Control system, method and device for multi-point jacking of carrier

Abstract

The invention discloses a multi-point jacking control system, method and device for a carrier, which comprises a frame, a lifting platform is arranged on the frame, a plurality of groups of lifting oil cylinders are arranged at the bottom of the frame, the number of the lifting oil cylinders in one group is four, push rods of the lifting oil cylinders are fixed with the lifting platform, and the push rods of the lifting oil cylinders are fixed with the lifting platform. A proportional hydraulic station is arranged on the frame, the proportional hydraulic station is communicated with the lifting oil cylinders through pipelines and proportional valves, two of the lifting oil cylinders are connected in parallel, the lifting oil cylinders and the other two lifting oil cylinders form a three-point jacking layout, two of the lifting oil cylinders are connected in parallel through a three-way valve, and the three-point jacking layout is formed. The two lifting oil cylinders are made to be identical in oil way pressure and synchronous in telescopic height, the two lifting oil cylinders and the other two lifting oil cylinders form a three-point jacking structure, and a plane is determined by three points so that the lifting platform can be jacked synchronously.

Description

Technical Field

[0001] The invention relates to the technical field of jacking type rail transport vehicles, in particular to a control system, method and device for multi-point jacking of a transport vehicle. Background Art

[0002] The rail transporter uses a lifting cylinder to lift the platform during transportation. The purpose of lifting is to transport the workpiece on the platform to different heights. Due to the large size of the platform and the need to set up multiple cylinders for lifting, the height of the cylinder lifting is affected by factors such as the installation height of the cylinder, resulting in poor stability and synchronization during the lifting of the existing platform, and the platform cannot be lifted to the predetermined height. Due to the existence of the above shortcomings, the lifting stability and synchronization of the existing rail transporter are poor, and the transporter cannot meet the actual process flow. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a control system, method and device for multi-point lifting of a transport vehicle, which can use a rope encoder to transmit the cylinder height information, and the proportional valve is set with an initial analog value, and the analog value is increased or decreased according to the difference between the current height of the cylinder and the average height, so that the proportional valve controls the three-point distributed cylinders for leveling and synchronous and stable lifting.

[0004] The present invention is achieved through the following technical solutions: a multi-point lifting device for a transport vehicle of the present invention comprises a frame, a lifting platform is arranged on the frame, a plurality of groups of lifting cylinders are arranged at the bottom of the frame, four lifting cylinders are arranged in one group, a push rod of the lifting cylinder is fixed to the lifting platform, a proportional hydraulic station is arranged on the frame, the proportional hydraulic station is connected to the lifting cylinder through a pipeline and a proportional valve, two of the lifting cylinders are connected in parallel, and form a three-point lifting layout with the other two lifting cylinders.

[0005] According to a further technical solution, a group of the lifting cylinders also includes a three-way valve, the three-way valve is connected to two of the lifting cylinders, and the other end of the three-way valve is connected to the proportional hydraulic station.

[0006] A control system for a multi-point lifting device of a transport vehicle also includes a controller, which is electrically connected to the proportional hydraulic station and the proportional valve, and also includes a pull-rope encoder, which is installed and fixed on the frame. The pull rope of the pull-rope encoder passes through the frame and is fixedly connected to the lifting platform. The average height is calculated based on the data returned by the pull-rope encoder, and then the height difference is obtained by subtracting the average height from the height of a single cylinder. The height of each point is judged by the height difference, the opening of the proportional valve is adjusted, and the flow is controlled to participate in leveling.

[0007] According to a further technical solution, the number of rope encoders is the same as the number of proportional valves.

[0008] A method for multi-point lifting using a control system of a multi-point lifting device of a transport vehicle: in the first step, the proportional valve switching and flow control are controlled by analog quantity of current, the analog quantity value corresponds to a current input value range and a median value, when the median analog value is input, it represents the current of the median value input, the proportional valve is in a closed state, when the input is greater than the median current, the oil cylinder can be controlled to rise, when the input is less than the median current, the oil cylinder can be controlled to fall, the initial value of the analog quantity for controlling the oil cylinder to rise is set to A1, and the initial value of the analog quantity for falling is set to A2;

[0009] The second step is to obtain the height H of a single lifting cylinder based on the data returned by the pull rope encoder, and use H1, H2, H3, H4, H5, H6...H n They represent the height of the lifting cylinder fed back by the pull-wire encoder, and the average height is calculated:

[0010]

[0011] The height difference of each lifting cylinder:

[0012] ΔH=Hh

[0013] The third step is to use the analog quantity to control the proportional valve. According to the maximum flow limit of the hydraulic system, the constant X of the proportional valve is formulated. By adding or subtracting the adjustment value S from the analog quantity, the proportional valve opening is controlled.

