Hydraulic control system and apparatus for split positioning of ship body

[0023] The present invention will be further explained below in conjunction with the drawings.

[0024] Such as figure 1 As shown, the hydraulic control system of the present invention for the segmented positioning of the ship body includes a constant pressure oil source pump station B1, a first hydraulic cylinder Y1, a second hydraulic cylinder Y2, a third hydraulic cylinder Y3, and a first hydraulic control check valve F3, second hydraulic control check valve F4, first proportional flow valve F5, second proportional flow valve F7, first electro-hydraulic directional valve F6, second electro-hydraulic directional valve F8, three-position four-way solenoid valve F2 And diverter valve F1;

[0025] The piston rod of the first hydraulic cylinder Y1 moves up and down and is provided with a displacement sensor; the rodless cavity oil port of the first hydraulic cylinder Y1 is connected to the B oil port of the first hydraulic control check valve F3, which has a rod cavity oil port Connect the B port of the second hydraulic control check valve F4; the A port of the first hydraulic control check valve F3 is connected to the A port of the three-position four-way solenoid valve F2, and the second hydraulic control check valve F4 A The oil port is connected to the B port of the three-position four-way solenoid valve F2; the P port of the three-position four-way solenoid valve F2 is connected to the B port of the diverter valve F1, and the T port of the three-position four-way solenoid valve F2 is connected to B oil port of B1 of constant pressure oil source pumping station; thus forming a lock loop in which the piston rod of the first hydraulic cylinder Y1 can be kept stable at any position within the stroke range.

[0026] It also includes an accumulator (X1) and a pressure gauge (J1). The accumulator (X1) and the pressure gauge (J1) are connected to one end of the rodless chamber of the first hydraulic cylinder (Y1) and connected to the hydraulic cylinder ( Y1) The first check valve (F3) at one end of the rodless cavity forms a parallel circuit. It is used to display the oil pressure of the first hydraulic cylinder Y1 and act as a safety warning to the load. Due to the application of the accumulator X1, the locking circuit of the first hydraulic cylinder Y1 is also a buffer circuit, which can reduce the The impact of oil on the pipeline and components caused by the reversing operation of the four-way solenoid valve F2.

[0027] The rodless cavity oil port of the second hydraulic cylinder Y2 is connected to the A port of the first electro-hydraulic directional valve F6, and the rod cavity oil port is connected to the B port of the first electro-hydraulic directional valve F6. The P port of the directional valve F6 is connected to the B port of the first proportional flow valve F5, and the T port of the first electro-hydraulic directional valve F6 is connected to the B port of the constant pressure oil source pump station B1; The A port of the flow valve F5 is connected to the C port of the diverter valve F1; the circuit connected in this way is a stepless speed regulation circuit, which supports the second hydraulic cylinder Y2 for stopping, reversing, and variable speed telescopic movement. When the first electro-hydraulic reversing valve F6 is in the neutral position, the circuit has better locking performance.

[0028] The rodless cavity oil port of the third hydraulic cylinder Y3 is connected to the A port of the second electro-hydraulic directional valve F8, and the rod cavity oil port is connected to the B port of the second electro-hydraulic directional valve F8. The P port of the reversing valve F8 is connected to the B port of the second proportional flow valve F7, and the T port of the second electro-hydraulic reversing valve F8 is connected to the B port of the constant pressure oil source pump station B1; the second ratio The A port of the flow valve F7 is connected to the D port of the diverter valve F1. The principle is the same as that of the second hydraulic cylinder Y2. The whole circuit is a stepless speed regulation circuit, which supports the third hydraulic cylinder Y3 to stop, change direction, and change variable speed. When the second electro-hydraulic directional valve F8 is in the neutral position, This circuit has better locking performance.

[0029] The first electro-hydraulic directional valve F6 and the second electro-hydraulic directional valve F8 are both three-position four-way electro-hydraulic directional valves.

[0030] The main principle of the control algorithm of the PCL control circuit of the present invention can be illustrated in FIG. 2.

[0031] Control image 3 Schematic diagram of the device, the first, second, and third hydraulic cylinders are arranged orthogonally and are arranged on the operating platform 1; one end of the piston rods of the second hydraulic cylinder Y2 and the third hydraulic cylinder Y3 is hinged to the first hydraulic cylinder Y1 The other end of the cylinder sleeve 2 is hinged on the operating platform 1; the end of the cylinder sleeve of the first hydraulic cylinder Y1 is placed on the operating platform 1, and the displacement sensor on the first hydraulic cylinder Y1 is connected to the PLC control circuit;

[0032] The operating platform 1 is provided with a fixed support baffle 3, and the cylinder sleeve ends of the second hydraulic cylinder Y2 and the third hydraulic cylinder Y3 are hinged on the support baffle 3.

