A hydraulic system and control method for a guardrail washing device

Abstract

This invention belongs to the field of guardrail cleaning technology, and particularly relates to a hydraulic system and control method for a guardrail cleaning device. The hydraulic system of this invention includes an actuator for folding and unfolding the guardrail cleaning device, a detection mechanism for detecting the status of the actuator, a hydraulic actuator module, and a hydraulic control module. It also includes a first electromagnetic speed regulating valve, which comprises a ninth electromagnetic directional valve and a throttle valve connected in parallel. The controller controls the hydraulic control module to cause the hydraulic actuator module to drive the actuator to perform deflection and lifting actions, thereby completing the unfolding, adjustment, and retraction of the guardrail cleaning device. This invention enables one-button unfolding and retraction of the guardrail cleaning device using a single metering pump, allows for simultaneous attitude control during brush roller rotation, and provides buffering for the brush roller assembly through an energy storage buffer device.

Description

Technical Field

[0001] This invention belongs to the field of guardrail cleaning technology, and particularly relates to a hydraulic system and control method for a guardrail cleaning device. Background Technology

[0002] A guardrail cleaning device is a specialized device for cleaning traffic guardrails. Regular cleaning of traffic guardrails is necessary to maintain a good road appearance. A guardrail cleaning device typically consists of a vehicle body connecting frame, connecting arms, a brush roller connecting frame, a brush roller assembly, and a brush roller rotation motor. These mechanisms are driven by a hydraulic system, as illustrated in Chinese invention patent application number 201310033511.9, entitled "Highway Guardrail Cleaning Device."

[0003] like Figure 1 The guardrail cleaning device shown includes a first connecting arm hinged to a connecting frame, a second connecting arm hinged to the first connecting arm, a brush roller deflector hinged to the second connecting arm, and a brush roller assembly slidably mounted on the brush roller deflector frame. The extension and retraction of a hydraulic cylinder respectively deflects the first connecting arm, the second connecting arm, and the brush roller deflector frame, thereby enabling the guardrail cleaning device to unfold and fold. The extension and retraction of the hydraulic cylinder also raises and lowers the brush roller assembly, allowing for height adjustment according to the guardrail height. The rotation of a hydraulic motor drives the brush rollers on the brush roller assembly to rotate, thus cleaning the guardrail.

[0004] In this process, it is impossible to achieve the attitude adjustment of various mechanisms such as the first connecting arm, the second connecting arm, and the brush roller deflection frame, as well as the rotation of the hydraulic motor, using only a single fixed-displacement pump. Usually, two hydraulic systems are required, or a load-sensitive hydraulic system is used, which is achieved through an expensive variable pump / variable motor, thus increasing production costs. At the same time, each mechanism needs to be manually controlled by the driver through a switch on the control box, resulting in a low level of automation, inconvenient operation, and reduced work efficiency. In addition, when the guardrail cleaning device encounters obstacles or steel guardrails, elastic components are generally used to buffer the brush roller assembly, such as in Chinese invention patent application number 201811031725.1, entitled "An Obstacle Avoidance System for Highway Guardrail Cleaning Vehicle". However, with this structure, the buffering effect of the brush roller assembly is poor and the elastic components are easily damaged, resulting in technical problems such as low equipment operating stability and large energy loss. Summary of the Invention

[0005] To address at least one technical problem in the prior art, this application provides a hydraulic system and control method for a guardrail cleaning device, which can realize one-button deployment and retraction of the guardrail cleaning device through a quantitative pump, can simultaneously perform attitude control during brush roller rotation, and can buffer the brush roller assembly through an energy storage buffer device.

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

[0007] A hydraulic system for a guardrail cleaning device includes an actuator, a detection mechanism, and a hydraulic mechanism;

[0008] Actuator: includes a first connecting arm hinged to the connecting frame, a second connecting arm hinged to the first connecting arm, a brush roller deflector hinged to the second connecting arm, and a brush roller assembly disposed on the brush roller deflector;

[0009] The testing mechanism includes sensor 1, sensor 2, and sensor 3, which respectively detect the deflection angles of the first connecting arm, the second connecting arm, and the brush roller deflection frame;

[0010] Hydraulic mechanism: including hydraulic actuator module and hydraulic control module;

[0011] The hydraulic actuator module includes a first hydraulic cylinder, a second swing cylinder, a third hydraulic cylinder that drives the first connecting arm, the second connecting arm, and the brush roller deflection frame to deflect, respectively, and a fourth hydraulic cylinder and a hydraulic motor that drive the brush roller assembly to lift and rotate, respectively. It also includes an energy storage buffer device for buffering the brush roller assembly.

[0012] The hydraulic control module includes a hydraulic oil tank, a shut-off valve, a fixed displacement pump, a first solenoid valve, and a hydraulic valve group that form a circuit through pipelines; each of the hydraulic valve groups is connected in parallel with the first hydraulic cylinder, the second swing cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, and the hydraulic motor that are controlled accordingly in the circuit of the hydraulic control module.

[0013] A first electromagnetic speed regulating valve is installed on the pipeline between the hydraulic valve group corresponding to the hydraulic motor and the oil inlet of the hydraulic motor. The first electromagnetic speed regulating valve includes a ninth electromagnetic directional valve and a throttle valve arranged in parallel.

[0014] Preferably, the energy storage buffer device includes a seventh solenoid valve and a first accumulator installed on the rodless chamber side of the first hydraulic cylinder via a branch pipe, and an eighth solenoid valve and a second accumulator installed on the rod chamber side of the first hydraulic cylinder via a branch pipe. The seventh solenoid valve and the first accumulator are connected in series, and the eighth solenoid valve and the second accumulator are connected in series.

[0015] Preferably, the hydraulic valve group includes a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a fifth solenoid valve, and a sixth solenoid valve, which are respectively connected to a fixed displacement pump; the second solenoid valve is used to control the flow direction of the hydraulic fluid in the first hydraulic cylinder; the third solenoid valve is used to control the flow direction of the hydraulic fluid in the second swing cylinder; the fourth solenoid valve is used to control the flow direction of the hydraulic fluid in the third hydraulic cylinder; the fifth solenoid valve is used to control the flow direction of the hydraulic fluid in the fourth hydraulic cylinder; and the sixth solenoid valve is used to control the rotation of the hydraulic motor.

[0016] Preferably, the hydraulic valve group further includes a first speed regulating valve, a second speed regulating valve, a third speed regulating valve, and a fourth speed regulating valve; the first speed regulating valve is disposed in the oil circuit between the first hydraulic cylinder and the second solenoid valve; the second speed regulating valve is disposed in the oil circuit between the second swing cylinder and the third solenoid valve; the third speed regulating valve is disposed in the oil circuit between the third hydraulic cylinder and the fourth solenoid valve; and the fourth speed regulating valve is disposed in the oil circuit between the fourth hydraulic cylinder and the fifth solenoid valve.

[0017] Preferably, the hydraulic valve group further includes a first bidirectional balance valve, a second bidirectional balance valve, a third bidirectional balance valve, and a fourth bidirectional balance valve; the first bidirectional balance valve is disposed in the oil circuit between the first hydraulic cylinder and the second solenoid valve; the second bidirectional balance valve is disposed in the oil circuit between the second swing cylinder and the third solenoid valve; the third bidirectional balance valve is disposed in the oil circuit between the third hydraulic cylinder and the fourth solenoid valve; and the fourth bidirectional balance valve is disposed in the oil circuit between the fourth hydraulic cylinder and the fifth solenoid valve.

