Track change control system and rescue crane

Abstract

The present invention discloses a track change control system and rescue crane in the field of railway emergency rescue technology, comprising: a hydraulic pump connected to a hydraulic oil tank and a control valve assembly to pump hydraulic oil to the control valve assembly; a control valve assembly connected to a horizontal oil cylinder and a hydraulic pump to control the movement of the horizontal oil cylinder by controlling the on-off of each horizontal oil cylinder oil circuit, and connected to the hydraulic oil tank via an oil return line; a horizontal oil cylinder connected to the upper vehicle body and vertical support via a mechanical pin shaft and connected to the hydraulic oil tank via an oil return line; a variable mechanism connected to a load feedback loop between the hydraulic pump and the control valve assembly to provide the required hydraulic oil flow for the movement of the horizontal oil cylinder by adjusting the displacement of the hydraulic pump; and a relief valve connected to the hydraulic pump and the hydraulic oil tank. The present invention can ensure that the forward and backward movement speed of the entire vehicle body is consistent during the track change process, and prevent deformation of the support leg structure during the track change process.

Description

Technical Field

[0001] The invention relates to a track change control system and a rescue crane, belonging to the technical field of railway emergency rescue. Background Art

[0002] China's achievements in high-speed rail development are widely recognized, but the development of rescue equipment for handling high-speed rail emergencies lags behind. Currently, there are no dual-purpose road-rail cranes that can meet the needs of high-speed rail emergency rescue, and the system relies solely on conventional railway cranes or road cranes. After arriving at the accident site along the route occupied by the vehicle involved, a railway rescue crane typically faces the task of changing tracks and then relocating the overturned vehicle to an adjacent track. Currently, no such rescue vehicle can cross-track without the aid of an external lifting device. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a track change control system and a rescue crane, which can ensure that the front and rear movement speeds of the entire vehicle body are consistent during the track change process and prevent the support leg structure from being deformed during the track change process.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] In a first aspect, the present invention provides a track change control system, comprising:

[0006] Hydraulic pump: connects the hydraulic oil tank and the control valve assembly to pump the hydraulic oil to the control valve assembly;

[0007] Control valve assembly: connects the horizontal cylinder and the hydraulic pump, controls the horizontal cylinder's movement by controlling the on-off of each horizontal cylinder's oil circuit, and connects to the hydraulic oil tank through the return oil circuit;

[0008] Horizontal cylinder: connected to the upper body and vertical support through mechanical pins, and connected to the hydraulic oil tank through the oil return line;

[0009] Variable mechanism: connected to the load feedback loop between the hydraulic pump and the control valve assembly, it provides the required hydraulic oil flow for the horizontal cylinder movement by adjusting the displacement of the hydraulic pump;

[0010] Relief valve: connects the hydraulic pump and the hydraulic oil tank. When the hydraulic system pressure exceeds its set pressure value, the relief valve opens and the hydraulic oil at the hydraulic pump outlet returns to the hydraulic oil tank through the relief valve;

[0011] Two-way flow valve: one end is connected to the load feedback loop, and the other end is connected to the hydraulic oil tank;

[0012] First one-way valve: one end is connected to the oil return line, and the other end is connected to the hydraulic oil tank to keep the return oil pressure of the control valve assembly at the set value of the first one-way valve.

[0013] Furthermore, the control valve assembly includes a switching valve, a constant pressure differential valve, a second one-way valve and a secondary relief valve, wherein: one end of the constant pressure differential valve is connected to the outlet of the switching valve and the other end is connected to the horizontal oil cylinder, one end of the second one-way valve is connected to the return oil circuit and the other end is connected to the rod chamber of the horizontal oil cylinder, and one end of the secondary relief valve is connected to the return oil circuit and the other end is connected to the rodless chamber of the horizontal oil cylinder.

