CN102372234A - Mobile type crane and control method and control device of horizontal support legs of mobile type crane - Google Patents
Mobile type crane and control method and control device of horizontal support legs of mobile type crane Download PDFInfo
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- CN102372234A CN102372234A CN2010102628089A CN201010262808A CN102372234A CN 102372234 A CN102372234 A CN 102372234A CN 2010102628089 A CN2010102628089 A CN 2010102628089A CN 201010262808 A CN201010262808 A CN 201010262808A CN 102372234 A CN102372234 A CN 102372234A
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Abstract
The invention discloses a mobile type crane and a control method and a control device of horizontal support legs of a mobile type crane. The disclosed control method comprises the following steps of: firstly, controlling the horizontal support legs to extend outwards; secondly, detecting the distance L between the horizontal support legs and an obstacle; thirdly, comparing the L with a first vigilance distance L1; and fourthly, when the L is smaller than the L1, controlling the horizontal support legs to stop extending out. According to the control method, the phenomenon that the horizontal support legs generate collision with surrounding articles during extending can be effectively avoided, the possibility that the crane generates tip-over accidents is reduced and the safe reliability of the mobile type crane is improved. In addition, the control method has less influence from human factors, and thus labor cost is reduced, the accuracy for judgment can be improved and the possibility of fault is reduced. In addition, each horizontal support leg of the mobile type crane can be simultaneously detected and controlled; high and effective control efficiency is realized; and the operation safety of the mobile type crane is ensured.
Description
Technical field
The present invention relates to the hoisting crane field, particularly relate to a kind of horizontal support legs control method and control setup that is used for movable crane.In addition, the invention still further relates to a kind of movable crane that comprises above-mentioned horizontal support legs control setup.
Background technology
Movable crane is the conventional machinery in the modern industry, and its supporting leg comprises horizontal support legs and vertical leg.Horizontal support legs can stretch out or withdraw when movable crane is worked, and vertical leg generally designs the end in horizontal support legs, supports ground when being used for horizontal support legs and stretching out.
Please refer to Fig. 1, Fig. 1 is the leg structure scheme drawing of a kind of common movable crane in the prior art, and direction shown in the arrow is the working direction of movable crane among the figure.
The supporting leg of movable crane comprises left front supporting leg 11, left back supporting leg 12, right front supporting leg 13 and right back supporting leg 14.At present, the operation of stretching out of crane horizontal supporting leg has two kinds of methods: a kind ofly on the supporting leg guidance panel on hoisting crane chassis, stretch out and close and then control electromagnetic valve is carried out horizontal support legs and stretched out action through pressing horizontal support legs; A kind ofly on the supporting leg guidance panel of operator's compartment, stretch out and close and then control electromagnetic valve is carried out horizontal support legs and stretched out action through pressing horizontal support legs.Whether in first kind of method of operation, needing has obstacle around the operating personal judgement artificial, repeatedly, and the crowd or the object that especially flow are in case error in judgement just causes safety problem easily.In second kind of method of operation, the visual field of operating personal is greatly limited, exist can injury around object, potential safety hazard such as hoisting crane overthrow accident when running on every side object.And can only carry out operation separately to supporting leg, can not carry out synchronous operation to four horizontal support legs.
Please refer to Fig. 2, Fig. 2 is the control principle figure of a kind of typical supporting leg control setup in the prior art.
Prior art be horizontal support legs stretch out close 15 when electric, 16 in news Chinese percussion instrument is reminded the pedestrian to audible alarm.Storage battery 17, wire fuse 18, horizontal support legs are stretched out pass 15, electromagnetic valve 19 Homeway.com Chinese percussion instruments 16 connect and compose a loop, the wherein circuit of the circuit Homeway.com Chinese percussion instrument 16 of electromagnetic valve 19 parallel connection.When horizontal support legs was stretched out pass 15 closures, electromagnetic valve 19 got electric, and news Chinese percussion instrument 16 is reported to the police.
Though this method is stretched out control that action the time has audio alert, horizontal support legs stretch out at horizontal support legs, from the place one's entire reliance upon judgement of operating personal of the distance between obstacle, artificial factor is very big, and reliability is not high.And, safety problem consideration limited from the visual field, often can not carry out level to all horizontal support legs simultaneously and stretch operation, operating process is time-consuming complicated, wastes time and energy.
Therefore, how effectively to control the horizontal support legs of movable crane, the reliability the when supporting leg of improving the standard stretches out is the present technical issues that need to address of those skilled in the art.
Summary of the invention
The purpose of this invention is to provide a kind of horizontal support legs control method and control setup that is used for movable crane, this control method and the control setup safe reliability of supporting leg when stretching out of effectively improving the standard.Another object of the present invention provides a kind of movable crane that comprises above-mentioned control method and control setup, and its safe reliability is improved.
