CN102259802B - Telescopic arm and engineering machine comprising same - Google Patents
Telescopic arm and engineering machine comprising same Download PDFInfo
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- CN102259802B CN102259802B CN 201110131108 CN201110131108A CN102259802B CN 102259802 B CN102259802 B CN 102259802B CN 201110131108 CN201110131108 CN 201110131108 CN 201110131108 A CN201110131108 A CN 201110131108A CN 102259802 B CN102259802 B CN 102259802B
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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
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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Abstract
The invention discloses an engineering machine and a telescopic arm. The telescopic arm comprises a telescopic cylinder, a multi-section arm, a hydraulic system, at least one mechanical limit mechanism, a controller and a position sensor, wherein the movable end of the telescopic cylinder is telescopic in the extending direction of the telescopic arm; the hydraulic system is connected with the telescopic cylinder through a hydraulic oil circuit; the mechanical limit mechanism is matched with the movable end of the telescopic cylinder; the position sensor corresponds to the mechanical limit mechanism and is used for detecting the position of the movable end of the telescopic cylinder; and the controller outputs a control signal to a proportional control valve according to a predetermined strategy, so that the speed of the movable end of the telescopic cylinder is reduced. Through the technical scheme, the telescopic speed of the telescopic cylinder can be reduced according to the control signal, and the speed of the movable end is reduced to a low value or the movable end just stops at a position corresponding to the mechanical limit mechanism when the movable end arrives at the corresponding mechanical limit mechanism, so that collision impact between the movable end and the mechanical limit mechanism can be reduced or avoided.
Description
Technical field
A kind of extension and contraction control technology of the present invention, particularly a kind of telescopic boom, also relate to a kind of construction machinery and equipment that comprises this telescopic boom.
Background technology
Please refer to Fig. 1, this figure is the principle of work schematic diagram of the disclosed telescopic boom of Chinese patent literature CN101585491A.This telescopic boom comprises latch connecting bridge, rope row's connecting bridge and is arranged in the telescoping cylinder 200 of telescopic boom minor details joint arm.The latch connecting bridge comprises basic arm 110 and is positioned at two arms 120 of basic arm 110; Rope row connecting bridge comprises three arms 130, four arms 140 and five arms 150 that ecto-entad sequentially is set in together; Wherein, within three arms 130 are sleeved on two arms 120; The rope row who forms by runner and drag-line between three arms 130, four arms 140 and five arms 150 is connected.The cylinder barrel 210 of telescoping cylinder 200 and three arms 130 are fixing, form the fixed end of telescoping cylinder 200, and the outer end of cylinder bar 220 forms the movable end 201 of telescoping cylinder 200; Movable end 201 can be fixing with basic arm 110, also can be fixing with two arms 120.With basic arm 110 fixedly the time, flexible two arms 120 that can make of telescoping cylinder 200 stretch with respect to basic arm 110 at movable end 201; Fixedly the time, flexible three arms 130, four arms 140 and five arm 150 locking phases of can making of telescoping cylinder 200 are flexible for two arms 120 at movable end 201 and two arms 120.Detailed principle of work can be referring to Chinese patent literature CN101585491A.
In order to realize the flexible of above-mentioned telescopic boom, movable end 201 need to be changed between the arm tail of the arm tail of basic arm 110 and two arms 120; For guarantee movable end 201 and predetermined joint arm smoothly, fixing reliably, be respectively arranged with mechanical position limitation mechanism 111 and mechanical position limitation mechanism 121 at the arm tail of the arm tail of basic arm 110 and two arms 120.When movable end 201 arrived the arm tail of two arms 120 from the arm tail of basic arm 110, mechanical position limitation mechanism 121 can carry out movable end 201 spacing, and the arm tail of movable end 201 and two arms 120 is fixed by the cylinder pin.Equally, when movable end 201 arrived the arm tail of basic arm 110 from the arm tail of two arms 120, mechanical position limitation mechanism 111 can carry out movable end 201 spacing, and restraint end 201 moves, and movable end 201 and the arm tail of basic arm 110 are fixed by the cylinder pin.
Like this, the movable end 201 of telescoping cylinder 200 is mainly to depend on mechanical position limitation mechanism location, when movable end 201 arrives the position of mechanical position limitation mechanism, is easy to produce the impact of collision property with mechanical position limitation mechanism; The impact of for a long time collision property can make mechanical position limitation mechanism produce distortion, affects the accurate location of cylinder bar 220; When serious, also can cause the damage ring of mechanical position limitation mechanism and telescoping cylinder.The arm pin of serious collision impact between also can envoy's arm is loosening, causes safety misadventure.
Therefore, the flexible collision impact that mechanical position limitation mechanism is caused that how to reduce the telescoping cylinder movable end is those skilled in the art's technical issues that need to address.This technical matters does not exist only in above-mentioned telescopic boom, is present in other telescopic booms with mechanical position limitation mechanism yet.
Summary of the invention
Therefore, the object of the invention is to, a kind of telescopic boom is provided, this telescopic boom comprises for the movable end to telescoping cylinder and carries out spacing mechanical position limitation mechanism, the flexible collision impact that mechanical position limitation mechanism is caused that this telescopic boom can reduce telescoping cylinder.
