CN108438150A - A kind of position compensation extension type is gone on board the working method of trestle - Google Patents
A kind of position compensation extension type is gone on board the working method of trestle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
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Abstract
A kind of position compensation extension type is gone on board the working method of trestle, including bridging method, servo-actuated compensation method and release methods;Bridging method includes manual operation bridging method and Active Compensation bridging method, it is by controlling handle that bridging method, which is manually operated, control handle sends a signal to control system, control system controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, flexible trestle is allowed to move in overlap joint range, after reaching in overlap joint range, start Active Compensation bridging method, specially, signal is detected by sensor and data process system, control system controls Hydraulic slewing system according to signal, telescopic hydraulic system and variable amplitude hydraulic system, it is final to realize overlap joint, it is switched to servo-actuated compensation method after the completion of overlap joint.Overlap joint using the working method of the present invention, the trestle that stretches is reliable, safe, efficient, and the servo-actuated of flexible trestle can be realized after the completion of overlap joint, realizes smoothly remarkable and transport goods, while can reduce the load being applied in overlapped points.
Description
Technical field
It goes on board the present invention relates to position compensation extension type the working method of trestle.
Background technology
Walk bridges or trestle are mainly used to conveying personnel or cargo, and in land, the construction of , Walk bridges is relatively easy, but use exists
Marine builds with regard to relative difficult for conveying personnel and goods and materials Walk bridges between two ships, because, between ship and ship
It mutually moves, is generally built on a ship because of Ci , Walk bridges, if necessary to use, by overlapped mode in two ships
Between She Zhi Walk bridges.And during overlap joint, to realize better overlap joint, it is necessary to the phase between Kao Lv Walk bridges and another ship
To position, Walk bridges and foul otherwise can be made into because of the floating of ship;After the completion of overlap joint, also need consider two ships between
Relative position, allow Walk bridges to be in the state that passively compensates according to the relative position of two ships, in this way, just can guarantee normally makes
With;In addition, be in an emergency Xia , Walk bridges and another ship want to realize ejection escape, to ensure security performance.
A kind of fore-and-aft gangway device, including base are disclosed in the patent document that Chinese Patent Application No. is 201510045917.8
Seat and the revolving platform above the pedestal, the revolving platform are connected by swing mechanism with the pedestal, institute
It states and is provided with driver's cabin on revolving platform, the revolving platform is connected with fore-and-aft gangway, and the both sides of the fore-and-aft gangway have safety barrier,
The suspension end of the fore-and-aft gangway is provided with docking facilities.The present invention is compared to the prior art, and reasonable structural arrangement, operation are flat
Surely, conveying people between ship and ocean platform can be realized under complicated, adverse circumstances.Shang Shu Walk Biodge devices, although can be real
Personnel between spot oceangoing ship and Material Transportation, but Da Jie Walk Biodge devices and Da Jie Walk Biodge device Hou , Walk Biodge devices cannot root
The problems such as carrying out corresponding change in location according to the change in location between ship, be susceptible to accident, and in emergency circumstances , Walk
Bridge can not carry out ejection escape.
A kind of full hydraulic drive is disclosed in the patent document that Chinese Patent Application No. is 200610049538.7 to go on board
Ladder, by be fixed on the main ladder that is constituted with the ladder for running ladder on harbour with can activity on the face of boat deck with triangle ladder, gangway ladder
Auxiliary ladder composition, the auxiliary ladder by connected on slide and slide luffing, rotating mechanism, hydraulic station, pulley device and be fixed on code
Hoisting mechanism on head is constituted, and lift cylinder makes the pulley device on slide be lifted along the I-steel guide rail on ladder, slide
On rotating platform in the horizontal plane around center axis rotation, rotating platform front end is hinged gangway ladder, and flexible by amplitude oil cylinder makes
Bearing of the gangway ladder on rotating platform rotates on the vertical plane, adjusting triangle ladder, gangway ladder height, rotary oil cylinder makes gangway ladder in water
It is rotated within the scope of 120 degree of plane, hydraulic station, luffing, rotating mechanism lift in slide and with slide, compact-sized, simplified
Oil circuit reduces oil pipe, safe to use, reliable, and the stability of synchronization is good for work, high sensitivity, particularly suitable in oil product, chemical industry code
Meets the needs of drop changes greatly on head.Although above structure produces certain benefit, but ship is operation or rests in
Waterborne, due to the influence of factors, ship will produce heave, shaking etc., therefore bring prodigious trouble to overlap joint, and
And after overlapping, if auxiliary ladder can not achieve servo-actuated, it is easily damaged boarding ladder, can not carry out smoothly remarkable and transports object
Money.
A kind of Three Degree Of Freedom wave benefit is disclosed in the patent document that Chinese Patent Application No. is 201611205250.4
It repays to step on and multiplies trestle, technical solution is:It includes:Base platform, control system, attitude transducer, trestle bearing, trestle are logical
Road, amplitude oil cylinder, rolling compensating cylinder;Ship rolling, pitching, heave movement are mended in real time although the present invention can realize
It repays, but changes not recorded in technical solution be how to control amplitude oil cylinder, rolling compensating cylinder, which is accomplished that
Active Compensation, after trestle channel has overlapped, it is necessary to it is controlled by control system, and when control system needs certain reaction
Between, therefore, the phenomenon that being susceptible to delays time to control, while it is also big to consume energy, and the heavier-weight in trestle channel, when trestle channel
After putting up, the weight in trestle channel is largely fallen in overlapped points.
A kind of marine transportation and sea are disclosed in the patent document that Chinese Patent Application No. is 201610396070.2
It being stepped on by device and method with compensation of undulation function in shipping work field, stepping on forward, gangway ladder is perpendicular to deck and fixed connects
Gangway ladder holder is connect, motion controller first controls active compensation of undulation platform to the rolling of ship, pitching and heave real-time compensation, then
Motor reversal is controlled, motor drives steel wire rope to discharge gangway ladder, and gangway ladder rotates counterclockwise around universal joint, when gangway ladder angular transducer is examined
Measure gangway ladder with respect to upper mounting plate release rotate to predetermined angle when, motor shuts down;It steps on after leaning on, motion controller control
Motor rotates forward, when gangway ladder angular transducer detects that gangway ladder rotates to predetermined angle with respect to upper mounting plate, gangway ladder perpendicular to deck,
Gangway ladder is fixed on gangway ladder holder;The rolling, pitching and heave of compensation of undulation platform real-time compensation ship in severe sea situation,
Automatic deploying and retracting gangway ladder when compensating for upper mounting plate to certain plateau just carry out folding and unfolding, improve step on by when stationarity and peace
Quan Xing.The structure is that the position of platform is adjusted by active compensation of undulation, then realizes overlap joint, and since ship is to shake,
The position between gangway ladder and ship is difficult to ensure during overlap joint, overlap joint is very difficult, after overlap joint, if gangway ladder cannot be real
It is now servo-actuated, is then easily damaged the structure, can not carry out smoothly remarkable and transport goods and materials.
Invention content
It goes on board the object of the present invention is to provide a kind of position compensation extension type the working method of trestle, utilizes the present invention's
The overlap joint of working method, the trestle that stretches is reliable, safe, efficient, and the servo-actuated of flexible trestle can be realized after the completion of overlap joint, realizes flat
Steady remarkable and transport goods, while the load being applied in overlapped points can be reduced.
In order to achieve the above objectives, a kind of position compensation extension type is gone on board trestle, including pedestal, revolving platform, flexible stack
Bridge, landing gear, rotary fluid motor and amplitude oil cylinder;Revolving platform is mounted on pedestal;Flexible trestle includes principal arm and stretches
One end of contracting arm, principal arm is articulated on revolving platform, and being located on principal arm for telescopic arm sliding is equipped between principal arm and telescopic arm
Retractable driving device, the retractable driving device include telescopic hydraulic motor;Landing gear is mounted on the free end of telescopic arm;
Rotary fluid motor is mounted between pedestal and revolving platform;One end of amplitude oil cylinder is hinged on revolving platform, amplitude oil cylinder
The other end be hinged on principal arm;It is characterized in that:
Principal arm is aluminum alloy frame, and telescopic arm is aluminum alloy frame;Steel is connected in principal arm by insulating fixing device to lead
Rail, the insulating fixing device include lower platen, top board, screw arbor assembly and rubber pad;It is equipped in the upper surface of lower platen
Rubber pad is equipped with rubber pad in the lower surface of top board, is clamped principal arm between two rubber pads, screw arbor assembly pass through top board,
Lower platen and rubber pad, there is gap between screw arbor assembly and principal arm;Steel guide rail is mounted on lower platen and/or top board;
Further include position compensation control system and position compensation hydraulic system;
The position compensation control system includes industrial personal computer, MRU sensors, data process system, decoder, operation handle and driver's cabin
Button;It is separately installed with MRU sensors, MUR sensors and industrial personal computer on the free end of telescopic arm and overlap joint platform or ship
Connection, data process system are connect with industrial personal computer, operation handle are connected on decoder, decoder is connect with industrial personal computer, driver's cabin button
It is connect with industrial personal computer, industrial personal computer is connect with position compensation hydraulic system;
The position compensation hydraulic system includes dynamical system, Hydraulic slewing system, telescopic hydraulic system and luffing hydraulic pressure system
System;Dynamical system includes hydraulic oil container, main pump group and high-low pressure pump group, and the input terminal of main pump group is connected to hydraulic oil container, main pump
Group has an output end, and the input terminal of high-low pressure pump group is connected to hydraulic oil container, high-low pump group be respectively provided with low-voltage output and
High-voltage output end;Oil return line is connected on hydraulic oil container;Unloading line is connected on hydraulic oil container;Industrial personal computer is connected to
In main pump group and high-low pressure pump group;
The Hydraulic slewing system includes revolution selector valve, gyratory directions speed control valve, revolution brake control valve, mold rotation
Formula selector valve, revolution balanced valve two, revolution two-way directional valve, turns round sequence valve, rotary fluid motor and returns at revolution balanced valve one
Turn brake;The output end of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output end of selector valve
It is connected to the input terminal of gyratory directions speed control valve, the A output ends of gyratory directions control valve are connected by turning round check valve one
B output ends to one end of rotary fluid motor, gyratory directions control valve are connected to revolution two-way side by turning round check valve two
To one end of valve, the output end for turning round check valve one is connect with the other end of revolution two-way directional valve;Turn round brake control valve
Input terminal is connected to the output end of revolution selector valve, and the output end for turning round brake control valve is connected to by turning round pilot operated directional control valve
In revolution brake;The input terminal of switchback mode selector valve with revolution selector valve output end connect, switchback mode selector valve it is defeated
Outlet by turn round sequence valve with turn round two-way directional valve control terminal connect, while the output end of switchback mode selector valve and time
The control terminal of rotating hydraulic motor connects;The one end for turning round balanced valve one is connect with the output end of revolution check valve one, revolution balance
The output end of valve one is connect with oil return line;The input terminal for turning round balanced valve two is connect with the output end of revolution check valve two, is returned
The output end for turning balanced valve two is connect with oil return line;Industrial personal computer is stopped with revolution selector valve, gyratory directions speed control valve, revolution
Vehicle control valve is connected with switchback mode selector valve;
The telescopic hydraulic system includes flexible selector valve, telescopic direction speed control valve, flexible brake control valve, flexible mould
It formula selector valve, flexible balanced valve one, flexible balanced valve two, flexible two-way directional valve, flexible sequence valve, telescopic hydraulic motor and stretches
Contracting brake;The output end of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output end for the selector valve that stretches
It is connected to the input terminal of telescopic direction speed control valve, the A output ends of telescopic direction control valve are connected by flexible check valve one
B output ends to one end of telescopic hydraulic motor, telescopic direction control valve are connected to flexible two-way side by flexible check valve two
To one end of valve, the output end of flexible check valve one is connect with the other end of flexible two-way directional valve;Flexible brake control valve
Input terminal is connected to the output end of flexible selector valve, and the output end of flexible brake control valve is connected to by flexible pilot operated directional control valve
In flexible brake;The input terminal of stretch mode selector valve is connect with the output end of flexible selector valve, stretch mode selector valve it is defeated
Outlet is connect by flexible sequence valve with the control terminal of flexible two-way directional valve, the output end of simultaneous retractable model selection valve with stretch
The control terminal of contracting hydraulic motor connects;The input terminal of flexible balanced valve one is connect with the output end of flexible check valve one, is stretched flat
The output end of weighing apparatus valve one is connect with oil return line;The input terminal of flexible balanced valve two is connect with the output end of flexible check valve two,
The output end of flexible balanced valve two is connect with oil return line;Industrial personal computer and flexible selector valve, stretch telescopic direction speed control valve
Brake control valve is connected with stretch mode selector valve;
The variable amplitude hydraulic system includes luffing selector valve, becomes width direction speed control valve, luffing accumulator control valve, luffing
Accumulator switch valve, the oil-filled control valve of luffing accumulator, plunger type accumulator and amplitude oil cylinder;The input terminal of luffing selector valve is logical
The output end that check valve one is connected to main pump group is crossed, the output end of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve
Enter end, the A output ends for becoming width direction speed control valve are connected to one end of amplitude oil cylinder by luffing check valve one, become width direction
The B output ends of speed control valve are connected to the other end of amplitude oil cylinder;Luffing accumulator control valve by luffing check valve two with
One end of amplitude oil cylinder connects, and luffing accumulator control valve is connect with luffing accumulator switch valve simultaneously, luffing accumulator switch
Valve is connect with the tie point that luffing check valve two and amplitude oil cylinder are formed, the input terminal and main pump of the oil-filled control valve of luffing accumulator
The output end connection of group, the output end of the oil-filled control valve of luffing accumulator connect with plunger type accumulator, plunger type accumulator and
Accumulator switch valve connects, while plunger type accumulator is connect by luffing check valve three with luffing accumulator control valve;Industry control
Machine and luffing selector valve, change width direction speed control valve, luffing accumulator control valve, luffing accumulator switch valve and luffing energy storage
The oil-filled control valve connection of device.
