Method, storage medium and system for synchronous lifting of segmented cascades

Abstract

The application discloses a segmented and cascaded synchronous lifting method, a storage medium and a system. The segmented and cascaded synchronous lifting method is characterized in that each lifting cylinder is arranged to perform segmented lifting or lowering work, the working speed of each cylinder with displacement difference out of synchronization is adjusted, and the speed of the cylinder with slow response speed is compensated in the next time period, so that each cylinder reaches the effect of synchronous lifting height. Through repeated working speed adjustment of each cylinder, the inclination problem caused by the different lifting heights of each cylinder when lifting an object is better solved, and even if the inclination problem occurs when lifting the object, the problem can be effectively controlled within a safe range, and the application is reliable.

Description

Technical Field

[0001] This invention relates to the fields of automation and hydraulic lifting, specifically to a segmented cascaded synchronous lifting method, storage medium, and system. Background Technology

[0002] When a hydraulic lifting machine has multiple working cylinders, when multiple working cylinders are lifting or lowering, such as when multiple working cylinders are simultaneously lifting the base plate or chassis of an object, it is required to ensure that multiple working cylinders rise or fall at the same time; otherwise, the object being lifted will tilt at an angle and overturn.

[0003] Generally speaking, whether the lifting mechanism has one or multiple hydraulic working cylinders, they will lift simultaneously when started together. However, in reality, due to mechanical errors, different lengths of the high-pressure pipelines connecting the working cylinders and the accumulator, and differences in valve sensitivity and response speed, the piston movements of the working cylinders will eventually become asynchronous.

[0004] To solve the above problems, instead of using mechanical structures for control, an automatic control theory is used to ensure that the hydraulic press with multiple working cylinders can maintain a uniform height during operation. Summary of the Invention

[0005] The purpose of this invention is to overcome the problem that existing hydraulic lifting machines with multiple working cylinders cannot guarantee that the multiple working cylinders will rise or fall simultaneously, resulting in the object being lifted tipping over. The invention provides a segmented cascaded synchronous lifting method, storage medium, and system that ensures that the multiple working cylinders maintain a uniform height when rising or falling.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The segmented cascaded synchronous lifting method involves a lifting mechanism with at least two lifting cylinders and a control system for controlling the operation of each lifting cylinder. The two lifting cylinders are lifting cylinder A and lifting cylinder B. The desired synchronous operating speed of lifting cylinder A is V. a The lifting cylinder B is V b V a =V b The method includes the following steps:

[0008] a. The control system controls the working speed of lifting cylinder A to be V. a The working speed of lifting cylinder B is V. b And calculate or measure the result at t n The actual speed of the internal lifting cylinder A is V′ a The actual speed of lifting cylinder B is V′ b And the output displacement difference h = S between the two lifting cylindersa -S b .

[0009] b. The control system controls the time at t n+1 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is

[0010] c. The control system controls the time at t n+2 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is

[0011] d. will Assign to V a , Assign to V b Repeat steps a to d until lifting cylinder A and lifting cylinder B reach the preset height.

[0012] Compared with existing technologies, the segmented cascaded synchronous lifting method of the present invention performs segmented lifting or lowering operations by setting up each lifting working cylinder, adjusting the working speed of each working cylinder with asynchronous displacement differences, and compensating for the speed of the slow-responding working cylinder in the next time period, so that all working cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each working cylinder, the tilting problem caused by the different lifting heights of each working cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use.

[0013] Furthermore, the operation of the lifting cylinder includes lifting or lowering operations.

[0014] Furthermore, the actual speed of lifting cylinder A is V′ a The actual speed of lifting cylinder B is greater than V′. b .

[0015] Furthermore, the lifting cylinder is a hydraulic cylinder, and its working speed is controlled by an independently configured proportional regulating valve.

[0016] A storage medium, a computer-readable storage medium storing a data processing program, which, when executed by a processor, implements the steps of the segmented cascaded synchronous lift method described above.

[0017] Compared with the prior art, the storage medium of the present invention performs segmented lifting or lowering operations by setting up each lifting cylinder, adjusting the working speed of each working cylinder with asynchronous displacement differences, and compensating for the speed of the slow-responding working cylinder in the next time period, so that all working cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each working cylinder, the tilting problem caused by the different lifting heights of each working cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use.

[0018] The segmented cascaded synchronous lifting control system includes a central control center, AGVs, and a storage device for storing multiple execution instructions, which are used by the central control center to load and execute the steps of the segmented cascaded synchronous lifting method.