Providing on the basis of above-mentioned telescopic boom, the present invention also provides a kind of construction machinery and equipment that comprises this telescopic boom, and this project machinery can be hoisting crane, suspension transferring machine or Other Engineering machinery.
For achieving the above object, telescopic boom provided by the invention comprises telescoping cylinder, more piece joint arm and hydraulic efficiency pressure system, and the movable end of described telescoping cylinder is flexible at the bearing of trend of telescopic boom, and described hydraulic efficiency pressure system is connected with telescoping cylinder by hydraulic circuit; Also comprise at least one mechanical position limitation mechanism that coordinates with movable end; Also comprise controller, proportional control valve and at least one position transduser; Described position transduser is corresponding with described mechanical position limitation mechanism, for detection of the position of movable end; Described proportional control valve is connected on hydraulic circuit between hydraulic efficiency pressure system and telescoping cylinder; Described controller is determined distance between movable end and described mechanical position limitation mechanism according to the detection signal of position transduser, and according to predetermined control policy to described proportional control valve output control signal; Described proportional control valve is controlled the kinematic velocity of movable end according to control signal; Described control policy comprises: when the distance between movable end and described mechanical position limitation mechanism is predetermined value, the kinematic velocity of movable end is reduced.
In optional technical scheme, telescoping cylinder comprise along the flexible direction of telescoping cylinder be disposed in order, primary importance sensor and the second place sensor corresponding with described mechanical position limitation mechanism; Described controller is determined the first distance between movable end and described mechanical position limitation mechanism according to the detection signal of primary importance sensor, and according to predetermined control policy to described proportional control valve output the first control signal; Also determine second distance between movable end and described mechanical position limitation mechanism according to the detection signal of second place sensor, and according to predetermined control policy to described proportional control valve output the second control signal; Described proportional control valve makes movable end with First Speed and second speed motion according to the first control signal and the second control signal respectively; Described the first distance is greater than second distance; Described First Speed is greater than second speed.
Optionally, the described controller steering unit flexible with controlling telescoping cylinder is connected, and determines the state of kinematic motion of telescoping cylinder according to the state of described steering unit; Described control policy comprises: the distance between movable end and described mechanical position limitation mechanism is predetermined value, and movable end reduces the kinematic velocity of movable end near the direction motion of described mechanical position limitation mechanism the time.
Optionally, telescopic boom be included on the flexible direction of telescoping cylinder be disposed in order, at least two position transdusers corresponding with described mechanical position limitation mechanism; The sequencing that described controller produces according to the detection signal of position transduser determines that movable end is with respect to the sense of motion of described mechanical position limitation mechanism; Described control policy comprises: the distance between movable end and described mechanical position limitation mechanism is predetermined value, and movable end reduces the kinematic velocity of movable end near the direction motion of described mechanical position limitation mechanism the time.
Optionally, telescopic boom comprise along the flexible direction of telescoping cylinder be disposed in order, at least two position transdusers corresponding with described mechanical position limitation mechanism; Described controller is determined the kinematic velocity of movable end according to the time difference of the detection signal generation of position transduser; Described control policy comprises: the distance between movable end and described mechanical position limitation mechanism is predetermined value, and the kinematic velocity of movable end makes movable end with predetermined First Speed motion during greater than predetermined value; Distance between movable end and described mechanical position limitation mechanism is predetermined value, and the kinematic velocity of movable end makes movable end with predetermined second speed motion during less than predetermined value; Described First Speed is greater than second speed.
Optionally, the sequencing that produces according to the detection signal of position transduser of described controller determines that movable end is with respect to the sense of motion of described mechanical position limitation mechanism; Described control policy comprises: the distance between movable end and described mechanical position limitation mechanism is predetermined value, and movable end reduces the kinematic velocity of movable end near the direction motion of described mechanical position limitation mechanism the time.
Optionally, described control policy comprises: the distance between movable end and described mechanical position limitation mechanism is predetermined value, and movable end increases the kinematic velocity of movable end to away from the direction motion of described mechanical position limitation mechanism the time.
Optionally, described position transduser is approach switch.
Optionally, basic arm and be positioned at least one joint of basic arm joint arm formation latch connecting bridge in single oil cylinder; Be positioned at least two joint joint arms formation rope row connecting bridges of latch connecting bridge inside; The fixed end of described telescoping cylinder is fixed with the joint arm of the outermost of rope row connecting bridge, and described movable end selectively is connected with arbitrary joint arm of latch connecting bridge; Each joint joint arm of described latch connecting bridge is provided with described mechanical position limitation mechanism.
Construction machinery and equipment provided by the invention comprises chassis and telescopic boom, and described telescopic boom is connected with the chassis rotation by being laterally hinged with axle, and described telescopic boom is above-mentioned any telescopic boom.
