Electric control self-loading and unloading system, control method and folding and unfolding operation vehicle

Abstract

The invention discloses an electric control self-loading and unloading system, a control method and an unfolding and folding operation vehicle in the field of special vehicles. The electric control self-loading and unloading system comprises an underframe assembly, a lifting arm oil cylinder, a lifting arm, a lifting hook arm and a controller. One end of the lifting arm oil cylinder is hinged to the underframe assembly; the lifting arm is hinged to the underframe assembly, and the other end of the lifting arm oil cylinder is hinged to the lifting arm; the lifting hook arm is hinged with the lifting arm, and a lifting hook arm oil cylinder is hinged between the lifting arm and the lifting hook arm; an electric control proportional multi-way reversing valve and an electric control balance release valve are arranged in oil ways of the lifting arm oil cylinder and the lifting hook arm oil cylinder; during use, the controller controls the flow of the electric control proportional multi-way reversing valve, the extension or retraction of the telescopic rod of each oil cylinder can be realized, the driving precision of the cylinder body is improved, the precise loading and unloading process is completed, the electric control balance release valve is opened when the oil pressure of an oil way is abnormal, the dynamic balance of the oil way is completed, and the cylinder body is locked. The operation is efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special vehicles, in particular to an electric control self-loading and unloading system, a control method and a deployment and collection operation vehicle. BACKGROUND

[0002] The deployment and collection operation vehicle is key equipment for quickly laying and recovering a soft pipe shelter, and the performance of its self-loading and unloading function is crucial. The existing self-loading and unloading system mostly adopts traditional hydraulic manual operation or simple electric control. The operator needs to control multiple valves respectively to complete lifting, turning and other actions, and the operation steps are complicated, the experience of the operator is required to be high, and the following shortcomings exist: low operation precision: it is difficult to operate and accurately position, and hydraulic impact and mechanism shaking are easily generated; poor safety: systematic safety locking and state monitoring functions are lacked, and accidents are easily caused in misoperation or system abnormality; low automation degree: the whole self-loading and unloading process needs manual intervention, the work efficiency is low, and the labor intensity of personnel is large; how to safely and accurately realize loading and unloading is a problem to be solved by technical personnel. SUMMARY

[0003] The purpose of the present application is to provide an electric control self-loading and unloading system, a control method and a deployment and collection operation vehicle to solve the defects in the prior art.

[0004] To achieve the above-mentioned purpose, the present application is implemented by adopting the following technical scheme: In a first aspect, the present application discloses an electric control self-loading and unloading system, which comprises a chassis assembly; a lifting arm oil cylinder, one end of which is hinged to the chassis assembly; a lifting arm, which is hinged to the chassis assembly, and the other end of the lifting arm oil cylinder is hinged to the lifting arm; a hook arm, which is hinged to the lifting arm, and a hook arm oil cylinder is hinged between the lifting arm and the hook arm; an electric control proportional multi-way reversing valve and an electric control balance release valve are arranged in the oil circuit of the lifting arm oil cylinder and the hook arm oil cylinder; a controller, which is configured to control the electric control proportional multi-way reversing valve and the electric control balance release valve in the oil circuit to work, so as to realize accurate driving and locking of the lifting arm oil cylinder and the hook arm oil cylinder.

[0005] In a further aspect of the present application, the multi-way reversing valve comprises a lifting arm proportional valve and a hook arm proportional valve, and the lifting arm proportional valve and the hook arm proportional valve are electrically connected to the controller; the lifting arm proportional valve and the hook arm proportional valve are installed one-to-one corresponding to the oil circuit of the lifting arm oil cylinder and the hook arm oil cylinder; and the controller is configured to control the lifting arm proportional valve and the hook arm proportional valve to work, so as to realize the extension and retraction of the lifting arm oil cylinder and the hook arm oil cylinder.

[0006] A further embodiment of this application includes a lifting arm release solenoid valve and a hook arm release solenoid valve, wherein the lifting arm release solenoid valve and the hook arm release solenoid valve are installed in a one-to-one correspondence with the oil circuits of the lifting arm cylinder and the hook arm cylinder; the controller is configured to control the operation of the lifting arm release solenoid valve, the hook arm release solenoid valve and the electrically controlled balance release valve, so as to realize the rapid unloading of the main oil circuit and the locking of the lifting arm cylinder and the hook arm cylinder.

