CN104058336B - Front-handling mobile crane and control method thereof and system - Google Patents
Front-handling mobile crane and control method thereof and system Download PDFInfo
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- CN104058336B CN104058336B CN201410304175.1A CN201410304175A CN104058336B CN 104058336 B CN104058336 B CN 104058336B CN 201410304175 A CN201410304175 A CN 201410304175A CN 104058336 B CN104058336 B CN 104058336B
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Abstract
The embodiment of the invention discloses a kind of front-handling mobile crane and control method and system, wherein, control system comprises: master controller, with the telltale be connected with master controller respectively by CAN, extending controller, linear transducer, angular transducer, engine controller, gearbox control and the oil pressure sensor be connected with extending controller respectively by CAN and detecting sensor; Oil pressure sensor, length and angular transducer, detecting sensor, engine and gearbox control gather the operating condition information of the work state information of each unit in the operation pressure information of hydraulic efficiency pressure system in crane hydraulic cylinder, the length of arm and angle information, control system, driving engine and change speed gear box respectively and are transferred to master controller; The information received sends to telltale to show in real time by master controller, and sends to telltale to show corresponding fault alarm information when there is fault.The selfdiagnosis of failure message when the embodiment of the present invention can realize crane job.
Description
Technical field
The present invention relates to control technology, especially a kind of front-handling mobile crane and control method thereof and system.
Background technology
Fault self-diagnosis technology in engineering machinery field is a very important technology, is the important indicator of evaluation engineering Machinery Control System advance.Use fault self-diagnosis technology, when control system is run, validity monitoring is carried out to the controlling unit of internal system always, out of service immediately when a failure occurs, and display requires the trouble location of process, to guarantee the reliability of control system self, avoid the generation of quality and safety misadventure.
In prior art, only in power limit device control system, there is simple fault self-diagnosis function.For the judgement of the traveling of hoisting crane car load and the fault of operation-control system, can only be investigated one by one by the display interface of switch controller.First to judge whether power supply, the communication state of car load electric elements meet the demands; Judge whether control system exists fault further by the input of controller, output port and associated control parameters query interface; Judge whether the mode of operation of electric elements meets the demands further according to the state of port again, check that circuit or element are to get rid of circuit or electric elements built-in problem.
Existing control technology is according to phenomenon of the failure for the judgement of fault, maybe may be produced the part of fault, progressively analyze eliminating by the associated components of check system.This just requires the operating system that malfunction elimination personnel must be familiar with configuring very much and possesses the abundant practical experience of dealing with problems, otherwise is difficult to the on-the-spot Problems existing of investigation.In addition, for control program and associated control parameters adjustment or revise must external Special debugging instrument or computer equipment, and require to only have professional and technical personnel to have permission change or adjustment associated control procedures, the related service personnel not through mandate or training can not carry out changing or improving according to correct flow process in time.Therefore, the debugging after hoisting crane et out of order, maintenance efficiency are low, have a strong impact on the reliability of complete machine and the overall operation efficiency of front-handling mobile crane.
Summary of the invention
Embodiment of the present invention technical matters to be solved is: provide a kind of front-handling mobile crane and control method thereof and system, the selfdiagnosis of failure message during to realize crane job.
