Arm support automatic sinking material taking control system and control method thereof

Abstract

The application discloses an automatic sinking control system for an arm support and a control method thereof, which comprises proportional flow reversing valves I and II; a load port of a balance check valve I is communicated with a rod cavity of a horizontal arm oil cylinder, and a load port of a balance check valve II is communicated with a rodless cavity of the horizontal arm oil cylinder; a working port A of the proportional flow reversing valve I is communicated with an oil inlet of the balance check valve I and a control port of the balance check valve II, and a working port B thereof is communicated with a control port of the balance check valve I and an oil inlet of the balance check valve II; a load port of a balance check valve III is communicated with a rod cavity of a vertical arm oil cylinder, and a load port of a balance check valve IV is communicated with a rodless cavity of the vertical arm oil cylinder; a working port A of the proportional flow reversing valve II is communicated with an oil inlet of the balance check valve III and a control port of the balance check valve IV, and a working port B thereof is communicated with a control port of the balance check valve III and an oil inlet of the balance check valve IV. The application can be quickly switched and ensure the material taking flow.

Description

Technical Field

[0001] This invention relates to the field of buried scraper unloader technology, specifically to an automatic boom lowering and material retrieving control system and its control method. Background Technology

[0002] The buried scraper unloader is used for unloading ships at professional docks. It has many advantages such as high overall efficiency, low energy consumption, low cost, and environmental protection. It is mainly suitable for unloading powdery materials such as grain and fertilizer.

[0003] Existing scraper unloaders are all boom-type. A pitch cylinder located in front of the vertical boom hinge point and below the horizontal boom allows the horizontal boom to pitch, adjusting the height at which the vertical scraper lifts the material collection head to reach the silo for material collection. A swing cylinder located at the head of the horizontal boom swings the vertical boom, which, combined with the horizontal boom rotation, forms the material collection working surface. However, existing scraper unloaders rely on passive automatic sinking for material collection. This method is unsuitable for materials close to walls and easily leads to waste. Therefore, combining active and passive sinking material collection to better adapt to on-site material collection conditions has become a pressing problem to solve. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic boom lowering and material retrieving control system and its control method. By using a proportional flow reversing valve, a floating working condition solenoid valve and a balance check valve in combination, the horizontal boom and the vertical boom are driven to work together, thereby enabling rapid switching according to various working conditions. While ensuring the material retrieving flow rate, it also protects the mechanical structure and improves the service life.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An automatic boom lowering and material retrieving control system of the present invention includes a horizontal boom, two horizontal boom cylinders, a vertical boom, and a vertical boom cylinder. The horizontal boom and the vertical boom are vertically hinged in an L-shape, and a material retrieving head is installed at the lower end of the vertical boom. The piston rods of the two horizontal boom cylinders are respectively connected to the horizontal boom and drive the horizontal boom to perform up-and-down pitching movements through synchronous action. The piston rod of the vertical boom cylinder is connected to the vertical boom and drives the vertical boom to swing, thereby retrieving material. The innovation lies in the following: it also includes a proportional flow reversing valve I, a proportional flow reversing valve II, a valve block I, and a valve block II; the two valve blocks I are respectively arranged at positions relative to the corresponding horizontal arm cylinders, and a balance check valve I and a balance check valve II are symmetrically integrated on each valve block I; the load port of each balance check valve I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the load port of each balance check valve II is connected to the rodless chamber of the corresponding horizontal arm cylinder; the proportional flow reversing valve I and the proportional flow reversing valve II are both three-position four-way reversing valves, and the... The working port A of the proportional flow reversing valve I is connected to the inlet of the corresponding balance check valve I and the control port of the balance check valve II via the V2 port of each valve block I. Its working port B is connected to the control port of the corresponding balance check valve I and the inlet of the balance check valve II via the V1 port of each valve block I. Its inlet port P is connected to the main oil source through the main oil pump, and its return port T is connected to the oil tank through a pipeline, thereby controlling the pitch of the horizontal boom. The valve block II is located at a position relative to the vertical boom cylinder, and a balance check valve III and a balance check valve are symmetrically integrated on it. IV; The load port of the balance check valve III is connected to the rod chamber of the vertical boom cylinder, and the load port of the balance check valve IV is connected to the rodless chamber of the vertical boom cylinder; the working port A of the proportional flow reversing valve II is connected to the oil inlet of the balance check valve III and the control port of the balance check valve IV via the V2 port of the valve block II, and its working port B is connected to the control port of the balance check valve III and the oil inlet of the balance check valve IV via the V1 port of the valve block II, and its oil inlet P is connected to the main oil source through the main oil pump, and its return port T is connected to the oil tank through the pipeline, thereby controlling the swing of the vertical boom.

