CN105523478B - A kind of control loop of lifting machine equipment - Google Patents
A kind of control loop of lifting machine equipment Download PDFInfo
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- CN105523478B CN105523478B CN201511010533.9A CN201511010533A CN105523478B CN 105523478 B CN105523478 B CN 105523478B CN 201511010533 A CN201511010533 A CN 201511010533A CN 105523478 B CN105523478 B CN 105523478B
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- Prior art keywords
- valve
- pressure
- luffing
- control
- controller
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- 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
- F15B2211/60—Circuit components or control therefor
- F15B2211/625—Accumulators
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of control loop of lifting machine equipment, for face-up transporting hoist of container, it includes derricking gear, equipment driving circuit, joystick, controller, the derricking gear includes underframe, principal arm, cantilever arm, luffing hydraulic cylinder is connected between underframe and principal arm, and telescopic hydraulic cylinder is connected between principal arm and cantilever arm；It is characterized in that：Luffing hydraulic cylinder and telescopic hydraulic cylinder are have to stretch out chamber, retraction chamber and recovery three, the chamber hydraulic cylinder of cavity volume；The recovery chamber hydraulic fluid port connection of telescopic hydraulic cylinder is flexible to reclaim hydraulic system；The recovery chamber hydraulic fluid port connection luffing of luffing hydraulic cylinder reclaims hydraulic system, and joystick connection controller, controller connects equipment driving circuit, flexible recovery controller and luffing recovery controller respectively.The present invention can effectively reclaim the energy that front handling mobile crane swing arm repeats the potential energy of rise and fall equipment and storage is discharged during rising thereon, save energy.
Description
Technical field
The present invention relates to a kind of hydraulic system for controlling lifting machine equipment, particularly one kind is used in packaging
The arm of case front handling mobile crane, reduces the control loop of its operating power consumption.
Background technology
Hung in container front side, need frequently to pump by the arm of Driven by Hydraulic Cylinder, due to arm itself
Weight is larger, needs to overcome gravity acting during its rising of Driven by Hydraulic Cylinder, and when arm declines, gravitional force turns through hydraulic valve throttling
It is changed to thermal energy consumption to fall, not only wastes the energy, while also raises oil temperature, increasing system failure rate.If arm can be declined
When gravitional force recycle, will have considerable energy-saving effect.
In order to using the gravitional force for lifting class equipment, Chinese invention patent（CN 102561442 A）Disclose one
The method of kind, energy regenerating and directly recycling are carried out using a cylinder, simplify the hydraulic system structure of energy regenerating, but
Need to add the 3rd independent cylinder.Chinese invention patent（CN 102518606 A）Disclosed in method be similar to therewith, three
The principle that individual hydraulic cylinder recovers energy passes through Chinese invention patent（CN 102660972 A）Disclosed in method on board a dredger
It is achieved, but uses change of the method for three oil cylinders to excavator swing arm mechanical structure larger, lifting mechanism can be influenceed
Mechanical performance, breaks ring structure integrality, reduces intensity.In order to this principle is used on front handling mobile crane, Chinese invention patent（CN
103527573 A）In disclose a kind of method, using two extra recovery hydraulic cylinders, taking the device space simultaneously increases structure
Weight.In sum, existing solution there is a problem of certain.
The content of the invention
For deficiency of the prior art, the present invention proposes high working efficiency and the one kind that can be run under different operating modes
The control loop of lifting machine equipment, it need not change the existing mechanical structure of front handling mobile crane and just can be suitably used for various tonnages
Type.
A kind of control loop of lifting machine equipment, including derricking gear, equipment driving circuit, control hand
Handle, controller, the derricking gear include underframe, principal arm, cantilever arm, it is characterized in that：Luffing hydraulic cylinder is connected to underframe and master
Between arm, telescopic hydraulic cylinder is connected between principal arm and cantilever arm；Luffing hydraulic cylinder and telescopic hydraulic cylinder be have stretch out chamber,
Retraction chamber and recovery three, the chamber hydraulic cylinder of cavity volume；The recovery chamber hydraulic fluid port connection of telescopic hydraulic cylinder is flexible to reclaim hydraulic system；Become
The recovery chamber hydraulic fluid port connection luffing of width hydraulic cylinder reclaims hydraulic system；
The flexible recovery hydraulic system is included：Proportioning valve, balance energy accumulator, counter balance pocket overflow valve, balance cavity pressure
Sensor, counter balance pocket Fill valve, counter balance pocket magnetic valve, constant displacement pump, servomotor, pressure regulating cavity magnetic valve, pressure regulation accumulator, pressure regulation
Chamber overflow valve, pressure regulating cavity pressure sensor, pressure regulating cavity Fill valve, recovery controller, flexible recovery controller；
The luffing reclaims hydraulic system includes proportioning valve, balance energy accumulator, counter balance pocket overflow valve, counter balance pocket pressure sensing
Device, counter balance pocket Fill valve, counter balance pocket magnetic valve, constant displacement pump, servomotor, pressure regulating cavity magnetic valve, pressure regulation accumulator, pressure regulating cavity overflow
Stream valve, pressure regulating cavity pressure sensor, pressure regulating cavity Fill valve, recovery controller, luffing recovery controller；
Joystick connects controller, and controller connects equipment driving circuit, flexible recovery controller and change respectively
Width recovery controller.
Flexible recovery controller connects proportioning valve, counter balance pocket magnetic valve, servomotor, pressure regulating cavity magnetic valve, balance respectively
Cavity pressure sensor and pressure regulating cavity pressure sensor.
Luffing recovery controller connects proportioning valve, counter balance pocket magnetic valve, servomotor, pressure regulating cavity magnetic valve, balance respectively
Cavity pressure sensor and pressure regulating cavity pressure sensor.
The equipment driving circuit uses open circuit or pump control closed hydraulic loop.
The open circuit includes following any one structure：
（1）Center-Open constant displacement pump throttle type hydraulic circuit；
（2）Center-Close variable pump load-sensitive formula hydraulic circuit；
（3）Import and export independent control type hydraulic circuit；
（4）Pump control closed hydraulic loop.
Compared with prior art the invention has the advantages that：
（1）Front handling mobile crane swing arm can be effectively reclaimed to repeat the potential energy of rise and fall equipment and released during rising thereon
Leave with the energy of storage, save energy.
（2）, so as to adjust the equilibrant force of whole system, can be adapted to various with the pressure in real-time regulation high pressure accumulator
Operating mode.
（3）Operating efficiency can be improved.The invention is applied to the equipment of frequent rise and fall, in work
When device rises, flow needed for hydraulic cylinder reduces, therefore can improve the rate of climb of equipment, so as to improve operation effect
Rate.
（4）Original mechanical structure is not changed.During for machine adaptation, without changing original mechanical structure, space requirement compared with
It is small, the equipment driven by double hydraulic cylinder is applicable not only to, it is also applied for by the small-sized equipment of single Driven by Hydraulic Cylinder.
Brief description of the drawings
Fig. 1 is using a kind of overall structure figure of the container front crane of the control loop of lifting machine equipment
Fig. 2 is the three cavity volume hydraulic cylinder structures used in a kind of control loop of lifting machine equipment.
Fig. 3 be a kind of lifting machine equipment of the present invention control loop in equipment drive system it is optional
One of mode, is constant displacement pump throttle type hydraulic system.
Fig. 4 be a kind of lifting machine equipment of the present invention control loop in equipment drive system it is optional
One of mode, is the open circuit of variable pump load-sensitive formula hydraulic system.
Fig. 5 be a kind of lifting machine equipment of the present invention control loop in equipment drive system it is optional
One of mode, to import and export independent control hydraulic system.
Fig. 6 be a kind of lifting machine equipment of the present invention control loop in equipment drive system it is optional
One of mode, is pump control closed type hydraulic system.