The control system of the front-handling mobile crane that the embodiment of the present invention provides, comprise: comprising: master controller, with the telltale, extending controller, linear transducer, angular transducer, engine controller, the gearbox control that are connected with described master controller respectively by fieldbus networks CAN, and the oil pressure sensor be connected with described extending controller respectively by CAN and detecting sensor; Wherein:
The operation pressure information transmission that collects for gathering the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and is given described extending controller by described oil pressure sensor;
The operation pressure information transmission that described extending controller is used for described oil pressure sensor to collect is to described master controller;
The length information of the arm collected for gathering the length information of front-handling mobile crane arm, and is transferred to described master controller by described linear transducer;
The angle information of the arm collected for gathering the angle information of front-handling mobile crane arm, and is transferred to described master controller by described angular transducer;
Described detecting sensor is used for the work state information of each unit in acquisition control system and is transferred to described master controller;
Described engine controller is for gathering the operating condition information of driving engine and being transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours;
Described gearbox control is for gathering the operating condition information transmission of change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller is used for the operating condition information of the operation pressure information received, length information, angle information, work state information, driving engine and the operating condition information of change speed gear box to send to described telltale to show in real time; And judge the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine respectively, whether the operating condition information of change speed gear box meet preset standard, and when the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to described telltale;
Described telltale is used for display described operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box in real time, and shows the fault alarm information of described master controller transmission.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described extending controller comprises the first extending controller unit and the second extending controller unit;
Described first extending controller unit is connected with described master controller by CAN, and described second extending controller unit is connected with described first extending controller unit by CAN;
Described oil pressure sensor and described detecting sensor are specifically connected with described first extending controller unit respectively by CAN.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
Described oil pressure sensor is specially three, is respectively used to gather the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in hydraulic actuating cylinder.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, also comprise: the function control switch be connected with described master controller respectively by CAN and suspender controller, with the function control cock group be connected with described first extending controller unit by CAN, and by bar handle that CAN is connected with described second extending controller unit;
Described bar handle for receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and be transferred to described master controller by described second extending controller unit, described first extending controller unit successively, send to suspender controller by described master controller;
The control command that described suspender controller is used for sending according to described master controller controls the action of suspender;
Described master controller is also for when sending to telltale by fault alarm information, telltale is sent to show the information that corresponding preset standard and prompting user correct relevant work parameter, and according to the licencing key prestored, the licencing key that user inputs is verified, and show correction parameter input interface at the licencing key of user's input by indication display during checking, and according to the correction parameter during the correction that telltale sends indicates, relevant parameter is adjusted, and send to described suspender controller according to the corresponding instruction of described correction instruction generation, and the control command of the unlatching to be sent by described function control switch by described first extending controller unit or disconnection sends to function control cock group,
Described telltale is also for receiving correction request that user sends based on described preset standard and described information and pointing out user to input licencing key, and the licencing key receiving user's input also sends to described master controller; And the correction of the correction relevant work parameter being received user's input by correction parameter input interface is indicated and is transmitted to described master controller, described correction instruction comprises the correction parameter of user's input;
Described function control switch for receive user input unlatching or disconnection control command and be transferred to described master controller;
Described function control cock group is used for the control command of described unlatching or the disconnection sent according to described master controller, controls the mode of operation of hoisting crane.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described master controller and described telltale are wholely set.
The front-handling mobile crane that the embodiment of the present invention provides, comprises the front-handling mobile crane control system in above-mentioned any embodiment.
The control method of a kind of front-handling mobile crane that the embodiment of the present invention provides, comprising:
Oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure information transmission that collects to extending controller, by described extending controller by described operation pressure information transmission to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to described master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to described master controller; In detecting sensor acquisition control system each unit work state information and be transferred to described master controller; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition information transmission of front-handling mobile crane change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
The operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box in the operation pressure information received, length information, angle information, control system is sent to described telltale by described master controller, and judges whether the work state information of each unit in described operation pressure information, length information, angle information, control system, the operating condition information of driving engine, the operating condition information of change speed gear box meet preset standard respectively;
Do not meet preset standard in response to the operating condition information of the work state information of each unit, the operating condition information of driving engine or change speed gear box in described operation pressure information, length information, angle information, control system, described master controller generates corresponding fault alarm information and sends to described telltale;
Described telltale shows the operating condition information of the work state information of each unit in described operation pressure information, length information, angle information, control system, the operating condition information of driving engine and change speed gear box in real time, and shows this fault alarm information when receiving the fault alarm information that described master controller sends.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
The operation pressure information that described oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder comprises:
The operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in described hydraulic actuating cylinder is gathered respectively by three oil pressure sensors.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, described by the operation pressure information transmission that collects to extending controller, by described extending controller, described operation pressure information transmission is comprised to master controller:
The operation pressure information transmission of described hydraulic efficiency pressure system to be given the first extending controller unit in described extending controller by described oil pressure sensor by CAN;
The operation pressure information transmission of described hydraulic efficiency pressure system is given described master controller by CAN by described first extending controller unit.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, in described detecting sensor acquisition control system each unit work state information and be transferred to described master controller and comprise:
The work state information of each unit in described detecting sensor acquisition control system, and by CAN the work state information of unit each in control system is transferred to the first extending controller unit in described extending controller;
The operation pressure information transmission of described hydraulic efficiency pressure system is given described master controller by CAN by described first extending controller unit.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and be transferred to described master controller by the second extending controller unit in described extending controller, the first extending controller unit successively;
Described master controller by flexible, the pitching of described control arm, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that described suspender controller sends according to described master controller, rotate, unblank to control with lock-in control instruction the action of suspender.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
When fault alarm information is sent to telltale by described master controller, the information also corresponding preset standard and prompting user being corrected relevant work parameter sends to described telltale;
Described telltale shows described preset standard and described information;
Described telltale receives correction request that user sends based on described preset standard and described information and points out user to input licencing key, and the licencing key that inputs of reception user send to described master controller;
Described master controller is verified the licencing key that user inputs according to the licencing key prestored, and shows correction parameter input interface at the licencing key of user's input by indication display during checking;
Described telltale display correction parameter input interface, the correction receiving the correction relevant work parameter that user is inputted by this correction parameter input interface indicates and is transmitted to described master controller, and described correction instruction comprises the correction parameter of user's input;
Described master controller adjusts relevant parameter according to the described correction parameter corrected in instruction, and generates according to the correction instruction that telltale sends that corresponding instruction is corresponding sends to suspender controller;
Described suspender controller controls the action of suspender according to the instruction that described master controller sends.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
Function control switch receive user input unlatching or disconnection control command and be transferred to described master controller;
The control command of described unlatching or disconnection is sent to function control cock group by the first extending controller unit in described extending controller by described master controller;
The control command of the described unlatching that described function control cock group sends according to described master controller or disconnection, controls the mode of operation of hoisting crane.