[0014] Furthermore, the section valve is an electric proportional valve, and the section valve core is controlled to be in the upper position or the lower position by two proportional electromagnets respectively. The flow area A of the section valve is proportional to the current of the electromagnet; when no power is supplied, the section valve is in the middle position, and the hydraulic oil pumped out by the hydraulic pump is cut off here; when the section valve is in the upper position, the hydraulic oil passes through the section valve and the constant pressure differential valve to the rod chamber of the horizontal cylinder, and the horizontal cylinder retracts; when the section valve is in the lower position, the hydraulic oil passes through the section valve and the constant pressure differential valve to the rodless chamber of the horizontal cylinder, and the horizontal cylinder extends.

[0015] Furthermore, when the section valve is energized, the constant pressure differential valve is connected to the hydraulic oil circuit at the outlet of the hydraulic pump, and the hydraulic oil pushes the valve core of the constant pressure differential valve to the upper position to connect, and the hydraulic oil enters the load feedback oil circuit through the upper throttle port. The load feedback oil circuit is divided into two paths, one enters the right chamber of the variable mechanism, and the other acts on the lower chamber of the constant pressure differential valve. The constant pressure differential valve makes the pressure difference before and after the section valve △ P is kept at a constant value, and the flow rate through the regulating valve is proportional to the current passing through the regulating valve.

[0016] Furthermore, when the valve core of the section valve is at the upper maximum stroke, the flow area is A max , when in the lower maximum stroke, the flow area is 2A max , that is, the maximum flow Q passing through the upper position of the valve core B is the lower maximum flow Q A 1 / 2, that is, Q B =Q A / 2, the rodless cavity area of ​​the horizontal oil cylinder is S0, and the rod cavity area is S0 / 2.

[0017] Furthermore, when the rod chamber pressure of the horizontal oil cylinder is higher than the return oil pressure, the second one-way valve is closed; when the rod chamber pressure of the horizontal oil cylinder is lower than the return oil pressure, the second one-way valve is opened.

[0018] Furthermore, when the pressure in the rodless chamber of the horizontal cylinder is higher than the set pressure value of the secondary relief valve, the secondary relief valve opens, and the hydraulic oil in the rodless chamber is connected to the return oil circuit back to the oil tank. When the pressure in the rodless chamber is lower than the return oil pressure, the one-way valve opens, and the hydraulic oil in the return oil circuit flows into the rodless chamber of the horizontal cylinder.

[0019] Furthermore, the control valve assembly includes a left front control valve assembly, a left rear control valve assembly, a right front control valve assembly and a right rear control valve assembly, which respectively control the extension or retraction of the left front horizontal cylinder, the left rear horizontal cylinder, the right front horizontal cylinder and the right rear horizontal cylinder.

[0020] In a second aspect, the present invention provides a rescue crane, which includes a controller and the above-mentioned track change control system. After receiving the signal, the controller converts it into a current signal and outputs it to the control valve assembly to control the movement of the horizontal cylinder, thereby promoting the extension and retraction of the horizontal support. The tail of the horizontal support is provided with a vertical support, and the vertical support can contact the support plate located on the ground through the internal cylinder, so that the upper vehicle track wheel is completely away from the track for a certain distance.

[0021] Furthermore, a displacement sensor is installed at the horizontal support, and the displacement sensor can feed back a displacement signal to the controller, and the controller adjusts the current signal of the control valve assembly through the closed-loop control formed by the displacement sensor.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention provides a track change control system and a rescue crane. Without the aid of external lifting equipment, the rescue crane's electro-hydraulic control system and mechanical structure enable track change operations. During the track change operation, the front and rear movement speeds of the vehicle are kept consistent, preventing deformation of the support structure and potential damage to the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a hydraulic principle diagram of a track change control system provided in Example 1 of the present invention;

[0025] Figure 2 This is a top view of a track-changing rescue crane in operation provided by the second embodiment of the present invention;

[0026] Figure 3 This is a rear view of a track-changing rescue crane operating vehicle provided in the second embodiment of the present invention.