In figure, 1- joysticks, 2- controllers, 3- equipment driving circuits, 4- telescopic hydraulic cylinders, 5- underframe, 6- becomes
Width hydraulic cylinder, 7- proportioning valves, 8- balance energy accumulators, 9- counter balance pocket overflow valves, 10- counter balance pocket pressure sensors, 11- counter balance pockets are mended
Fuel tap, 12- counter balance pocket magnetic valves, 13- constant displacement pumps, 14- servomotors, 15- pressure regulating cavity magnetic valves, 16- pressure regulation accumulators, 17-
Pressure regulating cavity overflow valve, 18- pressure regulating cavity pressure sensors, 19- pressure regulating cavity feed pressure valves, 20- stretches recovery controller, and 21- stretches
Contracting arm, 22- principal arms, 23- luffing recovery controllers, 24- luffings reclaim hydraulic system, and 25- is flexible to reclaim hydraulic system, and 26- stretches
Contracting control valve, 27- luffings control valve, 28- overflow valves, 29- main pumps, 30- fuel tanks, 31- main frames, 32- pressure sensors, 33- pressures
Force signal controller, 34- Fill valves, 35- proportion magnetic valves, 37, explosion-proof valve group, the explosion-proof valve groups of 3701- first, 3702- second
Explosion-proof valve group, the explosion-proof main valve plugs of 38-, 39- electromagnetic priority valves, 40- hydraulic cylinders, 41- piston rods, 42- center-poles, 45- electromagnetism
Main valve, A- hydraulic cylinder retractions chamber hydraulic fluid port, B- hydraulic cylinders stretch out chamber hydraulic fluid port, and C- hydraulic cylinders reclaim chamber hydraulic fluid port, a- hydraulic cylinder retractions chamber,
B- hydraulic cylinders stretch out chamber, and c- hydraulic cylinders reclaim chamber, the actuator ports of A1- first, the actuator ports of A2- second, the working oils of B1- the 3rd
Mouthful, the actuator ports of B2- the 4th, 3501- telescoping cylinder regeneration control valves, 3502- telescoping cylinders stretch out chamber inlet valve, 3503- telescoping cylinders
Stretch out chamber oil return valve, 3504- telescoping cylinder retractions chamber inlet valve, 3505- telescoping cylinder retractions chamber oil return valve, the regeneration of 3506- derricking cylinders
Control valve, 3507- derricking cylinders stretch out chamber inlet valve, and 3508- derricking cylinders stretch out chamber oil return valve, 3509- derricking cylinder retraction chamber oil-feeds
Valve, 3510- luffings oil retraction chamber oil return valve.
Specific embodiment
Technical scheme is described further below in conjunction with the accompanying drawings.
Embodiment 1：Shown in Fig. 1, a kind of control loop of lifting machine equipment is included：Derricking gear, work clothes
Driving circuit 3 is put, joystick 1, controller 2, the derricking gear includes underframe 5, principal arm 22, cantilever arm 21；
Shown in Fig. 2, luffing hydraulic cylinder 6 is that have stretch out chamber, retraction chamber, reclaim three, the chamber hydraulic cylinder of cavity volume, and stretch liquid
Cylinder pressure 4 is that have stretch out chamber, retraction chamber, reclaim three, the chamber hydraulic cylinder of cavity volume.
The cylinder body of luffing hydraulic cylinder 6 is connected on vehicle frame 5 by bearing pin, and the piston rod of luffing hydraulic cylinder 6 is connected by bearing pin
It is connected on principal arm 22.The cylinder body of telescopic hydraulic cylinder 4 is connected on principal arm 22 by bearing pin, and the piston rod of telescopic hydraulic cylinder 4 passes through
Bearing pin is connected on telescopic arm 21.
Luffing hydraulic cylinder 6 reclaims hydraulic system 25 and is connected with luffing, and telescopic hydraulic cylinder 4 connects with flexible recovery hydraulic system 24
Connect.
It is identical that the flexible recovery hydraulic system 24 reclaims the structure of hydraulic system 25 with the luffing.
The flexible hydraulic system 24 that reclaims is included：Proportioning valve 7, balance energy accumulator 8, counter balance pocket overflow valve 9, balance cavity pressure
Sensor 10, counter balance pocket Fill valve 11, counter balance pocket magnetic valve 12, constant displacement pump 13, servomotor 14, pressure regulating cavity magnetic valve 15, tune
Pressure accumulator 16, pressure regulating cavity overflow valve 17, pressure regulating cavity pressure sensor 18, pressure regulating cavity Fill valve 19 and flexible recovery controller
20；
In flexible recovery system 24：The one end of proportioning valve 7 is connected to C mouthfuls of the recovery chamber hydraulic fluid port of telescopic hydraulic cylinder 4, and the other end connects
It is connected on balance energy accumulator 8 to export, the other end of counter balance pocket magnetic valve 12 is connected with the left side of constant displacement pump 13 mouthful, the right side of constant displacement pump 13
Side port is connected with the left side mouthful of pressure regulating cavity magnetic valve 15, and the driving mouthful of constant displacement pump 13 links together with servomotor 14, pressure regulation
Right side mouthful and pressure regulation accumulator 16, the high-pressure mouth of pressure regulating cavity overflow valve 17, the pressure regulating cavity pressure sensor 18, pressure regulation of chamber magnetic valve 15
The outlet of chamber Fill valve 19 is connected, the outlet of counter balance pocket overflow valve 9, the import of counter balance pocket Fill valve 11, pressure regulating cavity overflow valve 17
Outlet, the import of pressure regulating cavity Fill valve 19 are connected with fuel tank.The signal and pressure regulation cavity pressure of counter balance pocket pressure sensor 10 are passed
The signal of sensor 18 is connected with in1 mouthfuls of luffing recovery controller 23 and in2 mouthfuls respectively, passes through to become by the control signal for calculating
O1, o2, o3, o4 mouthful of width recovery controller 23 respectively with pressure regulating cavity magnetic valve 15, servomotor 14, counter balance pocket magnetic valve 12 and
The control access port of proportioning valve 7 is connected.
Luffing reclaims hydraulic system 25 and includes：Proportioning valve 7, balance energy accumulator 8, counter balance pocket overflow valve 9, balance cavity pressure
Sensor 10, counter balance pocket Fill valve 11, counter balance pocket magnetic valve 12, constant displacement pump 13, servomotor 14, pressure regulating cavity magnetic valve 15, tune
Pressure accumulator 16, pressure regulating cavity overflow valve 17, pressure regulating cavity pressure sensor 18, pressure regulating cavity Fill valve 19 and luffing recovery controller
23。
In luffing recovery system 25：The one end of proportioning valve 7 is connected to C mouthfuls of the recovery chamber hydraulic fluid port of luffing hydraulic cylinder 6, the other end with
The high-pressure mouth of counter balance pocket overflow valve 9, counter balance pocket pressure sensor 10, counter balance pocket Fill valve 11 are exported, balance energy accumulator 8 and counter balance pocket
One end of magnetic valve 12 is connected, and the other end of counter balance pocket magnetic valve 12 is connected with the left side of constant displacement pump 13 mouthful, the right side of constant displacement pump 13
Side port is connected with the left side mouthful of pressure regulating cavity magnetic valve 15, and the driving mouthful of constant displacement pump 13 links together with servomotor 14, pressure regulation
Right side mouthful and pressure regulation accumulator 16, the high-pressure mouth of pressure regulating cavity overflow valve 17, the pressure regulating cavity pressure sensor 18, pressure regulation of chamber magnetic valve 15
The outlet of chamber Fill valve 19 is connected, the outlet of counter balance pocket overflow valve 9, the import of counter balance pocket Fill valve 11, pressure regulating cavity overflow valve 17
Outlet, the import of pressure regulating cavity Fill valve 19 are connected with fuel tank.The signal and pressure regulation cavity pressure of counter balance pocket pressure sensor 10 are passed
The signal of sensor 18 is connected with in1 mouthfuls of luffing recovery controller 23 and in2 mouthfuls respectively, passes through to become by the control signal for calculating
O1, o2, o3, o4 mouthful of width recovery controller 23 respectively with pressure regulating cavity magnetic valve 15, servomotor 14, counter balance pocket magnetic valve 12 and
The control access port of proportioning valve 7 is connected.
