Control system and control method based on vertical station lifting oil cylinder leveling function

Abstract

The invention relates to the technical field of hydraulic control, in particular to a control system and a control method based on a vertical station lifting oil cylinder leveling function. The core of the invention lies in that the attitude of the lifting oil cylinder is monitored and automatically adjusted in real time through a sensing device consisting of an additional pendulum bob and a proximity switch, so that the high-precision level of the lifting oil cylinder in the lifting and descending processes is ensured, and the stability and reliability of equipment operation are improved. The core of the invention lies in that the attitude of the lifting oil cylinder is monitored and automatically adjusted in real time through a sensing device consisting of an additional pendulum bob and a proximity switch, so that the high-precision level of the lifting oil cylinder in the lifting and descending processes is ensured, and the stability and reliability of equipment operation are improved.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology, specifically a control system and method based on the leveling function of a vertical station lifting cylinder. The core of this invention lies in using a sensing device consisting of an external pendulum and proximity switches to monitor and automatically adjust the posture of the lifting cylinder in real time, ensuring it maintains a high level of precision during lifting and lowering, thereby improving the stability and reliability of the equipment operation. Background Technology

[0002] One of the core functions of vertical stations (such as waste compression stations) is to raise and lower the container or platform using lifting cylinders. During the operation of such equipment, ensuring the synchronous movement of the lifting cylinders and the horizontal orientation (leveling) of the platform is crucial, as it directly affects the stability, safety, compression efficiency, and service life of key components.

[0003] Currently, the industry commonly uses closed-loop hydraulic systems based on proportional speed control devices (usually proportional valves) to achieve the leveling function. When the lifting cylinders connected to both sides of the vertical station are activated, the hydraulic oil output by the hydraulic pump supplies oil to the rod-side and rodless-side chambers of the lifting cylinders through the proportional valve.

[0004] In actual operation, the proportional valve opening needs to be controlled to maintain equal oil flow rates, thus synchronizing the actions of the lifting cylinders on both sides to keep the vertical station horizontal. To ensure synchronized action of the lifting cylinders on both sides, the electronic control system needs to be periodically debugged to ensure that the control accuracy of the proportional valve opening meets expectations. However, the control accuracy of the proportional valve is affected by various factors such as load changes, oil temperature changes, and system rigidity. During debugging, the parameter calibration of the electronic control system needs to be repeatedly adjusted according to load changes and differences in cylinder characteristics, resulting in a long debugging cycle. Furthermore, in actual use, once the proportional valve opening deviates from the expected control value due to one or more factors, the lifting cylinders on both sides are prone to loss of control and asynchrony, causing the vertical station to tilt. Once the lifting cylinders on both sides lose control and become asynchronous, it is difficult to restore the vertical station to its normal position by controlling the proportional valve opening, since the proportional valve opening has already deviated from the control expectation of the electronic control system.

[0005] Especially in harsh working conditions such as extreme pollution, strong vibration, and variable load, the control accuracy defects of proportional valves are significantly amplified, making it difficult to perform stable leveling of vertical stations. Even with manual intervention, the numerous factors that interfere with the control of proportional valves make fault diagnosis and maintenance extremely complex. This often requires recalibrating parameters and debugging the system, increasing the complexity and time cost of maintenance, and making it difficult to completely eliminate the fault.

[0006] Therefore, in order to avoid the vertical station losing attitude control due to the difficulty in automatically controlling the vertical station to return to its correct position through the leveling function when the vertical station tilts during lifting, it is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention proposes a control system and control method based on the leveling function of the vertical station lifting cylinder. The attitude of the vertical station is monitored in real time by a proximity switch group and a pendulum. When the vertical station tilts and the pendulum swings, the proximity switch group can be directly triggered and output a proximity switch signal to control the action of the first leveling valve group and the second leveling valve group. This controls the extension and retraction states of the first and second lifting cylinders to automatically level the vertical station. The control logic is simple and the debugging and maintenance are convenient.

[0008] In a first aspect, the present invention provides a control system based on the leveling function of a vertical station lifting cylinder, comprising: The first and second lifting cylinders have their telescopic ends connected to both sides of the vertical station, respectively. A pendulum is mounted on a lifting platform on which the first lifting cylinder and the second lifting cylinder are installed; the pendulum is capable of swinging when the vertical station is tilted. A proximity switch assembly is located on the swing path of the pendulum; The hydraulic oil pump has a first oil outlet connected to the first lifting cylinder via a first leveling valve group, and a second oil outlet connected to the second lifting cylinder via a second leveling valve group. The proximity switch group detects the proximity switch signal when the pendulum swings and can control the first leveling valve group and the second leveling valve group to control the extension and retraction states of the first lifting cylinder and the second lifting cylinder to level the vertical station.

