressure value P ₂ of the second pressure measuring point 62 and the third oil pressure value P of the third pressure measuring point 63 ₁ ;

Calculation module, used to calculate the pressure difference P _s1 of the first circuit segment between the first pressure measuring point 61 and the third pressure measuring point 63 and the second loop pressure difference P s1 between the first pressure measuring point 61 and the second pressure measuring point 62 Road section pressure difference P _s2 ;

A feedback judging module, configured to process the first oil pressure value P _s , the second oil pressure value P ₂ , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section, and the pressure difference P _s2 of the second circuit section , and judge the hydraulic components of the intelligent hydraulic system based on the processing results.

In this embodiment, the reversing valve 30 can be a manual reversing valve 30 or an electromagnetic reversing valve 30. If the reversing valve 30 is an electromagnetic reversing valve 30, it can be judged in combination with the power-on and power-off conditions of the electromagnet. The position of the spool of the reversing valve 30 and the direction of oil flow. From the outlet of the hydraulic pump 20, which is the P _s measuring point, to the rod cavity pipeline interface of the jacking cylinder 60, which is the P ₁ measuring point, is called the first circuit section, and the pressure difference of the first circuit section is recorded as P _s1 , P _s1 =P _s -P ₁ ; From the outlet of the hydraulic pump 20, which is the P _s measuring point, to the balance valve 50 pipeline interface, which is the P ₂ measuring point, is called the second circuit section, and the pressure difference of the second circuit section is recorded as P _s2 , P _s2 = P _s -P ₂ ; from the rod cavity pipeline interface of the jacking cylinder 60 (that is, the P ₁ measuring point) to the oil tank 10, the pressure difference of this circuit section is P ₁ or P _1T ; from the balance valve 50 The pipeline interface (that is, the P ₂ measuring point) to the oil tank 10, the pressure difference of this circuit section is P ₂ or P _2T .

In the process of monitoring, the first oil pressure value P _s , the second oil pressure value P ₂ , and the third oil pressure value P ₁ corresponding to the three pressure points are respectively obtained through the pressure sensor, and then the first circuit section and The pressure difference value between the second circuit section, and then the first oil pressure value P _s , the second oil pressure value P ₂ , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section and the second circuit section The pressure difference P _s2 is processed; since the oil pressure value of the pressure point is related to the size of the oil temperature, when processing each oil pressure value, a test calibration is required. The specific calibration method is as follows:

For the known jacking hydraulic system (including the pumping station, pipelines and jacking cylinder 60), normal no-load reciprocating motion, when the piston rod of the jacking cylinder 60 is stretched out, P _s2 and P ₁ are only related to the flow rate and oil temperature , when the piston rod of the jacking oil cylinder 60 is retracted, P ₂ and P _s1 are only related to the flow rate and oil temperature, and the flow rate of the oil liquid is basically constant. Through the test, the values of P _s2 , P ₁ , P ₂ , and P _s1 are calibrated at different oil temperatures (20°C, 30°C, 40°C, 50°C, 60°C, and 70°C oil temperature conditions are selected respectively). , and the values calibrated in the test are respectively denoted as P _s2R , P _1TR , P _s1R , and P _2TR . For the piston rod extension and retraction working conditions of the jacking oil cylinder 60, the test calibration is carried out according to the table below and the recording process is shown in the table below.

According to the calibrated oil pressure data values P _s2R , P _1TR , P _s1R , P _2TR and P _s2 , P ₁ , P ₂ , P _s1 obtained from pressure measuring points, the hydraulic components of the intelligent hydraulic system are fed back and judged. The present application aims at various failures and quality problems of the hydraulic jacking device in use, can automatically realize automatic identification and judgment, can detect the existence of failures or hidden dangers in time, and avoids errors caused by manual identification operations. Among them, the items of judgment or identification include: pressure setting monitoring of overflow valve 40, pressure setting monitoring of balance valve 50, jacking speed monitoring, identification of jacking working conditions, identification of whether the pressure is normal under each working condition, overflow Valve 40 overflow recognition, abnormal jacking force monitoring, etc. The process of determining the top purpose will be described in detail as follows.

In an embodiment of the present application, the controller is further configured to:

Obtain the design set pressure of the balancing valve 50;

Calculate the actual set pressure of the balance valve 50 according to the second oil pressure value _P2 and the third oil pressure value _P1 ;

Whether the design setting pressure of the balance valve 50 is accurate is judged according to the design setting pressure and the actual setting pressure.

