Electric luffing cylinder, control system, automatic diagnostic method and multi-mode operation method

Abstract

The application discloses an electric amplitude-variable cylinder, a control system, an automatic diagnosis method and a multi-mode operation method, and aims to solve the problems that the amplitude-variable oil cylinder cannot detect the working stroke in real time, the displacement sensor is high in price, the operation mode is single and the operation efficiency is low. The electric amplitude-variable cylinder comprises a cylinder barrel, a rod barrel, a driving motor, a brake, an encoder and a pressure sensor. The one end of the rod barrel is located in the cylinder barrel, the other end of the rod barrel is located outside the cylinder barrel and is slidably connected with the cylinder barrel along the length direction. The driving motor drives the rod barrel to slide relative to the cylinder barrel through a power transmission mechanism. The brake is arranged at the output end of the driving motor. The encoder is coaxially arranged on the input shaft of the power transmission mechanism. The rotation speed and the rotation number of the input shaft of the power transmission mechanism are measured through the encoder. The pressure sensor is arranged directly below the cylinder barrel, and the pressure of the electric amplitude-variable cylinder is measured through the pressure sensor. The electric amplitude-variable cylinder can be locked at any position, the controller can automatically diagnose the signals, and the electric control handle and the display operation can be realized in two modes.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of safety detection and operation technology of engineering machinery, and particularly relates to an electric luffing cylinder, a control system, an automatic diagnosis method and a multi-mode operation method. BACKGROUND

[0002] Currently, the luffing cylinder of a truck crane usually adopts a hydraulic cylinder, and load holding is performed through a balance valve installed in the rodless cavity of the luffing cylinder, so that the luffing cylinder can be locked at any position. The lifting weight is mainly obtained by measuring the oil pressure of the luffing cylinder. With the continuous development of new energy technology, the luffing cylinder is gradually being replaced by an electric cylinder, and the diagnosis method of the luffing cylinder is no longer applicable to the electric cylinder. Therefore, a new diagnosis method is needed to meet the needs of new energy cranes and improve the safety, stability and production efficiency of equipment operation. During operation, the extension or retraction of the luffing cylinder is controlled through a handle, and the current amplitude needs to be observed at any time to appropriately adjust the handle to obtain the ideal luffing speed. This requires very high operation skills of the operator, has high labor intensity, and has a single operation mode and low work efficiency. With the continuous development of new energy and intelligent technology, the luffing cylinder is gradually being replaced by an electric cylinder, and the handle operation mode of the luffing cylinder can be applied to the electric luffing cylinder, but it is not intelligent enough. Therefore, a new operation method is needed to meet the intelligent needs of new energy cranes and improve the safety, stability and production efficiency of equipment operation.

[0003] A Chinese patent with publication number CN115009997A discloses a technical solution named a luffing cylinder stroke detection method, device, hydraulic system and working machine, which obtains length data and angle data related to the luffing cylinder and an initial length of the luffing cylinder; determines the current length of the luffing cylinder based on the length data and the angle data; and obtains the stroke detection result of the luffing cylinder based on the current length and the initial length of the luffing cylinder. However, it can only detect the stroke of the luffing cylinder at a certain position, but cannot detect the working stroke of the luffing cylinder in real time.

[0004] A Chinese patent with publication number CN207123374U discloses a technical solution of a remote fault diagnosis system of a servo electric cylinder vibration device, which includes a sensor module, a servo electric cylinder vibration device, a PLC controller, a remote communication module, a remote communication server and a fault diagnosis terminal. The sensor module includes a position sensor, a speed sensor and a displacement sensor. The sensor module detects the vibration frequency, amplitude, position and zero position detection signal of the servo electric cylinder vibration device. The diagnosis system measures the position of the electric cylinder by using the displacement sensor, and for a large-stroke electric cylinder, the displacement sensor is high in price.

[0005] A Chinese patent with publication number CN109019346B discloses a technical solution named a method for embedded intelligent crane luffing speed regulation and a handle, which associates the process of controlling the rotating speed of a variable-frequency variable-amplitude motor with the real-time variable-amplitude amplitude of a variable-amplitude mechanism, and independently separates a calculation unit for compensating the handle input signal according to the real-time state from the control system of the crane, encapsulates it into an embedded module, and integrates the module with the handle in structure. After the embedded module obtains the initial input signal of the handle and receives the rotating angle information of the variable-frequency variable-amplitude motor, it calculates a specific compensated control variable-frequency variable-amplitude motor rotating speed signal, and transmits the motor rotating speed signal to a PLC, which controls the rotating speed of the variable-frequency variable-amplitude motor. When the handle outputs a constant signal, the uniform speed luffing is realized as an optimization target. The technical solution realizes the uniform speed luffing by controlling the rotating speed of the variable-frequency variable-amplitude motor through the handle, and can only realize the constant speed control mode, which is single in control mode.

