Electro-hydraulic driving device of disposable ballast device, control method and related equipment

Abstract

The invention provides an electro-hydraulic driving device of a disposable ballast device, and relates to the field of shipbuilding, the electro-hydraulic driving device comprises a driving oil cylinder, an energy accumulator assembly, an electric cabinet and a power unit; the energy accumulator assembly comprises an energy accumulator, a pressure relay KP1, a pressure relay KP2, a pressure relay KP3 and a time relay KT3. The electric cabinet comprises an electromagnetic valve; the power unit comprises a motor, a motor pump and a bidirectional hydraulic pump; and the electro-hydraulic driving device is used for controlling the disposable ballast device. Therefore, the purposes of reducing hardware selection conditions, safety risks and whole ship resource pressure in the driving device are achieved, and the reliability and safety of the driving device of the disposable ballast device are improved.

Description

Technical Field

[0001] The present invention relates to the field of shipbuilding, and more specifically, to an electro-hydraulic drive device of a disposable ballast device, a control method and device of the electro-hydraulic drive device, an electronic device and a storage medium. Background Art

[0002] The disposable ballast device is an important equipment in the underwater product rescue system. It is mainly used for underwater products to quickly discard disposable loads in emergency situations, and to generate a certain bow lifting moment and positive buoyancy in time to achieve the purpose of rapid advancement and buoyancy. Under normal working conditions, its drive system is in a standby state, and the drive device has a low operating frequency. Even in the entire life cycle of the product, the discard function will not be realized once, but the drive device needs to maintain a fast response and ready-to-use function for a long time.

[0003] At present, due to the high requirements for the use environment of the high-pressure air system and hydraulic system of underwater products, the selection conditions of the pipelines and valves used in the drive device of the disposable ballast drive device are harsh. In addition, the maintenance of the high-pressure system and hydraulic system is more stringent than that of general systems, with high difficulty and higher risks than general systems. As the power source of the drive device, the high-pressure air system must be guaranteed to have the ability to adjust in an emergency, which increases the resource pressure of other systems on the entire ship.

[0004] Therefore, a new technical solution is urgently needed to solve the above technical problems. Summary of the invention

[0005] One of the purposes of the present application is to provide an electro-hydraulic drive device for a disposable ballast device, a control method and device for the electro-hydraulic drive device, an electronic device and a storage medium, which are used to reduce the hardware selection conditions, safety risks and resource pressure of the entire ship in conventional hydraulic or pneumatic systems, and improve the reliability and safety of the drive device for the disposable ballast device.

[0006] In order to achieve the above purpose, the technical solution adopted in this application is as follows:

[0007] According to a first aspect of the present application, there is provided an electro-hydraulic drive device for a disposable ballast device, comprising:

[0008] Driving cylinder, accumulator assembly, electric control box, power unit;

[0009] The accumulator assembly includes: accumulator, pressure relays KP1, KP2, KP3, time relay KT3;

[0010] The electric control box includes: solenoid valve;

[0011] The power unit includes: a motor, a motor pump, and a bidirectional hydraulic pump;

[0012] The electro-hydraulic drive is used to control the jettisonable ballast device;

[0013] According to a second aspect of the present application, a control method for an electro-hydraulic drive device is provided, the method comprising:

[0014] Obtain electronically controlled charging instructions to charge the accumulator;

[0015] Get the command to jettison ballast;

[0016] Based on the command to abandon ballast, a command to energize the solenoid valve is sent;

[0017] Receiving the power-on command of the solenoid valve, the piston rod in the oil cylinder is driven to extend, thereby pushing out the disposable ballast device.

[0018] In a possible implementation manner, the step of obtaining the electronically controlled charging instruction and charging the accumulator includes:

[0019] Set the pressure relays KP1 and KP2 to the first energy storage pressure action;

[0020] When the outlet pressure of the accumulator is lower than the first energy storage pressure, the pressure relays KP1, KP2, and KP3 receive the reset signal and the accumulator is pressurized.

[0021] In a possible implementation, the above method further includes:

[0022] The pressure relay KP3 is set to the second energy storage pressure action. When the accumulator outlet pressure is equal to the second energy storage pressure action, the pressure relay KP3 triggers the power-off command and the motor stops.

[0023] In a possible implementation, the above method further includes:

[0024] Set the preset charging time;

[0025] According to the charging state, the contact of the time relay KT3 is energized to obtain the real-time charging time data;

[0026] When the real-time charging time data is greater than or equal to the preset charging time, the motor stops and an alarm sounds.

