CN101920911A - Carrier vehicle, walking control device and method thereof - Google Patents
Carrier vehicle, walking control device and method thereof Download PDFInfo
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- CN101920911A CN101920911A CN 201010145311 CN201010145311A CN101920911A CN 101920911 A CN101920911 A CN 101920911A CN 201010145311 CN201010145311 CN 201010145311 CN 201010145311 A CN201010145311 A CN 201010145311A CN 101920911 A CN101920911 A CN 101920911A
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- car
- front truck
- control module
- back car
- vehicle body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C25/00—Cranes not provided for in groups B66C17/00 - B66C23/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a walking control device for a carrier vehicle. The device comprises a front vehicle control device which has a front vehicle control module and is arranged on the main body of a front vehicle, a back vehicle control device which has a back vehicle control module connected to a driving mechanism of the back vehicle and is arranged on the main body of a back vehicle, a whole vehicle control device which is arranged on the front or back vehicle, is connected to the back vehicle control module and has a whole vehicle control module connected to the front vehicle control module, a front vehicle position detector which is arranged on the front vehicle and is connected to the whole vehicle control module, a back vehicle position detector which is arranged on the back vehicle and is connected to the whole vehicle control module, and the front and back vehicles are arranged on a connecting rack by keeping a distance with the detector and are connected to the whole vehicle control module. The invention also provides a carrier vehicle and a walking control method for the carrier vehicle.
Description
Technical field
The present invention relates to field of transport machinery, more specifically, relate to a kind of traveling control device and method and transport trolley of transport trolley.
Background technology
Existing crawler crane is when carrying out large-scale operation, as when transporting main equipment, adopt two crawler cranes to unite the mode of use sometimes, promptly adopted the combination mode of operation of front truck (fwd crawler crane) and back car (crawler crane of back), its front car and rear car is independent fully, operating mode is mechanical operation fully, inefficiency, the commanding observes the actual position situation of front truck and back car at the scene, the operator of commander's front truck and back car operates walking forward or backward, realize walking and revolute function, the operator can only carry out commanding's instruction in the working process, and the safe reliability of equipment can not rely on equipment itself to ensure, relies on the skilled cooperation of commanding and operating personal fully, commanding and operating personal are born very large stress and responsibility, and the safety of work can not get guaranteeing.
Summary of the invention
The object of the present invention is to provide a kind of traveling control device and control method of transport trolley, unite the skilled cooperation that walking relies on commanding and operating personal fully with car after solving the crawler crane front truck, the safety of work can not get problems such as assurance.Another object of the present invention is to provide a kind of transport trolley, can not unite the problem of walking, transportation with car behind the solution crawler crane front truck safely.
According to an aspect of the present invention, provide a kind of traveling control device of transport trolley, transport trolley comprises car behind crawler crane front truck, the crawler crane; Front truck comprises: a front truck left side crawler belt and front truck right-hand track chiain and be arranged on front truck vehicle body between front truck left side crawler belt and the front truck right-hand track chiain; Back car comprises: back car left side crawler belt and back car right-hand track chiain and be arranged on rear vehicle body between back car left side crawler belt and the back car right-hand track chiain; Transport trolley also comprises the link span that connects front truck and back car;
Traveling control device comprises: preceding truck control device, be arranged on the front truck vehicle body, and preceding truck control device has the front truck control module, and the front truck control module is connected with the driver train of front truck; Rear car control device is arranged on the rear vehicle body, and rear car control device has rear vehicle control module, and rear vehicle control module is connected with the driver train of back car; The car load control setup is arranged on front truck or the back car, and the car load control setup has the car load control module, and the car load control module is connected with the front truck control module, and the car load control module is connected with rear vehicle control module; The front vehicle position detector is arranged on the front truck and with the car load control module and is connected; Back car position detector is connected on the car and with the car load control module after being arranged on; Front car and rear car relative distance detector is arranged on the link span and with the car load control module and is connected.
Further, the front vehicle position detector comprises: front truck left side crawler belt angle displacement detector is arranged on the crawler belt of a front truck left side; Front truck right-hand track chiain angle displacement detector is arranged on the front truck right-hand track chiain; Front truck and link span relative angle displacement detector are arranged on the front truck vehicle body; Back car position detector comprises: a car left side, back crawler belt angle displacement detector is arranged on the crawler belt of a car left side, back; Back car right-hand track chiain angle displacement detector is arranged on the car right-hand track chiain of back; Back car and link span relative angle displacement detector are arranged on the rear vehicle body.
