Hydraulic suspension control system and container side loading and unloading equipment

Abstract

The invention discloses a hydraulic suspension control system and container side loading and unloading equipment. The hydraulic suspension control system comprises a hydraulic oil supply assembly, a suspension, a steering oil cylinder, a first load-sensitive valve assembly, a second load-sensitive valve assembly and a controller. The hangers are assembled on the inner side and the outer side of the container side face loading and unloading equipment. The steering oil cylinders arranged in the inner side suspension are connected with the m load-sensitive valves in the first load-sensitive valve assembly in a one-to-one mode, and the steering oil cylinders arranged in the outer side suspension are connected with the n load-sensitive valves in the second load-sensitive valve assembly in a one-to-one mode. Each load-sensitive valve in m + n load-sensitive valves is matched with the steering oil cylinder connected with the load-sensitive valve in a one-to-one correspondence mode, independent control over the steering angle of each suspension is achieved through control of the controller, and therefore the steering flexibility of the suspension control system is greatly improved. And any steering requirement of the container side loading and unloading equipment during loading and unloading operation can be met.

Description

Technical Field

[0001] The present invention relates to the field of railway transportation assembly technology, and in particular to a hydraulic suspension control system and container side loading and unloading equipment. Background Art

[0002] Currently, medium-sized and small-scale intermodal transport terminals face the dilemma of high reloading costs and low efficiency. Rail-mounted gantry cranes require high investment and infrastructure, while reach stackers have a low degree of automation, occupy large operating aisles, and have low site utilization. Therefore, side-loading equipment for containers is commonly used in medium-sized and small-scale intermodal transport terminals.

[0003] The container side loading and unloading equipment makes full use of the limited space of the electrified railway contact network to realize the loading, unloading and transshipment of containers. The transshipment operation is simple and convenient, with a high degree of automation. It can improve the overall transportation efficiency, reduce logistics costs, and quickly realize the road-rail transshipment of containers in railway stations.

[0004] In the loading and unloading operations of container side loading and unloading equipment, the suspension control system is an important component of the container side loading and unloading equipment. It mainly ensures the safety of the container side loading and unloading equipment during loading and unloading operations by controlling the lifting and steering of the suspension.

[0005] However, the traditional suspension control system has low steering flexibility and cannot meet the steering requirements of container side loading and unloading equipment when performing loading and unloading operations. Summary of the Invention

[0006] In order to solve or partially solve the technical problem of low steering flexibility of existing suspension control systems, the present invention provides a hydraulic suspension control system and container side loading and unloading equipment. When the container side loading and unloading equipment needs to turn, the steering angle of each suspension can be independently controlled, which can meet various steering requirements of the container side loading and unloading equipment.

[0007] To solve the above technical problems, the first aspect of the present invention discloses a hydraulic suspension control system, which is used for container side loading and unloading equipment. The system includes: a hydraulic oil supply assembly, a suspension, a steering cylinder, a first load-sensing valve assembly, a second load-sensing valve assembly, and a controller;

[0008] The hydraulic oil supply assembly is used to dynamically adjust the hydraulic oil output flow rate according to the pressure feedback from the hydraulic suspension control system;

[0009] The suspension is installed on both the inner and outer sides of the container side loading and unloading equipment; wherein the inner suspension and the outer suspension are allocated in groups, each group of inner suspensions includes m inner suspensions, and each group of outer suspensions includes n outer suspensions; each inner suspension and each outer suspension is independently equipped with the steering cylinder;

[0010] The first load-sensing valve assembly is configured with reference to the number of groups of the inboard suspensions, and each group has m+1 load-sensing valves; wherein the m load-sensing valves are connected one-to-one to the steering cylinders assembled in the m inboard suspensions, and the m load-sensing valves are connected together to the hydraulic oil supply assembly;

[0011] The second load-sensing valve assembly is configured with reference to the number of groups of the outboard suspensions, and each group has n+1 load-sensing valves; wherein the n load-sensing valves are connected one-to-one to the steering cylinders assembled in the n outboard suspensions, and the n load-sensing valves are connected together to the hydraulic oil supply assembly;

[0012] Each load-sensing valve in the m+n load-sensing valves corresponds to the steering cylinder connected thereto, thereby enabling independent control of the steering angle of each suspension.