[0009] Optionally, the first leveling valve group includes a first control valve group and a first reversing valve group sequentially disposed on the first oil line between the first oil outlet and the first lifting cylinder, and the second leveling valve group includes a second control valve group and a second reversing valve group sequentially disposed on the second oil line between the second oil outlet and the second lifting cylinder. The proximity switch signal can drive the relay to control the first control valve group, the first reversing valve group, the second control valve group, and the second reversing valve group to switch valve positions. By controlling the valve positions of the first control valve group and the second control valve group, the opening and closing of the first oil circuit and the second oil circuit can be controlled respectively. By controlling the valve position of the first reversing valve group, the first oil inlet can be controlled to supply oil to either the rod chamber or the rodless chamber of the first lifting cylinder. By controlling the valve position of the second reversing valve group, the second oil inlet can be controlled to supply oil to either the rod chamber or the rodless chamber of the second lifting cylinder.

[0010] Optionally, when the first solenoid valve connected to the first control valve group is not energized, the first oil circuit is shut off; When the first solenoid valve connected to the first control valve group is energized, the first oil circuit is open. At this time: If the first reversing valve group is in the first working position, the hydraulic oil pump supplies oil to the rodless chamber of the first lifting cylinder through the first control valve group and the first reversing valve group, the rod chamber of the second lifting cylinder returns oil, and the first lifting cylinder extends. If the first reversing valve group is in the second working position, the hydraulic oil pump supplies oil to the rod chamber of the first lifting cylinder through the first control valve group and the first reversing valve group, the rodless chamber of the first lifting cylinder returns oil, and the first lifting cylinder retracts.

[0011] Optionally, when the second solenoid valve connected to the second control valve group is not energized, the second oil circuit is shut off; When the second solenoid valve connected to the second control valve group is energized, the second oil circuit is opened. At this time: If the second directional valve group is in the first working position, the hydraulic oil pump supplies oil to the rodless chamber of the second lifting cylinder through the second control valve group and the second directional valve group, the rod chamber of the second lifting cylinder returns oil, and the second lifting cylinder extends. If the second directional valve group is in the second working position, the hydraulic oil pump supplies oil to the rod chamber of the second lifting cylinder through the second control valve group and the second directional valve group, the rodless chamber of the second lifting cylinder returns oil, and the second lifting cylinder retracts.

[0012] Optionally, a first hydraulic lock and a second hydraulic lock are respectively provided between the first directional valve group and the first lifting cylinder, and between the second directional valve group and the second lifting cylinder.

[0013] Optionally, the return oil circuits of the first lifting cylinder and the second lifting cylinder are combined and then connected to the oil tank after passing through a radiator and a return oil filter; the return oil circuits of the rodless chambers of the first lifting cylinder and the second lifting cylinder are also respectively equipped with a first throttle valve and a second throttle valve, and the hydraulic oil exiting from the rodless chambers of the first lifting cylinder and the second lifting cylinder are combined after passing through the first throttle valve and the second throttle valve respectively.

[0014] Secondly, the present invention provides a control method for a control system based on the leveling function of a vertical station lifting cylinder, which is applied to the aforementioned control system based on the leveling function of a vertical station lifting cylinder. The control method includes: When the proximity switch group detects the swing of the pendulum, it outputs a proximity switch signal to control the first leveling valve group and the second leveling valve group; thereby controlling the extension and retraction states of the first lifting cylinder and the second lifting cylinder to level the vertical station.

[0015] Optionally, the first lifting cylinder and the second lifting cylinder are respectively connected to the left and right sides of the vertical station; if the proximity switch on the left side of the lifting platform detects the pendulum, the vertical station tilts to the left; if the proximity switch on the right side of the lifting platform detects the pendulum, the vertical station tilts to the right; if neither the proximity switch on the left nor the right side of the lifting platform detects the pendulum, the vertical station does not tilt.

[0016] Optionally, controlling the extension and retraction states of the first and second lifting cylinders to level the vertical station includes: During the vertical station lifting process: If the vertical station tilts to the left, the first leveling valve group is controlled to supply oil to the rodless chamber of the first lifting cylinder through the first oil outlet, causing the first lifting cylinder to extend while the second lifting cylinder remains in the lead position, thus achieving leveling of the vertical station tilting to the left; if the vertical station tilts to the right, the second leveling valve group is controlled to supply oil to the rodless chamber of the second lifting cylinder through the second oil outlet, causing the second lifting cylinder to extend while the first lifting cylinder remains in the lead position, thus achieving leveling of the vertical station tilting to the right; if the vertical station does not tilt, the first and second leveling valve groups are controlled to supply oil to the rodless chambers of the first and second lifting cylinders respectively through the first and second oil outlets, causing the first and second lifting cylinders to extend synchronously. During the descent of the vertical station: If the vertical station tilts to the left, the first leveling valve group is controlled to supply oil to the rod chamber of the first lifting cylinder through the first oil outlet, causing the first lifting cylinder to retract and the second lifting cylinder to remain in the leading position, thus achieving leveling of the vertical station tilting to the left; if the vertical station tilts to the right, the second leveling valve group is controlled to supply oil to the rod chamber of the second lifting cylinder through the second oil outlet, causing the second lifting cylinder to retract and the first lifting cylinder to remain in the leading position, thus achieving leveling of the vertical station tilting to the right; if the vertical station does not tilt, the first and second leveling valve groups are controlled to supply oil to the rod chambers of the first and second lifting cylinders respectively through the first and second oil outlets, causing the first and second lifting cylinders to retract synchronously.