[0027] In a possible implementation manner, the step of obtaining the instruction to jettison ballast includes:

[0028] Physically operate the solenoid valve mechanism.

[0029] In a possible implementation, the above method further includes:

[0030] Get reset command;

[0031] According to the reset command, the motor starts in reverse, the bidirectional hydraulic pump runs in reverse, and the motor is powered off to reset.

[0032] According to a third aspect provided by the present application, a control device for an electro-hydraulic drive device is provided, the control device for the electro-hydraulic drive device comprising: an acquisition unit, a sending unit, and a receiving unit;

[0033] An acquisition unit is used to acquire an electronically controlled charging instruction to charge the accumulator; it is also used to acquire a ballast jettisoning instruction;

[0034] A sending unit, used for sending a solenoid valve power-on instruction based on the ballast jettison instruction;

[0035] The receiving unit is used to receive the power-on command of the solenoid valve, drive the piston rod in the oil cylinder, and push out the disposable ballast device.

[0036] According to a fourth aspect provided by the present application, an electronic device is provided, the electronic device comprising one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, the one or more memories are used to store computer program codes, the computer program codes include computer instructions, and when the one or more processors execute the computer instructions, the electronic device executes the control method of the second aspect or any possible electro-hydraulic drive device of the second aspect.

[0037] According to the fifth aspect provided by the present application, a storage medium is provided, the storage medium including computer program instructions, when the computer instructions are executed on a computer, the control device of the electro-hydraulic drive device executes the control method of the electro-hydraulic drive device provided by the above-mentioned second aspect and any possible implementation manner thereof.

[0038] Therefore, the above technical features of the present application have the following beneficial effects:

[0039] Reduce the hardware selection conditions, safety risks and resource pressure of the entire ship in the drive device;

[0040] The reliability and safety of the disposable ballast device driving device are improved.

[0041] It should be noted that the technical effects brought about by any implementation of the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation of the first aspect, which will not be repeated here. It should be understood that the above general description and the detailed description below are only exemplary and explanatory and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the exemplary embodiments below. The accompanying drawings are only for the purpose of illustrating exemplary embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0045] Figure 1 is a schematic block diagram of an electro-hydraulic drive device of a disposable ballast device according to an exemplary embodiment;

[0046] Figure 2 is a schematic structural diagram of an electro-hydraulic drive device of a disposable ballast device according to an exemplary embodiment;

[0047] Figure 3 is a schematic diagram of the composition structure of an electro-hydraulic drive device of a disposable ballast device according to an exemplary embodiment;

[0048] Figure 4 is a schematic diagram of the electrical structure of an electro-hydraulic drive device of a disposable ballast device according to an exemplary embodiment;

[0049] Figure 5 is a flow chart showing a control method of an electro-hydraulic drive device according to an exemplary embodiment;

[0050] Figure 6 is a block diagram of a control device for an electro-hydraulic drive device according to an exemplary embodiment;

[0051] Figure 7 The present invention is a structural block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0052] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0054] In the description of the embodiments, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" and "plurality" refer to two or more. The words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0055] The disposable ballast device is an important equipment in the underwater product rescue system. It is mainly used for underwater products to quickly discard disposable loads in emergency situations, and to generate a certain bow lifting moment and positive buoyancy in time to achieve the purpose of rapid advancement and buoyancy. When the disposable ballast device is in normal working state, its drive system is in standby state, and its drive device has a low operating frequency, but it needs to maintain the fast response and ready-to-use function of the drive device for a long time.

[0056] For the disposable ballast drive device using hydraulic or pneumatic, the selection conditions of the pipelines and valves selected by the system will be very harsh due to the high requirements for the use environment of the high-pressure air system and hydraulic system of underwater products. In addition, the high-pressure system and hydraulic system also have the disadvantages of stricter maintenance requirements than general systems, high difficulty and high risk. In addition, if the high-pressure air system is used as the power source of the drive device, it must also be ensured that the high-pressure air system has the ability to adjust in an emergency, which invisibly increases the resource pressure of other systems in the whole ship. And considering that the disposable ballast device drive device is located in the bilge well of the cabin, the space is very cramped. It must meet the technical requirements of large output force and its installation and maintainability. The conventional drive device is not compact in structure, large in size, and has poor reliability.

[0057] In order to solve the above problems, the present application proposes an electro-hydraulic drive device for a disposable ballast device, which can reduce the hardware selection conditions, safety risks, and resource pressure of the entire ship in the drive device, and improve the reliability and safety of the disposable ballast device drive device.