[0006] Preferably, it further includes a proportional connecting valve I and a proportional connecting valve II; each valve block I is symmetrically integrated with a proportional connecting valve I and a proportional connecting valve II, and each proportional connecting valve I is located on the left side relative to the corresponding balance check valve I, and each proportional connecting valve II is located on the right side relative to the corresponding balance check valve II; the load port of each proportional connecting valve I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the load port of each proportional connecting valve II is connected to the rodless chamber of the corresponding horizontal arm cylinder; the pilot port and valve port of each proportional connecting valve I, and the pilot port and valve port of each proportional connecting valve II are connected to port B on the corresponding valve block I, and the spring chamber drain port of each proportional connecting valve I, and the spring chamber drain port of each proportional connecting valve II are connected to port C on the corresponding valve block I.

[0007] Preferably, it further includes a safety valve I and a check valve I; a check valve I is also integrated on each valve block I between the proportional connecting valve I and the corresponding balanced check valve I, and between the proportional connecting valve II and the corresponding balanced check valve II, and the oil inlet end of each check valve I is connected to port B on the corresponding valve block I, the oil outlet end of the check valve I located on the left side of each valve block I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the oil outlet end of the check valve I located on the right side of each valve block I is... The rodless chamber of the corresponding horizontal arm cylinder is not connected to the rodless chamber of the horizontal arm cylinder. On each valve block I, a safety valve I is integrated on the left side relative to the proportional connecting valve I and on the right side relative to the proportional connecting valve II. One end of each safety valve I is connected to port B on the corresponding valve block I. The other end of the safety valve I located on the left side of each valve block I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the other end of the safety valve I located on the right side of each valve block I is connected to the rodless chamber of the corresponding horizontal arm cylinder.

[0008] Preferably, it further includes a proportional connecting valve III and a proportional connecting valve IV; the proportional connecting valve III and the proportional connecting valve IV are also symmetrically integrated on the valve block II, the proportional connecting valve III is located on the left side relative to the balance check valve III, and the proportional connecting valve IV is located on the right side relative to the balance check valve IV; the load port of the proportional connecting valve III is connected to the rod chamber of the vertical arm cylinder, and the load port of the proportional connecting valve IV is connected to the rodless chamber of the vertical arm cylinder; the pilot port and valve port of the proportional connecting valve III, and the pilot port and valve port of the proportional connecting valve IV are respectively connected to port B on the corresponding valve block II, and the spring chamber drain port of the proportional connecting valve III, and the spring chamber drain port of the proportional connecting valve IV are respectively connected to port C on the corresponding valve block II.

[0009] Preferably, it further includes a safety valve II and a check valve II; a check valve II is also integrated on the valve block II between the proportional connecting valve III and the corresponding balanced check valve III, and between the proportional connecting valve IV and the corresponding balanced check valve IV, respectively. The oil inlet end of each check valve II is connected to port B on the valve block II. The oil outlet end of the check valve II located on the left side of the valve block II is connected to the rod chamber of the vertical arm cylinder, and the oil outlet end of the check valve II located on the right side of the valve block II is connected to the rodless chamber of the vertical arm cylinder. A safety valve II is also integrated on the valve block II on the left side of the proportional connecting valve III and on the right side of the proportional connecting valve IV, respectively. One end of each safety valve II is connected to port B on the valve block II. The other end of the safety valve II located on the left side of the valve block II is connected to the rod chamber of the vertical arm cylinder, and the other end of the safety valve II located on the right side of the valve block II is connected to the rodless chamber of the vertical arm cylinder.

[0010] Preferably, port B on each of the valve blocks I and port B on the valve block II are respectively connected to the oil replenishment pump on the oil tank through pipelines, so as to pump replenishment oil into valve block I or valve block II respectively.

[0011] Preferably, the system further includes a floating solenoid valve I and a floating solenoid valve II. The floating solenoid valve I is a two-position three-way directional valve, with its working port A and working port B arranged left and right. The working port A of the floating solenoid valve I is connected to port C on each of the valve blocks I through a pipeline, and its working port B is connected to the oil tank through a pipeline. Its oil inlet P is connected to the control oil pump on the oil tank through a pipeline, thereby controlling the energization and de-energization of the proportional connecting valve I and proportional connecting valve II on the corresponding valve block I by pumping in control oil. The floating solenoid valve II is a two-position three-way directional valve, with its working port A and working port B arranged left and right. The working port A of the floating solenoid valve II is connected to port C on the valve block II through a pipeline, and its working port B is connected to the oil tank through a pipeline. Its oil inlet P is connected to the control oil pump on the oil tank through a pipeline, thereby controlling the energization and de-energization of the proportional connecting valve III and proportional connecting valve IV on the valve block II by pumping in control oil.

[0012] The innovation of the control method of the automatic boom lowering and material retrieving control system of the present invention lies in the inclusion of the following steps:

[0013] (1) When there is a lot of cargo in the ship's hold

[0014] (1.1) First, the floating solenoid valve I, the floating solenoid valve II, the proportional connecting valve I, the proportional connecting valve II, the proportional connecting valve III, and the proportional connecting valve IV are all in a de-energized state. At this time, the horizontal boom and the vertical boom are both in a fully electrically controlled state, while the proportional connecting valve I, the proportional connecting valve II, the proportional connecting valve III, and the proportional connecting valve IV are all used as protective relief valves.