The go on board working method of trestle of the position compensation extension type includes bridging method, servo-actuated compensation method and de-
The extraction of root;
Bridging method includes manual operation bridging method and Active Compensation bridging method:
Bridging method, which is manually operated, is:Operation handle is operated by operating personnel, decoder translates the signal of operation handle
Code is simultaneously sent in industrial personal computer, and industrial personal computer controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container
Output end;Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control
Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches
It is dynamic, allow flexible trestle to move in overlap joint range;
Wherein Hydraulic slewing system control revolving platform rotation method be:The control of switchback mode selector valve is returned in normal mode
Turn brake control valve control in off position, gyratory directions control valve turns left according to the signal behavior of operation handle or right-hand rotation shape
State opens revolution selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on revolution selector valve, revolution selection
Hydraulic oil is input to gyratory directions speed control valve, revolution brake control valve and switchback mode selector valve, liquid by the output end of valve
Pressure oil reaches the control terminal of revolution two-way directional valve, control revolution two-way directional valve through switchback mode selector valve, revolution sequence valve
It closes, hydraulic oil is entered through turning round brake control valve and revolution pilot operated directional control valve in revolution brake, allows revolution brake to close, together
When, hydraulic oil is entered from gyratory directions speed control valve in rotary fluid motor, and driving rotary fluid motor turns left or turns right,
To control, revolving platform turns left or right-hand rotation, the oil return of rotary fluid motor enter from revolution balanced valve one or revolution balanced valve two
Into oil return line;Telescopic hydraulic system controls the flexible method of telescopic arm:Stretch mode selector valve is controlled in normal mode,
In off position, telescopic direction control valve is stretched out according to the signal behavior of operation handle or retraction shape for flexible brake control valve control
State opens the selector valve that stretches, and the hydraulic oil of the output end of main pump group is entered through check valve one on flexible selector valve, selection of stretching
Hydraulic oil is input to telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve, liquid by the output end of valve
Pressure oil reaches the control terminal for the two-way directional valve that stretches through stretch mode selector valve, flexible sequence valve, controls the two-way directional valve that stretches
It closes, hydraulic oil is entered through stretch brake control valve and flexible pilot operated directional control valve in flexible brake, allows flexible brake to close, together
When, hydraulic oil is entered from telescopic direction speed control valve in telescopic hydraulic motor, drives telescopic hydraulic motor forward or reverse,
To drive telescopic arm to stretch out or retract, the oil return of telescopic hydraulic motor is entered from flexible balanced valve one or flexible balanced valve two
In oil return line;
Variable amplitude hydraulic system controls the method that trestle is swung of stretching:Luffing accumulator control valve is controlled by industrial personal computer to close,
Luffing accumulator switch valve is controlled by industrial personal computer to close;Luffing directional control valve according to the signal behavior of operation handle rise or
Decline state opens luffing selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on luffing selector valve, becomes
Hydraulic oil is input to by the output end of width selector valve becomes width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil
It is entered in amplitude oil cylinder from width direction speed control valve is become, the trestle that stretches is driven to rise or fall;
After flexible trestle moves in overlap joint range, state is overlapped into Active Compensation, Active Compensation bridging method is:Pass through
MRU sensors and data process system acquisition overlapped points location information simultaneously location information is transmitted in industrial personal computer, in industrial personal computer into
Row calculates, and the signal of processing is input to gyratory directions speed control valve, telescopic direction speed control valve and becomes width direction speed
On control valve, direction of rotation and the speed of rotary fluid motor are controlled by gyratory directions speed control valve, passes through telescopic direction
Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled by becoming width direction speed control valve
The direction of motion and speed;
Enter servo-actuated compensation after the completion of flexible trestle overlap joint, the method for being servo-actuated compensation include revolution follow-up method, it is flexible with
Dynamic method and the passive compensation method of luffing;
Turning round follow-up method is:Switchback mode selector valve is controlled by industrial personal computer to follower model, revolution two-way directional valve
Control terminal emptying, the reset of revolution two-way directional valve is simultaneously open-minded, and revolution two-way directional valve is by the oil inlet of rotary fluid motor and goes out
Hydraulic fluid port is together with realization zero delivery allows rotary fluid motor to be in servo-actuated state;
Flexible follow-up method is:Stretch mode selector valve is controlled by industrial personal computer to follower model, stretch two-way directional valve
Control terminal emptying, flexible two-way directional valve reset is simultaneously open-minded, and flexible two-way directional valve is by the oil inlet of telescopic hydraulic motor and goes out
Hydraulic fluid port is together with realization zero delivery allows telescopic hydraulic motor to be in servo-actuated state;
The passive compensation method of luffing is:The closing of luffing selector valve is controlled by industrial personal computer, control luffing accumulator control valve is opened
It is opened with control luffing accumulator switch valve;Amplitude oil cylinder is allowed to be in passive state simultaneously by plunger type accumulator by luffing oil
Cylinder is under identical tension pattern;
Release methods are to control dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system by industrial personal computer,
Flexible trestle is allowed to disengage.
Above-mentioned position compensation extension type is gone on board trestle and working method, is not entered in overlap joint range in flexible trestle
When, by manually controlling dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, make flexible trestle fast
Speed enters in overlap joint range, the efficiency that improves that overlapped;When flexible trestle enters in overlap joint range, passed by MRU
Sensor obtains the position of X, Y, Z six direction and corresponding acceleration, while obtaining this platform by data process system and being overlapped
The state of platform obtains in the signal transmission to industrial personal computer of acquisition control signal by calculating, gives gyratory directions speed respectively
Control valve, telescopic direction speed control valve and change width direction speed control valve, by controlling gyratory directions speed control valve, stretching
Direction speed control valve and become commutation and the uninterrupted of width direction speed control valve to control rotary fluid motor, flexible respectively
Hydraulic motor and amplitude oil cylinder, allow flexible trestle free end constantly close to overlapped points while follow the posture for being overlapped platform
Active variation is carried out, allows overlap joint to be more easy, is safe and steady.In the present invention, the computational methods of industrial personal computer are existing
Computational methods, such as digital PID operation etc..After the completion of overlap joint, two-way directional valve is turned round by control, allows rotary fluid motor
Oil inlet is connected to oil outlet, and when there is the tractive force for being overlapped platform, rotary fluid motor can be realized servo-actuated while realize zero
Discharge capacity does not consume energy;By the flexible two-way directional valve of control, the oil inlet of telescopic hydraulic motor is allowed to be connected to oil outlet,
When having the tractive force for being overlapped platform, telescopic hydraulic motor can be realized servo-actuated while realize zero delivery, and energy is not consumed;For becoming
Oil condition is unloaded in one end output of width hydraulic system, amplitude oil cylinder, increases by a plunger type accumulator in the other end of amplitude oil cylinder, when
When being overlapped platform has tractive force, amplitude oil cylinder realizes passive compensation, while plunger type accumulator gives luffing oil always
One constant-tension of cylinder reduces load of the trestle to overlapped points of stretching;Therefore, after the completion of overlap joint, with the position for being overlapped platform
Variation is set, rotary fluid motor and telescopic hydraulic motor, which are realized, to be servo-actuated, and amplitude oil cylinder realizes passive compensation, makes flexible trestle flat
Surely, in this way, remarkable and transport goods are safe, steady.Due to being provided with revolution balanced valve one and revolution balanced valve two, it returns
The damping of rotary fluid motor one can be given on the oil return line of rotating hydraulic motor, allow the operating steadily of rotary fluid motor;Equally,
Due to being provided with flexible balanced valve one and flexible balanced valve two, it can be given on the oil return line of telescopic hydraulic motor flexible
Hydraulic motor one damps, and allows the operating steadily of telescopic hydraulic motor.Due to being provided with luffing accumulator control valve and luffing energy storage
Device switch valve can give amplitude oil cylinder one constant pressure in this way, in passive compensation process using plunger type accumulator,
It can realize passive compensation again simultaneously.For principal arm and telescopic arm, due to using cantilever design, to improve the steady of structure
It is qualitative, the weight for minimizing principal arm and telescopic arm is needed, therefore, selects aluminum alloy materials, but telescopic arm needs in principal arm
Sliding, and use aluminum alloy guide rail, then intensity and wearability are all bad, and therefore, guide rail uses steel construction, but aluminium alloy and steel knot
Structure is in direct contact, then the phenomenon that being susceptible to anodic attack, therefore, in the present invention by the way that rubber pad is arranged by aluminium alloy and steel
Guide rail insulation processed, avoids anodic attack, preferably protects aluminium alloy principal arm and telescopic arm.
Further, pedestal elevating mechanism is installed on pedestal;The pedestal elevating mechanism includes being fixed on deck
On fixing sleeve, hinged lifting cylinder and lifting column above deck, lifting column is fixed on pedestal, the lower end grafting of lifting column
Into fixing sleeve, the upper end of lifting cylinder is hinged on pedestal.Pedestal is controlled by lifting cylinder to rise or fall;Specific side
Method is:The piston rod of lifting cylinder moves upwards, and lifting cylinder pushes pedestal, revolving platform, flexible trestle to move upwardly together,
Lifting column is done exercises in fixing sleeve, is oriented to the movement of lifting column by fixing sleeve;As lifting cylinder piston rod to
Lower movement is then moved downward with moving base, revolving platform and flexible trestle, to reach adjusting pedestal, revolving platform and stretch
The purpose of trestle upper and lower position.
Further, elevating and locking mechanism is equipped between fixing sleeve and lifting column, the elevating and locking mechanism includes
Locking cylinder on fixing sleeve and the jack being located on lifting column, the piston rod of locking cylinder can coordinate with jack.It opens
Dynamic locking cylinder, the piston rod of locking cylinder can be inserted into jack, realize that the locking to lifting column, direction start locking oil
The piston rod of cylinder, locking cylinder is detached from jack, releases the locking to lifting column.It can be achieved with the locking to lifting column and pine in this way
It opens, does not need lifting base such as, by retaining mechanism, the connection of lifting column and fixing sleeve can be allowed more reliable.
Further, it is connected on pedestal across principal arm and is connected to the oil transportation on telescopic arm and delivery hose.In this way,
Facilitate Jiang Shui and oil to be transported to the free end of flexible trestle, also can Jiang Shui and oil be transported to and be overlapped on platform.
Further, driver's cabin touch screen and visual alarm are connected on industrial personal computer;The decoder includes translating
Code device one and decoder two, decoder one be connected between industrial personal computer and operation handle, decoder two be connected to industrial personal computer with it is distant
Between control device.Extension type is compensated by driver's cabin touch screen display location to go on board each parameter of trestle, is such as in an emergency,
It is alarmed by visual alarm.In this configuration, decoder one corresponds to operation handle, and decoder two corresponds to remote controler, in this way, both
Device Kong Walk bridges can also be controlled by Yao by operation handle Kong Walk bridges, when controlling device Kong Walk bridges using Yao, more
Safety.
Further, the revolution selector valve includes revolution two-position two-way solenoid valve and revolution logical valve, turns round two
One end of two-way electromagnetic valve is connect with unloading line, turns round the control terminal of the other end and revolution logical valve of two-position two-way solenoid valve
Connection;Check valve one is connected to the input terminal of revolution logical valve, and the output end for turning round logical valve is connected to gyratory directions speed control
The input terminal of valve processed.When revolution two-position two-way solenoid valve does not have signal, revolution logical valve is closed, when revolution two-position two-way solenoid valve
After having opening signal, revolution two-position two-way solenoid valve is opened, and revolution two-position two-way solenoid valve control revolution logical valve is opened, and is realized
The selection whether opened turned round.In this way, can reliably select whether revolution opens.
Further, gyratory directions speed control valve includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way liquid controlled reversing
Valve turns round the control terminal that electric proportional pressure-reducing valve is connected to revolution 3-position 4-way pilot operated directional control valve;The output end for turning round selector valve connects
It is connected to the input terminal of revolution 3-position 4-way pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve connect with oil return line, turns round
3-position 4-way pilot operated directional control valve has A and B output ends;Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution.When the electric ratio of revolution
After pressure reducing valve receives signal, the size that electric proportional pressure-reducing valve is opened and opened according to signal is turned round, is subtracted by turning round electric ratio
Pressure valve control revolution 3-position 4-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of rotary fluid motor.In this configuration, if returned
Turn the signal that electric proportional pressure-reducing valve receives left-hand rotation, the revolution electricity proportional pressure-reducing valve of left-hand rotation is opened, and the revolution electricity ratio of left-hand rotation subtracts
Pressure valve control revolution 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output end of revolution selector valve is through turning round 3-position 4-way
Pilot operated directional control valve is exported from B output ends, is then entered in rotary fluid motor through turning round check valve two, rotary fluid motor
Oil return is returned to through turning round balanced valve one in oil return line, and due to being provided with revolution balanced valve one, oil return can be given certain
Damping, in this way, the rotation of rotary fluid motor is steady.If the electric proportional pressure-reducing valve of revolution receives the signal of right-hand rotation, right-hand rotation
The electric proportional pressure-reducing valve of revolution is opened, and the revolution electricity proportional pressure-relief valve control of right-hand rotation turns round 3-position 4-way pilot operated directional control valve, from revolution
The hydraulic oil of the output end output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output ends, then single through revolution
It being entered in rotary fluid motor to valve one, the oil return of rotary fluid motor is returned to through turning round balanced valve two in oil return line, and
Due to being provided with revolution balanced valve two, the damping that oil return can be given certain, in this way, the rotation of rotary fluid motor is steady.
Further, revolution decompression is equipped between revolution selector valve and the input terminal of revolution 3-position 4-way pilot operated directional control valve
Valve.Due to being provided with revolution pressure reducing valve, the pressure for entering the hydraulic oil in revolution 3-position 4-way pilot operated directional control valve is steady
It is fixed.
Further, revolution brake valve includes revolution check valve three and revolution two-position three way magnetic valve one, turns round selector valve
Output by turn round overflow pressure reducing valve be connected to revolution check valve three on, revolution check valve three output end be connected to revolution two
Another input terminal of the input terminal of position-3-way solenoid valve one, revolution two-position three way magnetic valve one is connect with oil return line, revolution two
The output end of position-3-way solenoid valve one is connected on revolution pilot operated directional control valve.Control revolution two-position three way magnetic valve one is closing shape
When state, hydraulic oil enters revolution brake through turning round check valve three, revolution two-position three way magnetic valve one and revolution hydraulicdirectional control valve
Interior, revolution brake is closed;Control revolution two-position three way magnetic valve one is input to revolution two-position three way magnetic valve in opening state
One hydraulic oil is ended, and the hydraulic oil for turning round brake is laid down through turning round hydraulicdirectional control valve and revolution two-position three way magnetic valve one,
Revolution brake is opened.In the present invention, it refers to the active force for releasing brake to motor that recorded brake, which is closed, and brake, which is opened, is
After referring to emptying, under the action of the spring, brake acts on motor.The control signal for turning round two-position three way magnetic valve one comes from industry control
Machine.
Further, the switchback mode selector valve is revolution two-position three way magnetic valve two.By controlling revolution two
Three-way magnetic valve two is to realize the selection of switchback mode, specific method:Control revolution two-position three way magnetic valve two is normal
Under pattern, the hydraulic oil exported from revolution selector valve is through turning round two-position three way magnetic valve two, revolution sequence valve control revolution two-way
Direction valve, revolution two-way directional valve are closed, and the hydraulic oil on revolution two-way directional valve both sides is not connected to, to realize the manual control of revolution
System and Active Compensation;Under follower model, the hydraulic oil exported from revolution selector valve exists control revolution two-position three way magnetic valve two
Revolution two-position three way magnetic valve two is ended, and the hydraulic oil for being connected to revolution two-way directional valve control terminal is laid down, and two-way is turned round
The hydraulic oil on direction valve both sides is connected to, and realizes the servo-actuated compensation of the revolution of zero delivery.
Further, it turns round between pilot operated directional control valve and revolution brake and is equipped with revolution brake voltage stabilizing accumulator.Pass through revolution
The voltage stabilizing accumulator that brakes provides stable brake pressure to revolution brake so that brake is more reliable and stablizes.