[0027] In the figure: 1. Hydraulic pump; 2. Variable mechanism; 3. Overflow valve; 4. Two-way flow valve; 5. First check valve; 6. Left front control valve assembly; 7. Left rear control valve assembly; 8. Right front control valve assembly; 9. Right rear control valve assembly; 61. Sectional valve; 62. Constant pressure differential valve; 63. Second check valve; 64. Secondary overflow valve; 10. Left front horizontal cylinder; 11. Left rear horizontal cylinder; 12. Right front horizontal cylinder; 13. Right rear horizontal cylinder. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0029] Example 1:

[0030] The present invention provides a track change control system, which mainly includes: a hydraulic pump 1, a variable mechanism 2, a relief valve 3, a two-way flow valve 4, a first one-way valve 5 and a control valve assembly, wherein the control valve assembly includes a left front control valve assembly 6, a left rear control valve assembly 7, a right front control valve assembly 8 and a right rear control valve assembly 9.

[0031] Hydraulic pump 1 draws oil from the hydraulic oil tank and pumps the hydraulic oil to the control valve assembly. The control valve assembly controls the on-off of the oil circuit leading to each horizontal cylinder. The displacement of hydraulic pump 1 is adjusted by the variable mechanism 2, thereby providing the required hydraulic oil flow for the operation of all horizontal cylinders in the system.

[0032] The control valve assembly consists of an identical choke valve 61, a constant pressure differential valve 62, a second one-way valve 63, and a secondary relief valve 64. The choke valve 61 is an electric proportional valve, typically controlled by two proportional solenoids to position the spool of the choke valve 61 in the upper or lower position. The flow area A of the choke valve 61 is proportional to the current of the solenoid. When de-energized, the choke valve 61 is in the neutral position, where the hydraulic oil pumped by the hydraulic pump 1 is cut off. When the choke valve 61 is in the upper position, the hydraulic oil flows through the choke valve 61 and the constant pressure differential valve 62 to the rod chamber of the horizontal cylinder, causing the horizontal cylinder to retract. When the choke valve 61 is in the lower position, the hydraulic oil flows through the choke valve 61 and the constant pressure differential valve 62 to the rodless chamber of the horizontal cylinder, causing the horizontal cylinder to extend. The control valve assembly controls the extension or retraction of the left front horizontal cylinder 10, the left rear horizontal cylinder 11, the right front horizontal cylinder 12, and the right rear horizontal cylinder 13.

[0033] One end of the constant pressure differential valve 62 is connected to the outlet of the cross-section valve 61, and the other end is connected to the rodless cavity or rod cavity of each horizontal oil cylinder. When the cross-section valve 61 is energized, the constant pressure differential valve 62 is connected to the hydraulic oil circuit at the outlet of the hydraulic pump 1, and the hydraulic oil pushes the valve core of the constant pressure differential valve 62 to the upper position to connect. The hydraulic oil enters the load feedback oil circuit through the upper throttle port. The load feedback oil circuit is divided into two paths, one enters the right cavity of the variable mechanism 2, and the other acts on the lower cavity of the constant pressure differential valve 62. The constant pressure differential valve 62 makes the pressure difference before and after the cross-section valve 61 △ P is kept at a constant value. The flow through the switching valve 61 has nothing to do with the load pressure, but is only related to the flow area A of the switching valve 61, that is, it is proportional to the current passing through the switching valve 61. When the valve core of the switching valve 61 is at the upper maximum stroke, the flow area is A. max , when in the lower maximum stroke, the flow area is 2A max , that is, the maximum flow Q passing through the upper position of the valve core B is the lower maximum flow Q A1 / 2, that is, Q B =Q A / 2.