First actuator port A1 of equipment driving circuit 3 is connected to the stretching out on the hydraulic fluid port B mouths of chamber of telescopic hydraulic cylinder 4,
3rd actuator port B1 of equipment driving circuit 3 is connected on the retraction chamber hydraulic fluid port A mouths of telescopic hydraulic cylinder 4, equipment
Second actuator port A2 of driving circuit 3 is connected to the stretching out on the hydraulic fluid port B mouths of chamber of luffing hydraulic cylinder 6, equipment driving circuit 3
The 4th actuator port B2 be connected on the retraction chamber hydraulic fluid port A mouths of luffing hydraulic cylinder 6.
The output port of joystick 1 is connected on the control input port Con mouths of controller 2, the pump signal of controller 2
Output port Sp mouthfuls is connected on the in1 mouths of equipment driving circuit 3, Sv mouthfuls of connection of valve signal output port of controller 2
On the in2 mouths of equipment driving circuit 3, the luffing of controller 2 reclaims Cb mouthfuls of output port and is connected to luffing recovery control
On the input port in3 mouths of device 23, Ca mouthfuls of the flexible recovery output port of controller 2 is connected to the defeated of flexible recovery controller 23
On inbound port in3 mouths, Pp mouthfuls of the pressure signal input end mouthful of controller 2 is connected to the delivery outlet o1 of equipment driving circuit 3
On mouth.
Equipment driving circuit 3 described by the present embodiment uses open circuit, i.e. Center-Open constant displacement pump section
Streaming hydraulic circuit.
As shown in figure 3, Center-Open constant displacement pump throttle type hydraulic circuit, includes extension and contraction control valve 26, luffing control
Valve processed 27, overflow valve 28, main pump 29, fuel tank 30, main frame 31, the first explosion-proof valve group 3701, the first explosion-proof valve group 3702.First prevents
The explosion-proof valve group 3702 of quick-fried valve group 3701 and second includes explosion-proof main valve plug 38, electromagnetic priority valve 39, electromagnetic main valve 45.
The output shaft of main frame 31 is connected with the main shaft of main pump 29, the inlet port of main pump 29 is connected with fuel tank 30, and main pump 29 goes out
Hydraulic fluid port controls the oil inlet of valve 27 to be connected with the high-pressure mouth and luffing of overflow valve 28, and the oil-out of main pump 29 controls valve by luffing
27 middle position path is connected with the import of extension and contraction control valve 26, and luffing controls oil return opening, the oil return of extension and contraction control valve 26 of valve 27
Mouth, middle position oil return opening, the low pressure port of overflow valve 28 are connected with fuel tank.
The oil-out of luffing control valve 27 connects the second explosion-proof valve group 3702 and connects the second actuator port A2, the 4th respectively
Actuator port B2, the oil-out of extension and contraction control valve connects the first explosion-proof valve group 3701 and connects the first actuator port A1, the respectively
Three actuator port B1, valve control input signal controls valve and the second explosion-proof valve group 3702, extension and contraction control valve by in2 mouthfuls with luffing
And first explosion-proof valve group 3701 control end be connected.Input signal in1 is not used.
The flexible recovery controller 23 is BOSCH-REXROTH BODAS, RC 12-18/20 using model.
The luffing recovery controller 23 is BOSCH-REXROTH BODAS, RC 12-18/20 using model.
The controller 2 of the present embodiment is BOSCH-REXROTH BODAS, RC 6-9/20 using model.
The operation principle of the present embodiment：Under original state, when equipment is in lift location, luffing hydraulic cylinder is stretched entirely
Go out, each magnetic valve and proportioning valve are in closed mode.
When joystick 1 produces principal arm dropping signal, controller 2 receives signal and by resolving, and control signal is led to
In2 mouthfuls that equipment driving circuit is arrived in the output of Sv ports is crossed, and enters the signal input part that luffing controls valve 27, luffing control
Valve 27 moves to right position, and the 4th actuator port B2 is fuel-displaced, the second actuator port A2 oil returns.Control signal is passed through into Ca ports simultaneously
In3 mouthfuls of luffing recovery controller 23 is exported, proportioning valve 7 is opened by resolving to drive.Due to the deadweight of equipment, luffing
Hydraulic cylinder 6 starts to fall, and the fluid that chamber is stretched out in promotion returns to second actuator port A2 mouthfuls by stretching out B mouthfuls of chamber hydraulic fluid port, and simultaneously
Promote the fluid for reclaiming chamber to reclaim C mouthfuls of chamber hydraulic fluid port by luffing hydraulic cylinder and reclaim hydraulic system into luffing, passing ratio valve 7 enters
Enter balance energy accumulator 8, the part energy in dropping process is thus stored in balance energy accumulator 8.
When joystick 2 produces principal arm lifting signal, controller 2 receives signal and by resolving, and control signal is led to
In2 mouthfuls that equipment driving circuit is arrived in the output of Sv ports is crossed, and enters the signal input part that luffing controls valve 27, luffing control
Valve moves to left position, and the 4th actuator port B2 is fuel-displaced, the second actuator port A2 oil returns.It is simultaneously that control signal is defeated by Ca ports
Go out in3 mouthfuls to luffing recovery system controller 20, proportioning valve 7 is opened by resolving to drive.Main pump 29 is exported with minimum injection rate
Fluid, make the 4th actuator port B2 mouthfuls pressure sensor 32 produce pressure signal, the pressure signal is by pressure signal control
Device 33 is converted into discharge of main pump signal and is exported by Sp ports to arrive from o1 mouthfuls of output to controller 2 by the resolving of controller 2
In1 mouthfuls of equipment driving circuit, and enter the signal input part of main pump, main pump pivot angle increase, discharge capacity increases, and leads to fluid
A mouthfuls of retraction chamber hydraulic fluid port for crossing luffing hydraulic cylinder 6 enters retraction chamber.Meanwhile, the fluid passing ratio valve 7 of balance energy accumulator 8 is opened
Mouth enters the recovery chamber of luffing hydraulic cylinder, reclaims chamber and drives luffing hydraulic cylinder to stretch out simultaneously with retraction cavity pressure, lifts principal arm.
During principal arm is constantly lifted and declined, the pressure of balance energy accumulator 8 passes through counter balance pocket pressure sensor 10
Monitoring, when pressure is excessive, the signal of counter balance pocket pressure sensor enters luffing recovery controller 23 by in2 mouthfuls, opens flat
Weighing apparatus chamber magnetic valve 12 and pressure regulating cavity magnetic valve 15, and drive servomotor 14 to drive constant displacement pump 13 by the high pressure of balance energy accumulator 8
Oil is transferred in pressure regulation accumulator 16.When pressure is too small, signal enters luffing recovery controller 23 by in2 mouthfuls, opens flat
Weighing apparatus chamber magnetic valve 12 and pressure regulating cavity magnetic valve 15, and drive servomotor 14 to drive constant displacement pump 13 by the hydraulic pressure of pressure regulation accumulator 16
Oil is transferred in balance energy accumulator 8.The pressure of maintenance balance energy accumulator 8 is in reasonable higher efficiency range in this way.Balance
Accumulator 8 and pressure regulation accumulator 16 are mounted on overflow valve and Fill valve, system protection for pressure peak and when being emptied
Repairing.
