Mobile dustbin servo proportion system and control method thereof

Abstract

The invention discloses a mobile dustbin servo proportion system. The system comprises a hydraulic oil tank; first and second oil pumps fluidly connected to the hydraulic tank; a drive system operatively connected to the first oil pump and the second oil pump; a first control valve bank fluidly connected to the first oil pump and the second oil pump; the pushing head system is in fluid connection with the first control valve group; and the material lifting system is in fluid connection with the first control valve group. The first control valve group comprises an independent operation mode and a combined operation mode; in the independent operation mode, the first control valve set controls the first oil pump to provide hydraulic oil for the pushing head system to drive the pushing head system and controls the second oil pump to provide hydraulic oil for the material lifting system to drive the material lifting system. In the combined operation mode, the first control valve set controls the first oil pump and the second oil pump to jointly provide hydraulic oil for the push head system so as to drive the push head system. The invention further discloses a method for controlling the mobile dustbin servo proportion system.

Description

Technical Field

[0001] The present application relates to a mobile trash bin servo proportional system for transferring trash and a method for controlling the mobile trash bin servo proportional system. Background Art

[0002] Most of the traditional mobile garbage bin hydraulic drive systems are three-phase AC motors driving quantitative pump systems. During the garbage compression process, the push head mechanism has to circulate and compress the garbage continuously. The collision noise generated by the structural parts of the push head mechanism, the vibration noise generated by the push head mechanism when switching, and the noise generated by the quantitative overflow of the hydraulic power are all relatively large. These noises will not only cause trouble to the surrounding residents, but also cause a large energy loss in the entire system, thereby reducing the operating efficiency and power utilization of the system. Summary of the invention

[0003] In view of the above-mentioned defects and shortcomings in the prior art, the present application provides a servo proportional system and a control method thereof, aiming to solve the problems of high noise, large vibration, easy fatigue damage of structural parts and low power utilization rate generated by the push head mechanism of the existing mobile garbage bin during operation.

[0004] The present application proposes a mobile garbage bin servo proportional system, comprising: a hydraulic oil tank, which stores hydraulic oil; a first oil pump and a second oil pump, both of which are fluidly connected to the hydraulic oil tank; a drive system, which is operatively connected to the first oil pump and the second oil pump to provide power to the first oil pump and the second oil pump; a first control valve group, which is fluidly connected to the first oil pump and the second oil pump to control the flow and direction of the hydraulic oil from the first oil pump and the second oil pump; a push head system, which is fluidly connected to the first control valve group; a lifting system, which is fluidly connected to the first control valve group; it is characterized in that the first control valve group includes a single operation mode and a combined operation mode; in the single operation mode, the first control valve group controls the first oil pump to provide hydraulic oil to the push head system to drive the push head system, and controls the second oil pump to provide hydraulic oil to the lifting system to drive the lifting system; and in the combined operation mode, the first control valve group controls the first oil pump and the second oil pump to jointly provide hydraulic oil to the push head system to drive the push head system.

[0005] According to an optional embodiment, the push head system includes: a push head control valve group, which is fluidically connected to the first control valve group; a plurality of push head cylinders, which are fluidically connected to the push head control valve group; and a push head mechanism, which is connected to the plurality of push head cylinders and performs linear movement with the aid of the plurality of push head cylinders.

[0006] According to an optional embodiment, the push head control valve group includes: a push head control one-way valve, which is configured to stabilize the flow of hydraulic oil in the push head control valve group to prevent pressure fluctuations generated during the switching of the push head control valve group from impacting the first oil pump and the second oil pump; a push head differential switching valve, which is configured to control the differential operation between the multiple push head cylinders; a push head direction control valve, which is configured to control the moving direction of the push head mechanism; a push head control overflow valve, which is configured to ensure that the oil pressure in the push head system does not exceed the push head overflow pressure; and a push head system oil pressure sensor, which is integrated in the push head control valve group to measure the oil pressure in the push head system.

[0007] According to an optional embodiment, the lifting system includes: a lifting control valve group, which is fluidically connected to the first control valve group; a lifting cylinder, which is fluidically connected to the lifting control valve group; a balancing valve, which is arranged in a pipeline leading to the lifting cylinder; and a lifting mechanism, which is connected to the lifting cylinder and moves linearly with the aid of the lifting cylinder.

[0008] According to an optional embodiment, the lifting control valve group includes: a lifting control one-way valve, which is configured to stabilize the flow of hydraulic oil in the lifting control valve group to prevent pressure fluctuations generated during the switching of the lifting control valve group from impacting the first oil pump and the second oil pump; a proportional valve, which is configured to linearly control the flow of hydraulic oil flowing to the lifting cylinder; a logic valve, which is configured to manage the distribution of hydraulic oil according to demand, and jointly control the flow of hydraulic oil from the second oil pump with the proportional valve so that the flow of hydraulic oil flowing to the lifting cylinder is steplessly adjustable; a lifting direction control valve, which is configured to control the moving direction of the lifting mechanism; a lifting control overflow valve, which is configured to ensure that the oil pressure in the lifting system does not exceed the safe working pressure; and a lifting system pressure sensor, which is integrated in the lifting control valve group to measure the oil pressure in the lifting system.

[0009] According to an optional embodiment, the drive system includes: a motor configured to drive a first oil pump and a second oil pump; a motor controller operably connected to the motor and configured to adjust the speed and rotation direction of the motor; and a programmable control unit connected to the motor controller and configured to execute a control algorithm; wherein the control algorithm determines the load condition of the motor based on the oil pressure in the push head system and the lifting system, and adjusts the speed of the motor based on the load condition of the motor to prevent the motor from overloading.

[0010] The present application also proposes a method for controlling a mobile garbage bin servo proportional system, including: controlling the operation of the push head system based on the stroke, speed and running time of the push head cylinder in the push head system; and controlling the operation of the lifting system based on the stroke, speed and running time of the lifting cylinder in the lifting system.