[0014] Step 4: If 0.3mm<ΔH<0.5mm, If ΔH ≥ 0.5 mm, S = X;

[0015] When rising, if 0>ΔH, the analog value a=A1+S; if 0<ΔH, the analog value a=A1-S;

[0016] When decreasing, if 0>ΔH, the analog value a=A2+S; if 0<ΔH, the analog value a=A2-S;

[0017] In the fifth step, the proportional valve rises or falls according to the analog value in step five to achieve the leveling function.

[0018] Further technical solution, if the single-turn resolution of the rope encoder is B, the length of one turn is C, and the current resolution value of the rope encoder is D, then the height of the lifting cylinder

[0019] A further technical solution is as follows: B=8192, C=100mm, the proportional valve switching and flow control are controlled by the 4-20mA analog control, corresponding to the value 819-4095; the median value is 2457, when the output current is 12mA, the proportional valve is in a closed state; when it is greater than 12mA (analog value>2457), the oil cylinder is controlled to rise; when it is less than 12mA (analog value<2457), the oil cylinder is controlled to descend; adjust the value to change the opening of the proportional valve and control the flow.

[0020] According to a further technical solution, the initial value of the rising analog quantity of the cylinder in the parallel oil circuit needs to be added 300 to the preset value, and the initial value of the rising analog quantity of the cylinder in the parallel oil circuit needs to be subtracted 300 from the preset value.

[0021] According to a further technical solution, for the oil cylinders at 1, 2, 5 and 6, the initial value A1 of the rising analog quantity is set to 3200, and the initial value A2 of the descending analog quantity is set to 1700; for the oil cylinders at 3 and 4, the initial value A1 of the rising analog quantity is set to 3500, and the initial value A2 of the descending analog quantity is set to 1400.

[0022] The beneficial effects of the present invention are: 1. Two of the lifting cylinders are connected in parallel by utilizing the three-way valve, so that the oil circuit pressures of the two lifting cylinders are the same, the extension and retraction heights are synchronized, and a three-point lifting structure is formed with the other two lifting cylinders. The three points determine a plane to synchronously lift the lifting platform. The initial value of the rising analog value of the cylinders in the parallel oil circuit needs to be added to the preset value, and the initial value of the rising analog value of the cylinders in the parallel oil circuit needs to be subtracted from the preset value to achieve better control function.

[0023] 2. The controller obtains the lifting height through the rope encoder, calculates the average height based on the data returned by the six rope encoders, and then subtracts the average height from the height of a single cylinder to obtain the height difference. The height difference is used to determine the height of each point, adjust the opening of the proportional valve, and control the flow to participate in leveling.

[0024] 3. Use analog quantity to control the proportional valve. According to the maximum flow limit of the hydraulic system, the constant X of the proportional valve is formulated. By adding or subtracting the adjustment value S from the analog quantity, the opening of the proportional valve is controlled to realize the leveling function, so that the lifting and lowering of each part of the lifting platform during the lifting process is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0026] Figure 1 It is a schematic diagram of the overall structure of a multi-point lifting device for a transport vehicle of the present invention;

[0027] Figure 2 for Figure 1Schematic diagram at A in the middle;

[0028] Figure 3 for Figure 1 Schematic diagram at B in the middle;

[0029] Figure 4 for Figure 1 The overall structural diagram of the device;

[0030] Figure 5 for Figure 2 Schematic diagram of the distribution of the middle rope encoder;

[0031] In the figure, there are a proportional hydraulic station 11, a frame 12, a controller 16, a pull rope encoder 22, a lifting cylinder 23, a three-way valve 24, and a lifting platform 31. DETAILED DESCRIPTION

