CN118088510A - Multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure - Google Patents
Multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure Download PDFInfo
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Abstract
The invention discloses a multipoint dynamic monitoring autonomous control system in industrial hydraulic pressure, which comprises a main controller, a data storage, a cloud platform and an upper computer, wherein the main controller acquires real-time data from different executors, the data acquired and processed by the main controller are synchronously transmitted to the data storage and the cloud platform, and the upper computer accesses the cloud platform to acquire real-time industrial dynamic data.
Description
Technical Field
The invention relates to the technical field of hydraulic control systems, in particular to a multipoint dynamic monitoring autonomous control system in industrial hydraulic pressure.
Background
In modern industrial systems, a hydraulic device is a common executive component, and in the application process of the hydraulic system, the hydraulic system which synchronously controls a plurality of executive components through a main pipeline is called a parallel hydraulic control system, and a plurality of groups of executive components can be synchronously controlled through the parallel hydraulic control system, so that the effect of sharing the load of a single component is realized.
However, based on the application characteristics of the parallel hydraulic system, when the system is executed in industry, the stroke and the pressure of a plurality of actuators are required to be monitored, the purposes of ensuring the hydraulic actuators to move in place and ensuring the safety of the execution process are achieved, and because the plurality of hydraulic actuators are connected in parallel on a main pipeline, the pressure on the side, far away from the power, of the main hydraulic pipeline is attenuated due to transmission reasons, the actuators are required to be monitored, and the multi-point monitoring of the actuators of the parallel hydraulic system is mainly divided into pressure monitoring and stroke monitoring.
In the automatic monitoring process of the parallel hydraulic system at the present stage, the following problems also exist; firstly, the sensors responsible for hydraulic detection and stroke detection are mainly configured independently, on the one hand, the workload of management and maintenance is increased, the connection of equipment is complex, secondly, the problem of pressure attenuation exists at the tail end of a hydraulic transmission pipeline in a parallel hydraulic system, the problem that the hydraulic pressure of a main pipeline keeps the pressure of an actuator at the tail end is increased, the problem that the main pipeline is leaked and broken due to structural fatigue of the main pipeline is easily caused by the mode of relatively large pipe pressure of the main pipeline is solved, finally, in a multi-point dynamic monitoring system, the monitoring data of the actuator cannot be shared in real time to the cloud for being monitored by engineering personnel in a remote mode, and if the remote monitoring is to be realized, if the balance adjustment of a connecting executing piece is also required, the workload of the personnel is obviously increased, and the data amount required to be processed by the monitoring system is also increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multipoint dynamic monitoring autonomous control system in industrial hydraulic pressure, which solves the problems of the prior background technology.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the multi-point dynamic monitoring autonomous control system in the industrial hydraulic pressure comprises a main controller, a data memory, a cloud platform, an API (application program interface) protocol and an upper computer, wherein the main controller acquires real-time data from different executors, the data acquired and processed by the main controller are synchronously transmitted to the data memory and the cloud platform, and the real-time industrial dynamic data is acquired by accessing the cloud platform through the upper computer through the API protocol;
The hydraulic control station at least comprises an oil tank, an oil filter, a hydraulic pump and a plurality of combination valves, one side of any combination valve of the hydraulic control station is connected with a hydraulic control pipeline, at least 3 groups of synchronous hydraulic actuators are connected on the hydraulic control pipeline in a split mode, the hydraulic control pipeline consists of a hydraulic oil inlet pipe and a hydraulic oil return pipe, the hydraulic oil inlet pipe is connected with an oil inlet of the synchronous hydraulic actuators, and the hydraulic oil return pipe is connected with an oil outlet of the synchronous hydraulic actuators;
The one-way compensator is arranged at one side of the fixed end of the synchronous hydraulic actuator, is used for compensating the pressure of the synchronous hydraulic actuator when the pressure of the synchronous hydraulic actuator is insufficient or decays, and is used for releasing pressure when the synchronous hydraulic actuator is over-pressurized;
the synchronous hydraulic actuator is also provided with a hydraulic stroke monitor, and the hydraulic stroke monitor detects hydraulic pressure and stroke data of the synchronous hydraulic actuator connected with the synchronous hydraulic actuator;
The hydraulic stroke monitor and the one-way compensator are both externally arranged on the synchronous hydraulic actuator and are communicated with the inner cavity of the synchronous hydraulic actuator;
The hydraulic travel monitor is connected with a sub-controller, the sub-controller is respectively connected with the unidirectional compensator and the main controller, and the main controller only reports abnormal data to the cloud platform.
The encryption communication tunnel is established between the main controller and the cloud platform through the VPN server, the upper computer can send data to the cloud platform, the upper computer uploading data is fed back to the main controller through the cloud platform for control modification, and an API key and authority are required to be acquired when the upper computer sends modification data.
The synchronous hydraulic actuator comprises an actuating sleeve, the actuating sleeve is of a cylindrical structure, an oil inlet and an oil outlet are respectively formed in two ends of the actuating sleeve, two ends of the actuating sleeve are respectively sealed through a top cover and a bottom cover, an actuating piston is connected with an end portion of the actuating rod, which penetrates through the top cover, and is matched with the actuating sleeve, a pair of detection interfaces are arranged on the actuating sleeve, and a compensation interface is arranged on the actuating sleeve, which is matched with the hydraulic stroke monitor.