Further, check valve two is connected on low-voltage output, the output end of check valve two is unidirectional by turning round all the way
Valve four is connected to the output end of revolution check valve two, and the another way of the output end of check valve two is connected to by turning round check valve five
Turn round the output end of check valve one.Low-voltage quantitative repairing is carried out to rotary fluid motor by low-voltage output, prevents from turning round
The hydraulic oil of rotary fluid motor is emptied the phenomenon that causing cavitation erosion in servomechanism process.
Further, the flexible selector valve includes flexible two-position two-way solenoid valve and flexible logical valve, is stretched two
One end of two-way electromagnetic valve is connect with unloading line, the control terminal of the other end and flexible logical valve of the two-position two-way solenoid valve that stretches
Connection;Check valve one is connected to the input terminal of flexible logical valve, and the output end of flexible logical valve is connected to telescopic direction speed control
The input terminal of valve processed.When flexible two-position two-way solenoid valve does not have signal, the logical valve that stretches is closed, when flexible two-position two-way solenoid valve
After having opening signal, the two-position two-way solenoid valve that stretches is opened, and the flexible logical valve of two-position two-way solenoid valve control that stretches is opened, and is realized
The flexible selection whether opened.In this way, flexible whether open can reliably be selected.
Further, telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way liquid controlled reversing
Valve, flexible electricity proportional pressure-reducing valve are connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve;The output end of flexible selector valve connects
It is connected to the input terminal of flexible 3-position 4-way pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve is connect with oil return line, is stretched
3-position 4-way pilot operated directional control valve has A and B output ends;Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric ratio
After pressure reducing valve receives signal, the size that the electricity proportional pressure-reducing valve that stretches is opened and opened according to signal is subtracted by flexible electric ratio
The flexible 3-position 4-way pilot operated directional control valve of pressure valve control, realizes the left-hand rotation or right-hand rotation of telescopic hydraulic motor.In this configuration, if stretched
The electric proportional pressure-reducing valve of contracting receives the signal of stretching, and the flexible electric proportional pressure-reducing valve of stretching is opened, and the flexible electric ratio of stretching subtracts
The flexible 3-position 4-way pilot operated directional control valve of pressure valve control, the hydraulic oil exported from the output end of flexible selector valve is through the 3-position 4-way that stretches
Pilot operated directional control valve is exported from B output ends, is then entered in telescopic hydraulic motor through the check valve two that stretches, telescopic hydraulic motor
Oil return is returned to through the balanced valve one that stretches in oil return line, and due to being provided with flexible balanced valve one, oil return can be given certain
Damping, in this way, the rotation of telescopic hydraulic motor is steady.If flexible electricity proportional pressure-reducing valve receives the signal of retraction, retraction
Flexible electricity proportional pressure-reducing valve is opened, and the flexible electric proportional pressure-relief valve control of retraction stretches 3-position 4-way pilot operated directional control valve, from flexible
The hydraulic oil of the output end output of selector valve is exported through the 3-position 4-way pilot operated directional control valve that stretches from A output ends, then through flexible single
It being entered in telescopic hydraulic motor to valve one, the oil return of telescopic hydraulic motor is returned to through the balanced valve two that stretches in oil return line, and
Due to being provided with flexible balanced valve two, the damping that oil return can be given certain, in this way, the rotation of telescopic hydraulic motor is steady.
Further, flexible decompression is equipped between selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve flexible
Valve.Due to being provided with flexible pressure reducing valve, the pressure for entering the hydraulic oil in flexible 3-position 4-way pilot operated directional control valve is steady
It is fixed.
Further, the brake valve that stretches includes flexible check valve three and flexible two-position three way magnetic valve one, and stretch selector valve
Output be connected on flexible check valve three by flexible overflow pressure reducing valve, the output end of flexible check valve three is connected to flexible two
Another input terminal of the input terminal of position-3-way solenoid valve one, flexible two-position three way magnetic valve one is connect with oil return line, and flexible two
The output end of position-3-way solenoid valve one is connected on flexible pilot operated directional control valve.Control stretches two-position three way magnetic valve one in closing shape
When state, hydraulic oil enters flexible brake through the check valve three that stretches, flexible two-position three way magnetic valve one and telescopic hydraulic reversal valve
Interior, brake of stretching is closed;Control stretches two-position three way magnetic valve one in opening state, is input to flexible two-position three way magnetic valve
One hydraulic oil is ended, and the hydraulic oil of flexible brake is laid down through telescopic hydraulic reversal valve and flexible two-position three way magnetic valve one,
Flexible brake is opened.The control signal of flexible two-position three way magnetic valve one comes from industrial personal computer.
Further, the stretch mode selector valve is flexible two-position three way magnetic valve two.It is two flexible by controlling
Three-way magnetic valve two is to realize the selection of stretch mode, specific method:Control stretches two-position three way magnetic valve two normal
Under pattern, the hydraulic oil exported from flexible selector valve controls two-way of stretching through the two-position three way magnetic valve two that stretches, flexible sequence valve
Direction valve, the two-way directional valve that stretches are closed, and the hydraulic oil on flexible two-way directional valve both sides is not connected to, to realize flexible manual control
System and Active Compensation;Control stretches two-position three way magnetic valve two under follower model, and the hydraulic oil exported from flexible selector valve exists
Flexible two-position three way magnetic valve two is ended, and the hydraulic oil for being connected to flexible two-way directional valve control terminal is laid down, two-way of stretching
The hydraulic oil on direction valve both sides is connected to, and realizes the flexible servo-actuated compensation of zero delivery.
Further, it stretches and is equipped with flexible brake voltage stabilizing accumulator between pilot operated directional control valve one and flexible brake.By stretching
Contracting brake voltage stabilizing accumulator provides stable brake pressure to flexible brake so that brake is more reliable and stablizes.
Further, check valve two is connected on low-voltage output, the output end a-road-through of check valve two is excessively flexible unidirectional
Valve four is connected to the output end of flexible check valve two, and the another way of the output end of check valve two is connected to by flexible check valve five
Turn round the output end of check valve one.Low-voltage quantitative repairing is carried out to telescopic hydraulic motor by low-voltage output, is prevented flexible
The hydraulic oil of telescopic hydraulic motor is emptied the phenomenon that causing cavitation erosion in servomechanism process.
Further, the luffing selector valve includes luffing two-position two-way solenoid valve and luffing logical valve, luffing two
One end of two-way electromagnetic valve is connect with unloading line, the control terminal of the other end and luffing logical valve of luffing two-position two-way solenoid valve
Connection;Check valve one is connected to the input terminal of luffing logical valve, and the output end of luffing logical valve, which is connected to, becomes width direction speed control
The input terminal of valve processed.When luffing two-position two-way solenoid valve does not have signal, luffing logical valve is closed, when luffing two-position two-way solenoid valve
After having opening signal, luffing two-position two-way solenoid valve is opened, and luffing two-position two-way solenoid valve controls luffing logical valve and opens, and is realized
The selection whether luffing is opened.
Further, it includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way liquid controlled reversing to become width direction speed control valve
Valve, luffing electricity proportional pressure-reducing valve are connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve;The output end of luffing selector valve connects
It is connected to the input terminal of luffing 3-position 4-way pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve is connect with oil return line, luffing
3-position 4-way pilot operated directional control valve has A and B output ends;Industrial personal computer is connect with luffing electricity proportional pressure-reducing valve.When luffing electricity ratio subtracts
After pressure valve receives signal, the size that luffing electricity proportional pressure-reducing valve is opened and opened according to signal is depressurized by luffing electricity ratio
Valve controls luffing 3-position 4-way pilot operated directional control valve, realizes the movement of amplitude oil cylinder.In this configuration, if luffing electricity ratio depressurizes
Valve receives the signal of rising, and the luffing electricity proportional pressure-reducing valve of rising is opened, the luffing electricity proportional pressure-relief valve control luffing of rising
3-position 4-way pilot operated directional control valve, from the output end of luffing selector valve export hydraulic oil through luffing 3-position 4-way pilot operated directional control valve from
B output ends are output in amplitude oil cylinder.If luffing electricity proportional pressure-reducing valve receives the signal of decline, the luffing electricity ratio of decline
Pressure reducing valve is opened, the luffing electricity proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve of decline, from the defeated of luffing selector valve
The hydraulic oil of outlet output is exported through luffing 3-position 4-way pilot operated directional control valve from A output ends, is then entered through luffing check valve one
Into luffing hydraulic motor.
Further, the luffing accumulator control valve includes luffing two-position three way magnetic valve, luffing bi-bit bi-pass electricity
Magnet valve one and luffing two-position two-way solenoid valve two;The accumulator switch valve includes valve body and taper valve core, and taper valve core is set
In valve body, there is the first hydraulic fluid port, the side wall of valve body to be equipped with the second hydraulic fluid port, taper valve core close to the first oil port for the bottom of valve body
Upper end be piston, be equipped with third hydraulic fluid port positioned at the top of piston on valve body, the be equipped with positioned at the lower section of piston on valve body
Four hydraulic fluid ports are equipped with spring between piston and valve body;One input terminal of luffing two-position three way magnetic valve and luffing check valve two and
The output end of luffing check valve three connects simultaneously, and the output end of luffing check valve is connect with luffing two-position two-way solenoid valve two;Become
Another input terminal of width two-position three way magnetic valve is connected to respectively with the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two
Connection;The output end of luffing two-position two-way solenoid valve is connected to third hydraulic fluid port, third hydraulic fluid port through luffing two-position two-way solenoid valve one
It is connect with luffing two-position two-way solenoid valve two;First hydraulic fluid port is connect with the input terminal of luffing check valve two;Second hydraulic fluid port respectively with
The input terminal connection of luffing check valve three is connected with plunger type accumulator;Plunger type accumulator passes through luffing check valve four and luffing
The input terminal of check valve two connects.Under non-follow-up compensating coefficient, luffing two-position three way magnetic valve is closed, plunger type
The hydraulic oil of accumulator is through luffing check valve three, luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one and third oil
Mouth enters the top of piston, and under the pressure effect of hydraulic oil, taper valve core blocks the first hydraulic fluid port, i.e. luffing accumulator is opened
Valve is closed to close;Under the passive compensating coefficient of luffing, luffing two-position three way magnetic valve is in the open state, luffing accumulator switch valve
In the open state, third hydraulic fluid port and the 4th hydraulic fluid port are connected by luffing two-position three way magnetic valve and luffing two-position two-way solenoid valve one
Logical, amplitude oil cylinder is in passive state, gives amplitude oil cylinder one constant-tension by plunger type accumulator.It is passively compensated in luffing
Under state, if overlapped points have the tractive force of decline, then overlapped points pull amplitude oil cylinder movement, plunger type accumulator to give luffing oil
The constant pressure that cylinder one rises prevents flexible trestle from then being overlapped in the load excessive of overlapped points if overlapped points have the tractive force of rising
Point pulls amplitude oil cylinder movement, plunger type accumulator to give the constant pressure of the rising of amplitude oil cylinder one, prevents flexible trestle from overlapping
The load excessive of point.
Further, variable amplitude hydraulic system is provided with two sets, is equipped between the amplitude oil cylinder of two sets of variable amplitude hydraulic systems
Luffing rodless cavity string fuel tap.
Further, high-voltage output end passes sequentially through the oil-filled valve block of accumulator and accumulator control valve block is connected with accumulator
Group;The output end of accumulator control valve block is connected to the output end of check valve one.When the output end of main pump group can not fuel feeding when, lead to
It crosses the oil-filled valve block of control accumulator and accumulator control valve block is oil-filled to accumulator bank, control accumulator control valve block passes through energy storage
Device group realizes fuel feeding of meeting an urgent need, whole system is allowed to pacify to Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system fuel feeding
Entirely.
Further, accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logic
Valve, accumulator two-position two-way electromagnetic directional valve and accumulator pressure reducing valve;The output end of accumulator oil charge valve is connected to accumulator list
To the input terminal of valve one, the output end of accumulator check valve one connects the output end of accumulator bank, accumulator check valve two simultaneously
With the input terminal of accumulator logical valve;The input terminal of accumulator check valve two is connected to the output end of check valve one;Accumulator is patrolled
The output end for collecting valve is connected to the output end of check valve one by accumulator pressure reducing valve;Accumulator two-position two-way electromagnetic directional valve
One end connects unloading line, and the other end of accumulator two-position two-way electromagnetic directional valve is connected to the control terminal of accumulator logic;When
When main pump group can not achieve normal fuel injection, accumulator two-position two-way electromagnetic directional valve, accumulator bi-bit bi-pass electromagnetic switch are opened
Valve is opened, and control accumulator pressure reducing valve is opened, and the hydraulic oil of accumulator bank gives revolution through accumulator logical valve, accumulator pressure reducing valve
Hydraulic system, telescopic hydraulic system and variable amplitude hydraulic system fuel feeding.It realizes fuel feeding of meeting an urgent need, makes whole system safe.
Further, compensation voltage stabilizing accumulator is connected on the output end of accumulator pressure reducing valve.Realize accumulator
Fuel feeding voltage stabilizing.
Further, emergent hand control valve is connected with by emergency line on accumulator bank, hand control valve of meeting an urgent need
Output end be divided into two-way, be connected with emergency brake control valve and check valve three in turn all the way, check valve three respectively with revolution liquid
Control reversal valve is connected with the control terminal of flexible pilot operated directional control valve;Another way is connected with emergent luffing raising hand control valve, meets an urgent need
The output end of luffing raising hand control valve is divided into two-way, is connected to luffing accumulator control valve all the way, and another way is connected to change
On width oil cylinder;It such as to realize emergency brake, open meet an urgent need hand control valve and emergency brake control valve, the hydraulic oil of accumulator bank
Revolution pilot operated directional control valve and flexible pilot operated directional control valve are entered through emergent hand control valve, emergency brake control valve and check valve three
Control terminal, revolution brake and flexible brake emptying realize brake;It such as to realize emergent luffing raising, open hand of meeting an urgent need
Dynamic control valve and emergent luffing raising hand control valve drive amplitude oil cylinder by accumulator bank, realize raising action of meeting an urgent need.With
Improve security performance.
Further, it is connected with emergent luffing raising voltage stabilizing energy storage in the output end of emergent luffing raising hand control valve
Device.
Further, it is connected with voltage stabilizing accumulator in the output end of check valve.
Description of the drawings
Fig. 1 is that position compensation extension type is gone on board the schematic diagram of the first structure of trestle.
Fig. 2 is that position compensation extension type is gone on board the downward schematic diagram of the first structure of trestle.
Fig. 3 is that position compensation extension type is gone on board the schematic diagram of second of structure of trestle.
Fig. 4 is that position compensation extension type is gone on board the downward schematic diagram of second of structure of trestle.
Fig. 5 be in Fig. 3 C to enlarged diagram.
Fig. 6 be in Fig. 1 A to enlarged diagram.
Fig. 7 is B enlarged drawings in Fig. 6.
Fig. 8 is the side schematic view of Fig. 7.
Fig. 9 is the enlarged drawing of D in Fig. 1.
Figure 10 is the schematic diagram of landing gear.