In telescopic boom provided by the invention, except comprising more piece joint arm, telescoping cylinder and mechanical position limitation mechanism, also comprise control system, control system comprises position transduser and controller and proportional control valve; Described position transduser is corresponding with mechanical position limitation mechanism, for detection of the position of the movable end of telescoping cylinder; When described movable end arrived the desired location, position transduser produced corresponding detection signal; Described controller can be determined distance between movable end and described mechanical position limitation mechanism according to the detection signal of position transduser, and according to predetermined control policy to described proportional control valve output control signal; Described proportional control valve is controlled the kinematic velocity of movable end according to control signal; Described control policy comprises: when the distance between movable end and described mechanical position limitation mechanism is predetermined value, the kinematic velocity of movable end is reduced, and then the stretching speed of telescoping cylinder is reduced, when arriving corresponding mechanical position limitation mechanism at movable end, make its speed be reduced to a lower value, perhaps just in time stop at the position corresponding with mechanical position limitation mechanism, so just can reduce or avoid the collision impact between movable end and mechanical position limitation mechanism.The stretching speed of proportion of utilization control cock control telescoping cylinder can be realized the automatic control to the telescoping cylinder stretching speed, not only can improve the accuracy of telescopic boom, and the intellectuality that can also improve control system makes the control operation of telescopic boom easier
In further technical scheme, the described controller steering unit flexible with controlling telescoping cylinder is connected, and can determine according to the state of steering unit the state of kinematic motion of telescoping cylinder; When moving near mechanical position limitation mechanism, just be necessary to make the Speed Reduction of movable end at definite movable end, to reduce or to avoid collision impact between movable end and mechanical position limitation mechanism.And then controller can be according to state of kinematic motion and detection signal and the predetermined control policy of telescoping cylinder, the control signal that output is predetermined; Like this, control system just can be identified the state of kinematic motion of telescoping cylinder movable end automatically, improves the accuracy of controlling.
In further technical scheme, telescopic boom comprises at least two position transdusers that are disposed in order in the flexible direction of telescoping cylinder, like this, according to the sequencing that the detection signal of diverse location sensor produces, controller just can be determined the sense of motion of movable end; And then again according to the sense of motion of movable end and the detection signal output control signal of relevant position sensor; Like this, control system is the sense of motion of identification activity end automatically just, improves the accuracy of controlling.
In further technical scheme, telescopic boom comprises at least two position transdusers that are disposed in order along the flexible direction of telescoping cylinder; In the situation that the distance between two position transdusers is determined, the time difference that occurs according to the detection signal of two position transdusers, controller can be determined the kinematic velocity of movable end, and then can be according to kinematic velocity and the detection signal of relevant position sensor and the predetermined control policy output control signal of movable end, telescoping cylinder is moved with corresponding speed, movable end is slowed down with suitable acceleration/accel; Like this, control system just can be according to the kinematic velocity of movable end, the stretching speed of corresponding adjusting telescoping cylinder, the kinematic velocity when controlling better movable end and arriving corresponding mechanical position limitation mechanism reduces the collision impact between movable end and mechanical position limitation mechanism better.
In further technical scheme, be predetermined value at movable end with distance between described mechanical position limitation mechanism, and movable end make the kinematic velocity increase of movable end to away from the direction motion of described mechanical position limitation mechanism the time.Can increase the operating efficiency of telescopic boom like this, improve the operating efficiency of construction machinery and equipment.
Because above-mentioned telescopic boom has above-mentioned technique effect, provided by the inventionly comprise that the construction machinery and equipments such as hoisting crane of above-mentioned telescopic boom also have corresponding technique effect.
Description of drawings
Fig. 1 is the principle of work schematic diagram of the disclosed telescopic boom of Chinese patent literature CN101585491A;
Fig. 2 is the principle of work schematic diagram of telescopic boom provided by the invention when being in a kind of state;
Fig. 3 is the principle of work schematic diagram of telescopic boom provided by the invention when being in another kind of state;
Fig. 4 is in telescopic boom provided by the invention, the structured flowchart of control system;
Fig. 5 is in telescopic boom provided by the invention, the control flow chart of control system.
The specific embodiment
Below in conjunction with accompanying drawing, the telescopic boom of partly describing take background technology is as example, the specific embodiment that the invention provides technical scheme is described in detail, and the description of this part is only exemplary and indicative, should not be considered as the restriction to public technology content of the present invention.
Please refer to Fig. 2, Fig. 3 and Fig. 4, Fig. 2 is the principle of work schematic diagram of telescopic boom provided by the invention when being in a kind of state, and Fig. 3 is the principle of work schematic diagram of telescopic boom provided by the invention when being in another kind of state; Fig. 4 is in telescopic boom, the structured flowchart of control system.