Pressure regulating cavity pressure sensor monitoring pressure regulation energy storage pressure, it is too high and without normal direction balance end in pressure regulation energy storage pressure
Transfer alarm prompting pressure release, points out low when pressure regulation energy storage pressure is too low and balance end shifts fluid without normal direction pressure regulating cavity
Pressure, and inflate ftercompction by pressure regulation accumulator.
When joystick 1 produces principal arm retraction signal, controller 2 receives signal and by resolving, and control signal is led to
The output of Sv ports is crossed to in2 mouthful of equipment driving circuit, and entrance extension and contraction control valve 26 signal input part, extension and contraction control
Valve 26 moves to right position, and the 3rd actuator port B1 is fuel-displaced, the first actuator port A2 oil returns.Control signal is passed through into Ca ports simultaneously
In3 mouthfuls of flexible recovery system controller 20 is exported, proportioning valve 7 is opened by resolving to drive.Due to the deadweight of equipment,
Telescopic hydraulic cylinder 4 starts to shorten, and promotion is stretched out the fluid in chamber and returns to first actuator port A1 mouthfuls by stretching out B mouthfuls of chamber hydraulic fluid port, and
Promote the fluid for reclaiming chamber to reclaim C mouthfuls of chamber hydraulic fluid port by telescopic hydraulic cylinder simultaneously and reclaim hydraulic system, passing ratio into flexible
Valve 7 enters balance energy accumulator 8, and the part energy during retraction is thus stored in balance energy accumulator 8.
When joystick 2 produces principal arm to stretch out signal, controller 2 receives signal and by resolving, and control signal is led to
The output of Sv ports is crossed to in2 mouthful of equipment driving circuit, and entrance extension and contraction control valve 26 signal input part, extension and contraction control
Valve moves to left position, and the 3rd actuator port B1 is fuel-displaced, the first actuator port A1 oil returns.It is simultaneously that control signal is defeated by Ca ports
Go out in3 mouthfuls to flexible recovery controller 20, proportioning valve 7 is opened by resolving to drive.Main pump 29 exports fluid with minimum injection rate,
Make the 3rd actuator port B1 mouthfuls pressure sensor 32 produce pressure signal, the pressure signal by pressure signal controller 33 from
O1 mouthfuls of output is converted into discharge of main pump signal and is exported to work clothes by Sp ports to controller 2 by the resolving of controller 2
Put driving circuit in1 mouthfuls, and enter the signal input part of main pump, main pump pivot angle increase, discharge capacity increases, and passes through fluid flexible
A mouthfuls of the retraction chamber hydraulic fluid port of hydraulic cylinder 4 enters retraction chamber.Meanwhile, the opening of the fluid passing ratio valve 7 of balance energy accumulator 8 enters
The recovery chamber of telescopic hydraulic cylinder, reclaims chamber and drives telescopic hydraulic cylinder to stretch out simultaneously with retraction cavity pressure, extends arm.
During arm constantly extends and shortens, the pressure of balance energy accumulator 8 passes through counter balance pocket pressure sensor 10
Monitoring, when pressure is excessive, the signal of counter balance pocket pressure sensor enters flexible recovery controller 20 by in2 mouthfuls, opens flat
Weighing apparatus chamber magnetic valve 12 and pressure regulating cavity magnetic valve 15, and drive servomotor 14 to drive constant displacement pump 13 by the high pressure of balance energy accumulator 8
Oil is transferred in pressure regulation accumulator 16.When pressure is too small, signal enters flexible recovery controller 20 by in2 mouthfuls, opens flat
Weighing apparatus chamber magnetic valve 12 and pressure regulating cavity magnetic valve 15, and drive servomotor 14 to drive constant displacement pump 13 by the hydraulic pressure of pressure regulation accumulator 16
Oil is transferred in balance energy accumulator 8.The pressure of maintenance balance energy accumulator 8 is in reasonable higher efficiency range in this way.Balance
Accumulator 8 and pressure regulation accumulator 16 are mounted on overflow valve and Fill valve, system protection for pressure peak and when being emptied
Repairing.
Pressure regulating cavity pressure sensor monitoring pressure regulation energy storage pressure, in pressure regulating cavity hypertonia and without the transfer of normal direction balance end
Alarm points out pressure release, points out low pressure when pressure regulating cavity hypotony and balance end shift fluid without normal direction pressure regulating cavity, and pass through
Ftercompction is inflated to flexible recovery system 24.
Embodiment 2：The equipment driving circuit 3 of the present embodiment uses open circuit, i.e. Center-Close variable pump
Load-sensitive formula hydraulic circuit.
As shown in figure 4, Center-Close variable pump load-sensitive formula hydraulic circuit includes extension and contraction control valve 26, luffing control
Valve processed 27, overflow valve 28, main pump 29, fuel tank 30, main frame 31, pressure sensor 32, pressure signal controller 33, the first explosion-proof valve
The explosion-proof valve group 3702 of group 3701 and second.
First explosion-proof valve group 3701 and the second explosion-proof valve group 3702 include explosion-proof main valve plug 38, electromagnetic priority valve 39,
Electromagnetic main valve 45.
The output shaft of main frame 31 is connected with the main shaft of main pump 29, the inlet port of main pump 29 is connected with fuel tank 30, and main pump 29 goes out
Hydraulic fluid port controls the oil inlet of valve 27 to be connected with the high-pressure mouth and luffing of overflow valve 28, and the oil-out of main pump 29 controls valve by luffing
27 middle position path is connected with the import of extension and contraction control valve 26, and luffing controls oil return opening, the oil return of extension and contraction control valve 26 of valve 27
Mouth, middle position oil return opening, the low pressure port of overflow valve 28 are connected with fuel tank.The oil-out of luffing control valve connects the second explosion-proof valve respectively
Group 3702 and the second actuator port A2 of connection, the 4th actuator port B2, it is explosion-proof that the oil-out of extension and contraction control valve connects first respectively
Valve group 3701 simultaneously connects the first actuator port A1, the 3rd actuator port B1, and valve control input signal is controlled by in2 mouthfuls with luffing
The control end of valve and the second explosion-proof valve group 3702, extension and contraction control valve and the first explosion-proof valve group 3701 is connected.Pump control input signal
In1 is connected with the control end of main pump 29.Pressure sensor 32 be connected to first, second, third, fourth actuator port A1,
On tetra- actuator ports of A2, B1, B2, its signal enters pressure signal controller 33, and is exported by delivery outlet o1.
Other structures are same as Example 1.
Embodiment 3：The equipment driving circuit 3 of the present embodiment uses open circuit, that is, import and export independent control
Formula hydraulic circuit.
As shown in figure 5, it is described import and export independent control type hydraulic system, include overflow valve 28, main pump 29, fuel tank 30,
Main frame 31, pressure sensor 32, pressure signal controller 33, telescoping cylinder regeneration control valve 3501, telescoping cylinder stretch out chamber inlet valve
3502nd, telescoping cylinder stretches out chamber oil return valve 3503, telescoping cylinder retraction chamber inlet valve 3504, telescoping cylinder retraction chamber oil return valve 3505, change
Width cylinder regeneration control valve 3506, derricking cylinder stretches out chamber inlet valve 3507, derricking cylinder and stretches out chamber oil return valve 3508, derricking cylinder retraction chamber
Inlet valve 3509, derricking cylinder retraction chamber oil return valve 3510, the explosion-proof explosion-proof valve group 3702 of valve group 3701 and second of the first pipeline.
The explosion-proof explosion-proof valve group 3702 of valve group 3701 and second of first pipeline includes explosion-proof main valve plug 38, electromagnetic priority valve
39, electromagnetic main valve 45.