[0017] Optionally, the proximity switch group includes multiple proximity switches, each proximity switch detecting a pendulum in a different tilt state of the vertical station; and, The flow rate of the corresponding lifting cylinder is controlled by the tilt state.

[0018] Compared with the prior art, the present invention has the following beneficial effects: This invention enables automatic leveling of the vertical station when it tilts, directly controlled by proximity switch signals triggered by the pendulum's swing. Once the pendulum returns to balance, the proximity switch group senses and returns to its neutral position, simultaneously activating the first and second lifting cylinders to continue lifting the vertical station. The control system of this invention only requires setting the trigger logic for the proximity switch signals, making debugging and maintenance convenient. Furthermore, since the proximity switch signals are not proportional signals involving control precision, the proximity switch group can still function normally and work in conjunction with the pendulum to stabilize the vertical station's attitude, further controlling the valve position switching of the first and second leveling valve groups under typical harsh working conditions such as extreme pollution, strong vibration, and variable load. It exhibits excellent environmental adaptability, stable operation, and a low failure rate. In case of a fault, troubleshooting typically only requires checking whether the pendulum swing and proximity switch signals are normal, making fault diagnosis convenient. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their descriptions, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 A partial schematic diagram of a vertical station used in a control system based on the leveling function of a vertical station lifting cylinder, provided in an embodiment of the present invention. Figure 2 A schematic diagram of a control system based on the leveling function of a vertical station lifting cylinder provided in an embodiment of the present invention; Figure 3 A flowchart illustrating the action flow of a control method for a vertical station lifting cylinder leveling function provided in this embodiment of the invention during lifting. Figure 4 A flowchart illustrating the action of a control method for a vertical station lifting cylinder leveling function provided in this embodiment of the invention during descent. The following are the labeling elements in the diagram: 1. Power system; 2. Hydraulic pipeline; 3. Guide rail assembly; 4. Proximity switch assembly; 5. Pendulum; 6. Motor; 7. Hydraulic oil tank; 8. Hydraulic oil pump; 9. First directional valve assembly; 10. First hydraulic lock; 11. First throttle valve; 12. First lifting cylinder; 13. First control valve assembly; 14. First relief valve assembly; 15. Second relief valve assembly; 16. Second control valve assembly; 17. Second lifting cylinder; 18. Second throttle valve; 19. Second hydraulic lock; 20. Second directional valve assembly; 21. Radiator; 22. Return oil filter. Detailed Implementation

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0022] To make the purpose, technical solution, and advantages of this invention patent clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0023] The present technical solution will be further described in detail below with reference to the accompanying drawings and embodiments.

[0024] To address the serious safety risks, decreased operational efficiency, and soaring maintenance costs caused by uncontrolled lifting cylinder posture in vertical stations such as waste compression plants, and to achieve reliable posture sensing and simple, precise control under extreme pollution, strong vibration, and variable load conditions, this embodiment provides a control system based on the leveling function of the vertical station lifting cylinder. For example... Figure 1The diagram shows a partial schematic of the vertical station used in the control system of this embodiment. The lifting operation of the vertical station is driven by a power system 1. The power system 1 drives the vertical station to move up and down along the guide rail assembly 3 via hydraulic lines 2, driven by the first and second lifting cylinders. The telescopic ends of the first and second lifting cylinders are connected to both sides of the vertical station, respectively. A pendulum 5 is provided on the lifting platform of the first and second lifting cylinders. The pendulum 5 can swing when the vertical station is tilted. A proximity switch group 4 is provided along the swing path of the pendulum 5. The proximity switch group 4 detects the proximity switch signal when the pendulum 5 swings and can control the first and second leveling valve groups to level the vertical station by controlling the telescopic state of the first and second lifting cylinders. The proximity switch group 4 includes multiple proximity switches, each corresponding to a different tilt state (e.g., slight tilt, severe tilt).