Telescopic boom provided by the invention comprises 5 joint arms, a telescoping cylinder 200 and corresponding hydraulic efficiency pressure system (not shown); 5 joint arms are respectively basic arm 110, two arms 120, three arms 130, four arms 140 and five arms 150; It is identical that the annexation of 5 joints between arm and background technology are described, and basic arm 110 and two arms 120 form the latch connecting bridges, forms rope between three arms 130, four arms 140 and five arms 150 and arrange connecting bridge.The fixed end of telescoping cylinder 200 and three arms 130 are fixing, movable end 201 can extend on the flexible direction of telescopic boom with respect to fixed end, hydraulic efficiency pressure system is connected with telescoping cylinder 200 by hydraulic circuit, to supply with hydraulic oil to telescoping cylinder, drives telescoping cylinder 200 and stretches.The tail end of the base tail end of arm 110 and two arms 120 arranges respectively mechanical position limitation mechanism 111 and mechanical position limitation mechanism 121.When movable end 201 reaches the tail end of basic arm 110, the position that mechanical position limitation mechanism 111 can restraint end 201, movable end 201 can be fixedly linked by existing bolt device and mechanical position limitation mechanism 111; At this moment, when telescoping cylinder 200 is flexible, can make two arms 120 stretch out or retract with respect to basic arm 110.When movable end 201 is retracted into the tail end of two arms 120, the position that mechanical position limitation mechanism 121 can restraint end 201, identical movement end 201 can be fixedly linked by bolt device and mechanical position limitation mechanism 121; At this moment, when telescoping cylinder 200 was flexible, three arms 130, four arms 140 and five arms 150 can stretch out or retract for two arms 120 by locking phase.
In addition, telescopic boom provided by the invention also comprises control system, and control system comprises position transduser 310, position transduser 320, controller 400 and proportional control valve 500.
Wherein, position transduser 310 is arranged on preposition, and mechanism 111 is corresponding with mechanical position limitation, for detection of the position of movable end 201; When the distance between movable end 201 and mechanical position limitation mechanism 111 is predetermined value, produce corresponding detection signal; Position transduser 320 also is arranged on preposition, and mechanism 121 is corresponding with mechanical position limitation, and is same for detection of the position of movable end 201, when the distance between movable end 201 and mechanical position limitation mechanism 121 is predetermined value, produces corresponding detection signal.In this example, position transduser 310 and position transduser 320 are approach switch.In position transduser 310, the detection head 311 of approach switch and sensor block 312 are fixing with movable end 201 and mechanical position limitation mechanism 111 respectively, detection head 311 moves with movable end 201, when sensor block 312 enters within the detection range of detection head 311, illustrate that the distance between movable end 201 and mechanical position limitation mechanism 111 is predetermined value (predetermined value can be a scope), at this moment, detection head 311 can produce the detection signal of switching value.Equally, in position transduser 320, the detection head 321 of approach switch and sensor block 322 are fixing with movable end 201 and mechanical position limitation mechanism 121 respectively; Detection head 321 and detection head 311 are arranged on respectively movable end 201 both sides, and move with movable end 201 simultaneously; When sensor block 322 enters within the detection range of detection head 321, illustrate that the distance between movable end 201 and mechanical position limitation mechanism 121 is predetermined value, at this moment, detection head 321 can produce the detection signal of switching value.
Approach switch or other position transdusers are not limited to aforesaid way and install, on the cylinder barrel that can be arranged on telescoping cylinder 200 210 of position transduser and/or cylinder bar 210 or other suitable positions, as long as can realize the detection to movable end 201 positions, and then controller 400 can be determined distance between movable end 201 and corresponding mechanical position limitation mechanism just can realize purpose of the present invention according to detection signal.Position transduser is corresponding with mechanical position limitation mechanism to be referred to have a kind of corresponding relation between position transduser and mechanical position limitation mechanism, make the position of the movable end 201 that control system can detect obtain according to position transduser, and then the distance between definite movable end 201 and corresponding mechanical position limitation mechanism.In this example, two mechanical position limitation mechanisms are arranged, two position transdusers are set simultaneously at least.
In this example, two position transdusers 310 all are connected with the input end of controller 400 with 320.The mouth of controller 400 is connected with proportional control valve 500.Proportional control valve 500 is connected on hydraulic circuit between hydraulic efficiency pressure system and telescoping cylinder 200; The flow of the hydraulic oil that the variation of the aperture of proportional control valve 500 can the regulator solution potential source be supplied with to telescoping cylinder 200, and then change the stretching speed of telescoping cylinder 200.
The control principle of control system is: when position transduser 310 can produce detection signal, within illustrating that distance between movable end 201 and mechanical position limitation mechanism 111 enters preset range; At this moment, controller 400 can be determined distance between movable end 201 and described mechanical position limitation mechanism 111 according to the detection signal of position transduser 310, and according to predetermined control policy to the proportional control valve 500 corresponding control signals of output.Proportional control valve 500 changes its aperture according to control signal, and then passage section from the oil circuit of hydraulic oil to telescoping cylinder 200 that supply with is changed.Control signal can be specifically electric current, by changing to the size of the received current of proportional control valve 500, proportional control valve 500 apertures is changed.
predetermined control policy can be: as shown in Figure 2, produce and output detection signal at position transduser 310, when controller 400 determines that the distance between movable end 201 and mechanical position limitation mechanism 111 is predetermined value L1, this Time Controller 400 is to proportional control valve 500 output deceleration control signals, proportional control valve 500 is according to deceleration control signal, reduce its aperture, the kinematic velocity of movable end 201 is reduced, with when movable end 201 arrives mechanical position limitation mechanism 111, less or the just in time stop motion of speed, reduce or avoid collision impact between movable end 201 and mechanical position limitation mechanism 111.as shown in Figure 3, produce and output detection signal at position transduser 320, when controller 400 determines that the distance between movable end 201 and mechanical position limitation mechanism 121 is predetermined value L2, this Time Controller 400 can be to proportional control valve 500 output deceleration control signals, proportional control valve 500 is according to deceleration control signal, reduce its aperture, the retraction speed of telescoping cylinder 200 is reduced, reduce the kinematic velocity of movable end 201, with when movable end 201 arrives mechanical position limitation mechanism 121, less or the just in time stop motion of speed, reduce or avoid collision impact between movable end 201 and mechanical position limitation mechanism 121.