Figure 11 is the schematic diagram of position compensation control system.
Figure 12 is the schematic diagram of position compensation hydraulic system.
Figure 13 is the schematic diagram of main power system.
Figure 14 is Hydraulic slewing system, telescopic hydraulic system and emergency hydraulic system schematic diagram.
Figure 15 is Hydraulic slewing system schematic diagram.
Figure 16 is telescopic hydraulic system schematic.
Figure 17 is variable amplitude hydraulic system schematic diagram.
Figure 18 is the schematic diagram of accumulator switch valve.
Figure 19 is vacuum emergency hydraulic system schematic diagram.
Specific implementation mode
The present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in Figures 1 to 6, position compensation extension type trestle of going on board includes pedestal 11, revolving platform 12, flexible trestle
13, landing gear 14, rotary fluid motor 10, amplitude oil cylinder 20, position compensation control system 4 and position compensation hydraulic system 5.
As shown in figure 9, revolving platform 12 includes being rotatably mounted to ring gear 121 on pedestal 11 and mounted on revolution
Revolution driving gear 122 on 10 output shaft of hydraulic motor and the revolving bed 123 being fixed on ring gear 121, turn round hydraulic pressure horse
On the base 11 up to 10 installations.Rotary fluid motor 10 is provided with two or more.There is accommodating cavity 1231 in revolving bed 123,
It can be used for placing the hydraulic systems such as control system, hydraulic oil container, can effectively utilize space, reduce position compensation extension type and step on
The volume of ship trestle.
As shown in Figures 1 to 4, pedestal maintenance platform 15 is installed on the base 11, maintenance personal station is facilitated to be tieed up in pedestal
It is repaired on equating platform 15.It is fixed with pedestal ascending stair 16 on the base 11, channel cat ladder 17 is connected in the upper end of pedestal ascending stair 16,
Channel cat ladder 17 leads on the platform of revolving bed 123.Driver's cabin 18 is installed on revolving bed 123.
As shown in Figures 1 to 6, the trestle 13 that stretches includes principal arm 131 and telescopic arm 132.Principal arm 131 is aluminum alloy frame,
Telescopic arm 132 is aluminum alloy frame, in this way, the light-weight of trestle that entirely stretch, in amplitude changing process, the energy of consumption is small.It is main
One end of arm 131 is hinged on revolving bed 123, guardrail 1311 is equipped on principal arm 131, when remarkable, guardrail can play protection
Effect.In the present invention, what telescopic arm 132 slided is located on principal arm 131, since principal arm 131 and telescopic arm 132 are all to use aluminium
Alloy material, although lighter weight, when intensity and wearability are relatively low, and in order to adapt to the sliding of telescopic arm 132, in principal arm
Steel guide rail 133 is installed, the intensity height of steel guide rail 133, wearability are good, the upper and lower position difference in principal arm 131 in 132
It is provided with steel guide rail 133.Aluminium alloy is in direct contact with steel, then the phenomenon that being susceptible to anodic attack, therefore, in the present invention
Aluminium alloy structure uses 134 structure of insulating fixing device with steel guide rail:As shown in Figure 7 and Figure 8, the insulating fixing device
134 include lower platen 1341, top board 1342, screw arbor assembly 1343 and rubber pad 1344;It is set in the upper surface of lower platen 1341
There is rubber pad 1344, is equipped with rubber pad 1344 in the lower surface of top board 1342, is clamped in principal arm between two rubber pads 1344
A square tube;The screw arbor assembly includes screw rod, nuts and washers, and screw arbor assembly passes through top board 1341, lower platen 1342
A square tube in principal arm is clamped with rubber pad 1344, has gap between screw arbor assembly and the corresponding square tube of principal arm, in this way, keeping away
Exempt from screw arbor assembly to contact with principal arm;Steel guide rail is mounted on lower platen and/or top board, by the way that rubber pad is arranged by aluminium alloy
It insulate with steel guide rail, avoids anodic attack, preferably protect aluminium alloy principal arm and telescopic arm.
As shown in Figure 5 and Figure 6, the first idler wheel contacted with the steel guide rail 133 of upside is equipped in the upside of telescopic arm 132
Group 135 is equipped with the second roller group 136 contacted with the steel guide rail 133 of downside in the downside of telescopic arm 132, in telescopic arm 132
Upside be equipped with holder 137, the third idler wheel contacted with the steel guide rail 133 of upside that is laterally arranged is equipped on holder 137
Group 138.As shown in Figures 1 to 4, the first roller group 135 includes the first support 1351 being mounted on telescopic arm and is located at first
The first idler wheel 1352 on holder 1351, the first idler wheel 1352 are rubber roll.Second roller group 136 includes second
Frame 1361, swing arm 1362 and the second idler wheel 1363, second support 1361 are fixed on telescopic arm 132, the middle part hinge of swing arm 1362
It is connected in second support 1361, is respectively equipped with the second idler wheel 1363 at the both ends of swing arm 1362, the second idler wheel 1363 rolls for rubber
Wheel.The third roller group includes the third holder 1381 for being located at holder both sides and the third being located on third holder 1381 rolling
Wheel 1382.The 4th pulley blocks 139 are equipped in the free end of principal arm 131, the 4th pulley blocks 139 include the be mounted on principal arm
Four holder 1391 and the 4th pulley that is located on the 4th holder 1391;It is respectively equipped on left and right side on the inside of the free end of principal arm
5th pulley blocks 1310.After telescopic arm 132 stretches out, the 4th pulley blocks 139 can keep out the first, second pulley blocks, prevent from stretching
Arm skids off principal arm;Due to being provided with first, first, third, the four, the 5th pulley blocks, the flexible resistance of telescopic arm is small,
Telescopic arm operates steadily.The 5th pulley in the third, the 4th pulley and the 5th pulley blocks is rubber pulley.
It is separately installed with telescopic arm stroke limit sensor at the both ends of principal arm 131, when telescopic arm stroke limit sensor
When detecting that telescopic arm reaches the position of limit, telescopic arm stop motion.
Retractable driving device is equipped between principal arm 131 and telescopic arm 132, the retractable driving device includes flexible liquid
Pressure motor 20, telescopic drive gear 21 and telescopic drive rack 22.Telescopic hydraulic motor 20 is mounted on principal arm 131, is stretched and is driven
Moving gear 21 is mounted on the output shaft of telescopic hydraulic motor, and telescopic drive rack 22 is mounted on telescopic arm 132, telescopic drive
Gear 21 is engaged with telescopic drive rack 22, and when telescopic hydraulic motor 20 works, the gear 21 that stretches rotates, flexible to drive
Drive rack 22 moves along a straight line, and telescopic arm 132 is driven to stretch out or retract.
Telescopic support rod 1311 is installed on principal arm 132, for supporting principal arm 132, while can be according to the pendulum of principal arm
Dynamic angle is stretched.
Cat ladder 1312 is installed in the free end of telescopic arm 132.
As shown in Fig. 1, Fig. 3 and Figure 10, landing gear is mounted on the free end of telescopic arm, and the landing gear 14 includes
Bearing 141, the bulb on bearing 141 and the supporting disk 142 with bulb active link.The structure, when flexible trestle 13
After snapping into overlapped points, supporting disk 142 and the contact with platform being overlapped, and by bindiny mechanism by supporting disk 142 be overlapped
Platform connects, and when being overlapped platform has change in location, due to the effect of bulb, can give certain swing cushion space, in this way
It only needs to consider revolution, flexible and compensation of luff, without the concern for other swing angles other than change angle, letter
Compensation Design is changed.
As shown in figures 1 and 3, one end of amplitude oil cylinder 30 is hinged on revolving bed 123, the other end hinge of amplitude oil cylinder 30
It is connected on principal arm 131.
As shown in Figure 3 and Figure 4, position compensation extension type is gone on board another structure of trestle, is equipped on the base 11
Pedestal elevating mechanism 19.The pedestal elevating mechanism 19 includes the fixing sleeve 191 being fixed on deck 100, is hinged on deck
Lifting cylinder 192 on 100 and lifting column 193, lifting column 193 are fixed on the base 11, and the lower end of lifting column 193 is plugged into admittedly
Surely in set 191, the upper end of lifting cylinder 192 is hinged on the base 11.Pedestal is controlled by lifting cylinder to rise or fall;Specifically
Method be:The piston rod of lifting cylinder moves upwards, and lifting cylinder pushes pedestal, revolving platform, flexible trestle upward together
Movement, lifting column are done exercises in fixing sleeve, are oriented to the movement of lifting column by fixing sleeve;Such as the piston of lifting cylinder
Bar moves downward, then band moving base, revolving platform and flexible trestle move downward, to reach adjust pedestal, revolving platform and
The purpose of flexible trestle upper and lower position.
Elevating and locking mechanism is equipped between fixing sleeve 191 and lifting column 193, the elevating and locking mechanism includes installation
Locking cylinder 194 on fixing sleeve and the jack 195 being located on lifting column, the piston rod of locking cylinder 194 can be with jack 195
Cooperation.Start locking cylinder, the piston rod of locking cylinder can be inserted into jack, realize that the locking to lifting column, direction start
The piston rod of locking cylinder, locking cylinder is detached from jack, releases the locking to lifting column.It can be achieved with the lock to lifting column in this way
Tight and release, does not need lifting base such as, by retaining mechanism, the connection of lifting column and fixing sleeve can be allowed more reliable.
It is connected on the base 11 across principal arm 131 and is connected to the oil transportation on telescopic arm and/or water-supply-pipe 1000, be located at
Oil transportation and/or water-supply-pipe on principal arm can be hose, or hard tube, and be located at telescopic arm is then hose.In this way, side
Just Jiang Shui and oil are transported to the free end of flexible trestle, also can Jiang Shui and oil be transported to and be overlapped on platform.
As shown in figure 11, the position compensation control system 4 include industrial personal computer 41, MRU sensors 42, data process system 43,
Decoder 44, operation handle 45, driver's cabin button 46, driver's cabin touch screen 47, visual alarm 48.
In the free end of telescopic arm and it is overlapped on platform or ship and is separately installed with MRU sensors, MUR sensors and work
Control machine connects, and data process system is connect by this platform and the control room being overlapped on platform with industrial personal computer, and decoder includes decoder
One and decoder two, operation handle is connected on decoder one, and Digiplex, decoder and industrial personal computer are connected on decoder two
Connection, driver's cabin button are connect with industrial personal computer, and driver's cabin touch screen 47, visual alarm 48 are connect with industrial personal computer respectively, industry control
Machine 41 is connect with position compensation hydraulic system 5.
Smoke alarm, gas detection sensor, hydraulic oil low oil level sensor and hydraulic oil are connected on industrial personal computer
Too low fuel level sensor, hydraulic height sensor, hydraulic oil temperature sensor, air velocity transducer, system pressure sensor, revolution
Limit sensors, telescopic arm stroke limit sensor, change angle sensor, camera system.When corresponding sensor detects
To after signal, touches screen display in driver's cabin or alarmed by visual alarm, improve security performance.
As shown in figure 12, the position compensation hydraulic system 5 includes dynamical system 51, Hydraulic slewing system 52, stretches
Hydraulic system 53, variable amplitude hydraulic system 54 and emergency hydraulic system 55.
As shown in figure 13, dynamical system 51 includes hydraulic oil container 511, main pump group 512 and high-low pressure pump group 513.In this reality
It applies in example, main pump group 512 is provided with two groups, and main pump group 512 is driven by main pump motor 514 respectively, and main pump motor 514 is connected to
Industrial personal computer, and powered by transmission line of electricity.Low hydraulic selector 515, too low hydraulic selector 516 are connected on hydraulic oil container 511
With temperature switch 517;Main pump unloading valve 518 is connected separately in main pump group 512;System pressure is connected in main pump group 512
It tries hard to keep protecting system 519;The input terminal of main pump group 512 is connected to hydraulic oil container 511, and main pump group 512 has output end 5121.Just
The input terminal of press pump group 513 is connected to hydraulic oil container 511, and high-low pressure pump group 513 includes high-pressure pump and low-lift pump, high-pressure pump and low
Press pump is driven by same motor 5110, and motor 5110 is connect with industrial personal computer, while being powered to motor 5110 by power supply circuit;
There is low-lift pump low-voltage output 5131, high-pressure pump to have high-voltage output end 5132;Pass through filter on hydraulic oil container 511
5112 are connected with oil return line 5113;Unloading line 5114 is connected on hydraulic oil container 511.
As shown in Figure 14 and Figure 15, the Hydraulic slewing system 52 includes revolution selector valve 521, gyratory directions speed control
Valve 522 processed, revolution brake control valve 523, switchback mode selector valve 524, revolution balanced valve 1, revolution balanced valve 2 526,
Turn round two-way directional valve 527, revolution sequence valve 528, rotary fluid motor 10 and revolution brake 529.
The output end of main pump group is accumulated all the way by check valve 1.It is equipped with main system in the output end of check valve 1
Pressure sensor.
The revolution selector valve 521 includes revolution two-position two-way solenoid valve and revolution logical valve, revolution bi-bit bi-pass electricity
One end of magnet valve is connect with unloading line DR, and the control terminal for turning round the other end and revolution logical valve of two-position two-way solenoid valve connects
It connects;Check valve 1 is connected to the input terminal of revolution logical valve, and the output end for turning round logical valve is connected to gyratory directions speed control
The input terminal of valve processed.When revolution two-position two-way solenoid valve does not have signal, revolution logical valve is closed, when revolution two-position two-way solenoid valve
After having opening signal, revolution two-position two-way solenoid valve is opened, and revolution two-position two-way solenoid valve control revolution logical valve is opened, and is realized
The selection whether opened turned round.In this way, can reliably select whether revolution opens.
Gyratory directions speed control valve 53 includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way pilot operated directional control valve, revolution
Electric proportional pressure-reducing valve is connected to the control terminal of revolution 3-position 4-way pilot operated directional control valve;The output end of revolution selector valve is connected to revolution
The input terminal of 3-position 4-way pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve are connect with oil return line DR, turn round three four
Logical pilot operated directional control valve has A and B output ends;Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution.When the electric proportional pressure-reducing valve of revolution
It after receiving signal, turns round whether electric proportional pressure-reducing valve opens the size having already turned on according to signal, is subtracted by turning round electric ratio
Pressure valve control revolution 3-position 4-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of rotary fluid motor.In this configuration, if returned
Turn the signal that electric proportional pressure-reducing valve receives left-hand rotation, the revolution electricity proportional pressure-reducing valve of left-hand rotation is opened, and the revolution electricity ratio of left-hand rotation subtracts
Pressure valve control revolution 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output end of revolution selector valve is through turning round 3-position 4-way
Pilot operated directional control valve is exported from B output ends, is then entered in rotary fluid motor through turning round check valve two, rotary fluid motor
Oil return is returned to through turning round balanced valve one in oil return line, and due to being provided with revolution balanced valve one, oil return can be given certain
Damping, in this way, the rotation of rotary fluid motor is steady.If the electric proportional pressure-reducing valve of revolution receives the signal of right-hand rotation, right-hand rotation
The electric proportional pressure-reducing valve of revolution is opened, and the revolution electricity proportional pressure-relief valve control of right-hand rotation turns round 3-position 4-way pilot operated directional control valve, from revolution
The hydraulic oil of the output end output of selector valve is exported through turning round 3-position 4-way pilot operated directional control valve from A output ends, then single through revolution
It being entered in rotary fluid motor to valve one, the oil return of rotary fluid motor is returned to through turning round balanced valve two in oil return line, and
Due to being provided with revolution balanced valve two, the damping that oil return can be given certain, in this way, the rotation of rotary fluid motor is steady.