The hydraulic stroke monitor comprises a monitoring pipe, the monitoring pipe is a pipe body with two sealed ends, one side of the monitoring pipe is provided with a pair of detection joints, the pair of detection joints are connected with a pair of detection interfaces, a pair of pressure-variable pressure sensors are arranged on the pair of detection joints, a balance piston matched with the inner diameter is arranged in the monitoring pipe, the balance piston is positioned between the pair of detection joints, sliding resistance rods are axially arranged at two ends penetrating the monitoring pipe, a contact copper ring is arranged on the inner side of the balance piston, and the contact copper ring is wrapped on the sliding resistance rods.
One side of the monitoring tube is provided with a sliding electric connection plate which is parallel to the sliding resistance rod, the electric connection contact on the balance piston is in sliding connection with the sliding electric connection plate, and the end parts of the sliding resistance rod and the sliding electric connection plate are respectively provided with a pair of wire holders.
The unidirectional compensator comprises a buffer sleeve, the buffer sleeve and the execution sleeve are arranged in parallel on one side of the execution sleeve, a communication groove is formed in the buffer sleeve and is communicated with a compensation interface, the end part of the buffer sleeve is connected with a plugging end cover, a compensation air pump is arranged on the plugging end cover, a compensation regulation valve core is arranged in communication with the compensation air pump, a balance oil port is extended from the buffer sleeve and is communicated with a hydraulic control pipeline, and an overflow valve port is further arranged on the buffer sleeve.
The compensation regulation valve core is a cylindrical variable volume air bag body with a telescopic structure, the compensation air pump is used for adjusting the volume of the compensation regulation valve core, and the end part of the compensation regulation valve core is provided with a balance plug matched with the inner diameter of the buffer sleeve.
A regulating tube seat is connected between the compensation regulating valve core and the compensation air pump, and an air pressure regulating valve is arranged on the regulating tube seat.
The balance oil port of the one-way compensator and the oil inlet of the synchronous hydraulic actuator are connected to the hydraulic control pipeline through an integral pipe sleeve, the integral pipe sleeve further comprises a connecting pipe sleeve, a pair of connecting flanges are arranged at two ends of the connecting pipe sleeve, the connecting pipe sleeve is connected to the hydraulic control pipeline through the connecting flanges, a communication valve is arranged on the connecting flanges, and a sealing valve is correspondingly connected to the hydraulic control pipeline.
A control method of a multipoint dynamic monitoring autonomous control system in industrial hydraulic pressure, comprising the following steps:
Step S1: the method comprises the steps that a control command is issued to a hydraulic control station through a main controller, a plurality of synchronous hydraulic actuators are regulated to work through a hydraulic control pipeline, and a reference control command comprising target pressure, target stroke amount and target stroke change rate is issued to a plurality of sub-controllers through the main controller;
Step S2: the hydraulic stroke monitor is connected with the liquid inlet end and the liquid outlet end of the synchronous hydraulic actuator, and respectively detects the liquid inlet end pressure and the liquid outlet end pressure of the synchronous hydraulic actuator, the pressure and the stroke detected by the hydraulic stroke monitor and the stroke change data are transmitted back to the sub-controllers, the main controller stores the detection data transmitted back by the sub-controllers into the data memory, and the sub-controllers independently balance the synchronous hydraulic actuator synchronously and in the following multiple conditions;
Step S3: when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is insufficient, the sub-controller controls the unidirectional compensator to work, high-pressure hydraulic oil is pushed into the synchronous hydraulic actuator to supplement the internal pressure of the synchronous hydraulic actuator, and when the hydraulic stroke monitor detects that the pressure is the same, the unidirectional compensator resets and supplements the hydraulic oil; when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is too high and the hydraulic control station cannot adjust, the one-way compensator is controlled by the sub-controller to release pressure, the one-way compensator is controlled to expose the overflow valve port, the high-pressure hydraulic oil is discharged out of the part, and if the overflow valve port is opened, the phenomenon of pressure drop is still avoided or obvious pressure drop is not seen after long-time oil discharge, the sub-controller sends a data exception report to the main controller;
Step S4: when the hydraulic stroke monitor detects that the stroke of the synchronous hydraulic actuator is not in place, the sub-controller controls the unidirectional compensator to work, and the unidirectional compensator pumps part of hydraulic oil into the hydraulic cylinder so as to enable the synchronous hydraulic actuator to move in place;
step S5: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too high, the hydraulic stroke monitor represents that leakage occurs at one side of the oil outlet, and the sub-controller sends an abnormal report to the main controller;
Step S6: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too slow, the hydraulic stroke monitor compensates the pressure to the synchronous hydraulic actuator through the unidirectional compensator to improve the advancing rate, if the unidirectional compensator still has no obvious lifting after working, the oil inlet end of the synchronous hydraulic actuator is proved to have leakage, and the sub-controller sends an abnormality report to the main controller;
Step S7: according to the abnormal report sent by the sub-controller to the main controller, determining which abnormal problem occurs to the synchronous hydraulic actuator, and the main controller on duty personnel arrange the staff to overhaul, or the main controller synchronizes the abnormal problem of the data to the cloud platform, and the cloud platform is connected with the upper computer through an API (application program interface) protocol to alarm and arrange the staff to overhaul.