[0018] Preferably, an overflow valve is provided on the pipeline between the fixed displacement pump and the hydraulic oil tank inlet.

[0019] Preferably, a thermometer and an air filter are installed on the hydraulic oil tank; an oil outlet filter is installed on the pipeline between the oil outlet of the hydraulic oil tank and the fixed displacement pump; and a return oil radiator and a return oil filter are installed on the pipeline between the fixed displacement pump and the oil inlet of the hydraulic oil tank.

[0020] A control method for a hydraulic system of a guardrail cleaning device includes the following steps:

[0021] (1) When the guardrail cleaning device is in a folded position and needs to be unfolded for right-side operation adjustment

[0022] S1: Press the control box unfold button;

[0023] S2: When the controller controls the hydraulic valve group to extend the first hydraulic cylinder to the first connecting arm deflected to the set angle, the sensor generates a jump signal and sends it to the controller, and the first hydraulic cylinder stops extending.

[0024] S3: When the controller controls the hydraulic valve group to make the second swing cylinder swing to the second connecting arm deflected to the set angle, the second sensor generates a jump signal and sends it to the controller, and the second swing cylinder stops swinging.

[0025] S4: When the controller controls the hydraulic valve group to extend the third hydraulic cylinder until the brush roller deflector is deflected to the set angle, the sensor three generates a jump signal and sends it to the controller, and the third hydraulic cylinder stops extending.

[0026] S5: The controller controls the hydraulic valve group to extend or retract the fourth hydraulic cylinder to adjust the height of the brush roller assembly.

[0027] S6: The controller controls the hydraulic valve group to make the hydraulic motor drive the brush roller assembly to rotate for cleaning operations, and the energy storage buffer device buffers the brush roller assembly.

[0028] (2) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the working position on the left side.

[0029] S7: Perform the above steps S1-S5 to complete the non-operational posture adjustment of the right side of the guardrail cleaning device, and press the control box unfold button;

[0030] S8: The controller controls the hydraulic valve group to make the first hydraulic cylinder continue to extend until the first connecting arm deflects to a set angle, at which point the first hydraulic cylinder stops extending.

[0031] S9: The controller controls the hydraulic valve group to make the third hydraulic cylinder continue to extend until the brush roller deflector frame deflects to the set angle, at which point the third hydraulic cylinder stops extending.

[0032] S10: Perform step S6 as described above;

[0033] (3) When the guardrail cleaning device is in the left or right working position and needs to be folded

[0034] S11: Press the control box retraction button;

[0035] S12: The controller controls the hydraulic valve group to retract the first hydraulic cylinder until the first connecting arm deflects to a set angle, at which point the first hydraulic cylinder stops retracting.

[0036] S13: The controller controls the hydraulic valve group to retract the third hydraulic cylinder until the brush roller deflector frame deflects to the initial position, at which point the third hydraulic cylinder stops retracting.

[0037] S14: The controller controls the hydraulic valve group to retract the second swing cylinder until the second connecting arm deflects to the set angle, at which point the second swing cylinder stops retracting.

[0038] S15: When the controller controls the hydraulic valve group to retract the first hydraulic cylinder to the initial position of the first connecting arm, the first hydraulic cylinder stops retracting; when the controller controls the hydraulic valve group to retract the second swing cylinder to the initial position of the second connecting arm, the second swing cylinder stops retracting.

[0039] (4) Control process of the actuator when the guardrail cleaning device is in working position

[0040] The controller controls the first solenoid valve, the sixth solenoid valve, and the ninth solenoid directional valve, so that the hydraulic oil flows back to the hydraulic oil tank after passing through the throttle valve and the hydraulic motor. The controller controls the hydraulic valve groups corresponding to the first hydraulic cylinder, the second swing cylinder, the third hydraulic cylinder, and the fourth hydraulic cylinder to respectively realize the deflection of the first connecting arm, the deflection of the second connecting arm, the deflection of the brush roller deflection frame, and the lifting and lowering adjustment of the brush roller assembly.

[0041] Preferably, a safety assistance program is provided in steps S2-S4. If sensor one does not generate a transition signal in step S2, the guardrail cleaning device deployment process will stop and no further steps will be executed. If sensor two does not generate a transition signal in step S3, the guardrail cleaning device deployment process will stop and no further steps will be executed. If sensor three does not generate a transition signal in step S4, the guardrail cleaning device deployment process will stop and no further steps will be executed.

[0042] Preferably, the energy storage buffer device includes a seventh solenoid valve, a first accumulator, an eighth solenoid valve, and a second accumulator; when the guardrail cleaning device is in operation, the controller controls the hydraulic valve group and the seventh and eighth solenoid valves to connect the first accumulator and the second accumulator to the rodless chamber and the rod chamber of the first hydraulic cylinder, respectively.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] 1. This invention implements an actuator, a detection mechanism, a hydraulic mechanism, and a ninth electromagnetic directional valve and a throttle valve connected in parallel. It enables one-button deployment and retraction operations through a single metering pump, and simultaneously controls the attitude of the actuator when the brush roller assembly rotates. This solves the technical problem of increased costs caused by the need for two hydraulic systems or the use of load-sensitive hydraulic systems in the prior art.

[0045] 2. This invention can be integrated into an intelligent control program, which can monitor the motion status of each mechanism through PLC and sensors without manual intervention, making the control system more convenient, reducing the labor intensity of operators, and improving work efficiency.

[0046] 3. By setting a seventh solenoid valve, a first accumulator, an eighth solenoid valve, a second accumulator, and a first bidirectional balance valve that works in conjunction with them, adaptive obstacle avoidance can be achieved during cleaning operations. In addition, it can avoid the technical problems of existing springs or other elastic elements being in a floating state when the equipment is not in operation, causing the cleaning device to move freely, which poses safety hazards and makes the springs easy to damage. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the front view of the guardrail cleaning device after it has been unfolded according to an embodiment of the present invention.

[0048] Figure 2 This is a top view of the right side of the guardrail cleaning device in operation according to an embodiment of the present invention.

[0049] Figure 3 This is a top view of the left side of the guardrail cleaning device in operation according to an embodiment of the present invention.

[0050] Figure 4 This is a hydraulic schematic diagram of an embodiment of the present invention.

[0051] Figure 5 This is a flowchart illustrating the deployment control process of Embodiment 2 of the present invention.

[0052] Figure 6 This is a flowchart of the recovery control process in Embodiment 2 of the present invention.

[0053] In the diagram: 101. Hydraulic oil tank; 102. Thermometer; 103. Air filter; 104. Outlet filter; 105. Shut-off valve; 106. Metering pump; 107. Pressure gauge; 108. Return oil cooler; 109. Return oil filter; 110. First hydraulic cylinder; 111. Second swing cylinder; 112. Third hydraulic cylinder; 113. Fourth hydraulic cylinder; 114. First two-way balance valve; 115. Second two-way balance valve; 116. Third two-way balance valve; 117. Fourth two-way balance valve; 118. Hydraulic valve assembly; 119. 120. Relief valve; 121. First solenoid valve; 122. Second solenoid valve; 123. Third solenoid valve; 124. Fourth solenoid valve; 125. Fifth solenoid valve; 126. Sixth solenoid valve; 127. Seventh solenoid valve; 128. Eighth solenoid valve; 129. First accumulator; 120. Second accumulator; 131. First speed control valve; 132. Second speed control valve; 133. Third speed control valve; 134. Fourth speed control valve; 135. First solenoid speed control valve; 136. Ninth solenoid directional valve; 137. Throttle valve; 138. Hydraulic motor;

[0054] 201. Connecting frame; 202. First connecting arm; 203. Second connecting arm; 204. Brush roller deflection frame; 205. First sensor; 206. Second sensor; 207. Third sensor; 208. Fourth sensor; 209. Fifth sensor; 210. Brush roller assembly. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] Example 1:

[0058] A hydraulic system for a guardrail cleaning device includes an actuator, a detection mechanism, and a hydraulic mechanism.