[0025] In this embodiment, the pendulum can be directly fixed to the lifting platform, and the proximity switch position can be adjusted on-site without the need for professional equipment calibration. The hydraulic circuit only requires a common directional valve, ensuring strong compatibility with existing systems and low modification difficulty. No complex PID parameter tuning or software programming is required; only the proximity switch trigger logic needs to be set (e.g., left tilt → left cylinder deceleration), resulting in short debugging time. Maintenance requires only mechanical inspection: routine maintenance only requires observing whether the pendulum swings flexibly and whether the proximity switch signal is normal, without the need for specialized testing tools. In case of a fault, the problematic cylinder can be quickly located by identifying "which proximity switch is triggered," resulting in high repair efficiency.

[0026] like Figure 2 The diagram shows the hydraulic system schematic for the leveling function of the vertical station lifting cylinder. The first outlet of the hydraulic pump 8 is connected to the first lifting cylinder 12 via a first leveling valve group, and the second outlet is connected to the second lifting cylinder 17 via a second leveling valve group. The first leveling valve group includes a first control valve group 13 and a first directional valve group 9 sequentially arranged on a first oil line between the first outlet and the first lifting cylinder 12. The second leveling valve group includes a second control valve group 16 and a second directional valve group 20 sequentially arranged on a second oil line between the second outlet and the second lifting cylinder 17. The proximity switch... The signal can drive the relay to control the first control valve group 13, the first reversing valve group 9, the second control valve group 16, and the second reversing valve group 20 to switch valve positions; by controlling the valve positions of the first control valve group 13 and the second control valve group 16, the opening and closing of the first oil circuit and the second oil circuit can be controlled; by controlling the valve position of the first reversing valve group 9, the first oil inlet can be controlled to supply oil to the rod chamber or rodless chamber of the first lifting cylinder 12; by controlling the valve position of the second reversing valve group 20, the second oil inlet can be controlled to supply oil to the rod chamber or rodless chamber of the second lifting cylinder 17.

[0027] In this embodiment, the first control valve group 13, the first directional valve group 9, the second control valve group 16, and the second directional valve group 20 employ ordinary electromagnetic directional valves (non-proportional valves). Their on / off state is controlled by the proximity switch signal from the proximity switch group 4, thus regulating the oil inlet / outlet flow of the hydraulic cylinder. This embodiment eliminates the need for complex controllers (such as high-performance PLCs), requiring only basic logic control (even relay control is sufficient), reducing investment in electronic systems. Compared to traditional methods, the control system in this embodiment has fewer potential failure points; the main failures are likely only due to pendulum 5 jamming or proximity switch damage, making troubleshooting quick and easy. Furthermore, the absence of precision electronic components (such as proportional valves and high-precision encoders) results in higher long-term stability.

[0028] This embodiment employs PLC logic control. The proximity switch signal is input to the PLC or directly drives the relay to control the corresponding directional valve. The proximity switch outputs an ON / OFF signal, eliminating the need for AD conversion or complex algorithms, thus reducing the requirements for the controller.

[0029] For example, when the pendulum 5 triggers the left tilt proximity switch, the first directional valve group 9 that controls the oil inlet of the first lifting cylinder 12 is briefly opened (or the second directional valve group 20 that controls the oil return of the second lifting cylinder 17 is opened) until the pendulum 5 returns to the center; if the pendulum 5 triggers the severe tilt proximity switch, the system alarms and suspends lifting, requiring manual intervention.

[0030] The leveling accuracy and dynamic response of this embodiment meet the requirements. Firstly, its real-time performance is superior to traditional closed-loop control: the pendulum 5 can directly reflect the tilt state of the hydraulic cylinder, with a mechanical response delay of <10ms, which is faster than closed-loop systems using electronic sensors (sampling + algorithm processing). Secondly, multi-stage leveling via proximity switches (such as slight / heavy tilt detection) avoids oscillation problems caused by over-correction. The leveling accuracy can reach within ±1°: by rationally arranging the proximity switch positions and combining them with hydraulic cylinder flow regulation, a leveling accuracy similar to that of a proportional valve system can be achieved, meeting the needs of scenarios such as waste compression stations.