[0006] A Chinese patent with publication number CN102923575B discloses a technical solution named a one-key unfolding / folding device and method for a folding arm crane, which sets a data acquisition device on the folding arm crane, transmits the collected information to a processor module installed on the crane for analysis and judgment, and controls the execution device according to the collected data to achieve the automatic unfolding / folding of the folding arm crane. A switching switch for switching the ordinary operation mode and the one-key operation mode of the crane is included, the switching switch is placed in the one-key operation gear, the handle is pulled upward to issue a one-key unfolding instruction, and the handle is pulled downward to issue a one-key folding instruction. The technical solution sets the switching switch for switching the ordinary operation mode and the one-key operation mode of the crane, and realizes the one-key unfolding / folding through the handle. The mode is switched through the switching switch, and the one-key operation mode is also operated through the handle, so that the operation mode is relatively single. SUMMARY

[0007] The present application aims to provide an electric luffing cylinder, a control system, an automatic diagnosis method and a multi-mode operation method, which solve the problems that the existing luffing cylinder cannot detect the working stroke in real time, the displacement sensor used in the electric cylinder is high in price, and the operation mode of the luffing cylinder is single and the work efficiency is low.

[0008] To achieve the above-mentioned purpose, the electric luffing cylinder comprises:

[0009] a cylinder barrel;

[0010] a rod barrel, one end of the rod barrel is located in the cylinder barrel, the other end of the rod barrel is located outside the cylinder barrel, and the rod barrel and the cylinder barrel are slidably connected along the length direction;

[0011] a driving motor, which drives the rod cylinder to slide relative to the cylinder through a power transmission mechanism;

[0012] a brake arranged at the output end of the driving motor;

[0013] an encoder coaxially arranged with the input shaft of the power transmission mechanism, through which the rotation speed and rotation number of the input shaft of the power transmission mechanism are measured;

[0014] and a pressure sensor arranged right below the cylinder, through which the pressure of the electric luffing cylinder is measured.

[0015] The electric luffing cylinder further comprises a base arranged at the bottom end of the cylinder.

[0016] The power transmission mechanism comprises:

[0017] a speed reducer, the input shaft of which is coaxially fixedly connected with the output shaft of the driving motor;

[0018] a gear box, the output shaft of which is coaxially fixedly connected with the input shaft of the gear box, and the encoder is arranged at the end of the input shaft of the gear box;

[0019] and a screw-nut pair, the screw nut of which is fixedly connected with one end of the rod cylinder inside the cylinder, and the screw of the screw-nut pair is coaxially arranged with the rod cylinder; the screw is coaxially fixedly connected with the output shaft of the gear box.

[0020] A control system based on the electric luffing cylinder, which comprises an electric control handle, a controller, a force limiter, a driver, a boom, a power supply and a display; the electric control handle and the controller are electrically connected; the pressure sensor of the electric luffing cylinder is electrically connected with the controller through the force limiter, the encoder of the electric luffing cylinder is electrically connected with the controller, the display is electrically connected with the controller, the angle signal and length signal of the boom are transmitted to the controller through the force limiter, the driver is connected with the driving motor of the electric luffing cylinder for driving; the driver is electrically connected with the power supply for power supply; the controller receives the angle signal and length signal of the boom, the pressure signal of the pressure sensor of the electric luffing cylinder and the speed signal of the encoder of the electric luffing cylinder and displays them in real time through the display; the electric control handle controls the driver to drive the driving motor to move through the controller.

[0021] An automatic diagnosis method of the electric luffing cylinder based on the control system, which comprises a locking diagnosis method, an overload diagnosis method and a cumulative working stroke diagnosis method;

[0022] The locking diagnosis method is that the electric control handle control controller sends a brake signal to the brake; the encoder monitors the input shaft speed of the gearbox in real time; and the input shaft speed signal of the gearbox is transmitted to the controller, if the input shaft speed is zero, it is determined that the brake is completely locked; otherwise, it is determined that the brake is not locked, and the controller outputs a locking alarm signal to the display;

[0023] The overload diagnosis method is that the pressure sensor measures the pressure of the electric amplitude cylinder in real time, and transmits the measured electric amplitude cylinder pressure signal to the controller, and the controller compares the electric amplitude cylinder pressure signal with the pre-set maximum pressure; if the electric amplitude cylinder pressure is greater than the pre-set maximum pressure, it is determined that the overload, and the controller outputs an overload alarm signal to the display; otherwise, it is determined that it is not overloaded;

[0024] The cumulative working stroke diagnosis method is that the encoder detects the cumulative number of revolutions N of the input shaft of the gearbox in real time, and transmits the cumulative number of revolutions N to the controller; the controller converts the speed ratio to obtain the cumulative stroke of the electric amplitude cylinder; if the cumulative stroke is greater than or equal to the pre-set maintenance stroke, the controller outputs a maintenance prompt signal to the display; otherwise, no maintenance prompt signal is output.

[0025] The cumulative stroke of the electric amplitude cylinder converted by the speed ratio is specifically:

[0026] S=N / i×L;

[0027] Wherein: S is the cumulative stroke of the electric amplitude cylinder (5);

[0028] N is the cumulative number of revolutions of the input shaft of the gearbox;

[0029] I is the speed ratio;

[0030] L is the lead of the screw.

[0031] The electric amplitude cylinder multi-mode operation method is based on the control system, comprising the following steps: adjusting the electric control handle to be in the neutral state or to be away from the neutral state, when the electric control handle is away from the neutral state, switching to the handle operation mode, when the electric control handle is in the neutral state, activating the display operation mode;

[0032] In the handle operation mode, the operator controls the amplitude speed by manipulating the opening degree of the electric control handle, judges the target position by the amplitude angle displayed by the display or visually observes the position of the electric amplitude cylinder, and realizes the point operation by manipulating the on-off time of the electric control handle.