[0011] According to an optional embodiment, controlling the operation of the push head system includes: when the push head system does not receive a push head operation instruction, causing the first oil pump to unload at the middle position of the push head control valve group, and controlling the speed of the motor of the drive system to be set to a first speed, so that the push head system enters a waiting state; and switching the first operating mode and the second operating mode of the push head system based on the oil pressure in the push head system measured by the push head system oil pressure sensor during the entire stroke of the push head cylinder, when the oil pressure in the push head system is less than a preset pressure, controlling the push head system to operate in the first operating mode, and when the oil pressure in the push head system is greater than or equal to the preset pressure, controlling the push head system to operate in the second operating mode; wherein the preset pressure is less than the push head overflow pressure.

[0012] According to an optional embodiment, in a first operating mode, after the drive system receives a push head operation instruction, the first control valve group is switched to a combined operating mode, so that the first oil pump and the second oil pump jointly provide hydraulic oil to the push head control valve group, and the push head differential switching valve and the push head direction control valve in the push head control valve group are controlled so that the multiple push head cylinders are connected and extended in a differential manner, and the speed of the motor in the drive system is changed from the first speed to the fourth speed; after the multiple push head cylinders are extended for a first time period, the push head differential switching valve is de-energized so that the multiple push head cylinders are connected in a non-differential manner; after the multiple push head cylinders continue to extend for a second time period, the first control valve group is switched to a separate operating mode, so that the first oil pump alone provides hydraulic oil to the push head control valve group, and controls the motor in the drive system. The speed is changed from the fourth speed to the first speed; when the push head mechanism moves to the end position, the push head control valve group is de-energized, and the first oil pump is controlled to unload; after a period of time, the first control valve group is switched to the combined operation mode, so that the multiple push head cylinders retract when the first oil pump and the second oil pump jointly provide hydraulic oil to the push head control valve group, and the speed of the motor in the drive system is changed from the first speed to the fourth speed; after the multiple push head cylinders retract for a third time period, the speed of the motor in the drive system is changed from the fourth speed to the first speed, and the first control valve group is switched to the single operation mode, so that the first oil pump supplies hydraulic oil to the push head control valve group alone; and after determining that the push head mechanism has retracted into place through the change of oil pressure in the push head system, the control valve group is de-energized, and the first oil pump is unloaded.

[0013] According to an optional embodiment, in the second operating mode, after the drive system receives the push head operation instruction, the first control valve group is switched to the combined operation mode, so that the first oil pump and the second oil pump jointly provide hydraulic oil to the push head control valve group, and the push head differential switching valve and the push head direction control valve in the push head control valve group are controlled so that the multiple push head cylinders are connected and extended in a differential manner, and the speed of the motor in the drive system is changed from the first speed to the fourth speed; when the oil pressure in the push head system reaches the first set pressure as measured by the push head system oil pressure sensor, the push head differential switching valve is de-energized so that the multiple push head cylinders are connected in a non-differential manner; when the oil pressure in the push head system reaches the second set pressure higher than the first set pressure as measured by the push head system oil pressure sensor, the first control The valve group is switched to a separate operation mode, so that the first oil pump supplies hydraulic oil to the push head control valve group alone, and the speed of the motor in the drive system is changed from the fourth speed to the second speed; after a period of time, the first control valve group is switched to a combined operation mode, so that the multiple push head cylinders retract when the first oil pump and the second oil pump jointly supply hydraulic oil to the push head control valve group, and the speed of the motor in the drive system is changed from the second speed to the fourth speed; after the multiple push head cylinders retract for a fourth time period, the speed of the motor in the drive system is changed from the fourth speed to the third speed; and after determining that the push head mechanism has retracted into place through the change in oil pressure in the push head system, the speed of the motor in the drive system is changed from the third speed to the first speed, and the first oil pump is unloaded.

[0014] According to an optional implementation manner, the first rotational speed is less than the second rotational speed is less than the third rotational speed is less than the fourth rotational speed; and the first set pressure is less than the second set pressure.

[0015] According to an optional embodiment, the operation of controlling the lifting system includes: before the drive system receives the lifting operation instruction, setting the speed of the motor in the drive system to the first speed; after the drive system receives the lifting operation instruction, controlling the lifting mechanism to accelerate linearly from static to the rated moving speed; after the lifting mechanism moves at the rated moving speed for a fifth time period, controlling the lifting mechanism to decelerate linearly according to the stroke of the lifting cylinder; after determining that the lifting mechanism moves to the upper stop position through the change of oil pressure in the lifting system, changing the speed of the motor in the drive system from the first speed to the third speed, and controlling the second oil pump to unload; after a period of time, controlling the lifting control valve group to make the lifting mechanism move in the opposite direction, changing the speed of the motor in the drive system from the third speed to the rated speed; after the lifting mechanism reaches the preset position, linearly decelerating the speed of the motor in the drive system from the rated speed; and after determining that the lifting mechanism moves to the lower stop position through the change of oil pressure in the lifting system, changing the speed of the motor in the drive system to the third speed, and unloading the second oil pump.

[0016] According to an optional implementation, when the lifting mechanism stops due to external reasons, an interruption process is entered; in the interruption process, after the driving system receives the lifting operation instruction again, the lifting mechanism is controlled to move at an idle speed lower than the rated moving speed; and after determining that the lifting mechanism has moved to the upper stop position or the lower stop position through the change of oil pressure in the lifting system, the speed of the motor in the driving system is changed to a third speed, and the second oil pump is unloaded.