Wherein, during the retraction process of the piston rod of the unloaded jacking cylinder 60, according to the measured pressures at three places, combined with the above parameters of the hydraulic system, the actual set pressure of the balance valve 50 is obtained by the following calculation formula:

P′ _c =(i+i _A )P ₂ -(1+i)P ₁

Wherein, i is the pilot ratio of the balance valve 50 , i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder 60 ; P _c ′ is the actual set pressure of the balance valve 50 .

and,

d is the diameter of the piston rod of the jacking cylinder 60 , and D is the inner diameter of the jacking cylinder 60 .

In the step of judging whether the design set pressure of the balance valve 50 is accurate according to the design set pressure and the actual set pressure, the controller is further configured to:

Obtain the absolute value of the difference between the actual set pressure of the balance valve 50 and the design set pressure;

When the absolute value of the difference is less than the allowable value of the pressure error, it is determined that the design setting pressure of the balance valve 50 is accurate; wherein, the allowable value of the pressure error is a small value greater than 0 and close to 0, and the specific value can be selected according to the actual situation. Certainly.

When the absolute value of the difference is greater than or equal to the allowable value of the pressure error, it is determined that the design setting pressure of the balancing valve 50 is inaccurate. When the design setting pressure of the balance valve 50 is inaccurate, manual adjustment is required.

In this embodiment, the actual set pressure of the balance valve 50 is inferred according to the spool balance equation of the balance valve 50; thereby realizing the monitoring of the actual set pressure of the balance valve 50, and according to the difference between the actual set pressure and the design set pressure The determination of the design set pressure of the balance valve 50 is realized by using the relationship. This intelligent determination method is simple and accurate.

In the embodiment of the present application, an overflow valve 40 is also connected between the oil outlet of the hydraulic pump 20 and the oil tank 10, the oil inlet of the overflow valve 40 is connected with the outlet end of the hydraulic pump 20, and the outlet of the overflow valve 40 The oil return port is connected to the oil tank 10, and the controller is further configured as:

Obtain the set pressure P _rc of the overflow valve 40 ;

Comparing the set pressure P _rc of the relief valve 40 with the first oil pressure value P _s and judging whether there is relief in the relief valve 40;

When P _s >0.85P _rc , there is overflow in the overflow valve 40;

When P _s ≤ 0.85P _rc , the overflow valve 40 is closed.

Specifically, the determination process of the set pressure P _rc of the relief valve 40 is as follows: for the extension process of the piston rod of the unloaded jacking cylinder 60, P _zero <P _s2 <P _s2R , P _zero <P ₁ <P _1TR , P _s <α _T P _s2R , when it changes to P _s2 <P _zero , P ₁ <P _zero , P _s >α _T P _s2R , it is judged that the oil flows through the overflow valve 40 at this time, and at this time P _{The s} value is the set pressure of the relief valve 40, if abs(P _s −P _rc )<P _zero , the set pressure of the relief valve 40 is accurate, otherwise it needs to be adjusted. Among them, P _zero is a small value greater than 0 and close to 0, which represents the allowable value of pressure error in the algorithm. The above-mentioned α _T is the temperature influence coefficient, and a value greater than 1.2 and less than 1.5 is the preferred solution; abs represents the absolute value.

If P _s > _{0.85Prc ,} it is judged that the overflow valve 40 has partial _{overflow ;} , the overflow valve 40 is closed, and there is no overflow.

In this embodiment, according to the pressure P _s at the inlet of the overflow valve 40 and the action characteristics of the overflow valve 40, it is judged whether there is an overflow flow at the overflow valve 40, and the determination process is simple and accurate.

It should be further explained that the jacking cylinder 60 of the intelligent hydraulic system in this application has six working conditions: no-load extension cylinder, no-load retraction cylinder, beam retraction cylinder, belt beam extension cylinder, load jacking up and belt download down. Among them, under the working conditions of lifting upward with load and downward with load, it means that the jacking end of the piston rod of the jacking cylinder 60 is connected with the load of the tower crane; Below means that the jacking end of the piston rod of the jacking oil cylinder 60 is connected with a pole beam load. In the no-load condition, the piston rod is not connected to the tower crane components, which is a non-working condition. When lifting the beam and retracting the cylinder and extending the cylinder with the beam, the piston rod of the jacking cylinder 60 only bears the load of the pole beam; The first working condition is the working condition. In order to determine the action direction of the piston rod of the jacking cylinder 60 under different working conditions, the flow direction of the flow rate and the action direction of the jacking oil cylinder 60 are usually judged according to the pressure difference of each circuit section. Specifically, the controller is further configured as :