[0058] Figure 1 is a schematic block diagram of an electro-hydraulic drive device for a disposable ballast device according to an exemplary embodiment. The control method of the electro-hydraulic drive device provided in the embodiment of the present application can be applied to Figure 1 The electro-hydraulic drive device of the disposable ballast device is shown, which is used to control the electro-hydraulic drive device.

[0059] like Figure 1 The electro-hydraulic drive device 100 of a disposable ballast device shown includes: a drive cylinder 18, an accumulator assembly 101, an electric control box 102, and a power unit 103;

[0060] The accumulator assembly 101 includes: an accumulator 8, pressure relays KP1, KP2, KP3, and a time relay KT3;

[0061] The electric control box 102 includes: a solenoid valve 14;

[0062] The power unit 103 includes a bidirectional hydraulic pump 5 and a motor 6 .

[0063] Figure 2 FIG. 1 is a schematic diagram showing the structure of an electro-hydraulic drive device for a disposable ballast device. Figure 2 The electro-hydraulic drive device 100 of a disposable ballast device shown includes: a drive cylinder 18 , a left / right accumulator assembly 101 , an electric control box 102 , and a power unit 103 .

[0064] The electro-hydraulic drive device 100 is used to control the disposable ballast device and has a high-pressure oil reserve function. It can automatically start charging when the stored energy pressure decreases, so as to keep the energy to push out the load at any time. It also has a local electronically controlled charging function. Furthermore, it can be charged by a manual pump when the power is off.

[0065] The electro-hydraulic drive device 100 is also used for driving operations. When receiving a "discard" operation control signal, the drive cylinder 18 is controlled to extend quickly to push out the load; when receiving a "reset" operation control signal, the drive cylinder 18 is controlled to retract; it has local electronically controlled discarding and resetting functions; when power is off, the drive cylinder 18 can be controlled to push out the load by manual operation, and the manual operation has an anti-misoperation function.

[0066] Further, such as Figure 3 The schematic diagram of the composition structure of the electro-hydraulic drive device of the disposable ballast device shown in the figure specifically includes: 1-oil tank, 2-liquid level controller, 3-overflow valve, 4-shuttle valve, 5-bidirectional hydraulic pump, 6-motor, 7-check valve, 8-accumulator, 9-manual ball valve, 10-pressure relay, 11-manual ball valve, 12-pressure gauge, 13-manual pump, 14-solenoid valve, 15-throttle plug, 16-throttle valve, 17-hydraulic controlled check valve, 18-driving cylinder.

[0067] The electro-hydraulic drive can be Figure 4The electrical structure diagram of the electro-hydraulic drive device of the disposable ballast device is shown to realize the electrical control function of the electro-hydraulic drive device 100, which may specifically include: time relays KT1~KT3, pressure relays KP1~KP3, time relays KM1~KM6, etc.

[0068] Figure 5 A schematic flow chart of a control method for an electro-hydraulic drive device is shown. In some embodiments, the control method for an electro-hydraulic drive device can be applied to Figure 1 The electro-hydraulic drive device 100 shown, and the control method of the electro-hydraulic drive device provided in the embodiment of the present application include: S201-S204.

[0069] S201. Obtain an electronically controlled charging instruction to charge the accumulator.

[0070] according to Figure 4 As shown, after obtaining the electronically controlled charging instruction, the electric knob S2 is switched to "local" (NO and C are connected). When the "charging" button SA3 is activated, the control coil terminals (10, 11) of the magnetic time relay KM3 are energized, and the normally open contacts (6, 9) of KM3 are closed, keeping the control coil of KM3 continuously energized. The normally open contacts (4, 7) of KM3 connected to the motor power supply circuit are closed, and the motor 6 starts running in the forward direction to drive the bidirectional hydraulic pump 5 to run in the forward direction. The bidirectional hydraulic pump 5 sucks oil from the oil tank 1 through the shuttle valve 4, and outputs hydraulic oil through the one-way valve 7-2 to charge the accumulators 8-1 and 8-2.

[0071] S202: Obtain a ballast jettison instruction.

[0072] It should be noted that when the ship encounters an emergency, such as water ingress, sinking risk, rapid buoyancy, etc., it is necessary to jettison ballast water. When the knob S2 is set to "remote" (NC and C are connected), the electric control box 103 receives a control command to jettison the load.

[0073] S203: Based on the command to abandon ballast, send a command to energize the solenoid valve.