[0017] According to the mobile trash bin servo proportional system of the present application, a servo motor is used to drive the servo motor. The servo motor has the advantages of flexible control, rapid response, self-overload protection, etc., and can realize program control. According to the mobile trash bin servo proportional system of the present application, the switching of the double pump differential and confluence during the movement of the push head mechanism can be realized, and the moving speed of the push head mechanism can be controlled in a variety of ways. According to the mobile trash bin servo proportional system of the present application, the lifting mechanism can be electrically proportionally controlled by a proportional valve to realize the linear adjustment of the speed of the lifting mechanism. According to the mobile trash bin servo proportional system of the present application, the light load fast forward compression stage, the medium speed compression stage and the strong compression stage are divided into the whole garbage compression process, and the compression rate can be ensured not to decrease while realizing the gradient transformation of the pressure. At the same time, according to the mobile trash bin servo proportional system of the present application, a preset pressure lower than the overflow pressure is provided, so that overflow loss does not occur, thereby obtaining a higher power utilization rate. According to the control method for the mobile trash bin servo proportional system of the present application, the running reversing impact is eliminated, the noise is reduced, and the fatigue damage of the structural parts is slowed down during the whole operation process of the mobile trash bin servo proportional system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Although the present application may have various modifications and alternative forms, specific embodiments are shown by way of example in the drawings and described in detail. However, it should be understood that the drawings and detailed description are not intended to limit the present application to the specific forms disclosed. The present application is intended to cover all modifications, equivalents and substitutes within the spirit and scope of the present application as defined by the appended claims.

[0019] Figure 1 is a schematic diagram of a mobile trash bin servo proportional system according to the present application.

[0020] Figure 2 is a flow chart of a control method for a mobile trash bin servo proportional system according to the present application. DETAILED DESCRIPTION

[0021] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described here. On the contrary, these embodiments are provided in order to be able to more thoroughly understand the present application and to be able to fully convey the scope of the present application to those skilled in the art. It should be noted that when an element is referred to as "arranged in" another element, it can be directly in another element or indirectly in the other element. When an element is referred to as "fluid connected to" another element, their connection mode ensures that the fluid can flow between them. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can expressly or implicitly include one or more of the features. In the description of the present application, the meanings of "multiple" and "several" are two or more, unless otherwise clearly and specifically defined.

[0022] Figure 1 It is a schematic diagram of a mobile garbage bin servo proportional system according to the present application. The mobile garbage bin servo proportional system includes a hydraulic oil tank 1, a drive system 2, a first oil pump 3, a second oil pump 7, a first control valve group 4, a push head system 5 and a lifting system 6. The hydraulic oil tank 1 stores hydraulic oil. The first oil pump 3 and the second oil pump 7 are fluidly connected to the hydraulic oil tank 1. The drive system 2 is operatively connected to the first oil pump 3 and the second oil pump 7 to provide power to the first oil pump 3 and the second oil pump 7. The first control valve group 4 is fluidly connected to the first oil pump 3 and the second oil pump 7 to control the flow and direction of the hydraulic oil from the first oil pump 3 and the second oil pump 7. The push head system 5 is fluidly connected to the first control valve group 4 for compressing the garbage in the box. The lifting system 6 is fluidly connected to the first control valve group 4 for moving the hopper between the feeding position and the receiving position.

[0023] The first control valve group 4 includes a single operation mode and a combined operation mode. In the single operation mode, the first control valve group 4 controls the first oil pump 3 to provide hydraulic oil to the push head system 5 to drive the push head system 5, and controls the second oil pump 7 to provide hydraulic oil to the lifting system 6 to drive the lifting system 6. In the combined operation mode, the first control valve group 4 controls the first oil pump 3 and the second oil pump 7 to jointly provide hydraulic oil to the push head system 5 to drive the push head system 5.

[0024] The push head system 5 includes a push head control valve group 51, a plurality of push head oil cylinders 52 and a push head mechanism (not shown). The push head control valve group 51 is fluidically connected to the first control valve group 4. The plurality of push head oil cylinders 52 are fluidically connected to the push head control valve group 51. The push head mechanism is connected to the plurality of push head oil cylinders 52 and moves linearly with the aid of the plurality of push head oil cylinders 52.

[0025] The push head control valve group 51 includes a push head control one-way valve, a push head differential switching valve, a push head direction control valve, a push head control overflow valve and a push head system oil pressure sensor. The push head control one-way valve is used to stabilize the flow of hydraulic oil in the push head control valve group 51 to prevent the pressure fluctuation generated during the switching process of the push head control valve group 51 from impacting the first oil pump 3 and the second oil pump 7. Specifically, the push head control one-way valve can prevent the high-pressure oil from impacting the first oil pump 3 and the second oil pump 7 when the load fluctuation occurs during operation, and can also make one of the first oil pump 3 and the second oil pump 7 block the impact of the high-pressure oil in the other during the switching process of the first oil pump 3 and the second oil pump 7 to protect the first oil pump 3 and the second oil pump 7. The push head differential switching valve is used to control the differential operation between multiple push head cylinders 52. The push head direction control valve is used to control the moving direction of the push head mechanism. The push head control overflow valve is used to ensure that the oil pressure in the push head system 5 does not exceed the push head overflow pressure. The pusher head system oil pressure sensor is integrated in the pusher head control valve group 51 to measure the oil pressure in the pusher head system 5 .

[0026] The lifting system 6 includes a lifting control valve group 61, a lifting cylinder 62, a balance valve 63 and a lifting mechanism (not shown). The lifting control valve group 61 is fluidically connected to the first control valve group 4. The lifting cylinder 62 is fluidically connected to the lifting control valve group 61. The balance valve 63 is arranged in a pipeline leading to the lifting cylinder 62. The lifting mechanism is connected to the lifting cylinder 62 and moves linearly with the help of the lifting cylinder 62.