[0019] Compared with existing technologies, the segmented cascaded synchronous lifting control system of the present invention performs segmented lifting or lowering operations by setting up each lifting cylinder, adjusting the working speed of cylinders with asynchronous displacement differences, and compensating for the slow-responding cylinders in the next time period, so that all cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each cylinder, the tilting problem caused by the different lifting heights of each cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use. Attached Figure Description

[0020] Figure 1 The working principle of the segmented cascaded synchronous lifting method of the present invention Figure 1

[0021] Figure 2 The working principle of the segmented cascaded synchronous lifting method of the present invention Figure 2 Detailed Implementation

[0022] The technical solution of the present invention is described below with reference to the accompanying drawings:

[0023] Example 1:

[0024] See Figure 1 and Figure 2 The segmented cascaded synchronous lifting method of the present invention involves a lifting mechanism with at least two lifting cylinders and a control system for controlling the operation of each lifting cylinder. The two lifting cylinders include lifting cylinder A and lifting cylinder B, and it is desired that the synchronous working speed of the two lifting cylinders is V. a The lifting cylinder B is V b V a =Vb The method includes the following steps:

[0025] a. The control system controls the working speed of lifting cylinder A to be V. a The working speed of lifting cylinder B is V. b And calculate or measure the result at t n The actual speed of the internal lifting cylinder A is V′ a The actual speed of lifting cylinder B is V′ b And the output displacement difference h = S between the two lifting cylinders a -S b .

[0026] b. The control system controls the time at t n+1 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is

[0027] c. The control system controls the time at t n+2 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is

[0028] d. will Assign to V a , Assign to V b Repeat steps a to d until lifting cylinder A and lifting cylinder B reach the preset height.

[0029] Compared with existing technologies, the segmented cascaded synchronous lifting method of the present invention performs segmented lifting or lowering operations by setting up each lifting working cylinder, adjusting the working speed of each working cylinder with asynchronous displacement differences, and compensating for the speed of the slow-responding working cylinder in the next time period, so that all working cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each working cylinder, the tilting problem caused by the different lifting heights of each working cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use.

[0030] In one embodiment, the operation of the lifting cylinder includes lifting or lowering operations.

[0031] In one embodiment, the actual speed of the lifting cylinder A is V′. a The actual speed of lifting cylinder B is greater than V′. b Or, the actual speed of lifting cylinder A is V′ a The actual speed of the lifting cylinder B is less than V′. b .

[0032] In one embodiment, the lifting mechanism is a hydraulic lifting mechanism comprising a mechanism housing, a pressure tank, a valve system, working cylinders, an oil pump, a control system, and position detection sensors. Each working cylinder is equipped with a position detection sensor to detect the piston position, and the pressure tank contains a pressure sensor to detect the current pressure. Automatic control primarily performs corresponding actions based on the information fed back from the various sensors.

[0033] In one embodiment, the lifting cylinder is a hydraulic cylinder, and the working speed of each lifting cylinder is controlled by a corresponding proportional regulating valve in the valve system.

[0034] The segmented cascaded synchronous lifting method of this invention solves the safety problem. If there are enough segments, tilting will not occur when lifting the object, and the actions of all working cylinders can be basically synchronized. However, in actual application, it is found that the piston action is jerky, which increases the lifting time, and the time is directly proportional to the number of segments.

[0035] Another method is to use cascading to make all the working cylinders work in unison. Simply put, when the working cylinders are working in the same segment, the cylinders that lift faster close their valves a little to make the lifting slower, while the cylinders that lift slower open their valves a little more to make the lifting faster.

[0036] The segmented cascaded synchronous lifting method of the present invention has the following derivation process in its working principle:

[0037] The specific algorithm is as follows, taking two working cylinders A and B as an example, with each lifting height being H.

[0038] At the beginning, give an initial expected speed.

[0039] V a =V b

[0040] After a fixed, short interval of time t, the position of the piston in the working cylinder is checked. The position of the piston in working cylinder A is recorded as S. a The position of the piston in working cylinder B is denoted as S. b The total duration of the exercise is time T.

[0041] Due to various reasons, the actual speeds of the two working cylinders are not equal, so it is necessary to calculate the actual lifting speeds of the two cylinders.

[0042] The actual speed V′ of piston A in the working cylinder a =S a / T

[0043] The actual speed V′ of piston B in the working cylinder b =S b / T

[0044] Calculate the actual output speed required by the two working cylinders to achieve the initial fixed speed.