Calibrate the first oil pressure value P _s , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section, and the pressure difference P _s2 of the second circuit section at different temperatures, and obtain the first oil pressure calibration value P _sTR , the third oil pressure calibration value P _1TR , the pressure differential calibration value P _s1R of the first circuit section, and the pressure differential calibration value P _s2R of the second circuit section, and determine the direction of movement of the piston rod of the jacking cylinder 60;

When P ₁ ≤α _T P _1TR and P ₁ >P _zero , P _s2 <α _T P _s2R and P _s2 >P _zero , the piston rod of the jacking cylinder 60 is stretched out;

when

And when P _zero <P _s1 <α _T P _s1R and P _zero <P ₂ <α _T P _sTR , the piston rod of jacking cylinder 60 is retracted;

Wherein, α _T is the temperature influence coefficient, P _zero is the allowable pressure error value, i is the pilot ratio of the balance valve 50 , and P _c is the design setting pressure of the balance valve 50 .

The identification of the action direction of the piston rod of the jacking cylinder 60 is mainly based on the pressure of the pipe interface of the rod cavity (ie, P ₁ measuring point) combined with P _s1 and P _s2 to judge the action direction of the piston rod of the jacking oil cylinder 60 . The detailed judgment process is as follows:

The judging principle is: when the piston rod of the jacking oil cylinder 60 is extended, the pressure of the _P1 measuring point is the pressure difference of the _P1T circuit section (the _P1T circuit section refers to the circuit section from the _P1 pressure measuring point to the oil tank 10), This value is relatively low, usually within 1MPa, and the rating is recorded as P _1TR ; when the piston rod of the jacking cylinder 60 is retracted, the pressure at the P ₁ measuring point needs to control the opening of the balance valve 50, which is far greater than P _1TR ; if the jacking cylinder The piston rod of 60 does not move, and when the reversing valve 30 is in the position where P _s and P ₂ communicate, the direction of action of the piston rod of jacking cylinder 60 can be judged by monitoring the values of P ₁ , P _s1 , and P _s2 .

Specific judgment method:

(1) When the oil cylinder is extended, for the known pipeline, the pressure difference P ₁ and P _s of the P _1T circuit section and the pressure difference P _s2 of the P ₂ circuit section are only related to the flow rate and oil temperature, but for the known pump stations and oil cylinders, the flow through the P _1T , P _s and P ₂ circuit sections is also basically fixed. Preferably, the values of P _1TR and P _S2R are calibrated through experiments.

When P ₁ ≤α _T P _1TR and P ₁ >P _zero , P _s2 <α _T P _s2R and P _s2 >P _zero , (where α _T is the temperature influence coefficient), it is judged that the direction of action of the oil cylinder is extension.

(2) When the oil cylinder is retracted, for the known pipeline, the pressure difference P ₂ of the P _2T circuit section, and the pressure difference P _s1 of the circuit section between P _s and P ₁ are only related to the flow rate and oil temperature, while for the Knowing the pumping station and oil cylinder, the flow through the circuit section between P _s and P ₂ and the circuit section between P _s and P ₁ is also basically fixed. Preferably, the values of P _STR and P _S1R are calibrated through experiments.

like

And when P _zero <P _s1 <α _T P _s1R , P _zero <P ₂ <α _T P _sTR , it is determined that the piston rod of the jacking cylinder 60 is retracted.

(3) If P _s ≥ P _rc and P _s1 < P _zero , it is judged that the reversing valve 30 is in the communication position between P _s and P ₁ , but the oil flows back to the oil tank 10 through the overflow valve 40; at this time, there are two types of oil cylinders Possibility: one is that the piston rod of the jacking cylinder 60 retracts back to the original position, and the other is that the piston rod of the jacking cylinder 60 is blocked by other parts during the retraction process.

(4) If P _s ≥ P _rc and P _s2 < P _zero , it is judged that the reversing valve 30 is in the communication position between P _s and P ₂ , but the oil flows back to the oil tank 10 through the overflow valve 40; at this time, the jacking cylinder 60 There are two possibilities: one is that the piston rod of jacking oil cylinder 60 stretches out in place, and the other is that the piston rod of jacking oil cylinder 60 stretches out and is blocked by other parts.