[0015] (1.2) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm through the proportional flow reversing valve I.

[0016] (1.3) After the horizontal boom moves, the vertical boom also moves according to the set angle under the control of the proportional flow reversing valve II, forming a cascade PID regulation, thereby ensuring the maximum material taking amount by controlling the embedment depth within the set range.

[0017] (2) When it is necessary to clear out the warehouse or retrieve materials from the edges of the ship

[0018] (2.1) First, the floating solenoid valve I, the floating solenoid valve II, the proportional connecting valve I and the proportional connecting valve II are all in a de-energized state. At this time, the horizontal boom is in a fully electrically controlled state, and the proportional connecting valve III and the proportional connecting valve IV are used as protective relief valves.

[0019] (2.2) Then the floating solenoid valve II is energized, and its inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II, so that the proportional connecting valve III and the proportional connecting valve IV are both energized. At this time, the vertical arm cylinder is in a free state, and the vertical arm boom is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II is in a non-working state.

[0020] (2.3) Then the right side of the proportional flow reversing valve I is energized, and its valve core moves to the left. At this time, the oil inlet P of the proportional flow reversing valve I is connected to its working port A, and its working port B is connected to its return port T. Then the main oil is supplied to the rod chamber of the horizontal arm cylinder through the balance check valve I by the main oil pump. The piston rod of the horizontal arm cylinder retracts, and at the same time the main oil flows to the control port of the balance check valve II, so that the load port of the balance check valve II is connected to its oil inlet. Then the main oil in the rodless chamber of the horizontal arm cylinder flows back to the oil tank. The material picker head can be driven to move downward to pick up the material by the downward tilt of the horizontal arm boom.

[0021] (2.4) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm through the proportional flow reversing valve I.

[0022] (2.5) Because the vertical arm cylinder is in a free state, it can balance the impact of contact with the ship's hold when clearing the warehouse or taking materials from the corners of the ship.

[0023] (2.6) When encountering large waves and the hull floats, triggering the bottoming limit action, the floating condition solenoid valve I is energized, so that both proportional connecting valve I and proportional connecting valve II are energized. At this time, the horizontal arm cylinder is in a free state to balance the pressure brought by the impact and issue an alarm to prompt the operator to take over.

[0024] (3) When the waves at the dock are large

[0025] (3.1) First, the floating solenoid valve II is energized, and its inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II, so that the proportional connecting valve III and the proportional connecting valve IV are both energized. At this time, the vertical arm cylinder is in a free state, and the vertical arm boom is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II is in a non-working state.

[0026] (3.2) Then the floating solenoid valve I is energized, and its oil inlet P is connected to its working port A, thereby pumping control oil into port C of valve block I, so that both proportional connecting valve I and proportional connecting valve II are energized, and their valve opening size is given according to the working condition electronic control.

[0027] (3.2) Then the material burial depth of the material head is measured by the radar material sensor, and the opening degree of proportional valve I and proportional valve II is adjusted accordingly.

[0028] (3.3) When the burial depth is not reached, the opening is increased. At this time, the material head is supported by the material to maintain balance.

[0029] (3.4) After the surrounding material is emptied, the opening of proportional valve I and proportional valve II is adjusted again to make the material head continue to sink automatically and complete the automatic material collection.

[0030] The beneficial effects of this invention are:

[0031] (1) The present invention uses the combined use of a proportional flow reversing valve, a floating working condition solenoid valve and a balance check valve to drive the horizontal boom and the vertical boom to work together, thereby enabling rapid switching according to various working conditions. While ensuring the material flow rate, it also protects the mechanical structure and improves the service life.

[0032] (2) The proportional connecting valve I, proportional connecting valve II, proportional connecting valve III and proportional connecting valve IV of the present invention can also serve as a protection overflow, thereby ensuring the safe and stable operation of the control system;

[0033] (3) By setting a one-way valve, the present invention can compensate for the volume difference caused by the extension and movement of the piston rod by replenishing oil after the rod chamber and rodless chamber of the horizontal arm cylinder or the vertical arm cylinder are connected. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of an automatic boom lowering and material handling control system according to the present invention.

[0036] Figure 2 for Figure 1 Enlarged schematic diagram of section I of the middle valve block.

[0037] Figure 3 for Figure 1 Enlarged schematic diagram of the middle valve block II section.

[0038] Figure 4 This is a schematic diagram of the mechanical mechanism to which the present invention is applicable.

[0039] Among them, 1-Proportional flow reversing valve I; 2-Proportional flow reversing valve II; 3-Vertical boom cylinder; 4-Valve block I; 5-Horizontal boom cylinder; 6-Valve block II; 7-Floating solenoid valve I; 8-Floating solenoid valve II; 9-Horizontal boom; 10-Vertical boom; 11-Hill materials; 41-Balancing check valve I; 42-Balancing check valve II; 43-Proportional connecting valve I; 44-Proportional connecting valve II; 45-Safety valve I; 46-Check valve I; 61-Balancing check valve III; 62-Balancing check valve IV; 63-Proportional connecting valve III; 64-Proportional connecting valve IV; 65-Safety valve II; 66-Check valve II. Detailed Implementation

[0040] The technical solution of the present invention will be clearly and completely described below through specific embodiments.