[0074] When the instruction to jettison ballast water sent in step S202 is received, it means that the ballast water needs to be jettisoned. Terminal X1 (3, 4) is connected, so that current can pass through terminal X1 (3, 4). The control coil terminals (10, 11) of the electromagnetic time relay KM1 are energized, and the normally open contacts (6, 9) of KM1 are closed, forming a closed circuit, so that the control coil of KM1 can be continuously energized and keep the control coil of KM1 continuously energized. The normally open contacts (4, 7) of KM1 connected to the power supply circuit of the solenoid valves V1 and V2 are closed, so that the power supply circuits of the solenoid valves V1 and V2 are also closed, and the solenoid valve 14 is energized to open. This control logic ensures that the system can accurately perform the operation of jettisoning ballast water after receiving the instruction.

[0075] S204, receiving the power-on command of the solenoid valve, driving the piston rod in the driving cylinder, and pushing out the disposable ballast device.

[0076] When receiving the charge command, the solenoid valves 14-1 and 14-2 are powered on and opened, allowing the hydraulic oil in the accumulator to flow out, and then the hydraulic oil flows through the throttle valve 16. The throttle valve can be used to adjust the flow of the hydraulic oil, thereby controlling the movement speed of the cylinder piston rod. The hydraulic oil continues to flow through the manual ball valve 9-3, which is used to manually control the flow of the hydraulic oil to ensure the safety and controllability of the system. The hydraulic oil enters the rodless chamber of the drive cylinder 18, pushing the cylinder piston rod to extend. As the cylinder piston rod extends, the hydraulic control one-way valve 17-2 is controlled to open, which allows the hydraulic oil to be discharged from the other side of the cylinder, while also ensuring that the hydraulic oil can only flow in one direction. The extension of the cylinder piston rod pushes the disposable ballast to move, realizing the release of the ballast. As the cylinder piston rod moves, the disposable ballast is pushed out, and the action of abandoning the ballast is finally completed. The above method can improve the buoyancy or stability of the ship.

[0077] In one embodiment, obtaining an electronically controlled charging instruction and charging the accumulator includes:

[0078] S201A, set the pressure relays KP1 and KP2 to the first energy storage pressure action.

[0079] First, the first storage pressure value of the accumulator needs to be determined. This value is usually set according to the specific needs and safety requirements of the system. The pressure relays KP1 and KP2 need to be configured to trigger an action when the accumulator reaches the first storage pressure. By adjusting the set point of the pressure relay, when the pressure in the accumulator reaches the predetermined value, the relay will respond relatively. It should be noted that ensuring that the pressure relays KP1 and KP2 are correctly installed in the accumulator system and connected to the accumulator can be done as follows Figure 3 Connections shown.

[0080] S201B, when the outlet pressure of the accumulator is less than the first energy storage pressure, the pressure relays KP1, KP2, and KP3 receive the reset signal and the accumulator is pressurized.

[0081] like Figure 4 As shown in 10-1, 10-2, and 10-3, three pressure relays KP1, KP2, and KP3 are set at the outlet of the accumulator, wherein KP1 and KP2 are set to the first energy storage pressure action, which can be the minimum energy storage pressure action in this system, and the pressure at the outlet of the accumulator is monitored in real time. When the outlet pressure of the accumulator is lower than the set pressure of the pressure relays KP1 and KP2, KP1, KP2, and KP3 are all reset, and their contacts (1, 2) are all closed, and the control coil terminals (10, 11) of the electromagnetic time relay KM3 are energized, and the normally open contacts (6, 9) of KM3 are closed, and the control coil of KM3 is kept energized continuously. The normally open contacts (4, 7) of KM3 are closed, and the motor 6 starts running in the forward direction, driving the bidirectional hydraulic pump 5 to run in the forward direction, and charging the accumulators 8-1 and 8-2. This step ensures that the pressure in the accumulator is always maintained within a safe working range, ensuring the normal operation of the system.

[0082] In one embodiment, the method further includes:

[0083] S301, when the outlet pressure of the accumulator is equal to the second energy storage pressure, the pressure relay KP3 triggers to receive the power-off signal and the motor stops.

[0084] KP3 is set to the second energy storage pressure action, which is the maximum energy storage pressure action in this system relative to step S201A. The pressure at the outlet of the accumulator is monitored in real time. When the charging pressure reaches the set pressure of the pressure relay KP3, KP3 is triggered, the contact (1, 2) of KP3 is disconnected, the control coil of the time relay KM3 is de-energized, the normally open contact (4, 7) of KM3 is reset and disconnected, and the motor stops.