[0033] In the display operation mode, the controller receives the control mode signal selected by the user and the corresponding motion parameters input; the controller generates motor control instructions according to the selected control mode, and the control mode includes:

[0034] Target position mode: the controller controls the driving motor speed based on the difference between the input amplitude target value and the real-time feedback position signal;

[0035] Constant speed mode: the controller adjusts the driving motor output through the comparison between the encoder feedback speed signal and the set speed value;

[0036] Constant power mode: the controller dynamically adjusts the driving motor torque according to the pressure sensor and encoder feedback data to maintain the set power;

[0037] Jog mode: the controller controls the intermittent motion of the electric amplitude cylinder according to the pulse input signal;

[0038] And one-key extension mode and one-key retraction mode: the controller controls the electric amplitude cylinder to extend to the maximum amplitude position or retract to the minimum amplitude position according to a single instruction.

[0039] The implementation process of the target position mode is as follows: the controller receives the amplitude target length or angle signal, and controls the electric amplitude cylinder to automatically start extending or retracting from the initial position according to the received amplitude target length or angle; the display displays the real-time amplitude length or angle, and the controller determines whether the target length or angle is reached according to the amplitude extension length measured by the encoder or the amplitude angle measured by the angle sensor, if the target length or angle is not reached, the controller controls the electric amplitude cylinder to continue extending or retracting, and if the target length or angle is reached, the controller controls the electric amplitude cylinder to stop extending or retracting.

[0040] In the target position mode, the controller receives the stop or start signal and controls the electric amplitude cylinder to stop moving or continue moving in real time during the movement process.

[0041] In the target position mode, the controller receives the speed signal and controls the electric amplitude cylinder to extend or retract to the target position at different constant speeds.

[0042] The implementation process of the constant speed mode is as follows: the controller receives the amplitude linear speed or angular speed signal, controls the electric amplitude cylinder to extend or retract according to the amplitude linear speed or angular speed signal, and the display displays the real-time amplitude linear speed or angular speed; the encoder measures the amplitude linear speed in real time, and the angle sensor measures the amplitude angular speed in real time, and the measured amplitude linear speed and amplitude angular speed are fed back to the controller as feedback signals, and the controller controls the driving motor speed to make the amplitude move at a constant speed according to the feedback signals.

[0043] In the constant speed mode, the controller receives the stop or start signal and controls the electric amplitude cylinder to stop moving or continue moving in real time during the movement process.

[0044] The constant power mode is realized by the controller receiving the variable amplitude power signal and controlling the electric variable amplitude cylinder to extend or retract according to the variable amplitude power signal, and the display displaying the real-time variable amplitude power.

[0045] In the constant power mode, the controller receives the stop or start signal and controls the electric variable amplitude cylinder to stop or continue to move in real time during the movement.

[0046] The inching mode is realized by the controller controlling the electric variable amplitude cylinder to continuously extend or retract until the signal is terminated according to the long pulse signal, and controlling the electric variable amplitude cylinder to extend or retract at a fixed step according to the short pulse signal.

[0047] The one-key extension mode and the one-key retraction mode are realized by the controller controlling the electric variable amplitude cylinder to extend to the maximum variable amplitude position according to the received one-key extension signal, and controlling the electric variable amplitude cylinder to retract to the minimum variable amplitude position according to the received one-key retraction signal, and the controller receiving the stop or start signal and controlling the electric variable amplitude cylinder to stop or continue to move in real time during the movement.

[0048] The electric amplitude cylinder, the control system and the automatic diagnosis method have the beneficial effects that: a brake is adopted at the driving motor end of the electric amplitude cylinder, so that the electric amplitude cylinder can be locked at any position; the cumulative rotation number of the gearbox input shaft detected by the encoder can be converted by the speed ratio to detect the stroke of the electric amplitude cylinder in real time; the rotation speed of the gearbox input shaft detected by the encoder is used to judge whether the brake is completely locked; the pressure sensor is arranged directly below the cylinder barrel, so that the pressure of the electric amplitude cylinder can be directly measured to judge whether the electric amplitude cylinder is overloaded; the problems that the existing amplitude cylinder cannot detect the working stroke in real time and the displacement sensor used by the electric cylinder is high in price are solved; the automatic diagnosis of the locking, overload and cumulative working stroke of the electric amplitude cylinder is realized; the multi-mode operation method integrates the target position mode, the constant speed mode, the constant power mode, the point operation mode and the one-key extension mode and the one-key retraction mode, so that the precise control in various working conditions is realized, the operation complexity is obviously reduced, and the demand for manual intervention is reduced; the modes can be seamlessly switched, different working scenes such as accurate hoisting and rapid arm retraction are adapted, and the working efficiency is improved by more than 30%; in the target position mode, the encoder / angle sensor closed loop feedback is adopted, so that the amplitude positioning error is less than or equal to ±0.5° (or ±2mm), which is much better than the ±3° error of the traditional handle operation. In the constant speed mode, the speed fluctuation caused by the load change is overcome through real-time speed calibration, and the speed control accuracy is ±2%. In the constant power mode, the motor output power is automatically limited to avoid mechanical damage caused by overload, and the overload failure rate is actually reduced by 30%. The limit position mode is provided with hard limit protection (such as encoder threshold + mechanical brake dual redundancy), which prevents impact collision. The safety and reliability are enhanced. The intelligent switching mechanism of the display operation mode and the handle operation avoids the risk of misoperation. The pulse control of the point operation mode allows fine positioning, and is especially suitable for high-precision docking scenes such as wind tower installation. Compared with the traditional hydraulic amplitude system, the electric amplitude cylinder can reduce the energy consumption by 40%, and there is no risk of hydraulic oil leakage, and the maintenance period is prolonged to more than 2000 hours. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the electric amplitude cylinder of the present application.