(5) When the reversing valve 30 is in the neutral position, the jacking cylinder 60 does not move, and the oil from the hydraulic pump 20 returns to the oil tank 10 through the reversing valve 30P and T port. For the known pumping station, it passes through the P _sT circuit section (Referring to the circuit section from the P _s pressure measuring point to the oil tank 10) the flow rate is basically fixed. Preferably, the value of the pressure difference P _STR of the P _sT circuit section is calibrated through experiments.

If P _s <α _T P _sTR , and P ₁ <P _zero or P ₂ <P _zero or P ₁ >P _s or P ₂ >P _s , it is determined that the reversing valve 30 is in the neutral position.

In this embodiment, the direction of oil flow is inferred based on the pressure at three measuring points and the pressure difference of four hydraulic circuit sections, so as to judge the position of the reversing valve 30 and the direction of movement of the oil cylinder, thereby realizing the direction in the identification of working conditions identify.

In the embodiment of the present application, the jacking end of the piston rod of the jacking cylinder 60 is connected to the load, and the controller is further configured to:

When different loads are connected, the second oil pressure calculation value P ₂ ′ and the third oil pressure calculation value P ₁ ′ when the piston rod of the jacking cylinder 60 is extended are respectively obtained;

The load type is determined according to the second calculated oil pressure value P ₂ ′ and the third calculated oil pressure value P ₁ ′.

According to the force balance equation of the piston rod of the oil cylinder, the force balance equation of the balance valve 50 spool, and the flow equation of the balance valve 50 valve port, the pressure values of various working conditions are inferred, so as to realize the load identification in the work condition identification.

In the embodiment of the present application, the second oil pressure calculation value P ₂ ′ can be calculated by the following formula:

Among them, f is the friction force, F _L is the load pressure on the piston rod of the jacking cylinder 60, _A0 is the cross-sectional area of the rodless chamber of the jacking cylinder 60, and ΔP is the pressure difference of the passage of the oil passing through the balance valve 50 , i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder 60 .

The extension and retraction of cylinders have been judged above, and the following algorithm mainly distinguishes the working conditions of cylinder extension with load jacking upward and downward with load, cylinder retraction with lifting beam and cylinder retraction with load downward. Among them, the specific judgment process is as follows,

The gravity of the pole beam is recorded as G _B , and the weight of the tower crane is recorded as G _L .

Assuming that the load on the piston rod of the oil cylinder is F _L , the force balance equation of the piston rod is:

In the formula: f is the friction force, the sign of f is "+" when the piston rod is extended, and the sign of f is "-" when the piston rod is retracted; F _L = 0 at no load; F with load (upper load of the tower crane) _L ＝G _L ; F _L ＝-G _B when the piston rod only has a shoulder beam. P ₀ is the pressure of the rodless chamber of the jacking cylinder 60 , and A ₀ is the cross-sectional area of the rodless chamber of the jacking cylinder 60 .

The following algorithm is mainly used to distinguish the two working conditions of the extension cylinder: jacking up with load and extension cylinder with beam.

At this time, the oil passes through the one-way valve function passage of the balance valve 50, which has: P ₀ =P ₂ ′-ΔP; Decision, usually within 0.2MPa.

but:

Generally, the load pressure of the upper load of the tower crane acting on the rodless cavity

About 20-28MPa. and

The value is usually very small, below 2MPa. Therefore, the P ₂ values of the jacking up with load and the cylinder with beam extension are very different, so as to distinguish the working condition of jacking up with load and the cylinder with beam extension.

In order to distinguish the two forms under the working condition of retracting the cylinder: lifting the beam and retracting the cylinder and downward with load; the third calculated value of oil pressure P1′ can be calculated by the following formula:

Among them, i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder 60, k is the spring stiffness of the balance valve 50 spool, P _c0 is the set pressure when the balance valve 50 spool starts to open, and f is Friction force, F _L is the load pressure on the piston rod of the jacking cylinder 60, _xv is the opening displacement of the valve core of the balance valve 50, and i is the pilot ratio of the balance valve 50.

However, the steady-state flow equation at the valve port of the balance valve 50 is:

In the formula, C _q is the flow coefficient, ρ is the hydraulic oil density, and x _v is the valve core opening displacement. When the flow rate is constant, the displacement _xv of the spool is dynamically adjusted with the change of the pressure _P0 of the rodless chamber of the jacking cylinder 60, so that the required pressure difference is generated at the valve port of the balance valve 50. At light load, if P ₀ is small, then x _v will be large; at heavy load, if P ₀ is large, then x _v will be small.