Advantageous effects
The invention provides a multipoint dynamic monitoring autonomous control system in industrial hydraulic pressure. The beneficial effects are as follows: the multipoint dynamic monitoring autonomous control system in the industrial hydraulic is suitable for the application of a parallel hydraulic control system, a hydraulic stroke monitor and a one-way compensator are additionally arranged on an executive component of the parallel hydraulic control system, the hydraulic pressure and stroke data of the executive component are dynamically monitored in a boosting way, autonomous balance control can be carried out according to a main control instruction, the degree of automation is high, the installation is convenient, and the system has the following advantages;
1. The hydraulic pressure and the stroke of the executing piece are detected by one element of the hydraulic stroke monitor, the hydraulic stroke monitor is connected with the hydraulic executing piece by adopting an independent oil way of the communicating vessel, the installation is convenient, the internal arrangement is not needed, and three data of hydraulic pressure, stroke and stroke change rate can be synchronously detected;
2. The unidirectional compensator can be inserted into the work of the hydraulic execution part to dynamically balance the hydraulic execution part, ensure that the hydraulic execution part moves in place and has sufficient pressure, has an autonomous adjusting function to ensure the synchronous work of a plurality of hydraulic execution parts, and further can compensate the end pressure attenuation of a parallel hydraulic control system and lighten the pressure on a hydraulic pipeline;
3. The hydraulic stroke monitor monitors the execution process of the hydraulic execution part, when data abnormality occurs in the execution process of the hydraulic execution part, the sub controllers which are independently arranged corresponding to the hydraulic execution part can control the unidirectional compensator to work, the unidirectional compensator helps balance, if the balance effect of the unidirectional compensator is poor, an abnormality report is sent to the main controller, and the use is safer;
4. The cloud platform is connected to one side of the main controller, the cloud platform is connected with the upper computer, an operator of the upper computer can call control data of the main controller through the cloud platform and carry out corresponding control modification, operation is convenient, and further an abnormality report can be sent to the upper computer through the main controller, maintenance of staff is arranged by a holder of the upper computer, and dynamic monitoring effect is improved.
Drawings
FIG. 1 is a schematic diagram of a system for a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 2 is a schematic diagram of a first three-dimensional structure of a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 3 is a schematic diagram of a second three-dimensional structure of the multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 4 is a schematic diagram of a side view, partially cross-sectional structure of a multi-point dynamic monitoring autonomous control system in an industrial hydraulic pressure according to the present invention.
Fig. 5 is a schematic diagram of a schematic partial cross-sectional front view of a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 6 is a schematic diagram of a hydraulic stroke monitor of a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 7 is a schematic diagram of a balance piston structure of a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 8 is a schematic diagram of a unidirectional compensator of the multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
Fig. 9 is a schematic diagram of a connection state structure of a hydraulic control pipeline of the multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure.
Fig. 10 is a schematic view of a partial three-dimensional structure of a multi-point dynamic monitoring autonomous control system in industrial hydraulic pressure according to the present invention.
In the figure: 1. a hydraulic control station; 2. a synchronous hydraulic actuator; 3. a unidirectional compensator; 4. a hydraulic travel monitor; 5. a sub-controller; 6. an integral pipe sleeve; 7. a communication valve; 8. closing the valve; 11. an oil tank; 12. an oil filter; 13. a hydraulic pump; 14. a combination valve; 15. a hydraulic control line; 151. a hydraulic oil inlet pipe; 152. a hydraulic oil return pipe; 21. executing a sleeve; 22. an oil inlet; 23. an oil outlet; 24. an actuator lever; 25. an actuator piston; 26. detecting an interface; 27. a compensation interface; 31. a buffer sleeve; 32. a communication groove; 33. plugging the end cover; 34. a compensating air pump; 35. compensating and regulating a valve core; 36. a balance oil port; 37. an overflow valve port; 41. monitoring a tube; 42. detecting the joint; 43. a pressure-variable pressure sensor; 44. a balance piston; 45. a sliding resistance rod; 46. contacting the copper ring; 47. sliding the power connection plate; 48. an electrical contact; 49. and a wire holder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the present invention provides an embodiment: in modern hydraulic industrial system monitoring, for the multipoint hydraulic monitoring of the parallel hydraulic action system, mainly the device is provided with a factory main control matched hydraulic pressure and a stroke sensor element for detection, in the parallel hydraulic monitoring system, firstly, two detection elements are needed for detecting hydraulic pressure and stroke, so that the source of metering data is more, the connection between the detection elements and a hydraulic device is very complex, secondly, the problem of pressure attenuation at the tail end of the parallel hydraulic monitoring system is solved, and the compensation mode at the present stage mostly adopts the mode of increasing the pressure of a hydraulic conveying main pipeline, but the burden on the hydraulic main pipeline is larger.
Aiming at the problems, the application particularly discloses a multi-point dynamic monitoring autonomous control system in industrial hydraulic, wherein a data transmission part of the autonomous control system comprises a main controller, a data memory, a cloud platform, an API (application program interface) protocol and an upper computer, wherein the main controller acquires real-time data from a different executor, the data acquired and processed by the main controller are synchronously transmitted to the data memory and the cloud platform, and the cloud platform is accessed by the upper computer through the API protocol to acquire real-time industrial dynamic data;
Specifically, the autonomous control system adopts a mode of establishing a VPN encryption communication tunnel between a cloud platform based on a cloud end and a factory main controller, so that factory main control data can be synchronized to the cloud end, and then the cloud platform is connected with an upper computer (a mobile phone or a computer terminal) through an API protocol to send data to the upper computer, so that even if a technician is out of a factory, hydraulic multipoint dynamic monitoring data of the factory main control can be received, writing modification is performed on the main control, and when the upper computer sends modification data to the factory main controller, an API key and authority are required to be acquired, and personnel with insufficient levels are prevented from randomly modifying the factory main control data.