[0059] See Figures 1 to 3 As shown, the actuator includes a connecting frame 201 fixed to the vehicle body, a first connecting arm 202 hinged to the connecting frame 201, a second connecting arm 203 hinged to the first connecting arm 202, a brush roller deflector frame 204 hinged to the second connecting arm 203, and a brush roller assembly 210 slidably mounted on the brush roller deflector frame 204. One end of the first connecting arm 202 can deflect relative to the connecting frame 201, one end of the second connecting arm 203 can deflect relative to the other end of the first connecting arm 202, and the brush roller deflector frame 204 can deflect relative to the other end of the second connecting arm 203. The brush roller assembly 210 can slide up and down on the brush roller deflector frame 204 to adjust its height. The brush roller assembly 210 may include a brush roller, brush blades, a water spray system, etc., which are prior art and will not be described in detail here.

[0060] The hydraulic mechanism includes a hydraulic actuator module and a hydraulic control module.

[0061] The hydraulic actuator module includes a first hydraulic cylinder 110, a second swing cylinder 111, a third hydraulic cylinder 112 that respectively drive the first connecting arm 202, the second connecting arm 203, and the brush roller deflection frame 204 to deflect, and a fourth hydraulic cylinder 113 and a hydraulic motor 137 that respectively drive the brush roller assembly 210 to lift and rotate. It also includes an energy storage buffer device for buffering the brush roller assembly 210.

[0062] The cylinder body of the first hydraulic cylinder 110 is hinged to the connecting frame 201 and its telescopic rod is hinged to one end of the first connecting arm 202; the cylinder body of the second swing cylinder 111 is fixed to the other end of the first connecting arm 202 and one end of the second connecting arm 203 is fixed to the rotating shaft of the second swing cylinder 111; the cylinder body of the third hydraulic cylinder 112 is hinged to the other end of the second connecting arm 203 and its telescopic rod is hinged to the brush roller deflection frame 204; the cylinder body of the fourth hydraulic cylinder 113 is fixed to the brush roller deflection frame 204 and its telescopic rod is hinged to the brush roller assembly 210.

[0063] The detection mechanism includes sensors one, two, and three, which respectively detect the deflection angles of the first connecting arm 202, the second connecting arm 203, and the brush roller deflection frame 204. The controller can control the first hydraulic cylinder 110, the second swing cylinder 111, and the third hydraulic cylinder 112 to deflect the first connecting arm 202, the second connecting arm 203, and the brush roller deflection frame 204, thereby enabling the unfolding and folding of the guardrail cleaning device. The controller can also control the fourth hydraulic cylinder 113 to adjust the height of the brush roller assembly 210 and control the hydraulic motor 137 to drive the brush roller to rotate for cleaning operations. When the deflection angles of the first connecting arm 202, the second connecting arm 203, and the brush roller deflection frame 204 reach a set value, sensors one, two, and three generate jump signals and send them to the controller, causing the corresponding first hydraulic cylinder 110, second swing cylinder 111, and third hydraulic cylinder 112 to perform corresponding actions.

[0064] See Figure 4 As shown, the hydraulic control module includes a hydraulic oil tank 101, a shut-off valve 105, a fixed displacement pump 106, a first solenoid valve 120, and hydraulic valve groups 118, which form a total hydraulic circuit through pipelines. Each hydraulic valve group 118 is connected in parallel with the corresponding controlled first hydraulic cylinder 110, second swing cylinder 111, third hydraulic cylinder 112, fourth hydraulic cylinder 113, and hydraulic motor 137 in the circuit of the hydraulic control module.

[0065] Specifically, a thermometer 102 and an air filter 103 are installed on the hydraulic oil tank 101; an oil outlet filter 104 is installed on the pipeline between the oil outlet of the hydraulic oil tank 101 and the fixed displacement pump 106; and a return oil radiator 108 and a return oil filter 109 are installed on the pipeline between the fixed displacement pump 106 and the oil inlet of the hydraulic oil tank 101. This structure achieves functions such as oil storage, heat dissipation, sedimentation of impurities, cooling of the oil, and separation of air bubbles in the hydraulic system. Furthermore, a pressure gauge 107 is installed on the main hydraulic circuit to monitor the pressure. The fixed displacement pump 106 is driven by an engine or electric motor, and its inlet is connected to the hydraulic oil tank 101 via a pipeline, a shut-off valve 105, and an oil outlet filter 104, providing a hydraulic power source for the hydraulic system.

[0066] In this embodiment, the first solenoid valve 120 is a two-position four-way solenoid directional valve, which can be used to control the on / off state of the entire hydraulic circuit. A relief valve 119 is installed on the pipeline between the fixed displacement pump 106 and the inlet of the hydraulic oil tank 101. The relief valve 119 is an inlet oil circuit relief valve; when the coil DT1 of the first solenoid valve 120 is energized, the relief valve 119 operates, serving to stabilize system pressure, provide constant pressure relief, and provide safety protection.

[0067] The first hydraulic cylinder 110, the second swing cylinder 111, the third hydraulic cylinder 112, the fourth hydraulic cylinder 113, and the hydraulic motor 137 are connected in parallel on the pipeline between the oil inlet of the relief valve 119 and the oil inlet of the hydraulic oil tank 101. The first hydraulic cylinder 110, the second swing cylinder 111, the third hydraulic cylinder 112, the fourth hydraulic cylinder 113, and the hydraulic motor 137 are respectively connected to their respective hydraulic valve groups 118 and form sub-hydraulic circuits.

[0068] The hydraulic valve group installed on the sub-hydraulic circuit of the first hydraulic cylinder 110 includes a second solenoid valve 121 connected to the fixed displacement pump 106, a first speed regulating valve 130 installed on the oil circuit between the first hydraulic cylinder 110 and the second solenoid valve 121, and a first bidirectional balance valve 114 installed on the oil circuit between the first hydraulic cylinder 110 and the first speed regulating valve 130. The first bidirectional balance valve 114 is installed on the oil inlet and oil return port of the first hydraulic cylinder 110. The second solenoid valve 114 is used to control the oil flow direction of the first hydraulic cylinder 110 to control the extension and retraction of the first hydraulic cylinder 110.

[0069] The energy storage buffer device includes a seventh solenoid valve 126 and a first accumulator 128, which are installed through a branch pipe on one side of the pipeline from the rodless chamber of the first hydraulic cylinder 110 to the first bidirectional balance valve 114. The eighth solenoid valve 127 and the second accumulator 129 are also installed through a branch pipe on the same side of the pipeline from the rod chamber of the first hydraulic cylinder 110 to the first bidirectional balance valve 114. The seventh solenoid valve 126 and the first accumulator 128 are connected in series, and the eighth solenoid valve 127 and the second accumulator 129 are connected in series.