Then, the force balance equation of the spool of the balance valve 50 is: P _c0 +(1+i)P ₂ +kx _v =P ₀ +iP ₁

In the formula, k is the spring stiffness of the spool, and P _c0 is the set pressure when the spool of the balance valve 50 starts to open.

Usually, when the spool starts to open and when the spool is fully opened, there is the following relationship:

It can be deduced from the above formula:

Generally, the load pressure G _L /A ₀ of the upper load of the tower crane acting on the rodless chamber is about 20-28MPa; the value of G _B /A ₀ is usually very small when the beam is lifted and the cylinder is retracted, below 2MPa. And when the load P ₀ is larger, x _v is smaller. Therefore, there is a big difference between the working condition of retracting the cylinder under load and retracting the cylinder with the lifting beam. Through the measured value of P ₁ and the calculation of the above formula, it is possible to distinguish between the load-down working condition and the no-load cylinder retracting working condition.

Further, a liquid level thermometer 70 for detecting oil temperature is also arranged in the oil tank 10, and the controller is further configured as:

Get the temperature range where the current oil temperature is located under the working condition of jacking up with load;

Respectively obtain the pressure difference P _s2 (T1), P _s2 (T2) of the second circuit section and the third oil pressure values P ₁ (T1), P ₁ (T2) at the two end temperatures of the temperature range;

According to the pressure difference P _s2 (T1), P s2 (T2) of the second circuit section at the two end points, the third oil pressure value P ₁ (T2), P ₁ (T2) and the second circuit section pressure at _the current temperature The difference P _s2 and the third oil pressure value P ₁ determine whether the intelligent hydraulic system is working normally.

The principle of speed monitoring: the speed is proportional to the flow rate, and at the same temperature, the pressure difference flowing through a certain circuit section of the hydraulic system is positively related to the flow rate. When the flow rate is the same, the pressure difference generated by flowing through a certain circuit section of the hydraulic system decreases with the increase of oil viscosity, and the oil viscosity decreases with the increase of temperature. According to the pressure difference of each circuit section calibrated in the previous test at different oil temperatures, the real-time measured value and calculated value are compared with it during jacking work, so as to judge whether the speed is normal.

In the working conditions of jacking up with load and cylinder extension with beam, if the oil temperature is in the range of (T1, T2), then the pressure difference of the second circuit section corresponding to the temperature T1 at the end point of the temperature range is recorded as P _S2 (T1 ), the pressure difference of the second circuit section corresponding to the end point temperature T2 is recorded as P _S2 (T2); the third oil pressure value corresponding to the end point temperature T1 of this temperature range is recorded as P ₁ (T1), the end point The third oil pressure value corresponding to the temperature T2 is denoted as P ₁ (T2);

If P _s2 >P _S2 (T1), P ₁ >P ₁ (T1), it is judged that the pressure difference of the circuit section is normal, and the speed of the piston rod of the oil cylinder is normal;

If P _s2 <P _s2 (T2), P ₁ <P ₁ (T2), it is judged that the pressure difference of the circuit section is low and the piston rod speed is low, indicating that there is leakage or overflow in the system.

In addition, according to the force balance equation of the piston rod of the jacking cylinder 60, the intelligent hydraulic system can also be used to monitor whether the jacking force is abnormal. Specifically, the controller is further configured as:

Obtain the load pressure _PL that the piston rod of the jacking cylinder 60 is subjected to and the calibration initial value _PL0 of the jacking cylinder 60 and judge whether the jacking force of the jacking cylinder 60 is abnormal;

When P _L /P _L0 >1.15, the jacking force of the jacking cylinder 60 is abnormal;

When P _L /P _L0 ≤ 1.15, the jacking force of the jacking oil cylinder 60 is normal.

Specifically, when the piston rod of the jacking cylinder 60 is lifted up with load, according to the force balance equation of the piston rod of the jacking cylinder 60:

but:

In the formula, if the ΔP value is below 0.2MPa, it can be included in the calculation of 0.2MPa, or ignored. At the beginning of the jacking action after trimming, calibrate the initial value P _L0 , and during the jacking up process, if P _L /P _L0 > 1.15, it is judged that the jacking force is abnormal, because there is abnormal resistance or friction during the jacking process is too big.