[0031] To explain the specific working principle, when the first solenoid valve connected to the first control valve group 13 is not energized, the first oil circuit is cut off; when the first solenoid valve connected to the first control valve group 13 is energized, the first oil circuit is open. At this time: if the first directional valve group 9 is in the first working position, the hydraulic oil pump 8 supplies oil to the rodless chamber of the first lifting cylinder 12 through the first control valve group 13 and the first directional valve group 9, and the rod chamber of the second lifting cylinder 17 returns oil, and the first lifting cylinder 12 extends; if the first directional valve group 9 is in the second working position, the hydraulic oil pump 8 supplies oil to the rod chamber of the first lifting cylinder 12 through the first control valve group 13 and the first directional valve group 9, and the rodless chamber of the first lifting cylinder 12 returns oil, and the first lifting cylinder 12 retracts. When the second solenoid valve connected to the second control valve group 16 is not energized, the second oil circuit is cut off; when the second solenoid valve connected to the second control valve group 16 is energized, the second oil circuit is open. At this time: if the second directional valve group 20 is in the first working position, the hydraulic oil pump 8 supplies oil to the rodless chamber of the second lifting cylinder 17 through the second control valve group 16 and the second directional valve group 20, and the rod chamber of the second lifting cylinder 17 returns oil, and the second lifting cylinder 17 extends; if the second directional valve group 20 is in the second working position, the hydraulic oil pump 8 supplies oil to the rod chamber of the second lifting cylinder 17 through the second control valve group 16 and the second directional valve group 20, and the rodless chamber of the second lifting cylinder 17 returns oil, and the second lifting cylinder 17 retracts.

[0032] In other specific embodiments, a first hydraulic lock 10 and a second hydraulic lock 19 are respectively provided between the first directional valve group 9 and the first lifting cylinder 12, and between the second directional valve group 20 and the second lifting cylinder 17. The return oil circuits of the first lifting cylinder 12 and the second lifting cylinder 17 are combined and then connected to the oil tank after passing through the radiator 21 and the return oil filter 22; the return oil circuits of the rodless chambers of the first lifting cylinder 12 and the second lifting cylinder 17 are also respectively provided with a first throttle valve 11 and a second throttle valve 18, and the hydraulic oil exiting from the rodless chambers of the first lifting cylinder 12 and the second lifting cylinder 17 is combined after passing through the first throttle valve 11 and the second throttle valve 18; the working ports of the first control valve group 13 and the second control valve group 16 are respectively connected to the first relief valve group 14 and the second relief valve group 15 to protect the oil circuit.

[0033] like Figure 3 The diagram shown is a flowchart of the control system of this invention during the lifting action, according to an embodiment of the invention. Figure 4The diagram shows the operation flow of the control system during the descent action according to an embodiment of the present invention. The proximity switch group 4 detects a proximity switch signal when the pendulum 5 swings, which controls the first leveling valve group and the second leveling valve group to level the vertical station by controlling the extension and retraction states of the first lifting cylinder 12 and the second lifting cylinder 17. Specifically, the control method includes: responding to the proximity switch signal detected by the proximity switch group 4 when the pendulum 5 swings, controlling the first leveling valve group and the second leveling valve group to control the extension and retraction states of the first lifting cylinder 12 and the second lifting cylinder 17 to level the vertical station.

[0034] If the proximity switch on the left side of the lifting platform detects pendulum 5, the vertical station tilts to the left; if the proximity switch on the right side of the lifting platform detects pendulum 5, the vertical station tilts to the right; if neither the proximity switches on the left nor the right side of the lifting platform detect pendulum 5, the vertical station does not tilt.

[0035] The first lifting cylinder 12 and the second lifting cylinder 17 are respectively connected to the left and right sides of the vertical station; the step of leveling the vertical station by controlling the extension and retraction states of the first lifting cylinder 12 and the second lifting cylinder 17 includes: During the vertical station lifting process: If the proximity switch on the left detects the pendulum 5, the vertical station tilts to the left. The first leveling valve group is controlled to supply oil to the rodless chamber of the first lifting cylinder 12 through the first oil outlet. The first lifting cylinder 12 extends, and the second lifting cylinder 17 remains in the leading position, thus achieving leveling of the vertical station tilting to the left. If the proximity switch on the right detects the pendulum 5, the vertical station tilts to the right. The second leveling valve group is controlled to supply oil to the rodless chamber of the second lifting cylinder 17 through the second oil outlet. The second lifting cylinder 17 extends, and the first lifting cylinder 12 remains in the leading position, thus achieving leveling of the vertical station tilting to the right. If the proximity switch group does not detect the pendulum 5, the vertical station does not tilt. The first leveling valve group and the second leveling valve group are controlled to supply oil to the rodless chambers of the first lifting cylinder 12 and the second lifting cylinder 17 through the first and second oil outlets, respectively. The first lifting cylinder 12 and the second lifting cylinder 17 extend synchronously.

[0036] During the descent of the vertical station: If the proximity switch on the left detects the pendulum 5, the vertical station tilts to the left. The first leveling valve group is controlled to supply oil to the rod chamber of the first lifting cylinder 12 through the first oil outlet. The first lifting cylinder 12 retracts, and the second lifting cylinder 17 remains in the leading position, thus achieving leveling of the vertical station tilting to the left. If the proximity switch on the right detects the pendulum 5, the vertical station tilts to the right. The second leveling valve group is controlled to supply oil to the rod chamber of the second lifting cylinder 17 through the second oil outlet. The second lifting cylinder 17 retracts, and the first lifting cylinder 12 remains in the leading position, thus achieving leveling of the vertical station tilting to the right. If the proximity switch group does not detect the pendulum 5, the vertical station does not tilt. The first and second leveling valve groups are controlled to supply oil to the rod chambers of the first and second lifting cylinders 12 and 17, respectively, through the first and second oil outlets. The first lifting cylinder 12 and the second lifting cylinder 17 retract synchronously.