Based on the above-mentioned front-handling mobile crane of the present invention and control method thereof and system, oil pressure sensor, linear transducer, angular transducer, detecting sensor, engine controller and gearbox control gather the operating condition information of the operation pressure information of hydraulic efficiency pressure system in hydraulic actuating cylinder, the length information of front-handling mobile crane arm, the angle information of front-handling mobile crane arm, the work state information of each unit, the operating condition information of driving engine and change speed gear box respectively, and are transferred to master controller.The operation pressure information that master controller will receive, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information of change speed gear box sends to telltale to show in real time, and judge operation pressure information respectively, length information, angle information, work state information, the operating condition information of driving engine, whether the operating condition information of change speed gear box meets preset standard, in operation pressure information, length information, angle information, work state information, when the operating condition information of driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to telltale to show in real time.Compared with prior art, when this control system is run, validity monitoring is carried out to the controlling unit of internal system always, various information during Real-Time Monitoring crane job, shown in real time by telltale, and when there is fault, corresponding fault alarm information can be shown in real time, fault self-diagnosis function during perfect crane job and real-time Presentation Function.
Accompanying drawing explanation
With reference to accompanying drawing, according to detailed description below, clearly the present invention can be understood, wherein:
Fig. 1 is the block diagram of a control system embodiment of front-handling mobile crane of the present invention;
Fig. 2 is the block diagram of a control system embodiment of front-handling mobile crane of the present invention;
Fig. 3 is the main display interface figure of the telltale in control system embodiment of front-handling mobile crane of the present invention;
Fig. 4 is the main surface chart of the correction parameter of telltale in control system embodiment of front-handling mobile crane of the present invention;
Fig. 5 is the dividing range figure of the correction parameter of telltale in control system embodiment of front-handling mobile crane of the present invention;
Fig. 6 is the surface chart of the correction parameter cryptoguard of telltale in control system embodiment of front-handling mobile crane of the present invention;
Fig. 7 is the surface chart of the correction parameter input interface of telltale in control system embodiment of front-handling mobile crane of the present invention.
Fig. 8 is the diagram of circuit of a control method embodiment of front-handling mobile crane of the present invention.
Detailed description of the invention
Along with the fast development of engineering machinery field automatic control technology, the self diagnostic capability of work machine control system is more and more stronger, when the system jam of construction machinery and equipment, self-diagnostic function by control system can ascertain the reason quickly and accurately and determine position of fault, thus reduce the cost of maintenance and repair, improve the operating efficiency of construction machinery and equipment, effectively avoid the generation of quality and safety misadventure.For improving the technology content of product, the present invention adopts new control system on front-handling mobile crane, and on existing hardware basis, adopt the IQAN control system of Parker Hannifin Corporation, programming and debugging software IQANCreativeStudio is utilized to develop the proprietary control program of front-handling mobile crane, wherein: control program is write convenient and swift; The logical relation that various functions realizes is clear; The input of reasonable distribution control system, output port, improve the detection of various function, mode; For ensureing the fretting performance of various actions operation, micronization processes is carried out by improving the process of control program to the initial of operation action and termination, achieve failure message to show in real time, perfect fault self-diagnosis function, and can related commissioning be carried out on the telltale of control system, improve the overall performance of product and the comfort feature of maintenance, repair.
