CN-121974273-A - Hydraulic power assembly of piling car

CN121974273ACN 121974273 ACN121974273 ACN 121974273ACN-121974273-A

Abstract

The invention relates to the technical field of hydraulic lifting, in particular to a hydraulic power assembly of a piling car, which comprises a brushless direct current motor, an oil supply assembly, a valve body assembly, a controller, a data acquisition module, a working condition sensing module, a working condition regulating and controlling module, a regulating and controlling judging module and a working condition optimizing module, wherein the data acquisition module is used for acquiring real-time operation parameters of the hydraulic system, the working condition sensing module is used for determining whether an inclined working condition exists or not according to a real-time load difference coefficient or determining whether an energy recovery state reaches the standard according to an energy recovery stability coefficient, the working condition regulating and controlling module is used for regulating and controlling the working condition parameters according to the inclined working condition or the energy recovery failure, the regulating and controlling judging module is used for judging whether a regulating and controlling effect reaches the standard or not, and the working condition optimizing module is used for regulating and controlling the failure to determine the regulating and controlling parameters according to the stability deviation coefficient. The invention solves the technical problems that the existing hydraulic power assembly cannot sense the unbalanced load working condition in real time and compensate the flow to cause the fork to incline in the lifting process, and cannot cooperatively control the power generation torque and the electromagnetic valve time sequence to cause poor energy recovery stability in the descending process.

Inventors

CHEN YINGJIAN
LIU SHENGHUA
CHEN BINGXIN

Assignees

浙江势能驱动智控装备有限公司

Dates

Publication Date: 20260505
Application Date: 20260402

Claims (10)