[0027] The lifting control valve group 61 includes a lifting control one-way valve, a proportional valve, a logic valve, a lifting direction control valve, a lifting control overflow valve and a lifting system pressure sensor. The lifting control one-way valve is used to stabilize the flow of hydraulic oil in the lifting control valve group 61 to prevent the pressure fluctuation generated during the switching process of the lifting control valve group 61 from impacting the first oil pump 3 and the second oil pump 7. Specifically, the lifting control one-way valve can prevent the high-pressure oil from impacting the first oil pump 3 and the second oil pump 7 when the load fluctuates during operation, and can also make one of the first oil pump 3 and the second oil pump 7 block the impact of the high-pressure oil in the other during the switching process of the first oil pump 3 and the second oil pump 7 to protect the first oil pump 3 and the second oil pump 7. The proportional valve is used to linearly control the flow of hydraulic oil flowing to the lifting cylinder 62. The logic valve is used to manage the distribution of hydraulic oil according to demand, and jointly control the flow of hydraulic oil from the second oil pump 7 with the proportional valve, so that the flow of hydraulic oil flowing to the lifting cylinder 62 can be adjusted steplessly. The lifting direction control valve is used to control the moving direction of the lifting mechanism. The lifting control overflow valve is used to ensure that the oil pressure in the lifting system 6 does not exceed the safe working pressure. The lifting system pressure sensor is integrated in the lifting control valve group 61 to measure the oil pressure in the lifting system 6.

[0028] The drive system 2 includes a motor, a motor controller and a programmable control unit. The motor is used to drive the first oil pump 3 and the second oil pump 7. The motor controller is operably connected to the motor and is used to adjust the speed and rotation direction of the motor. The programmable control unit is connected to the motor controller and is configured to execute a control algorithm. The control algorithm determines the load condition of the motor based on the oil pressure in the push head system 5 and the lifting system 6, and adjusts the speed of the motor based on the load condition of the motor to prevent the motor from being overloaded.

[0029] Figure 2 : is a flow chart of a control method for a mobile trash bin servo proportional system according to the present application. The control method comprises the following steps:

[0030] S101: Controlling the operation of the push head system 5 based on the stroke, speed and running time of the push head cylinder 52 in the push head system 5;

[0031] S102 : Controlling the operation of the material lifting system 6 based on the stroke, speed and running time of the material lifting cylinder 62 in the material lifting system 6 .

[0032] Specifically, the operation of controlling the pusher head system 5 includes the following steps:

[0033] When the push head system 5 does not receive the push head operation instruction, the first oil pump 3 is unloaded at the middle position of the push head direction control valve, and the speed of the motor of the control drive system 2 is set to the first speed, so that the push head system 5 enters the waiting state;

[0034] The first operating mode and the second operating mode of the push head system 5 are switched based on the oil pressure in the push head system 5 measured by the push head system oil pressure sensor during the entire stroke of the push head cylinder 52. When the oil pressure in the push head system 5 is less than the preset pressure, the push head system 5 is controlled to operate in the first operating mode. When the oil pressure in the push head system 5 is greater than or equal to the preset pressure, the push head system 5 is controlled to operate in the second operating mode.

[0035] In the above steps, the preset pressure is less than the push head overflow pressure.

[0036] Controlling the push head system 5 to operate in the first operating mode includes the following steps:

[0037] In the first operation mode, after the drive system 2 receives the push head operation instruction, the first control valve group 4 is switched to the combined operation mode, so that the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51, and the push head differential switching valve and the push head direction control valve in the push head control valve group 51 are controlled so that the multiple push head cylinders 52 are connected and extended in a differential manner, and the speed of the motor in the drive system 2 is changed from the first speed to the fourth speed;

[0038] After the plurality of push head oil cylinders 52 are extended for a first period of time, the push head differential switching valve is de-energized so that the plurality of push head oil cylinders 52 are connected in a non-differential manner;

[0039] After the plurality of push head oil cylinders 52 continue to extend for a second period of time, the first control valve group 4 is switched to the single operation mode, so that the first oil pump 3 supplies hydraulic oil to the push head control valve group 51 alone, and the speed of the motor in the control drive system 2 is changed from the fourth speed to the first speed;

[0040] When the push head mechanism reaches the terminal position, the push head control valve group 51 is de-energized, and the first oil pump 3 is controlled to unload;

[0041] After a certain period of time (e.g., 5 seconds), the first control valve group 4 is switched to the combined operation mode, so that the plurality of push head oil cylinders 52 are retracted when the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51, and the speed of the motor in the drive system 2 is changed from the first speed to the fourth speed;

[0042] After the plurality of push head oil cylinders 52 are retracted for a third period of time, the speed of the motor in the drive system 2 is changed from the fourth speed to the first speed, and the first control valve group 4 is switched to the single operation mode, so that the first oil pump 3 supplies hydraulic oil to the push head control valve group 51 alone;

[0043] After it is determined that the push head mechanism has returned to its position through the oil pressure change in the push head system 5 , the control valve group 5 is de-energized and the first oil pump 3 is unloaded.

[0044] Controlling the push head system 5 to operate in the second operation mode includes the following steps:

[0045] In the second operation mode, after the drive system 2 receives the push head operation instruction, the first control valve group 4 is switched to the combined operation mode, so that the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51, and the push head differential switching valve and the push head direction control valve in the push head control valve group 51 are controlled so that the multiple push head cylinders 52 are connected and extended in a differential manner, and the speed of the motor in the drive system 2 is changed from the first speed to the fourth speed;

[0046] When the oil pressure in the push head system 5 reaches a first set pressure as measured by the push head system oil pressure sensor, the push head differential switching valve is de-energized so that the plurality of push head oil cylinders 52 are connected in a non-differential manner;

[0047] When the oil pressure in the push head system 5 reaches a second set pressure higher than the first set pressure as measured by the push head system oil pressure sensor, the first control valve group 4 is switched to the single operation mode, so that the first oil pump 3 supplies hydraulic oil to the push head control valve group 51 alone, and the speed of the motor in the drive system 2 is changed from the fourth speed to the second speed;

[0048] After a certain period of time (e.g., 5 seconds), the first control valve group 4 is switched to the combined operation mode, so that the plurality of push head oil cylinders 52 are retracted when the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51, and the speed of the motor in the drive system 2 is changed from the second speed to the fourth speed;

[0049] After the plurality of pusher head cylinders 52 are retracted for a fourth period of time, the rotation speed of the motor in the drive system 2 is changed from the fourth rotation speed to the third rotation speed;

[0050] After it is determined that the push head mechanism has retracted into position through the oil pressure change in the push head system 5 , the rotation speed of the motor in the drive system 2 is changed from the third rotation speed to the first rotation speed, and the first oil pump 3 is unloaded.