[0037] To illustrate with a specific embodiment, when the vertical station needs to perform a lifting action, in Figure 2 In the hydraulic system, hydraulic oil is supplied to the hydraulic oil pump 8 (a double pump with the same displacement, whose two outlets are used as the first outlet and the second outlet, respectively) through the hydraulic oil tank 7. As the motor 6 rotates at high speed, high-pressure oil with a certain pressure and the same flow rate is sent to the first control valve group 13 and the second control valve group 16, respectively.

[0038] If the pendulum 5 does not tilt at this time, the proximity switch group 4 is in the neutral position, the solenoid valve YV4 connected to the first control valve group 13 is energized, the solenoid valve YV6 of the second control valve group 16 is energized, and the high-pressure oil output from the hydraulic pump 8 through the first control valve group 13 enters the first directional valve group 9, and the high-pressure oil output from the second control valve group 16 enters the second directional valve group 20. At the same time, the solenoid valve YV1 connected to the first directional valve group 9 is energized and the solenoid valve YV7 connected to the second directional valve group 20 is energized, and the oil flows through the first hydraulic pump 8, respectively. High-pressure oil from ports B1 and B2 is fed into the rodless chambers of the first lifting cylinder 12 and the second lifting cylinder 17 via hydraulic oil pipes. The hydraulic oil from the rod chambers of the first lifting cylinder 12 and the second lifting cylinder 17 flows back to ports A1 and A2, passes through the first hydraulic lock 10 and the second hydraulic lock 19, then through the first reversing valve group 9 and the second reversing valve group 20, and merges into the radiator 21. Finally, it returns to the hydraulic oil tank 7 through the return oil filter 22 to form a closed loop, thereby realizing the lifting action of the vertical station.

[0039] If the pendulum 5 tilts to the left at this time, the proximity switch group 4 senses the left side, the solenoid valve YV4 connected to the first control valve group 13 is energized, and the solenoid valve YV6 connected to the second control valve group 16 is de-energized. The high-pressure oil output by the hydraulic pump 8 through the first control valve group 13 enters the first reversing valve group 9. At the same time, the solenoid valve YV1 connected to the first reversing valve group 9 is energized and flows through the first hydraulic lock 10. The high-pressure oil at port B1 is input into the rodless chamber of the first lifting cylinder 12 through the hydraulic oil pipe. The hydraulic oil in the rod chamber of the first lifting cylinder 12 flows back to port A1, passes through the first hydraulic lock 10, passes through the first reversing valve group 9, returns to the radiator 21, and finally returns to the hydraulic oil tank 7 through the return oil filter 22 to form a closed loop circuit, realizing the leveling action of the vertical station tilting to the left. This action lasts for a very short time. After the pendulum 5 stops tilting, the proximity switch group 4 senses the return to the neutral position, and the first lifting cylinder 12 and the second lifting cylinder 17 act synchronously to continue to complete the lifting action of the vertical station.

[0040] If the pendulum 5 tilts to the right at this time, the proximity switch group 4 will sense the right side, the solenoid valve YV4 connected to the first control valve group 13 will not be energized, and the solenoid valve YV6 connected to the second control valve group 16 will be energized. The high-pressure oil output by the hydraulic pump 8 through the second control valve group 16 will enter the second reversing valve group 20. At the same time, the solenoid valve YV7 connected to the second reversing valve group 20 will be energized and flow through the second hydraulic lock 19. The high-pressure oil at port B2 will be input into the rodless chamber of the second lifting cylinder 17 through the hydraulic oil pipe. The hydraulic oil in the rod chamber of the second lifting cylinder 17 will flow back to port A2, pass through the second hydraulic lock 19, and then through the second reversing valve group 20, returning to the radiator 21. Finally, it will return to the hydraulic oil tank 7 through the return oil filter 22 to form a closed loop, realizing the leveling action of the vertical station tilting to the right. This action lasts for a very short time. After the pendulum 5 returns to balance, that is, the proximity switch group 4 senses the return to the neutral position, the first lifting cylinder 12 and the second lifting cylinder 17 will act synchronously, thereby continuing to complete the lifting action of the vertical station.

[0041] When the vertical station needs to perform a descent maneuver, Figure 2 In the hydraulic system, hydraulic oil is supplied to the hydraulic oil pump 8 (a double pump with the same displacement) through the hydraulic oil tank 7. As the motor 6 rotates at high speed, high-pressure oil with a certain pressure and the same flow rate is sent to the first control valve group 13 and the second control valve group 16 respectively.