Fig. 1 is the block diagram of a control system embodiment of front-handling mobile crane of the present invention.As shown in Figure 1, this control system comprises: master controller 110, with the telltale 120 be connected with master controller 110 respectively by fieldbus networks CAN, extending controller 130, linear transducer 140, angular transducer 150, engine controller 180, gearbox control 190 and the oil pressure sensor 160 be connected with extending controller 130 respectively by CAN and detecting sensor 170.Wherein:
Oil pressure sensor 160 for gathering the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure information transmission that collects to extending controller 130.
Extending controller 130 for operation pressure information transmission that oil pressure sensor 160 is collected to master controller 110.
The length information of the arm collected for gathering the length information of front-handling mobile crane arm, and is transferred to master controller 110 by linear transducer 140.
The angle information of the arm collected for gathering the angle information of front-handling mobile crane arm, and is transferred to master controller 110 by angular transducer 150.
The work state information of each unit that detecting sensor 170 comprises for acquisition control system is also transferred to master controller 110.
Engine controller 180 is for gathering the operating condition information of front-handling mobile crane driving engine and being transferred to master controller 110, and wherein the operating condition information of driving engine can comprise the information such as rotating speed, water temperature, oil pressure, work-hours of transmitting set.
Gearbox control 190 is for gathering the operating condition information transmission of front-handling mobile crane change speed gear box to master controller 110, and wherein the operating condition information of change speed gear box can comprise oil temperature, gear information, the speed of a motor vehicle, the mileage of change speed gear box.
The operation pressure information of master controller 110 for receiving, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information of change speed gear box sends to telltale 120 to show in real time, and judge the operation pressure information that receives respectively, length information, angle information, work state information, the operating condition information of driving engine, whether the operating condition information of change speed gear box meets preset standard, this preset standard can be: the scope of operation pressure, the scope of length, the scope of angle, the mode of operation preset, the rotating speed of driving engine, water temperature, oil pressure, the scope of work-hours, or the oil temperature of change speed gear box, gear information, the speed of a motor vehicle, mileage scope etc., and when the operating condition information of operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet corresponding preset standard, generate corresponding fault alarm information and send to telltale 120.
Operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box that telltale 120 sends for showing master controller 110 in real time, and show the fault alarm information of master controller 110 transmission.As shown in Figure 3, for the main display interface exemplary plot of the telltale in control system embodiment of front-handling mobile crane of the present invention, operation pressure information during crane job, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information etc. of change speed gear box can be presented on this main display interface in real time, convenient for maintaining personnel are for element each in control system (that is: master controller 110, telltale 120, extending controller 130, linear transducer 140, angular transducer 150, engine controller 180, gearbox control 190, oil pressure sensor 160 and detecting sensor 170) and the working condition of complete machine directly judge.And when there is potential safety hazard and fault, corresponding fault alarm information and need the fault cause of the related elements of maintenance, repair also can be presented in real time on main display interface, field diagnostic is removed without the need to technical personnel, eliminate the time that analysis, failure judgement reason and fault happening part consume, improve the overall operation efficiency of front-handling mobile crane.
In above-mentioned front-handling mobile crane control system, oil pressure sensor can gather the operation pressure information of hydraulic efficiency pressure system in hydraulic actuating cylinder and be transferred to master controller by extension sensor, and linear transducer, angular transducer and detecting sensor can gather the operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box in the length information of front-handling mobile crane arm, the angle information of front-handling mobile crane arm, control system respectively and be transferred to master controller.Validity monitoring is carried out to the controlling unit of internal system always, the various information during Real-Time Monitoring crane job when this control system is run.Master controller can read work pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box send to telltale to show in real time by CAN, achieves the real-time monitoring to front-handling mobile crane.And master controller can judge the operating condition information of operation pressure information, length information, angle information, work state information, driving engine respectively, whether the operating condition information of change speed gear box meets preset standard, when the operating condition information of operation pressure information, length information, angle information work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to telltale to show in real time, fault self-diagnosis function during perfect crane job and real-time Presentation Function.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, extending controller 130 specifically comprises the first extending controller unit 131 and the second extending controller unit 132.As shown in Figure 2, be the block diagram of another embodiment of control system of front-handling mobile crane of the present invention.In this embodiment:
First extending controller unit 131 is connected with master controller 110 by CAN, and the second extending controller unit 132 is connected with the first extending controller unit 131 by CAN.