[0050] Figure 2 It is a flow chart of the control system of the present application.

[0051] Figure 3 It is a flow chart of the locking diagnosis method in the automatic diagnosis method of the present application.

[0052] Figure 4 It is a flow chart of the overload diagnosis method in the automatic diagnosis method of the present application.

[0053] Figure 5 It is a flow chart of the cumulative working stroke diagnosis method in the automatic diagnosis method of the present application.

[0054] Figure 6 Figure 1 is a schematic diagram of a display for a variable amplitude mode of operation in a multi-mode operation method of the present application;

[0055] Figure 7 Figure 2 is a flow chart of a target position mode in a multi-mode operation method of the present application;

[0056] Figure 8 Figure 3 is a flow chart of a constant speed mode in a multi-mode operation method of the present application;

[0057] Figure 9 Figure 4 is a flow chart of a constant power mode in a multi-mode operation method of the present application;

[0058] Figure 10 Figure 5 is a flow chart of a jog mode in a multi-mode operation method of the present application;

[0059] Figure 11 Figure 6 is a flow chart of a one-key extension mode in a multi-mode operation method of the present application;

[0060] Figure 12 Figure 7 is a flow chart of a one-key retraction mode in a multi-mode operation method of the present application;

[0061] Wherein: 1, electric control handle, 2, controller, 3, force limiter, 4, driver, 5, electric variable amplitude cylinder, 501, drive motor, 502, brake, 503, speed reducer, 504, gear box, 505, encoder, 506, pressure sensor, 507, base, 508, screw nut, 509, screw, 510, cylinder, 511, rod, 6, boom, 7, power supply, 8, display. DETAILED DESCRIPTION

[0062] The embodiments of the present application will be further described below with reference to the drawings.

[0063] Referring to Figure 1 The electric variable amplitude cylinder 5 of the present application comprises:

[0064] The cylinder 510;

[0065] The rod 511, one end of which is located in the cylinder 510, and the other end of which is located outside the cylinder 510, the rod 511 and the cylinder 510 being slidably fitted along the length direction;

[0066] The drive motor 501, which drives the rod 511 to slide relative to the cylinder 510 through a power transmission mechanism;

[0067] The brake 502 provided at the output end of the drive motor 501;

[0068] An encoder 505 coaxially arranged with the input shaft of the power transmission mechanism, and measuring the speed and number of revolutions of the input shaft of the power transmission mechanism through the encoder 505;

[0069] A pressure sensor 506 is provided directly below the cylinder barrel 510 , and the pressure of the electric luffing cylinder 5 is measured by the pressure sensor 506 .

[0070] The electric luffing cylinder 5 further includes a base 507 disposed at the bottom end of the cylinder barrel 510 .

[0071] The power transmission mechanism comprises:

[0072] A reducer 503, wherein the input shaft of the reducer 503 is coaxially fixedly connected to the output shaft of the drive motor 501;

[0073] The gearbox 504, the output shaft of the reducer 503 and the input shaft of the gearbox 504 are coaxially fixedly connected, and the encoder 505 is provided at the end of the input shaft of the gearbox 504;

[0074] And a screw-nut pair, the screw nut 508 of the screw-nut pair and one end of the rod barrel 511 located in the cylinder barrel 510 are fixedly connected, the screw 509 of the screw-nut pair and the rod barrel 511 are coaxially arranged; the screw 509 and the output shaft of the gear box 504 are coaxially fixedly connected.

[0075] See also Figure 2 , control system, based on the electric luffing cylinder, the control system includes an electric control handle 1, a controller 2, a force limiter 3, a driver 4, a boom 6, a power supply 7 and a display 8; the electric control handle 1 is electrically connected to the controller 2; the pressure sensor 506 of the electric luffing cylinder 5 is electrically connected to the controller 2 through the force limiter 3, the encoder 505 of the electric luffing cylinder 5 is electrically connected to the controller 2, and the display 8 is electrically connected to the controller 2. The angle signal and length signal of the boom 6 are transmitted to the controller 2 via the force limiter 3, and the driver 4 is connected to the drive motor 501 of the electric luffing cylinder 5 for driving; the driver 4 is electrically connected to the power supply 7 for power supply; the controller 2 receives the angle signal and length signal of the boom 6, the pressure signal of the pressure sensor 506 of the electric luffing cylinder 5 and the speed signal of the encoder 505 of the electric luffing cylinder 5 and displays them in real time through the display 8; the electric control handle 1 controls the driver 4 through the controller 2 to drive the drive motor 501 to move.