The control policy of controller 500 can be selected according to actual needs; Such as can have corresponding delay between the time that position transduser 310 produces detection signals and the time of exporting corresponding control signal, etc.Wherein, predetermined value L1 and L2 can determine according to the collapsing length of telescoping cylinder 200, correlation parameter and the telescopic boom operation requirements of hydraulic efficiency pressure system.
Please refer to Fig. 2, at state shown in diagram, when telescoping cylinder 200 was retracted, movable end 201 at this moment, even position transduser 310 produces detection signals, did not need to reduce the retraction speed of telescoping cylinder 200 to the position movement away from mechanical position limitation mechanism 111 yet; In this case, can make telescoping cylinder 200 keep retraction speed by the steering units such as operating handle of controlling telescoping cylinder 200 actions, also can make by the mode of automatic detection telescoping cylinder 200 keep the speed of retracting.
Please refer in Fig. 4, this example, telescopic boom comprises that the steering unit 600 flexible with controlling telescoping cylinder 200 is connected, and can control the flexible and stretching speed of telescoping cylinder 200 by steering unit 600; The input end of controller 400 is connected with steering unit 600, and can determine according to the state of steering unit 600 state of kinematic motion of telescoping cylinder 200; And then controller 400 can in conjunction with the state of kinematic motion of telescoping cylinder 200 and the detection signal output control signal of position transduser 310, perhaps, be exported control signal in conjunction with the state of kinematic motion of telescoping cylinder 200 and the detection signal of position transduser 320.
Step S510 starts controller 400, makes controller 400 carry out signal scanning by predetermined period.
Step S520, according to scanning result, controller 400 judges whether the detection signal that position sensor produces; If so, enter step S530; If not, finish this cycle, prepare the scanning work of next cycle of operations.
Step S530, controller 400 determine the distance between movable end 201 and mechanical position limitation mechanism 111, and then judge the movable end 201 whether mechanical position limitation mechanism 111 of close basic arm 110; If so, side enters step S540; If not, enter step S560.
Step S540, controller 400 determine the state of kinematic motion of telescoping cylinder 200 according to the state of steering unit 600, and then judge that whether telescoping cylinder 200 is in elongation; If so, enter step S550, to proportional control valve 500 output control signals, make telescoping cylinder 200 stretch out Speed Reduction, then enter next cycle of operations; If be no, this cycle of operations finishes, and directly enters next cycle of operations, no longer exports control signal.
Step S560, controller 400 is determined the state of kinematic motion of telescoping cylinder 200, and then judges that whether telescoping cylinder 200 is in elongation, if be no, enter step S570, to proportional control valve 500 output control signals, telescoping cylinder 200 retraction speed are reduced, then enter next cycle of operations; If be yes, this cycle of operations finishes, and directly enters next cycle of operations.
The state of kinematic motion of telescoping cylinder 200 is not limited to the sense of motion of movable end 201, can also be the kinematic velocity of movable end 201.Controller 400 determines that the concrete mode of the state of kinematic motion of telescoping cylinder 200 can be by arranging respective sensor, by joystick or the position of bar handle and the state that angle is determined steering unit 600 in detection steering unit 600, and then the sense of motion of definite movable end 201 and kinematic velocity.
According to actual needs, can be scheduled to suitable program in controller 400, make controller 400 export predetermined control signal according to predetermined control policy.Take the kinematic velocity of controlling movable ends 201 with respect to mechanical position limitation mechanism 111 as example, control policy can comprise one of following manner at least:
The first, determine that at controller 400 movable end 201 is to away from the direction motion of mechanical position limitation mechanism 111 time, and when the distance between definite movable end 201 and mechanical position limitation mechanism 111 is predetermined value L1, controller 400 is not to proportional control valve 500 output control signals, the aperture of proportional control valve 500 is remained unchanged, the retraction speed of telescoping cylinder 200 is remained unchanged.
The second, determine that at controller 400 movable end 201 is to away from the direction motion of mechanical position limitation mechanism 111 time, and when the distance between definite movable end 201 and mechanical position limitation mechanism 111 is predetermined value L1, controller 400 is to proportional control valve 500 output control signals, the aperture of proportional control valve 500 is increased, telescoping cylinder 200 is retracted with larger speed, the kinematic velocity of movable end 201 increases, to improve the flexible efficient of telescopic boom.
Three, determine that at controller 400 movable end 201 is near the direction motion of mechanical position limitation mechanism 111 time, and when the distance between definite movable end 201 and mechanical position limitation mechanism 111 is predetermined value L1, controller 400 is to proportional control valve 500 output control signals, the aperture of proportional control valve 500 is reduced, the kinematic velocity of movable end 201 is reduced.