[0007] A further solution also includes a filter element blockage sensor and a high-pressure filter blockage sensor, wherein the filter element blockage sensor is mounted on the high-pressure filter blockage, and the high-pressure filter blockage is connected to the oil circuit; the controller is configured to acquire the filter element blockage sensor signal and monitor the risk of oil circuit blockage in real time.

[0008] A further solution also includes a control panel, in which the controller is installed. The control panel is equipped with a lifting arm release button and a hook arm release button. The lifting arm release button and the hook arm release button are used to trigger the controller to quickly unload the main hydraulic circuit and lock the lifting arm cylinder and the hook arm cylinder.

[0009] Secondly, this application also provides a control method based on the above-mentioned electronically controlled self-loading and unloading system, which includes the following steps: The controller receives the lifting command and controls the release amount of the electronically controlled proportional multi-way directional valve to achieve precise retraction of the lifting arm cylinder and the hook arm cylinder. The controller receives the unloading command and controls the release amount of the electronically controlled proportional multi-way directional valve to achieve precise extension of the lifting arm cylinder and the hook arm cylinder; The controller receives a release command, controls the release of oil from the oil chambers of the lifting arm cylinder and the hook arm cylinder, and opens the electronically controlled balance release valve to lock the lifting arm cylinder and the hook arm cylinder.

[0010] In a further embodiment of this application, the acquisition and unloading commands are operated via an electronically controlled handle; The controller converts the voltage value applied by the electric handle into a median value; the controller sets the effective range for the minimum and maximum values; When no external force is applied, if the median value displayed at the electric control handle is between the minimum and maximum values, then the electric control handle is effective. If the electric control handle is in a position that is not between the minimum and maximum values, the electric control handle will fail and the controller will cut off the system output.

[0011] Further aspects of this application include If the electronically controlled proportional multi-way directional valve fails, the controller controls the lifting arm release solenoid valve and the hook arm release solenoid valve to release oil pressure in the oil circuit; and controls the electronically controlled balance release valve to open, so as to achieve dynamic balance of oil pressure in the lifting arm cylinder and the hook arm cylinder, and complete the locking of each cylinder.

[0012] Thirdly, this application also provides a loading and unloading vehicle, which includes the above-mentioned electronically controlled self-loading and / or uses the above-mentioned control method.

[0013] The beneficial effects of this application are as follows: In this application, an electrically controlled proportional multi-way directional valve and an electrically controlled balance release valve are added to the hydraulic circuits of the hook boom cylinder and the lifting boom cylinder. During use, the controller controls the flow rate of the electrically controlled proportional multi-way directional valve to realize the extension or retraction of the telescopic rod of each cylinder, thereby improving the cylinder driving accuracy and completing the precise loading and unloading process. The electrically controlled balance release valve opens when the hydraulic circuit pressure is abnormal, realizing the dynamic balance of the hydraulic circuit and locking the cylinder. The entire process is efficient, reliable, and highly efficient. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the electronically controlled self-loading and unloading system in the embodiments of this application; Figure 2 This is a schematic diagram of the electronic control system of the electronically controlled self-loading system in the embodiments of this application; Figure 3 This is a schematic diagram of the control box panel in an embodiment of this application; Figure 4 This is a logical schematic diagram of the control method in the embodiments of this application; Figure 5 This is a schematic diagram of the deployment and recovery vehicle in the embodiments of this application.