[0076] An automatic diagnostic method for an electric luffing cylinder, based on the control system, comprising a lock diagnostic method, an overload diagnostic method, and a cumulative working stroke diagnostic method;

[0077] See also Figure 3The locking diagnosis method is that the electric control handle 1 sends a brake signal to the brake 502 through the controller 2; the brake 502 is locked after receiving the brake instruction of the electric control handle 1, the input shaft rotating speed of the gear box 504 is monitored in real time through the encoder 505, and the input shaft rotating speed signal of the gear box 504 is transmitted to the controller 2; when the detected input shaft rotating speed of the gear box 504 is zero, it is determined that the brake 502 is completely locked; otherwise, it is determined that the brake 502 cannot be locked, and the controller 2 outputs a locking failure alarm signal to the display 8.

[0078] Referring to Figure 4 The overload diagnosis method is that the pressure of the electric amplitude cylinder 5 is measured in real time through the pressure sensor 506, and the measured pressure of the electric amplitude cylinder 5 is compared with the maximum pressure set in advance; when the measured pressure of the electric amplitude cylinder 5 is greater than the maximum pressure set in advance, it is determined that the overload is determined, and an overload alarm signal is output to the display 8; otherwise, it is determined that the overload is not determined.

[0079] Referring to Figure 5 The cumulative working stroke diagnosis method is that the encoder 505 detects the cumulative rotating number N of the input shaft of the gear box 504 in real time, and transmits the cumulative rotating number N to the controller 2; the controller 2 obtains the cumulative stroke of the electric amplitude cylinder 5 through the speed ratio conversion; when the cumulative stroke is greater than or equal to the maintenance stroke set in advance, a maintenance prompt signal is output to the display 8 to remind the driver to maintain the electric cylinder; otherwise, the maintenance prompt signal is not output.

[0080] The cumulative working stroke diagnosis method is that the encoder detects the cumulative rotating number N of the input shaft of the gear box in real time, and transmits the rotating number N to the controller; the controller obtains the cumulative stroke of the electric amplitude cylinder through the speed ratio conversion; if the cumulative stroke is greater than or equal to the maintenance stroke set in advance, the controller outputs a maintenance prompt signal to the display; otherwise, the maintenance signal is not output.

[0081] The cumulative stroke of the electric amplitude cylinder 5 obtained through the speed ratio conversion is specifically:

[0082] S=N / i×L;

[0083] Wherein: S is the cumulative stroke of the electric amplitude cylinder 5;

[0084] N is the cumulative rotating number of the input shaft of the gear box;

[0085] I is the speed ratio;

[0086] L is the lead of the lead screw 509.

[0087] The multi-mode operation method of the electric luffing cylinder comprises the following steps: adjusting the electric control handle 1 to be in the neutral state or out of the neutral state, switching to the handle operation mode when the electric control handle 1 is out of the neutral state, and activating the display 8 operation mode when the electric control handle 1 is in the neutral state.

[0088] In the handle operation mode, the operator controls the luffing speed by manipulating the opening degree of the electric control handle 1, judges the target position by the luffing angle displayed on the display 8 or visually observing the position of the electric luffing cylinder 5, and realizes the inching by manipulating the on-off time of the electric control handle 1.

[0089] In the display 8 operation mode, the controller 2 receives the control mode signal selected by the user and the corresponding motion parameters input, generates the motor control instruction according to the selected control mode, and the control mode comprises:

[0090] The target position mode: the controller 2 controls the rotation speed of the drive motor 501 based on the difference between the input luffing target value and the real-time feedback position signal;

[0091] The constant speed mode: the controller 2 adjusts the output of the drive motor 501 by comparing the speed signal fed back by the encoder 505 with the set speed value;

[0092] The constant power mode: the controller 2 dynamically adjusts the torque of the drive motor 501 according to the feedback data of the pressure sensor 506 and the encoder 505 to maintain the set power;

[0093] The inching mode: the controller 2 controls the intermittent motion of the electric luffing cylinder 5 according to the pulse input signal;

[0094] The one-key extension mode and the one-key retraction mode: the controller 2 controls the electric luffing cylinder 5 to extend to the maximum luffing position or retract to the minimum luffing position according to a single instruction.

[0095] Referring to Figure 6 , the display 8 operation mode specifically comprises: setting the target position mode, the constant speed mode, the constant power mode, the inching mode, the one-key extension mode and the one-key retraction mode on the display 8 luffing mode interface.

[0096] Referring to Figure 7The target position mode is realized by the following process: the electric control handle 1 is in the neutral position, the target position mode interface of the display 8 is entered, the target length or angle of the amplitude is input, the controller 2 receives the target length or angle signal of the amplitude, the start signal is transmitted to the controller 2 through the start key, the controller 2 controls the electric amplitude cylinder 5 to start extending or retracting automatically according to the initial position according to the input target length or angle of the amplitude, the display 8 displays the real-time length or angle of the amplitude, the controller 2 judges whether the target length or angle is reached according to the length of the extension of the amplitude measured by the encoder 505 or the angle of the amplitude measured by the angle sensor, if the target length or angle is reached, the controller 2 controls the electric amplitude cylinder 5 to stop extending or retracting, if the target length or angle is not reached, the controller 2 controls the electric amplitude cylinder 5 to continue extending or retracting.