Revolution pressure reducing valve is equipped between revolution selector valve and the input terminal of revolution 3-position 4-way pilot operated directional control valve.Due to setting
Revolution pressure reducing valve has been set, therefore, has entered the pressure stability of the hydraulic oil in revolution 3-position 4-way pilot operated directional control valve.
It is equipped with rotary system pressure sensor between revolution logical valve output end and revolution pressure reducing valve.
It includes revolution check valve three and revolution two-position three way magnetic valve one to turn round brake valve, and the output for turning round selector valve passes through
Revolution overflow pressure reducing valve is connected on revolution check valve three, and the output end of revolution check valve three is connected to revolution two-position three-way electromagnetic
Another input terminal of the input terminal of valve one, revolution two-position three way magnetic valve one is connect with oil return line, turns round two-position three-way electromagnetic
The output end of valve one is connected to by turning round pilot operated directional control valve 5210 in revolution brake 529, in revolution pilot operated directional control valve 5210
Output end is connected with revolution brake pressure sensor.When control turns round two-position three way magnetic valve one in off position, hydraulic oil warp
Revolution check valve three, revolution two-position three way magnetic valve one and revolution hydraulicdirectional control valve enter in revolution brake, and revolution brake is closed
It closes;Control revolution two-position three way magnetic valve one is input to the hydraulic oil quilt of revolution two-position three way magnetic valve one in opening state
Cut-off, the hydraulic oil for turning round brake are laid down through turning round hydraulicdirectional control valve and revolution two-position three way magnetic valve one, and revolution brake is opened.
In the present invention, it refers to the active force for releasing brake to motor that recorded brake, which is closed, brake is opened refer to emptying after, in bullet
Under the action of spring, brake acts on motor.The control signal for turning round two-position three way magnetic valve one comes from industrial personal computer.
The input terminal of switchback mode selector valve is connect with the output end of revolution selector valve, the output end of switchback mode selector valve
It is connect with the control terminal for turning round two-way directional valve by turning round sequence valve, while the output end of switchback mode selector valve and revolution liquid
The control terminal of pressure motor connects;The switchback mode selector valve is revolution two-position three way magnetic valve two.In revolution two-position three way
The output end of solenoid valve two is connected with rotary motor displacement control pressure sensor.Two-position three way magnetic valve two is turned round by control
To realize that the selection of switchback mode, specific method be:Control turns round two-position three way magnetic valve two in the normal mode, from revolution
The hydraulic oil of selector valve output is through turning round two-position three way magnetic valve two, revolution sequence valve control revolution two-way directional valve, revolution two
Logical direction valve is closed, and the hydraulic oil on revolution two-way directional valve both sides is not connected to, with realize revolution manually control and Active Compensation;
Control revolution two-position three way magnetic valve two is under follower model, and the hydraulic oil exported from revolution selector valve is in revolution two-position three way electricity
Magnet valve two is ended, and the hydraulic oil for being connected to revolution two-way directional valve control terminal is laid down, the liquid on revolution two-way directional valve both sides
Pressure oil is connected to, and realizes the servo-actuated compensation of the revolution of zero delivery.
It turns round between pilot operated directional control valve 5210 and revolution brake 529 and is equipped with revolution brake voltage stabilizing accumulator 5211.By returning
Turn brake voltage stabilizing accumulator and provide stable brake pressure to revolution brake so that brake is more reliable and stablizes.
The A output ends for turning round 3-position 4-way pilot operated directional control valve are connected to rotary fluid motor 10 by turning round check valve one
One end turns round the B output ends of 3-position 4-way pilot operated directional control valve are connected to revolution two-way directional valve by turning round check valve two one
End, the output end for turning round check valve one are connect with the other end of revolution two-way directional valve 527;It turns round one end of balanced valve one and returns
Turn the output end connection of check valve one, the output end of revolution balanced valve one is connect with oil return line;Turn round the input of balanced valve two
The output end with revolution check valve two is held to connect, the output end of revolution balanced valve two is connect with oil return line.
As shown in Figure 14 and Figure 16, the telescopic hydraulic system 53 includes flexible selector valve 531, telescopic direction speed control
Valve 532 processed, flexible brake control valve 533, stretch mode selector valve 534, flexible balanced valve 1, flexible balanced valve 2 536,
Flexible two-way directional valve 537, flexible sequence valve 538, telescopic hydraulic motor 20 and flexible brake 539.
The flexible selector valve 531 includes flexible two-position two-way solenoid valve and flexible logical valve, and stretch bi-bit bi-pass electricity
One end of magnet valve is connect with unloading line, and the other end of flexible two-position two-way solenoid valve is connect with the control terminal of flexible logical valve;
Check valve 1 is connected to the input terminal of flexible logical valve, and the output end of flexible logical valve is connected to telescopic direction speed control valve
Input terminal.When flexible two-position two-way solenoid valve does not have signal, the logical valve that stretches is closed, and is beaten when flexible two-position two-way solenoid valve has
After ON signal, the two-position two-way solenoid valve that stretches is opened, and the flexible logical valve of two-position two-way solenoid valve control that stretches is opened, and is realized flexible
The selection whether opened.In this way, flexible whether open can reliably be selected.
Telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way pilot operated directional control valve, and stretch electricity
Proportional pressure-reducing valve is connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve;The output end of flexible selector valve is connected to flexible three
The input terminal of position four-way pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve are connect with oil return line, and stretch 3-position 4-way liquid
Controlling reversal valve has A and B output ends;Industrial personal computer is connected on flexible electric proportional pressure-reducing valve.When flexible electric proportional pressure-reducing valve receives
To after signal, the size that the electricity proportional pressure-reducing valve that stretches is opened and opened according to signal is stretched by flexible electric proportional pressure-relief valve control
Contracting 3-position 4-way pilot operated directional control valve realizes the left-hand rotation or right-hand rotation of telescopic hydraulic motor.In this configuration, if flexible electricity ratio subtracts
Pressure valve receives the signal of stretching, and the flexible electric proportional pressure-reducing valve of stretching is opened, and the flexible electric proportional pressure-relief valve control of stretching is stretched
Contracting 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output end of flexible selector valve is through the 3-position 4-way pilot operated directional control valve that stretches
It exports from B output ends, is then entered in telescopic hydraulic motor through the check valve two that stretches, the oil return of telescopic hydraulic motor is through flexible
Balanced valve one returns in oil return line, and due to being provided with flexible balanced valve one, the damping that oil return can be given certain, in this way,
The rotation of telescopic hydraulic motor is steady.If flexible electricity proportional pressure-reducing valve receives the signal of retraction, the flexible electric ratio of retraction
Pressure reducing valve is opened, the flexible electric flexible 3-position 4-way pilot operated directional control valve of proportional pressure-relief valve control of retraction, from the defeated of flexible selector valve
The hydraulic oil of outlet output is exported through the 3-position 4-way pilot operated directional control valve that stretches from A output ends, is then entered through the check valve one that stretches
Into telescopic hydraulic motor, the oil return of telescopic hydraulic motor is returned to through the balanced valve two that stretches in oil return line, and due to being provided with
Flexible balanced valve two, therefore, the damping that oil return can be given certain, in this way, the rotation of telescopic hydraulic motor is steady.
Flexible pressure reducing valve is equipped between selector valve and the input terminal of flexible 3-position 4-way pilot operated directional control valve flexible.Due to setting
Flexible pressure reducing valve has been set, therefore, has entered the pressure stability of the hydraulic oil in flexible 3-position 4-way pilot operated directional control valve.
Telescopic system pressure sensor is equipped between flexible logical valve and flexible 3-position 4-way pilot operated directional control valve.
Flexible brake valve includes flexible check valve three and flexible two-position three way magnetic valve one, and the output of flexible selector valve passes through
Flexible overflow pressure reducing valve is connected on flexible check valve three, and the output end of flexible check valve three is connected to flexible two-position three-way electromagnetic
Another input terminal of the input terminal of valve one, flexible two-position three way magnetic valve one is connect with oil return line, and stretch two-position three-way electromagnetic
The output end of valve one is connected on flexible pilot operated directional control valve 5310, and flexible pilot operated directional control valve 5310 is connected in flexible brake 539,
Flexible brake pressure sensor is equipped between flexible pilot operated directional control valve 5310 and flexible brake 539.The flexible two-position three way of control
Solenoid valve one in off position when, hydraulic oil is through the check valve three that stretches, flexible two-position three way magnetic valve one and telescopic hydraulic commutation
Valve enters in flexible brake, and brake of stretching is closed;Control stretches two-position three way magnetic valve one in opening state, is input to and stretches
The hydraulic oil of contracting two-position three way magnetic valve one is ended, and the hydraulic oil for brake of stretching through telescopic hydraulic reversal valve and stretches two three
Three-way electromagnetic valve one is laid down, and brake of stretching is opened.The control signal of flexible two-position three way magnetic valve one comes from industrial personal computer.
The input terminal of stretch mode selector valve is connect with the output end of flexible selector valve, the output end of stretch mode selector valve
Connect with the control terminal of flexible two-way directional valve 537 by flexible sequence valve, the output end of simultaneous retractable model selection valve with stretch
The control terminal of contracting hydraulic motor connects;The stretch mode selector valve is flexible two-position three way magnetic valve two, two flexible
The output end of two-way electromagnetic valve two is connected with flexible motor displacement control pressure sensor.Pass through the flexible two-position three-way electromagnetic of control
Valve two is to realize the selection of stretch mode, specific method:Control stretches two-position three way magnetic valve two in the normal mode, from
The hydraulic oil that flexible selector valve exports is stretched through the two-position three way magnetic valve two that stretches, the flexible flexible two-way directional valve of sequence valve control
Contracting two-way directional valve is closed, and the hydraulic oil on flexible two-way directional valve both sides is not connected to, to realize flexible manually control and actively
Compensation;Control stretches two-position three way magnetic valve two under follower model, and the hydraulic oil exported from flexible selector valve is two flexible
Three-way magnetic valve two is ended, and the hydraulic oil for being connected to flexible two-way directional valve control terminal is laid down, and stretch two-way directional valve two
The hydraulic oil on side is connected to, and realizes the flexible servo-actuated compensation of zero delivery.
Flexible brake voltage stabilizing accumulator 5311 is equipped between flexible pilot operated directional control valve one and flexible brake.Pass through flexible brake
Voltage stabilizing accumulator provides stable brake pressure to flexible brake so that brake is more reliable and stablizes.
The A output ends of flexible 3-position 4-way pilot operated directional control valve are connected to the one of telescopic hydraulic motor by flexible check valve one
End, the B output ends of flexible 3-position 4-way pilot operated directional control valve are connected to one end of flexible two-way directional valve by the check valve two that stretches,
The output end of flexible check valve one is connect with the other end of flexible two-way directional valve;The input terminal of flexible balanced valve 1 with stretch
The output end of contracting check valve one connects, and the output end of flexible balanced valve 1 is connect with oil return line;Flexible balanced valve 2 536
Input terminal connect with the output end of flexible check valve two, the output end of flexible balanced valve 2 536 is connect with oil return line;Industry control
Machine is connect with flexible selector valve, telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve.
It is connected with oil sump tank in the unloading port of telescopic hydraulic motor 20, since telescopic hydraulic motor is arranged on principal arm,
Therefore, telescopic hydraulic motor is remote at a distance from hydraulic oil container, can preferably collect hydraulic oil by the way that oil sump tank is arranged, and convey meeting
In hydraulic oil container.
Check valve 2 57 is connected on low-voltage output, the output end of check valve 2 57 is all the way by turning round check valve four
5213 are connected to the output end of revolution check valve two, and the another way of the output end of check valve 2 57 is by turning round check valve 5 5214
It is connected to the output end of revolution check valve one.Low-voltage quantitative repairing is carried out to rotary fluid motor by low-voltage output, is prevented
It is emptied the phenomenon that causing cavitation erosion in the hydraulic oil of rotary fluid motor in turning round servomechanism process.The output end one of check valve 2 57
Road is connected to the output end of flexible check valve two by the check valve 4 5313 that stretches, and the another way of the output end of check valve two passes through
Flexible check valve 5 5314 is connected to the output end of revolution check valve one.Determined to telescopic hydraulic motor by low-voltage output
Low pressure repairing is measured, the hydraulic oil of the telescopic hydraulic motor in flexible servomechanism process is prevented to be emptied the phenomenon that causing cavitation erosion.
As shown in figure 17, the variable amplitude hydraulic system 54 is provided with two sets, in the luffing oil of two sets of variable amplitude hydraulic systems
Luffing rodless cavity string fuel tap 547 is equipped between cylinder.Variable amplitude hydraulic system includes luffing selector valve 541, becomes width direction speed control
Valve 542, luffing accumulator control valve 543, luffing accumulator switch valve 544, the oil-filled control valve 545 of luffing accumulator, plunger type
Accumulator 546 and amplitude oil cylinder 30.
The input terminal of luffing selector valve is connected to the output end of main pump group, the output end of luffing selector valve by check valve one
It is connected to the input terminal for becoming width direction speed control valve, the A output ends for becoming width direction speed control valve pass through luffing check valve one
It is connected to one end of amplitude oil cylinder, the B output ends for becoming width direction speed control valve are connected to the other end of amplitude oil cylinder;Luffing stores up
Can device control valve connect with one end of amplitude oil cylinder by luffing check valve two, luffing accumulator control valve at the same with luffing energy storage
Device switch valve connects, and luffing accumulator switch valve is connect with the tie point that luffing check valve two and amplitude oil cylinder are formed, luffing storage
The input terminal of the energy oil-filled control valve of device is connect with the output end of main pump group, the output end and plunger of the oil-filled control valve of luffing accumulator
Formula accumulator connects, and plunger type accumulator is connect with accumulator switch valve, while plunger type accumulator passes through luffing check valve three
It is connect with luffing accumulator control valve;Industrial personal computer is controlled with luffing selector valve, change width direction speed control valve, luffing accumulator
Valve, luffing accumulator switch valve are connected with the oil-filled control valve of luffing accumulator.
The luffing selector valve 541 includes luffing two-position two-way solenoid valve and luffing logical valve, luffing bi-bit bi-pass electricity
One end of magnet valve is connect with unloading line, and the other end of luffing two-position two-way solenoid valve is connect with the control terminal of luffing logical valve;
Check valve 1 is connected to the input terminal of luffing logical valve, and the output end of luffing logical valve, which is connected to, becomes width direction speed control valve
Input terminal.When luffing two-position two-way solenoid valve does not have signal, luffing logical valve is closed, and is beaten when luffing two-position two-way solenoid valve has
After ON signal, luffing two-position two-way solenoid valve is opened, and luffing two-position two-way solenoid valve controls luffing logical valve and opens, and realizes luffing
The selection whether opened.
It includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve to become width direction speed control valve 542, is become
Width electricity proportional pressure-reducing valve is connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve;The output end of luffing selector valve is connected to change
The input terminal of width 3-position 4-way pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve are connect with oil return line, luffing three four
Logical pilot operated directional control valve has A and B output ends;Industrial personal computer is connect with luffing electricity proportional pressure-reducing valve.In luffing selector valve and luffing side
To between method for control speed be equipped with changing-breadth system pressure sensor.After luffing electricity proportional pressure-reducing valve receives signal, luffing
The size that electric proportional pressure-reducing valve is opened and opened according to signal, passes through luffing electricity proportional pressure-relief valve control luffing 3-position 4-way hydraulic control
Reversal valve realizes the movement of amplitude oil cylinder.In this configuration, if luffing electricity proportional pressure-reducing valve receives the signal of rising, on
The luffing electricity proportional pressure-reducing valve risen is opened, the luffing electricity proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve of rising, from
The hydraulic oil of the output end output of luffing selector valve is output to amplitude oil cylinder through luffing 3-position 4-way pilot operated directional control valve from B output ends
It is interior.If luffing electricity proportional pressure-reducing valve receives the signal of decline, the luffing electricity proportional pressure-reducing valve of decline is opened, the luffing of decline
Electric proportional pressure-relief valve control luffing 3-position 4-way pilot operated directional control valve, the hydraulic oil exported from the output end of luffing selector valve is through luffing
3-position 4-way pilot operated directional control valve is exported from A output ends, is then entered in luffing hydraulic motor through luffing check valve one.
The luffing accumulator control valve 543 includes luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one
With luffing two-position two-way solenoid valve two.As shown in figure 18, the accumulator switch valve 544 includes valve body 5441 and taper valve core
5442, taper valve core 5442 is located in valve body 5441, and the bottom of valve body 5441 has the first hydraulic fluid port 5444, the side wall of valve body 5441
The second hydraulic fluid port 5445 is equipped at the first hydraulic fluid port 5444, the upper end of taper valve core 5442 is piston 5443, on valve body 5441
It is equipped with third hydraulic fluid port 5446 positioned at the top of piston, the 4th hydraulic fluid port 5447 is equipped with positioned at the lower section of piston on valve body, in piston
Spring 5448 is equipped between 5443 and valve body 5441.One input terminal of luffing two-position three way magnetic valve and luffing check valve two and change
The output end of width check valve three connects simultaneously, and the output end of luffing check valve is connect with luffing two-position two-way solenoid valve two;Luffing
Another input terminal of two-position three way magnetic valve is connected to the 4th hydraulic fluid port respectively and the control terminal of luffing two-position two-way solenoid valve two connects
It connects;The output end of luffing two-position two-way solenoid valve is connected to third hydraulic fluid port through luffing two-position two-way solenoid valve one, third hydraulic fluid port with
Luffing two-position two-way solenoid valve two connects;First hydraulic fluid port is connect with the input terminal of luffing check valve two;Second hydraulic fluid port respectively with change
The input terminal connection of width check valve three is connected with plunger type accumulator;Plunger type accumulator passes through luffing check valve four and luffing list
It is connected to the input terminal of valve two.Under non-follow-up compensating coefficient, luffing two-position three way magnetic valve is closed, plunger type storage
The hydraulic oil of energy device is through luffing check valve three, luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one and third hydraulic fluid port
The top for entering piston, under the pressure effect of hydraulic oil, taper valve core blocks the first hydraulic fluid port, i.e., luffing accumulator switchs
Valve is closed;Under the passive compensating coefficient of luffing, luffing two-position three way magnetic valve is in the open state, at luffing accumulator switch valve
In opening state, third hydraulic fluid port and the 4th hydraulic fluid port are connected by luffing two-position three way magnetic valve and luffing two-position two-way solenoid valve one
Logical, amplitude oil cylinder is in passive state, gives amplitude oil cylinder one constant-tension by plunger type accumulator.It is passively compensated in luffing
Under state, if overlapped points have the tractive force of decline, then overlapped points pull amplitude oil cylinder movement, plunger type accumulator to give luffing oil
The constant pressure that cylinder one rises prevents flexible trestle from then being overlapped in the load excessive of overlapped points if overlapped points have the tractive force of rising
Point pulls amplitude oil cylinder movement, plunger type accumulator to give the constant pressure of the rising of amplitude oil cylinder one, prevents flexible trestle from overlapping
The load excessive of point.
As shown in figure 19, emergency hydraulic system uses following hydraulic system:High-voltage output end passes sequentially through accumulator and fills
Fuel tap block 581 and accumulator control valve block 582 are connected with accumulator bank 583;The output end of accumulator control valve block 582 is connected to
The output end of check valve 1.When the output end of main pump group can not fuel feeding when, pass through and control the oil-filled valve block of accumulator and accumulator
It is oil-filled to accumulator bank to control valve block, control accumulator control valve block is by accumulator bank to Hydraulic slewing system, telescopic hydraulic
System and variable amplitude hydraulic system fuel feeding realize fuel feeding of meeting an urgent need, and make whole system safe.
Accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logical valve, accumulator two
Two electric change valves of position and accumulator pressure reducing valve;The output end of accumulator oil charge valve is connected to the input of accumulator check valve one
The output end at end, accumulator check valve one connects accumulator bank, the output end of accumulator check valve two and accumulator logic simultaneously
The input terminal of valve;The input terminal of accumulator check valve two is connected to the output end of check valve one;The output end of accumulator logical valve
The output end of check valve one is connected to by accumulator pressure reducing valve;One end of accumulator two-position two-way electromagnetic directional valve connects emptying
Pipeline, the other end of accumulator two-position two-way electromagnetic directional valve are connected to the control terminal of accumulator logic;When main pump group cannot be real
When existing normal fuel injection, accumulator two-position two-way electromagnetic directional valve is opened, accumulator two-position two-way electromagnetic directional valve is opened, control storage
Can device pressure reducing valve open, the hydraulic oil of accumulator bank is through accumulator logical valve, accumulator pressure reducing valve to Hydraulic slewing system, flexible
Hydraulic system and variable amplitude hydraulic system fuel feeding.It realizes fuel feeding of meeting an urgent need, makes whole system safe.
Compensation voltage stabilizing accumulator is connected on the output end of accumulator pressure reducing valve.Realize the fuel feeding voltage stabilizing of accumulator.
Emergent hand control valve is connected with by emergency line on accumulator bank, the output end point for hand control valve of meeting an urgent need
At two-way, be connected with emergency brake control valve and check valve three in turn all the way, check valve three respectively with revolution pilot operated directional control valve and
The control terminal connection of flexible pilot operated directional control valve;Another way is connected with emergent luffing raising hand control valve, luffing raising hand of meeting an urgent need
The output end of dynamic control valve is divided into two-way, is connected to luffing accumulator control valve all the way, another way is connected in amplitude oil cylinder;Such as
It realizes emergency brake, opens meet an urgent need hand control valve and emergency brake control valve, the hydraulic oil of accumulator bank is through emergent manual
Control valve, emergency brake control valve and check valve three enter the control terminal of revolution pilot operated directional control valve and flexible pilot operated directional control valve,
Revolution brake and flexible brake emptying, realize brake;Such as to realize emergent luffing raising, open meet an urgent need hand control valve and
Emergent luffing raising hand control valve drives amplitude oil cylinder by accumulator bank, realizes raising action of meeting an urgent need.To improve safety
Energy.
It is connected with emergent luffing raising voltage stabilizing accumulator 584 in the output end of emergent luffing raising hand control valve.
It is connected with voltage stabilizing accumulator 585 in the output end of check valve three.
The go on board working method of trestle of the position compensation extension type includes bridging method, servo-actuated compensation method and de-
The extraction of root;
Bridging method includes manual operation bridging method and Active Compensation bridging method:
Bridging method, which is manually operated, is:Operation handle is operated by operating personnel, decoder translates the signal of operation handle
Code is simultaneously sent in industrial personal computer, and industrial personal computer controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container
Output end;Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control
Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches
It is dynamic, allow flexible trestle to move in overlap joint range;
Wherein Hydraulic slewing system control revolving platform rotation method be:The control of switchback mode selector valve is returned in normal mode
Turn brake control valve control in off position, gyratory directions control valve turns left according to the signal behavior of operation handle or right-hand rotation shape
State opens revolution selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on revolution selector valve, revolution selection
Hydraulic oil is input to gyratory directions speed control valve, revolution brake control valve and switchback mode selector valve, liquid by the output end of valve
Pressure oil reaches the control terminal of revolution two-way directional valve, control revolution two-way directional valve through switchback mode selector valve, revolution sequence valve
It closes, hydraulic oil is entered through turning round brake control valve and revolution pilot operated directional control valve in revolution brake, allows revolution brake to close, together
When, hydraulic oil is entered from gyratory directions speed control valve in rotary fluid motor, and driving rotary fluid motor turns left or turns right,
To control, revolving platform turns left or right-hand rotation, the oil return of rotary fluid motor enter from revolution balanced valve one or revolution balanced valve two
Into oil return line;Telescopic hydraulic system controls the flexible method of telescopic arm:Stretch mode selector valve is controlled in normal mode,
In off position, telescopic direction control valve is stretched out according to the signal behavior of operation handle or retraction shape for flexible brake control valve control
State opens the selector valve that stretches, and the hydraulic oil of the output end of main pump group is entered through check valve one on flexible selector valve, selection of stretching
Hydraulic oil is input to telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve, liquid by the output end of valve
Pressure oil reaches the control terminal for the two-way directional valve that stretches through stretch mode selector valve, flexible sequence valve, controls the two-way directional valve that stretches
It closes, hydraulic oil is entered through stretch brake control valve and flexible pilot operated directional control valve in flexible brake, allows flexible brake to close, together
When, hydraulic oil is entered from telescopic direction speed control valve in telescopic hydraulic motor, drives telescopic hydraulic motor forward or reverse,
To drive telescopic arm to stretch out or retract, the oil return of telescopic hydraulic motor is entered from flexible balanced valve one or flexible balanced valve two
In oil return line;
Variable amplitude hydraulic system controls the method that trestle is swung of stretching:Luffing accumulator control valve is controlled by industrial personal computer to close,
Luffing accumulator switch valve is controlled by industrial personal computer to close;Luffing directional control valve according to the signal behavior of operation handle rise or
Decline state opens luffing selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on luffing selector valve, becomes
Hydraulic oil is input to by the output end of width selector valve becomes width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil
It is entered in amplitude oil cylinder from width direction speed control valve is become, the trestle that stretches is driven to rise or fall;
After flexible trestle moves in overlap joint range, state is overlapped into Active Compensation, Active Compensation bridging method is:Pass through
MRU sensors and data process system acquisition overlapped points location information simultaneously location information is transmitted in industrial personal computer, in industrial personal computer into
Row calculates, and the signal of processing is input to gyratory directions speed control valve, telescopic direction speed control valve and becomes width direction speed
On control valve, direction of rotation and the speed of rotary fluid motor are controlled by gyratory directions speed control valve, passes through telescopic direction
Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled by becoming width direction speed control valve
The direction of motion and speed;
Enter servo-actuated compensation after the completion of flexible trestle overlap joint, the method for being servo-actuated compensation include revolution follow-up method, it is flexible with
Dynamic method and the passive compensation method of luffing;
Turning round follow-up method is:Switchback mode selector valve is controlled by industrial personal computer to follower model, revolution two-way directional valve
Control terminal emptying, the reset of revolution two-way directional valve is simultaneously open-minded, and revolution two-way directional valve is by the oil inlet of rotary fluid motor and goes out
Hydraulic fluid port is together with realization zero delivery allows rotary fluid motor to be in servo-actuated state;
Flexible follow-up method is:Stretch mode selector valve is controlled by industrial personal computer to follower model, stretch two-way directional valve
Control terminal emptying, flexible two-way directional valve reset is simultaneously open-minded, and flexible two-way directional valve is by the oil inlet of telescopic hydraulic motor and goes out
Hydraulic fluid port is together with realization zero delivery allows telescopic hydraulic motor to be in servo-actuated state;
The passive compensation method of luffing is:The closing of luffing selector valve is controlled by industrial personal computer, control luffing accumulator control valve is opened
It is opened with control luffing accumulator switch valve;Amplitude oil cylinder is allowed to be in passive state simultaneously by plunger type accumulator by luffing oil
Cylinder is under identical tension pattern;
Release methods are to control dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system by industrial personal computer,
Flexible trestle is allowed to disengage.
When being in an emergency, start emergency hydraulic system.
Above-mentioned position compensation extension type is gone on board trestle and working method, is not entered in overlap joint range in flexible trestle
When, by manually controlling dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, make flexible trestle fast
Speed enters in overlap joint range, the efficiency that improves that overlapped;When flexible trestle enters in overlap joint range, passed by MRU
Sensor obtains the position of X, Y, Z six direction and corresponding acceleration, while obtaining this platform by data process system and being overlapped
The state of platform obtains in the signal transmission to industrial personal computer of acquisition control signal by calculating, gives gyratory directions speed respectively
Control valve, telescopic direction speed control valve and change width direction speed control valve, by controlling gyratory directions speed control valve, stretching
Direction speed control valve and become commutation and the uninterrupted of width direction speed control valve to control rotary fluid motor, flexible respectively
Hydraulic motor and amplitude oil cylinder, allow flexible trestle free end constantly close to overlapped points while follow the posture for being overlapped platform
Active variation is carried out, allows overlap joint to be more easy, is safe and steady.In the present invention, the computational methods of industrial personal computer are existing
Computational methods, such as digital PID operation etc..After the completion of overlap joint, two-way directional valve is turned round by control, allows rotary fluid motor
Oil inlet is connected to oil outlet, and when there is the tractive force for being overlapped platform, rotary fluid motor can be realized servo-actuated while realize zero
Discharge capacity does not consume energy;By the flexible two-way directional valve of control, the oil inlet of telescopic hydraulic motor is allowed to be connected to oil outlet,
When having the tractive force for being overlapped platform, telescopic hydraulic motor can be realized servo-actuated while realize zero delivery, and energy is not consumed;For becoming
Oil condition is unloaded in one end output of width hydraulic system, amplitude oil cylinder, increases by a plunger type accumulator in the other end of amplitude oil cylinder, when
When being overlapped platform has tractive force, amplitude oil cylinder realizes passive compensation, while plunger type accumulator gives luffing oil always
One constant-tension of cylinder reduces load of the trestle to overlapped points of stretching;Therefore, after the completion of overlap joint, with the position for being overlapped platform
Variation is set, rotary fluid motor and telescopic hydraulic motor, which are realized, to be servo-actuated, and amplitude oil cylinder realizes passive compensation, makes flexible trestle flat
Surely, in this way, remarkable and transport goods are safe, steady.Due to being provided with revolution balanced valve one and revolution balanced valve two, it returns
The damping of rotary fluid motor one can be given on the oil return line of rotating hydraulic motor, allow the operating steadily of rotary fluid motor;Equally,
Due to being provided with flexible balanced valve one and flexible balanced valve two, it can be given on the oil return line of telescopic hydraulic motor flexible
Hydraulic motor one damps, and allows the operating steadily of telescopic hydraulic motor.Due to being provided with luffing accumulator control valve and luffing energy storage
Device switch valve can give amplitude oil cylinder one constant pressure in this way, in passive compensation process using plunger type accumulator,
It can realize passive compensation again simultaneously.For principal arm and telescopic arm, due to using cantilever design, to improve the steady of structure
It is qualitative, the weight for minimizing principal arm and telescopic arm is needed, therefore, selects aluminum alloy materials, but telescopic arm needs in principal arm
Sliding, and use aluminum alloy guide rail, then intensity and wearability are all bad, and therefore, guide rail uses steel construction, but aluminium alloy and steel knot
Structure is in direct contact, then the phenomenon that being susceptible to anodic attack, therefore, in the present invention by the way that rubber pad is arranged by aluminium alloy and steel
Guide rail insulation processed, avoids anodic attack, preferably protects aluminium alloy principal arm and telescopic arm.