Further, the multi-point dynamic monitoring autonomous control system in the industrial hydraulic pressure further comprises a hydraulic control station 1, wherein the hydraulic control station 1 is a power core in the hydraulic system, and the specific hydraulic control station 1 at least comprises an oil tank 11, an oil filter 12, a hydraulic pump 13 and a plurality of combination valves 14;
The oil tank 11 is used for storing hydraulic oil, the oil filter 12 filters the circulated hydraulic oil to avoid blocking pipelines, the hydraulic pump 13 is a main power device of the hydraulic control station 1, the hydraulic pump 13 preferably adopts a gear pump or a plunger pump, one side of the hydraulic pump 13 is provided with a plurality of combination valves 14, the combination valves 14 comprise necessary valve bodies applied to hydraulic systems such as throttle valves, reversing valves and the like, and the combination valves are mainly used for controlling the whole flow direction and the switch of the hydraulic systems (the application of the pump station combination valves 14 in the current stage is not repeated in the common part).
Further, a hydraulic control pipeline 15 is connected and arranged at one side of any combination valve 14 of the hydraulic control station 1, and the specific hydraulic control pipeline 15 consists of a hydraulic oil inlet pipe 151 and a hydraulic oil return pipe 152 which are respectively connected to an oil inlet 22 and an oil outlet 23 at one side of the combination valve 14 of the hydraulic control station 1;
It should be noted that, the power system adopted in the application is a parallel hydraulic execution device, so that at least 3 groups of synchronous hydraulic actuators 2 are connected on the hydraulic control pipeline 15 in a shunt manner, a hydraulic oil inlet pipe 151 is connected with an oil inlet 22 of the synchronous hydraulic actuators 2, a hydraulic oil return pipe 152 is connected with an oil outlet 23 of the synchronous hydraulic actuators 2, hydraulic oil is pumped into the oil inlet 22 of the synchronous hydraulic actuators 2 from the hydraulic oil inlet pipe 151 by a hydraulic pump 13, excessive oil in the travelling process of the hydraulic actuators is recovered from the synchronous hydraulic actuators 2 by the hydraulic oil return pipe 152 and then is discharged to one side of the hydraulic control station 1, and a hydraulic stroke monitor 4 and a unidirectional compensator 3 are both arranged outside the synchronous hydraulic actuators 2 and are communicated with the inner cavity of the synchronous hydraulic actuators 2;
further, in order to solve the problem that the hydraulic pressure is insufficient or decayed at one side of the actuator due to a long pipeline distance or other reasons (except leakage) during the execution of the synchronous hydraulic actuator 2, an external one-way compensator 3 is arranged at one side of the fixed end of the synchronous hydraulic actuator 2, and the one-way compensator 3 is used for compensating the pressure of the synchronous hydraulic actuator 2 and releasing the pressure when the synchronous hydraulic actuator 2 is over-pressurized;
Further, the synchronous hydraulic actuator 2 is further provided with a hydraulic stroke monitor 4, the hydraulic stroke monitor 4 is externally arranged outside the synchronous hydraulic actuator 2 and is communicated with the inner cavity of the synchronous hydraulic actuator 2, on one hand, the hydraulic stroke monitor 4 dynamically monitors the hydraulic pressure and stroke data of the synchronous hydraulic actuator 2 connected with the hydraulic stroke monitor 4, on the other hand, the stroke and hydraulic pressure detection functions of the hydraulic actuator are integrated on a detection structure and are externally arranged on the synchronous hydraulic actuator 2, so that the convenience degree of detection and installation is improved, and the maintenance is more convenient;
Furthermore, when the hydraulic stroke monitor 4 detects the problem of pressure release or pressure shortage of the synchronous hydraulic actuator 2, the one-way compensator 3 can be moved by the sub-controller 5 connected to the hydraulic stroke monitor 4, the sub-controller 5 receives the monitoring data of the hydraulic stroke monitor 4, and the sub-controller 5 obtains the stroke and the pressure standard value of the working state from the main controller, judges the hydraulic pressure or the stroke of the synchronous hydraulic actuator 2 in which state the hydraulic pressure or the stroke is in through the comparison standard value and the monitoring data, and moves the one-way compensator 3 to intervene through the sub-controller 5 at the moment, if the intervention of the one-way compensator 3 cannot maintain the normal working state, the abnormal data is reported to the main controller through the sub-controller 5.
As can be seen from fig. 2 to 5 of the specification, the synchronous hydraulic actuator 2 includes an actuating sleeve 21, the actuating sleeve 21 has a cylindrical structure, two ends of the actuating sleeve 21 are respectively provided with an oil inlet 22 and an oil outlet 23, two ends of the actuating sleeve 21 are respectively closed by a top cover and a bottom cover, an actuating rod 24 is arranged through the top cover, an actuating piston 25 is connected to the end of the actuating rod 24 and cooperates with the actuating sleeve 21, a pair of detection interfaces 26 are arranged on the actuating sleeve 21 and matched with the hydraulic stroke monitor 4, and a compensation interface 27 is arranged on the matched unidirectional compensator 3;
In a specific implementation process, the execution sleeve 21 is an external protective structure of the synchronous hydraulic actuator 2, two ends of the execution sleeve 21 are sealed through a top cover and a bottom cover, so that an inner cavity of the execution sleeve 21 forms a closed space, the execution rod 24 and the execution piston 25 form an execution part of a hydraulic actuator, an oil inlet 22 and an oil outlet 23 on the execution sleeve 21 are respectively connected with a hydraulic conveying pipeline, thus, in the movement process of the execution piston 25, the oil is pumped into the oil inlet 22 and discharged through the oil outlet 23, the hydraulic pressure and the hydraulic oil quantity on two sides of the execution piston 25 are changed, the execution piston 25 drives the execution rod 24 to move to complete the execution of the hydraulic actuator, a pair of detection interfaces 26 on the execution sleeve 21 are required to be matched with the whole movement process of the execution piston 25 and are communicated with the hydraulic stroke monitor 4, and a compensation interface 27 communicated with the unidirectional compensator 3 is arranged on one side of the execution sleeve 21.
