Electro-hydraulic servo lifting platform with air spring and limiting protection function
阅读说明：本技术 一种具有气弹簧及限位保护功能的电液伺服举升平台 (Electro-hydraulic servo lifting platform with air spring and limiting protection function ) 是由 李建英 杜晓岩 梁恒 于 2021-06-09 设计创作，主要内容包括：本发明提供了一种具有气弹簧及限位保护功能的电液伺服举升平台,电液伺服举升平台伺服系统包括：液压缸,滑移保护机构以及底座和升降台,并采取双缸同步工作原理,其中滑移保护机构采取啮合的方式进行限位,支撑杆活塞与滑移保护机构之间具有限位槽,具有轴向限位作用；本发明通过设计电液伺服举升平台能够降低对负载的集中影响,提高系统的稳定性,采用双缸同步以及双滑移保护机构结构能够承受较大载荷,其安全性能更高,并且采用位置反馈的原理,通过采用控制器调节电液伺服阀的控制信号并实时矫正举升的高度,加载过程连续且可调节升降速度,响应速度快、刚度大,并且当在维修设备时即使液压系统发生故障也不会使设备坠落,从而降低安全隐患。(The invention provides an electro-hydraulic servo lifting platform with an air spring and a limiting protection function, wherein a servo system of the electro-hydraulic servo lifting platform comprises: the hydraulic cylinder, the sliding protection mechanism, the base and the lifting platform adopt a double-cylinder synchronous working principle, wherein the sliding protection mechanism adopts a meshing mode for limiting, and a limiting groove is arranged between the support rod piston and the sliding protection mechanism and has an axial limiting function; the invention can reduce the centralized influence on the load and improve the stability of the system by designing the electro-hydraulic servo lifting platform, can bear larger load by adopting a double-cylinder synchronization and double-slip protection mechanism structure, has higher safety performance, adopts the principle of position feedback, adjusts the control signal of the electro-hydraulic servo valve and corrects the lifting height in real time by adopting the controller, has continuous loading process and adjustable lifting speed, has high response speed and high rigidity, and can not cause the equipment to fall even if a hydraulic system fails when the equipment is maintained, thereby reducing the potential safety hazard.)
1. The invention mainly relates to an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function, which is characterized by comprising the following components: the device comprises a connecting piece (1), a supporting rod (2), a sliding protection mechanism (3), a limiting slide way (4), a limiting slide block (5), a mandrel (501), a connecting gasket (6), a lifting table (7), a displacement sensor (8), a hydraulic cylinder piston rod (9), a hydraulic cylinder (10), a connecting gasket (11), a base (12), a slide block (201), a pneumatic valve (202), a pneumatic cylinder (203), a pneumatic cylinder piston rod (204), a limiting groove (302), a connecting bolt (601), an electro-hydraulic servo valve (101) and a connecting bolt (1101).
2. The electro-hydraulic servo lifting platform with the gas spring and the limiting protection function as claimed in claim 1 is characterized in that: the double hydraulic cylinders (10) and the double sliding protection mechanisms (3) are respectively fixed at the diagonal positions of the lifting platform (7), a hydraulic cylinder piston rod (9) and a support rod (2) are connected with the lifting platform (2) through a connecting piece (1), the hydraulic cylinders (10) and the sliding protection mechanisms (3) are fixed on a base (12), a displacement sensor (8) is positioned on the hydraulic cylinder piston rod (9) and can detect the extending displacement of the hydraulic cylinder piston rod (9), an electro-hydraulic servo valve (101) is positioned on the hydraulic cylinders (10) and is connected with a controller and a hydraulic pump oil tank, an oil inlet of the hydraulic pump extends into the oil tank, the hydraulic oil output by the electro-hydraulic servo valve (101) is the hydraulic oil input by the hydraulic cylinders (10), the hydraulic oil sucked by the hydraulic pump is the hydraulic oil output by the electro-hydraulic servo valve (101), and the sliding protection mechanisms (3) can extend out along with the extending of the hydraulic cylinders (10), because the limiting slide block (5) and the limiting slide way (4) adopt a sawtooth structure, downward sliding cannot occur, the limiting slide block (5) is connected with the slide block (201), and the mandrel (501) of the limiting slide block can move inside the slide block. Slider (201) both sides installation pneumatic cylinder (203) and follow the slider motion, and the pneumatic cylinder piston rod is connected with spacing slider (5), when the pneumatic cylinder piston rod upwards stretches out, the bracing piece (2) of the protection mechanism that slides upwards stretches out in step, spacing slider (5) can drive pneumatic cylinder piston rod (204) outwards stretch out, this moment because the valve port of pneumatic valve (202) is strictly closed, so pneumatic cylinder (203) play pneumatic spring's effect, can guarantee between spacing slider (5) and spacing slide (4) can in close contact with, slider (201) both sides can imbed in spacing groove (302) of the protection mechanism (3) that slides, guarantee the accuracy of vertical direction motion. When the lifting platform descends, an electric signal is given, the electro-hydraulic servo valve (101) and the pneumatic valve (202) can be opened through the controller, the piston rods (204) of the double pneumatic cylinders synchronously move in parallel and stretch out after the pneumatic valve (202) is opened, so that the limiting slide block (4) and the limiting slide way (5) can be pushed to be separated, the safety protection function of the sliding protection mechanism for preventing the lifting platform from abnormally descending is released, and the controllable descending of the lifting platform is ensured.