Further, link span and front truck vehicle body are or/and be sliding block joint between the rear vehicle body; Front car and rear car relative distance detector is arranged on a side of the close back of link span car or/and be arranged on the side of described link span near described front truck.
Further, the car load control module or/and the front truck control module or/and rear vehicle control module is a Programmable Logic Controller.
Further, the vehicle body of front truck is provided with getting on the bus of front truck; The vehicle body of back car is provided with getting on the bus of back car; Link span, be connected front truck get on the bus and back the getting on the bus of car between; The car load control setup is arranged on the getting on the bus of front truck.
Further, front truck get on the bus and/or the back getting on the bus of car comprise turn table, jib and hoisting mechanism.
According to another aspect of the present invention, also provide a kind of transport trolley, having comprised: car behind crawler crane front truck and the crawler crane, front truck comprises: a front truck left side crawler belt and front truck right-hand track chiain and be arranged on front truck vehicle body between front truck left side crawler belt and the front truck right-hand track chiain; Back car comprises: back car left side crawler belt and back car right-hand track chiain and be arranged on rear vehicle body between back car left side crawler belt and the back car right-hand track chiain; Link span is connected between front truck vehicle body and the rear vehicle body, is for flexibly connecting between link span and the front truck vehicle body between flexible connection or link span and the rear vehicle body; Transport trolley also comprises: the traveling control device of foregoing transport trolley.
According to a further aspect of the invention, also provide a kind of ambulation control method of transport trolley, having comprised: the car load control module is sent control command respectively to front truck and back car; Front truck and back car are united walking according to control command.
Further, the ambulation control method of transport trolley also comprises: front truck, back car and front car and rear car relative distance detector according to actual working state to car load control module back-to-back running information; It is pre-conditioned that the car load control module judges according to the operation information of feedback whether actual working state satisfies; Pre-conditioned as if satisfying, then the car load control module is sent with the back car to front truck and is kept instruction, so that front truck and back car are kept the work at present state; Pre-conditioned as if not satisfying, then the car load control module is sent regulating command to front truck and/or back car, so that front truck and/or back car change the work at present state.
Further, before front truck and back car sent control command respectively, also comprise: the car load control module was accepted operator's initialization setting in the car load control module.
Further, the content of initialization setting comprises pre-conditioned and the associating walking mode, and wherein, when the associating walking mode was the pattern of synchronous linear walking, pre-conditioned was whether front truck and link span relative angle equal back car and link span relative angle.
Further, pre-conditioned as if not satisfying when the associating walking mode is the synchronous linear walking, then the car load control module is sent regulating command to front truck and/or back car, comprises so that front truck and/or back car change the work at present state:
Car load control module car and front truck is backward sent regulating command; Back car according to the regulating command adjustment after the left crawler belt of car and the speed and/or the direction of right-hand track chiain, make the relative angle of back car and link span equal the relative angle of front truck and link span; Front truck and back car are walked with speed according to regulating command adjustment left crawler belt and right-hand track chiain separately.
Because the car load control module is connected with the front truck control module, the car load control module is connected with rear vehicle control module; The front truck control module is connected with the driver train of front truck; Rear vehicle control module is connected with the driver train of back car; So, can control the driver train of front truck and back car by the car load control module, thereby the walking of uniting of automatic guidance front truck and back car, need not special commanding commands, need not the commanding and operating personal cooperates, and then car is united the skilled cooperation that walking relies on commanding and operating personal fully after having overcome the crawler crane front truck, the safety of work can not get problems such as assurance, simultaneously, work efficiency, travelling speed have been improved, reduce personnel's use, reduced labor cost.
In addition, owing to be provided with front vehicle position detector, back car position detector and front car and rear car relative distance detector, and these detectors are connected with the car load control module, thereby can be to car load control module feedback walking information, thereby for the work of getting ready of car load control module automatically regulating front truck, the back speed of travel of car and direction in walking, so that the speed of travel and the direction of car load control module automatically regulating front truck, back car in walking.