For realizing the foregoing invention purpose, the present invention provides a kind of control method of horizontal support legs, is used for movable crane, may further comprise the steps:
Step 1): the controlling level supporting leg is protruding;
Step 2): detect the distance L between said horizontal support legs and obstacle;
Step 3): the size of the distance L between more said horizontal support legs and obstacle and the first warning distance L 1;
Step 4): when the distance L between said horizontal support legs and obstacle is guarded against distance L 1 less than said first, control said horizontal support legs and stop to stretch out.
Preferably, also comprise between said step 2 and the said step 3:
Step 21): the size of the distance L between more said horizontal support legs and obstacle and the second warning distance L 2, this second warning distance L 2 is greater than the said first warning distance L 1;
Step 22): when the distance L between said horizontal support legs and obstacle is guarded against distance L 1 less than the said second warning distance L 2 and greater than said first, send cue.
Preferably, also comprise after the said step 4:
Step 41): send cue.
Preferably, said cue comprise bell signal, wigwag among both at least one.
Preferably, in the step 2, detect the outermost end of said horizontal support legs and the distance between the obstacle.
Preferably, also comprise after the said step 41:
Step 5): control said horizontal support legs by force and continue outside trace and stretch out.
The present invention also provides a kind of control setup of horizontal support legs, is used for movable crane, comprising: detection part is used for the distance L between detection level supporting leg and the obstacle; Controller is used to receive the range signal L that said detection part detects, and compares the size of the L and the first warning distance L 1; Execution unit is connected with the mouth of said controller, is used to drive said horizontal support legs and stretches out or stop; When the distance L between said horizontal support legs and the obstacle is guarded against distance L 1 less than said first, drive said horizontal support legs and stop to stretch out.
Preferably, said controller also be used between more said horizontal support legs and the obstacle distance L and second the warning distance L 2 size, this second the warning distance L 2 greater than said first the warning distance L 1; When the distance L between said horizontal support legs and the obstacle is guarded against distance L 1 less than the said second warning distance L 2 but greater than said first, send cue.
Preferably, said detection part is installed on the outermost end of said horizontal support legs.
Preferably, said detection part is ultrasonic transduter or laser sensor.
Preferably, said execution unit is an electromagnetic valve; First inlet of this electromagnetic valve is communicated with the rodless cavity of horizontal support legs oil cylinder, and second inlet is communicated with the rod chamber of said horizontal support legs oil cylinder.
Preferably, also comprise mouth bonded assembly telltale with said controller.
Preferably, comprise that also being used for controlling by force said horizontal support legs continues the switch of going beyond one's commission that trace stretches out.
Control method provided by the present invention is used to control the horizontal support legs of movable crane, and this control method comprises following 4 steps: 1) the controlling level supporting leg stretches out; 2) distance L between detection level supporting leg and obstacle; 3) compare the size that L and first guards against distance L 1; 4) as L during, control said horizontal support legs and stop to stretch out less than L1.Enforcement through above-mentioned control method; The process of stretching out of horizontal support legs has realized real-time monitoring; When the distance between horizontal support legs and the obstacle less than first the warning apart from the time, the controlling level supporting leg stops, and avoids horizontal support legs when stretching out, to run into surrounding; Reduce to occur the possibility that overthrow accident appears in hoisting crane, improve the safe reliability of movable crane.In addition, the detection of adjusting the distance does not rely on the operator, receives artificial factor less, and is lower to the requirement of operating personal, both can reduce the recruitment cost, can improve the accuracy of judgement again, the possibility that reduces to slip up.
Simultaneously, because the detection of adjusting the distance and control are less to the dependence of operating personal, can be simultaneously each horizontal support legs of movable crane are detected simultaneously and controls, its control efficiency be high and effectively, guarantee the movable crane safety of operation.
A kind of preferred embodiment in, also comprise the steps: 21 between control method step 2 provided by the present invention and the step 3) relatively L and second guard against the size of distance L 2; 22) as L during less than L2 and greater than L1, alarm set sends cue.Promptly when horizontal support legs was outwardly directed, the distance between horizontal support legs and obstacle was sent cue less than the second warning distance to operating personal; The prompting operating personal is noted; Play the effect of early warning, make operating personal that certain mental preparation arranged, avoid the distance between horizontal support legs and the obstacle to arrive the first warning distance; When horizontal support legs stopped to stretch out, hoisting crane can not be adjusted to suitable position.After operating personal had had the time of anticipation, more stable to the operation of hoisting crane, the safety of hoisting crane was higher.