[0013] The controller is connected to the hydraulic oil supply assembly, the first load-sensing valve assembly, and the second load-sensing valve assembly, and is used to control the hydraulic oil supply assembly to dynamically adjust the corresponding total hydraulic oil output flow according to the pressure required by the target steering mode when the container side loading and unloading equipment needs to turn, and adjust each load-sensing valve to output different flows of hydraulic oil to the respectively connected steering cylinders according to the target steering mode, so as to drive each suspension to independently achieve different steering angles.

[0014] Optionally, the hydraulic oil supply assembly specifically includes: the oil tank, the oil suction filter and the variable pump connected in sequence; the variable pump is equipped with an engine and connected to the first load sensing valve assembly and the second load sensing valve assembly;

[0015] The fuel tank is used to provide energy;

[0016] The oil suction filter is used to filter impurities in the hydraulic oil;

[0017] The variable displacement pump is used to dynamically adjust the hydraulic oil output flow rate according to the pressure feedback from the hydraulic suspension control system;

[0018] The engine is used to provide power for the variable displacement pump.

[0019] Optionally, the steering cylinder is provided with a rotary encoder for feeding back the actual steering angle;

[0020] The controller is also used to receive actual steering angles fed back by each steering cylinder, and control the oil quantity allocation of the corresponding load-sensing valve according to the actual steering angles fed back by each steering cylinder, so that each steering cylinder drives the corresponding suspension to independently steer to the corresponding target steering angle.

[0021] Optionally, the system further comprises: a hydraulic lock configured according to the number of the steering cylinders; each load-sensing valve is connected to the corresponding steering cylinder via the hydraulic lock;

[0022] The hydraulic lock is used to trigger opening when each load-sensing valve outputs hydraulic oil of different flow rates, so that the hydraulic oil of different flow rates is delivered to the corresponding steering cylinder, thereby driving each suspension to independently achieve different steering angles; it is also used to trigger closing when each steering cylinder drives the corresponding suspension to independently turn to the corresponding target steering angle, thereby locking the corresponding steering cylinder.

[0023] Optionally, the system further comprises: a lifting cylinder, each inner suspension and each outer suspension being independently equipped with the lifting cylinder;

[0024] When the container side loading and unloading equipment encounters an undulating ground, the corresponding suspension height is adjusted by adaptively lifting the lifting cylinder, so that the container side loading and unloading equipment maintains balance when encountering an undulating ground.

[0025] Optionally, the m lifting cylinders configured in each inner suspension group are connected in parallel and are connected to the last load-sensing valve in the first load-sensing valve assembly except the m load-sensing valves through a motion control valve; the n lifting cylinders configured in each outer suspension group are connected in parallel and are connected to the last load-sensing valve in the second load-sensing valve assembly except the n load-sensing valves through the motion control valve.

[0026] When overloading occurs on the inner side of the container side loading and unloading equipment, the controller is used to receive the electrical signal generated by the adaptive lifting trigger of the m lifting cylinders on the overloaded side, and control the load-sensitive valves corresponding to the m lifting cylinders on the overloaded side to output at a first constant flow rate according to the electrical signal, prompting the motion control valve to open and output the constant flow rate to the m lifting cylinders on the overloaded side; when the m lifting cylinders on the overloaded side adaptively retract, the hydraulic oil in the cylinder flows back to the oil tank at a second constant flow rate; wherein, the oil circuits between the m lifting cylinders are connected, so as to adaptively distribute the oil volume to level the inner side of the container side loading and unloading equipment where overloading occurs.

[0027] Optionally, each lifting cylinder is provided with an explosion-proof valve for closing when the pressure loss rate of the lifting cylinder exceeds a set rate.

[0028] Optionally, a constant pressure differential valve is provided inside each load-sensitive valve.

[0029] Optionally, each suspension corresponds to a tire mounted on the container side loading and unloading equipment.

[0030] A second aspect of the present invention discloses a hydraulic suspension control system as described in the first aspect.