[0041] An automatic boom lowering and material-collecting control system of the present invention includes a horizontal boom 9, two horizontal boom cylinders 5, a vertical boom 10, and a vertical boom cylinder 3. The horizontal boom 9 and the vertical boom 10 are vertically hinged in an L-shape, and a material-collecting head is installed at the lower end of the vertical boom 10. The piston rods of the two horizontal boom cylinders 5 are respectively connected to the horizontal boom 9 and drive the horizontal boom 9 to perform up-and-down pitching movements through synchronous action. The piston rod of the vertical boom cylinder 3 is connected to the vertical boom 10 and drives the vertical boom 10 to swing, thereby collecting material. The specific structure is as follows: Figures 1-4 As shown, it also includes a proportional flow reversing valve I1, a proportional flow reversing valve II2, valve block I4, and valve block II6; two valve blocks I4 are respectively set at positions relative to the corresponding horizontal arm cylinder 5, and each valve block I4 is also symmetrically integrated with a balance check valve I41 and a balance check valve II42; the load port of each balance check valve I41 is connected to the rod chamber of the corresponding horizontal arm cylinder 5, and the load port of each balance check valve II42 is connected to the rodless chamber of the corresponding horizontal arm cylinder 5; the proportional flow reversing valve I1 and the proportional flow reversing valve II6... Both are three-position four-way directional valves. The working port A of the proportional flow directional valve I1 is connected to the oil inlet of the corresponding balance check valve I41 and the control port of the balance check valve II42 through the V2 port of each valve block I4. Its working port B is connected to the control port of the corresponding balance check valve I41 and the oil inlet of the balance check valve II42 through the V1 port of each valve block I4. Its oil inlet P is connected to the main oil source through the main oil pump, and its return oil port T is connected to the oil tank through the pipeline. The pitch of the horizontal boom 9 is controlled by switching the direction of pumping in the main oil.

[0042] like Figures 1-3 As shown, each valve block I4 is symmetrically integrated with a proportional connecting valve I43 and a proportional connecting valve II44. Each proportional connecting valve I43 is located on the left side relative to the corresponding balance check valve I41, and each proportional connecting valve II44 is located on the right side relative to the corresponding balance check valve II42. The load port of each proportional connecting valve I43 is connected to the rod chamber of the corresponding horizontal arm cylinder 5, and the load port of each proportional connecting valve II44 is connected to the rodless chamber of the corresponding horizontal arm cylinder 5. The pilot port and valve port of each proportional connecting valve I43, and the pilot port and valve port of each proportional connecting valve II44 are connected to port B on the corresponding valve block I4. The spring chamber drain port of each proportional connecting valve I43, and the spring chamber drain port of each proportional connecting valve II44 are connected to port C on the corresponding valve block I4.

[0043] like Figures 1-3As shown, on each valve block I4, a one-way valve I46 is integrated between the proportional connecting valve I43 and the corresponding balanced check valve I41, and between the proportional connecting valve II44 and the corresponding balanced check valve II42. The inlet end of each one-way valve I46 is connected to port B on the corresponding valve block I4. The outlet end of the one-way valve I46 on the left side of each valve block I4 is connected to the rod chamber of the corresponding horizontal arm cylinder 5. The outlet end of the one-way valve I46 on the right side of each valve block I4 is connected to the corresponding... The rodless chamber of the horizontal arm cylinder 5 is connected; on each valve block I4, a safety valve I45 is integrated on the left side relative to the proportional connecting valve I43 and on the right side relative to the proportional connecting valve II44. One end of each safety valve I45 is connected to port B on the corresponding valve block I4, the other end of the safety valve I45 on the left side of each valve block I4 is connected to the rod chamber of the corresponding horizontal arm cylinder 5, and the other end of the safety valve I45 on the right side of each valve block I4 is connected to the rodless chamber of the corresponding horizontal arm cylinder 5.

[0044] In this invention, valve block II6 is positioned relative to the vertical arm cylinder 3, and symmetrically integrated on it are a balance check valve III61 and a balance check valve IV62; as shown Figures 1-3 As shown, the load port of the balance check valve III 61 is connected to the rod chamber of the vertical arm cylinder 3, and the load port of the balance check valve IV 62 is connected to the rodless chamber of the vertical arm cylinder 3; the working port A of the proportional flow reversing valve II 2 is connected to the oil inlet of the balance check valve III 61 and the control port of the balance check valve IV 62 via the V2 port of the valve block II 6, and its working port B is connected to the control port of the balance check valve III 61 and the oil inlet of the balance check valve IV 62 via the V1 port of the valve block II 6, and its oil inlet P is connected to the main oil source through the main oil pump, and its return port T is connected to the oil tank through the pipeline, thereby controlling the swing of the vertical arm boom 10.