[0042] If the pendulum 5 does not tilt at this time, the proximity switch group 4 is in the neutral position, the solenoid valve YV4 connected to the first control valve group 13 is energized, the solenoid valve YV6 connected to the second control valve group 16 is energized, the hydraulic oil pump 8 enters the first directional valve group 9 through the high-pressure oil output from the first control valve group 13, and enters the second directional valve group 20 through the high-pressure oil output from the second control valve group 16. At the same time, YV2 connected to the first directional valve group 9 is energized and YV8 connected to the second directional valve group 20 is energized, flowing through the first hydraulic lock 10 and the second hydraulic lock 19 respectively. A1, High-pressure oil from port A2 is input into the rod chambers of the first lifting cylinder 12 and the second lifting cylinder 17 via hydraulic oil pipes. Hydraulic oil from the rodless chambers of the first lifting cylinder 12 and the second lifting cylinder 17 flows back to ports B1 and B2. It first passes through the first throttle valve 11 and the second throttle valve 18 for speed regulation, then through the first hydraulic lock 10 and the second hydraulic lock 19, and then through the first reversing valve group 9 and the second reversing valve group 20, converging at the radiator 21. Finally, it returns to the hydraulic oil tank 7 via the return oil filter 22, forming a closed-loop circuit to achieve the descent of the vertical station. If the pendulum 5 tilts left or right at this time, an energizing condition opposite to the lifting action is applied first to perform a leveling action. After a short period, once the pendulum 5 stops tilting, the proximity switch group 4 senses and returns to the neutral position, and the first lifting cylinder 12 and the second lifting cylinder 17 operate synchronously again to continue the descent of the vertical station.

[0043] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control system based on the leveling function of a vertical station lifting cylinder, characterized in that, include: The first lifting cylinder (12) and the second lifting cylinder (17) have their telescopic ends connected to both sides of the vertical station, respectively. A pendulum (5) is mounted on a lifting platform on which the first lifting cylinder (12) and the second lifting cylinder (17) are installed; the pendulum (5) is capable of swinging when the vertical station is tilted; The proximity switch group (4) is located on the swing path of the pendulum (5); The hydraulic oil pump (8) has a first oil outlet connected to the first lifting cylinder (12) via a first leveling valve group, and a second oil outlet connected to the second lifting cylinder (17) via a second leveling valve group. The proximity switch group (4) can detect the proximity switch signal when the pendulum (5) swings and control the first leveling valve group and the second leveling valve group to control the extension and retraction state of the first lifting cylinder (12) and the second lifting cylinder (17) to level the vertical station.

2. The control system based on the leveling function of the vertical station lifting cylinder according to claim 1, characterized in that, The first leveling valve group includes a first control valve group (13) and a first directional valve group (9) sequentially disposed on the first oil line between the first oil outlet and the first lifting cylinder (12); The second leveling valve group includes a second control valve group (16) and a second reversing valve group (20) arranged sequentially on the second oil line between the second oil outlet and the second lifting cylinder (17); The proximity switch signal can drive the relay to control the first control valve group (13), the first reversing valve group (9), the second control valve group (16), and the second reversing valve group (20) to switch valve positions. By controlling the valve positions of the first control valve group (13) and the second control valve group (16), the opening and closing of the first oil circuit and the second oil circuit can be controlled respectively. By controlling the valve position of the first reversing valve group (9), the first oil inlet can be controlled to supply oil to the rod chamber or rodless chamber of the first lifting cylinder (12); by controlling the valve position of the second reversing valve group (20), the second oil inlet can be controlled to supply oil to the rod chamber or rodless chamber of the second lifting cylinder (17).

3. The control system based on the leveling function of the vertical station lifting cylinder according to claim 2, characterized in that, When the first solenoid valve connected to the first control valve group (13) is not energized, the first oil circuit is cut off; When the first solenoid valve connected to the first control valve group (13) is energized, the first oil circuit is open. At this time: If the first reversing valve group (9) is in the first working position, the hydraulic oil pump (8) supplies oil to the rodless chamber of the first lifting cylinder (12) through the first control valve group (13) and the first reversing valve group (9), the rod chamber of the second lifting cylinder (17) returns oil, and the first lifting cylinder (12) extends. If the first reversing valve group (9) is in the second working position, the hydraulic oil pump (8) supplies oil to the rod chamber of the first lifting cylinder (12) through the first control valve group (13) and the first reversing valve group (9), the rodless chamber of the first lifting cylinder (12) returns oil, and the first lifting cylinder (12) retracts.