[0031] Through one or more technical solutions of the present invention, the present invention has the following beneficial effects or advantages:

[0032] The hydraulic suspension control system of the present invention is used for side-loading and unloading equipment for containers and includes: a hydraulic oil supply assembly, a suspension, a steering cylinder, a first load-sensing valve assembly, a second load-sensing valve assembly, and a controller. The suspension is mounted on both the inside and outside of the container side-loading and unloading equipment. Each steering cylinder configured in the inner suspension is connected one-to-one with the m-linked load-sensing valves in the first load-sensing valve assembly, while each steering cylinder configured in the outer suspension is connected one-to-one with the n-linked load-sensing valves in the second load-sensing valve assembly. Through the one-to-one correspondence between each link of the m+n links of load-sensing valves and the corresponding steering cylinder, the controller independently controls the steering angle of each suspension, significantly improving the steering flexibility of the suspension control system and meeting any steering requirements of the container side-loading and unloading equipment during loading and unloading operations.

[0033] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0035] Figure 1 It shows a top view of a container side loading and unloading device according to one embodiment of the present invention;

[0036] Figure 2 A schematic diagram illustrating an implementation principle of a hydraulic suspension control system according to an embodiment of the present invention is shown.

[0037] Explanation of the reference numerals: container side loading and unloading equipment 101, container 102, inner suspension 103, outer suspension 104, oil tank 201, oil suction filter 202, variable pump 203, engine 204, first load-sensing valve assembly 205, second load-sensing valve assembly 206, steering cylinder 207, lifting cylinder 208, motion control valve 209, explosion-proof valve 210, hydraulic lock 211. DETAILED DESCRIPTION

[0038] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0039] In a first aspect, an embodiment of the present invention provides a hydraulic suspension control system, which is used for container side loading and unloading equipment.

[0040] See Figure 1 , is a top view of the container side loading and unloading equipment.

[0041] The container side loading and unloading equipment 101 has a frame structure, and a container 102 is hoisted by a hoist.

[0042] Two sets of inner suspensions are installed on the inner side of the container side loading and unloading device 101, and two sets of outer suspensions are installed on the outer side of the container side loading and unloading device 101. Each of the four suspension sets serves as a support point for the container side loading and unloading device 101. Together, the four suspension sets form a four-point support structure that supports the container side loading and unloading device 101.

[0043] Specifically, each inner suspension set includes three inner suspensions 103, each installed between two wheels. When the inner suspension 103 turns, it can drive the wheels to steer. Each outer suspension set includes two outer suspensions 104, each installed between two wheels. When the outer suspension 104 turns, it can also drive the wheels to steer. The steering angles of the inner and outer suspensions installed on the container side loading and unloading equipment 101 can be independently controlled, enabling the container side loading and unloading equipment to meet the steering requirements in various steering modes and realize the steering function in various steering modes.

[0044] It is worth noting that, in actual application, the structures of the inner suspension 103 and the outer suspension 104 are consistent.

[0045] See Figure 2 , is the implementation principle diagram of the hydraulic suspension control system.

[0046] Among them, the hydraulic suspension control system mainly includes: hydraulic oil supply components, suspension, steering cylinder 207, lifting cylinder 208, motion control valve 209, explosion-proof valve 210, first load-sensitive valve component 205, second load-sensitive valve component 206, and controller (not shown in the figure).

[0047] The hydraulic oil supply assembly is used to dynamically adjust the hydraulic oil output flow rate according to the pressure feedback from the hydraulic suspension control system.

[0048] Specifically, the hydraulic oil supply assembly includes: the oil tank 201, the oil suction filter 202 and the variable pump 203 connected in sequence; the variable pump 203 is equipped with an engine 204 and is connected to all first load-sensing valve assemblies 205 and all second load-sensing valve assemblies 206.

[0049] The following describes the functions of each component in the hydraulic oil supply assembly.

[0050] The oil tank 201 is used to provide hydraulic oil, such as, but not limited to, anti-wear hydraulic oil.

[0051] The oil suction filter 202 is used to filter impurities in the hydraulic oil.

[0052] The variable pump 203 is the pressure source for the entire hydraulic suspension control system, dynamically adjusting the hydraulic oil output flow rate based on pressure feedback from the control system. Because the variable pump 203 has a variable mechanism within it, the pump's output flow rate is tailored to actual needs, reducing overflow losses and making the hydraulic suspension control system more energy-efficient.

[0053] The engine 204 is used to provide power for the variable displacement pump 203 .

[0054] The above is an introduction to the structure of the hydraulic oil supply assembly. The following introduces the positional relationship of the loading and unloading equipment suspended on the side of the container.

[0055] Suspensions are installed on both the inside and outside of the container side loading and unloading equipment. The number of suspensions is variable, each corresponding to a tire installed on the container side loading and unloading equipment, and each suspension controls the corresponding tire to achieve steering.