As can be seen from fig. 3 to 7 of the accompanying drawings, the hydraulic stroke monitor 4 comprises a monitor tube 41, wherein the monitor tube 41 is a tube body with two sealed ends, one side of the monitor tube 41 is provided with a pair of detection joints 42, the pair of detection joints 42 are connected with the pair of detection interfaces 26, a pair of pressure-variable pressure sensors 43 are assembled on the pair of detection joints 42, a balance piston 44 matched with the inner diameter is arranged in the monitor tube 41, the balance piston 44 is positioned between the pair of detection joints 42, sliding resistance rods 45 are axially arranged through the two ends of the monitor tube 41, the inner side of the balance piston 44 is provided with a contact copper ring 46, and the contact copper ring 46 is wrapped on the sliding resistance rods 45;
In a specific implementation process, in order to integrate hydraulic monitoring and stroke monitoring, the hydraulic oil is arranged in the monitoring pipe 41, a pair of detection joints 42 of the monitoring pipe 41 are respectively communicated with a pair of detection interfaces 26 covering the stroke of the synchronous hydraulic actuator 2, so that a secondary pipe which is balanced with the pressure in the execution sleeve 21 is formed in the detection pipe, when the pressure on the side of the execution sleeve 21 changes, the pressure on the side of the monitoring pipe 41 communicated with the secondary pipe is synchronously changed, and thus the balance piston 44 makes the same stroke change as the execution piston 25 on the side of the synchronous hydraulic actuator 2 under the balance action of the oil pressure on two sides, and the movement stroke of the synchronous hydraulic actuator 2 corresponding to the movement reaction of the balance piston 44 is made;
Further, in order to convert the stroke variation induced by the pressure variation into quantized data, a sliding resistor is formed by utilizing a sliding resistor rod 45 and a contact copper ring 46 in a balance piston 44, a power supply of a sub-controller is connected with the sliding resistor rod 45 and the balance piston 44 to form a stroke monitoring device for detecting the position of the balance piston 44 according to the current variation, a sliding power connection plate 47 is arranged parallel to the sliding resistor rod 45 on one side of a monitoring tube 41, a power connection between a power connection point 48 positioned on the balance piston 44 and the sliding power connection plate 47 and the contact copper ring 46 is conducted, the sliding power connection plate 47 extends to the outside of a monitoring tube, a connection loop is formed between the sliding power connection plate 47 and the power connection point 48 of the balance piston 44, and further in order to ensure the tightness of the monitoring tube 41, the sliding resistor rod 45 and the end parts of the sliding power connection plate 47 and the monitoring tube 41 are subjected to sealing treatment, and the power connection with the sub-controller 5 can be completed through a pair of wire holders 49 respectively arranged at the end parts of the sliding resistor rod 45 and the sliding power connection plate 47, so that the tightness of the external connection wire connection is ensured;
Since the inner cavity of the execution sleeve 21 is communicated with the inner cavity of the monitoring pipe 41, when the hydraulic oil in the execution sleeve 21 flows into or out of the monitoring pipe 41, the strain gauge (piezoelectric crystal, etc.) of the pressure-change type pressure sensor 43 on the detection joint 42 is forced to deform, so that the pressure change of the actuator inevitably causes the change of the detection value of the pressure-change type pressure sensor 43, thus two kinds of detection of the hydraulic pressure and the stroke of the synchronous hydraulic actuator 2 are completed by one device.
As can be seen from fig. 2-5 and 8 of the specification, in order to complement the problem of insufficient pressure of the end effector of the parallel hydraulic actuator, the application also discloses a unidirectional compensator 3 which consists of a buffer sleeve 31, a communication groove 32, a plugging end cover 33, a compensating air pump 34, a compensating control valve core 35 and a balance oil port 36;
In the specific implementation process, the buffer sleeve 31 is communicated with the hydraulic control pipeline 15 through the balance oil port 36, when the unidirectional compensator 3 is not involved in the operation of the synchronous hydraulic actuator 2 through the check valve on the balance oil port 36, the internal part is kept in a normal oil quantity state through the balance oil port 36, when the unidirectional compensator 3 is involved in compensating the internal hydraulic pressure of the synchronous hydraulic actuator 2, the volume of the compensation regulation valve core 35 is regulated and controlled through the compensation air pump 34, the volume of the compensation regulation valve core 35 is changed, so that a balance plug arranged at the end part of the compensation regulation valve core 35 slides in the buffer sleeve 31, the hydraulic pressure on one side of the buffer sleeve 31 is improved, the pressure in the buffer sleeve 31 can be improved, the pressure is conducted to one side of the synchronous hydraulic actuator 2 by utilizing the pressure in the buffer sleeve 31, and the overflow valve port 37 is required to be provided in a normally open state, and in the natural state of the compensation regulation valve core 35, when the pressure on one side of the synchronous hydraulic actuator 2 is excessively high, the compensation valve core 35 is controlled, the volume of the compensation regulation valve core 35 is reduced, so that the volume of the compensation regulation valve core 35 is exposed, and the hydraulic pressure of the overflow valve port 37 is discharged from the redundant valve port 37.