1. The hydraulic power assembly of the piling car comprises a hydraulic oil tank, and is characterized by also comprising, The hydraulic mechanism comprises a brushless direct current motor arranged at the upper part of the hydraulic oil tank, an oil supply assembly arranged at the top of the hydraulic oil tank and used for supplying oil to the hydraulic system, a valve body assembly arranged at the lower part of the brushless direct current motor, and a controller arranged at the upper part of the brushless direct current motor and used for controlling the whole hydraulic system; A working condition sensing module for determining whether an inclined working condition exists in the current lifting process or not according to the real-time load difference coefficient of the lifting cylinders at the two sides in the load lifting process, According to the energy recovery stability coefficient of the brushless direct current motor in the load descending process, determining whether the energy recovery stability state in the descending process meets the standard or not; A working condition regulating module for determining the valve opening of the priority oil way by the opening regulating coefficient based on the inclined working condition and the dynamic unbalanced load impedance coefficient of the lifting oil cylinders at two sides, or, Determining to dynamically adjust the real-time power generation torque of the brushless direct current motor according to the absolute deviation value of the energy recovery stability coefficient and the preset energy recovery stability coefficient based on the fact that the current energy recovery stability state does not reach the standard; The regulation and control judging module is used for determining whether the regulation and control effect on the working condition meets the standard according to the comprehensive stability coefficient representing the overall operation state of the hydraulic system under the condition of regulation and control completion; And the working condition optimization module is used for determining to optimize the opening adjustment coefficient and the power generation torque adjustment coefficient by using an optimization coefficient according to the stable deviation coefficient of the comprehensive stability coefficient and the preset stability coefficient under the condition that the working condition regulation effect is not up to standard.
2. The stacker vehicle hydraulic power assembly of claim 1 wherein said oil supply assembly comprises, A gear pump provided inside the hydraulic oil tank and extending toward the inside of the hydraulic oil tank, wherein, The bottom of the gear pump is provided with an oil suction pipe which is communicated with the gear pump and used for sucking hydraulic oil in the hydraulic oil tank, the bottom end of the oil suction pipe extends inwards to extend into the hydraulic oil tank, and a filter used for filtering the hydraulic oil is arranged at the bottom end of the oil suction pipe.
3. The stacker vehicle hydraulic power assembly of claim 2 wherein said valve body assembly comprises, A valve block disposed between the brushless DC motor and the gear pump, wherein, The side face of the valve block is fixedly provided with an electromagnetic valve, an overflow valve and an oil outlet fixedly arranged on one side of the overflow valve, and the oil outlet is used for being connected with a lifting oil cylinder of the piling car.
4. The stacker truck hydraulic power assembly of claim 3 further comprising a data acquisition module for acquiring real-time operating parameters of the hydraulic system including real-time rotational speed of the brushless dc motor, real-time current values, real-time flow values of the hydraulic system, and real-time pressure and real-time speed values of the two-sided lift cylinders.
5. The stacker vehicle hydraulic power assembly of claim 4 wherein, The working condition sensing module determines real-time load difference coefficients of the lifting cylinders at the two sides according to the real-time current value of the brushless direct current motor and the real-time pressure value of the lifting cylinders at the two sides in the load lifting process, so that the inclined working condition in the current lifting process is determined based on the fact that the real-time load difference coefficients are larger than preset real-time load difference coefficients.
6. The stacker vehicle hydraulic power assembly of claim 5 wherein, The working condition sensing module determines an energy recovery stability coefficient according to the energy recovery efficiency coefficient and the power generation state stability coefficient of the brushless DC motor in the load descending process, so as to determine that the energy recovery stability state in the descending process does not reach the standard based on the energy recovery stability coefficient is smaller than a preset recovery stability coefficient.
7. The stacker vehicle hydraulic power assembly of claim 6 wherein, The working condition regulation and control module responds to the current inclined working condition to determine the dynamic unbalanced load impedance coefficient according to the real-time pressure value and the real-time speed value of the lifting cylinders at the two sides, wherein, Determining that the controller adjusts the valve opening of a priority oil way in the hydraulic power assembly according to a first opening adjustment coefficient based on the dynamic unbalanced load impedance coefficient being smaller than or equal to a preset unbalanced load impedance coefficient; determining that the controller adjusts the valve opening of a priority oil way in the hydraulic power assembly by a second opening adjustment coefficient based on the dynamic unbalanced load impedance coefficient being larger than a preset unbalanced load impedance coefficient; the first opening adjustment coefficient is the sum of 1 plus the product of the adjustment sensitivity coefficient multiplied by the dynamic unbalanced load impedance coefficient and the difference value of the preset unbalanced load impedance coefficient; the second opening adjustment coefficient is the product of the preset adjustment amplitude coefficient multiplied by the ratio of the dynamic unbalanced load impedance coefficient to the preset unbalanced load impedance coefficient.
8. The stacker vehicle hydraulic power assembly of claim 7 wherein, The working condition regulation and control module responds to the fact that the energy recovery stable state in the descending process does not reach the standard, so as to determine a compensation type energy recovery strategy according to the absolute deviation value of the energy recovery stable coefficient and a preset energy recovery stable coefficient, wherein, Based on the absolute deviation value being smaller than or equal to a preset absolute deviation value, determining that the controller dynamically adjusts the real-time power generation torque of the brushless direct current motor by a first power generation torque adjustment coefficient; Based on the absolute deviation value being larger than a preset absolute deviation value, determining that the controller dynamically adjusts the real-time power generation torque of the brushless direct current motor by a second power generation torque adjustment coefficient; The first power generation torque adjustment coefficient is a difference of 1 minus a product of the first torque adjustment sensitivity coefficient multiplied by the energy recovery stability coefficient and an absolute deviation value of a preset recovery stability coefficient; the second power generation torque adjustment coefficient is a difference of 1 minus a product of the second torque adjustment sensitivity coefficient multiplied by the energy recovery stability coefficient and an absolute deviation value of a preset recovery stability coefficient.
9. The stacker vehicle hydraulic power assembly of claim 8 wherein, The regulation and control judging module responds to the completion of regulation and control so as to determine the comprehensive stability coefficient representing the overall operation state of the system according to the pressure fluctuation coefficient and the flow stability coefficient of the hydraulic system, and determine that the regulation and control effect on the working condition does not reach the standard based on the fact that the comprehensive stability coefficient is smaller than a preset comprehensive stability coefficient.
10. The stacker vehicle hydraulic power assembly of claim 9 wherein, The operating condition optimization module responds to the condition that the regulating and controlling effect does not reach the standard, so as to determine to optimize the opening adjustment coefficient and the power generation torque adjustment coefficient by the optimization coefficient according to the stable deviation coefficient of the comprehensive stability coefficient and the preset comprehensive stability coefficient, wherein, Determining that the controller optimizes the adjustment sensitivity coefficient, the preset adjustment amplitude coefficient, the first torque adjustment sensitivity coefficient, and the second torque adjustment sensitivity coefficient with a first optimization coefficient based on the steady deviation coefficient being less than or equal to a preset steady deviation coefficient; Determining to optimize the adjustment sensitivity coefficient, the preset adjustment amplitude coefficient, the first torque adjustment sensitivity coefficient, and the second torque adjustment sensitivity coefficient with a second optimization coefficient based on the stable deviation coefficient being greater than a preset stable deviation coefficient; The first optimization coefficient is 1 plus the sum of products of the first optimization step length coefficient and the stable deviation coefficient; the second optimization coefficient is 1 plus the sum of the products of the second optimization step size coefficient and the stable deviation coefficient.