[0085] In one embodiment, the method further includes:

[0086] S401, setting a preset charging time.

[0087] S402. According to the charging state, the contact of the time relay KT3 is energized to obtain real-time charging time data.

[0088] It should be noted that a time relay KT3 is provided on the pressure charging control circuit. When the pressure charging control circuit is energized, the contact (1, 2) of KT3 is energized and the time relay KT3 starts timing. This realizes the time limit or safety protection of the pressure charging process.

[0089] S403: When the real-time charging time data is greater than or equal to the preset charging time, the motor stops and an alarm is sounded.

[0090] When the set time is reached, the normally closed contact (3,5) of the time relay KT3 is disconnected, the charging control circuit is disconnected, the coil of the time relay KM3 is de-energized, the normally open contact (4,7) of KM3 is reset and disconnected, and the motor stops.

[0091] In one embodiment, the method further includes:

[0092] S501. Physically operate the solenoid valve mechanism.

[0093] It is understandable that in an emergency, the operator will start the manual control mechanism and open the solenoid valve. After the solenoid valve is opened, the hydraulic oil is allowed to flow to the hydraulic cylinder. By manually operating the solenoid valve, the flow of hydraulic oil can be controlled, and then the piston rod in the hydraulic cylinder can be driven to move, and finally the water in the ballast tank is quickly discharged, so that the whole ship can float quickly. This physical method is crucial for submarines, ships, etc. that need to quickly adjust the floating state or stability in emergency situations.

[0094] In one embodiment, the method further includes:

[0095] S601, obtaining a reset instruction;

[0096] When the knob S2 is set to "remote" (NC and C are connected), the electro-hydraulic drive device receives the reset control command, the terminal X1 (3, 5) is connected, the control coil terminal (10, 11) of the electromagnetic relay KM2 is energized, and the normally open contact (6, 9) of the electromagnetic relay KM2 is closed, keeping the control coil of the electromagnetic relay KM2 continuously energized.

[0097] S602: According to the reset instruction, the motor is started in reverse, the bidirectional hydraulic pump runs in reverse, and the motor is powered off to reset.

[0098] It is understandable that after the load dumping action is completed, the system is restored to the initial state so as to be used again or to prepare for the next emergency. Specifically, the normally open contacts (4, 7) of the electromagnetic relay KM2 connected to the motor power supply circuit are closed, the motor 6 starts to run in reverse, and drives the two-way hydraulic pump 5 to run in reverse. The two-way hydraulic pump sucks oil from the oil tank 1 through the shuttle valve 4, and outputs hydraulic oil through the one-way valve 7-1 to enter the rod chamber of the driving oil cylinder 1, and at the same time controls the hydraulic control one-way valve 17-1 to open, pushing the oil cylinder piston rod to retract. The oil in the rodless chamber of the driving oil cylinder returns to the oil tank through the hydraulic control one-way valve 17-1. When receiving the reset in place signal input from the outside, the terminal X1 (6, 8) is turned on, the control coil terminal (10, 11) of the electromagnetic relay KM5 is energized, the normally closed contacts (2, 8) of KM5 are disconnected, the electromagnetic relay KM2 is de-energized, the normally open contacts (4, 7) of KM2 are reset and disconnected, the motor is de-energized, and the reset task is completed.

[0099] Figure 6 Schematic diagram of the structure of a control device 70 of an electro-hydraulic drive device provided in an embodiment of the present application. The control device of the electro-hydraulic drive device is used to execute the control method of the electro-hydraulic drive device. Figure 6 As shown, the control device 70 of the electro-hydraulic drive device includes an acquisition unit 701 , a sending unit 702 , and a receiving unit 703 .

[0100] Figure 7 FIG. 1 is a structural block diagram of an electronic device according to an exemplary embodiment. Figure 7 As shown, the structural block diagram 80 of the electronic device includes but is not limited to: a processor 801 and a memory 802. The memory 802 is used to store executable instructions of the processor 801. It can be understood that the processor 801 is configured to execute instructions to implement the control method of the electro-hydraulic drive device in the above embodiment.