[0097] The target position mode interface is also provided with a stop key, the stop signal is transmitted to the controller 2 through the stop key during the movement process, the controller 2 controls the electric amplitude cylinder 5 to stop moving, the start signal is transmitted to the controller 2 again through the start key, and the controller 2 controls the electric amplitude cylinder 5 to continue moving.

[0098] The target position mode interface also includes a speed parameter setting module, the speed size is set through the speed parameter setting module and transmitted to the controller 2, and the controller 2 controls the electric amplitude cylinder 5 to extend or retract to the target position at different constant speeds.

[0099] Referring to Figure 8 The constant speed mode is realized by the following process: the electric control handle 1 is in the neutral position, the constant speed mode interface of the display 8 is entered, the linear speed or angular speed signal of the amplitude is input to the controller 2, the extension or retraction signal is transmitted to the controller 2 through the extension or retraction key, the controller 2 controls the electric amplitude cylinder 5 to extend or retract, and the display displays the real-time linear speed or angular speed of the amplitude; the encoder 505 measures the linear speed of the amplitude in real time, the angle sensor measures the angular speed of the amplitude in real time, and the measured linear speed and angular speed of the amplitude are fed back to the controller 2 as feedback signals, and the controller 2 controls the rotating speed of the driving motor 501 according to the feedback signals to make the amplitude move at a constant speed.

[0100] The constant speed mode interface is also provided with a stop key, the stop signal is transmitted to the controller 2 through the stop key during the movement process, the controller 2 controls the electric amplitude cylinder 5 to stop moving, the start signal is transmitted to the controller 2 again through the start key, and the controller 2 controls the electric amplitude cylinder 5 to continue moving.

[0101] Referring to Figure 9 The constant power mode is realized by the following process: the electric control handle 1 is in the neutral position, the constant power mode interface of the display 8 is entered, the amplitude power signal is input to the controller 2, the extension or retraction signal is transmitted to the controller 2 through the extension or retraction key, the controller 2 controls the electric amplitude cylinder 5 to extend or retract, and the display displays the real-time amplitude power.

[0102] The constant power mode interface further comprises a stop key, through which a stop signal is transmitted to the controller 2 during movement, and the controller 2 controls the electric luffing cylinder 5 to stop moving; the extension or retraction signal is transmitted to the controller 2 again through the extension or retraction key, and the controller 2 controls the electric luffing cylinder 5 to continue moving.

[0103] Referring to Figure 10 , the implementation process of the inching mode is as follows: the electric control handle 1 is in the middle position, the luffing interface is entered on the display 8, the inching mode interface is entered, the controller 2 controls the electric luffing cylinder 5 to continuously extend or retract according to the long pulse signal until the signal is terminated; the controller 2 controls the electric luffing cylinder 5 to extend or retract at a fixed step according to the short pulse signal; the corresponding relationship between the movement step and the pulse width is stored in the lookup table of the controller 2. Specifically, in the inching mode interface of the display 8, the long movement signal is transmitted to the controller 2 by long-pressing the extension or retraction key, and the controller 2 controls the electric luffing cylinder 5 to extend or retract; the extension or retraction key is released, the movement signal is stopped being transmitted to the controller 2, and the controller 2 controls the electric luffing cylinder 5 to stop moving; the inching signal is transmitted to the controller 2 through the inching extension or retraction key, and the controller 2 controls the electric luffing cylinder 5 to move in an inching manner.

[0104] Referring to Figure 11 and Figure 12 , the implementation process of the one-key extension mode and the one-key retraction mode is as follows: the electric control handle 1 is in the middle position, the luffing interface is entered on the display 8, the one-key extension mode interface is entered, the controller 2 controls the electric luffing cylinder 5 to extend to the maximum luffing position according to the received one-key extension signal; the controller 2 controls the electric luffing cylinder 5 to retract to the minimum luffing position according to the received one-key retraction signal; during movement, the controller 2 receives the stop or start signal to control the electric luffing cylinder 5 to stop moving or continue moving in real time. In the one-key extension mode and the one-key retraction mode, in the controller 2, the preset maximum extension position corresponds to the first encoder threshold value; the preset minimum retraction position corresponds to the second encoder threshold value; during movement, the controller 2 compares the feedback value of the encoder 505 with the first encoder threshold value or the second encoder threshold value in real time, and triggers the brake 502 to act when the first encoder threshold value or the second encoder threshold value is reached. Specifically, in the one-key extension mode interface or the one-key retraction mode interface of the display 8, the one-key extension signal is transmitted to the controller 2 through the one-key extension key, and the controller 2 controls the electric luffing cylinder 5 to extend to the maximum luffing position; the one-key retraction signal is transmitted to the controller 2 through the one-key retraction key, and the controller 2 controls the electric luffing cylinder 5 to retract to the minimum luffing position; during the one-key movement of the luffing cylinder, the stop signal is transmitted to the controller 2 through the stop key, and the controller 2 controls the electric luffing cylinder 5 to stop moving; the one-key extension signal or the one-key retraction signal is transmitted to the controller 2 again through the one-key extension key or the one-key retraction key, and the controller 2 controls the electric luffing cylinder 5 to continue moving.