3. The electro-hydraulic servo lifting platform with the gas spring and the limiting protection function as claimed in claim 2 is characterized in that: the hydraulic cylinder has the advantages that the displacement feedback principle is applied, when the hydraulic cylinder changes the load, the displacement of the piston rod can be adjusted through the feedback signal when the displacement of the piston rod changes, the protection device is equipped, the load can not fall off when a hydraulic system breaks down, and the problem that the gap between the limiting slide block and the limiting track is too large and cannot be tightly matched due to the fact that abrasion is caused after the equipment runs for a period of time can be solved by adjusting the initial position of the piston of the pneumatic cylinder. The formula is as follows:
the formula I is as follows: u. of2＝Kuxp
The formula II is as follows: i ═ K1(u1-u2)
The formula III is as follows: x1＝IK11G1(s)
The formula four is as follows: qL＝KqX1-KcpL
The formula five is as follows:
formula six: f ═ A1pL＝m1s2xp+Bsxp+Kxp+F1
Wherein, the formula is one, KuFeedback gain, formula two, I is the control current, K1Gain of amplifier u2Is an input voltage u2Is a feedback voltage; formula III, X1Is the valve core displacement of the servo valve, K11Is an electro-hydraulic servo valve gain, G1(s) is the transfer function of the servo valve; formula four, QLFor the output flow of the servovalve, KqFor the flow gain of the servo valve, KcFor pressure gain of the servo valve, pLIs the load pressure; formula five, A1Is the effective area of the piston, xpIs the displacement of the piston, CtpIs the total leakage coefficient of the hydraulic cylinder, VtBeta e is the effective bulk modulus of elasticity; formula six, F is the output force of the hydraulic cylinder, m1The total mass of the piston and the piston rod converted to the piston, B is the damping coefficient of the viscosity of the piston rod, K is the load stiffness, F1Any external force acting on the piston.
Technical Field
The invention mainly relates to the field of lifting equipment, in particular to an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function.
Background
The lifting device plays an important role in the social production process and is a common device for realizing the maintenance process of large equipment.
When a worker maintains equipment, the worker generally needs to lift the maintained equipment, so that the bottom or the side of the equipment can be maintained.
The current lifting device mostly does not have a feedback regulation function, and the lifting process cannot be continuously lifted, the equipment is influenced by load force in the lifting process, the equipment can fall after being used for a long time, potential safety hazards exist, in addition, the automation degree of the current lifting devices is not high, the manual participation is excessive during the work, the use is inconvenient, and the reliability and the safety degree are still not ideal enough.
With the continuous development of the modern industry and the field of application, innovative designs for lifting devices are required.
Disclosure of Invention
The invention provides an electro-hydraulic servo lifting platform with an air spring and a limiting protection function, which corrects the lifting height in real time by adjusting a control signal of the electro-hydraulic servo valve by adopting a controller and is also provided with a protection device, so that equipment cannot fall when a lifting device breaks down during maintenance operation, and potential safety hazards are reduced.