[0032] like Figure 1-Figure 5 As shown, the present invention is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front and back directions mentioned below are Figure 1 The up-down, left-right, front-back directions of the projection relationship itself are consistent. A control system, method and device for multi-point lifting of a transport vehicle of the present invention include a multi-point lifting device for a transport vehicle, a system for controlling the multi-point lifting device for the transport vehicle, and a method for performing multi-point synchronous lifting using the multi-point lifting device and the system for the transport vehicle. The multi-point lifting device for the transport vehicle is described in detail in Example 1, the system for controlling the multi-point lifting device for the transport vehicle is described in detail in Example 2, and the method for performing multi-point synchronous lifting using the multi-point lifting device and the system for the transport vehicle is described in detail in Example 3. Specific implementation plans for the three specific embodiments are provided below.

[0033] Embodiment 1: A multi-point lifting device for a transport vehicle includes a frame 12, a lifting platform 31 is arranged on the frame 12, two groups of lifting cylinders 23 are arranged at the bottom of the frame 12, and the number of lifting cylinders 23 arranged in one group is four. A proportional hydraulic station 11 is arranged on the frame 12, and the proportional hydraulic station 11 is connected to the lifting cylinder 23 through a pipeline. The push rod of the lifting cylinder 23 is fixed to the lifting platform 31, and the lifting cylinder 23 is used to lift the lifting platform 31.

[0034] Advantageously, a group of lifting cylinders 23 also includes a three-way valve 24, which is connected to two of the lifting cylinders 23, and the other end of the three-way valve 24 is connected to the proportional hydraulic station 11. Then, a total of three groups of pipes of the four cylinders are connected to the proportional hydraulic station 11, and a proportional valve is also provided between the three groups of pipes and the proportional hydraulic station 11. The three-way valve 24 is used to connect two of the lifting cylinders 23 in parallel, so that the oil circuit pressures of the two lifting cylinders 23 are the same, the extension and retraction heights are synchronized, and a three-point lifting structure is formed with the other two lifting cylinders 23. The three points determine a plane to synchronously lift the lifting platform 31.

[0035] Advantageously, six proportional valves are provided, and the specific arrangement and code of the proportional valves are as follows: Figure 5 As shown, the proportional valves are divided into proportional valve 1, proportional valve 2, proportional valve 3, proportional valve 4, proportional valve 5 and proportional valve 6. Proportional valve 1, proportional valve 2 and proportional valve 3 are a group, proportional valve 4, proportional valve 5 and proportional valve 6 are the second group, proportional valve 3 and proportional valve 4 are connected to the three-way valve 24, and proportional valve 1, proportional valve 2, proportional valve 5 and proportional valve 6 are connected to the remaining four separate lifting cylinders 23.

[0036] Embodiment 2: A system for controlling the multi-point lifting device of the transport vehicle in Embodiment 1, further comprising a controller 16, which is electrically connected to the proportional hydraulic station 11 and the proportional valve, and further comprising two sets of draw rope encoders 22, the draw rope encoders 22 being mounted and fixed on the vehicle frame 12, the body of the draw rope encoder 22 being fixed on the vehicle frame 12, the draw rope of the draw rope encoder 22 passing through the vehicle frame 12 and being fixedly connected to the lifting platform 31, the height rise and fall of the lifting platform 31 will also cause the draw rope to move synchronously, the draw rope encoder 22 is utilized to detect the height rise and fall of the lifting platform 31 to which the draw rope is connected and to feed back corresponding data, the controller 16 obtains the lifting height through the draw rope encoder 22, calculates the average height based on the return data of the six draw rope encoders, and then obtains the height difference by subtracting the average height from the height of a single cylinder, and uses the height difference to judge the height of each point, adjusts the opening of the proportional valve, and controls the flow to participate in leveling.

[0037] Advantageously, there are three pull-wire encoders 22 in each group, one of which is disposed on one side of the three-way valve 24 , and the other two are disposed on one side of a separately disposed lifting cylinder 23 , and the three pull-wire encoders 22 are distributed in a triangular shape.

[0038] Advantageously, the drawstring encoder 22 is a prior art technology that identifies changes in length or height based on the number of turns of the drawstring telescopic movement and feeds back information.