As can be seen from fig. 2 and fig. 9-10 of the specification, in order to further improve the convenience in the installation process, facilitate the quick replacement and maintenance of the synchronous actuator, reduce the trouble of the connecting pipeline, connect the balance oil port 36 of the unidirectional compensator 3 and the oil inlet 22 of the synchronous hydraulic actuator 2 to the hydraulic control pipeline 15 through the integral pipe sleeve 6, and further the integral pipe sleeve 6 comprises a connecting pipe sleeve, a pair of connecting flanges are arranged at two ends of the connecting pipe sleeve, the connecting pipe sleeve is connected to the hydraulic control pipeline 15 through the connecting flanges, a communication valve 7 is arranged on the connecting flanges, and a sealing valve 8 is correspondingly connected to the hydraulic control pipeline 15;
In the concrete implementation process, the main body of the integrated pipe sleeve 6 is a connecting pipe sleeve, two ends of the connecting pipe sleeve are connected with one side of oil inlet on the hydraulic control pipeline 15 through a pair of connecting flanges, the connecting pipe sleeve can be opened and closed through the communicating valve 7, and the sealing valve 8 is arranged at the corresponding position of the hydraulic control pipeline 15, when the hydraulic control pipeline is replaced, the sealing valve 8 and the communicating valve 7 at the corresponding position are closed, the communicating valve 7 is connected with the oil inlet 22 of the synchronous hydraulic actuator 2, waste caused by overflow of hydraulic oil is avoided, and therefore the synchronous hydraulic actuator 2 and the unidirectional compensator 3 are detached together, replaced parts are replaced, so that the hydraulic system is convenient to disassemble to the greatest extent, and long-time shutdown of the hydraulic system is avoided.
Example 1:
During the execution of the synchronous hydraulic actuator 2, the specific hydraulic stroke monitor 4 works as follows, hydraulic oil is pumped into the synchronous hydraulic actuator 2 by the hydraulic control pipeline 15, because the detection interface 26 on the side of the oil inlet 22 of the execution sleeve 21 is communicated with the detection interface 26 of the monitoring tube 41, part of hydraulic oil enters the side of the monitoring tube 41 under the action of common pressure, the detection joint 42 on the side of the oil outlet 23 discharges part of hydraulic oil into the execution sleeve 21 at the moment, and during the process that the execution piston 25 drives the execution rod 24 to move, the balance piston 44 in the monitoring tube 41 synchronously displaces under the action of common pressure, and the sub-controller 5 on the hydraulic stroke monitor 4 needs to dynamically monitor three data, namely stroke, stroke change rate and pressure data.
The monitoring of the hydraulic pressure is realized by the pressure change type pressure sensor 43 on the pair of detecting joints 42, when the external pressure changes, the balance piston 44 in the monitoring pipe 41 is pushed to move, the detecting joint 42 and the detecting joint 26 form a channel, the strain gauge of the pressure change type pressure sensor 43 is deformed by the hydraulic pressure change on one side, and the internal pressure of the synchronous hydraulic actuator 2 can be detected by the deformation degree of the strain gauge.
The specific process of dynamically monitoring the stroke data is that the overall resistance of the sliding resistance rod 45 is R, when the balance piston 44 is at the initial position, the initial current is calculated according to the current formula i=v/R, the position of the sliding resistance rod 45 contacted with the sliding contact copper ring 46 of the balance piston 44 changes, and since only the sliding resistance rod 45 on one side of the wire is connected to the circuit, the resistance at this time is R 1, according to the current formula I 1=V/R1, the current value at this time is related to the resistance value of the sliding resistance rod 45 connected with the balance piston 44, and then a linear formula is formed by relating the overall length L of the sliding resistance rod 45 to the current value I, the distance represented by the resistance unit change can be calculated by L/I, and then the sliding stroke of the balance piston 44 is x= (L/I) × (I-I 1), so that the execution stroke of the synchronous hydraulic actuator 2 can be more intuitively and accurately reflected according to the formula.
The stroke change rate of the actuator can be calculated by s=x/T (i.e. the displacement time is provided by a clock circuit built in the sub-controller), and the unit change rate of the stroke is collected, on the one hand, when the pressure at the tail end of the parallel hydraulic actuating system is insufficient, the motion of the actuating piston 25 is slowed down, the unidirectional compensator 3 is interposed at this time, and on the other hand, when the synchronous hydraulic actuator 2 has a leakage problem, the movement rate of the piston is changed fast and slow, if the movement of the piston is fast, the leakage problem is definitely generated, and if the intervention of the unidirectional compensator 3 cannot solve the piston movement slowing down, the problem of the leakage of the actuator can be judged.
The hydraulic stroke monitor 4 adopts an external communicating vessel structure to be communicated with the synchronous hydraulic actuator 2, and the execution pressure on one side of the synchronous hydraulic actuator 2 is directly transmitted to one side of the hydraulic stroke monitor 4 to realize synchronous and accurate detection of the stroke of the actuator piston through the inner cavity communication, and the external structure is adopted to enable connection to be more convenient, and the detection result is more accurate.
Example 2:
When the unidirectional compensator 3 is in operation, high-pressure air is injected into the compensation regulation valve core 35 through the compensation air pump 34, the volume of the compensation regulation valve core 35 is changed due to the fact that the compensation regulation valve core 35 is a cylindrical variable volume air bag body with a telescopic structure, so that a balance plug arranged at the end part of the compensation regulation valve core 35 slides in the buffer sleeve 31, the balance plug pushes hydraulic oil to conduct pressure compensation to one side of the synchronous hydraulic actuator 2 through the communication groove 32, at the moment, a unidirectional valve positioned on the balance oil port 36 is in a closed state under the pressure effect, a regulation valve seat is connected between the compensation regulation valve core 35 and the compensation air pump 34, an air pressure regulation valve is arranged on the regulation valve seat, a switch of the regulation valve seat can be closed through the air pressure regulation valve, and the pressure and the volume in the compensation regulation valve core 35 are kept in a stable state.