In the embodiment of the present application, a hydraulic jacking device is also proposed, and the hydraulic jacking device includes the above intelligent hydraulic system. In view of various failures and quality problems of the hydraulic jacking device in use, the intelligent jacking device in this patent application realizes the following functions: pressure setting monitoring of the overflow valve 40, pressure setting monitoring of the balance valve 50, and jacking speed monitoring , identification of jacking conditions, identification of whether the pressure is normal under each working condition, identification of overflow of overflow valve 40, abnormal monitoring of jacking force, etc.

In the description of the present application, it should be understood that the terms "first" and "second" are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, Unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (20)

1. An intelligent hydraulic system, wherein a plurality of pressure measuring points for detecting oil pressure are arranged on the oil circuit of the intelligent hydraulic system, and the intelligent hydraulic system further includes a controller configured to:

   Collecting the oil pressure values respectively corresponding to a plurality of said pressure measuring points;

   calculating the differential pressure of multiple circuit segments between multiple pressure measuring points;

   The oil pressure values corresponding to the plurality of pressure measuring points and the pressure difference of the plurality of circuit sections are processed, and the hydraulic components of the intelligent hydraulic system are fed back and judged according to the processing results.
2. The intelligent hydraulic system according to claim 1, wherein the intelligent hydraulic system comprises a fuel tank (10), a hydraulic pump (20), a reversing valve (30), a jacking cylinder (60) and a balance valve (50), The first working oil port of the reversing valve (30) is connected to the rodless cavity of the jacking cylinder (60) through the balance valve (50), and the second working oil port of the reversing valve (30) is connected to the The rod cavity of the jacking cylinder (60) is connected, the hydraulic pump (20) is used to pump hydraulic oil to the oil inlet of the reversing valve (30), and the reversing valve (30) The oil return port is connected to the oil tank (10).
3. The intelligent hydraulic system according to claim 2, wherein the number of the pressure measuring points is three and are respectively the first pressure measuring points (61) for the oil pressure at the oil outlet of the hydraulic pump (20) , the second pressure measuring point (62) for detecting the oil pressure at the oil inlet end of the balance valve (50) and the first pressure measuring point (62) for detecting the oil pressure at the oil outlet end of the rod chamber of the jacking cylinder (60) Three pressure measuring points (63), the controller is further configured to:

   respectively collecting the first oil pressure value P _s of the first pressure measuring point (61), the second oil pressure value P ₂ of the second pressure measuring point (62) and the third pressure measuring point (63) The third oil pressure value P ₁ ;

   Calculating the pressure difference P s1 of the first circuit segment between the first pressure measuring point (61) and the third pressure measuring point (63) and the pressure difference P _s1 between the first pressure measuring point (61) and the second pressure measuring point (63) The pressure difference P _s2 of the second circuit section between the pressure points (62);

   Process the first oil pressure value P _s , the second oil pressure value P ₂ , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section and the pressure difference P _s2 of the second circuit section, and according to the processing results The hydraulic element feedback judgment of the intelligent hydraulic system.
4. The intelligent hydraulic system according to claim 3, wherein the controller is further configured to:

   Obtain the design set pressure of the balancing valve (50);

   Calculate the actual set pressure of the balance valve (50) according to the second oil pressure value _P2 and the third oil pressure value _P1 ;

   Whether the design setting pressure of the balance valve (50) is accurate is judged according to the design setting pressure and the actual setting pressure.
5. According to the intelligent hydraulic system according to claim 4, wherein the actual set pressure of the balance valve (50) is obtained by the following calculation formula:

   P _c '=(i+i _A )P ₂ -(1+i)P ₁

   Wherein, i is the pilot ratio of the balance valve (50), i _A is the ratio of the area of the rod cavity and the rodless cavity of the jacking cylinder (60); P _c ' is the actual value of the balance valve (50). Set pressure.
6. The intelligent hydraulic system according to claim 4, wherein the controller is further configured to:

   Obtain the absolute value of the difference between the actual set pressure and the design set pressure of the balancing valve (50);

   When the absolute value of the difference is less than the pressure error allowable value, then it is judged that the design setting pressure of the balancing valve (50) is accurate;

   When the absolute value of the difference is greater than or equal to the allowable value of the pressure error, it is determined that the design set pressure of the balance valve (50) is inaccurate.
7. The intelligent hydraulic system according to claim 4, wherein an overflow valve (40) is also connected between the oil outlet of the hydraulic pump (20) and the oil tank (10), and the overflow valve (40 ) is connected to the outlet port of the hydraulic pump (20), the oil return port of the overflow valve (40) is connected to the oil tank (10), and the controller is further configured as:

   Obtain the set pressure P _rc of the relief valve (40);

   Comparing the set pressure P _rc of the overflow valve (40) with the first oil pressure value P _s and judging whether there is overflow in the overflow valve (40);

   When P _s >0.85P _rc , there is overflow in the overflow valve (40);

   When P _s ≤ 0.85P _rc , the overflow valve (40) is closed.
8. The intelligent hydraulic system according to claim 3, wherein the controller is further configured to:

   Calibrate the first oil pressure value P _s , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section, and the pressure difference P _s2 of the second circuit section at different temperatures, and obtain the first oil pressure calibration value P _sTR , the third oil pressure calibration value P _1TR , the pressure differential calibration value P _s1R of the first circuit segment, and the differential pressure calibration value P _s2R of the second circuit segment, and determine the direction of action of the piston rod of the jacking cylinder (60);

   When P ₁ ≤α _T P _1TR and P ₁ >P _zero , P _s2 <α _T P _s2R and P _s2 >P _zero , the piston rod of the jacking cylinder (60) is extended;

   when

   

   And when P _zero <P _s1 <α _T P _s1R and P _zero <P ₂ <α _T P _sTR , the piston rod of the jacking cylinder (60) is retracted;

   Wherein, α _T is the temperature influence coefficient, P _zero is the allowable value of pressure error, i is the pilot ratio of the balance valve (50), and P _c is the design setting pressure of the balance valve (50).
9. According to the intelligent hydraulic system according to claim 3, the jacking end of the piston rod of the jacking cylinder (60) is connected to a load, wherein the controller is further configured to:

   When different loads are connected, the second oil pressure calculation value P ₂ ' and the third oil pressure calculation value P ₁ ' when the piston rod of the jacking cylinder (60) is stretched out are obtained respectively;

   The type of the load is determined according to the second calculated oil pressure value P ₂ ′ and the third calculated oil pressure value P _{1 ′} .
10. According to the intelligent hydraulic system according to claim 9, wherein, the second oil pressure calculation value P ₂ ' can be calculated by the following formula:

    

    Wherein, f is the friction force, F _L is the load pressure on the piston rod of the jacking cylinder (60), _A0 is the cross-sectional area of the rodless cavity of the jacking cylinder (60), and ΔP is the oil passing through The pressure difference of the channel of the balance valve (50), P ₁ is the third oil pressure value, and i _A is the ratio of the area of the rod chamber to the rodless chamber of the jacking cylinder (60).
11. According to the intelligent hydraulic system according to claim 9, wherein, the third oil pressure calculation value P ₁ ' can be calculated by the following formula:

    

    Wherein, i _A is the ratio of the area of the rod cavity to the rodless cavity of the jacking cylinder (60), k is the spring stiffness of the balance valve (50) spool, and P _c0 is the balance valve (50) spool starts to open The set pressure at the time, f is the friction force, F _L is the load pressure received by the piston rod of the jacking cylinder (60), x _v is the valve core opening displacement of the balance valve (50), and i is the Pilot ratio of counterbalance valve (50).
12. The intelligent hydraulic system according to claim 10, wherein a liquid level and liquid temperature gauge (70) for detecting oil temperature is also arranged in the oil tank (10), and the controller is further configured as:

    Get the temperature range where the current oil temperature is located under the working condition of jacking up with load;

    Respectively obtain the pressure difference P _s2 (T1), P _s2 (T2) of the second circuit section and the third oil pressure values P ₁ (T2), P ₁ (T2) at the two end points of the temperature range;

    According to the pressure difference P _s2 (T1), P s2 (T2) of the second circuit section at the two end points, the third oil pressure value P ₁ (T2), P ₁ (T2) and the second circuit section pressure at _the current temperature The difference P _s2 and the third oil pressure value P ₁ determine whether the intelligent hydraulic system is working normally.
13. The intelligent hydraulic system according to claim 10, wherein the controller is further configured to:

    Obtain the load pressure _PL that the piston rod of the jacking cylinder (60) is subjected to and the calibrated initial value P _L0 of the jacking cylinder (60) and judge whether the jacking force of the jacking cylinder (60) is abnormal;

    When P _L /P _L0 >1.15, the jacking force of the jacking oil cylinder (60) is abnormal;

    When P _L /P _L0 ≤ 1.15, the jacking force of the jacking oil cylinder (60) is normal.
14. A hydraulic jacking device, wherein the hydraulic jacking device includes an intelligent hydraulic system, the oil circuit of the intelligent hydraulic system is provided with a plurality of pressure measuring points for detecting oil pressure, and the intelligent hydraulic system also includes a controller , the controller is configured as:

    Collecting the oil pressure values respectively corresponding to a plurality of said pressure measuring points;

    calculating the differential pressure of multiple circuit segments between multiple pressure measuring points;

    The oil pressure values corresponding to the plurality of pressure measuring points and the pressure difference of the plurality of circuit sections are processed, and the hydraulic components of the intelligent hydraulic system are fed back and judged according to the processing results.
15. The intelligent hydraulic system according to claim 14, wherein the intelligent hydraulic system comprises a fuel tank (10), a hydraulic pump (20), a reversing valve (30), a jacking cylinder (60) and a balance valve (50), The first working oil port of the reversing valve (30) is connected to the rodless cavity of the jacking cylinder (60) through the balance valve (50), and the second working oil port of the reversing valve (30) is connected to the The rod cavity of the jacking cylinder (60) is connected, the hydraulic pump (20) is used to pump hydraulic oil to the oil inlet of the reversing valve (30), and the reversing valve (30) The oil return port is connected to the oil tank (10).
16. The intelligent hydraulic system according to claim 15, wherein the number of the pressure measuring points is three and are respectively the first pressure measuring points (61) for the oil pressure at the oil outlet end of the hydraulic pump (20) , the second pressure measuring point (62) for detecting the oil pressure at the oil inlet end of the balance valve (50) and the first pressure measuring point (62) for detecting the oil pressure at the oil outlet end of the rod chamber of the jacking cylinder (60) Three pressure measuring points (63), the controller is further configured to:

    respectively collecting the first oil pressure value P _s of the first pressure measuring point (61), the second oil pressure value P ₂ of the second pressure measuring point (62) and the third pressure measuring point (63) The third oil pressure value P ₁ ;

    Calculating the pressure difference P s1 of the first circuit segment between the first pressure measuring point (61) and the third pressure measuring point (63) and the pressure difference P _s1 between the first pressure measuring point (61) and the second pressure measuring point (63) The pressure difference P _s2 of the second circuit section between the pressure points (62);

    Process the first oil pressure value P _s , the second oil pressure value P ₂ , the third oil pressure value P ₁ , the pressure difference P _s1 of the first circuit section and the pressure difference P _s2 of the second circuit section, and according to the processing results The hydraulic element feedback judgment of the intelligent hydraulic system.
17. The intelligent hydraulic system of claim 16, wherein the controller is further configured to:

    Obtain the design set pressure of the balancing valve (50);

    Calculate the actual set pressure of the balance valve (50) according to the second oil pressure value _P2 and the third oil pressure value _P1 ;

    Whether the design setting pressure of the balance valve (50) is accurate is judged according to the design setting pressure and the actual setting pressure.
18. According to the intelligent hydraulic system according to claim 17, wherein, the actual set pressure of the balance valve (50) is obtained by the following calculation formula:

    P _c '=(i+i _A )P ₂ -(1+i)P ₁

    Wherein, i is the pilot ratio of the balance valve (50), i _A is the ratio of the area of the rod cavity and the rodless cavity of the jacking cylinder (60); P _c ' is the actual value of the balance valve (50). Set pressure.
19. The intelligent hydraulic system according to claim 17, wherein the controller is further configured to:

    Obtain the absolute value of the difference between the actual set pressure and the design set pressure of the balancing valve (50);

    When the absolute value of the difference is less than the pressure error allowable value, then it is judged that the design setting pressure of the balancing valve (50) is accurate;

    When the absolute value of the difference is greater than or equal to the allowable value of the pressure error, it is determined that the design set pressure of the balance valve (50) is inaccurate.
20. The intelligent hydraulic system according to claim 17, wherein an overflow valve (40) is also connected between the oil outlet of the hydraulic pump (20) and the oil tank (10), and the overflow valve (40 ) is connected to the outlet port of the hydraulic pump (20), the oil return port of the overflow valve (40) is connected to the oil tank (10), and the controller is further configured as:

    Obtain the set pressure P _rc of the relief valve (40);

    Comparing the set pressure P _rc of the overflow valve (40) with the first oil pressure value P _s and judging whether there is overflow in the overflow valve (40);

    When P _s >0.85P _rc , there is overflow in the overflow valve (40);

    When P _s ≤ 0.85P _rc , the overflow valve (40) is closed.

Images