Oil pressure sensor 160 and detecting sensor 170 are specifically connected with the first extending controller unit 131 respectively by CAN.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, front-handling mobile crane hydraulic actuating cylinder specifically comprises a large chamber and two loculuses.Correspondingly, in this embodiment, oil pressure sensor 160 is specially three, is respectively used to gather the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in hydraulic actuating cylinder, as shown in Figure 2.
Further, be ensure lifting, exercise the stability of operation, need to correct correlation parameter, maximum, minimum current value, the demarcation of length and angular transducer and the adjustment etc. of coefficient of correction of such as flexible and pitching.
As above-mentioned another embodiment of front-handling mobile crane control system of the present invention, also comprise: the function control switch 210 be connected with master controller 110 respectively by CAN and suspender controller 220, and by function control cock group 230 that CAN is connected with the first extending controller unit 131, and by the bar handle 240 that CAN is connected with the second extending controller unit 132, as shown in Figure 2.Wherein:
Bar handle 240 for receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and be transferred to master controller 110 by the second extending controller unit 132, first extending controller unit 131 successively, send to suspender controller 220 by master control 110.
Suspender controller 220 controls the action of suspender for the control command sent according to master controller 110.
Master controller 110 is also for when sending to telltale 120 by fault alarm information, the information that corresponding preset standard and prompting user correct relevant work parameter is sent to telltale 120, and according to the licencing key prestored, the licencing key that user inputs is verified, and show correction parameter input interface at the licencing key of user's input by indication display 120 during checking, and according to the correction parameter during the correction that telltale 120 sends indicates, relevant parameter is adjusted, and generate according to this correction instruction that corresponding instruction is corresponding sends to suspender controller 220.Send to function control cock group 230 to realize the working state control of hoisting crane with the control command of the unlatching sent by function control switch 210 by the first extending controller unit 131 or disconnection.Particularly, when user inputs unlatching control command, hoisting crane can be controlled in running order; When user inputs disconnection control command, hoisting crane can be controlled and be in off working state.As shown in Figure 4 and Figure 5, be respectively the main surface chart of display correction parameter and the dividing range figure of a control system embodiment of front-handling mobile crane of the present invention, user can correct instruction by this main interface and dividing range input, do not need special debugging acid or external computer equipment, maintain easily and keep in repair, improve the operating efficiency of front-handling mobile crane.
Telltale 120 is also for receiving the correction request of user's transmission and pointing out user to input licencing key, and the licencing key receiving user's input also sends to master controller 110; And the correction of the correction relevant work parameter being received user's input by correction parameter input interface is indicated and is transmitted to master controller 110, corrects the correction parameter that instruction comprises user's input.As shown in Figure 6; for the correction parameter cryptoguard surface chart of the telltale of a control system embodiment of front-handling mobile crane of the present invention; user inputs licencing key by carrying out correction and the amendment of relevant work parameter after checking over the display, improves the safety of control system.As shown in Figure 7, for the correction parameter input interface surface chart of the telltale in control system embodiment of front-handling mobile crane of the present invention, the password of user's input is by after checking, the correction of parameter can be carried out, such as: the limit of maximum, the minimum current that the flexible pitching motion of adjustment controls at this interface; The ramp parameter of maximum, minimum current control electric current, delay function; To weigh coefficient; Proportionality coefficient etc.
The control command of the unlatching that function control switch 210 inputs for the preset standard that receives user and show based on telltale 120 and information or disconnection is also transferred to master controller 110.
Function control cock group 230, for the control command of the unlatching that sends according to master controller 110 or disconnection, controls the mode of operation of hoisting crane.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, master controller 110 and telltale 120 can be wholely set.
The embodiment of the present invention additionally provides a kind of front-handling mobile crane, comprises the front-handling mobile crane control system in above-mentioned any embodiment.
Fig. 8 is the diagram of circuit of a control method embodiment of front-handling mobile crane of the present invention.As shown in Figure 8, the control method of this embodiment front-handling mobile crane comprises:
310, oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure information transmission that collects to extending controller, by extending controller by operation pressure information transmission to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to master controller; In detecting sensor acquisition control system each unit work state information and be transferred to master controller; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to master controller, and wherein the operating condition information of driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition information transmission of front-handling mobile crane change speed gear box to master controller, wherein operating condition packets of information oil scraper temperature, gear information, the speed of a motor vehicle, the mileage of change speed gear box.
In control system, above-mentioned each unit is to the collection of corresponding information, can gather in real time, also can gather according to unified or respective default collection period (such as, 2s), and the action between each unit does not exist execution time or order restriction.