[0070] The hydraulic valve group installed on the sub-hydraulic circuit of the second swing cylinder 111 includes a third solenoid valve 122 connected to the fixed displacement pump 106, a second speed regulating valve 131 installed on the oil circuit between the second swing cylinder 111 and the third solenoid valve 122, and a second bidirectional balance valve 115 installed on the oil circuit between the second swing cylinder 111 and the second speed regulating valve 131. The second bidirectional balance valve 115 is installed on the oil inlet and oil return port of the second swing cylinder 111. The third solenoid valve 122 is used to control the direction of oil flow in the second swing cylinder 111 to control the forward and reverse rotation of the second swing cylinder 111.

[0071] The hydraulic valve group installed on the sub-hydraulic circuit of the third hydraulic cylinder 112 includes a fourth solenoid valve 123 connected to the fixed displacement pump 106, a third speed control valve 132 installed on the oil circuit between the third hydraulic cylinder 112 and the fourth solenoid valve 123, and a third bidirectional balance valve 116 installed on the oil circuit between the third hydraulic cylinder 112 and the third speed control valve 132. The third bidirectional balance valve 116 is installed on the oil inlet and oil return port of the third hydraulic cylinder 112. The fourth solenoid valve 123 is used to control the oil flow direction of the third hydraulic cylinder 112 to control the extension and retraction of the third hydraulic cylinder 112.

[0072] The hydraulic valve group installed on the sub-hydraulic circuit of the fourth hydraulic cylinder 113 includes a fifth solenoid valve 124 connected to the fixed displacement pump 106, a fourth speed control valve 133 installed on the oil circuit between the fourth hydraulic cylinder 113 and the fifth solenoid valve 124, and a fourth bidirectional balance valve 117 installed on the oil circuit between the fourth hydraulic cylinder 113 and the fourth speed control valve 133. The fourth bidirectional balance valve 117 is installed on the oil inlet and oil return port of the fourth hydraulic cylinder 113. The fifth solenoid valve 124 is used to control the oil flow direction of the fourth hydraulic cylinder 113 to control the extension and retraction of the fourth hydraulic cylinder 113.

[0073] The hydraulic valve group installed on the sub-hydraulic circuit of the hydraulic motor 137 includes a sixth solenoid valve 125 connected to the fixed displacement pump 106, and a first solenoid speed control valve 134 installed on the oil circuit between the hydraulic motor 137 and the sixth solenoid valve 125. The first solenoid speed control valve 134 includes a ninth solenoid directional valve 135 and a throttle valve 136 installed in parallel. The sixth solenoid valve 125 is used to control the rotation of the hydraulic motor 137.

[0074] See Figure 4 As shown, for ease of description, coil DT1 is marked on the first solenoid valve 120, coils DT2 and DT3 are marked on the second solenoid valve 121, coils DT4 and DT5 are marked on the third solenoid valve 122, coils DT6 and DT7 are marked on the fourth solenoid valve 123, coils DT8 and DT9 are marked on the fifth solenoid valve 124, coil DT10 is marked on the sixth solenoid valve 125, and coil DT11 is marked on the ninth solenoid directional valve 135.

[0075] The aforementioned bidirectional balance valves make the operation of each mechanism smoother and more stable, and also have a hydraulic lock function, which can lock the position of the actuator; the aforementioned speed regulating valves are used to adjust the running speed of the actuator; the aforementioned second to fifth solenoid valves are three-position four-way directional valves, and the middle position function is a Y-type valve core; the sixth solenoid valve 125 is a two-position four-way directional valve, and the state when de-energized is a Y-type function. When the coil DT10 of the sixth solenoid valve 125 is energized, the solenoid valve is reversed, and the hydraulic motor 137 rotates.

[0076] A control method for a hydraulic system of a guardrail cleaning device based on the above embodiments includes the following steps:

[0077] Press the power button on the control box (not shown in the picture), and the control program will start a self-test;

[0078] Sensor 1, Sensor 2, and Sensor 3 can be angle sensors that can be set to jump angles and detect deflection angles in real time. Specifically, Sensor 1 can be set to three jump angles of 0°, 45°, and 135° based on the deflection angle of the first connecting arm 202 relative to the connecting frame 201; Sensor 2 can be set to three jump angles of 0°, 45°, and 180° based on the deflection angle of the second connecting arm 203 relative to the first connecting arm 202; and Sensor 3 can be set to three jump angles of 0°, 45°, and 135° based on the deflection angle of the brush roller deflection frame 204 relative to the second connecting arm 203. By monitoring the deflection angle in real time, when the first connecting arm 202, the second connecting arm 203, and the brush roller deflection frame 204 deviate from the set deflection angle during operation, Sensor 1, Sensor 2, and Sensor 3 can adjust the first hydraulic cylinder 110, the second swing cylinder 111, and the third hydraulic cylinder 112 through the controller based on the detected deflection angle. The first connecting arm 202 deflects at an angle relative to the connecting frame 201, the second connecting arm 203 deflects at an angle relative to the first connecting arm 202, and the brush roller deflector 204 deflects at an angle relative to the second connecting arm 203, with counterclockwise as the positive direction. In this embodiment, when the deflection angle of the first connecting arm 202 relative to the connecting frame 201 is 0°, the deflection angle of the second connecting arm 203 relative to the first connecting arm 202 is 0°, and the deflection angle of the brush roller deflector 204 relative to the second connecting arm 203 is 0°, it is in a folded state and can execute an automatic unfolding program; in other states, it is in an unfolded state and can execute an automatic retraction program.

[0079] (1) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the right-side working position:

[0080] S1: Press the control box unfold button to send a command to the controller;

[0081] S2: The controller energizes the coil DT1 of the first solenoid valve 120 and the coil DT2 of the second solenoid valve 121. When the first hydraulic cylinder 110 starts to extend until the first connecting arm 202 deflects to 45°, the sensor generates a jump signal and sends it to the controller, causing the coil DT1 of the first solenoid valve 120 and the coil DT2 of the second solenoid valve 121 to be de-energized, and the first hydraulic cylinder 110 stops extending.

[0082] S3: The controller energizes the coil DT1 of the first solenoid valve 120 and the coil DT4 of the third solenoid valve 122, causing the second swing cylinder 111 to swing. When the second connecting arm 203 deflects to 180°, the second sensor generates a jump signal and sends it to the controller, causing the coil DT1 of the first solenoid valve 120 and the coil DT4 of the third solenoid valve 122 to de-energize, and the second swing cylinder 111 to stop swinging.

[0083] S4: The controller energizes the coil DT1 of the first solenoid valve 120 and the coil DT6 of the fourth solenoid valve 123. When the third hydraulic cylinder 113 extends to the brush roller deflector 204 and deflects to 45°, the sensor three generates a jump signal and sends it to the controller, causing the coil DT1 of the first solenoid valve 120 and the coil DT6 of the fourth solenoid valve 123 to be de-energized, and the third hydraulic cylinder 113 stops extending.

[0084] S5: The controller energizes the first solenoid valve 120 coil DT1, the fifth solenoid valve 124 coil DT8 or coil DT9 to extend or retract the fourth hydraulic cylinder 118 to adjust the height of the brush roller assembly 210, and then de-energizes the fifth solenoid valve 124 coil DT8 or coil DT9 to make the guardrail cleaning device meet the cleaning requirements.