[0039] Embodiment 3: A method for multi-point lifting using the system of embodiment 2:

[0040] In the first step, the proportional valve reversing and flow control are controlled by the analog value of the current. The analog value corresponds to the current input value range and has a median value, that is, when the median analog value is input, it represents the current of the median input, and the proportional valve is in a closed state. When the input is greater than the median current, the cylinder can be controlled to rise, and when the input is less than the median current, the cylinder can be controlled to fall. The initial value of the analog value for controlling the rise of the cylinder is set to A1, and the initial value of the analog value for the fall is set to A2. The initial value of the analog value for the rise of the cylinder in the parallel oil circuit needs to add 300 to the preset value, and the initial value of the analog value for the rise of the cylinder in the parallel oil circuit needs to subtract 300 from the preset value.

[0041] The second step is to obtain the height H of a single lifting cylinder 23 according to the data returned by the pull rope encoder 22, and use H1, H2, H3, H4, H5, H6...H n They represent the height of the lifting cylinder 23 fed back by the pull rope encoder 22, and the average height is calculated:

[0042]

[0043] The height difference of each lifting cylinder 23:

[0044] ΔH=Hh

[0045] The third step is to use the analog quantity to control the proportional valve. According to the maximum flow limit of the hydraulic system, the constant X of the proportional valve is formulated. By adding or subtracting the adjustment value S from the analog quantity, the proportional valve opening is controlled.

[0046] Step 4: If 0.3mm<ΔH<0.5mm, If ΔH ≥ 0.5 mm, S = X;

[0047] When rising, if 0>ΔH, the analog value a=A1+S; if 0<ΔH, the analog value a=A1-S;

[0048] When decreasing, if 0>ΔH, the analog value a=A2+S; if 0<ΔH, the analog value a=A2-S;

[0049] In the fifth step, the proportional valve rises or falls according to the analog value in step five to achieve the leveling function.

[0050] Advantageously, if the single-turn resolution of the cable encoder 22 is B, the length of one turn is C, and the current resolution value of the cable encoder 22 is D, then the height of the lifting cylinder 23 is

[0051] Advantageously, where B=8192, C=100mm, the proportional valve reversing and flow control are controlled by 4-20mA analog control, corresponding to a value of 819-4095; the median value is 2457, that is, when the output current is 12mA, the proportional valve is in a closed state; when it is greater than 12mA (analog value>2457), the cylinder can be controlled to rise; when it is less than 12mA (analog value<2457), the cylinder can be controlled to descend; by adjusting the value, the proportional valve opening can be changed to control the flow.

[0052] Advantageously, for the oil cylinders at 1, 2, 5 and 6, the initial analog value A1 of the rising value is set to 3200, and the initial analog value A2 of the descending value is set to 1700; for the oil cylinders at 3 and 4, the initial analog value A1 of the rising value is set to 3500, and the initial analog value A2 of the descending value is set to 1400.

[0053] The above are only specific implementation methods of the present invention, but the protection scope of the present invention is not limited to this. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the present invention; therefore, the protection scope of the present invention should be based on the protection scope defined in the claims.

Claims

1. A multi-point lifting device for a transport vehicle, comprising a vehicle frame (12), a lifting platform (31) being arranged on the vehicle frame (12), a plurality of groups of lifting cylinders (23) being arranged at the bottom of the vehicle frame (12), wherein the number of lifting cylinders (23) arranged in one group is four, a push rod of the lifting cylinder (23) being fixed to the lifting platform (31), a proportional hydraulic station (11) being arranged on the vehicle frame (12), It is characterized in that The proportional hydraulic station (11) is connected to the lifting cylinder (23) via a pipeline and a proportional valve, wherein two of the lifting cylinders (23) are connected in parallel to form a three-point lifting layout with the other two lifting cylinders (23).

2. A multi-point lifting device for a transport vehicle according to claim 1, Features: A group of the lifting cylinders (23) further includes a three-way valve (24), the three-way valve (24) being connected to two of the lifting cylinders (23), and the other end of the three-way valve (24) being connected to the proportional hydraulic station (11).