In like manner, car was united walking and load-carrying after transport trolley with traveling control device of transport trolley can be controlled the crawler crane front truck, can transport single crawler crane the weight that can not carry, thereby promoted domestic shipping weight, can transport large component or ultra-large type parts.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 shows the main TV structure according to a kind of transport trolley of the embodiment of the invention;
Fig. 2 shows the plan structure according to the traveling control device of a kind of transport trolley of the embodiment of the invention; Arrow is represented the transport trolley working direction among the figure;
Fig. 3 shows the connection block diagram according to the traveling control device of a kind of transport trolley of the embodiment of the invention; And
Fig. 4 shows the ambulation control method according to a kind of transport trolley of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 and Fig. 2 show the traveling control device according to transport trolley of the present invention, and wherein, front truck 1 comprises: a front truck left side crawler belt 11 and front truck right-hand track chiain 13 and be arranged on front truck vehicle body 15 between front truck left side crawler belt and the front truck right-hand track chiain; Back car 2 comprises: back car left side crawler belt 21 and back car right-hand track chiain 23 and be arranged on rear vehicle body 25 between back car left side crawler belt and the back car right-hand track chiain; Link span 3 is used for carrying weight 6, and is used for being connected between front truck 1 and the back car 2, is for flexibly connecting between link span 3 and the front truck vehicle body 15 between flexible connection or link span and the rear vehicle body 25.Certainly, front truck and back car also comprise due parts such as driver train, traveling gear.
Fig. 3 shows the line connecting relation of each parts of traveling control device of transport trolley, as shown in Figure 3, the traveling control device of transport trolley comprises: preceding truck control device, be arranged on the front truck vehicle body 15, preceding truck control device has the front truck control module, and the front truck control module is connected with the driver train of front truck; Rear car control device is arranged on the rear vehicle body 25, and rear car control device has rear vehicle control module, and rear vehicle control module is connected with the driver train of back car; The car load control setup, be arranged on front truck 1 or the back car 2, the car load control setup has the car load control module, and the car load control module is connected with the front truck control module, the car load control setup is connected with rear vehicle control module, and the car load control module can all be controlled front truck and back car; The front vehicle position detector is arranged on the front truck 1, for example, is arranged on the crawler belt of front truck 1, and is connected with the car load control module; Back car position detector is arranged on the car 2 of back, for example, is arranged on the crawler belt of back car 2, and is connected with the car load control module; Front car and rear car relative distance detector 31 is arranged on the link span 3 and with the car load control module and is connected.Above-mentioned each detector can adopt various right sensors.In addition, as shown in Figure 1, preceding truck control device of the present invention, rear car control device are all avoided front truck vehicle body 15 tops and are provided with at rear vehicle body 25 tops, for example, can be arranged on the side direction of front truck vehicle body 15 or the side direction of rear vehicle body 25, so that link span 3 is set to bear weight at front truck vehicle body 15 tops with at rear vehicle body 25 tops.
Preceding truck control device can be arranged in the control cabin 17 of front truck, and rear car control device can be arranged in the control cabin 27 of back car, and the car load control setup can be arranged in the control cabin 7 of car load.As shown in Figure 2, the control cabin 27 of the control cabin 17 of front truck or back car is arranged on the side direction of front truck or back car, the control cabin 7 of car load can be arranged on get on the bus 154 side or other positions of front truck of front truck, so that getting on the bus of front truck 154 carried out lifting or front truck carries out load-bearing.Each control setup for example can comprise control panel, control stalk, screen, instrument, input media, for example parts such as keyboard.
Because the car load control module is connected with the front truck control module, the car load control module is connected with rear vehicle control module; The front truck control module is connected with the driver train of front truck; Rear vehicle control module is connected with the driver train of back car; So, can control the driver train of front truck and back car by the car load control module, thereby the walking of uniting of automatic guidance front truck and back car, need not special commanding commands, need not the commanding and operating personal cooperates, and then car is united the skilled cooperation that walking relies on commanding and operating personal fully after having overcome the crawler crane front truck, the safety of work can not get problems such as assurance, simultaneously, work efficiency, travelling speed have been improved, reduce personnel's use, reduced labor cost.