[0034] One end of the second check valve 63 is connected to the return oil circuit and the other end is connected to the rod chamber of the horizontal cylinder. When the pressure in the rod chamber of the horizontal cylinder is higher than the return oil pressure, the second check valve 63 closes. When the pressure in the rod chamber of the horizontal cylinder is lower than the return oil pressure, the second check valve 63 opens, allowing hydraulic oil from the return oil circuit to flow into the rod chamber of each horizontal cylinder, preventing the rod chamber from being sucked dry.

[0035] Secondary relief valve 64 is connected to the return oil circuit at one end and the rodless chamber of the horizontal cylinder at the other. When the pressure in the rodless chamber of the horizontal cylinder exceeds the set pressure of the secondary relief valve, the secondary relief valve opens, allowing the hydraulic oil in the rodless chamber to flow back to the oil tank through the return oil circuit. This prevents excessive cylinder thrust from bending the cylinder rod or damaging mechanical devices connected to the cylinder. When the pressure in the rodless chamber falls below the return oil pressure, the check valve opens, allowing the hydraulic oil in the return oil circuit to flow into the rodless chamber of the horizontal cylinder, preventing the rodless chamber from absorbing air.

[0036] One end of the first one-way valve 5 is connected to the return oil circuit of the control valve assembly, and the other end is connected to the hydraulic oil tank, so as to maintain the return oil pressure of the control valve assembly at the set value of the first one-way valve 5 to prevent the rod cavity or the rodless cavity from being sucked into the air during the movement of each horizontal cylinder.

[0037] The left front horizontal cylinder 10, the left rear horizontal cylinder 11, the right front horizontal cylinder 12, and the right front horizontal cylinder 13 are respectively connected to the vehicle body and the vertical support through mechanical pins. The rodless cavity area of ​​each horizontal cylinder is S0, and the rod cavity area is S0 / 2, that is, the rodless cavity area is twice the rod cavity area.

[0038] One end of the two-way flow valve 4 is connected to the load feedback circuit, and the other end is connected to the hydraulic oil tank. When any control valve assembly is energized, a continuous small flow of hydraulic oil in the load feedback oil circuit passes through the two-way flow valve 4 and returns to the oil tank, ensuring the normal operation of the constant pressure differential valve 62.

[0039] The overflow valve 3 is a system safety valve. When the hydraulic system pressure exceeds its set pressure value, the overflow valve 3 opens, and the hydraulic oil at the hydraulic pump outlet returns to the hydraulic oil tank through the overflow valve 3 to prevent the hydraulic components from being damaged by excessive system pressure.

[0040] Example 2:

[0041] A rescue crane includes a controller and a track change control system as described in Example 1. The track change process is as follows:

[0042] The rescue crane runs along track a to the position where it needs to change tracks and stops. The remote control handle is operated. The controller receives the input signal of the right horizontal support extension and converts it into a current signal output according to the size of the handle signal. The right front control valve assembly 8 and the right rear control valve assembly 9 are controlled to connect to the lower position. Hydraulic oil enters the rodless chamber of the right front horizontal cylinder 12 and the right rear horizontal cylinder 13. The cylinders extend, pushing the right front and right rear horizontal supports to the right side of track b, and keeping the extension lengths of the right front and right rear horizontal supports equal. The remote control handle is operated to extend the internal cylinder of the vertical support at the tail of the horizontal support. The vertical support contacts the support plate on the ground until the upper vehicle track wheels rely on the four vertical supports to completely leave the track for a distance. The height of the vertical support is adjusted to make the upper vehicle body in a horizontal state. At this time, the vertical support and support plate are fixed to the roadbed. Operate the one-key horizontal right shift button on the remote control, the controller receives the one-key horizontal right shift input signal, and sends a control signal to the control valve assembly at the same time, so that the left front control valve assembly 6 and the left rear control valve assembly 7 are connected to the lower position and the valve core is in the lower position with the maximum stroke, and the rodless chamber of the left front horizontal cylinder 10 and the left rear horizontal cylinder 11 is filled with flow rate Q A Oil is fed in, and the left front horizontal cylinder 10 and the left rear horizontal cylinder 11 are extended. At the same time, the right front control valve assembly 8 and the right rear control valve assembly 9 are connected to the upper position and the valve core is at the upper maximum stroke. The rod chamber of the right front horizontal cylinder 12 and the right rear horizontal cylinder 13 is filled with flow Q B Oil is supplied, and the right front horizontal cylinder 12 and the right rear horizontal cylinder 13 are retracted. When the vertical legs are fixed, the left front horizontal cylinder 10 and the left rear horizontal cylinder 11 are extended to push the upper vehicle body to the right. At the same time, the right front horizontal cylinder 12 and the right rear horizontal cylinder 13 are retracted to pull the upper vehicle body to the right. The speed V at which the left front horizontal cylinder 10 and the left rear horizontal cylinder 11 are extended is 左 =Q A / S0, the retraction speed V of the right front horizontal cylinder 12 and the right rear horizontal cylinder 13 右 =Q B / (S0 / 2)=2Q B / S0=Q A / S0=V 左 (Q B =Q A / 2), and V 左 、V 右All of these are independent of the load, that is, the friction between the horizontal support and the upper vehicle body. This shows that the movement speeds of the horizontal cylinders are completely synchronized, preventing the body from generating internal forces and thus deforming the structure due to inconsistent forward, backward, left, and right movement speeds. When the track wheel moves to the vertical position directly above track b, operate the remote control's one-touch stop button. The controller receives the one-touch stop input signal and simultaneously cuts off the control current to all control valve assemblies, causing the upper vehicle body to stop moving right. Operate the remote control handle to evenly retract the internal cylinders of the vertical support at the tail of the horizontal support. When the track wheel contacts track b, the vertical support continues to retract into place. Then operate the remote control's one-touch retraction button. After receiving the signal, the controller simultaneously sends a control signal to all control valve assemblies, connecting all control valve branch assemblies to their upper positions and controlling the retraction of each cylinder, enabling the rescue crane to enter railway driving mode and complete the track change operation.

[0043] In the above-mentioned track change control process, by adding a displacement sensor to each horizontal support, it is easier to monitor whether the front, rear, left and right movement distances of the vehicle body are equal. By controlling the current signal of the control valve assembly for adjustment, closed-loop control is achieved, and the control accuracy is higher. In addition, the stopping position can be accurately controlled during the translation process.

[0044] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0045] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0046] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0047] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0048] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A track change control system, characterized in that: include: Hydraulic pump: connects the hydraulic oil tank and the control valve assembly to pump the hydraulic oil to the control valve assembly; Control valve assembly: connects the horizontal cylinder and the hydraulic pump, controls the horizontal cylinder's movement by controlling the on-off of each horizontal cylinder's oil circuit, and connects to the hydraulic oil tank through the return oil circuit; Horizontal cylinder: connected to the upper body and vertical support through mechanical pins, and connected to the hydraulic oil tank through the oil return line; Variable mechanism: connected to the load feedback loop between the hydraulic pump and the control valve assembly, it provides the required hydraulic oil flow for the horizontal cylinder movement by adjusting the displacement of the hydraulic pump; Relief valve: connects the hydraulic pump and the hydraulic oil tank. When the hydraulic system pressure exceeds its set pressure value, the relief valve opens and the hydraulic oil at the hydraulic pump outlet returns to the hydraulic oil tank through the relief valve; Two-way flow valve: one end is connected to the load feedback loop, and the other end is connected to the hydraulic oil tank; First one-way valve: one end is connected to the oil return line, and the other end is connected to the hydraulic oil tank to keep the return oil pressure of the control valve assembly at the set value of the first one-way valve; Among them, the control valve assembly includes a throttling valve, a constant pressure differential valve, a second one-way valve and a secondary relief valve, among which: one end of the constant pressure differential valve is connected to the outlet of the throttling valve and the other end is connected to the horizontal oil cylinder, one end of the second one-way valve is connected to the return oil circuit and the other end is connected to the rod chamber of the horizontal oil cylinder, and one end of the secondary relief valve is connected to the return oil circuit and the other end is connected to the rodless chamber of the horizontal oil cylinder.