Claims

1. Electric luffing cylinder, including: Cylinder (510); A rod barrel (511), one end of the rod barrel (511) is located inside the cylinder barrel (510), and the other end of the rod barrel (511) is located outside the cylinder barrel (510), and the rod barrel (511) and the cylinder barrel (510) are slidably matched along the length direction; It is characterized by further comprising: A driving motor (501), wherein the driving motor (501) drives the rod barrel (511) to slide relative to the cylinder barrel (510) through a power transmission mechanism; a brake (502) provided at the output end of the drive motor (501); an encoder (505) coaxially arranged with the input shaft of the power transmission mechanism, and measuring the speed and number of revolutions of the input shaft of the power transmission mechanism via the encoder (505); and a pressure sensor (506) disposed directly below the cylinder barrel (510), for measuring the pressure of the electric amplitude-changing cylinder (5) via the pressure sensor (506).

2. The electric luffing cylinder according to claim 1, characterized in that: The electric variable amplitude cylinder (5) further includes a base (507) arranged at the bottom end of the cylinder barrel (510).

3. The electric luffing cylinder according to claim 1, characterized in that: The power transmission mechanism includes: A reducer (503), wherein the input shaft of the reducer (503) and the output shaft of the drive motor (501) are coaxially fixedly connected; A gear box (504), wherein the output shaft of the reducer (503) and the input shaft of the gear box (504) are coaxially fixedly connected, and the encoder (505) is arranged at the end of the input shaft of the gear box (504); and a screw nut pair, wherein the screw nut (508) of the screw nut pair and one end of the rod barrel (511) located in the cylinder barrel (510) are fixedly connected, and the screw (509) of the screw nut pair and the rod barrel (511) are coaxially arranged; and the screw (509) and the output shaft of the gear box (504) are coaxially fixedly connected.

4. A control system, characterized in that Based on the electric variable amplitude cylinder according to claim 1, the control system includes an electric control handle (1), a controller (2), a force limiter (3), a driver (4), a boom (6), a power supply (7) and a display (8); the electric control handle (1) and the controller (2) are electrically connected; the pressure sensor (506) of the electric variable amplitude cylinder (5) is electrically connected to the controller (2) through the force limiter (3), the encoder (505) of the electric variable amplitude cylinder (5) is electrically connected to the controller (2), the display (8) is electrically connected to the controller (2), and the angle signal of the boom (6) is electrically connected to the controller (2). The angle and length signals are transmitted to the controller (2) via the force limiter (3), and the driver (4) and the driving motor (501) of the electric variable amplitude cylinder (5) are connected and driven; the driver (4) is electrically connected to the power supply (7) for power supply; the controller (2) receives the angle signal and length signal of the boom (6), the pressure signal of the pressure sensor (506) of the electric variable amplitude cylinder (5) and the speed signal of the encoder (505) of the electric variable amplitude cylinder (5) and displays them in real time through the display (8); the electric control handle (1) controls the driver (4) through the controller (2) to drive the driving motor (501) to move.

5. Automatic diagnosis method of electric luffing cylinder, characterized in that: Based on the control system according to claim 4, the automatic diagnosis method of the electric luffing cylinder includes a lock diagnosis method, an overload diagnosis method and a cumulative working stroke diagnosis method; The locking diagnosis method is as follows: the electric control handle (1) controls the controller (2) to send a braking signal to the brake (502); the encoder (505) monitors the input shaft speed of the gear box (504) in real time; and transmits the input shaft speed signal of the gear box (504) to the controller (2); if the input shaft speed is zero, it is determined that the brake (502) is completely locked; otherwise, it is determined that the brake (502) cannot be locked, and the controller (2) outputs a locking failure alarm signal to the display (8); The overload diagnosis method is as follows: the pressure sensor (506) measures the pressure of the electric variable amplitude cylinder (5) in real time, and transmits the measured pressure signal of the electric variable amplitude cylinder (5) to the controller (2); the controller (2) compares the pressure signal of the electric variable amplitude cylinder (5) with a preset maximum pressure; if the pressure of the electric variable amplitude cylinder (5) is greater than the preset maximum pressure, it is determined to be overloaded, and the controller (2) outputs an overload alarm signal to the display (8); otherwise, it is determined to be not overloaded; The cumulative working stroke diagnosis method is as follows: an encoder (505) detects the cumulative number of revolutions N of the input shaft of the gear box (504) in real time, and transmits the cumulative number of revolutions N to a controller (2); the controller (2) obtains the cumulative stroke of the electric variable stroke cylinder (5) through speed ratio conversion; if the cumulative stroke is greater than or equal to a preset maintenance stroke, the controller (2) outputs a maintenance prompt signal to the display (8); otherwise, no maintenance prompt signal is output.

6. The automatic diagnosis method of the electric luffing cylinder according to claim 5, characterized in that: The cumulative stroke of the electric variable amplitude cylinder (5) obtained by speed ratio conversion is specifically: S=N / i×L; Where: S is the cumulative stroke of the electric luffing cylinder (5); N is the cumulative number of revolutions of the gearbox input shaft; i is the speed ratio; L is the lead of the screw (509).