[0051] In the above steps, the first rotation speed<the second rotation speed<the third rotation speed<the fourth rotation speed, and the first set pressure<the second set pressure.

[0052] The operation of controlling the material lifting system 6 comprises the following steps:

[0053] Before the drive system 2 receives the material lifting operation instruction, the speed of the motor in the drive system 2 is set to a first speed;

[0054] After the drive system 2 receives the material lifting operation instruction, it controls the material lifting mechanism to accelerate linearly from static to rated moving speed;

[0055] After the lifting mechanism moves at the rated moving speed for a fifth period of time, the lifting mechanism is linearly decelerated according to the stroke control of the lifting cylinder 62;

[0056] After the lifting mechanism is determined to move to the upper stop position through the oil pressure change in the lifting system 6, the speed of the motor in the drive system 2 is changed from the first speed to the third speed, and the second oil pump 7 is unloaded;

[0057] After a period of time (e.g., 5 seconds), the material lifting control valve group 61 is controlled to make the material lifting mechanism move in the reverse direction, and the speed of the motor in the driving system 2 is changed from the third speed to the rated speed;

[0058] After the material lifting mechanism reaches the preset position, the speed of the motor in the drive system 2 is linearly decelerated from the rated speed;

[0059] After it is determined through the oil pressure change in the lifting system 6 that the lifting mechanism has moved to the lower stop position, the rotation speed of the motor in the drive system 2 is changed to the third rotation speed, and the second oil pump 7 is unloaded.

[0060] When the system stops due to external reasons, the operation of controlling the material lifting system 6 includes the following steps:

[0061] When the feeding mechanism stops due to external reasons, the interruption process is entered;

[0062] In the interruption process, after the driving system 2 receives the material lifting operation instruction again, the material lifting mechanism is controlled to move at an idle speed lower than the rated moving speed;

[0063] After it is determined by the oil pressure change in the lifting system 6 that the lifting mechanism moves to the upper stop position or the lower stop position, the rotation speed of the motor in the drive system 2 is changed to the third rotation speed, and the second oil pump 7 is unloaded.

[0064] In the above steps, the first speed < the third speed < the rated speed.

[0065] The application of the control method according to the present application is specifically described below using the actual operation process of the material lifting system 6 of the mobile garbage bin servo proportional system.

[0066] When the garbage in the lifting mechanism is full and needs to be poured into the mobile garbage bin, start the motor and turn the lifting button to the lifting position. The lifting direction control valve in the lifting control valve group 61 is energized, and the opening of the proportional valve in the material control valve group 61 is gradually increased to the maximum, and the motor speed is controlled to uniformly reach the fifth speed greater than the first speed, so that the lifting cylinder 62 can start flexibly and smoothly in a short time. After the lifting cylinder 62 runs at a constant speed for a period of time (for example, 5 seconds), the time consumed for the extension and retraction of the lifting cylinder 62 during the entire stroke is calculated based on the parameters such as the stroke and running speed of the lifting cylinder 62 before, and the time consumed is corresponding to the extension length of the lifting cylinder 62. In this way, it can be determined that the lifting mechanism is about to reach the end of the stroke based on the extension length of the lifting cylinder 62. At this time, the proportional valve is controlled to reduce its opening. In this case, the pressure difference between the inlet and outlet of the proportional valve will gradually increase, and the change in the pressure difference will be reflected in the pilot oil chamber of the logic valve of the lifting control valve group 61, so that the force at both ends of the valve core of the logic valve changes, breaking the original balance. In this way, the valve core of the logic valve will overcome the spring force and move, so that the opening of the logic valve opens, and the flow of the second oil pump 7 is diverted. The smaller the opening of the proportional valve, the greater the pressure difference at both ends, so that the larger the opening of the logic valve, the less the flow into the lifting cylinder 62, resulting in a reduction in the running speed of the lifting cylinder 62. Since the opening of the proportional valve is controlled and changes linearly, the flow entering the lifting cylinder 62 also changes linearly, so that the lifting cylinder 62 can achieve stepless deceleration. After the lifting cylinder 62 decelerates for a period of time (for example, 5 seconds), the lifting cylinder 62 runs to the end of the stroke, so that the oil pressure in the lifting system 6 gradually rises. Based on the oil pressure in the lifting system 6 measured by the lifting system pressure sensor integrated in the lifting control valve group 61, the opening of the proportional valve is controlled to be linearly reduced to a specified value (e.g., 1 / 4 opening), and the lifting direction control valve is de-energized. While the lifting cylinder 62 lifts the lifting mechanism into place, the second oil pump 7 is unloaded through the logic valve. The whole process takes a short time, so the oil pressure in the lifting system 6 will not reach the safe working pressure of the lifting control relief valve of the lifting control valve group 61.