[0015] in: 1. Electrically controlled self-loading and unloading system; 11. Underframe assembly; 12. Lifting arm cylinder; 13. Lifting arm; 14. Hook arm cylinder; 15. Hook arm; 21. Electrically controlled proportional multi-way directional valve; 22. Electrically controlled balance release valve; 31. Controller; 32. Filter blockage sensor; 33. Limit switch; 34. Lifting arm proportional valve; 35. Hook arm proportional valve; 36. Lifting arm release solenoid valve; 37. Hook arm release solenoid valve; 4. Emergency stop button; 5. Electrically controlled handle; 6. Power switch; 7. Lifting arm release button; 8. Hook arm release button; 9. Power indicator light; 10. High-pressure filter blockage indicator light; 16. Buzzer. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0017] like Figure 1 and Figure 2 As shown, this application discloses an embodiment of an electrically controlled self-loading and unloading system, which includes a base frame assembly 11, a lifting arm cylinder 12, a lifting arm 13, and a hook arm 15. One end of the lifting arm cylinder 12 is hinged to the base frame assembly 11; the lifting arm 13 is hinged to the base frame assembly 11, and the other end of the lifting arm cylinder 12 is hinged to the lifting arm 13; the hook arm 15 is hinged to the lifting arm 13, and a hook arm cylinder 14 is hinged between the lifting arm 13 and the hook arm 15; an electrically controlled proportional multi-way directional valve 21 and an electrically controlled balance release valve 22 are provided in the oil circuits of the lifting arm cylinder 12 and the hook arm cylinder 14; a controller 31 is also included. In this embodiment, the controller uses a programmable GC1 controller, which converts simple operator commands into orderly and safe mechanical actions; the GC1 controller 31 uses a GD32F105RBT chip, is developed in C language under the Keil MDK environment, and the software design follows GJB. Military standards such as 438C ensure the reliability and stability of the system.

[0018] The controller 31 is configured to control the operation of the electronically controlled proportional multi-way directional valve 21 and the electronically controlled balance release valve 22 in the oil circuit, so as to achieve precise driving and locking of the lifting arm cylinder 12 and the hook arm cylinder 14.

[0019] In use, the controller 31 regulates the release amount of the electronically controlled proportional multi-way reversing valve 21 in the oil circuit, that is, the amount of oil entering and exiting the lifting arm cylinder 12 and the hook arm cylinder 14, so as to achieve precise adjustment of the extension and retraction of the telescopic rods of the two cylinders and achieve precise operation of the hook arm 15; when the oil circuit pressure is abnormal, the controller opens the electronically controlled balance release valve 22 to complete the dynamic balance of the oil pressure in the cylinder and complete the locking.

[0020] In some embodiments, as shown in the appendix Figure 2As shown, in this embodiment, the multi-way directional valve includes a lifting arm proportional valve 34 and a hook arm proportional valve 35, which are electrically connected to a controller. The lifting arm proportional valve 34 and the hook arm proportional valve 35 are installed one-to-one with the oil circuits of the lifting arm cylinder 12 and the hook arm cylinder 14. The operation of the corresponding cylinders is controlled by independent proportional valves to reduce errors and improve accuracy. The controller 31 controls the operation of the lifting arm proportional valve 34 and the hook arm proportional valve 35 to realize the extension and retraction of the lifting arm cylinder 12 and the hook arm cylinder 12. The extension and retraction of the two valves ultimately realizes the loading and unloading action of the hook arm 15.

[0021] In this embodiment, the oil circuit also involves a lifting arm release solenoid valve 36 and a hook arm release solenoid valve 37. The lifting arm release solenoid valve 36 and the hook arm release solenoid valve 37 are installed one-to-one with the oil circuits of the lifting arm cylinder 12 and the hook arm cylinder 14. The controller 31 is configured to control the lifting arm release solenoid valve 36 and the hook arm release solenoid valve 37 to quickly unload the main oil circuit. At the same time, the electronically controlled balance release valve 22 is opened to achieve dynamic balance of the oil circuits in the lifting arm cylinder 12 and the hook arm cylinder 24, and to lock the cylinder body.

[0022] In terms of safety, this embodiment incorporates further design features, including a filter element blockage sensor 32 and a high-pressure filter blockage indicator light 10 installed in the system. The filter element blockage sensor 32 is installed in the oil circuit, and the high-pressure filter blockage indicator light 10 is electrically connected to the controller 31. The controller 31 is configured to acquire the filter element blockage sensor signal 32 and monitor the risk of oil circuit blockage in real time. When the oil pressure is abnormal, the high-pressure filter blockage indicator light 10 illuminates.

[0023] As attached Figure 3 As shown, in this embodiment, the controller 31 is installed in the control panel, which is equipped with a lifting arm release button 7 and a hook arm release button 8. The lifting arm release button 7 and the hook arm release button 8 are used to trigger the controller 31 to control the main oil circuit to quickly unload and lock the lifting arm cylinder 12 and the hook arm cylinder 14. An emergency stop button 4, a power switch 6, an electric control handle 5, and a buzzer 16 are also provided. The emergency stop button 4, the power switch 6, the electric control handle 5, and the buzzer 16 are electrically connected to the controller 34. In case of an emergency, the operator presses the emergency stop button 4 to cut off the power to the controller 31; moves the electric control handle 5 to control the extension and retraction of each cylinder; and when the high-pressure filter blockage sensor 32 detects a blockage signal, the buzzer 16 sounds an alarm.