Claims (11)
- The working method of trestle 1. a kind of position compensation extension type is gone on board, position compensation extension type trestle of going on board includes base Seat, revolving platform, flexible trestle, landing gear, rotary fluid motor and amplitude oil cylinder;Revolving platform is mounted on pedestal;It stretches Contracting trestle includes principal arm and telescopic arm, and one end of principal arm is articulated on revolving platform, and telescopic arm sliding is located on principal arm, in master Retractable driving device is equipped between arm and telescopic arm, the retractable driving device includes telescopic hydraulic motor;Landing gear is pacified Mounted in the free end of telescopic arm;Rotary fluid motor is mounted between pedestal and revolving platform;One end of amplitude oil cylinder is hinged on On revolving platform, the other end of amplitude oil cylinder is hinged on principal arm;It is characterized in that:Principal arm is aluminum alloy frame, and telescopic arm is aluminum alloy frame;Steel is connected in principal arm by insulating fixing device to lead Rail, the insulating fixing device include lower platen, top board, screw arbor assembly and rubber pad;It is equipped in the upper surface of lower platen Rubber pad is equipped with rubber pad in the lower surface of top board, is clamped principal arm between two rubber pads, screw arbor assembly pass through top board, Lower platen and rubber pad, there is gap between screw arbor assembly and principal arm;Steel guide rail is mounted on lower platen and/or top board;Further include position compensation control system and position compensation hydraulic system;The position compensation control system includes industrial personal computer, MRU sensors, data process system, decoder, operation handle and driver's cabin Button;It is separately installed with MRU sensors, MUR sensors and industrial personal computer on the free end of telescopic arm and overlap joint platform or ship Connection, data process system are connect with industrial personal computer, operation handle are connected on decoder, decoder is connect with industrial personal computer, driver's cabin button It is connect with industrial personal computer, industrial personal computer is connect with position compensation hydraulic system;The position compensation hydraulic system includes dynamical system, Hydraulic slewing system, telescopic hydraulic system and luffing hydraulic pressure system System;Dynamical system includes hydraulic oil container, main pump group and high-low pressure pump group, and the input terminal of main pump group is connected to hydraulic oil container, main pump Group has an output end, and the input terminal of high-low pressure pump group is connected to hydraulic oil container, high-low pump group be respectively provided with low-voltage output and High-voltage output end;Oil return line is connected on hydraulic oil container;Unloading line is connected on hydraulic oil container;Industrial personal computer is connected to In main pump group and high-low pressure pump group;The Hydraulic slewing system includes revolution selector valve, gyratory directions speed control valve, revolution brake control valve, mold rotation Formula selector valve, revolution balanced valve two, revolution two-way directional valve, turns round sequence valve, rotary fluid motor and returns at revolution balanced valve one Turn brake;The output end of main pump group is connected to the input terminal of revolution selector valve by check valve one, turns round the output end of selector valve It is connected to the input terminal of gyratory directions speed control valve, the A output ends of gyratory directions control valve are connected by turning round check valve one B output ends to one end of rotary fluid motor, gyratory directions control valve are connected to revolution two-way side by turning round check valve two To one end of valve, the output end for turning round check valve one is connect with the other end of revolution two-way directional valve;Turn round brake control valve Input terminal is connected to the output end of revolution selector valve, and the output end for turning round brake control valve is connected to by turning round pilot operated directional control valve In revolution brake;The input terminal of switchback mode selector valve with revolution selector valve output end connect, switchback mode selector valve it is defeated Outlet by turn round sequence valve with turn round two-way directional valve control terminal connect, while the output end of switchback mode selector valve and time The control terminal of rotating hydraulic motor connects;The one end for turning round balanced valve one is connect with the output end of revolution check valve one, revolution balance The output end of valve one is connect with oil return line;The input terminal for turning round balanced valve two is connect with the output end of revolution check valve two, is returned The output end for turning balanced valve two is connect with oil return line;Industrial personal computer is stopped with revolution selector valve, gyratory directions speed control valve, revolution Vehicle control valve is connected with switchback mode selector valve;The telescopic hydraulic system includes flexible selector valve, telescopic direction speed control valve, flexible brake control valve, flexible mould It formula selector valve, flexible balanced valve one, flexible balanced valve two, flexible two-way directional valve, flexible sequence valve, telescopic hydraulic motor and stretches Contracting brake;The output end of main pump group is connected to the input terminal of flexible selector valve by check valve one, the output end for the selector valve that stretches It is connected to the input terminal of telescopic direction speed control valve, the A output ends of telescopic direction control valve are connected by flexible check valve one B output ends to one end of telescopic hydraulic motor, telescopic direction control valve are connected to flexible two-way side by flexible check valve two To one end of valve, the output end of flexible check valve one is connect with the other end of flexible two-way directional valve;Flexible brake control valve Input terminal is connected to the output end of flexible selector valve, and the output end of flexible brake control valve is connected to by flexible pilot operated directional control valve In flexible brake;The input terminal of stretch mode selector valve is connect with the output end of flexible selector valve, stretch mode selector valve it is defeated Outlet is connect by flexible sequence valve with the control terminal of flexible two-way directional valve, the output end of simultaneous retractable model selection valve with stretch The control terminal of contracting hydraulic motor connects;The input terminal of flexible balanced valve one is connect with the output end of flexible check valve one, is stretched flat The output end of weighing apparatus valve one is connect with oil return line;The input terminal of flexible balanced valve two is connect with the output end of flexible check valve two, The output end of flexible balanced valve two is connect with oil return line;Industrial personal computer and flexible selector valve, stretch telescopic direction speed control valve Brake control valve is connected with stretch mode selector valve;The variable amplitude hydraulic system includes luffing selector valve, becomes width direction speed control valve, luffing accumulator control valve, luffing Accumulator switch valve, the oil-filled control valve of luffing accumulator, plunger type accumulator and amplitude oil cylinder;The input terminal of luffing selector valve is logical The output end that check valve one is connected to main pump group is crossed, the output end of luffing selector valve, which is connected to, becomes the defeated of width direction speed control valve Enter end, the A output ends for becoming width direction speed control valve are connected to one end of amplitude oil cylinder by luffing check valve one, become width direction The B output ends of speed control valve are connected to the other end of amplitude oil cylinder;Luffing accumulator control valve by luffing check valve two with One end of amplitude oil cylinder connects, and luffing accumulator control valve is connect with luffing accumulator switch valve simultaneously, luffing accumulator switch Valve is connect with the tie point that luffing check valve two and amplitude oil cylinder are formed, the input terminal and main pump of the oil-filled control valve of luffing accumulator The output end connection of group, the output end of the oil-filled control valve of luffing accumulator connect with plunger type accumulator, plunger type accumulator and Accumulator switch valve connects, while plunger type accumulator is connect by luffing check valve three with luffing accumulator control valve;Industry control Machine and luffing selector valve, change width direction speed control valve, luffing accumulator control valve, luffing accumulator switch valve and luffing energy storage The oil-filled control valve connection of device;The go on board working method of trestle of position compensation extension type includes bridging method, servo-actuated compensation method and release methods;Bridging method includes manual operation bridging method and Active Compensation bridging method:Bridging method, which is manually operated, is:Operation handle is operated by operating personnel, decoder translates the signal of operation handle Code is simultaneously sent in industrial personal computer, and industrial personal computer controls main pump group and starts, and hydraulic oil is pumped out to main pump group by main pump group from hydraulic oil container Output end;Industrial personal computer controls Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system, passes through Hydraulic slewing system control Revolving platform rotation processed controls telescopic arm by telescopic hydraulic system and stretches, and passes through variable amplitude hydraulic system and controls the trestle pendulum that stretches It is dynamic, allow flexible trestle to move in overlap joint range;Wherein Hydraulic slewing system control revolving platform rotation method be:The control of switchback mode selector valve is returned in normal mode Turn brake control valve control in off position, gyratory directions control valve turns left according to the signal behavior of operation handle or right-hand rotation shape State opens revolution selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on revolution selector valve, revolution selection Hydraulic oil is input to gyratory directions speed control valve, revolution brake control valve and switchback mode selector valve, liquid by the output end of valve Pressure oil reaches the control terminal of revolution two-way directional valve, control revolution two-way directional valve through switchback mode selector valve, revolution sequence valve It closes, hydraulic oil is entered through turning round brake control valve and revolution pilot operated directional control valve in revolution brake, allows revolution brake to close, together When, hydraulic oil is entered from gyratory directions speed control valve in rotary fluid motor, and driving rotary fluid motor turns left or turns right, To control, revolving platform turns left or right-hand rotation, the oil return of rotary fluid motor enter from revolution balanced valve one or revolution balanced valve two Into oil return line;Telescopic hydraulic system controls the flexible method of telescopic arm:The control of stretch mode selector valve is in normal mode, brake of stretching Control valve controls in off position, and telescopic direction control valve is stretched out according to the signal behavior of operation handle or retracted mode, opens Flexible selector valve, the hydraulic oil of the output end of main pump group are entered through check valve one on flexible selector valve, and stretch the defeated of selector valve Hydraulic oil is input to telescopic direction speed control valve, flexible brake control valve and stretch mode selector valve, hydraulic oil warp by outlet Stretch mode selector valve, flexible sequence valve reach the control terminal for the two-way directional valve that stretches, and control the two-way directional valve that stretches and close, liquid Pressure oil is entered through stretch brake control valve and flexible pilot operated directional control valve in flexible brake, and flexible brake is allowed to close, meanwhile, hydraulic pressure Oil is entered from telescopic direction speed control valve in telescopic hydraulic motor, drives telescopic hydraulic motor forward or reverse, to band Dynamic telescopic arm is stretched out or is retracted, and the oil return of telescopic hydraulic motor enters oil return pipe from flexible balanced valve one or flexible balanced valve two Lu Zhong;Variable amplitude hydraulic system controls the method that trestle is swung of stretching:Luffing accumulator control valve is controlled by industrial personal computer to close, Luffing accumulator switch valve is controlled by industrial personal computer to close;Luffing directional control valve according to the signal behavior of operation handle rise or Decline state opens luffing selector valve, and the hydraulic oil of the output end of main pump group is entered through check valve one on luffing selector valve, becomes Hydraulic oil is input to by the output end of width selector valve becomes width direction speed control valve and the oil-filled control valve of luffing accumulator, hydraulic oil It is entered in amplitude oil cylinder from width direction speed control valve is become, the trestle that stretches is driven to rise or fall;After flexible trestle moves in overlap joint range, state is overlapped into Active Compensation, Active Compensation bridging method is:Pass through MRU sensors and data process system acquisition overlapped points location information simultaneously location information is transmitted in industrial personal computer, in industrial personal computer into Row calculates, and the signal of processing is input to gyratory directions speed control valve, telescopic direction speed control valve and becomes width direction speed On control valve, direction of rotation and the speed of rotary fluid motor are controlled by gyratory directions speed control valve, passes through telescopic direction Speed control valve controls direction of rotation and the speed of telescopic hydraulic motor, and amplitude oil cylinder is controlled by becoming width direction speed control valve The direction of motion and speed;Enter servo-actuated compensation after the completion of flexible trestle overlap joint, the method for being servo-actuated compensation include revolution follow-up method, it is flexible with Dynamic method and the passive compensation method of luffing;Turning round follow-up method is:Switchback mode selector valve is controlled by industrial personal computer to follower model, revolution two-way directional valve Control terminal emptying, the reset of revolution two-way directional valve is simultaneously open-minded, and revolution two-way directional valve is by the oil inlet of rotary fluid motor and goes out Hydraulic fluid port is together with realization zero delivery allows rotary fluid motor to be in servo-actuated state;Flexible follow-up method is:Stretch mode selector valve is controlled by industrial personal computer to follower model, stretch two-way directional valve Control terminal emptying, flexible two-way directional valve reset is simultaneously open-minded, and flexible two-way directional valve is by the oil inlet of telescopic hydraulic motor and goes out Hydraulic fluid port is together with realization zero delivery allows telescopic hydraulic motor to be in servo-actuated state;The passive compensation method of luffing is:The closing of luffing selector valve is controlled by industrial personal computer, control luffing accumulator control valve is opened It is opened with control luffing accumulator switch valve;Amplitude oil cylinder is allowed to be in passive state simultaneously by plunger type accumulator by luffing oil Cylinder is under identical tension pattern;Release methods are to control dynamical system, Hydraulic slewing system, telescopic hydraulic system and variable amplitude hydraulic system by industrial personal computer, Flexible trestle is allowed to disengage.
- The working method of trestle 2. position compensation extension type according to claim 1 is gone on board, it is characterised in that:In pedestal On pedestal elevating mechanism is installed;The pedestal elevating mechanism include fixed fixing sleeve above deck, it is hinged above deck Lifting cylinder and lifting column, lifting column is fixed on pedestal, and the lower end of lifting column is plugged into fixing sleeve, lifting cylinder it is upper End is hinged on pedestal;Pedestal is controlled by lifting cylinder to rise or fall;Elevating and locking mechanism is equipped between fixing sleeve and lifting column, the elevating and locking mechanism includes being mounted on fixing sleeve Locking cylinder and the jack that is located on lifting column, the piston rod of locking cylinder can coordinate with jack;Start locking cylinder, locking The piston rod of oil cylinder can be inserted into jack, realize that the locking to lifting column, direction start locking cylinder, the piston of locking cylinder Bar is detached from jack, releases the locking to lifting column.
- The working method of trestle 3. position compensation extension type according to claim 1 is gone on board, it is characterised in that:In industry control Driver's cabin touch screen and visual alarm are connected on machine;The decoder includes decoder one and decoder two, decoder One is connected between industrial personal computer and operation handle, and decoder two is connected between industrial personal computer and remote controler, is touched by driver's cabin Screen shows that position compensation extension type is gone on board each parameter of trestle, is such as in an emergency, is alarmed by visual alarm.