[0067] After the lifting mechanism is lifted into place and waits for a period of time (e.g., 5 seconds), the lifting direction control valve is controlled to switch direction, and the opening of the proportional valve is linearly increased to the maximum value, so that the lifting mechanism begins to descend. After the lifting mechanism runs at a constant speed for a period of time (e.g., 5 seconds), the end position of the lifting mechanism is determined based on the extension length of the lifting cylinder 62, the opening of the proportional valve is reduced to a specified value (e.g., 1 / 4 opening), and the speed of the motor is changed to the first speed, so that the lifting cylinder 62 begins to decelerate. Based on the increase in oil pressure in the lifting system 6 measured by the lifting system pressure sensor integrated in the lifting control valve group 61, it is determined that the lifting cylinder 62 has run to the end of the stroke, the lifting direction control valve is de-energized, and the second oil pump 7 is unloaded through the logic valve.

[0068] When the lifting mechanism encounters an emergency such as a sudden power failure of the control valve during the lifting or lowering process, the lifting cylinder 62 can be stopped in time at any position through the balance valve 63 of the lifting system 6. At this time, the lifting system 6 enters the interruption process, changes the speed of the motor of the drive system 2 to idle speed, and changes the opening of the proportional valve to a specified value. When the operator turns the lifting button to the lifting position or the lifting position again, the lifting cylinder 62 is controlled to rise or fall slowly. Based on the increase in oil pressure in the lifting system 6 measured by the lifting system pressure sensor integrated in the lifting control valve group 61, it is determined that the lifting cylinder 62 has run to the end of the stroke, the lifting direction control valve is de-energized, and the second oil pump 7 is unloaded through the logic valve.

[0069] The application of the control method according to the present application is specifically described below using the actual operation process of the push head system 5 of the mobile garbage bin servo proportional system.

[0070] The time taken for the extension and retraction of the push head oil cylinder 52 in the entire stroke is calculated based on parameters such as the stroke and running speed of the push head oil cylinder 52, and the time taken is corresponded to the extension length of the push head oil cylinder 52. When the oil pressure in the push head system 5 measured by the push head system oil pressure sensor integrated in the push head control valve group 51 is less than the preset pressure, it means that the amount of garbage in the compression chamber is small and the push head mechanism can be fully extended. In this case, the push head oil cylinder 52 is mainly controlled based on the position parameter, that is, the push head oil cylinder 52 is controlled in the first operating mode. When the oil pressure in the push head system 5 measured by the push head system oil pressure sensor integrated in the push head control valve group 51 is greater than or equal to the preset pressure, it means that the amount of garbage in the compression chamber is large and the push head mechanism cannot be fully extended. In this case, the push head oil cylinder 52 is mainly controlled based on the oil pressure in the push head system 5 measured by the push head system oil pressure sensor, that is, the push head oil cylinder 52 is controlled in the second operating mode.

[0071] In the first operation mode, after receiving the compression instruction, the speed of the motor of the drive system 2 is changed to the fourth speed, and the first control valve group 4 is switched to the combined operation mode, so that the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51. The differential valve in the push head control valve group 51 is switched so that the multiple push head cylinders 52 are connected in a differential manner and extend quickly. After the push head mechanism moves for a period of time (for example, 5 seconds), the push head cylinder 52 extends to the first position (for example, 60% of the full stroke of the push head cylinder 52), and the differential valve in the push head control valve group 51 is de-energized so that the multiple push head cylinders 52 are no longer connected in a differential manner and run at a reduced speed. After the push head mechanism continues to move for a period of time (e.g., 5 seconds), the push head oil cylinder 52 extends to the second position (e.g., 90% of the full stroke of the push head oil cylinder 52), and the first control valve group 4 is switched to the single operation mode, so that the first oil pump 3 alone supplies hydraulic oil to the push head control valve group 51, and the speed of the motor is changed to the first speed. After the push head mechanism continues to move for a period of time (e.g., 5 seconds), the push head direction control valve in the push head control valve group 51 is controlled to switch direction, so that the push head control valve group 51 is powered, and the motor is changed to the fourth speed, so that the push head oil cylinder 52 starts to run in the reverse direction (retract). When the push head mechanism moves to the third position, the first control valve group 4 is switched to the single operation mode, so that the first oil pump 3 alone supplies hydraulic oil to the push head control valve group 51, and the speed of the motor is changed to the third speed, so that the push head oil cylinder 52 starts to decelerate. When the push head mechanism continues to move for a period of time (for example, 5 seconds), the push head cylinder 52 reaches the end of its stroke based on the oil pressure in the push head system 5 measured by the push head system oil pressure sensor, causing the push head directional control valve to lose power so that the first oil pump 3 can unload the load at the middle position of the push head directional control valve.

[0072] As the amount of garbage in the compression chamber increases, the push head cylinder 52 cannot be fully extended. In the second operating mode, the first control valve group 4 is switched to the combined operating mode so that the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51. The speed of the motor is changed to the fourth speed. When the oil pressure in the push head system 5 reaches the first set pressure P1 measured by the push head system oil pressure sensor, the first control valve group 4 is switched to the separate operating mode so that the first oil pump 3 alone provides hydraulic oil to the push head control valve group 51. The push head cylinder 52 continues to move until the oil pressure in the push head system 5 reaches the second set pressure P2 measured by the push head system oil pressure sensor. In this case, the speed of the motor is changed to the second speed so that the push head mechanism runs at a reduced speed. When the oil pressure in the push head system 5 reaches the maximum preset pressure measured by the push head system oil pressure sensor, the timing starts. After a preset time period, the push head direction control valve in the push head control valve group 51 is controlled to switch its position, so that the first control valve group 4 switches to the combined operation mode, so that the first oil pump 3 and the second oil pump 7 jointly provide hydraulic oil to the push head control valve group 51. The motor speed is changed to the fourth speed, so that the push head cylinder 52 begins to retract. When the oil pressure in the push head system 5 is measured by the push head system oil pressure sensor, it means that the push head cylinder 52 has run into place. The motor speed is changed to the second speed, and the push head direction control valve is controlled to lose power, so that the first oil pump 3 is unloaded at the middle position of the push head direction control valve.