[0085] S6: The controller controls the sixth solenoid valve 125 coil DT10 to be energized (at this time the ninth solenoid reversing valve 135 coil DT11 is de-energized) so that the hydraulic motor 137 drives the brush roller shaft of the brush roller assembly 210 to rotate for cleaning operation. During the cleaning operation, the energy storage buffer device buffers the brush roller assembly 210.

[0086] (2) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the working position on the left:

[0087] S7: Perform the above steps S1-S4 to complete the non-operational posture adjustment of the right side of the guardrail cleaning device, and press the control box unfold button;

[0088] S8: When the coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121 are energized, and the first hydraulic cylinder 110 continues to extend until the first connecting arm 202 deflects to 135°, the sensor generates a jump signal and sends it to the controller, causing the coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121 to be de-energized, and the first hydraulic cylinder 110 stops extending.

[0089] S9: The controller energizes the coil DT1 of the first solenoid valve 120 and the coil DT6 of the fourth solenoid valve 123. When the third hydraulic cylinder 113 extends to the brush roller deflector 204 and deflects to 135°, the sensor generates a jump signal and sends it to the controller, causing the coil DT1 of the first solenoid valve 120 and the coil DT6 of the fourth solenoid valve 123 to be de-energized, and the third hydraulic cylinder 113 stops extending.

[0090] S10: Perform the above steps S5-S6;

[0091] (3) When the guardrail cleaning device is in the left or right working position and needs to be folded:

[0092] S11: Press the control box retraction button to send a command to the controller;

[0093] S12: The controller controls the first solenoid valve 120 coil DT1 and the second solenoid valve 121 coil DT3 to be energized. When the first hydraulic cylinder retracts to the first connecting arm 202 and deflects to 45°, the sensor generates a jump signal and sends it to the controller. The first solenoid valve 120 coil DT1 and the second solenoid valve 121 coil DT3 are de-energized, and the first hydraulic cylinder 110 stops retracting.

[0094] S13: When the controller energizes the coil DT1 of the first solenoid valve 120 and the coil DT7 of the fourth solenoid valve 123, causing the third hydraulic cylinder 112 to retract to the brush roller deflector 204 and deflect to the initial position (i.e., 0° in this embodiment), the sensor three generates a jump signal and sends it to the controller, and the third hydraulic cylinder 112 stops retracting.

[0095] S14: The controller controls the first solenoid valve 120 coil DT1 and the third solenoid valve 122 coil DT5 to be energized, so that the second swing cylinder 111 retracts to the second connecting arm 203 deflected to 45°, and the second swing cylinder 111 stops retracting.

[0096] S15: The controller energizes the coils DT1 of the first solenoid valve 120, DT3 of the second solenoid valve 121, and DT5 of the third solenoid valve 122, causing the first hydraulic cylinder 110 and the second swing cylinder 111 to retract to their initial state, thereby deflecting the first connecting arm 202 and the second connecting arm 203 to their initial positions. Simultaneously, the coils DT1 of the first solenoid valve 120, DT3 of the second solenoid valve 121, and DT5 of the third solenoid valve 122 are de-energized, causing the first hydraulic cylinder 110 and the second swing cylinder 111 to stop retracting.

[0097] (4) The energy storage buffer device provides cushioning for the brush roller assembly when the guardrail cleaning device is in operation:

[0098] When the guardrail cleaning device is in operation, the controller controls the hydraulic valve group and the seventh solenoid valve 126 and the eighth solenoid valve 127 to connect the first accumulator 128 and the second accumulator 129 to the rodless chamber and the rod chamber of the first hydraulic cylinder 110, respectively.

[0099] Specifically, the rodless chamber of the first hydraulic cylinder 110 is connected in series with the first accumulator 128 via the seventh solenoid valve 126, and the rod chamber of the first hydraulic cylinder 110 is connected in series with the second accumulator 129 via the eighth solenoid valve 127. The accumulators serve to maintain pressure and replenish fluid, and the first bidirectional balance valve 114 can adjust the pressure of the first accumulator 128 and the second accumulator 129. When the first hydraulic cylinder 110 extends, the coils DTI of the first solenoid valve 120, DT2 of the second solenoid valve 121, and DT12 of the seventh solenoid valve 126 are simultaneously energized. Part of the oil flows into the rodless chamber to adjust the attitude of the actuator, and part of the oil flows into the first accumulator 128 to fill it. After the attitude adjustment of the actuator is completed, the coils DTI of the first solenoid valve 120, DT2 of the second solenoid valve 121, and DT12 of the seventh solenoid valve 126 are simultaneously de-energized. When the first hydraulic cylinder 110 retracts, the coils DTI of the first solenoid valve 120, DT3 of the second solenoid valve 121, and DT13 of the eighth solenoid valve 127 are simultaneously energized. Part of the oil flows into the rod chamber to adjust the attitude of the actuator, and part of the oil flows into the second accumulator 129 to complete the filling of the second accumulator 129. After the attitude adjustment of the actuator is completed, the coils DTI of the first solenoid valve 120, DT3 of the second solenoid valve 121, and DT13 of the eighth solenoid valve 127 are simultaneously de-energized.

[0100] During the operation of the guardrail cleaning device, the coil DT1 of the first solenoid valve 120 remains energized, and the coils DT12 of the seventh solenoid valve 126 and the eighth solenoid valve DT13 remain energized. When an external force is applied to the first hydraulic cylinder 110, such as when the first hydraulic cylinder 110 is retracted, the rodless chamber of the first hydraulic cylinder 110 is pressurized, and the oil in the rodless chamber is pumped into the first accumulator 128. At the same time, the pressure in the rod chamber of the first hydraulic cylinder 110 decreases, and the second accumulator 129 replenishes the oil in the rod chamber of the first hydraulic cylinder 110, preventing a vacuum and avoiding damage to the cylinder. When the external force disappears, the oil in the first accumulator 128 flows back to the rodless chamber of the first hydraulic cylinder 110. At the same time, the pressure in the rod chamber of the first hydraulic cylinder 110 increases, and the oil in the rod chamber of the first hydraulic cylinder 110 is pumped into the second accumulator 129. This achieves buffering and adaptive obstacle avoidance for the brush roller assembly 210, avoiding the technical problems of existing springs or other elastic elements being in a floating state when the equipment is not in operation, causing the cleaning device to move freely, posing safety hazards and making the springs easily damaged.

[0101] (5) Control process of the actuator when the guardrail cleaning device is in working position:

[0102] The controller controls the first solenoid valve 120, the sixth solenoid valve 125 and the ninth solenoid directional valve 135, so that the hydraulic oil flows through the throttle valve 136 and the hydraulic motor 137 and then flows back to the hydraulic oil tank 101. The controller controls the hydraulic valve group 118 corresponding to the first hydraulic cylinder 110, the second swing cylinder 111, the third hydraulic cylinder 112 and the fourth hydraulic cylinder 113 to respectively realize the deflection of the first connecting arm 202, the deflection of the second connecting arm 203, the deflection of the brush roller deflection frame 204 and the lifting and lowering adjustment of the brush roller assembly 210.

[0103] Specifically, the first electromagnetic speed control valve 134 consists of a ninth electromagnetic directional valve 135 and a throttle valve 136 connected in parallel. When the coil DT11 of the ninth electromagnetic directional valve 135 is de-energized, the oil flows from port A to port B of the ninth electromagnetic directional valve 135 (a two-position, two-way electromagnetic directional valve) and into the hydraulic motor 137. When the coil DT11 of the ninth electromagnetic directional valve 135 is energized, ports A and B of the ninth electromagnetic directional valve 135 are disconnected. Due to the action of the check valve of the first electromagnetic speed control valve 134, the oil cannot flow from port A to port B. The oil can only flow through the bypass throttle valve 136. Due to the throttling action of the throttle valve 136, back pressure is generated at port A of the first electromagnetic speed control valve 134.