The invention provides an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function, which comprises: the device comprises a connecting piece (1), a supporting rod (2), a sliding protection mechanism (3), a limiting slide way (4), a limiting slide block (5), a mandrel (501), a connecting gasket (6), a lifting table (7), a displacement sensor (8), a hydraulic cylinder piston rod (9), a hydraulic cylinder (10), a connecting gasket (11), a base (12), a slide block (201), a pneumatic valve (202), a pneumatic cylinder (203), a pneumatic cylinder piston rod (204), a limiting groove (302), a connecting bolt (601), an electro-hydraulic servo valve (101) and a connecting bolt (1101).
Wherein, the double hydraulic cylinder (10) and the double sliding protection mechanism (3) are respectively fixed at the diagonal position of the lifting platform (7), the piston rod (9) of the hydraulic cylinder is connected with the supporting rod (2) through the connecting piece (1) and the lifting platform (2), the hydraulic cylinder (10) and the sliding protection mechanism (3) are fixed on the base (12), the displacement sensor (8) is positioned on the piston rod (9) of the hydraulic cylinder and can detect the extending displacement of the piston rod (9) of the hydraulic cylinder, the electro-hydraulic servo valve (101) is positioned on the hydraulic cylinder (10) and is connected with the controller and the oil tank of the hydraulic pump, the oil inlet of the hydraulic pump extends into the oil tank, the hydraulic oil output by the electro-hydraulic servo valve (101) is the hydraulic oil input by the hydraulic cylinder (10), the hydraulic oil sucked by the hydraulic pump is the hydraulic oil output by the electro-hydraulic servo valve (101), the sliding protection mechanism (3) can extend out along with the extending of the hydraulic cylinder (10), because the limiting slide block (5) and the limiting slide way (4) adopt a sawtooth structure, downward sliding cannot occur, the limiting slide block (5) is connected with the slide block (201), and the mandrel (501) of the limiting slide block can move inside the slide block.
Slider (201) both sides installation pneumatic cylinder (203) and follow the slider motion, and the pneumatic cylinder piston rod is connected with spacing slider (5), when the pneumatic cylinder piston rod upwards stretches out, the bracing piece (2) of the protection mechanism that slides upwards stretches out in step, spacing slider (5) can drive pneumatic cylinder piston rod (204) outwards stretch out, this moment because the valve port of pneumatic valve (202) is strictly closed, so pneumatic cylinder (203) play pneumatic spring's effect, can guarantee between spacing slider (5) and spacing slide (4) can in close contact with, slider (201) both sides can imbed in spacing groove (302) of the protection mechanism (3) that slides, guarantee the accuracy of vertical direction motion.
When the lifting platform descends, an electric signal is given, the electro-hydraulic servo valve (101) and the pneumatic valve (202) can be opened through the controller, the piston rods (204) of the double pneumatic cylinders synchronously move in parallel and stretch out after the pneumatic valve (202) is opened, so that the limiting slide block (4) and the limiting slide way (5) can be pushed to be separated, the safety protection function of the sliding protection mechanism for preventing the lifting platform from abnormally descending is released, and the controllable descending of the lifting platform is ensured.
The electro-hydraulic servo lifting platform with the gas spring and the limiting protection function is characterized in that the displacement feedback principle is applied, the displacement of the hydraulic cylinder piston rod can be adjusted through feedback signals when the displacement of the hydraulic cylinder changes, and a protection device is arranged, so that the load can not fall down when a hydraulic system breaks down.