[0073] The foregoing description of the embodiments has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the embodiments to the described variants. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described in order to best illustrate the principles and practical applications, so that those skilled in the art can understand the embodiments in their various embodiments and various modifications suitable for their intended use. Within the framework of the embodiments, the above-mentioned components and features can be combined between different embodiments.

Claims

1. A mobile trash bin servo proportional system, comprising: A hydraulic oil tank (1) storing hydraulic oil; A first oil pump (3) and a second oil pump (7), both of which are fluidically connected to the hydraulic oil tank (1); A drive system (2) operatively connected to the first oil pump (3) and the second oil pump (7) to provide power to the first oil pump (3) and the second oil pump (7); a first control valve group (4) fluidly connected to the first oil pump (3) and the second oil pump (7) to control the flow and direction of the hydraulic oil from the first oil pump (3) and the second oil pump (7); A pusher head system (5) fluidly connected to the first control valve group (4); A material supply system (6) fluidly connected to the first control valve group (4); It is characterized in that The first control valve group (4) includes a single operation mode and a combined operation mode; In the single operation mode, the first control valve group (4) controls the first oil pump (3) to supply hydraulic oil to the push head system (5) to drive the push head system (5), and controls the second oil pump (7) to supply hydraulic oil to the material lifting system (6) to drive the material lifting system (6); as well as In the combined operation mode, the first control valve group (4) controls the first oil pump (3) and the second oil pump (7) to jointly provide hydraulic oil to the push head system (5) to drive the push head system (5).

2. The mobile trash bin servo proportional system according to claim 1, wherein: The push head system (5) comprises: A pusher head control valve group (51), which is fluidically connected to the first control valve group (4); A plurality of push head cylinders (52) fluidly connected to the push head control valve group (51); and A push head mechanism is connected to the plurality of push head cylinders (52) and moves linearly with the aid of the plurality of push head cylinders (52).

3. The mobile trash bin servo proportional system according to claim 2, wherein: The pusher control valve group (51) comprises: A push head control one-way valve configured to stabilize the flow of hydraulic oil in the push head control valve group (51) to prevent pressure fluctuations generated during the switching process of the push head control valve group (51) from impacting the first oil pump (3) and the second oil pump (7); A push head differential switching valve, configured to control the differential operation between the plurality of push head cylinders (52); A push head direction control valve configured to control the moving direction of the push head mechanism; A push head control relief valve configured to ensure that the oil pressure in the push head system (5) does not exceed a push head relief pressure; and The push head system oil pressure sensor is integrated in the push head control valve group (51) to measure the oil pressure in the push head system (5).

4. The mobile trash bin servo proportional system according to claim 1, wherein: The material raising system (6) comprises: A feed control valve group (61) fluidly connected to the first control valve group (4); A lifting oil cylinder (62) which is fluidically connected to the lifting control valve group (61); A balancing valve (63) is provided in the pipeline leading to the lifting cylinder (62); and The lifting mechanism is connected to the lifting cylinder (62) and moves linearly with the help of the lifting cylinder (62).

5. The mobile trash bin servo proportional system according to claim 4, wherein: The material lifting control valve group (61) comprises: A material lifting control one-way valve configured to stabilize the flow of hydraulic oil in the material lifting control valve group (61) to prevent pressure fluctuations generated during the switching process of the material lifting control valve group (61) from impacting the first oil pump (3) and the second oil pump (7); a proportional valve configured to linearly control the flow of hydraulic oil to the lifting cylinder (62); A logic valve configured to manage the distribution of hydraulic oil according to demand and to control the flow of hydraulic oil from the second oil pump (7) together with the proportional valve so that the flow of hydraulic oil flowing to the lifting cylinder (62) is steplessly adjustable; A material lifting direction control valve configured to control the moving direction of the material lifting mechanism; A lifting control relief valve configured to ensure that the oil pressure in the lifting system (6) does not exceed a safe working pressure; and The material lifting system pressure sensor is integrated in the material lifting control valve group (61) to measure the oil pressure in the material lifting system (6).

6. The mobile trash bin servo proportional system according to claim 1, wherein: The drive system (2) comprises: A motor configured to drive the first oil pump (3) and the second oil pump (7); a motor controller operably connected to the motor and configured to adjust the speed and direction of rotation of the motor; and a programmable control unit connected to the motor controller and configured to execute a control algorithm; The control algorithm determines the load condition of the motor based on the oil pressure in the push head system (5) and the lifting system (6), and adjusts the speed of the motor based on the load condition of the motor to prevent the motor from being overloaded.

7. A method for controlling a mobile garbage bin servo proportional system according to any one of claims 1 to 6, comprising: Controlling the operation of the push head system (5) based on the stroke, speed and running time of the push head cylinder (52) in the push head system (5); as well as The operation of the lifting system (6) is controlled based on the stroke, speed and running time of the lifting cylinder (62) in the lifting system (6).

8. The control method according to claim 7, wherein: The operation of controlling the push head system (5) includes: When the push head system (5) does not receive a push head operation instruction, the first oil pump (3) is unloaded at the middle position of the push head control valve group (51), and the speed of the motor of the control drive system (2) is set to a first speed, so that the push head system (5) enters a waiting state; and Switching between a first operation mode and a second operation mode of the push head system (5) based on the oil pressure in the push head system (5) measured by the push head system oil pressure sensor during the entire stroke of the push head oil cylinder (52); when the oil pressure in the push head system (5) is less than a preset pressure, the push head system (5) is controlled to operate in the first operation mode; and when the oil pressure in the push head system (5) is greater than or equal to the preset pressure, the push head system (5) is controlled to operate in the second operation mode; Among them, the preset pressure is less than the overflow pressure of the push head.