[0024] In the specific installation, the signal input terminal of the controller 31 is connected to the operating handle 5, the power switch 6, and the limit switch 33. The signal output terminal of the controller 31 is connected to the proportional electromagnet of the electrically controlled proportional multi-way reversing valve 21, the control terminal of the electrically controlled balance release valve 22, the buzzer 16, and the power indicator light 9. The emergency stop button 4 is connected in series in the power circuit of the controller 31 or the main control circuit.

[0025] When the lifting arm 13 and hook arm 15 are performing actions, the limit switch 33 detects the position of the lifting arm 13 and hook arm 15 in real time and feeds back the position signal to the controller 31. The controller 31 determines whether the position is the limit position. If it is the limit position, it stops the cylinder from continuing to drive (such as automatically stopping the movement in that direction after it is extended to the position).

[0026] As attached Figure 4 As shown; this application provides an embodiment, which relates to a control method. This method is based on the electronically controlled self-loading and unloading system in the above embodiment. The control method includes the following steps; The controller 31 receives the hoisting command and controls the release amount of the electronically controlled proportional multi-way directional valve 21 to achieve precise retraction of the lifting arm cylinder 12 and the hook arm cylinder 14. The controller 31 receives the unloading command and controls the release amount of the electronically controlled proportional multi-way directional valve 21 to achieve precise extension of the lifting arm cylinder 12 and the hook arm cylinder 14. The controller 31 receives a release command, controls the release of oil from the lifting arm cylinder 12 and the hook arm cylinder 14, and opens the electronically controlled balance release valve 12 to lock the lifting arm cylinder 12 and the hook arm cylinder 14.

[0027] Among them, the electronically controlled proportional multi-way directional valve 21 independently controls the corresponding cylinder through the lifting arm proportional valve 34 and the hook arm proportional valve 35; the loading, lifting and unloading commands are operated through the electronically controlled handle 5. Controller 3 converts the voltage value applied by the electric control handle 5 into a median value; the controller sets the effective range of the minimum and maximum values ​​of the median value; When no external force is applied, if the median value displayed at the electric control handle 5 is between the minimum and maximum values, then the electric control handle 5 is effective. If the electric control handle 5 is in the middle value and not between the minimum and maximum values, then the electric control handle 5 is malfunctioning and the controller will cut off the output action.

[0028] Some safety designs in the control method; When the filter blockage sensor 32 detects a blockage signal, it feeds it back to the controller 31 and triggers an audible and visual alarm on the high-pressure filter blockage indicator 10. In the event of a failure of the electronically controlled proportional multi-way directional valve 21, pressing the lifting arm release button 7 and the hook arm release button 8 will cause the controller 31 to open the lifting arm release solenoid valve 36 and the hook arm release solenoid valve 37, and trigger the electronically controlled balance release valve 22 to open. This allows the main hydraulic circuit to be quickly unloaded, and each cylinder to be safely locked under the action of the bidirectional balance valve. All actions immediately stop, and the lifting arm 13 and hook arm 15 return to their safe positions due to their own weight, ensuring the safety of personnel and equipment. Furthermore, in more urgent situations, pressing the emergency stop button 4 will cut off the power to the GC1 controller 31, further ensuring the safety of personnel and equipment.

[0029] As attached Figure 5 As shown, this application also provides an embodiment, which relates to a loading and unloading vehicle, including the electronically controlled self-loading and unloading system and / or the control method used in the above embodiment; wherein the electronically controlled self-loading and unloading system 1 involves an electronically controlled proportional multi-way directional valve 21 in a hydraulic drive system, each working port of which is connected via oil pipe to the rod chamber and rodless chamber of the lifting arm cylinder 12, and the rod chamber and rodless chamber of the hook arm cylinder 14; an electronically controlled balance release valve 22 is provided in the hydraulic circuit, the inlet of which is connected to the working oil circuit of the cylinder, and the return port is connected to the oil tank circuit. The control terminal of the electronically controlled balance release valve 22 is connected to the controller 31.