[0056] The suspension installed on the inside of the container side loading and unloading equipment is called: inside suspension 103.

[0057] The suspension installed on the outside of the container side loading and unloading equipment is called: outside suspension 104.

[0058] The inner suspension 103 and the outer suspension 104 are both allocated in groups, and the number of configuration groups of the inner suspension 103 and the outer suspension 104 is determined according to the requirements of the container side loading and unloading equipment.

[0059] Each group of inner suspensions includes m inner suspensions 103. Here, m ≥ 3 and is a positive integer. For example, each group includes three inner suspensions 103, and these three inner suspensions 103 together serve as a support point for the container side loading and unloading equipment.

[0060] Each group of outer suspensions includes n outer suspensions 104, where n is a positive integer and is greater than or equal to 2. For example, each group includes two outer suspensions 104, which together serve as a support point for the container side loading and unloading equipment.

[0061] Each inner suspension 103 and each outer suspension 104 is independently equipped with the steering cylinder 207 , and each steering cylinder 207 is used to independently control the corresponding suspension to achieve steering.

[0062] The flow of hydraulic oil in the steering cylinders 207 in the inner suspension 103 and the outer suspension 104 is controlled by respective load sensing valves.

[0063] In order to coordinate and regulate the steering of each steering cylinder 207 assembled in each inner suspension 103 and each outer suspension 104 , a first load sensing valve assembly 205 and a second load sensing valve assembly 206 are designed.

[0064] The first load sensing valve assembly 205 is configured with reference to the number of groups of the inner suspension 103. Each group has the same structure and has m+1 load sensing valves connected in parallel. Figure 2 In the embodiment, each set of first load sensing valve assemblies 205 is exemplified as a quadruple load sensing valve, but this is not a limitation.

[0065] The m-linked load-sensing valves are connected one-to-one to the steering cylinders 207 assembled in the m inner suspensions 103, i.e., one link of load-sensing valves is connected to one steering cylinder 207. The m-linked load-sensing valves are collectively connected to the hydraulic oil supply assembly. The last link of load-sensing valves in the first load-sensing valve assembly 205, excluding the m-linked load-sensing valves, will be described later and will not be repeated here. For example, in a quadruple-linked load-sensing valve assembly, each link of three load-sensing valves is connected to one steering cylinder 207. The last link of the quadruple-linked load-sensing valves is connected to three lift cylinders 208.

[0066] The second load sensing valve assembly 206 is configured with reference to the number of groups of the outer suspension 104. Each group has the same structure and has n+1 load sensing valves connected in parallel. Figure 2 In the embodiment, each set of the second load sensing valve assembly 206 is exemplified as a triple load sensing valve, but this does not constitute a limitation.

[0067] The n load-sensing valves are connected one-to-one to the steering cylinders 207 installed in the n outboard suspensions 104, i.e., one load-sensing valve is connected to one steering cylinder 207. These n load-sensing valves are collectively connected to the hydraulic oil supply assembly. The last load-sensing valve in the second load-sensing valve assembly 206, excluding the n load-sensing valves, will be described later and will not be repeated here. For example, in a triple load-sensing valve assembly, each of the two load-sensing valves is connected to one steering cylinder 207. The last load-sensing valve in the triple load-sensing valve assembly is connected to two lift cylinders 208.

[0068] Each of the m+n load-sensing valves has the same function, primarily controlling the amount of hydraulic oil in the corresponding steering cylinder 207, thereby controlling the independent steering of the corresponding steering cylinder 207. Each of the m+n load-sensing valves corresponds one-to-one with the corresponding steering cylinder 207, enabling independent control of the steering angle of each suspension.

[0069] In practice, although the first and second load-sensing valves comprise different numbers of load-sensing valves, the structure of each of the m+n+2 load-sensing valves is identical. Each load-sensing valve has a constant pressure differential valve installed within it to adjust the correlation between hydraulic oil flow and valve opening, ensuring that the hydraulic oil flow rate is not affected by load changes.

[0070] The controller is connected to the hydraulic oil supply assembly, the first load sensing valve assembly 205 , and the second load sensing valve assembly 206 .