In addition, owing to be provided with front vehicle position detector, back car position detector and front car and rear car relative distance detector, and these detectors are connected with the car load control module, thereby can be to car load control module feedback walking information, thereby for the work of getting ready of car load control module automatically regulating front truck, the back speed of travel of car and direction in walking, so that the speed of travel and the direction of car load control module automatically regulating front truck, back car in walking.
Further, as shown in Figure 3, the front vehicle position detector comprises: front truck left side crawler belt angle displacement detector 111 is arranged on the crawler belt 11 of a front truck left side; Front truck right-hand track chiain angle displacement detector 131 is arranged on the front truck right-hand track chiain 13; Front truck and link span relative angle displacement detector 151 are arranged on the front truck vehicle body 15; Back car position detector comprises: a car left side, back crawler belt angle displacement detector 211 is arranged on the crawler belt 21 of a car left side, back; Back car right-hand track chiain angle displacement detector 231 is arranged on the back car right-hand track chiain 23; Back car and link span relative angle displacement detector 251 are arranged on the rear vehicle body 25.
The real-time walking information that above-mentioned these position detectors can reflect front truck, back each ground-engaging element of car accurately is set, can accomplish accurate feedback to each crawler travel information of front truck, back car, can accurately adjust front truck, the walking of each crawler belt of car afterwards, thereby increase the particularity of adjusting.The number of above-mentioned these position detectors can be one incessantly, can be for a plurality of, and be distributed in different positions.For example, be distributed in the diverse location of every crawler belt, to obtain more walking information in real time.
Further, as shown in Figure 3, be sliding block joint between link span 3 and the rear vehicle body 25, can the longitudinal sliding motion certain distance to guarantee back car 2 and link span 3, make walking flexibly; Front car and rear car relative distance detector 31 is arranged on the side of link span near back car 2, can feed back the displacement between back car 2 and the link span 3 so faster, more easily.In like manner, in the time of also can between link span 3 and front truck vehicle body 15, being sliding block joint, front car and rear car relative distance detector 31 is arranged on the side of described link span near described front truck, can also link span 3 and rear vehicle body 25 between be to be sliding block joint between sliding block joint and link span 3 and the front truck vehicle body 15, in a side of front truck and a side of close back car a front car and rear car relative distance detector 31 is set respectively, like this, feedback effects is better, calculate more accurately, control more accurate.
Further, the car load control module fast, is convenient to programming or/and the front truck control module or/and rear vehicle control module is Programmable Logic Controller (PLC), like this, under service conditions such as satisfied control, transportation, is transported accurately, and cost is lower.Certainly, above-mentioned each control module also can be CPU.
Further, as shown in Figure 1, what the vehicle body 15 of front truck was provided with front truck gets on the bus 154; Car got on the bus 254 after the vehicle body 25 of back car was provided with; Link span 3, what be connected front truck gets on the bus 154 and back the getting on the bus between 254 of car; The car load control setup is arranged on getting on the bus on 154 of front truck.Like this, be convenient to the setting of link span 3.On respectively getting on the bus turn table, jib 156 and hoisting mechanism can be set, to carry out lifting work, like this, front truck and back car also have the function of lifting except having transportation function.
As shown in Figure 2, the present invention also provides a kind of transport trolley, comprise: car 2 behind crawler crane front truck 1 and the crawler crane, and front truck 1 comprises: a front truck left side crawler belt 11 and front truck right-hand track chiain 13 and be arranged on front truck vehicle body 15 between front truck left side crawler belt and the front truck right-hand track chiain; Back car 2 comprises: back car left side crawler belt 21 and back car right-hand track chiain 23 and be arranged on rear vehicle body 25 between back car left side crawler belt and the back car right-hand track chiain; Link span 3 is connected between front truck vehicle body 15 and the rear vehicle body 25, is for flexibly connecting between link span 3 and the front truck vehicle body 15 between flexible connection or link span 3 and the rear vehicle body 25; Transport trolley also comprises: the traveling control device of foregoing transport trolley.
This transport trolley makes the operation control of front truck, back car full intellectualized, the operator operates front truck, the back car is simple and reliable just as the common crawler crane of operation, the safe handling of equipment is guaranteed by the safety device of equipment self fully, greatly reduces operating personal and commanding's labour intensity and stress.