320, the operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box in the operation pressure information received, length information, angle information, control system is sent to telltale by master controller, and judges whether the work state information of each unit in operation pressure information, length information, angle information, control system, the operating condition information of driving engine, the operating condition information of change speed gear box all meet corresponding preset standard respectively.
Wherein, the preset standard of each acquisition parameter information can be arranged respectively.
In operation pressure information, length information, angle information, control system the work state information of each unit, the operating condition information of driving engine or change speed gear box operating condition information in when not meeting preset standard, master controller also generates corresponding fault alarm information for the parameter information not meeting preset standard and sends to telltale.
If the operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box all meets preset standard in operation pressure information, length information, angle information, control system, do not perform and generate corresponding fault alarm information and the operation sending to telltale.
330, telltale shows the operation pressure information, length information, angle information, the operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box in control system that receive in real time, and also shows this fault alarm information when receiving the fault alarm information that master controller sends.
State in a specific embodiment of control method on the invention, the hydraulic actuating cylinder of front-handling mobile crane comprises a large chamber and two loculuses.Correspondingly, in this embodiment, oil pressure sensor is three, and the operation pressure information that oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder can be specifically: respectively by the operation pressure of hydraulic efficiency pressure system in a large chamber in three oil pressure sensors collection hydraulic actuating cylinders and two loculuses.
State in another specific embodiment of control method on the invention, by the operation pressure information transmission that collects to extending controller, by extending controller, operation pressure information transmission specifically can be realized in the following manner to master controller: oil pressure sensor by CAN by the operation pressure information transmission of hydraulic efficiency pressure system to the first extending controller unit in extending controller; First extending controller unit by CAN by the operation pressure information transmission of hydraulic efficiency pressure system to master controller.
State in another specific embodiment of control method on the invention, in detecting sensor acquisition control system each unit work state information and be transferred to master controller and specifically can realize in the following manner: the work state information of each unit in detecting sensor acquisition control system, and by CAN the work state information of unit each in the control system collected is transferred to the first extending controller unit in extending controller; First extending controller unit by CAN by the operation pressure information transmission of hydraulic efficiency pressure system to master controller.
In addition, in another embodiment of the control method of front-handling mobile crane of the present invention, following operation can also be comprised:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and by the second extending controller unit in extending controller, the first extending controller unit, this control command is transferred to master controller successively;
Master controller by flexible, the pitching of the control arm received, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that suspender controller sends according to master controller, rotate, unblank to control with lock-in control instruction the action of suspender.
Further, in another embodiment of the control method of front-handling mobile crane of the present invention, following operation can also be comprised:
When fault alarm information is sent to telltale by master controller, the information also corresponding preset standard and prompting user being corrected relevant work parameter sends to telltale;
Telltale shows the preset standard and information that receive.User can input correction request based on this preset standard and information at display interfaces;
Telltale receives correction request that user sends based on preset standard and information and points out user to input licencing key, and the licencing key that inputs of reception user send to master controller;
Master controller is verified the licencing key that user inputs according to the licencing key prestored, and shows correction parameter input interface at the licencing key of user's input by indication display during checking;
Telltale display correction parameter input interface, the correction receiving the correction relevant work parameter that user is inputted by this correction parameter input interface indicates and is transmitted to master controller, and this correction instruction comprises the correction parameter of user's input;
Master controller adjusts relevant parameter according to the correction parameter corrected in instruction, and generates according to the correction instruction that telltale sends that corresponding instruction is corresponding sends to suspender controller;
Suspender controller controls the action of suspender according to the instruction that master controller sends.
Further, in another embodiment of the control method of front-handling mobile crane of the present invention, following operation can also be comprised:
Function control switch receive user input unlatching or disconnection control command and be transferred to master controller;
The control command of opening or disconnect is sent to function control cock group by the first extending controller unit in extending controller by master controller;
The control command of the unlatching that function control cock group sends according to master controller or disconnection, controls the mode of operation of hoisting crane.
One of ordinary skill in the art will appreciate that: all or part of step realizing said method embodiment can have been come by the hardware that programmed instruction is relevant, aforesaid program can be stored in a computer read/write memory medium, this program, when performing, performs the step comprising said method embodiment; And aforesaid storage medium comprises: ROM, RAM, magnetic disc or CD etc. various can be program code stored medium.
In this specification sheets, each embodiment all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, same or analogous part cross-reference between each embodiment.Because system embodiment and embodiment of the method are substantially corresponding, the part of the corresponding embodiment of relevant part cross-reference illustrates.