Three, the distance between movable end 201 and mechanical position limitation mechanism 111 is predetermined value L1, and the kinematic velocity of movable end 201 reduces movable end 201 kinematic velocitys, and makes it with predetermined First Speed motion during greater than a predetermined value; Distance between movable end 201 and described mechanical position limitation mechanism is predetermined value, and the kinematic velocity of movable end 201 is during less than above-mentioned predetermined value, movable end 201 kinematic velocitys are reduced, and make it with predetermined second speed motion, and make First Speed greater than second speed.
Be appreciated that sense of motion and the kinematic velocity of determining movable end 201 are not limited to determine by steering unit 600, can also determine by a plurality of position transdusers are set.Such as: can be disposed in order at least two position transdusers corresponding with mechanical position limitation mechanism 111 on the flexible direction of telescoping cylinder 200; Because the position transduser installation site is determined, the location positioning of movable end 201 when producing detection signal; And then controller 400 can determine that movable end 201 is with respect to the sense of motion of mechanical position limitation mechanism 111 according to the order that the detection signal of two or more position transdusers produces; And then the sense of motion of definite movable end 201; Press again the aperture of above-mentioned corresponding control policy control ratio control cock 500.
Be appreciated that, in the situation that two position transduser installation sites are determined, distance between time difference between the detection signal that produces according to two position transdusers and two position transduser installation sites also can obtain movable end 201 with respect to the kinematic velocity of mechanical position limitation mechanism 111; Again according to the aperture of above-mentioned corresponding control policy control ratio control cock 500.
The control policy of determining movable end 201 sense of motions and kinematic velocity by two following position transdusers can merge use, also can use respectively; Separately according to the aperture of the kinematic velocity control ratio control cock 500 of movable end 201 time, whether the operator can start controller 400 according to the position judgment of steering unit 600, also can make controller 400 and steering unit 600 interlocks; When making movable end 201 away from mechanical position limitation mechanism 111 at steering unit 600, make controller 400 dead electricity, when steering unit 600 makes movable end 201 near mechanical position limitation mechanism 111, make controller 400 electric.
In order to improve the comformability of telescopic boom, can also be disposed in order along the flexible direction of telescoping cylinder 200, and primary importance sensor and the second place sensor corresponding with mechanical position limitation mechanism 111; Because primary importance sensor and second place sensor are not identical with distance between mechanical position limitation mechanism 111; During to 111 motion of mechanical position limitation mechanism, primary importance sensor and second place sensor can produce respectively detection signal within the different time at movable end 201; Controller 400 just can be determined the first distance between movable end 201 and corresponding mechanical position limitation mechanism according to the detection signal of primary importance sensor, and according to predetermined control policy to proportional control valve 500 output the first control signals; And can determine second distance between movable end 201 and corresponding mechanical position limitation mechanism according to the detection signal of second place sensor, and according to predetermined control policy to described proportional control valve 500 output the second control signals; Proportional control valve 500 can make movable end 201 with First Speed and second speed motion according to the first control signal and the second control signal respectively; In the situation that above-mentioned the first distance can make above-mentioned First Speed greater than second speed greater than second distance.Like this, the kinematic velocity that control system just can twice pair of movable end 201 is regulated, and when having the different distance scope between movable end 201 and corresponding mechanical position limitation mechanism, makes movable end 201 have different kinematic velocitys; The variation of aperture in the time of can reducing like this proportional control valve 500 apertures adjustment reduces because proportional control valve 500 apertures change the hydraulic efficiency impact that hydraulic efficiency pressure system is produced; Simultaneously, can keep the mass motion speed of movable end 201 in the flexible collision impact that mechanical position limitation mechanism 111 is caused that reduces telescoping cylinder 200 like this, improve the flexible efficient of telescoping cylinder 200, the safety that improves telescopic boom.Certainly, in the opposite direction, at movable end 201 during away from 111 motion of mechanical position limitation mechanism, controller 400 just can be according to the detection signal of primary importance sensor and the different control signal of detection signal output of second place sensor, make twice acceleration of telescoping cylinder 200 elongation speed, improve the flexible efficient of telescoping cylinder 200.
Above-mentionedly only be described the invention provides technical scheme with a kind of concrete telescopic boom, be appreciated that technique scheme is not limited to be applied in the telescopic boom of above-mentioned concrete structure, also can be applied in other telescopic booms with mechanical position limitation mechanism; Such as, in common single cylinder single oil cylinder telescopic boom, for the accuracy of the cylinder head location of improving telescoping cylinder, corresponding mechanical position limitation mechanism can be set in the corresponding human position also, so that the telescoping cylinder cylinder head can be relative with the cylinder pin-and-hole of being scheduled to the joint arm better, improve the operating efficiency of telescopic boom; Utilize technical scheme provided by the invention to control telescoping cylinder, the hydraulic efficiency impact that produces in the time of can avoiding cylinder head is braked; Reduce simultaneously or avoid the effect of the collision impact between movable end and mechanical position limitation mechanism.