The output shaft of main frame 31 is connected with the main shaft of main pump 29, the inlet port of main pump 29 is connected with fuel tank 30, and main pump 29 goes out
High-pressure mouth of the hydraulic fluid port with overflow valve 28, two luffing control inlet valves（I.e. derricking cylinder stretches out accent inlet valve 3507 and derricking cylinder
Retraction chamber inlet valve 3509）P mouthfuls, two extension and contraction control inlet valves（I.e. telescoping cylinder stretches out chamber inlet valve 3502 and telescoping cylinder contracting
Return chamber inlet valve 3504）P mouthfuls of connection, two luffings control oil return valves（I.e. derricking cylinder stretches out chamber oil return valve 3508 and derricking cylinder
Retraction chamber oil return valve 3510）T mouthfuls, two extension and contraction control inlet valves（I.e. derricking cylinder stretches out chamber oil return valve 3508 and derricking cylinder contracting
Return chamber oil return valve 3510）T mouthfuls and fuel tank connect.
In the extension and contraction control valve group in left side：Telescoping cylinder stretches out the outlet of chamber inlet valve 3502, telescoping cylinder and stretches out chamber oil return valve
3503 outlet is connected with the second actuator port B1, the outlet of telescoping cylinder retraction chamber inlet valve 3504, telescoping cylinder retraction chamber oil return
The outlet of valve 3505 is connected with the first actuator port A1, and two hydraulic fluid ports of telescoping cylinder regeneration control valve 3501 work with first respectively
Hydraulic fluid port A1 mouthfuls is connected with second actuator port B1 mouthfuls.
In the luffing control valve group on right side：Luffing control valve group is identical with the arrangement of extension and contraction control valve group.Luffing is controlled
The oil-out of valve connects the second explosion-proof valve group 3702 and connects the 3rd actuator port A2, the 5th actuator port B2 respectively, control of stretching
The oil-out of valve processed connects the first explosion-proof valve group 3701 and connects the first actuator port A1, the second actuator port B1, valve control respectively
Input signal processed is by in2 mouthfuls and luffing control valve group and the second explosion-proof valve group 3702, extension and contraction control valve group and the first explosion-proof valve
The control end of group 3701 is connected.
Four pressure sensors 32 are connected to four actuator ports（One of pressure sensor is connected to telescoping cylinder
Between regeneration control valve 3501 and explosion-proof main valve plug 38, second pressure sensor be connected to telescoping cylinder regeneration control valve 3501 with
Between electromagnetic main valve 45, the 3rd pressure sensor is connected between derricking cylinder regeneration control valve 3506 and explosion-proof main valve plug 38,
4th pressure sensor is connected between derricking cylinder regeneration control valve 3506 and electromagnetic main valve 45）, four pressure sensors 32
The fuel injection pressure signal for collecting is respectively enterd in pressure signal controller 33, and is exported by output port o1, input signal in1 and
In2 is integrated by pressure signal controller 33, and valve and pump be controlled respectively, realizes luffing hydraulic cylinder 6 and telescopic hydraulic
Cylinder 4 works.
The model of pressure signal controller 33 is BOSCH-REXROTH BODAS, RC E 12-4/22 I/O expansion modules.Other structures
It is same as Example 1.
Embodiment 4：The equipment driving circuit of the present embodiment uses pump control closed type hydraulic system circuit.
As shown in fig. 6, the pump control closed type hydraulic system circuit is made up of telescopic control system with luffing control system, stretch
Contracting control system and luffing control system independent operating.
The telescopic control system includes overflow valve 28, main pump 29, fuel tank 30, main frame 31, pressure sensor 32, pressure
Signal controller 33, Fill valve 34, explosion-proof valve group 37.The explosion-proof valve group 37 includes explosion-proof main valve plug 38, electromagnetic priority valve
39, electromagnetic main valve 45.
The output shaft of main frame 31 is connected with the main shaft of main pump 29, and two mouths of main pump 29 are oily with telescopic hydraulic cylinder retraction chamber respectively
Mouthful A, telescopic hydraulic cylinder stretch out chamber hydraulic fluid port B, and telescopic hydraulic cylinder retraction chamber hydraulic fluid port A, telescopic hydraulic cylinder stretch out the overflow valve of chamber hydraulic fluid port B
28, the Fill valve 34 that telescopic hydraulic cylinder retraction chamber hydraulic fluid port A, telescopic hydraulic cylinder stretch out chamber hydraulic fluid port B is connected.
The oil-out of extension and contraction control valve connects explosion-proof valve group 37 and connects the first actuator port A1, the 3rd actuator port B1,
The valve control input signal of controller 2 is connected by in2 mouthfuls with the control end of extension and contraction control valve 26 and explosion-proof valve group 37.
Pressure sensor 32 is connected on the actuator port between overflow valve 28 and explosion-proof valve group 37, and pressure sensor 32 is adopted
The fuel injection pressure signal for collecting enters pressure signal controller 33 and by o1 mouthfuls of output, and the pump control signal of controller 2 is entered from in1 mouthfuls
Enter and control telescopic system, and control the discharge capacity of main pump, realize the control to telescopic hydraulic cylinder.
The luffing control system includes overflow valve 28, main pump 29, fuel tank 30, main frame 31, pressure sensor 32, pressure
Signal controller 33, Fill valve 34, explosion-proof valve group 37.The explosion-proof valve group 37 includes explosion-proof main valve plug 38, electromagnetic priority valve
39, electromagnetic main valve 45.
The output shaft of main frame 31 is connected with the main shaft of main pump 29, and two mouths of main pump 29 are oily with luffing hydraulic cylinder retraction chamber respectively
Mouthful A, luffing hydraulic cylinder stretch out chamber hydraulic fluid port B, and luffing hydraulic cylinder retraction chamber hydraulic fluid port A, luffing hydraulic cylinder stretch out the overflow valve of chamber hydraulic fluid port B
28, the Fill valve 34 that luffing hydraulic cylinder retraction chamber hydraulic fluid port A, luffing hydraulic cylinder stretch out chamber hydraulic fluid port B is connected.
The oil-out of luffing control valve 27 connects explosion-proof valve group 37 and connects the second actuator port A2, the 4th actuator port
B2；The valve control input signal of controller 2 controls valve and the control end of explosion-proof valve group 37 to be connected by in2 mouthfuls with luffing.
Pressure sensor 32 is connected on the actuator port between overflow valve 28 and explosion-proof valve group 37, pressure sensor collection
The fuel injection pressure signal for arriving enters pressure signal controller 33 and by o1 mouthfuls of output, and the pump control signal of controller 2 enters from in1 mouthfuls
Luffing control system is controlled to the discharge capacity of main pump, realizes the control to luffing hydraulic cylinder.
The model of pressure signal controller 33 is BOSCH-REXROTH BODAS, RC E 12-4/22 I/O expansion modules.Other structures
It is same as Example 1.
Explanation：In equipment driving circuit described in the invention, main frame 31 can also be gasoline in addition to motor
Other dynamical elements such as machine, diesel engine.Main frame, the quantity of main pump are one or more.
The preferably feasible embodiment of the above-mentioned only present invention, the non-therefore limitation scope of the present invention, according to above-described embodiment
Made various modifications are applied mechanically within this technical scheme protection domain.