Method of the present invention, system may be realized in many ways.Such as, any combination by software, hardware, firmware or software, hardware, firmware realizes method and system of the present invention.Said sequence for the step of described method is only to be described, and the step of method of the present invention is not limited to above specifically described order, unless specifically stated otherwise.In addition, in certain embodiments, can be also record program in the recording medium by the invention process, these programs comprise the machine readable instructions for realizing according to method of the present invention.Thus, the present invention also covers the recording medium stored for performing the program according to method of the present invention.
Embodiments of the invention can carry out validity monitoring when control system is run to the controlling unit of internal system always, various information during Real-Time Monitoring crane job, and shown in real time by telltale, fault self-diagnosis function during perfect crane job and real-time Presentation Function.And; when fault occurs; fault happening part and possible reason can be shown over the display in real time; do not need to ask technical personnel field diagnostic; eliminate analysis, time that failure judgement reason consumes; many problem operative employees just can be solved conveniently, substantially reduce the downtime of front-handling mobile crane, improve the operating efficiency of complete machine.Simultaneously due to cryptoguard; the attendant authorized, professional and technical personnel can complete adjustment and the correction of all kinds of parameter over the display; need not external Special debugging instrument or computer equipment; ensure timely, the comfort feature of maintenance, repair, improve the overall operation efficiency of front-handling mobile crane and the unfailing performance of complete machine.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (13)
1. the control system of a front-handling mobile crane, it is characterized in that, comprise: master controller, with the telltale, extending controller, linear transducer, angular transducer, engine controller, the gearbox control that are connected with described master controller respectively by fieldbus networks CAN, and the oil pressure sensor be connected with described extending controller respectively by CAN and detecting sensor; Wherein:
The operation pressure information transmission that collects for gathering the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and is given described extending controller by described oil pressure sensor;
The operation pressure information transmission that described extending controller is used for described oil pressure sensor to collect is to described master controller;
The length information of the arm collected for gathering the length information of front-handling mobile crane arm, and is transferred to described master controller by described linear transducer;
The angle information of the arm collected for gathering the angle information of front-handling mobile crane arm, and is transferred to described master controller by described angular transducer;
Described detecting sensor is used for the work state information of each unit in acquisition control system and is transferred to described master controller;
Described engine controller is for gathering the operating condition information of driving engine and being transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours;
Described gearbox control is for gathering the operating condition information transmission of change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller is used for the operating condition information of the operation pressure information received, length information, angle information, work state information, driving engine and the operating condition information of change speed gear box to send to described telltale to show in real time; And judge the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine respectively, whether the operating condition information of change speed gear box meet preset standard, and when the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to described telltale;
Described telltale is used for display described operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box in real time, and shows the fault alarm information of described master controller transmission.
2. control system according to claim 1, is characterized in that, described extending controller comprises the first extending controller unit and the second extending controller unit;
Described first extending controller unit is connected with described master controller by CAN, and described second extending controller unit is connected with described first extending controller unit by CAN;
Described oil pressure sensor and described detecting sensor are specifically connected with described first extending controller unit respectively by CAN.
3. control system according to claim 2, is characterized in that, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
Described oil pressure sensor is specially three, is respectively used to gather the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in hydraulic actuating cylinder.
4. control system according to claim 3, it is characterized in that, also comprise: the function control switch be connected with described master controller respectively by CAN and suspender controller, with the function control cock group be connected with described first extending controller unit by CAN, and by bar handle that CAN is connected with described second extending controller unit;
Described bar handle for receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and be transferred to described master controller by described second extending controller unit, described first extending controller unit successively, send to suspender controller by described master controller;
The control command that described suspender controller is used for sending according to described master controller controls the action of suspender;
Described master controller is also for when sending to telltale by fault alarm information, telltale is sent to show the information that corresponding preset standard and prompting user correct relevant work parameter, and according to the licencing key prestored, the licencing key that user inputs is verified, and show correction parameter input interface at the licencing key of user's input by indication display during checking, and according to the correction parameter during the correction that telltale sends indicates, relevant parameter is adjusted, and send to described suspender controller according to the corresponding instruction of described correction instruction generation, and the control command of the unlatching to be sent by described function control switch by described first extending controller unit or disconnection sends to function control cock group,
Described telltale is also for receiving correction request that user sends based on described preset standard and described information and pointing out user to input licencing key, and the licencing key receiving user's input also sends to described master controller; And the correction of the correction relevant work parameter being received user's input by correction parameter input interface is indicated and is transmitted to described master controller, described correction instruction comprises the correction parameter of user's input;
Described function control switch for receive user input unlatching or disconnection control command and be transferred to described master controller;
Described function control cock group is used for the control command of described unlatching or the disconnection sent according to described master controller, controls the mode of operation of hoisting crane.