[0104] During the cleaning process, the coils DT1 of the first solenoid valve 120 and DT10 of the sixth solenoid valve 125 remain energized, while the coil DT11 of the ninth solenoid directional valve 135 remains de-energized. The hydraulic motor 137 rotates to perform the cleaning operation. When adjusting the attitude of the actuator, for example, if the brush roller assembly needs to rise during operation, the controller simultaneously energizes the coils DT8 of the fifth solenoid valve 124 and DT11 of the ninth solenoid directional valve 135. By adjusting the opening of the throttle valve 136, most of the oil flows into the rotary motor 137 through the throttle valve 136. Due to the back pressure of port A of the first solenoid speed control valve 134, a small portion of the oil enters the rod chamber of the fourth hydraulic cylinder 113 through the fifth solenoid valve 124. After the adjustment is completed, the coil DT11 of the ninth solenoid directional valve 135 is de-energized, and the oil no longer flows through the throttle valve 136. This completes the change in the cleaning height of the guardrail cleaning device. When adjusting the posture of other actuators of the guardrail cleaning device, it is only necessary to control the energization and de-energization state of the corresponding solenoid valve coil to achieve posture control during brush roller cleaning operation. This will not be repeated in this instruction.

[0105] Furthermore, the above control method includes a safety auxiliary program in steps S2-S4. If sensor one does not generate a jump signal in step S2, the guardrail cleaning device deployment process will stop and no further steps will be executed. If sensor two does not generate a jump signal in step S3, the guardrail cleaning device deployment process will stop and no further steps will be executed. If sensor three does not generate a jump signal in step S4, the guardrail cleaning device deployment process will stop and no further steps will be executed.

[0106] The angles mentioned above can be other angles, and no specific limitation is made here.

[0107] Example 2:

[0108] See Figures 5 to 6 As shown, the structure and working principle of the actuator, detection mechanism, and hydraulic mechanism in Embodiment 2 are the same as those in Embodiment 1, and the control method is similar to that in Embodiment 1. Embodiment 2 is based on Embodiment 1 with modifications to the relevant structure and control method. The difference between Embodiment 2 and Embodiment 1 is as follows:

[0109] 1. Differences in sensors

[0110] The sensor includes a first sensor 205 and a second sensor 206 for detecting the position of the first hydraulic cylinder 110. The first sensor 205 detects the deflection angle of the first connecting arm 202 in the range of 0-45°, and the second sensor 206 detects the deflection angle of the first connecting arm 202 in the range of 40-50°.

[0111] Sensor 2 includes a third sensor 207 for detecting the position of the second swing cylinder 111, and the third sensor 207 detects the deflection angle of the second connecting arm 203 in the range of 0-180°.

[0112] Sensor 3 includes a fourth sensor 208 and a fifth sensor 209. The fourth sensor detects the position of the roller deflection frame 204 at a deflection angle of 0°, and the fifth sensor detects the range of the roller deflection frame 204 deflection angle from 0 to 45°.

[0113] 2. Differences in control methods

[0114] The controller is equipped with multiple timers, such as T0, T1, T2...Tn. The pre-set timing period is used to determine whether the action of the actuator has been completed, and the timing duration is used to execute the corresponding action of the actuator.

[0115] To implement the control method of the hydraulic system for the guardrail cleaning device in this invention, a control box (not shown in the figure) and a controller (not shown in the figure) are provided. The control box is equipped with operation buttons, and the control method includes the following steps:

[0116] Press the power button on the control box, and the control program will start a self-test and determine the current position of the guardrail cleaning device.

[0117] The first sensor 205 and the second sensor 206 detect the position of the first hydraulic cylinder 110. The first sensor 205 then detects the deflection angle of the first connecting arm 202 within a range of 0-45° (0° and 45° in this embodiment), and the second sensor 206 detects the deflection angle of the first connecting arm 202 within a range of 40-50° (40° in this embodiment). The third sensor 207 detects the position of the second swing cylinder 111, and then detects the deflection angle of the second connecting arm 203 within a range of 0-180° (0° and 180° in this embodiment). The fourth sensor and the fifth sensor detect the position of the third hydraulic cylinder 112. The fourth sensor then detects the 0° deflection angle of the roller deflector 204, and the fifth sensor detects the 0-45° deflection angle of the roller deflector 204 within a range of 0-45° (45° in this embodiment). When the deflection angle of the first connecting arm 202 relative to the connecting frame 201 is 0°, the deflection angle of the second connecting arm 203 relative to the first connecting arm 202 is 0°, and the deflection angle of the brush roller deflector frame 204 relative to the second connecting arm 203 is 0°, the system is in a folded state and can execute an automatic unfolding program. In other states, the system is in an unfolded state and can execute an automatic retraction program. This embodiment, by setting the first sensor 205, second sensor 206, third sensor 207, fourth sensor 208, and fifth sensor 209, allows for the use of sensor structures that do not detect deflection angles in real time, compared to Embodiment 1. This simplifies the structure and control, further reducing system costs.

[0118] (1) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the right-side working position:

[0119] S1: Press the control box unfold button to send a command to the controller;

[0120] S2: The controller energizes the coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121, causing the first hydraulic cylinder 110 to extend. When the first connecting arm 202 deflects to 40°, the second sensor 206 generates a switching signal and sends it to the controller. The coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121 then de-energize, and the first hydraulic cylinder 110 stops extending. This step includes a safety auxiliary program: when the first hydraulic cylinder 110 begins extending, timer T0 starts counting. If the second sensor 206 does not generate a switching signal within the T0 counting period, the automatic program exits and does not execute subsequent steps.

[0121] S3: The controller energizes the coils DT1 of the first solenoid valve 120 and DT4 of the third solenoid valve 122, causing the second swing cylinder 111 to begin swinging. When the second connecting arm 203 deflects to 180°, the third sensor 207 generates a jump signal and sends it to the controller, de-energizing the coils DT1 of the first solenoid valve 120 and DT4 of the third solenoid valve 122. This step includes a safety auxiliary program: when the second swing cylinder 111 begins swinging, timer T1 starts counting. If the third sensor does not generate a jump signal within the T1 counting period, the automatic program exits and does not execute subsequent steps.

[0122] S4: The controller energizes the coils DT1 of the first solenoid valve 120 and DT6 of the fourth solenoid valve 123, causing the third hydraulic cylinder 112 to extend. When the brush roller deflector 204 deflects to 45°, the fifth sensor 209 generates a jump signal and sends it to the controller. The coils DT1 of the first solenoid valve 120 and DT6 of the fourth solenoid valve 123 are de-energized, and the third hydraulic cylinder 112 stops extending. Simultaneously, the coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121 are energized, and the first hydraulic cylinder 110 continues to extend. When the first connecting arm 202 deflects to 45°, the first sensor 205 generates a jump signal and sends it to the controller. The coils DT1 of the first solenoid valve 120 and DT2 of the second solenoid valve 121 are de-energized, and the first hydraulic cylinder 110 stops extending. At this time, the controller register marks the current position D0. This step is equipped with a safety auxiliary program, namely, when the third hydraulic cylinder 112 starts to extend, timer T2 starts to count. If the fifth sensor 209 does not generate a jump signal within the T2 counting period, the automatic program will exit and will not execute the subsequent steps.