[0045] like Figures 1-3 As shown, proportional connecting valve III63 and proportional connecting valve IV64 are symmetrically integrated on valve block II6. Proportional connecting valve III63 is located on the left side relative to the balance check valve III61, and proportional connecting valve IV64 is located on the right side relative to the balance check valve IV62. The load port of proportional connecting valve III63 is connected to the rod chamber of the vertical arm cylinder 3, and the load port of proportional connecting valve IV64 is connected to the rodless chamber of the vertical arm cylinder 3. The pilot port and valve port of proportional connecting valve III63, and the pilot port and valve port of proportional connecting valve IV64 are respectively connected to port B on the corresponding valve block II6, and the spring chamber drain port of proportional connecting valve III63, and the spring chamber drain port of proportional connecting valve IV64 are respectively connected to port C on the corresponding valve block II6.

[0046] like Figures 1-3As shown, one-way valves II66 are integrated on valve block II6 between proportional connecting valve III63 and the corresponding balanced check valve III61, and between proportional connecting valve IV64 and the corresponding balanced check valve IV62. The inlet of each one-way valve II66 is connected to port B on valve block II6. The outlet of the one-way valve II66 located on the left side of valve block II6 is connected to the rod chamber of the vertical arm cylinder 3, and the outlet of the one-way valve II66 located on the right side of valve block II6 is connected to... The rodless chamber of the vertical arm cylinder 3 is connected; on the valve block II6, a safety valve II65 is integrated on the left side of the proportional connecting valve III63 and on the right side of the proportional connecting valve IV64, and one end of each safety valve II65 is connected to port B on the valve block II6. The other end of the safety valve II65 located on the left side of the valve block II6 is connected to the rod chamber of the vertical arm cylinder 3, and the other end of the safety valve II65 located on the right side of the valve block II6 is connected to the rodless chamber of the vertical arm cylinder 3.

[0047] In this invention, port B on each valve block I4 and port B on each valve block II6 are connected to the oil replenishment pump on the oil tank through pipes, thereby pumping replenishment oil into valve block I4 or valve block II6 respectively. After the rod chamber and rodless chamber of the horizontal arm cylinder 5 or the vertical arm cylinder 3 are connected, the replenishment oil is used to compensate for the volume difference caused by the extension and movement of the piston rod.

[0048] The floating solenoid valve I7 of this invention is a two-position three-way directional valve, and its working port A and its working port B are arranged to the left and right, respectively. Figures 1-3 As shown, the working port A of the floating solenoid valve I7 is connected to the port C on each valve block I4 through a pipe, and its working port B is connected to the oil tank through a pipe. Its oil inlet P is connected to the control oil pump on the oil tank through a pipe. Then, by pumping in control oil, the energization and de-energization of the proportional connecting valve I43 and proportional connecting valve II44 on the corresponding valve block I4 are controlled.

[0049] like Figures 1-3 As shown, the floating solenoid valve II8 is a two-position three-way directional valve, with its working port A and its working port B positioned to the left and right respectively. The working port A of the floating solenoid valve II8 is connected to port C on valve block II6 through a pipeline, and its working port B is connected to the oil tank through a pipeline. Its oil inlet P is connected to the control oil pump on the oil tank through a pipeline, thereby controlling the energization and de-energization of the proportional connecting valve III63 and proportional connecting valve IV64 on valve block II6 by pumping in control oil.

[0050] The present invention provides a control method for an automatic boom lowering and material retrieving control system, such as... Figures 1-4 As shown, it includes the following steps:

[0051] (1) When there is a lot of material in the ship's hold 11

[0052] (1.1) First, the floating solenoid valve I7, the floating solenoid valve II8, the proportional connecting valve I43, the proportional connecting valve II44, the proportional connecting valve III63, and the proportional connecting valve IV64 are all in a de-energized state. At this time, the horizontal boom 9 and the vertical boom 10 are both in a fully electrically controlled state, while the proportional connecting valve I43, the proportional connecting valve II44, the proportional connecting valve III63, and the proportional connecting valve IV64 are all used as protective relief valves.

[0053] (1.2) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm 9 through the proportional flow reversing valve I1.

[0054] (1.3) After the horizontal boom 9 moves, the vertical boom 10 also moves according to the set angle under the control of the proportional flow reversing valve II2, and forms a cascade PID regulation, thereby ensuring the maximum material taking amount by controlling the embedment depth within the set range.

[0055] (2) When it is necessary to clear out the warehouse or retrieve materials from the edges of the ship

[0056] (2.1) First, the floating solenoid valve I7, the floating solenoid valve II8, the proportional connecting valve I43 and the proportional connecting valve II44 are all in a de-energized state. At this time, the horizontal boom 9 is in a fully electrically controlled state. The proportional connecting valve I43 and the proportional connecting valve II44 are used as protective relief valves.