When the pressure on one side of the synchronous actuator is abnormally increased, and the conventional pressure relief means does not work, the air pressure in the compensation regulation valve core 35 is released through the compensation air pump 34, so that the volume of the compensation regulation valve core 35 is reduced to the minimum, the overflow valve port 37 is exposed, the internal hydraulic oil is discharged outwards, and the damage to the cylinder body of the synchronous hydraulic actuator 2 is avoided.
The one-way compensator 3 has the function of balancing the pressure of one side of the synchronous hydraulic actuator 2, so that the problem of pressure decay at the tail end of a parallel hydraulic actuator system can be avoided, the hydraulic actuator is ensured to be executed in place, the use safety is improved, and the problems of the hydraulic actuator that the hydraulic actuator is locked in place or the action rates are different due to hydraulic decay are avoided.
Example 3:
the application also discloses a control method of the multi-point dynamic monitoring autonomous control system in the industrial hydraulic pressure, which comprises the following steps:
Step S1: the method comprises the steps that a control command is issued to a hydraulic control station through a main controller, a plurality of synchronous hydraulic actuators are regulated to work through a hydraulic control pipeline, and a reference control command comprising target pressure, target stroke amount and target stroke change rate is issued to a plurality of sub-controllers through the main controller;
Step S2: the hydraulic stroke monitor is connected with the liquid inlet end and the liquid outlet end of the synchronous hydraulic actuator, and respectively detects the liquid inlet end pressure and the liquid outlet end pressure of the synchronous hydraulic actuator, the pressure and the stroke detected by the hydraulic stroke monitor and the stroke change data are transmitted back to the sub-controllers, the main controller stores the detection data transmitted back by the sub-controllers into the data memory, and the sub-controllers independently balance the synchronous hydraulic actuator synchronously and in the following multiple conditions;
Step S3: when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is insufficient, the sub-controller controls the unidirectional compensator to work, high-pressure hydraulic oil is pushed into the synchronous hydraulic actuator to supplement the internal pressure of the synchronous hydraulic actuator, and when the hydraulic stroke monitor detects that the pressure is the same, the unidirectional compensator resets and supplements the hydraulic oil; when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is too high and the hydraulic control station cannot adjust, the one-way compensator is controlled by the sub-controller to release pressure, the one-way compensator is controlled to expose the overflow valve port, the high-pressure hydraulic oil is discharged out of the part, and if the overflow valve port is opened, the phenomenon of pressure drop is still avoided or obvious pressure drop is not seen after long-time oil discharge, the sub-controller sends a data exception report to the main controller;
Step S4: when the hydraulic stroke monitor detects that the stroke of the synchronous hydraulic actuator is not in place, the sub-controller controls the unidirectional compensator to work, and the unidirectional compensator pumps part of hydraulic oil into the hydraulic cylinder so as to enable the synchronous hydraulic actuator to move in place;
step S5: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too high, the hydraulic stroke monitor represents that leakage occurs at one side of the oil outlet, and the sub-controller sends an abnormal report to the main controller;
Step S6: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too slow, the hydraulic stroke monitor compensates the pressure to the synchronous hydraulic actuator through the unidirectional compensator to improve the advancing rate, if the unidirectional compensator still has no obvious lifting after working, the oil inlet end of the synchronous hydraulic actuator is proved to have leakage, and the sub-controller sends an abnormality report to the main controller;
Step S7: according to the abnormal report sent by the sub-controller to the main controller, determining which abnormal problem occurs to the synchronous hydraulic actuator, and the main controller on duty personnel arrange the staff to overhaul, or the main controller synchronizes the abnormal problem of the data to the cloud platform, and the cloud platform is connected with the upper computer through an API (application program interface) protocol to alarm and arrange the staff to overhaul.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The multi-point dynamic monitoring autonomous control system in the industrial hydraulic pressure comprises a main controller, a data storage, a cloud platform and an upper computer, wherein the main controller acquires real-time monitoring data, the data acquired and processed by the main controller is transmitted to the data storage and the cloud platform, the upper computer accesses the cloud platform to acquire real-time industrial dynamic data,
The hydraulic control station at least comprises an oil tank, an oil filter, a hydraulic pump and a plurality of combination valves, one side of any combination valve of the hydraulic control station is connected with a hydraulic control pipeline, and at least 3 groups of synchronous hydraulic actuators are connected on the hydraulic control pipeline in a split manner;
The one-way compensator is arranged at one side of the fixed end of the synchronous hydraulic actuator, is used for compensating the pressure of the synchronous hydraulic actuator when the pressure of the synchronous hydraulic actuator is insufficient or decays, and is used for releasing pressure when the synchronous hydraulic actuator is over-pressurized;
the synchronous hydraulic actuator is also provided with a hydraulic stroke monitor, and the hydraulic stroke monitor detects hydraulic pressure and stroke data of the synchronous hydraulic actuator connected with the synchronous hydraulic actuator;
The hydraulic stroke monitor and the one-way compensator are both externally arranged on the synchronous hydraulic actuator and are communicated with the inner cavity of the synchronous hydraulic actuator;
The hydraulic stroke monitor is connected with a sub-controller, the sub-controller is respectively connected with the unidirectional compensator and the main controller, and the main controller only reports abnormal data to the cloud platform;
The synchronous hydraulic actuator comprises an actuating sleeve, wherein the actuating sleeve is of a cylindrical structure, an oil inlet and an oil outlet are respectively arranged at two ends of the actuating sleeve, a pair of detection interfaces are arranged on the actuating sleeve in a manner of matching with the hydraulic stroke monitor, and a compensation interface is arranged on the actuating sleeve in a manner of matching with the unidirectional compensator;
The hydraulic stroke monitor comprises a monitoring pipe, the monitoring pipe is a pipe body with two sealed ends, one side of the monitoring pipe is provided with a pair of detection joints, the pair of detection joints are connected with a pair of detection interfaces, a pair of pressure-variable pressure sensors are arranged on the pair of detection joints, a balance piston matched with the inner diameter is arranged in the monitoring pipe, the balance piston is positioned between the pair of detection joints, sliding resistance rods are axially arranged at two ends penetrating the monitoring pipe, a contact copper ring is arranged on the inner side of the balance piston, and the contact copper ring is wrapped on the sliding resistance rods.