The device can continuously ascend in the loading process, the ascending and descending speed can be adjusted, the response is rapid, the automation degree is high, the initial position of the pneumatic cylinder piston can be adjusted, the problem that the gap between the limiting slide block and the limiting track is too large and cannot be tightly matched due to the reason of abrasion after the device runs for a period of time is well solved, and the application formula is as follows:
the formula I is as follows: u. of2＝Kuxp
The formula II is as follows: i ═ K1(u1-u2)
The formula III is as follows: x1＝IK11G1(s)
The formula four is as follows: qL＝KqX1-KcpL
The formula five is as follows:
formula six: f ═ A1pL＝m1s2xp+Bsxp+Kxp+F1
Wherein, formula one: kuFeedback gain, formula two, I is the control current, K1Gain of amplifier u2Is an input voltage u2Is a feedback voltage; formula III, X1Is the valve core displacement of the servo valve, K11Is an electro-hydraulic servo valve gain, G1(s) is the transfer function of the servo valve; formula four, QLFor the output flow of the servovalve, KqFor the flow gain of the servo valve, KcFor pressure gain of the servo valve, pLIs the load pressure; formula five, A1Is the effective area of the piston, xpIs the displacement of the piston, CtpIs the total leakage coefficient of the hydraulic cylinder, VtBeta e is the effective bulk modulus of elasticity; formula six, F is the output force of the hydraulic cylinder, m1The total mass of the piston and the piston rod converted to the piston, B is the damping coefficient of the viscosity of the piston rod, K is the load stiffness, F1Any external force acting on the piston.
Drawings
FIG. 1 is a side view of three positive axes of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function.
Fig. 2 is a front view of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function according to the invention.
Fig. 3 is a schematic diagram of a slip protection mechanism of an electro-hydraulic servo lifting platform with a gas spring and a limit protection function according to the present invention.
Fig. 4 is a schematic diagram of a hydraulic cylinder of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function according to the present invention.
Fig. 5 is an exploded view of an electro-hydraulic servo lifting platform with a gas spring and a limit protection function according to the present invention.
FIG. 6 is a schematic diagram of a limit slider of an electro-hydraulic servo lifting platform with a gas spring and a limit protection function according to the present invention.
Fig. 7 is a system block diagram of an electro-hydraulic servo lifting platform with a gas spring and a limit protection function according to the present invention.
The labels in the figure are: the device comprises a connecting piece (1), a supporting rod (2), a sliding protection mechanism (3), a limiting slide way (4), a limiting slide block (5), a mandrel (501), a connecting gasket (6), a lifting table (7), a displacement sensor (8), a hydraulic cylinder piston rod (9), a hydraulic cylinder (10), a connecting gasket (11), a base (12), a slide block (201), a pneumatic valve (202), a pneumatic cylinder (203), a pneumatic cylinder piston rod (204), a limiting groove (302), a connecting bolt (601), an electro-hydraulic servo valve (101) and a connecting bolt (1101).
Detailed Description
The electro-hydraulic servo lifting platform with the gas spring and the limiting protection function is described in detail below with reference to the attached drawings.
Fig. 1 is a three-dimensional view of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function, and the arrangement mode of a hydraulic cylinder (10) and a sliding protection mechanism (3) can be seen from the three-dimensional view.
Fig. 2 is a front view of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function, which mainly comprises: the device comprises a connecting piece (1), a supporting rod (2), a sliding protection mechanism (3), a limiting slide way (4), a limiting slide block (5), a mandrel (501), a connecting gasket (6), a lifting table (7), a displacement sensor (8), a hydraulic cylinder piston rod (9), a hydraulic cylinder (10), a connecting gasket (11), a base (12), a slide block (201), a pneumatic valve (202), a pneumatic cylinder (203), a pneumatic cylinder piston rod (204), a limiting groove (302), a connecting bolt (601), an electro-hydraulic servo valve (101) and a connecting bolt (1101).
The double hydraulic cylinders (10) and the double sliding protection mechanisms (3) are respectively fixed at the diagonal positions of the lifting platform (7), a hydraulic cylinder piston rod (9) and a support rod (2) are connected with the lifting platform (2) through a connecting piece (1), the hydraulic cylinders (10) and the sliding protection mechanisms (3) are fixed on a base (12), a displacement sensor (8) is positioned on the hydraulic cylinder piston rod (9) and can detect the extending displacement of the hydraulic cylinder piston rod (9), an electro-hydraulic servo valve (101) is positioned on the hydraulic cylinders (10) and is connected with a controller and a hydraulic pump oil tank, an oil inlet of the hydraulic pump extends into the oil tank, the hydraulic oil output by the electro-hydraulic servo valve (101) is the hydraulic oil input by the hydraulic cylinders (10), the hydraulic oil sucked by the hydraulic pump is the hydraulic oil output by the electro-hydraulic servo valve (101), and the sliding protection mechanisms (3) can extend out along with the extending of the hydraulic cylinders (10), because the limiting slide block (5) and the limiting slide way (4) adopt a sawtooth structure, downward sliding cannot occur, the limiting slide block (5) is connected with the slide block (201), and the mandrel (501) of the limiting slide block can move inside the slide block.