[0057] (2.2) Then the floating solenoid valve II8 is energized, and its oil inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II6, so that the proportional connecting valve III63 and the proportional connecting valve IV64 are both energized. At this time, the vertical arm cylinder 3 is in a free state, and the vertical arm boom 10 is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II2 is in a non-working state.

[0058] (2.3) Then the right side of the proportional flow reversing valve I1 is energized, and its valve core moves to the left. At this time, the oil inlet P of the proportional flow reversing valve I1 is connected to its working port A, and its working port B is connected to its return port T. Then the main oil is supplied to the rod chamber of the horizontal arm cylinder 5 through the balance check valve I41 by the main oil pump. The piston rod of the horizontal arm cylinder 5 retracts, and at the same time the main oil flows to the control port of the balance check valve II42, so that the load port of the balance check valve II42 is connected to its oil inlet. Then the main oil in the rodless chamber of the horizontal arm cylinder 5 flows back to the oil tank. The material picker head can be driven to move downward to pick up the material by the downward pitch of the horizontal arm boom 9.

[0059] (2.4) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm 9 through the proportional flow reversing valve I1.

[0060] (2.5) Because the vertical arm cylinder 3 is in a free state, it can balance the impact of contact with the ship's hold when clearing the warehouse or taking materials from the corners of the ship.

[0061] (2.6) When encountering large waves and the hull floats, triggering the bottoming limit action, the floating condition solenoid valve II8 is energized, so that both the proportional connecting valve I43 and the proportional connecting valve II44 are energized. At this time, the horizontal arm cylinder 5 is in a free state to balance the pressure brought by the impact and issue an alarm to prompt the operator to take over.

[0062] (3) When the waves at the dock are large

[0063] (3.1) First, the floating solenoid valve II8 is energized, and its oil inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II6, so that the proportional connecting valve III63 and the proportional connecting valve IV64 are both energized. At this time, the vertical arm cylinder 3 is in a free state, and the vertical arm boom 10 is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II2 is in a non-working state.

[0064] (3.2) Then the floating solenoid valve I7 is energized, and its oil inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block I4, so that both proportional connecting valve I43 and proportional connecting valve II44 are energized, and their valve opening size is given according to the working condition electronic control.

[0065] (3.2) Then the material burial depth of the material head is measured by the radar material sensor, and the opening degree of proportional connecting valve I 43 and proportional connecting valve II 44 is adjusted accordingly.

[0066] (3.3) When the burial depth is not reached, the opening is increased. At this time, the material head is supported by the material to maintain balance.

[0067] (3.4) After the surrounding material is emptied, the opening of proportional connecting valve I 43 and proportional connecting valve II 44 is adjusted again to make the material head continue to sink automatically and complete the automatic material picking.

[0068] The beneficial effects of this invention are:

[0069] (1) The present invention uses the combined use of a proportional flow reversing valve, a floating working condition solenoid valve and a balance check valve to drive the horizontal boom 9 and the vertical boom 10 to work together, thereby enabling rapid switching according to various working conditions. While ensuring the material handling flow rate, it also protects the mechanical structure and improves the service life.

[0070] (2) The proportional connecting valve I 43, proportional connecting valve II 44, proportional connecting valve III 63 and proportional connecting valve IV 64 of the present invention can also serve as a protection overflow, thereby ensuring the safe and stable operation of the control system;

[0071] (3) By setting a one-way valve, the present invention can compensate for the volume difference caused by the extension and movement of the piston rod by replenishing oil after the rod chamber and rodless chamber of the horizontal arm cylinder 5 or the vertical arm cylinder 3 are connected.

[0072] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, all modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope of the present invention. The technical content for which protection is sought in the present invention has been fully described in the technical requirements.

Claims

1. An automatic boom lowering and material-collecting control system, comprising a horizontal boom, two horizontal boom cylinders, a vertical boom, and a vertical boom cylinder, wherein the horizontal boom and the vertical boom are vertically hinged in an L-shape, and a material-collecting head is installed at the lower end of the vertical boom; the piston rods of the two horizontal boom cylinders are respectively connected to the horizontal boom and drive the horizontal boom to perform up-and-down pitching motion through synchronous action; the piston rod of the vertical boom cylinder is connected to the vertical boom and drives the vertical boom to swing, thereby collecting material; characterized in that: It also includes a proportional flow reversing valve I, a proportional flow reversing valve II, a valve block I, and a valve block II; the two valve blocks I are respectively located at positions relative to the corresponding horizontal arm cylinders, and a balance check valve I and a balance check valve II are symmetrically integrated on each valve block I; the load port of each balance check valve I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the load port of each balance check valve II is connected to the rodless chamber of the corresponding horizontal arm cylinder; both the proportional flow reversing valve I and the proportional flow reversing valve II are three-position four-way reversing valves, and the working port A of the proportional flow reversing valve I is connected to the oil inlet of the corresponding balance check valve I and the control port of the balance check valve II via the V2 port of each valve block I, and its working port B is connected to the control port of the corresponding balance check valve I and the oil inlet of the balance check valve II via the V1 port of each valve block I. Its inlet P is connected to the main oil source via the main oil pump, and its return port T is connected to the oil tank via a pipeline, thereby controlling the pitch of the horizontal boom. Valve block II is positioned relative to the vertical boom cylinder, and symmetrically integrated with balance check valves III and IV on it. The load port of balance check valve III is connected to the rod chamber of the vertical boom cylinder, and the load port of balance check valve IV is connected to the rodless chamber of the vertical boom cylinder. The working port A of the proportional flow reversing valve II is connected to the inlet of balance check valve III and the control port of balance check valve IV via the V2 port of valve block II, and its working port B is connected to the control port of balance check valve III and the inlet of balance check valve IV via the V1 port of valve block II. Its inlet P is connected to the main oil source via the main oil pump, and its return port T is connected to the oil tank via a pipeline, thereby controlling the swing of the vertical boom.