2. The system according to claim 1, wherein the synchronous hydraulic actuator further comprises an actuating rod, two ends of the actuating sleeve are respectively closed by a top cover and a bottom cover, the actuating rod is arranged through the top cover, and an actuating piston is connected to the end of the actuating rod and is matched with the actuating sleeve.
3. The automatic control system for multi-point dynamic monitoring in industrial hydraulic pressure according to claim 2, wherein the hydraulic stroke monitor further comprises a sliding power receiving plate, the sliding power receiving plate is arranged parallel to the sliding resistance rod on one side of the monitoring pipe, the power receiving contacts on the balance piston are connected with the sliding power receiving plate in a sliding mode, and a pair of wire holders are respectively arranged at the ends of the sliding resistance rod and the sliding power receiving plate.
4. The automatic control system for multi-point dynamic monitoring in industrial hydraulic pressure according to claim 3, wherein the unidirectional compensator comprises a buffer sleeve, the buffer sleeve and the execution sleeve are arranged on one side of the execution sleeve in parallel, a communication groove is formed in the buffer sleeve and communicated with a compensation interface, the end part of the buffer sleeve is connected with a plugging end cover, a compensation air pump is arranged on the plugging end cover and communicated with the compensation air pump, a compensation regulating valve core is arranged on the buffer sleeve, a balance oil port extends out of the buffer sleeve and is communicated with a hydraulic control pipeline, and an overflow valve port is further arranged on the buffer sleeve.
5. The system according to claim 4, wherein the compensation control valve core is a cylindrical variable volume air bag body with a telescopic structure, the compensation air pump is used for adjusting the volume of the compensation control valve core, and a balance plug matched with the inner diameter of the buffer sleeve is arranged at the end part of the compensation control valve core.
6. The system according to claim 5, wherein a regulating tube seat is connected between the compensation regulating valve core and the compensation air pump, and an air pressure regulating valve is arranged on the regulating tube seat.
7. A control method of a multi-point dynamic monitoring autonomous control system in an industrial hydraulic pressure, applied to the multi-point dynamic monitoring autonomous control system in an industrial hydraulic pressure as claimed in any one of claims 1 to 6, characterized by comprising the steps of:
Step S1: the method comprises the steps that a control command is issued to a hydraulic control station through a main controller, a plurality of synchronous hydraulic actuators are regulated to work through a hydraulic control pipeline, and a reference control command comprising target pressure, target stroke amount and target stroke change rate is issued to a plurality of sub-controllers through the main controller;
Step S2: the hydraulic stroke monitor is connected with the liquid inlet end and the liquid outlet end of the synchronous hydraulic actuator, and respectively detects the liquid inlet end pressure and the liquid outlet end pressure of the synchronous hydraulic actuator, the pressure and the stroke detected by the hydraulic stroke monitor and the stroke change data are transmitted back to the sub-controllers, the main controller stores the detection data transmitted back by the sub-controllers into the data memory, and the sub-controllers independently balance the synchronous hydraulic actuator synchronously and in the following multiple conditions;
Step S3: when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is insufficient, the sub-controller controls the unidirectional compensator to work, high-pressure hydraulic oil is pushed into the synchronous hydraulic actuator to supplement the internal pressure of the synchronous hydraulic actuator, and when the hydraulic stroke monitor detects that the pressure is the same, the unidirectional compensator resets and supplements the hydraulic oil; when the hydraulic stroke monitor detects that the execution pushing pressure of the corresponding synchronous hydraulic actuator is too high and the hydraulic control station cannot adjust, the one-way compensator is controlled by the sub-controller to release pressure, the one-way compensator is controlled to discharge the high-pressure hydraulic oil, and if the one-way compensator is used, the phenomenon of pressure drop is still avoided or obvious pressure drop is not seen after long-time oil discharge, the sub-controller sends a data exception report to the main controller;
Step S4: when the hydraulic stroke monitor detects that the stroke of the synchronous hydraulic actuator is not in place, the sub-controller controls the unidirectional compensator to work, and the unidirectional compensator pumps part of hydraulic oil into the hydraulic cylinder so as to enable the synchronous hydraulic actuator to move in place;
step S5: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too high, the hydraulic stroke monitor represents that leakage occurs at one side of the oil outlet, and the sub-controller sends an abnormal report to the main controller;
Step S6: when the hydraulic stroke monitor detects that the stroke change rate of the synchronous hydraulic actuator is too slow, the hydraulic stroke monitor compensates the pressure to the synchronous hydraulic actuator through the unidirectional compensator to improve the advancing rate, if the unidirectional compensator still has no obvious lifting after working, the oil inlet end of the synchronous hydraulic actuator is proved to have leakage, and the sub-controller sends an abnormality report to the main controller;
Step S7: according to the abnormal report sent by the sub-controller to the main controller, determining which abnormal problem occurs to the synchronous hydraulic actuator, and the main controller attended personnel arrange the staff to overhaul, or the main controller synchronizes the abnormal problem of the data to the cloud platform, and the cloud platform is connected with the upper computer to give an alarm to arrange the staff to overhaul.
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