4. The control system based on the leveling function of the vertical station lifting cylinder according to claim 2, characterized in that, When the second solenoid valve connected to the second control valve group (16) is not energized, the second oil circuit is cut off; When the second solenoid valve connected to the second control valve group (16) is energized, the second oil circuit is opened. At this time: If the second reversing valve group (20) is in the first working position, the hydraulic oil pump (8) supplies oil to the rodless chamber of the second lifting cylinder (17) through the second control valve group (16) and the second reversing valve group (20), the rod chamber of the second lifting cylinder (17) returns oil, and the second lifting cylinder (17) extends. If the second reversing valve group (20) is in the second working position, the hydraulic oil pump (8) supplies oil to the rod chamber of the second lifting cylinder (17) through the second control valve group (16) and the second reversing valve group (20), the rodless chamber of the second lifting cylinder (17) returns oil, and the second lifting cylinder (17) retracts.

5. The control system based on the leveling function of the vertical station lifting cylinder according to claim 1, characterized in that, A first hydraulic lock (10) and a second hydraulic lock (19) are respectively provided between the first reversing valve group (9) and the first lifting cylinder (12), and between the second reversing valve group (20) and the second lifting cylinder (17).

6. The control system based on the leveling function of the vertical station lifting cylinder according to claim 1, characterized in that, After the return oil lines of the first lifting cylinder (12) and the second lifting cylinder (17) merge, they pass through the radiator (21) and the return oil filter (22) before connecting to the oil tank; The return oil circuits of the rodless chambers of the first lifting cylinder (12) and the second lifting cylinder (17) are respectively equipped with a first throttle valve (11) and a second throttle valve (18). The hydraulic oil exiting from the rodless chambers of the first lifting cylinder (12) and the second lifting cylinder (17) merges after passing through the first throttle valve (11) and the second throttle valve (18).

7. A control method applied to the control system according to any one of claims 1-6, characterized in that, include: When the proximity switch group (4) detects the swing of the pendulum (5), it outputs a proximity switch signal to control the first leveling valve group and the second leveling valve group to control the extension and retraction states of the first lifting cylinder (12) and the second lifting cylinder (17) to level the vertical station.

8. The control method according to claim 7, characterized in that, The first lifting cylinder (12) and the second lifting cylinder (17) are respectively connected to the left and right sides of the vertical station; If the proximity switch on the left side of the lifting platform detects the pendulum (5), the vertical station tilts to the left. If the proximity switch on the right side of the lifting platform detects the pendulum (5), the vertical station tilts to the right; If neither the left nor right proximity switches of the lifting platform detect the pendulum (5), the vertical station does not tilt.

9. The control method according to claim 8, characterized in that, Leveling the vertical station by controlling the extension and retraction states of the first lifting cylinder (12) and the second lifting cylinder (17) includes: During the vertical station lifting process: If the vertical station tilts to the left, control the first leveling valve group to supply oil to the rodless chamber of the first lifting cylinder (12) through the first oil outlet. The first lifting cylinder (12) extends and the second lifting cylinder (17) remains in the first state, thereby achieving the leveling of the vertical station tilting to the left. If the vertical station tilts to the right, control the second leveling valve group to supply oil to the rodless chamber of the second lifting cylinder (17) through the second oil outlet. The second lifting cylinder (17) extends, and the first lifting cylinder (12) remains in the first state, thereby achieving the leveling of the vertical station tilting to the right. If the vertical station does not tilt, control the first leveling valve group and the second leveling valve group so that the first oil outlet and the second oil outlet supply oil to the rodless chamber of the first lifting cylinder (12) and the second lifting cylinder (17) respectively, and the first lifting cylinder (12) and the second lifting cylinder (17) extend synchronously. During the descent of the vertical station: If the vertical station tilts to the left, control the first leveling valve group to supply oil to the rod chamber of the first lifting cylinder (12) through the first oil outlet. The first lifting cylinder (12) retracts and the second lifting cylinder (17) remains in the first state, thus achieving the leveling of the vertical station tilting to the left. If the vertical station tilts to the right, control the second leveling valve group to supply oil to the rod chamber of the second lifting cylinder (17) through the second oil outlet. The second lifting cylinder (17) retracts, and the first lifting cylinder (12) remains in the first state, thus achieving the leveling of the vertical station tilting to the right. If the vertical station does not tilt, control the first leveling valve group and the second leveling valve group so that the first oil outlet and the second oil outlet supply oil to the rod chambers of the first lifting cylinder (12) and the second lifting cylinder (17) respectively, and the first lifting cylinder (12) and the second lifting cylinder (17) retract synchronously.

10. The control method according to claim 7, characterized in that, The proximity switch group (4) includes multiple proximity switches, each of which detects a pendulum (5) in a different tilt state of the vertical station; and, The flow rate of the corresponding lifting cylinder is controlled by the tilt state.

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