2. The automatic boom lowering and material handling control system according to claim 1, characterized in that: It also includes a proportional connecting valve I and a proportional connecting valve II; each valve block I is symmetrically integrated with a proportional connecting valve I and a proportional connecting valve II, and each proportional connecting valve I is located on the left side relative to the corresponding balance check valve I, and each proportional connecting valve II is located on the right side relative to the corresponding balance check valve II; the load port of each proportional connecting valve I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the load port of each proportional connecting valve II is connected to the rodless chamber of the corresponding horizontal arm cylinder; the pilot port and valve port of each proportional connecting valve I, and the pilot port and valve port of each proportional connecting valve II are connected to port B on the corresponding valve block I, and the spring chamber drain port of each proportional connecting valve I, and the spring chamber drain port of each proportional connecting valve II are connected to port C on the corresponding valve block I.

3. The automatic boom lowering and material handling control system according to claim 2, characterized in that: It also includes a safety valve I and a check valve I; a check valve I is also integrated on each valve block I between the proportional connecting valve I and the corresponding balanced check valve I, and between the proportional connecting valve II and the corresponding balanced check valve II, respectively. The oil inlet end of each check valve I is connected to port B on the corresponding valve block I. The oil outlet end of the check valve I located on the left side of each valve block I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the oil outlet end of the check valve I located on the right side of each valve block I is connected to... The rodless chamber of the corresponding horizontal arm cylinder is connected; on each valve block I, a safety valve I is also integrated on the left side relative to the proportional connecting valve I and on the right side relative to the proportional connecting valve II, and one end of each safety valve I is connected to port B on the corresponding valve block I, the other end of the safety valve I located on the left side of each valve block I is connected to the rod chamber of the corresponding horizontal arm cylinder, and the other end of the safety valve I located on the right side of each valve block I is connected to the rodless chamber of the corresponding horizontal arm cylinder.

4. The automatic boom lowering and material handling control system according to claim 3, characterized in that: It also includes a proportional connecting valve III and a proportional connecting valve IV; the proportional connecting valve III and the proportional connecting valve IV are symmetrically integrated on the valve block II, the proportional connecting valve III is located on the left side relative to the balance check valve III, and the proportional connecting valve IV is located on the right side relative to the balance check valve IV; the load port of the proportional connecting valve III is connected to the rod chamber of the vertical arm cylinder, and the load port of the proportional connecting valve IV is connected to the rodless chamber of the vertical arm cylinder; the pilot port and valve port of the proportional connecting valve III, and the pilot port and valve port of the proportional connecting valve IV are respectively connected to port B on the corresponding valve block II, and the spring chamber drain port of the proportional connecting valve III, and the spring chamber drain port of the proportional connecting valve IV are respectively connected to port C on the corresponding valve block II.

5. The automatic boom lowering and material handling control system according to claim 4, characterized in that: It also includes a safety valve II and a check valve II; a check valve II is also integrated on the valve block II between the proportional connecting valve III and the corresponding balanced check valve III, and between the proportional connecting valve IV and the corresponding balanced check valve IV, respectively. The oil inlet end of each check valve II is connected to port B on the valve block II. The oil outlet end of the check valve II located on the left side of the valve block II is connected to the rod chamber of the vertical arm cylinder, and the oil outlet end of the check valve II located on the right side of the valve block II is connected to the rodless chamber of the vertical arm cylinder. A safety valve II is also integrated on the valve block II on the left side of the proportional connecting valve III and on the right side of the proportional connecting valve IV, respectively. One end of each safety valve II is connected to port B on the valve block II. The other end of the safety valve II located on the left side of the valve block II is connected to the rod chamber of the vertical arm cylinder, and the other end of the safety valve II located on the right side of the valve block II is connected to the rodless chamber of the vertical arm cylinder.

6. The automatic boom lowering and material handling control system according to claim 5, characterized in that: Port B on each of the valve blocks I and port B on each of the valve blocks II are connected to the oil replenishment pump on the oil tank through pipes, thereby pumping replenishment oil into valve block I or valve block II respectively.