9. The control method according to claim 8, wherein: In a first operation mode, after the drive system (2) receives a push head operation instruction, the first control valve group (4) is switched to a combined operation mode, so that the first oil pump (3) and the second oil pump (7) jointly provide hydraulic oil to the push head control valve group (51), and the push head differential switching valve and the push head direction control valve in the push head control valve group (51) are controlled so that the plurality of push head oil cylinders (52) are connected and extended in a differential manner, and the rotation speed of the motor in the drive system (2) is changed from the first rotation speed to the fourth rotation speed; After the plurality of push head oil cylinders (52) are extended for a first period of time, the push head differential switching valve is de-energized so that the plurality of push head oil cylinders (52) are connected in a non-differential manner; After the plurality of push head oil cylinders (52) continue to extend for a second period of time, the first control valve group (4) is switched to a separate operation mode, so that the first oil pump (3) supplies hydraulic oil to the push head control valve group (51) alone, and the speed of the motor in the control drive system (2) is changed from a fourth speed to a first speed; When the push head mechanism reaches the end position, the push head control valve group (51) is de-energized, and the first oil pump (3) is controlled to unload; After a certain period of time, the first control valve group (4) is switched to a combined operation mode, so that the plurality of push head oil cylinders (52) are retracted when the first oil pump (3) and the second oil pump (7) jointly supply hydraulic oil to the push head control valve group (51), and the rotation speed of the motor in the drive system (2) is changed from the first rotation speed to a fourth rotation speed; After the plurality of push head oil cylinders (52) are retracted for a third period of time, the rotation speed of the motor in the drive system (2) is changed from the fourth rotation speed to the first rotation speed, and the first control valve group (4) is switched to a separate operation mode, so that the first oil pump (3) supplies hydraulic oil to the push head control valve group (51) alone; as well as After the push head mechanism is determined to be retracted into position through the oil pressure change in the push head system (5), the control valve group (5) is de-energized and the first oil pump (3) is unloaded.

10. The control method according to claim 9, wherein: In the second operation mode, after the drive system (2) receives a push head operation instruction, the first control valve group (4) is switched to a combined operation mode, so that the first oil pump (3) and the second oil pump (7) jointly provide hydraulic oil to the push head control valve group (51), and the push head differential switching valve and the push head direction control valve in the push head control valve group (51) are controlled so that the plurality of push head oil cylinders (52) are connected and extended in a differential manner, and the rotation speed of the motor in the drive system (2) is changed from the first rotation speed to the fourth rotation speed; When the oil pressure in the push head system (5) reaches a first set pressure as measured by the push head system oil pressure sensor, the push head differential switching valve is de-energized so that the plurality of push head oil cylinders (52) are connected in a non-differential manner; When the oil pressure in the push head system (5) reaches a second set pressure higher than the first set pressure as measured by the push head system oil pressure sensor, the first control valve group (4) is switched to a separate operation mode so that the first oil pump (3) supplies hydraulic oil to the push head control valve group (51) alone, and the rotation speed of the motor in the drive system (2) is changed from a fourth rotation speed to a second rotation speed; After a certain period of time, the first control valve group (4) is switched to a combined operation mode, so that the plurality of push head oil cylinders (52) are retracted when the first oil pump (3) and the second oil pump (7) jointly supply hydraulic oil to the push head control valve group (51), and the rotation speed of the motor in the drive system (2) is changed from the second rotation speed to the fourth rotation speed; After the plurality of pusher head cylinders (52) are retracted for a fourth time period, the rotation speed of the motor in the drive system (2) is changed from the fourth rotation speed to the third rotation speed; as well as After the push head mechanism is determined to be retracted into position through the oil pressure change in the push head system (5), the rotation speed of the motor in the drive system (2) is changed from the third rotation speed to the first rotation speed, and the first oil pump (3) is unloaded.

11. The control method according to claim 7, wherein: The first speed is less than the second speed and less than the third speed and less than the fourth speed; and The first set pressure is less than the second set pressure.

12. The control method according to claim 7, wherein: The operation of controlling the material lifting system (6) includes: Before the drive system (2) receives a material lifting operation instruction, the rotation speed of the motor in the drive system (2) is set to a first rotation speed; After the drive system (2) receives the material lifting operation instruction, it controls the material lifting mechanism to accelerate linearly from static to rated moving speed; After the material lifting mechanism moves at the rated moving speed for a fifth period of time, the material lifting mechanism is controlled to linearly decelerate according to the stroke of the material lifting cylinder (62); After the lifting mechanism is determined to have moved to the upper stop position by the oil pressure change in the lifting system (6), the speed of the motor in the drive system (2) is changed from the first speed to the third speed, so that the second oil pump (7) is controlled to unload; After a period of time, the material lifting control valve group (61) is controlled to make the material lifting mechanism move in the reverse direction, and the rotation speed of the motor in the driving system (2) is changed from the third rotation speed to the rated rotation speed; After the material lifting mechanism reaches the preset position, the rotation speed of the motor in the drive system (2) is linearly decelerated from the rated rotation speed; and After it is determined through the oil pressure change in the lifting system (6) that the lifting mechanism has moved to the lower stop position, the rotation speed of the motor in the drive system (2) is changed to a third rotation speed, and the second oil pump (7) is unloaded.

13. The control method according to claim 12, wherein: When the feeding mechanism stops due to external reasons, the interruption process is entered; In the interruption process, after the driving system (2) receives the material lifting operation instruction again, the material lifting mechanism is controlled to move at an idle speed lower than the rated moving speed; as well as After the lifting mechanism is determined to have moved to the upper stop position or the lower stop position through the oil pressure change in the lifting system (6), the rotation speed of the motor in the drive system (2) is changed to the third rotation speed, and the second oil pump (7) is unloaded.

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