[0030] In the description of this application, 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 orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application 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 on this application. 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, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this application, it should be noted that, unless otherwise expressly 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 between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

Claims

1. An electronically controlled self-loading and unloading system, characterized in that, include Underframe assembly; Lifting arm cylinder, one end of which is hinged to the underframe assembly; The lifting arm is hinged to the underframe assembly, and the other end of the lifting arm cylinder is hinged to the lifting arm. The crane arm is hinged to the lifting arm, and a crane arm cylinder is hinged between the lifting arm and the crane arm; the hydraulic circuits of the lifting arm cylinder and the crane arm cylinder are equipped with an electrically controlled proportional multi-way directional valve and an electrically controlled balance release valve. The controller is configured to control the operation of the electronically controlled proportional multi-way directional valve and the electronically controlled balance release valve in the hydraulic circuit, so as to achieve precise driving and locking of the lifting arm cylinder and the hook arm cylinder.

2. The electronically controlled self-loading and unloading system according to claim 1, characterized in that, The multi-way directional valve includes a lifting arm proportional valve and a hook arm proportional valve, which are electrically connected to the controller. The lifting arm proportional valve and the hook arm proportional valve are installed one-to-one with the oil circuits of the lifting arm cylinder and the hook arm cylinder; the controller is configured to control the operation of the lifting arm proportional valve and the hook arm proportional valve to realize the extension and retraction of the lifting arm cylinder and the hook arm cylinder.

3. The electronically controlled self-loading and unloading system according to claim 1, characterized in that, It also includes a lifting arm release solenoid valve and a hook arm release solenoid valve, which are installed one-to-one with the oil circuits of the lifting arm cylinder and the hook arm cylinder; the controller is configured to control the operation of the lifting arm release solenoid valve, the hook arm release solenoid valve and the electrically controlled balance release valve to realize the rapid unloading of the main oil circuit and the locking of the lifting arm cylinder and the hook arm cylinder.

4. The electronically controlled self-loading and unloading system according to claim 3, characterized in that, It also includes a filter element blockage sensor and a high-pressure filter blockage sensor, the filter element blockage sensor being mounted on the high-pressure filter blockage, the high-pressure filter blockage being connected to the oil circuit; the controller is configured to acquire the filter element blockage sensor signal and monitor the risk of oil circuit blockage in real time.

5. The electronically controlled self-loading and unloading system according to claim 3, characterized in that, It also includes a control panel, in which the controller is installed. The control panel is equipped with a lifting arm release button and a hook arm release button. The lifting arm release button and the hook arm release button are used to trigger the controller to quickly unload the main hydraulic circuit and lock the lifting arm cylinder and the hook arm cylinder.

6. A loading and unloading method implemented by the electronically controlled self-loading and unloading system according to any one of claims 1 to 5, characterized in that, include The controller receives the lifting command and controls the release amount of the electronically controlled proportional multi-way directional valve to achieve precise retraction of the lifting arm cylinder and the hook arm cylinder. The controller receives the unloading command and controls the release amount of the electronically controlled proportional multi-way directional valve to achieve precise extension of the lifting arm cylinder and the hook arm cylinder; The controller receives a release command, controls the release of oil from the oil chambers of the lifting arm cylinder and the hook arm cylinder, and opens the electronically controlled balance release valve to lock the lifting arm cylinder and the hook arm cylinder.

7. The loading and unloading method according to claim 6, characterized in that, The loading and unloading commands are operated via an electronic control handle; The controller converts the voltage value applied by the electric handle into a median value; the controller sets the effective range for the minimum and maximum values; When no external force is applied, if the median value displayed at the electric control handle is between the minimum and maximum values, then the electric control handle is effective. If the electric control handle is in a position that is not between the minimum and maximum values, the electric control handle will fail, and the controller will cut off the system's output.

8. The loading and unloading method according to claim 6, characterized in that, include If the electronically controlled proportional multi-way directional valve fails, the controller controls the lifting arm release solenoid valve and the hook arm release solenoid valve to release oil pressure in the oil circuit; and controls the electronically controlled balance release valve to open, so as to achieve dynamic balance of oil pressure in the lifting arm cylinder and the hook arm cylinder, and complete the locking of each cylinder.

9. A collection and deployment vehicle, characterized in that, Includes the electronically controlled self-loading system as described in any one of claims 1 to 5 and / or uses the control method as described in any one of claims 6 to 8.

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