- The working method of trestle 4. position compensation extension type according to claim 1 is gone on board, it is characterised in that:Described It includes revolution two-position two-way solenoid valve and revolution logical valve to turn round selector valve, turns round one end and the oil discharge pipe of two-position two-way solenoid valve Road connects, and the other end for turning round two-position two-way solenoid valve is connect with the control terminal of revolution logical valve;Check valve one is connected to revolution The input terminal of logical valve, the output end for turning round logical valve are connected to the input terminal of gyratory directions speed control valve;Revolution two two When three-way electromagnetic valve does not have signal, revolution logical valve is closed, and after revolution two-position two-way solenoid valve has opening signal, turns round two two Three-way electromagnetic valve is opened, and revolution two-position two-way solenoid valve control revolution logical valve is opened, and realizes the selection whether revolution opens;Gyratory directions speed control valve includes the electric proportional pressure-reducing valve of revolution and revolution 3-position 4-way pilot operated directional control valve, turns round electric ratio Pressure reducing valve is connected to the control terminal of revolution 3-position 4-way pilot operated directional control valve;The output end of revolution selector valve is connected to revolution three four The input terminal of logical pilot operated directional control valve, revolution 3-position 4-way pilot operated directional control valve are connect with oil return line, and revolution 3-position 4-way hydraulic control is changed There is A and B output ends to valve;Industrial personal computer is connected on the electric proportional pressure-reducing valve of revolution;When the electric proportional pressure-reducing valve of revolution receives letter After number, the size that electric proportional pressure-reducing valve is opened and opened according to signal is turned round, by turning round electric proportional pressure-relief valve control revolution three Position four-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of rotary fluid motor;It includes revolution check valve three and revolution two-position three way magnetic valve one to turn round brake valve, and the output for turning round selector valve passes through revolution Overflow pressure reducing valve is connected on revolution check valve three, and the output end of revolution check valve three is connected to revolution two-position three way magnetic valve one Input terminal, revolution two-position three way magnetic valve one another input terminal connect with oil return line, revolution two-position three way magnetic valve one Output end be connected to revolution pilot operated directional control valve on;When control turns round two-position three way magnetic valve one in off position, hydraulic oil warp Revolution check valve three, revolution two-position three way magnetic valve one and revolution hydraulicdirectional control valve enter in revolution brake, and revolution brake is closed It closes;Control revolution two-position three way magnetic valve one is input to the hydraulic oil quilt of revolution two-position three way magnetic valve one in opening state Cut-off, the hydraulic oil for turning round brake are laid down through turning round hydraulicdirectional control valve and revolution two-position three way magnetic valve one, and revolution brake is opened;The switchback mode selector valve be revolution two-position three way magnetic valve two, by control turn round two-position three way magnetic valve two come Realize the selection of switchback mode.
- The trestle 5. position compensation extension type according to claim 1 is gone on board, it is characterised in that:Turn round pilot operated directional control valve with Revolution is equipped with revolution brake voltage stabilizing accumulator between braking, stabilization is provided to revolution brake by revolution brake voltage stabilizing accumulator Brake pressure;Check valve two is connected on low-voltage output, the output end of check valve two is connected to revolution by turning round check valve four all the way The another way of the output end of check valve two, the output end of check valve two is connected to revolution check valve one by turning round check valve five Output end;By low-voltage output low pressure is provided to rotary fluid motor.
- The working method of trestle 6. position compensation extension type according to claim 1 is gone on board, it is characterised in that:Described Flexible selector valve includes flexible two-position two-way solenoid valve and flexible logical valve, the one end for the two-position two-way solenoid valve that stretches and oil discharge pipe Road connects, and the other end of flexible two-position two-way solenoid valve is connect with the control terminal of flexible logical valve;Check valve one is connected to flexible The output end of the input terminal of logical valve, flexible logical valve is connected to the input terminal of telescopic direction speed control valve;It is two two flexible When three-way electromagnetic valve does not have signal, the logical valve that stretches is closed, and after flexible two-position two-way solenoid valve has opening signal, is stretched two two Three-way electromagnetic valve is opened, and the flexible logical valve of two-position two-way solenoid valve control that stretches is opened, and realizes the flexible selection whether opened;Telescopic direction speed control valve includes flexible electric proportional pressure-reducing valve and flexible 3-position 4-way pilot operated directional control valve, electricity ratio of stretching Pressure reducing valve is connected to the control terminal of flexible 3-position 4-way pilot operated directional control valve;The output end of flexible selector valve is connected to flexible three four The input terminal of logical pilot operated directional control valve, flexible 3-position 4-way pilot operated directional control valve are connect with oil return line, and flexible 3-position 4-way hydraulic control is changed There is A and B output ends to valve;Industrial personal computer is connected on flexible electric proportional pressure-reducing valve;When flexible electric proportional pressure-reducing valve receives letter After number, the size that the electricity proportional pressure-reducing valve that stretches is opened and opened according to signal passes through flexible electric proportional pressure-relief valve control flexible three Position four-way pilot operated directional control valve, realizes the left-hand rotation or right-hand rotation of telescopic hydraulic motor;Flexible brake valve includes flexible check valve three and flexible two-position three way magnetic valve one, and the output for the selector valve that stretches, which passes through, stretches Overflow pressure reducing valve is connected on flexible check valve three, and the output end of flexible check valve three is connected to flexible two-position three way magnetic valve one Input terminal, another input terminal of flexible two-position three way magnetic valve one connect with oil return line, flexible two-position three way magnetic valve one Output end be connected on flexible pilot operated directional control valve;When control stretches two-position three way magnetic valve one in off position, hydraulic oil warp Flexible check valve three, flexible two-position three way magnetic valve one and telescopic hydraulic reversal valve enter in flexible brake, and brake of stretching is closed It closes;Control stretches two-position three way magnetic valve one in opening state, is input to the hydraulic oil quilt of flexible two-position three way magnetic valve one The hydraulic oil of cut-off, flexible brake is laid down through telescopic hydraulic reversal valve and flexible two-position three way magnetic valve one, and brake of stretching is opened;The stretch mode selector valve is flexible two-position three way magnetic valve two;It crosses control and stretches two-position three way magnetic valve two in fact The selection of existing stretch mode.
- The working method of trestle 7. position compensation extension type according to claim 1 is gone on board, it is characterised in that:Flexible liquid It controls and is equipped with flexible brake voltage stabilizing accumulator between reversal valve one and flexible brake;It is stopped to flexible by flexible brake voltage stabilizing accumulator Vehicle provides stable brake pressure;It is connected with check valve two on low-voltage output, the output end a-road-through of check valve two flexible check valve four excessively is connected to flexible The another way of the output end of check valve two, the output end of check valve two is connected to revolution check valve one by the check valve five that stretches Output end;By low-voltage output low pressure is provided to telescopic hydraulic motor.
- The working method of trestle 8. position compensation extension type according to claim 1 is gone on board, it is characterised in that:Described Luffing selector valve includes luffing two-position two-way solenoid valve and luffing logical valve, one end of luffing two-position two-way solenoid valve and oil discharge pipe Road connects, and the other end of luffing two-position two-way solenoid valve is connect with the control terminal of luffing logical valve;Check valve one is connected to luffing The input terminal of logical valve, the output end of luffing logical valve are connected to the input terminal for becoming width direction speed control valve;Luffing two two When three-way electromagnetic valve does not have signal, luffing logical valve is closed, after luffing two-position two-way solenoid valve has opening signal, luffing two two Three-way electromagnetic valve is opened, and luffing two-position two-way solenoid valve controls luffing logical valve and opens, and realizes the selection whether luffing is opened;It includes luffing electricity proportional pressure-reducing valve and luffing 3-position 4-way pilot operated directional control valve, luffing electricity ratio to become width direction speed control valve Pressure reducing valve is connected to the control terminal of luffing 3-position 4-way pilot operated directional control valve;The output end of luffing selector valve is connected to luffing three four The input terminal of logical pilot operated directional control valve, luffing 3-position 4-way pilot operated directional control valve are connect with oil return line, and luffing 3-position 4-way hydraulic control is changed There is A and B output ends to valve;Industrial personal computer is connect with luffing electricity proportional pressure-reducing valve;When luffing electricity proportional pressure-reducing valve receives signal Afterwards, the size that luffing electricity proportional pressure-reducing valve is opened and opened according to signal, by luffing electricity proportional pressure-relief valve control luffing three Four-way pilot operated directional control valve realizes the movement of amplitude oil cylinder;The luffing accumulator control valve includes luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one and luffing two Position two-way electromagnetic valve two;The accumulator switch valve includes valve body and taper valve core, and taper valve core is located in valve body, valve body There is the first hydraulic fluid port, the side wall of valve body to be equipped with the second hydraulic fluid port close to the first oil port for bottom, and the upper end of taper valve core is piston, On valve body positioned at piston top be equipped with third hydraulic fluid port, on valve body positioned at piston lower section be equipped with the 4th hydraulic fluid port, piston with Spring is equipped between valve body;One input terminal of luffing two-position three way magnetic valve and luffing check valve two and luffing check valve three it is defeated Outlet connects simultaneously, and the output end of luffing check valve is connect with luffing two-position two-way solenoid valve two;Luffing two-position three way magnetic valve Another input terminal connect respectively with the connection of the 4th hydraulic fluid port and the control terminal of luffing two-position two-way solenoid valve two;Luffing bi-bit bi-pass The output end of solenoid valve is connected to third hydraulic fluid port, third hydraulic fluid port and luffing bi-bit bi-pass electromagnetism through luffing two-position two-way solenoid valve one Valve two connects;First hydraulic fluid port is connect with the input terminal of luffing check valve two;The input with luffing check valve three respectively of second hydraulic fluid port End connection is connected with plunger type accumulator;Plunger type accumulator is connected by the input terminal of luffing check valve four and luffing check valve two It connects;Under non-follow-up compensating coefficient, luffing two-position three way magnetic valve is closed, and the hydraulic oil of plunger type accumulator is through becoming Width check valve three, luffing two-position three way magnetic valve, luffing two-position two-way solenoid valve one and third hydraulic fluid port enter the top of piston, Under the pressure effect of hydraulic oil, taper valve core blocks the first hydraulic fluid port;Under the passive compensating coefficient of luffing, luffing two-position three way Solenoid valve is in the open state, and luffing accumulator switch valve is in the open state, and third hydraulic fluid port and the 4th hydraulic fluid port pass through luffing two Position-3-way solenoid valve is connected to luffing two-position two-way solenoid valve one, and amplitude oil cylinder is in passive state, passes through plunger type accumulator Give amplitude oil cylinder one constant-tension;Variable amplitude hydraulic system is provided with two sets, and luffing rodless cavity string oil is equipped between the amplitude oil cylinder of two sets of variable amplitude hydraulic systems Valve.
- The working method of trestle 9. position compensation extension type according to claim 1 is gone on board, it is characterised in that:High pressure is defeated Outlet passes sequentially through the oil-filled valve block of accumulator and accumulator control valve block is connected with accumulator bank;The output of accumulator control valve block End is connected to the output end of check valve one;When the output end of main pump group can not fuel feeding when, by control the oil-filled valve block of accumulator and Accumulator control valve block is oil-filled to accumulator bank, control accumulator control valve block by accumulator bank to Hydraulic slewing system, stretch Contracting hydraulic system and variable amplitude hydraulic system fuel feeding;Accumulator control valve block includes accumulator check valve one, accumulator check valve two, accumulator logical valve, accumulator two two Electric change valve and accumulator pressure reducing valve;The output end of accumulator oil charge valve is connected to the input terminal of accumulator check valve one, The output end of accumulator check valve one connects accumulator bank, the output end of accumulator check valve two and accumulator logical valve simultaneously Input terminal;The input terminal of accumulator check valve two is connected to the output end of check valve one;The output end of accumulator logical valve passes through Accumulator pressure reducing valve is connected to the output end of check valve one;One end of accumulator two-position two-way electromagnetic directional valve connects oil discharge pipe Road, the other end of accumulator two-position two-way electromagnetic directional valve are connected to the control terminal of accumulator logic;When main pump group can not achieve When normal fuel injection, accumulator two-position two-way electromagnetic directional valve is opened, accumulator two-position two-way electromagnetic directional valve is opened, and energy storage is controlled Device pressure reducing valve is opened, and the hydraulic oil of accumulator bank is through accumulator logical valve, accumulator pressure reducing valve to Hydraulic slewing system, flexible liquid Pressure system and variable amplitude hydraulic system fuel feeding;It is connected with compensation voltage stabilizing accumulator on the output end of accumulator pressure reducing valve, realizes the fuel feeding voltage stabilizing of accumulator.
- The working method of trestle 10. position compensation extension type according to claim 9 is gone on board, it is characterised in that:It is storing up Emergent hand control valve is connected with by emergency line in energy device group, the output end of emergent hand control valve is divided into two-way, all the way Be connected with emergency brake control valve and check valve three in turn, check valve three respectively with revolution pilot operated directional control valve and flexible liquid controlled reversing The control terminal of valve connects;Another way is connected with emergent luffing raising hand control valve, the defeated of luffing raising hand control valve of meeting an urgent need Outlet is divided into two-way, is connected to luffing accumulator control valve all the way, and another way is connected in amplitude oil cylinder;Such as to realize urgent brake Vehicle, opens meet an urgent need hand control valve and emergency brake control valve, and the emergent hand control valve of hydraulic oil warp of accumulator bank answers emergency brake Vehicle control valve and check valve three enter the control terminal of revolution pilot operated directional control valve and flexible pilot operated directional control valve, and revolution brakes and stretches Brake emptying, realizes brake;It such as to realize emergent luffing raising, open meet an urgent need hand control valve and emergent luffing raising hand Dynamic control valve drives amplitude oil cylinder by accumulator bank, realizes raising action of meeting an urgent need.
- The working method of trestle 11. position compensation extension type according to claim 10 is gone on board, it is characterised in that:It is answering The output end of sudden turn of events width raising hand control valve is connected with emergent luffing raising voltage stabilizing accumulator;Connect in the output end of check valve It is connected to voltage stabilizing accumulator.
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CN110081034A (en) * | 2018-11-05 | 2019-08-02 | 中船华南船舶机械有限公司 | A kind of small-sized fore-and-aft gangway hydraulic system |
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CN110816756A (en) * | 2019-10-22 | 2020-02-21 | 中船华南船舶机械有限公司 | Side-suspension type single-lifting-point high-speed lifting platform and working method |
CN113005877A (en) * | 2021-03-08 | 2021-06-22 | 凯若普(厦门)技术服务有限公司 | Marine corridor bridge |
CN117163219A (en) * | 2023-09-15 | 2023-12-05 | 哈尔滨理工大学 | Shipborne trestle feedforward fuzzy control method considering constraint between long rods |
CN117163219B (en) * | 2023-09-15 | 2024-05-14 | 哈尔滨理工大学 | Shipborne trestle feedforward fuzzy control method considering constraint between long rods |
CN117869395A (en) * | 2024-01-22 | 2024-04-12 | 山东大学 | Hydraulic system of wave compensation gangway ladder telescopic mechanism for wind power operation and maintenance ship and working method |
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