3. A control system for controlling a multi-point lifting device for a transport vehicle as claimed in claim 1, Features: It also includes a controller (16), the controller (16) is electrically connected to the proportional hydraulic station (11) and the proportional valve, and also includes a pull rope encoder (22), the pull rope encoder (22) is installed and fixed on the frame (12), the pull rope of the pull rope encoder (22) passes through the frame (12) and is fixedly connected to the lifting platform (31), according to the return data of the pull rope encoder, the average height is calculated, and then the height difference is obtained by subtracting the average height from the height of a single cylinder, and the height difference is used to judge the height of each point, adjust the opening of the proportional valve, and control the flow to participate in leveling.

4. A control system according to claim 3 for controlling a multi-point lifting device for a transport vehicle according to claim 1, Features: The number of the pull-wire encoders (22) is the same as the number of the proportional valves.

5. A working method for leveling using the control system of a multi-point lifting device for a transport vehicle as claimed in claim 3, Features: In the first step, the proportional valve reversing and flow control are controlled by the analog value of the current. The initial value of the analog value that controls the rise of the oil cylinder is set to A. 1 , the initial value of the analog quantity is set to A 2 ; The second step is to obtain the height H of a single lifting cylinder (23) according to the return data of the pull rope encoder (22). 1 , H 2 , H 3 , H 4 , H 5 , H 6 ...H n They respectively represent the height of the lifting cylinder (23) fed back by the pull rope encoder (22), and the average height is calculated: The height difference of each lifting cylinder (23) is: ΔH=Hh The third step is to use the analog quantity to control the proportional valve. According to the maximum flow limit of the hydraulic system, the constant X of the proportional valve is formulated. By adding or subtracting the adjustment value S from the analog quantity, the proportional valve opening is controlled. Step 4: If 0.3mm<ΔH<0.5mm, If ΔH ≥ 0.5 mm, S = X; When rising, if 0>ΔH, the analog value a=A 1 +S; if 0<ΔH, analog value a=A 1 -S; When decreasing, if 0>ΔH, the analog value a=A 2 +S; if 0<ΔH, analog value a=A 2 -S; In the fifth step, the proportional valve rises or falls according to the analog value in step five to achieve the leveling function.

6. A working method for leveling according to claim 5 using a control system of a multi-point lifting device for a transport vehicle according to claim 3, Features: The analog value corresponds to a current input value range and a median value. When the median analog value is input, it represents the current of the median input. The proportional valve is in a closed state. When the input is greater than the median current, the cylinder can be controlled to rise. When the input is less than the median current, the cylinder can be controlled to fall.

7. A working method for leveling according to claim 5 using a control system of a multi-point lifting device for a transport vehicle according to claim 3, Features: If the single-turn resolution of the rope encoder (22) is B, the length of one turn is C, and the current resolution value of the rope encoder (22) is D, then the height of the lifting cylinder (23) 8. A working method for leveling according to claim 7 using a control system of a multi-point lifting device for a transport vehicle according to claim 3, Features: B=8192, C=100mm, the proportional valve reversing and flow control are controlled by 4-20mA analog control, corresponding to the value 819-(4095); the median value is 2457, when the output current is 12mA, the proportional valve is in the closed state; when it is greater than 12mA (analog value>2457), the oil cylinder is controlled to rise; when it is less than 12mA (analog value<2457), the oil cylinder is controlled to descend; adjust the value to change the proportional valve opening and control the flow.

9. A working method for leveling using a control system of a multi-point lifting device for a transport vehicle as claimed in claim 3 according to any one of claims 4 to 8, Features: The initial value of the rising analog value of the cylinder in the parallel oil circuit needs to add 300 to the preset value, and the initial value of the rising analog value of the cylinder in the parallel oil circuit needs to subtract 300 from the preset value.

10. A working method for leveling according to claim 9 using a control system of a multi-point lifting device for a transport vehicle according to claim 3, Features: The initial value of the analog value A for the cylinders at 1, 2, 5 and 6 is ascent 1 Set to 3200, the initial value of the analog value A 2 Set to 1700; the initial analog value A of the oil cylinders at 3 and 4 rising 1 Set to 3500, the initial value of the analog value A 2 Set to 1400.

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