[0123] S5: The controller energizes the first solenoid valve 120 coil DT1, the fifth solenoid valve 124 coil DT8 or coil DT9 to extend or retract the fourth hydraulic cylinder 118 to adjust the height of the brush roller assembly 210, and then de-energizes the fifth solenoid valve 124 coil DT8 or coil DT9 to make the guardrail cleaning device meet the cleaning requirements.

[0124] S6: The controller controls the sixth solenoid valve 125 coil DT10 to be energized (at this time the ninth solenoid reversing valve 135 coil DT11 is de-energized) so that the hydraulic motor 137 drives the brush roller shaft of the brush roller assembly 210 to rotate for cleaning operation. During the cleaning operation, the energy storage buffer device buffers the brush roller assembly 210.

[0125] (2) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the working position on the left:

[0126] S7: Press the control box unfold button, the program executes the above steps S1-S4, completes the adjustment of the right side non-working posture of the guardrail cleaning device, press the control box unfold button again, the controller determines the current right-side cleaning posture according to the position D0 marked in the register.

[0127] S8: This step involves a secondary verification of the deflection angle of the second connecting arm 203. If the third sensor 207 does not trigger a signal, meaning the second swing cylinder 111 does not meet the 180° position requirement, this status information is sent to the controller. The controller then sends a signal to energize the coils DT1 of the first solenoid valve 120 and DT4 of the third solenoid valve 122. Simultaneously, the T3 timer starts counting, the second swing cylinder 111 swings, and when the second connecting arm 203 deflects to 180°, the third sensor generates a jump signal and sends it to the controller. The coils DT1 of the first solenoid valve 120 and DT4 of the third solenoid valve 122 are then de-energized. If the third sensor 207 does not generate a jump signal within the T3 timer's counting period, the automatic program exits and does not execute subsequent steps.

[0128] The controller starts the T4 timer (the T4 timer duration has been preset, and the first connecting arm 202 is deflected at a corresponding angle according to the duration and a certain deflection speed). The coil DT1 of the first solenoid valve 120 and the coil DT2 of the second solenoid valve 121 are energized, the first hydraulic cylinder 110 continues to extend, and the first connecting arm 202 deflects to 135°.

[0129] S9: After the T4 timer ends, the T5 timer is started (the T5 timer duration has been preset, and the brush roller deflector 204 is deflected at a corresponding angle according to the duration and a certain deflection speed). The coil DT1 of the first solenoid valve 120 and the coil DT6 of the fourth solenoid valve 123 are energized, the third hydraulic cylinder 112 begins to extend, and the brush roller deflector 204 deflects to 135°.

[0130] S10: Execute steps S5-S6 above. At this time, the controller's register marks the current position D1.

[0131] (3) When the guardrail cleaning device is in the left or right working position and needs to be folded:

[0132] S11: Press the control box retraction button to send a command to the controller;

[0133] S12: The controller energizes the coils DT1 of the first solenoid valve 120 and DT3 of the second solenoid valve 121, causing the first hydraulic cylinder 110 to retract. When the first connecting arm 202 deflects to 40°, the second sensor 206 generates a switching signal and sends it to the controller, de-energizing the coils DT1 of the first solenoid valve 120 and DT3 of the second solenoid valve 121, and the first hydraulic cylinder 110 stops retracting. During the retraction of the first hydraulic cylinder 110, timer T10 starts counting. If the second sensor 206 does not generate a switching signal within the T10 counting period, the automatic program exits and does not execute subsequent steps.

[0134] S13: When the controller controls the first solenoid valve 120 coil DT1 and the fourth solenoid valve 123 coil DT7 to be energized, the third hydraulic cylinder 112 retracts to the brush roller deflector 204 and deflects to 0°. When the fifth sensor 209 generates a jump signal and sends it to the controller, the third hydraulic cylinder 112 stops retracting.

[0135] S14: Timer T12 starts timing. During the timing cycle of timer T12, the controller controls the coil DT1 of the first solenoid valve 120 and the coil DT5 of the third solenoid valve 122 to be energized, so that the second swing cylinder 111 retracts to the point where the second connecting arm 203 deflects to 45°, and then the second swing cylinder 111 stops retracting.

[0136] S15: After timer T12 completes its countdown, timer T13 is triggered. The controller energizes coils DT1 (first solenoid valve 120), DT3 (second solenoid valve 121), and DT5 (third solenoid valve 122). Within the timer cycle of T13, hydraulic cylinder 110 and swing cylinder 111 retract to their initial states. Simultaneously, coils DT1 (first solenoid valve 120), DT3 (second solenoid valve 121), and DT5 (third solenoid valve 122) are de-energized, stopping the retraction of hydraulic cylinder 110 and swing cylinder 111. At this time, the controller register marks the current position D2.

[0137] (4) When the guardrail cleaning device is in operation, the energy storage buffer device provides cushioning to the brush roller assembly.

[0138] The buffering process is the same as in Example 1.

[0139] (5) Control process of the actuator when the guardrail cleaning device is in working position

[0140] The control process is the same as in Example 1.

[0141] (6) When the guardrail cleaning device is in the right-side non-operating position and needs to be adjusted to the right-side operating position.

[0142] Press the control box unfold button, and the system will automatically execute steps S2-S4 in Embodiment 2 to complete the right-side working posture adjustment, and then execute step S10 in Embodiment 2.

[0143] (7) When the guardrail cleaning device is in the left-side non-operating position and needs to be adjusted to the left-side operating position.

[0144] S16: Press the control box unfold button, and the system will automatically execute steps S8-S9 in Embodiment 2 to complete the left-side working posture adjustment. Then, step S10 in Embodiment 2 can be executed.

[0145] The angles mentioned above can be other angles, and no specific limitation is made here.

[0146] The above controllers can be PLC controllers, which can be set to automatic and manual modes. In automatic mode, the controller runs automatically according to the set program, avoiding the uncertainties of manual operation and reducing labor intensity.