[0045]

[0046]

[0047] This allows us to adjust the next time t. n+1 The speed within a given time period t is important, but since the different speeds within this time period t will lead to different altitudes, a speed compensation is needed to ensure that the altitude remains constant in the next time period t. n+1 Adjust the internal height back to the same level.

[0048] This assumes that within time T

[0049] S a >S b ,

[0050] The height error between the two rods is

[0051] h = S a -S b

[0052] The compensation speed is

[0053] V 补偿 =h / t

[0054] Therefore, the actual output speed required by the two working cylinders is:

[0055]

[0056]

[0057] Two actual speeds are output to the working cylinder, and then the cylinder runs at these speeds for a time t. When time t arrives... n+2 Then, the compensation speed is removed, and the speed is adjusted again according to the above procedure until the working cylinder reaches the top, completing the lifting process.

[0058] Example 2:

[0059] The main objective of this embodiment is to provide a storage medium for the segmented cascaded synchronous lift method of Application Embodiment 1. The computer-readable storage medium stores a data processing program, which, when executed by a processor, implements the steps of the segmented cascaded synchronous lift method.

[0060] Compared with the prior art, the storage medium of the present invention performs segmented lifting or lowering operations by setting up each lifting cylinder, adjusting the working speed of each working cylinder with asynchronous displacement differences, and compensating for the speed of the slow-responding working cylinder in the next time period, so that all working cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each working cylinder, the tilting problem caused by the different lifting heights of each working cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use.

[0061] Example 3:

[0062] The main objective of this embodiment is to provide a segmented cascaded synchronous lifting control system for applying the segmented cascaded synchronous lifting method of Embodiment 1. The system includes a central control center, an AGV, and a storage device for storing multiple execution instructions. The execution instructions are used by the central control center to load and execute the steps of the segmented cascaded synchronous lifting method.

[0063] Compared with existing technologies, the segmented cascaded synchronous lifting control system of the present invention performs segmented lifting or lowering operations by setting up each lifting cylinder, adjusting the working speed of cylinders with asynchronous displacement differences, and compensating for the slow-responding cylinders in the next time period, so that all cylinders achieve the effect of synchronous lifting height. By repeatedly adjusting the working speed of each cylinder, the tilting problem caused by the different lifting heights of each cylinder when lifting objects is effectively solved. Even if tilting occurs when lifting objects, it can be effectively controlled within a safe range, making it reliable in use.

[0064] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A segmented cascaded synchronous lifting method, characterized in that, The lifting mechanism involved has at least two lifting cylinders and a control system for controlling the operation of each lifting cylinder. The two lifting cylinders include lifting cylinder A and lifting cylinder B. It is desired that the synchronous working speed of the two lifting cylinders is V. a The lifting cylinder B is V b V a =V b The method includes the following steps: a. The control system controls the working speed of lifting cylinder A to be V. a The working speed of lifting cylinder B is V. b And calculate or measure the result at t n The actual speed of the internal lifting cylinder A is V a ’ The actual speed of lifting cylinder B is V. ’ b And the output displacement difference h = S between the two lifting cylinders a -S b ; b. The control system controls the time at t n+1 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is c. The control system controls the time at t n+2 Within a given time, the working speed of lifting cylinder A is: The working speed of lifting cylinder B is d. will Assign to V a , Assign to V b Repeat steps a to d until lifting cylinder A and lifting cylinder B reach the preset height.

2. The segmented cascaded synchronous lifting method according to claim 1, characterized in that, The operation of the lifting cylinder includes lifting or lowering.

3. The segmented cascaded synchronous lifting method according to claim 1, characterized in that, The actual speed of lifting cylinder A is V ’ a The actual speed of lifting cylinder B is greater than V. ’ b .

4. The segmented cascaded synchronous lifting method according to any one of claims 1 to 3, characterized in that, The lifting cylinder is a hydraulic cylinder, and its working speed is controlled by an independently configured proportional regulating valve.

5. A storage medium, characterized in that, A computer-readable storage medium stores a data processing program that, when executed by a processor, implements the steps of the segmented cascaded synchronous lifting method as described in any one of claims 1 to 4.

6. A segmented cascaded synchronous lifting control system, characterized in that, It includes a central control center, an AGV, and a storage device for storing multiple execution instructions, which are used by the central control center to load and execute the steps of the segmented cascaded synchronous lifting method according to any one of claims 1 to 4.

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