5. the control system according to Claims 1-4 any one, is characterized in that, described master controller and described telltale are wholely set.
6. a front-handling mobile crane, is characterized in that, comprises the control system described in claim 1 to 5 any one.
7. a control method for front-handling mobile crane, is characterized in that, comprising:
Oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure information transmission that collects to extending controller, by described extending controller by described operation pressure information transmission to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to described master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to described master controller; In detecting sensor acquisition control system each unit work state information and be transferred to described master controller; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition information transmission of front-handling mobile crane change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
The operating condition information of the work state information of each unit, the operating condition information of driving engine and change speed gear box in the operation pressure information received, length information, angle information, control system is sent to telltale by described master controller, and judges whether the work state information of each unit in described operation pressure information, length information, angle information, control system, the operating condition information of driving engine, the operating condition information of change speed gear box meet preset standard respectively;
Do not meet preset standard in response to the operating condition information of the work state information of each unit, the operating condition information of driving engine or change speed gear box in described operation pressure information, length information, angle information, control system, described master controller generates corresponding fault alarm information and sends to described telltale;
Described telltale shows the operating condition information of the work state information of each unit in described operation pressure information, length information, angle information, control system, the operating condition information of driving engine and change speed gear box in real time, and shows this fault alarm information when receiving the fault alarm information that described master controller sends.
8. control method according to claim 7, is characterized in that, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
The operation pressure information that described oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder comprises:
The operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in described hydraulic actuating cylinder is gathered respectively by three oil pressure sensors.
9. control method according to claim 8, is characterized in that, described by the operation pressure information transmission that collects to extending controller, by described extending controller, described operation pressure information transmission is comprised to master controller:
The operation pressure information transmission of described hydraulic efficiency pressure system to be given the first extending controller unit in described extending controller by described oil pressure sensor by CAN;
The operation pressure information transmission of described hydraulic efficiency pressure system is given described master controller by CAN by described first extending controller unit.
10. control method according to claim 7, is characterized in that, in described detecting sensor acquisition control system each unit work state information and be transferred to described master controller and comprise:
The work state information of each unit in described detecting sensor acquisition control system, and by CAN the work state information of unit each in control system is transferred to the first extending controller unit in described extending controller;
The operation pressure information transmission of described hydraulic efficiency pressure system is given described master controller by CAN by described first extending controller unit.
11. control methods according to claim 7 to 10 any one, is characterized in that, also comprise:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and be transferred to described master controller by the second extending controller unit in described extending controller, the first extending controller unit successively;
Described master controller by flexible, the pitching of described control arm, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that described suspender controller sends according to described master controller, rotate, unblank to control with lock-in control instruction the action of suspender.
12. control methods according to claim 7 to 10 any one, is characterized in that, also comprise:
When fault alarm information is sent to telltale by described master controller, the information also corresponding preset standard and prompting user being corrected relevant work parameter sends to described telltale;
Described telltale shows described preset standard and described information;
Described telltale receives correction request that user sends based on described preset standard and described information and points out user to input licencing key, and the licencing key that inputs of reception user send to described master controller;
Described master controller is verified the licencing key that user inputs according to the licencing key prestored, and shows correction parameter input interface at the licencing key of user's input by indication display during checking;
Described telltale display correction parameter input interface, the correction receiving the correction relevant work parameter that user is inputted by this correction parameter input interface indicates and is transmitted to described master controller, and described correction instruction comprises the correction parameter of user's input;
Described master controller adjusts relevant parameter according to the described correction parameter corrected in instruction, and generates according to the correction instruction that telltale sends that corresponding instruction is corresponding sends to suspender controller;
Described suspender controller controls the action of suspender according to the instruction that described master controller sends.
13. control methods according to claim 7 to 10 any one, is characterized in that, also comprise:
Function control switch receive user input unlatching or disconnection control command and be transferred to described master controller;
The control command of described unlatching or disconnection is sent to function control cock group by the first extending controller unit in described extending controller by described master controller;
The control command of the described unlatching that described function control cock group sends according to described master controller or disconnection, controls the mode of operation of hoisting crane.
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| CN201410304175.1A CN104058336B (en) | 2013-12-18 | 2014-06-30 | Front-handling mobile crane and control method thereof and system |
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