[0071] The controller is used to control the hydraulic oil supply component to dynamically adjust the corresponding total hydraulic oil output flow according to the pressure required by the target steering mode when the container side loading and unloading equipment needs to turn. When the hydraulic oil supply component outputs according to the total hydraulic oil output flow, the controller adjusts each load-sensitive valve to output different flows of hydraulic oil to the respectively connected steering cylinders 207 according to the target steering mode, so as to drive each suspension to independently achieve different steering angles.

[0072] The side container handling equipment of this embodiment has multiple steering modes. For example, the multiple steering modes include: left front rotation with various turning radiuses, left rear rotation with various turning radiuses, right front rotation with various turning radiuses, right rear rotation with various turning radiuses, rotation in place, etc. The target steering mode is any one of these modes.

[0073] During the process of adjusting the flow rates of hydraulic oil output by each load-sensing valve to the connected steering cylinder 207 according to the target steering pattern, the target steering angle of each rotary cylinder is determined with reference to the target steering pattern. Based on the target steering angle of each rotary cylinder, the flow rates of hydraulic oil output by each load-sensing valve are adjusted to the connected steering cylinder 207. The steering of each steering cylinder 207 drives each suspension to independently achieve a different steering angle.

[0074] Furthermore, each steering cylinder 207 is equipped with a rotary encoder for feeding back the actual steering angle.

[0075] The controller is further configured to receive actual steering angles fed back by the steering cylinders 207, and control the oil distribution of the corresponding load-sensing valves according to the actual steering angles fed back by the steering cylinders 207, so that the steering cylinders 207 drive the corresponding suspensions to independently steer to the corresponding target steering angles, forming a closed loop, thereby ensuring smooth steering of the suspensions and further ensuring smooth steering of the container side loading and unloading equipment.

[0076] In an optional embodiment, in order to fix the steering cylinder 207 at the target steering angle, the system includes a hydraulic lock 211, which is configured according to the number of the steering cylinders 207; each load sensing valve is connected to the corresponding steering cylinder 207 through the hydraulic lock 211;

[0077] The hydraulic lock 211 is used to trigger opening when each load-sensing valve outputs hydraulic oil of different flow rates, so that the hydraulic oil of different flow rates is delivered to the corresponding steering cylinder 207, so as to drive each suspension to independently achieve different steering angles; it is also used to trigger closing when each steering cylinder 207 drives the corresponding suspension to independently turn to the corresponding target steering angle, locking the hydraulic oil delivery channel to lock the corresponding steering cylinder 207.

[0078] The above is the steering logic of the container side loading and unloading equipment implemented by the hydraulic suspension control system in the embodiment of the present invention.

[0079] In an optional embodiment, in order to maintain the balance of the container side loading and unloading equipment, the system of the present invention further includes: a lifting cylinder 208, and each inner suspension 103 and each outer suspension 104 are independently equipped with the lifting cylinder 208.

[0080] In a specific structure, the m lifting cylinders 208 configured in each inner suspension group are connected in parallel and are connected to the last load-sensing valve in the first load-sensing valve assembly 205 except for the m load-sensing valves through a motion control valve 209. Since the oil circuits of the m lifting cylinders 208 configured in each inner suspension group are connected, only one load-sensing valve is required for control. Figure 2 The three lifting cylinders 208 configured in each group of inner suspension are commonly connected to the last load-sensing valve in the four-link load-sensing valve.

[0081] The n lifting cylinders 208 configured in each set of outer suspensions are connected in parallel and are connected to the last load-sensing valve in the second load-sensing valve assembly 206 except for the n load-sensing valves through the motion control valve 209. Since the oil circuits of the n lifting cylinders 208 configured in each set of outer suspensions are connected, only one load-sensing valve is required for control. Figure 2 The two lifting cylinders 208 configured in each group of outer suspensions are commonly connected to the last load-sensing valve in the triple load-sensing valve.

[0082] When the container side loading and unloading equipment encounters uneven ground, the height of the corresponding suspension is adjusted by adaptively lifting the lifting cylinder 208 installed in each inner suspension 103 and each outer suspension 104, so that the container side loading and unloading equipment can maintain balance when encountering uneven ground.

[0083] Specifically, because the oil circuits of the m lift cylinders 208 in each inner suspension group are interconnected, the m lift cylinders 208 can adaptively distribute oil to adjust the corresponding suspension height. The oil circuits of the n lift cylinders 208 in each outer suspension group are interconnected, and the n lift cylinders 208 can adaptively distribute oil to adjust the corresponding suspension height.