The present invention also provides a kind of ambulation control method of transport trolley, and Fig. 4 is according to the diagram of circuit of the ambulation control method of the transport trolley of the embodiment of the invention, may further comprise the steps:
Step S502, the car load control module is sent control command respectively to front truck and back car; For example, to car load control module input control order, the car load control module is sent control command respectively to front truck control module car and rear vehicle control module to the operator by keyboard, for example, and direction or speed that instruction front truck, back garage are walked;
Step S504, front truck and back car are united walking according to control command; Front truck and back car are controlled front truck driver train, back car driver train motion respectively by front truck control module car and rear vehicle control module, thereby make the crawler belt action of the crawler belt and the back car of front truck; Can realize the walking of uniting of front truck and back car by step S502 and step S504;
Step S506, front truck, back car and front car and rear car relative distance detector according to actual working state to car load control module back-to-back running information; Front truck left side crawler belt angle displacement detector, front truck right-hand track chiain angle displacement detector, front truck and link span relative angle displacement detector, a car left side, back crawler belt angle displacement detector, back car right-hand track chiain angle displacement detector, back car and link span relative angle displacement detector and front car and rear car relative distance detector are to car load control module back-to-back running information;
Step S508, it is pre-conditioned that the car load control module judges according to the operation information of feedback whether actual working state satisfies, pre-conditioned different with the difference of walking mode; Pre-conditioned as if satisfying, then change step S510 over to, pre-conditioned as if not satisfying, then change step S512 over to;
Step S510, the car load control module is sent with the back car to front truck and is kept instruction, so that front truck and back car are kept the work at present state;
Step S512, the car load control module is sent regulating command to front truck and/or back car, and front truck control module car and rear vehicle control module are controlled the front truck driver train respectively, back car driver train is done corresponding motion, so that front truck and/or back car change the work at present state.
Realized the walking of uniting of front truck and back car having guaranteed the harmonious of walking by above-mentioned steps, and can automatically regulating according to real-time walk, the accuracy of walking guaranteed.
Further, before front truck and back car sent control command respectively, also comprise: the car load control module was accepted operator's initialization setting in the car load control module.Like this, can make the operator control the walking of front truck and back car flexibly.
Further, the content of initialization setting comprises pre-conditioned and the associating walking mode, walking mode comprises front truck, back car synchronous linear walking, curve walking, original place pitch of the laps etc., wherein, when the associating walking mode was the pattern of synchronous linear walking, pre-conditioned was whether front truck and link span relative angle equal back car and link span relative angle.Like this, can make front truck, back car realize the walking of various complexity, so that walking freely.
Further, when the associating walking mode is the synchronous linear walking, if do not satisfy pre-conditionedly, then the car load control module is sent regulating command to front truck and/or back car, comprises so that front truck and/or back car change the work at present state: car load control module car and front truck is backward sent regulating command; Back car according to the regulating command adjustment after the left crawler belt of car and the speed and/or the direction of right-hand track chiain, make the relative angle of back car and link span equal the relative angle of front truck and link span; Front truck and back car are walked with speed according to regulating command adjustment left crawler belt and right-hand track chiain separately.Like this, control the walking of front truck, back car by controlling each track speed, direction, and such control is more direct and accurate.
Specifically, when the associating walking mode is the synchronous linear walking, the operator sends control information by steering unit, after the car load control module is sent arbitrarily angled travel controls instruction then, the car load control module is by the reductor speed ratio, be converted into the moving displacement of a car left side, back crawler belt in conjunction with parameters such as mechanical specialitiess, automatically judge whether front truck and link span relative angle equal back car and link span relative angle, if both differential seat angles exceed the permissible error scope of calculating, car left and right sides traveling crawler behind the automatically regulating at first then, make back car and link span relative angle be approximately equal to front truck and link span relative angle, control four crawler belts then with the speed walking, in the process of walking according to the actual displacement of each crawler belt, the actual distance of front car and rear car calculates the speed of travel of four crawler belts automatically, and the signal of the automatically regulating output control speed of travel.
In addition, can also realize that front truck is static, the back car is walked around front truck center steering line of centers differential camber line; Front truck is around any radius circle walking of back car, or the back car is turn-taked to realize the original place around any radius circle walking of front truck; Front car and rear car becomes 90 degree " cross " straight line movings.