7. The multi-mode operation method of the electric luffing cylinder is characterized in that: The control system according to claim 4 comprises the following steps: adjusting the electric control handle (1) to be in a neutral state or out of a neutral state, when the electric control handle (1) is out of the neutral state, switching to a handle operation mode, and when the electric control handle (1) is in the neutral state, activating a display operation mode; In the handle operation mode, the operator controls the amplitude change speed by manipulating the opening of the electric control handle (1), determines the target position by the amplitude change angle displayed on the display (8) or visually observing the position of the electric amplitude change cylinder (5), and realizes the inching by manipulating the on / off timing of the electric control handle (1); In the display operation mode, the controller (2) receives a control mode signal selected by a user and input corresponding motion parameters; the controller (2) generates a motor control instruction according to the selected control mode, wherein the control mode includes: Target position mode: the controller (2) controls the speed of the drive motor (501) based on the difference between the input amplitude target value and the real-time feedback position signal; Constant speed mode: the controller (2) adjusts the output of the drive motor (501) by comparing the speed signal fed back by the encoder (505) with the set speed value; Constant power mode: the controller (2) dynamically adjusts the torque of the drive motor (501) to maintain the set power according to the feedback data from the pressure sensor (506) and the encoder (505); Inching mode: the controller (2) controls the intermittent movement of the electric variable amplitude cylinder (5) according to the pulse input signal; And a one-button extension mode and a one-button retraction mode: the controller (2) controls the electric variable amplitude cylinder (5) to extend to the maximum variable amplitude position or retract to the minimum variable amplitude position according to a single instruction.

8. The multi-mode operation method of the electric luffing cylinder according to claim 7, characterized in that: The target position mode is implemented as follows: the controller (2) receives a target length or angle signal of the amplitude change, and the controller (2) controls the electric amplitude change cylinder (5) to automatically start extending or retracting according to the initial position according to the received target length or angle of the amplitude change; the display (8) displays the real-time amplitude change length or angle, and the controller (2) determines whether the target length or angle has been reached according to the amplitude change extension length measured by the encoder (505) or the amplitude change angle measured by the angle sensor. If the target length or angle has not been reached, the controller (2) controls the electric amplitude change cylinder (5) to continue extending or retracting. If the target length or angle has been reached, the controller (2) controls the electric amplitude change cylinder (5) to stop extending or retracting.

9. The multi-mode operation method of the electric luffing cylinder according to claim 8, characterized in that: In the target position mode, during the movement process, the controller (2) receives a stop or start signal and controls the electric variable amplitude cylinder (5) to stop or continue the movement in real time.

10. The multi-mode operation method of the electric luffing cylinder according to claim 8, characterized in that: In the target position mode, the controller (2) receives a speed signal and controls the electric variable amplitude cylinder (5) to extend or retract to the target position at different constant speeds.

11. The multi-mode operation method of the electric luffing cylinder according to claim 7, characterized in that: The implementation process of the constant speed mode is as follows: the controller (2) receives the amplitude variation linear velocity or angular velocity signal, controls the electric amplitude variation cylinder (5) to extend or retract according to the amplitude variation linear velocity or angular velocity signal, and the display (8) displays the real-time amplitude variation linear velocity or angular velocity; the encoder (505) measures the amplitude variation linear velocity in real time, and the angle sensor measures the amplitude variation angular velocity in real time. The measured amplitude variation linear velocity and amplitude variation angular velocity are fed back to the controller (2) as feedback signals, and the controller (2) controls the speed of the drive motor (501) according to the feedback signal to make the amplitude variation move at a uniform speed.

12. The multi-mode operation method of the electric luffing cylinder according to claim 11, characterized in that: In the constant speed mode, during the movement process, the controller (2) receives a stop or start signal and controls the electric variable amplitude cylinder (5) to stop or continue the movement in real time.

13. The multi-mode operation method of the electric luffing cylinder according to claim 7, characterized in that: The implementation process of the constant power mode is as follows: the controller (2) receives the amplitude variation power signal and controls the electric amplitude variation cylinder (5) to extend or retract according to the amplitude variation power signal, and the display (8) displays the real-time amplitude variation power.

14. The multi-mode operation method of the electric luffing cylinder according to claim 13, characterized in that: In the constant power mode, during the movement process, the controller (2) receives a stop or start signal and controls the electric variable amplitude cylinder (5) to stop or continue the movement in real time.

15. The multi-mode operation method of the electric luffing cylinder according to claim 7, characterized in that: The implementation process of the inching mode is as follows: the controller (2) controls the electric variable amplitude cylinder (5) to continuously extend or retract according to the long pulse signal until the signal is terminated; the controller (2) controls the electric variable amplitude cylinder (5) to extend or retract with a fixed step length according to the short pulse signal.

16. The multi-mode operation method of the electric luffing cylinder according to claim 7, characterized in that: The implementation process of the one-key extension mode and the one-key retraction mode is as follows: the controller (2) controls the electric variable amplitude cylinder (5) to extend to the maximum variable amplitude position according to the received one-key extension signal; the controller (2) controls the electric variable amplitude cylinder (5) to retract to the minimum variable amplitude position according to the received one-key retraction signal; during the movement process, the controller (2) receives a stop or start signal and controls the electric variable amplitude cylinder (5) to stop or continue the movement in real time.

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