Providing on the basis of telescopic boom, the present invention also provides a kind of hoisting crane, this hoisting crane comprises chassis and telescopic boom, described telescopic boom is connected with the chassis rotation by being laterally hinged with axle, described telescopic boom can be above-mentioned any telescopic boom, owing to having above-mentioned telescopic boom, this hoisting crane also has corresponding technique effect.
Used specific case herein technical scheme provided by the invention is set forth, the explanation of above embodiment just is used for helping to understand technical scheme provided by the invention.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. telescopic boom, comprise telescoping cylinder (200), more piece joint arm and hydraulic efficiency pressure system, the movable end (201) of described telescoping cylinder (200) is flexible at the bearing of trend of telescopic boom, and described hydraulic efficiency pressure system is connected with telescoping cylinder (200) by hydraulic circuit; Also comprise at least one mechanical position limitation mechanism that coordinates with movable end (201); It is characterized in that, also comprise controller (400), proportional control valve (500) and at least one position transduser;
Described position transduser is corresponding with described mechanical position limitation mechanism, for detection of the position of movable end (201);
Described proportional control valve (500) is connected on hydraulic circuit between hydraulic efficiency pressure system and telescoping cylinder (200);
Described controller (400) is determined distance between movable end (201) and described mechanical position limitation mechanism according to the detection signal of position transduser, and according to predetermined control policy to described proportional control valve (500) output control signal; Described proportional control valve (500) is controlled the kinematic velocity of movable end (201) according to control signal;
Described control policy comprises: when the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, the kinematic velocity of movable end (201) is reduced.
2. telescopic boom according to claim 1, is characterized in that, comprise along the flexible direction of telescoping cylinder (200) be disposed in order, primary importance sensor and the second place sensor corresponding with described mechanical position limitation mechanism;
Described controller (400) is determined the first distance between movable end (201) and described mechanical position limitation mechanism according to the detection signal of primary importance sensor, and according to predetermined control policy to described proportional control valve (500) output the first control signal; Also determine second distance between movable end (201) and described mechanical position limitation mechanism according to the detection signal of second place sensor, and according to predetermined control policy to described proportional control valve (500) output the second control signal; Described proportional control valve (500) makes movable end (201) with First Speed and second speed motion according to the first control signal and the second control signal respectively; Described the first distance is greater than second distance; Described First Speed is greater than second speed.
3. telescopic boom according to claim 1, it is characterized in that, described controller (400) steering unit (600) flexible with controlling telescoping cylinder (200) is connected, and determines the state of kinematic motion of telescoping cylinder (200) according to the state of described steering unit (600);
Described control policy comprises: the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and movable end (201) reduces the kinematic velocity of movable end (201) near the direction motion of described mechanical position limitation mechanism the time.
4. telescopic boom according to claim 1, is characterized in that, be included on the flexible direction of telescoping cylinder (200) be disposed in order, at least two position transdusers corresponding with described mechanical position limitation mechanism;
The sequencing that described controller (400) produces according to the detection signal of position transduser determines that movable end (201) is with respect to the sense of motion of described mechanical position limitation mechanism;
Described control policy comprises: the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and movable end (201) reduces the kinematic velocity of movable end (201) near the direction motion of described mechanical position limitation mechanism the time.
5. telescopic boom according to claim 1, is characterized in that, comprise along the flexible direction of telescoping cylinder (200) be disposed in order, at least two position transdusers corresponding with described mechanical position limitation mechanism;
Described controller (400) is determined the kinematic velocity of movable end (201) according to the time difference of the detection signal generation of position transduser;
Described control policy comprises: the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and the kinematic velocity of movable end (201) makes movable end (201) with predetermined First Speed motion during greater than predetermined value; Distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and the kinematic velocity of movable end (201) makes movable end (201) with predetermined second speed motion during less than predetermined value; Described First Speed is greater than second speed.
6. telescopic boom according to claim 5, is characterized in that,
The sequencing that described controller (400) produces according to the detection signal of position transduser determines that movable end (201) is with respect to the sense of motion of described mechanical position limitation mechanism;
Described control policy comprises: the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and movable end (201) reduces the kinematic velocity of movable end (201) near the direction motion of described mechanical position limitation mechanism the time.
7. according to claim 3,4 or 6 described telescopic booms, it is characterized in that, described control policy comprises: the distance between movable end (201) and described mechanical position limitation mechanism is predetermined value, and movable end (201) increases the kinematic velocity of movable end (201) to away from the direction motion of described mechanical position limitation mechanism the time.
8. according to claim 1-6 described telescopic booms of any one, is characterized in that, described position transduser is approach switch.
9. according to claim 1-6 described telescopic booms of any one, is characterized in that, basic arm (110) and be positioned at least one joint of basic arm (110) joint arm and form the latch connecting bridge in single oil cylinder; Be positioned at least two joint joint arms formation rope row connecting bridges of latch connecting bridge inside; The fixed end of described telescoping cylinder (200) is fixed with the joint arm of the outermost of rope row connecting bridge, and described movable end (201) selectively is connected with arbitrary joint arm of latch connecting bridge; Each joint joint arm of described latch connecting bridge is provided with described mechanical position limitation mechanism.