Description

Hydraulic power assembly of piling car Technical Field The invention relates to the technical field of hydraulic lifting, in particular to a hydraulic power assembly of a piling car. Background The hydraulic power assembly of the piling car in the market at present mostly adopts a brush direct current motor, and is configured with components such as a valve block, a hydraulic pump, an overflow valve, an electromagnetic valve, a hydraulic oil tank and the like. The brush motor is provided with the carbon brush and the commutator, so that the brush motor can be worn after long-term use, needs to be replaced regularly, and has the advantages of low energy conversion efficiency, serious heating, short service life and large running noise. When the piling car carries special-shaped pieces, long pipes or stacks irregular trays in the storage operation, the gravity center of the goods often deviates from the center of a fork, so that the load of lifting cylinders at two sides is uneven. However, the traditional hydraulic system can only output the same flow to the cylinders at two sides, and cannot be dynamically adjusted according to the real-time load difference, so that the lifting speed of the heavy-load side cylinder is low, the lifting speed of the light-load side cylinder is high, the fork is gradually inclined in the lifting process, and even the goods slide and tilt when serious, so that serious potential safety hazards exist. Meanwhile, in the cargo descending process, the traditional system has an energy recovery function, but the recovery process lacks stability control, when the descending speeds of the oil cylinders at two sides are inconsistent due to unbalanced load, the fluctuation of the motor power generation torque is severe, the charging current is unstable, the service life of a storage battery is influenced, descending jitter is caused, and the energy recovery efficiency and the descending stability are difficult to achieve. In addition, the existing hydraulic power assembly is in open loop control, the effect cannot be verified after regulation and control, parameter drift cannot be adaptively corrected after long-term operation, and system stability is gradually deteriorated. CN117342486a discloses a device and method for controlling the descending speed of pallet fork of pallet stacking vehicle, comprising descending accelerating device, hydraulic power unit comprising T port oil pipe and P port oil pipe, descending valve port on P port oil pipe, descending proportional valve installed on descending valve port, P port on P port oil pipe connected with oil inlet and outlet pipe through first joint, oil return pipe orifice on accelerating valve block, descending accelerating device installed on accelerating valve block and connected with it, logic module at side of accelerating valve block, descending accelerating device connected with said logic module signal, descending proportional valve connected with logic module signal, descending accelerating device connected with oil path between hydraulic power unit and oil cylinder in parallel, logic judgment through voltage value of sensor, and method of increasing oil return port to solve the problem of descending speed obviously descending, waste time and reducing certain production efficiency. It can be seen that the device and method for controlling the lowering speed of the pallet fork of the pallet stacker have the following problems: The scheme adopts a static control logic for triggering the switching of the oil adding and returning circuit by a pressure threshold value, realizes binary judgment of no-load and heavy load by a preset voltage threshold value, and is characterized in that the simple comparison of the voltage value of a sensor and a manually set threshold value is realized, the scheme is open-loop control, no inclination phenomenon caused by load deviation in the load lifting process and corresponding regulation and control strategies are adopted, the speed difference of the oil cylinders at two sides caused by unbalanced load in the descending process can not be sensed, the power generation torque and the time sequence of the electromagnetic valve can not be dynamically adjusted according to the real-time load, the descending stability and the recovery efficiency are difficult to be considered when the working condition with high energy recovery stability is faced, the speed fluctuation and the power generation impact generated in the descending process can not be restrained in time, and the unstable charging current and the service life of the storage battery are easy to be damaged. Disclosure of Invention Therefore, the invention provides a hydraulic power assembly of a stacker truck, which is used for solving the problems that in the prior art, the fork is inclined due to the fact that unbalanced load working conditions cannot be sensed in real time and flow is compensated, and the energy recovery stability is poor due to