7. The automatic boom lowering and material handling control system according to claim 5, characterized in that: It also includes floating solenoid valve I and floating solenoid valve II; the floating solenoid valve I is a two-position three-way directional valve, with its working port A and its working port B arranged left and right. The working port A of the floating solenoid valve I is connected to port C on each of the valve blocks I through a pipeline, and its working port B is connected to the oil tank through a pipeline. Its oil inlet P is connected to the control oil pump on the oil tank through a pipeline, thereby controlling the energization and de-energization of the proportional connecting valve I and proportional connecting valve II on the corresponding valve block I by pumping in control oil; the floating solenoid valve II is a two-position three-way directional valve, with its working port A and its working port B arranged left and right. The working port A of the floating solenoid valve II is connected to port C on the valve block II through a pipeline, and its working port B is connected to the oil tank through a pipeline. Its oil inlet P is connected to the control oil pump on the oil tank through a pipeline, thereby controlling the energization and de-energization of the proportional connecting valve III and proportional connecting valve IV on the valve block II by pumping in control oil.

8. The control method of the automatic boom lowering and material retrieving control system according to any one of claims 1 to 7, characterized in that... Includes the following steps: (1) When there is a lot of cargo in the ship's hold (1.1) First, the floating solenoid valve I, the floating solenoid valve II, the proportional connecting valve I, the proportional connecting valve II, the proportional connecting valve III, and the proportional connecting valve IV are all in a de-energized state. At this time, the horizontal boom and the vertical boom are both in a fully electrically controlled state, while the proportional connecting valve I, the proportional connecting valve II, the proportional connecting valve III, and the proportional connecting valve IV are all used as protective relief valves. (1.2) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm through the proportional flow reversing valve I. (1.3) After the horizontal boom moves, the vertical boom also moves according to the set angle under the control of the proportional flow reversing valve II, forming a cascade PID regulation, thereby ensuring the maximum material taking amount by controlling the embedment depth within the set range. (2) When it is necessary to clear out the warehouse or retrieve materials from the edges of the ship (2.1) First, the floating solenoid valve I, the floating solenoid valve II, the proportional connecting valve I and the proportional connecting valve II are all in a de-energized state. At this time, the horizontal boom is in a fully electrically controlled state, and the proportional connecting valve III and the proportional connecting valve IV are used as protective relief valves. (2.2) Then the floating solenoid valve II is energized, and its inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II, so that the proportional connecting valve III and the proportional connecting valve IV are both energized. At this time, the vertical arm cylinder is in a free state, and the vertical arm boom is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II is in a non-working state. (2.3) Then the right side of the proportional flow reversing valve I is energized, and its valve core moves to the left. At this time, the oil inlet P of the proportional flow reversing valve I is connected to its working port A, and its working port B is connected to its return port T. Then the main oil is supplied to the rod chamber of the horizontal arm cylinder through the balance check valve I by the main oil pump. The piston rod of the horizontal arm cylinder retracts, and at the same time the main oil flows to the control port of the balance check valve II, so that the load port of the balance check valve II is connected to its oil inlet. Then the main oil in the rodless chamber of the horizontal arm cylinder flows back to the oil tank. The material picker head can be driven to move downward to pick up the material by the downward tilt of the horizontal arm boom. (2.4) Then, the material burial depth of the picking head is monitored by the cooperation of the angle sensor and the radar material sensor. Then, the feedforward PID adjustment is performed according to the feedback burial depth and the set burial depth. Then, the burial depth of the picking head is adjusted by controlling the up and down pitching of the horizontal arm through the proportional flow reversing valve I. (2.5) Because the vertical arm cylinder is in a free state, it can balance the impact of contact with the ship's hold when clearing the warehouse or taking materials from the corners of the ship. (2.6) When encountering large waves and the hull floats, triggering the bottoming limit action, the floating condition solenoid valve I is energized, so that both proportional connecting valve I and proportional connecting valve II are energized. At this time, the horizontal arm cylinder is in a free state to balance the pressure brought by the impact and issue an alarm to prompt the operator to take over. (3) When the waves at the dock are large (3.1) First, the floating solenoid valve II is energized, and its inlet P is connected to its working port A, thereby pumping control oil into the port C of valve block II, so that the proportional connecting valve III and the proportional connecting valve IV are both energized. At this time, the vertical arm cylinder is in a free state, and the vertical arm boom is automatically perpendicular to the horizontal plane due to gravity, while the proportional flow reversing valve II is in a non-working state. (3.2) Then the floating solenoid valve I is energized, and its oil inlet P is connected to its working port A, thereby pumping control oil into port C of valve block I, so that both proportional connecting valve I and proportional connecting valve II are energized, and their valve opening size is given according to the working condition electronic control. (3.2) Then the material burial depth of the material head is measured by the radar material sensor, and the opening degree of proportional valve I and proportional valve II is adjusted accordingly. (3.3) When the burial depth is not reached, the opening is increased. At this time, the material head is supported by the material to maintain balance. (3.4) After the surrounding material is emptied, the opening of proportional valve I and proportional valve II is adjusted again to make the material head continue to sink automatically and complete the automatic material collection.

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