10. a construction machinery and equipment, comprise chassis and telescopic boom, and described telescopic boom is connected with the chassis rotation by being laterally hinged with axle, it is characterized in that, described telescopic boom is the described telescopic boom of claim 1-9 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110131108 CN102259802B (en) | 2011-05-18 | 2011-05-18 | Telescopic arm and engineering machine comprising same |
| PCT/CN2012/074208 WO2012155747A1 (en) | 2011-05-18 | 2012-04-17 | Telescopic boom and engineering machine comprising the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110131108 CN102259802B (en) | 2011-05-18 | 2011-05-18 | Telescopic arm and engineering machine comprising same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102259802A CN102259802A (en) | 2011-11-30 |
| CN102259802B true CN102259802B (en) | 2013-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110131108 Expired - Fee Related CN102259802B (en) | 2011-05-18 | 2011-05-18 | Telescopic arm and engineering machine comprising same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102259802B (en) |
| WO (1) | WO2012155747A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259802B (en) * | 2011-05-18 | 2013-06-12 | 三一汽车起重机械有限公司 | Telescopic arm and engineering machine comprising same |
| CN102566584B (en) * | 2011-12-20 | 2014-06-04 | 长沙中联消防机械有限公司 | Engineering machinery, and control method, device and system for rotation and centering of arm support of engineering machinery |
| CN102490700B (en) * | 2011-12-23 | 2014-05-21 | 中联重科股份有限公司 | Engineering machine as well as control device and control method of supporting leg of engineering machine |
| CN103625441B (en) * | 2013-12-13 | 2016-09-21 | 中联重科股份有限公司 | The control system of supporting leg and control method |
| CN103832935B (en) * | 2014-02-20 | 2016-04-20 | 湖州东方汽车有限公司 | Compound type car is in-built extends compression apparatus |
| CN104129725B (en) * | 2014-08-21 | 2016-05-25 | 徐州重型机械有限公司 | A kind of single-cylinder bolt type telescopic boom, telescopic method and crane |
| CN105197820B (en) * | 2014-10-16 | 2017-08-08 | 徐州重型机械有限公司 | A kind of arm level detecting apparatus, method and crane |
| CN104724493B (en) * | 2015-02-12 | 2017-01-04 | 鄂尔多斯市神东天隆矿山机械有限责任公司 | Heavy retractor device |
| CN105565188B (en) * | 2015-12-29 | 2018-04-13 | 中联重科股份有限公司 | Prevent oil cylinder from going out the structures and methods and arm of joint arm |
| CN110141261A (en) * | 2019-05-15 | 2019-08-20 | 深圳市洪诚嘉汇科技有限公司 | Digital subtraction angiography die body |
| CN110761624B (en) * | 2019-09-18 | 2020-12-04 | 珠海格力电器股份有限公司 | Bolt control method and door lock system |
| CN111439690B (en) * | 2020-05-12 | 2024-05-24 | 江苏宏昌天马物流装备有限公司 | Multi-cylinder sequential telescopic hydraulic system and control method |
| CN112726695B (en) * | 2021-01-27 | 2022-08-12 | 徐州徐工矿业机械有限公司 | Electronic buffering and limiting device for engineering machinery |
| CN112727817B (en) * | 2021-01-27 | 2022-06-17 | 徐州徐工矿业机械有限公司 | Electronic buffer control method for engineering machinery |
| CN113602984A (en) * | 2021-09-09 | 2021-11-05 | 大洋泊车股份有限公司 | Telescopic joint wire rope hoisting structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4344795A1 (en) * | 1993-12-28 | 1995-06-29 | Liebherr Werk Ehingen | Mobile crane with a telescopic boom |
| CN1418805A (en) * | 2002-11-13 | 2003-05-21 | 徐州重型机械厂 | Multiple arms telescopic device automatically controlled by single telescopic cylinder |
| CN201406290Y (en) * | 2009-03-25 | 2010-02-17 | 徐州重型机械有限公司 | Telescopic hoist boom and hoist with same |
| CN101585491B (en) * | 2009-06-17 | 2011-04-13 | 三一汽车制造有限公司 | Automobile crane and device with multiple sections of telescopic jibs thereof |
| CN101804945B (en) * | 2010-05-07 | 2012-09-26 | 三一汽车起重机械有限公司 | Single cylinder bolt-type telescopic arm device and arm section position detection system thereof |
| CN201882822U (en) * | 2010-07-27 | 2011-06-29 | 三一集团有限公司 | Telescopic boom stretching-retracting and buffering device and crane with telescopic boom stretching and buffering device |
| CN102259802B (en) * | 2011-05-18 | 2013-06-12 | 三一汽车起重机械有限公司 | Telescopic arm and engineering machine comprising same |
-
2011
- 2011-05-18 CN CN 201110131108 patent/CN102259802B/en not_active Expired - Fee Related
-
2012
- 2012-04-17 WO PCT/CN2012/074208 patent/WO2012155747A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012155747A1 (en) | 2012-11-22 |
| CN102259802A (en) | 2011-11-30 |
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