[0147] Although embodiments of the 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 to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A hydraulic system for a guardrail washing apparatus, characterized by: This includes the actuator, testing mechanism, and hydraulic mechanism; Actuator: includes a first connecting arm hinged to the connecting frame, a second connecting arm hinged to the first connecting arm, a brush roller deflector hinged to the second connecting arm, and a brush roller assembly disposed on the brush roller deflector; The testing mechanism includes sensor 1, sensor 2, and sensor 3, which respectively detect the deflection angles of the first connecting arm, the second connecting arm, and the brush roller deflection frame; Hydraulic mechanism: including hydraulic actuator module and hydraulic control module; The hydraulic actuator module includes a first hydraulic cylinder, a second swing cylinder, a third hydraulic cylinder that drives the first connecting arm, the second connecting arm, and the brush roller deflection frame to deflect, respectively, and a fourth hydraulic cylinder and a hydraulic motor that drive the brush roller assembly to lift and rotate, respectively. It also includes an energy storage buffer device for buffering the brush roller assembly. The hydraulic control module includes a hydraulic oil tank, a shut-off valve, a fixed displacement pump, a first solenoid valve, and a hydraulic valve group that form a circuit through pipelines; each of the hydraulic valve groups is connected in parallel with the first hydraulic cylinder, the second swing cylinder, the third hydraulic cylinder, the fourth hydraulic cylinder, and the hydraulic motor that are controlled accordingly in the circuit of the hydraulic control module. A first electromagnetic speed regulating valve is provided on the pipeline between the hydraulic valve group corresponding to the hydraulic motor and the oil inlet of the hydraulic motor. The first electromagnetic speed regulating valve includes a ninth electromagnetic reversing valve and a throttle valve arranged in parallel. The energy storage buffer device includes a seventh solenoid valve and a first accumulator installed on the rodless chamber side of the first hydraulic cylinder via a branch pipe, and an eighth solenoid valve and a second accumulator installed on the rod chamber side of the first hydraulic cylinder via a branch pipe. The seventh solenoid valve and the first accumulator are connected in series, and the eighth solenoid valve and the second accumulator are connected in series. The hydraulic valve group includes a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a fifth solenoid valve, and a sixth solenoid valve, which are respectively connected to a fixed displacement pump. The second solenoid valve is used to control the flow direction of the hydraulic fluid in the first hydraulic cylinder, the third solenoid valve is used to control the flow direction of the hydraulic fluid in the second swing cylinder, the fourth solenoid valve is used to control the flow direction of the hydraulic fluid in the third hydraulic cylinder, the fifth solenoid valve is used to control the flow direction of the hydraulic fluid in the fourth hydraulic cylinder, and the sixth solenoid valve is used to control the rotation of the hydraulic motor. The hydraulic valve group further includes a first speed control valve, a second speed control valve, a third speed control valve, and a fourth speed control valve; the first speed control valve is located in the oil circuit between the first hydraulic cylinder and the second solenoid valve, the second speed control valve is located in the oil circuit between the second swing cylinder and the third solenoid valve, the third speed control valve is located in the oil circuit between the third hydraulic cylinder and the fourth solenoid valve, and the fourth speed control valve is located in the oil circuit between the fourth hydraulic cylinder and the fifth solenoid valve. The hydraulic valve group further includes a first bidirectional balance valve, a second bidirectional balance valve, a third bidirectional balance valve, and a fourth bidirectional balance valve; the first bidirectional balance valve is disposed in the oil circuit between the first hydraulic cylinder and the second solenoid valve, the second bidirectional balance valve is disposed in the oil circuit between the second swing cylinder and the third solenoid valve, the third bidirectional balance valve is disposed in the oil circuit between the third hydraulic cylinder and the fourth solenoid valve, and the fourth bidirectional balance valve is disposed in the oil circuit between the fourth hydraulic cylinder and the fifth solenoid valve.

2. The hydraulic system for a guardrail cleaning apparatus of claim 1, wherein: An overflow valve is installed on the pipeline between the fixed displacement pump and the hydraulic oil tank inlet.

3. The hydraulic system for a guardrail cleaning apparatus of claim 1, wherein: A thermometer and an air filter are installed on the hydraulic oil tank; an oil outlet filter is installed on the pipeline between the oil outlet of the hydraulic oil tank and the fixed displacement pump; and a return oil radiator and a return oil filter are installed on the pipeline between the fixed displacement pump and the oil inlet of the hydraulic oil tank.

4. A control method for a hydraulic system of a guard rail washing apparatus according to any one of claims 1 to 3, characterized by Includes the following steps: (1) When the guardrail cleaning device is in a folded position and needs to be unfolded for right-side operation posture adjustment, S1: Press the unfold button of the control box; S2: When the controller controls the hydraulic valve group to extend the first hydraulic cylinder to the first connecting arm deflected to the set angle, the sensor generates a jump signal and sends it to the controller, and the first hydraulic cylinder stops extending. S3: When the controller controls the hydraulic valve group to make the second swing cylinder swing to the second connecting arm deflected to the set angle, the second sensor generates a jump signal and sends it to the controller, and the second swing cylinder stops swinging. S4: When the controller controls the hydraulic valve group to extend the third hydraulic cylinder until the brush roller deflector is deflected to the set angle, the sensor three generates a jump signal and sends it to the controller, and the third hydraulic cylinder stops extending. S5: The controller controls the hydraulic valve group to extend or retract the fourth hydraulic cylinder to adjust the height of the brush roller assembly. S6: The controller controls the hydraulic valve group to make the hydraulic motor drive the brush roller assembly to rotate for cleaning operations, and the energy storage buffer device buffers the brush roller assembly. (2) When the guardrail cleaning device is in a folded position and needs to be unfolded to adjust the working position on the left side, S7: Execute the above steps S1-S4 to complete the non-working position adjustment of the right side of the guardrail cleaning device, and press the unfold button of the control box. S8: The controller controls the hydraulic valve group to make the first hydraulic cylinder continue to extend until the first connecting arm deflects to a set angle, at which point the first hydraulic cylinder stops extending. S9: The controller controls the hydraulic valve group to make the third hydraulic cylinder continue to extend until the brush roller deflector frame deflects to the set angle, at which point the third hydraulic cylinder stops extending. S10: Perform the above steps S5-S6; (3) When the guardrail cleaning device is in the left or right working position and needs to be folded S11: Press the control box retraction button; S12: The controller controls the hydraulic valve group to retract the first hydraulic cylinder until the first connecting arm deflects to a set angle, at which point the first hydraulic cylinder stops retracting. S13: The controller controls the hydraulic valve group to retract the third hydraulic cylinder until the brush roller deflector frame deflects to the initial position, at which point the third hydraulic cylinder stops retracting. S14: The controller controls the hydraulic valve group to retract the second swing cylinder until the second connecting arm deflects to the set angle, at which point the second swing cylinder stops retracting. S15: When the controller controls the hydraulic valve group to retract the first hydraulic cylinder to the initial position of the first connecting arm, the first hydraulic cylinder stops retracting; when the controller controls the hydraulic valve group to retract the second swing cylinder to the initial position of the second connecting arm, the second swing cylinder stops retracting. (4) Control process of the actuator when the guardrail cleaning device is in working position The controller controls the first solenoid valve, the sixth solenoid valve, and the ninth solenoid directional valve, so that the hydraulic oil flows back to the hydraulic oil tank after passing through the throttle valve and the hydraulic motor. The controller controls the hydraulic valve groups corresponding to the first hydraulic cylinder, the second swing cylinder, the third hydraulic cylinder, and the fourth hydraulic cylinder to respectively realize the deflection of the first connecting arm, the deflection of the second connecting arm, the deflection of the brush roller deflection frame, and the lifting and lowering adjustment of the brush roller assembly.

5. The method of claim 4, wherein: A safety auxiliary program is set in steps S2-S4; if sensor one does not generate a jump signal in step S2, the guardrail cleaning device deployment process will stop and no further steps will be executed; if sensor two does not generate a jump signal in step S3, the guardrail cleaning device deployment process will stop and no further steps will be executed; if sensor three does not generate a jump signal in step S4, the guardrail cleaning device deployment process will stop and no further steps will be executed.

6. The control method of a hydraulic system for a guardrail cleaning device according to claim 4, characterized by: The energy storage and buffer device includes a seventh solenoid valve, a first accumulator, an eighth solenoid valve, and a second accumulator. When the guardrail cleaning device is in operation, the controller controls the hydraulic valve group and the seventh and eighth solenoid valves to connect the first accumulator and the second accumulator to the rodless chamber and the rod chamber of the first hydraulic cylinder, respectively.

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