Claims (10)
1. a kind of control loop of lifting machine equipment, for face-up transporting hoist of container, it includes derricking gear, work clothes
Driving circuit, joystick, controller are put, the derricking gear includes underframe, principal arm, cantilever arm, and luffing hydraulic cylinder is connected to
Between underframe and principal arm, telescopic hydraulic cylinder is connected between principal arm and cantilever arm；It is characterized in that：Luffing hydraulic cylinder and telescopic hydraulic
Cylinder is have to stretch out chamber, retraction chamber and recovery three, the chamber hydraulic cylinder of cavity volume；The recovery chamber hydraulic fluid port connection of telescopic hydraulic cylinder is stretched
Retract and receive hydraulic system；The recovery chamber hydraulic fluid port connection luffing of luffing hydraulic cylinder reclaims hydraulic system, and joystick connects controller,
Controller connects equipment driving circuit, flexible recovery controller and luffing recovery controller respectively；
The flexible recovery hydraulic system is included：Proportioning valve, balance energy accumulator, counter balance pocket overflow valve, counter balance pocket pressure sensing
Device, counter balance pocket Fill valve, counter balance pocket magnetic valve, constant displacement pump, servomotor, pressure regulating cavity magnetic valve, pressure regulation accumulator, pressure regulating cavity overflow
Stream valve, pressure regulating cavity pressure sensor, pressure regulating cavity Fill valve, recovery controller, flexible recovery controller；Flexible recovery controller point
Lian Jie not proportioning valve, counter balance pocket magnetic valve, servomotor, pressure regulating cavity magnetic valve, counter balance pocket pressure sensor and pressure regulation cavity pressure
Sensor；The luffing reclaims hydraulic system includes proportioning valve, balance energy accumulator, counter balance pocket overflow valve, counter balance pocket pressure sensing
Device, counter balance pocket Fill valve, counter balance pocket magnetic valve, constant displacement pump, servomotor, pressure regulating cavity magnetic valve, pressure regulation accumulator, pressure regulating cavity overflow
Stream valve, pressure regulating cavity pressure sensor, pressure regulating cavity Fill valve, recovery controller, luffing recovery controller；Luffing recovery controller point
Lian Jie not proportioning valve, counter balance pocket magnetic valve, servomotor, pressure regulating cavity magnetic valve, counter balance pocket pressure sensor and pressure regulation cavity pressure
Sensor.
2. a kind of control loop of lifting machine equipment according to claim 1, it is characterized in that the proportioning valve（7）One
End is connected to telescopic hydraulic cylinder（4）Hydraulic cylinder reclaim chamber hydraulic fluid port, the other end connection balance energy accumulator（8）Outlet and and counter balance pocket
Overflow valve（9）High-pressure mouth connection, counter balance pocket overflow valve（9）High-pressure mouth connection balance energy accumulator（8）And counter balance pocket Fill valve
（11）Outlet, counter balance pocket Fill valve（11）Outlet connection counter balance pocket pressure sensor（10）, counter balance pocket Fill valve（11）Outlet connects
Connect counter balance pocket magnetic valve（12）One end, counter balance pocket magnetic valve（12）The other end and constant displacement pump（13）Left side mouthful be connected, it is fixed
Amount pump（13）Right side mouthful and pressure regulating cavity magnetic valve（15）Left side mouthful be connected, constant displacement pump（13）Driving mouthful and servomotor
（14）Link together, pressure regulating cavity magnetic valve（15）Right side mouthful and pressure regulation accumulator（16）Connect and with pressure regulating cavity overflow valve
（17）High-pressure mouth is connected, pressure regulation accumulator（16）Connection pressure regulating cavity overflow valve（17）High-pressure mouth, pressure regulating cavity overflow valve（17）High pressure
Mouth connection pressure regulating cavity pressure sensor（18）And with pressure regulating cavity Fill valve（19）Outlet is connected, pressure regulating cavity pressure sensor（18）With
Pressure regulating cavity Fill valve（19）Outlet is connected；Counter balance pocket overflow valve（9）Outlet, counter balance pocket Fill valve（11）Import, pressure regulating cavity
Overflow valve（17）Outlet, pressure regulating cavity Fill valve（19）Import be connected with fuel tank；Counter balance pocket pressure sensor（10）Letter
Number and pressure regulating cavity pressure sensor（18）Signal respectively with flexible recovery controller（23）In1 mouthfuls and in2 mouthful connection, process
The control signal of calculating is by the recovery controller that stretches（20）O1, o2, o3, o4 mouthful respectively with pressure regulating cavity magnetic valve（15）, watch
Take motor（14）, counter balance pocket magnetic valve（12）And proportioning valve（7）Control access port be connected.
3. a kind of control loop of lifting machine equipment according to claim 1, it is characterized in that the proportioning valve（7）One
End is connected to luffing hydraulic cylinder（6）Hydraulic cylinder reclaim chamber hydraulic fluid port, the other end and counter balance pocket overflow valve（9）High-pressure mouth connection and
With balance energy accumulator（8）Connection, counter balance pocket overflow valve（9）High-pressure mouth connection balance energy accumulator（8）And counter balance pocket Fill valve
（11）Outlet, counter balance pocket Fill valve（11）Outlet connection counter balance pocket pressure sensor（10）, counter balance pocket Fill valve（11）Outlet connects
Connect counter balance pocket magnetic valve（12）One end, counter balance pocket magnetic valve（12）The other end and constant displacement pump（13）Left side mouthful be connected, it is fixed
Amount pump（13）Right side mouthful and pressure regulating cavity magnetic valve（15）Left side mouthful be connected, constant displacement pump（13）Driving mouthful and servomotor
（14）Link together, pressure regulating cavity magnetic valve（15）Right side mouthful and pressure regulation accumulator（16）Connect and with pressure regulating cavity overflow valve
（17）High-pressure mouth is connected, pressure regulation accumulator（16）Connection pressure regulating cavity overflow valve（17）High-pressure mouth, pressure regulating cavity overflow valve（17）High pressure
Mouth connection pressure regulating cavity pressure sensor（18）And with pressure regulating cavity Fill valve（19）Outlet is connected, pressure regulating cavity pressure sensor（18）With
Pressure regulating cavity Fill valve（19）Outlet is connected；Counter balance pocket overflow valve（9）Outlet, counter balance pocket Fill valve（11）Import, pressure regulating cavity
Overflow valve（17）Outlet, pressure regulating cavity Fill valve（19）Import be connected with fuel tank；Counter balance pocket pressure sensor（10）Letter
Number and pressure regulating cavity pressure sensor（18）Signal respectively with luffing recovery controller（23）In1 mouthfuls and in2 mouthful connection, process
The control signal of calculating passes through luffing recovery controller（20）O1, o2, o3, o4 mouthful respectively with pressure regulating cavity magnetic valve（15）, watch
Take motor（14）, counter balance pocket magnetic valve（12）And proportioning valve（7）Control access port be connected.
4. a kind of control loop of lifting machine equipment according to claim 1, it is characterized in that the equipment drives
Dynamic loop uses Center-Open constant displacement pump throttle type hydraulic circuit, and it includes extension and contraction control valve, luffing control valve, overflow
Valve, main pump, fuel tank, main frame, the first explosion-proof valve group, the second explosion-proof valve group；First explosion-proof valve group and the second explosion-proof valve group are included
There are explosion-proof main valve plug, electromagnetic priority valve, electromagnetic main valve；The output shaft of main frame is connected with main pump main shaft, inlet port and the oil of main pump
Case is connected, and the oil-out of main pump is connected with the oil inlet of the high-pressure mouth of overflow valve and luffing control valve, and the oil-out of main pump passes through
The middle position path of luffing control valve is connected with the import of extension and contraction control valve, luffing control the oil return opening of valve, extension and contraction control valve time
Hydraulic fluid port, middle position oil return opening, the low pressure port of overflow valve are connected with fuel tank；The oil-out of luffing control valve connects the second explosion-proof valve respectively
Group simultaneously connects the second actuator port A2, the 4th actuator port B2, and the oil-out of extension and contraction control valve connects the first explosion-proof valve group respectively
And the first actuator port A1, the 3rd actuator port B1 are connected, the valve control input signal of controller is controlled by in2 mouthfuls with luffing
The control end of valve and the second explosion-proof valve group, extension and contraction control valve and the first explosion-proof valve group is connected.