[0033] The piston rod of the first hydraulic cylinder Y1 moves vertically to the operating platform 1, and the second and third hydraulic cylinders Y2 and Y3 push and pull the first hydraulic cylinder Y1 on a horizontal plane to move back and forth and left and right. The model specifications of the second hydraulic cylinder Y2 and the third hydraulic cylinder Y3 are exactly the same.

[0034] From the perspective of the plane mechanism, the motion mechanism relationship between the three hydraulic cylinders can be regarded as a three-link mechanism consisting of four rotary pairs and two moving pairs (the piston rod of the first hydraulic cylinder Y1 is not considered Lifting motion), such as Figure 2A As shown, four circles represent four slewing pairs; two straight lines with initial lengths marked as L represent connecting rods with two moving pairs, that is, the second hydraulic cylinder Y2 and the third hydraulic cylinder Y3; the straight line with fixed length C Represents the first hydraulic cylinder Y1 (cylinder liner). Since the second and third hydraulic cylinders Y2 and Y3 are hinged on the fixed support baffle 3, the positions of these two rotary pairs can be regarded as fixed, and will not change with the expansion and contraction of the second and third hydraulic cylinders Y2 and Y3 . And because the first hydraulic cylinder Y1 moves in the horizontal plane, it can be used as a mass point, so Figure 2A Can be further reduced to Figure 2B. Assuming that the initial lengths of the second and third hydraulic cylinders Y2 and Y3 are both L and the intersection point is O, a rectangular coordinate system is established at the intersection point O. When the first hydraulic cylinder Y1 is in the telescopic range of the second and third hydraulic cylinders Y2 and Y3 Any point within (x 1 , Y 1 ) Pan to another point (x 2 , Y 2 ), such as Figure 2C As shown, the geometric relationship can be obtained:

[0035] Extension of the second hydraulic cylinder Y2 Lx = ( l + x 2 ) 2 + y 2 2 - ( l + x 1 ) 2 + y 1 2

[0036] Extension of the third hydraulic cylinder Y3 Ly = ( l + y 2 ) 2 + x 2 2 - ( l + y 1 ) 2 + x 1 2

[0037] Without loss of generality, it can be defined as:

[0038] Lx = ( l + x ) 2 + y 2 - ( l + x 0 ) 2 + y 0 2

[0039] Ly = ( l + y ) 2 + x 2 - ( l + y 0 ) 2 + x 0 2

[0040] Where (x 0 , Y 0 ) Is the initial position of the hydraulic cylinder Y1 in the plane;

[0041] The variable x is the translation distance of the hydraulic cylinder Y1 in the X axis direction;

[0042] The variable y is the translation distance of the hydraulic cylinder Y1 in the Y-axis direction;

[0043] The position and distance information can be measured and recorded by the displacement sensor on the first hydraulic cylinder Y1. In this way, the functional relationship between the translation distance of the hydraulic cylinder Y1 and the expansion and contraction of the hydraulic cylinder Y2 and Y3 is established.

[0044] The specific working mode of the present invention is as follows:

[0045] The object (or load) is placed on the first hydraulic cylinder Y1. Through the closing of the electrical switch used to control the first hydraulic cylinder Y1, a corresponding current signal is sent to the three-position four-way solenoid valve F2 to change the direction of oil flow in the pipeline, and then control the piston rod operation of the first hydraulic cylinder Y1 Ascending, stopping, descending movement, adjust the position of the object in the height direction.

[0046] Through the closing of the electrical switch used to control the second hydraulic cylinder Y2, the corresponding current signal is sent to the first three-position four-way electro-hydraulic valve F6 to change the oil flow direction in the pipeline, and then control the piston of the third hydraulic cylinder Y3 The rod is extended, stopped, and shortened. At the same time, the entire system cooperates with the PCL control circuit to automatically control the expansion and contraction speed of the second hydraulic cylinder Y2 and the third Y3 to solve the contradiction between the movement of the two cylinders and ensure the translation of the first hydraulic cylinder Y1. Since the input of the PLC control circuit comes from the position monitoring record of the first hydraulic cylinder Y1 by the displacement sensor, its output is transmitted to the proportional flow valves F5, F7 and the electro-hydraulic control valves F6, F8. So that the object can move in one direction along a straight line in the horizontal plane.

[0047] By closing the electric switch for controlling the hydraulic cylinder Y3, the operation of the hydraulic cylinder Y3 is the same as that of the hydraulic cylinder Y2.

[0048] The free combination of three or more such devices can realize the adjustment of the six degrees of freedom of the hull section. In the specific operation, it is necessary to place the segmented strong structure on the end face of the piston rod of the device for lifting motion. When the crane places the segment on these devices, it can leave for other work, and the positioning work is all completed by these devices. .