Slider (201) both sides installation pneumatic cylinder (203) and follow the slider motion, and the pneumatic cylinder piston rod is connected with spacing slider (5), when the pneumatic cylinder piston rod upwards stretches out, the bracing piece (2) of the protection mechanism that slides upwards stretches out in step, spacing slider (5) can drive pneumatic cylinder piston rod (204) outwards stretch out, this moment because the valve port of pneumatic valve (202) is strictly closed, so pneumatic cylinder (203) play pneumatic spring's effect, can guarantee between spacing slider (5) and spacing slide (4) can in close contact with, slider (201) both sides can imbed in spacing groove (302) of the protection mechanism (3) that slides, guarantee the accuracy of vertical direction motion.
When the lifting platform descends, an electric signal is given, the electro-hydraulic servo valve (101) and the pneumatic valve (202) can be opened through the controller, the piston rods (204) of the double pneumatic cylinders synchronously move in parallel and stretch out after the pneumatic valve (202) is opened, so that the limiting slide block (4) and the limiting slide way (5) can be pushed to be separated, the safety protection function of the sliding protection mechanism for preventing the lifting platform from abnormally descending is released, and the controllable descending of the lifting platform is ensured.
Fig. 3 is a schematic diagram of the sliding protection mechanism of the electro-hydraulic servo lifting platform with the gas spring and the limiting protection function, wherein it can be seen that the sliding block is simultaneously connected with the pneumatic cylinder and the limiting sliding block, when the supporting rod extends outwards, the sliding block can drive the pneumatic cylinder and the limiting sliding block to move synchronously, the pneumatic cylinder plays the role of a gas spring in a sealing state in the lifting process, the limiting sliding block can be ensured to be tightly matched with a limiting rail on the outer side of the sliding protection mechanism so as to play a role in position protection, and a limiting groove is arranged in the sliding protection mechanism, so that the accuracy of the movement process can be ensured when the sliding block moves in the vertical direction.
Fig. 4 is a schematic diagram of a hydraulic cylinder of an electro-hydraulic servo lifting platform with a gas spring and a limiting protection function according to the present invention, wherein the hydraulic cylinder and a base are hinged, and an electro-hydraulic servo valve is located on the hydraulic cylinder.
Fig. 5 is an exploded view of the slide protection mechanism of the electro-hydraulic servo lifting platform with the gas spring and the limit protection function, wherein the assembly relationship and the installation sequence of various parts can be clearly seen, and the main shaft of the limit sliding block can be more clearly shown to reciprocate in the sliding block.
Fig. 6 is a schematic diagram of a limit slider of an electro-hydraulic servo lifting platform with a gas spring and a limit protection function according to the present invention, and an internal structure diagram of the limit slider can be seen from the diagram.
Fig. 7 is a system block diagram of an electro-hydraulic servo lifting platform with gas springs and limit protection functions according to the present invention. The relationship of the input signal to the output response can be seen.
In conclusion, the invention provides an electro-hydraulic servo lifting platform with an air spring and a limiting protection function, which can reduce the centralized influence on a load and improve the stability of the system by designing a plane lifting platform, adopts a double-cylinder synchronous and double-slip protection mechanism to bear a larger load, has higher safety, is provided with a position sensor, can perform position compensation through feedback under the condition of position disturbance, can keep continuous lifting in the loading process, and has the characteristics of adjustable lifting speed, high response speed and high automation degree, wherein a single hydraulic cylinder working system block diagram and a mathematical model thereof are shown in the following page, and the other hydraulic cylinder is arranged in parallel with the opposite angle thereof, so that the system can synchronously run piston rods of the two cylinders during working, and the lifting platform can realize the functions of horizontal lifting and descending.
The following transfer function relationship can be obtained from fig. 7:
wherein the transfer function of the input to the system output displacement is:
the transfer function of the external load to the system output displacement is:
the output displacement of the system under the action of the input signal and the external load is as follows:
in the formula: kce＝Kc+Ctp。
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