State when control in realization, the present invention detects control technology by electric liquid and controls, control fast and accurately, fault is few, and, break down or during unforeseen circumstances, the car load control module can be cut off dangerous direction action automatically, guarantees walking safety at equipment.In addition, each control setup, for example the car load control setup can also be provided with functions such as automatic acousto-optic prompting, warning, and good man-machine coupled interface can be set.
As can be seen from the above description, the above embodiments of the present invention have realized following technique effect:
Realized that car behind the front truck of transportation heavy components unites the control of walking, simplified operation, improved safe reliability; The safe handling of equipment is guaranteed by the safety device of equipment self fully, greatly reduces operating personal and commanding's labour intensity and stress.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. the traveling control device of a transport trolley, described transport trolley comprise car behind crawler crane front truck, the crawler crane; Described front truck comprises: a front truck left side crawler belt and front truck right-hand track chiain and be arranged on front truck vehicle body between front truck left side crawler belt and the front truck right-hand track chiain; Described back car comprises: back car left side crawler belt and back car right-hand track chiain and be arranged on rear vehicle body between back car left side crawler belt and the back car right-hand track chiain; It is characterized in that,
Described transport trolley also comprises the link span that connects described front truck and back car;
Described traveling control device comprises:
Preceding truck control device is arranged on the described front truck vehicle body, and described preceding truck control device has the front truck control module, and described front truck control module is connected with the driver train of described front truck;
Rear car control device is arranged on the described rear vehicle body, and described rear car control device has rear vehicle control module, and described rear vehicle control module is connected with the driver train of described back car;
The car load control setup is arranged on described front truck or the described back car, and described car load control setup has the car load control module, and described car load control module is connected with described front truck control module, and described car load control module is connected with described rear vehicle control module;
The front vehicle position detector is arranged on the described front truck and with described car load control module and is connected;
Back car position detector is arranged on the car of described back and with described car load control module and is connected;
Front car and rear car relative distance detector is arranged on the described link span and with described car load control module and is connected.
2. the traveling control device of transport trolley according to claim 1 is characterized in that,
Described front vehicle position detector comprises:
Front truck left side crawler belt angle displacement detector is arranged on the crawler belt of a described front truck left side;
Front truck right-hand track chiain angle displacement detector is arranged on the described front truck right-hand track chiain;
Front truck and link span relative angle displacement detector are arranged on the described front truck vehicle body;
Car position, described back detector comprises:
Back car left side crawler belt angle displacement detector is arranged on the crawler belt of a car left side, described back;
Back car right-hand track chiain angle displacement detector is arranged on the car right-hand track chiain of described back;
Back car and link span relative angle displacement detector are arranged on the described rear vehicle body.
3. the traveling control device of transport trolley according to claim 2 is characterized in that,
Described link span and described front truck vehicle body are or/and be sliding block joint between the described rear vehicle body;
Described front car and rear car relative distance detector is arranged on a side of the close described back of described link span car or/and be arranged on the side of described link span near described front truck.
4. the traveling control device of transport trolley according to claim 3 is characterized in that, described car load control module or/and described front truck control module or/and described rear vehicle control module is a Programmable Logic Controller.
5. the traveling control device of transport trolley according to claim 2 is characterized in that,
The vehicle body of described front truck is provided with getting on the bus of front truck;
The vehicle body of described back car is provided with getting on the bus of back car;
Described link span, be connected described front truck get on the bus and the getting on the bus of described back car between;
Described car load control setup is arranged on the getting on the bus of described front truck.
6. the traveling control device of transport trolley according to claim 5 is characterized in that, described front truck get on the bus and/or getting on the bus of car of described back comprises turn table, jib and hoisting mechanism.
7. a transport trolley is characterized in that, comprising: car behind crawler crane front truck and the crawler crane,
Described front truck comprises: a front truck left side crawler belt and front truck right-hand track chiain and be arranged on front truck vehicle body between front truck left side crawler belt and the front truck right-hand track chiain;
Described back car comprises: back car left side crawler belt and back car right-hand track chiain and be arranged on rear vehicle body between back car left side crawler belt and the back car right-hand track chiain;
Link span is connected between described front truck vehicle body and the described rear vehicle body, is for flexibly connecting between described link span and the described front truck vehicle body between flexible connection or described link span and the described rear vehicle body;
Described transport trolley also comprises: according to the traveling control device of each described transport trolley in the claim 1 to 6.