5. a kind of control loop of lifting machine equipment according to claim 4, it is characterized in that the equipment drives
Dynamic loop uses Center-Close variable pump load-sensitive formula hydraulic circuit, and it includes extension and contraction control valve, luffing control valve, overflows
Stream valve, main pump, fuel tank, main frame, pressure sensor, pressure signal controller, the first explosion-proof valve group and the second explosion-proof valve group；First
Explosion-proof valve group and the second explosion-proof valve group include explosion-proof main valve plug, electromagnetic priority valve, electromagnetic main valve；
The output shaft of main frame is connected with main pump main shaft, and the inlet port of main pump is connected with fuel tank, oil-out and the overflow valve of main pump
High-pressure mouth is connected with the oil inlet of luffing control valve, and the oil-out of main pump controls the middle position path and extension and contraction control of valve by luffing
The import of valve is connected, and luffing controls oil return opening, the oil return opening of extension and contraction control valve, middle position oil return opening, the low pressure port of overflow valve of valve
It is connected with fuel tank；The oil-out of luffing control valve connects the second explosion-proof valve group and connects the second actuator port A2, the 4th work respectively
Make hydraulic fluid port B2, the oil-out of extension and contraction control valve connects the first explosion-proof valve group and connects the first actuator port A1, the 3rd work respectively
Hydraulic fluid port B1, the valve control input signal of controller by in2 mouthfuls with luffing control valve and the second explosion-proof valve group, extension and contraction control valve and
The control end of the first explosion-proof valve group is connected；The pump control input signal in1 of controller is connected with the control end of main pump；Pressure sensing
Device is connected on four actuator ports, and the signal of pressure sensor collection enters pressure signal controller, and by output
Mouth o1 outputs.
6. a kind of control loop of lifting machine equipment according to claim 4, it is characterized in that the equipment drives
Dynamic loop using importing and exporting independent control type hydraulic system, it include overflow valve, main pump, fuel tank, main frame, pressure sensor,
Pressure signal controller, telescoping cylinder regeneration control valve, telescoping cylinder stretch out chamber inlet valve, telescoping cylinder and stretch out chamber oil return valve, telescoping cylinder
Retraction chamber inlet valve, telescoping cylinder retraction chamber oil return valve, derricking cylinder regeneration control valve, derricking cylinder stretch out chamber inlet valve, derricking cylinder and stretch
Go out chamber oil return valve, derricking cylinder retraction chamber inlet valve, derricking cylinder retraction chamber oil return valve, the explosion-proof valve group of the first pipeline and the second explosion-proof valve
Group；The explosion-proof valve group of first pipeline and the second explosion-proof valve group include explosion-proof main valve plug, electromagnetic priority valve, electromagnetic main valve；
The output shaft of main frame is connected with main pump main shaft, and the inlet port of main pump is connected with fuel tank, oil-out and the overflow valve of main pump
High-pressure mouth, two luffings control P mouthfuls, two P of extension and contraction control inlet valve mouthfuls of connection of inlet valve, and two luffings control oil return valves
T mouthfuls, two the T of extension and contraction control inlet valve mouthfuls with fuel tank connect；
Telescoping cylinder stretches out the outlet of chamber inlet valve, telescoping cylinder and stretches out the outlet of chamber oil return valve and is connected with the second actuator port B1, stretches
The outlet of contracting cylinder retraction chamber inlet valve, the outlet of telescoping cylinder retraction chamber oil return valve are connected with the first actuator port A1, and telescoping cylinder is again
Two hydraulic fluid ports of raw control valve are connected with first actuator port A1 mouthfuls and second actuator port B1 mouthfuls respectively；
The oil-out of luffing control valve connects the second explosion-proof valve group and connects the 3rd actuator port A2, the 5th actuator port respectively
B2, the oil-out of extension and contraction control valve connects the first explosion-proof valve group and connects the first actuator port A1, the second actuator port B1 respectively,
The valve control input signal of controller by in2 mouthfuls with luffing control valve group and the second explosion-proof valve group, extension and contraction control valve group and the
The control end of one explosion-proof valve group is connected；Four pressure sensors are connected to four actuator ports, and four pressure sensors are adopted
The fuel injection pressure signal for collecting is respectively enterd in pressure signal controller, and is exported by output port o1, input signal in1 and in2
Integrated by pressure signal controller, and each valve and main pump be controlled respectively, realize luffing hydraulic cylinder and telescopic hydraulic
Cylinder working.
7. a kind of control loop of lifting machine equipment according to claim 4, it is characterized in that the equipment drives
Dynamic loop is made up of telescopic control system pump control closed type hydraulic system circuit with luffing control system, telescopic control system and change
Width control system independent operating；
The telescopic control system includes overflow valve, main pump, fuel tank, main frame, pressure sensor, pressure signal controller, benefit
Fuel tap, explosion-proof valve group, the explosion-proof valve group include explosion-proof main valve plug, electromagnetic priority valve, electromagnetic main valve；
The output shaft of main frame is connected with main pump main shaft, two mouths of main pump respectively with telescopic hydraulic cylinder retraction chamber hydraulic fluid port A, flexible liquid
Cylinder pressure stretches out chamber hydraulic fluid port B, and telescopic hydraulic cylinder retraction chamber hydraulic fluid port A, telescopic hydraulic cylinder stretch out the overflow valve 28 of chamber hydraulic fluid port B, and stretch liquid
The Fill valve 34 that cylinder pressure retraction chamber hydraulic fluid port A, telescopic hydraulic cylinder stretch out chamber hydraulic fluid port B is connected；
The oil-out of extension and contraction control valve connects explosion-proof valve group and connects the first actuator port A1, the 3rd actuator port B1, controller
Valve control input signal be connected with the control end of extension and contraction control valve and explosion-proof valve group by in2 mouthfuls；
Pressure sensor is connected on the actuator port between overflow valve and explosion-proof valve group, the oil pressure letter that pressure sensor is collected
Number enter pressure signal controller and exported by o1 mouthful, the pump control signal of controller from in1 mouthfuls of entrance control telescopic system,
And the discharge capacity of main pump is controlled, realize the control to telescopic hydraulic cylinder；
The luffing control system includes overflow valve, main pump, fuel tank, main frame, pressure sensor, pressure signal controller, benefit
Fuel tap, explosion-proof valve group；The output shaft of main frame is connected with main pump main shaft, and two mouths of main pump are oily with luffing hydraulic cylinder retraction chamber respectively
Mouthful A, luffing hydraulic cylinder stretch out chamber hydraulic fluid port B, and luffing hydraulic cylinder retraction chamber hydraulic fluid port A, luffing hydraulic cylinder stretch out the overflow of chamber hydraulic fluid port B
Valve, luffing hydraulic cylinder retraction chamber hydraulic fluid port A, luffing hydraulic cylinder stretch out the Fill valve connection of chamber hydraulic fluid port B；
The oil-out of luffing control valve connects explosion-proof valve group and connects the second actuator port A2, the 4th actuator port B2；Controller
Valve control input signal control the control end of valve and explosion-proof valve group to be connected with luffing by in2 mouthfuls；
Pressure sensor is connected on the actuator port between overflow valve and explosion-proof valve group, the oil pressure letter that pressure sensor is collected
Number enter pressure signal controller and exported by o1 mouthfuls, the pump control signal of controller is from in1 mouthfuls of entrance luffing control system
Discharge capacity to main pump is controlled, and realizes the control to luffing hydraulic cylinder.