[0101] It should be noted that those skilled in the art can understand that Figure 7 The electronic device structure shown in the figure does not constitute a limitation on the motor controller, and the electronic device may include Figure 7 More or less components, or some components are combined, or different components are arranged. The processor 801 is the control center of the motor controller, which uses various interfaces and lines to connect the various parts of the entire motor controller, and executes various functions and processes data of the motor controller by running or executing software programs and / or modules stored in the memory 802, and calling data stored in the memory 802, so as to monitor the motor controller as a whole. The processor 801 may include one or more processing units. Optionally, the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication. It is understandable that the above-mentioned modem processor may not be integrated into the processor 801. The memory 802 can be used to store software programs and various data. The memory 802 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 802 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0102] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 802 including instructions, and the above instructions can be executed by a processor 801 of a control device of an electro-hydraulic drive device to implement the multi-drive axis control method in the above embodiment.

[0103] In actual implementation, Figure 6 The functions of the acquisition unit 701, the sending unit 702, and the receiving unit 703 in Figure 7 The processor 801 in calls the computer program stored in the memory 802 for implementation. The specific execution process can refer to the description of the multi-drive axis control method in the above embodiment, which will not be repeated here. Optionally, the computer-readable storage medium can be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device. In an exemplary embodiment, the embodiment of the present application also provides a computer program product including one or more instructions, which can be executed by the processor 801 of the motor controller to complete the multi-drive axis control method in the above embodiment.

[0104] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the motor controller, the various processes of the above-mentioned multi-drive axis control method embodiment are implemented, and the same technical effect as the above-mentioned multi-drive axis control method can be achieved. To avoid repetition, they will not be repeated here.

[0105] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0106] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may be a physical unit or multiple physical units, that is, it can be located in one place, or it can be distributed in multiple different places. Some or all of the classified units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0107] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0108] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk. The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An electro-hydraulic drive device for a disposable ballast device, characterized in that: The electro-hydraulic drive device comprises: a drive cylinder, an accumulator assembly, an electric control box, and a power unit; The accumulator assembly includes: an accumulator, pressure relays KP1, KP2, KP3, and a time relay KT3; The electric control box comprises: a solenoid valve; The power unit includes: a motor, a motor pump, and a bidirectional hydraulic pump; The electro-hydraulic drive device is used to control the disposable ballast device.

2. A control method for controlling the electro-hydraulic drive device according to claim 1, characterized in that: The method comprises: Obtaining an electronically controlled charging instruction to charge the accumulator; Obtain the instruction to jettison ballast; Based on the ballast abandonment instruction, sending the solenoid valve power-on instruction; The electromagnetic valve receives a power-on instruction, drives the piston rod in the driving cylinder, and pushes out the disposable ballast device.

3. The control method of the electro-hydraulic drive device according to claim 2, characterized in that: The step of obtaining the electronically controlled charging instruction and charging the accumulator comprises: Set the pressure relays KP1 and KP2 to the first energy storage pressure action; When the outlet pressure of the accumulator is lower than the first energy storage pressure, the pressure relays KP1, KP2, and KP3 receive a reset signal and the accumulator is pressurized.

4. The control method of the electro-hydraulic drive device according to claim 3, characterized in that: Also includes: The pressure relay KP3 is set to be actuated by the second energy storage pressure. When the outlet pressure of the accumulator is equal to the second energy storage pressure, the pressure relay KP3 triggers a power-off instruction and the motor stops.

5. The control method of the electro-hydraulic drive device according to claim 2, characterized in that: Also includes: Set the preset charging time; According to the charging state, the contact of the time relay KT3 is energized to obtain real-time charging time data; When the real-time charging time data is greater than or equal to the preset charging time, the motor stops and an alarm is issued.

6. The control method of the electro-hydraulic drive device according to claim 2, characterized in that: The step of obtaining the instruction to jettison ballast comprises: The solenoid valve mechanism is physically operated.

7. The control method of the electro-hydraulic drive device according to claim 2, characterized in that: Also includes: Get reset command; According to the reset instruction, the motor is started in reverse, the bidirectional hydraulic pump runs in reverse, and the motor is powered off to reset.

8. A control device for an electro-hydraulic drive device, characterized in that: include: An acquisition unit, used to acquire an electronically controlled charging instruction, the accumulator is charged, and is also used to acquire a ballast abandonment instruction; A sending unit, configured to send the solenoid valve power-on instruction based on the ballast abandonment instruction; The receiving unit is used to receive the power-on command of the solenoid valve, drive the piston rod in the driving cylinder, and push out the disposable ballast device.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used to execute the control method of the electro-hydraulic drive device as claimed in any one of claims 2 to 7 when the processor is running.

10. A storage medium having program instructions stored thereon, wherein the program instructions are used to execute the control method of the electro-hydraulic drive device according to any one of claims 2 to 7 when running.

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