[0084] When the container side loading and unloading equipment encounters uneven ground, the lifting cylinder 208 corresponding to each support point adaptively distributes oil according to the pressure borne by each support point to adjust the height of the corresponding support point to cope with changes in the uneven road surface.

[0085] When the container side loading and unloading equipment is performing loading and unloading operations, the movement of the container can cause an unbalanced load on the container side loading and unloading equipment. When this occurs, the pressure on the inner suspension 103 is much greater than that on the outer suspension, causing the inner tire to compress and the inner suspension 103 to drop. In this case, the height of the inner suspension 103 needs to be adjusted by extending and retracting the lifting cylinder 208 to keep the container side loading and unloading equipment level.

[0086] During the specific implementation process, when overloading occurs on the inner side of the container side loading and unloading equipment, the controller is used to receive the electrical signal generated by the adaptive lifting trigger of the m lifting cylinders 208 on the overloaded side, and control the load-sensitive valves corresponding to the m lifting cylinders 208 on the overloaded side to output at a first constant flow rate according to the electrical signal, prompting the motion control valve 209 to open and output the constant flow rate to the m lifting cylinders 208 on the overloaded side; when the m lifting cylinders 208 on the overloaded side adaptively retract, the hydraulic oil in the cylinder flows back to the oil tank 201 at a second constant flow rate.

[0087] Since the oil circuits between the m lifting cylinders 208 are connected, the oil volume can be adaptively distributed to level the inner side of the container side loading and unloading equipment where the load is uneven, so that the container side loading and unloading equipment remains level.

[0088] Of course, the working principles of the m lifting cylinders 208 in the other inner suspension 103 and the n lifting cylinders 208 in the outer suspension 104 are similar to those described above, so they will not be described in detail.

[0089] Furthermore, since the hoses of lift cylinders 208 may burst after prolonged operation, without protective measures, this can easily lead to safety accidents. Therefore, each lift cylinder 208 is equipped with an explosion-proof valve 210, which is designed to close when the rate of pressure loss in the lift cylinder 208 exceeds a set rate. For example, if a hose bursts, the rate of pressure loss in the lift cylinder 208 exceeds the set rate, indicating a momentary loss of pressure in the lift cylinder 208 chamber. This triggers the explosion-proof valve 210 to immediately close, preventing uncontrolled lowering of the suspension and worsening the situation, thereby ensuring system safety.

[0090] The above is the lifting logic of the container side loading and unloading equipment implemented by the hydraulic suspension control system in the embodiment of the present invention. It can enable the container side loading and unloading equipment to adaptively adjust the height of the container side loading and unloading equipment when facing uneven roads or when overloading occurs, so as to ensure stability when walking on uneven roads, or correct the deviation of the container side loading and unloading equipment, thereby ensuring the loading and unloading safety of the container side loading and unloading equipment.

[0091] In the second aspect, based on the same inventive concept as the hydraulic suspension control system provided in the aforementioned embodiment of the first aspect, an embodiment of the present invention further provides a container side loading and unloading device, including a hydraulic suspension control system as described in any embodiment of the first aspect.

[0092] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0093] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A hydraulic suspension control system, used for container side loading and unloading equipment, characterized in that: The system includes: a hydraulic oil supply assembly, a suspension, a steering cylinder, a first load sensing valve assembly, a second load sensing valve assembly, and a controller; The hydraulic oil supply assembly is used to dynamically adjust the hydraulic oil output flow rate according to the pressure feedback from the hydraulic suspension control system; The suspension is installed on both the inner and outer sides of the container side loading and unloading equipment; wherein the inner suspension and the outer suspension are allocated in groups, each group of inner suspensions includes m inner suspensions, and each group of outer suspensions includes n outer suspensions; each inner suspension and each outer suspension is independently equipped with the steering cylinder; The first load-sensing valve assembly is configured with reference to the number of groups of the inboard suspensions, and each group has m+1 load-sensing valves; wherein the m load-sensing valves are connected one-to-one to the steering cylinders assembled in the m inboard suspensions, and the m load-sensing valves are connected together to the hydraulic oil supply assembly; The second load-sensing valve assembly is configured with reference to the number of groups of the outboard suspensions, and each group has n+1 load-sensing valves; wherein the n load-sensing valves are connected one-to-one to the steering cylinders assembled in the n outboard suspensions, and the n load-sensing valves are connected together to the hydraulic oil supply assembly; Each load-sensing valve in the m+n load-sensing valves corresponds to the steering cylinder connected thereto, thereby enabling independent control of the steering angle of each suspension. The controller is connected to the hydraulic oil supply assembly, the first load-sensing valve assembly, and the second load-sensing valve assembly, and is used to control the hydraulic oil supply assembly to dynamically adjust the corresponding total hydraulic oil output flow according to the pressure required by the target steering mode when the container side loading and unloading equipment needs to turn, and adjust each load-sensing valve to output different flows of hydraulic oil to the respectively connected steering cylinders according to the target steering mode, so as to drive each suspension to independently achieve different steering angles.