8. a kind of control loop of lifting machine equipment according to claim 1, it is characterized in that the joystick is produced
During raw principal arm dropping signal, controller receives dropping signal and by resolving, and control signal output is driven back to equipment
Road, and enter the signal input part that luffing controls valve, luffing control valve moves to right position, and the 4th actuator port is fuel-displaced, the second work
Make hydraulic fluid port oil return；By control signal output to luffing recovery controller, luffing recovery controller is driven controller by resolving simultaneously
It is dynamic to open proportioning valve；Due to the deadweight of equipment, luffing hydraulic cylinder starts to fall, and promotion stretches out the fluid in chamber by stretching out chamber
Hydraulic fluid port returns to the second actuator port, and promotes the fluid for reclaiming chamber to reclaim chamber hydraulic fluid port into luffing time by luffing hydraulic cylinder simultaneously
Hydraulic system is received, passing ratio valve enters balance energy accumulator, the part energy in dropping process is stored in balance energy accumulator；
When joystick produces principal arm lifting signal, controller receives lifting signal and by resolving, and control signal is exported
To equipment driving circuit, and enter the signal input part that luffing controls valve, luffing control valve moves to left position, the 4th work
Hydraulic fluid port is fuel-displaced, the second actuator port oil return；By control signal output to luffing recovery system controller, luffing is returned controller simultaneously
Receive system controller and open proportioning valve by resolving to drive；Main pump exports fluid with minimum injection rate, makes the pressure of the 4th actuator port
Force snesor produces pressure signal, the pressure signal to be exported to controller, by the solution of controller by pressure signal controller
Calculation is converted into discharge of main pump signal and exports to equipment driving circuit, and enters the signal input part of main pump, main pump pivot angle
Increase, discharge capacity increases, and fluid is entered retraction chamber by the retraction chamber hydraulic fluid port of luffing hydraulic cylinder；Meanwhile, the oil of balance energy accumulator
The opening of liquid passing ratio valve enters the recovery chamber of luffing hydraulic cylinder, reclaims chamber and drives luffing hydraulic cylinder simultaneously with retraction cavity pressure
Stretch out, lift principal arm；During principal arm is constantly lifted and declined, the pressure of balance energy accumulator is passed by balancing cavity pressure
Sensor is monitored；When the pressure of balance energy accumulator is excessive, the big pressure signal of counter balance pocket pressure sensor enters luffing and reclaims control
Device processed, opens counter balance pocket magnetic valve and pressure regulating cavity magnetic valve, and drive servomotor to drive constant displacement pump by the height of balance energy accumulator
Force feed is transferred in pressure regulation accumulator；When the pressure of balance energy accumulator is too small, the small pressure signal of counter balance pocket pressure sensor
Into luffing recovery controller, counter balance pocket magnetic valve and pressure regulating cavity magnetic valve are opened, and drive servomotor to drive constant displacement pump to incite somebody to action
The hydraulic oil of pressure regulation accumulator is transferred in balance energy accumulator；Pressure regulating cavity pressure sensor monitoring pressure regulation energy storage pressure, is adjusting
Pressure cavity pressure is too high and without the transfer alarm prompting pressure release of normal direction balance end, is adjusted without normal direction in pressure regulating cavity hypotony and balance end
Low pressure is pointed out during the transfer fluid of pressure chamber, and ftercompction is inflated by luffing recovery system.
9. a kind of control loop of lifting machine equipment according to claim 1, it is characterized in that the joystick is produced
During raw principal arm retraction signal, controller receives retraction signal and by resolving, and the output of retraction control signal is driven to equipment
It is dynamic, and into the signal input part of extension and contraction control valve, extension and contraction control valve moves to right position, and the 3rd actuator port is fuel-displaced, the first work
Make hydraulic fluid port oil return；Simultaneously by retraction control signal output to flexible recovery system controller, proportioning valve is opened by resolving to drive；
When joystick produces principal arm to stretch out signal, controller is received and stretches out signal and by resolving, and will stretch out control signal
Equipment driving circuit is exported, and into the signal input part of extension and contraction control valve, extension and contraction control valve moves to left position, the 3rd
Actuator port is fuel-displaced, the first actuator port oil return；Control signal output to flexible recovery controller will be stretched out simultaneously, by resolving
Drive and open proportioning valve；Main pump exports fluid with minimum injection rate, the pressure sensor of the 3rd actuator port is produced pressure signal,
The pressure signal is exported to controller by pressure signal controller, and discharge of main pump signal is converted into simultaneously by the resolving of controller
Equipment driving circuit is exported, and into the signal input part of main pump, main pump pivot angle increase, discharge capacity increases, and leads to fluid
The retraction chamber hydraulic fluid port for crossing telescopic hydraulic cylinder enters retraction chamber；Meanwhile, the opening of the fluid passing ratio valve of balance energy accumulator enters
The recovery chamber of telescopic hydraulic cylinder, reclaims chamber and drives telescopic hydraulic cylinder to stretch out simultaneously with retraction cavity pressure, extends arm；
During arm constantly extends and shortens, the pressure of balance energy accumulator passes through counter balance pocket pressure sensor monitoring, when
When the pressure of balance energy accumulator is excessive, the big pressure signal of counter balance pocket pressure sensor enters flexible recovery controller, opens flat
Weighing apparatus chamber magnetic valve and pressure regulating cavity magnetic valve, and drive servomotor to drive constant displacement pump that the hydraulic oil of balance energy accumulator is transferred into tune
In pressure accumulator；When the pressure of balance energy accumulator is too small, the small pressure signal of counter balance pocket pressure sensor enters flexible recovery
Controller, opens counter balance pocket magnetic valve and pressure regulating cavity magnetic valve, and drive servomotor to drive constant displacement pump by pressure regulation accumulator
Hydraulic oil is transferred in balance energy accumulator；Pressure regulating cavity pressure sensor monitoring pressure regulation energy storage pressure, in pressure regulating cavity hypertonia
And without the transfer alarm prompting pressure release of normal direction balance end, fluid is shifted without normal direction pressure regulating cavity in pressure regulating cavity hypotony and balance end
When point out low pressure, and inflate ftercompction by flexible recovery system.
10. a kind of control loop of lifting machine equipment according to claim 1 or 4 or 8 or 9, it is characterized in that described
First actuator port A1 of equipment driving circuit is connected to the stretching out on the hydraulic fluid port B mouths of chamber of telescopic hydraulic cylinder, and equipment drives
The 3rd actuator port B1 in dynamic loop is connected on the retraction chamber hydraulic fluid port A mouths of telescopic hydraulic cylinder, and the of equipment driving circuit
Two actuator port A2 are connected to the stretching out on the hydraulic fluid port B mouths of chamber of luffing hydraulic cylinder, the 4th actuator port of equipment driving circuit 3
B2 is connected on the retraction chamber hydraulic fluid port A mouths of luffing hydraulic cylinder.
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|---|---|---|---|---|
| CN105967077B (en) * | 2016-07-19 | 2017-09-19 | 徐州重型机械有限公司 | A kind of luffing control system and its control method |
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| CN112576579A (en) * | 2020-12-07 | 2021-03-30 | 山东百海逸机电股份有限公司 | Pressure maintaining type hydraulic control system of disc type braking device |
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| US5249639A (en) * | 1992-07-24 | 1993-10-05 | Caterpillar Inc. | Steering control arrangement |
| DE112006000783T5 (en) * | 2005-03-31 | 2008-02-28 | Caterpillar Inc., Peoria | Electro-hydraulic steering control system |
| CN101229902A (en) * | 2008-02-19 | 2008-07-30 | 湖南三一起重机械有限公司 | Hydraulic oil distribution controlling device for crane hydraulic system |
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| CN105523478A (en) | 2016-04-27 |
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