2. The track change control system according to claim 1, characterized in that: The cross-section valve is an electric proportional valve, and the cross-section valve core is controlled to be in the upper or lower position by two proportional electromagnets respectively. The flow area of ​​the cross-section valve is A It is proportional to the current of the electromagnet; when no power is applied, the section valve is in the middle position, and the hydraulic oil pumped out by the hydraulic pump is cut off here; when the section valve is in the upper position, the hydraulic oil passes through the section valve and the constant pressure differential valve to the rod chamber of the horizontal cylinder, and the horizontal cylinder retracts; when the section valve is in the lower position, the hydraulic oil passes through the section valve and the constant pressure differential valve to the rodless chamber of the horizontal cylinder, and the horizontal cylinder extends.

3. The track change control system according to claim 1, characterized in that: When the section valve is energized, the constant pressure differential valve is connected to the hydraulic oil circuit at the outlet of the hydraulic pump, and the hydraulic oil pushes the valve core of the constant pressure differential valve to the upper position to connect. The hydraulic oil enters the load feedback oil circuit through the upper throttle port. The load feedback oil circuit is divided into two paths, one enters the right chamber of the variable mechanism, and the other acts on the lower chamber of the constant pressure differential valve. The constant pressure differential valve makes the pressure difference before and after the section valve △ P Maintain a constant value, the flow through the regulating valve is proportional to the current passing through the regulating valve.

4. The track change control system according to claim 3, characterized in that: When the valve core of the section valve is at the upper maximum stroke, the flow area is A max , when in the lower maximum stroke, the flow area is 2 A max , that is, the maximum flow rate through the upper position of the valve core Q B is the lower maximum flow Q A 1 / 2, that is Q B = Q A / 2, the rodless cavity area of ​​the horizontal cylinder is S 0, the area of ​​the rod cavity is S 0 / 2.

5. The track change control system according to claim 1, characterized in that: When the rod chamber pressure of the horizontal oil cylinder is higher than the return oil pressure, the second one-way valve is closed; when the rod chamber pressure of the horizontal oil cylinder is lower than the return oil pressure, the second one-way valve is opened.

6. The track change control system according to claim 1, characterized in that: When the pressure in the rodless chamber of the horizontal cylinder is higher than the set pressure value of the secondary relief valve, the secondary relief valve opens, and the hydraulic oil in the rodless chamber is connected to the return oil circuit back to the oil tank. When the pressure in the rodless chamber is lower than the return oil pressure, the one-way valve opens, and the hydraulic oil in the return oil circuit flows into the rodless chamber of the horizontal cylinder.

7. The track change control system according to claim 1, characterized in that: The control valve assembly includes a left front control valve assembly, a left rear control valve assembly, a right front control valve assembly and a right rear control valve assembly, which respectively control the extension or retraction of the left front horizontal cylinder, the left rear horizontal cylinder, the right front horizontal cylinder and the right rear horizontal cylinder.

8. A rescue crane, characterized in that: The rescue crane includes a controller and a track change control system as described in any one of claims 1 to 7. After receiving the signal, the controller converts it into a current signal and outputs it to the control valve assembly to control the movement of the horizontal cylinder, thereby promoting the extension and retraction of the horizontal support. The tail of the horizontal support is provided with a vertical support, and the vertical support can contact the support plate on the ground through the internal cylinder, so that the upper vehicle track wheel is completely away from the track for a certain distance.

9. A rescue crane according to claim 8, characterized in that: A displacement sensor is installed at the horizontal support, and the displacement sensor can feed back a displacement signal to the controller. The controller adjusts the current signal of the control valve assembly through the closed-loop control formed by the displacement sensor.

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