2. The system according to claim 1, wherein The hydraulic oil supply assembly specifically includes: the oil tank, the oil suction filter and the variable pump connected in sequence; the variable pump is equipped with an engine and connected to all the first load sensing valve assemblies and all the second load sensing valve assemblies; The fuel tank is used to provide energy; The oil suction filter is used to filter impurities in the hydraulic oil; The variable displacement pump is used to dynamically adjust the hydraulic oil output flow rate according to the pressure feedback from the hydraulic suspension control system; The engine is used to provide power for the variable displacement pump.

3. The system according to claim 1, wherein: The steering cylinder is provided with a rotary encoder for feeding back the actual steering angle; The controller is also used to receive actual steering angles fed back by each steering cylinder, and control the oil quantity allocation of the corresponding load-sensing valve according to the actual steering angles fed back by each steering cylinder, so that each steering cylinder drives the corresponding suspension to independently steer to the corresponding target steering angle.

4. The system according to claim 3, wherein: The system further comprises: a hydraulic lock configured according to the number of the steering cylinders; each load-sensing valve is connected to the corresponding steering cylinder via the hydraulic lock; The hydraulic lock is used to trigger opening when each load-sensing valve outputs hydraulic oil of different flow rates, so that the hydraulic oil of different flow rates is delivered to the corresponding steering cylinder, thereby driving each suspension to independently achieve different steering angles; it is also used to trigger closing when each steering cylinder drives the corresponding suspension to independently turn to the corresponding target steering angle, thereby locking the corresponding steering cylinder.

5. The system according to claim 2, wherein: The system further comprises: a lifting cylinder, each inner suspension and each outer suspension being independently equipped with the lifting cylinder; When the container side loading and unloading equipment encounters an undulating ground, the corresponding suspension height is adjusted by adaptively lifting the lifting cylinder, so that the container side loading and unloading equipment maintains balance when encountering an undulating ground.

6. The system according to claim 5, wherein: The m lifting cylinders configured in each inner suspension group are connected in parallel and are connected to the last load-sensing valve in the first load-sensing valve assembly except the m load-sensing valves through a motion control valve; the n lifting cylinders configured in each outer suspension group are connected in parallel and are connected to the last load-sensing valve in the second load-sensing valve assembly except the n load-sensing valves through the motion control valve. When overloading occurs on the inner side of the container side loading and unloading equipment, the controller is used to receive the electrical signal generated by the adaptive lifting trigger of the m lifting cylinders on the overloaded side, and control the load-sensitive valves corresponding to the m lifting cylinders on the overloaded side to output at a first constant flow rate according to the electrical signal, prompting the motion control valve to open and output the constant flow rate to the m lifting cylinders on the overloaded side; when the m lifting cylinders on the overloaded side adaptively retract, the hydraulic oil in the cylinder flows back to the oil tank at a second constant flow rate; wherein, the oil circuits between the m lifting cylinders are connected, so as to adaptively distribute the oil volume to level the inner side of the container side loading and unloading equipment where overloading occurs.

7. The system according to claim 6, wherein: Each lifting cylinder is provided with an explosion-proof valve, which is used to close when the pressure loss rate of the lifting cylinder exceeds a set rate.

8. The system according to any one of claims 1 to 7, characterized in that: A constant pressure differential valve is provided inside each load-sensitive valve.

9. The system according to claim 1, wherein: Each suspension corresponds to a tire mounted on the container side loading and unloading equipment.

10. A container side loading and unloading device, characterized in that: It comprises a hydraulic suspension control system as described in any one of claims 1 to 9.

Images