8. the ambulation control method of a transport trolley is characterized in that, comprising:
The car load control module is sent control command respectively to front truck and back car;
Described front truck and described back car are united walking according to described control command.
9. the ambulation control method of transport trolley according to claim 8 is characterized in that, also comprises:
Described front truck, described back car and front car and rear car relative distance detector according to actual working state to described car load control module back-to-back running information;
It is pre-conditioned that described car load control module judges according to the operation information of described feedback whether described actual working state satisfies;
If satisfy described pre-conditionedly, then described car load control module is sent to described front truck and described back car and is kept instruction, so that described front truck and described back car are kept the work at present state;
Described pre-conditioned as if not satisfying, then described car load control module is sent regulating command to described front truck and/or described back car, so that described front truck and/or back car change the work at present state.
10. the ambulation control method of transport trolley according to claim 8 is characterized in that, before front truck and back car sent control command respectively, also comprise: described car load control module was accepted operator's initialization setting in the car load control module.
11. the ambulation control method of transport trolley according to claim 10 is characterized in that, the content of described initialization setting comprises described pre-conditioned and associating walking mode, wherein,
When described associating walking mode is the pattern of synchronous linear walking, describedly pre-conditionedly whether equal described afterwards car and link span relative angle for described front truck and link span relative angle.
12. the ambulation control method of transport trolley according to claim 11, it is characterized in that, when described associating walking mode is the synchronous linear walking, if do not satisfy described pre-conditioned, then described car load control module is sent regulating command to described front truck and/or described back car, comprises so that described front truck and/or back car change the work at present state:
Described car load control module is sent described regulating command to described back car and described front truck;
Described back car is adjusted the left crawler belt of described back car and the speed and/or the direction of right-hand track chiain according to described regulating command, makes the relative angle of described back car and link span equal the relative angle of front truck and link span;
Described front truck and described back car are walked with speed according to described regulating command adjustment left crawler belt and right-hand track chiain separately.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010145311 CN101920911B (en) | 2010-04-13 | 2010-04-13 | Carrier vehicle, walking control device and method thereof |
| PCT/CN2011/072726 WO2011127818A1 (en) | 2010-04-13 | 2011-04-13 | Running control device and method of transport vehicle and transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201010145311 CN101920911B (en) | 2010-04-13 | 2010-04-13 | Carrier vehicle, walking control device and method thereof |
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| CN101920911A true CN101920911A (en) | 2010-12-22 |
| CN101920911B CN101920911B (en) | 2013-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201010145311 Active CN101920911B (en) | 2010-04-13 | 2010-04-13 | Carrier vehicle, walking control device and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101920911B (en) |
| WO (1) | WO2011127818A1 (en) |
Cited By (6)
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| WO2011127818A1 (en) * | 2010-04-13 | 2011-10-20 | 长沙中联重工科技发展股份有限公司 | Running control device and method of transport vehicle and transport vehicle |
| CN102556855A (en) * | 2012-02-22 | 2012-07-11 | 徐工集团工程机械股份有限公司 | Deformable super-tonnage crawler crane and combining method thereof |
| CN103318777A (en) * | 2012-03-23 | 2013-09-25 | 徐工集团工程机械股份有限公司 | Connection device for front vehicle and rear vehicle of super-tonnage crane and crane |
| CN104249977A (en) * | 2013-06-28 | 2014-12-31 | 徐工集团工程机械股份有限公司 | Rotation control system of crawler crane |
| CN106743250A (en) * | 2016-12-26 | 2017-05-31 | 南通蓝岛海洋工程有限公司 | A kind of single pile movement system |
| CN112297881A (en) * | 2020-10-23 | 2021-02-02 | 刘建国 | Carrier train set, control method thereof, and computer-readable storage medium |
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| CN112297881A (en) * | 2020-10-23 | 2021-02-02 | 刘建国 | Carrier train set, control method thereof, and computer-readable storage medium |
| CN112297881B (en) * | 2020-10-23 | 2022-06-07 | 刘建国 | Carrier train set, control method thereof, and computer-readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101920911B (en) | 2013-08-07 |
| WO2011127818A1 (en) | 2011-10-20 |
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