In another preferred embodiment, also comprise the step that controlling level supporting leg continuation is by force stretched out after the step 41 outside trace.After distance between horizontal support legs and obstacle reached the first warning distance, the horizontal support legs Be Controlled can not be stretched out again.After operating personal is confirmed; Danger can't appear in hoisting crane when the outside continuation of discovery trace stretched out, and can realize the operation purpose, and can press the switch of going beyond one's commission this moment; Switch is removed the control to horizontal support legs through going beyond one's commission; Make horizontal support legs can continue trace and stretch out, the realization hoisting crane is more operated, thereby improves the engineering adaptability of hoisting crane.
Except the control method of above-mentioned horizontal support legs is provided, the present invention also provides the control setup of realizing above-mentioned control method, and the technique effect of this control setup is identical with the technique effect of control method; And on the basis of control method and control setup, the present invention provides a kind of movable crane that comprises above-mentioned control setup again; Because control method and control setup have above-mentioned technique effect, the movable crane with this control setup also has the corresponding techniques effect.
Description of drawings
Fig. 1 is the leg structure scheme drawing of a kind of common movable crane in the prior art;
Fig. 2 is the control principle figure of a kind of typical supporting leg control setup in the prior art;
Fig. 3 is the diagram of circuit of first kind of specific embodiment of horizontal support legs control method provided by the present invention;
Fig. 4 is the diagram of circuit of second kind of specific embodiment of horizontal support legs control method provided by the present invention;
Fig. 5 is the diagram of circuit of the third specific embodiment of horizontal support legs control method provided by the present invention;
Fig. 6 is the diagram of circuit of the 4th kind of specific embodiment of horizontal support legs control method provided by the present invention;
Fig. 7 is the structural representation of a kind of specific embodiment of horizontal support legs control setup provided by the present invention;
Fig. 8 is the control system figure of a kind of specific embodiment of control setup provided by the present invention.
The specific embodiment
Core of the present invention provides a kind of horizontal support legs control method and control setup that is used for movable crane, this control method and the control setup safe reliability of supporting leg when stretching out of effectively improving the standard.Another core of the present invention provides a kind of movable crane that comprises above-mentioned control method and control setup, and its safe reliability also is improved.
Need to prove: as herein described greater than, can be regarded as more than or equal to; As herein described less than, can be regarded as smaller or equal to; When being in transformation point, the associated component in the movable crane can begin action, also can not begin action.In addition, the inside and outside noun of locality that waits that this paper is related is to be that benchmark defines with axis parallel with its working direction in the movable crane, near the axis be in, away from the axis be outside.The noun of locality that should be appreciated that among this paper to be adopted should not limit the protection domain of this patent.
In order to make those skilled in the art person understand the present invention program better, the present invention is done further detailed description below in conjunction with the accompanying drawing and the specific embodiment.
Please refer to Fig. 3, Fig. 3 is the diagram of circuit of first kind of specific embodiment of horizontal support legs control method provided by the present invention.
Control method provided by the present invention is used to control the horizontal support legs of movable crane, and first kind of specific embodiment of this control method comprises following 4 steps:
S11: the controlling level supporting leg stretches out;
S12: the distance L between detection level supporting leg and obstacle;
S13: relatively L and first guards against the size of distance L 1;
S14: as L during less than L1, the controlling level supporting leg stops to stretch out.
Enforcement through above-mentioned control method; The process of stretching out of horizontal support legs has realized real-time monitoring; When the distance between horizontal support legs and the obstacle less than first the warning apart from the time, the controlling level supporting leg stops, and avoids horizontal support legs when stretching out, to run into surrounding; Reduce to occur the possibility that overthrow accident appears in hoisting crane, improve the safe reliability of movable crane.In addition, the detection of adjusting the distance does not rely on the operator, receives artificial factor less, and is lower to the requirement of operating personal, both can reduce the recruitment cost, can improve the accuracy of judgement again, the possibility that reduces to slip up.
Simultaneously, because the detection of adjusting the distance and control are less to the dependence of operating personal, can be simultaneously each horizontal support legs of movable crane are detected simultaneously and controls, its control efficiency be high and effectively, guarantee the movable crane safety of operation.
Please refer to Fig. 4, Fig. 4 is the diagram of circuit of second kind of specific embodiment of horizontal support legs control method provided by the present invention.
In second kind of concrete embodiment, horizontal support legs control method provided by the present invention may further comprise the steps:
S21: the controlling level supporting leg stretches out;
S22: the distance L between detection level supporting leg and obstacle;
S23: relatively L and second guards against the size of distance L 2;
S24: as L during greater than L2, show that movable crane is in a safe condition, horizontal support legs can continue to stretch out; As L during greater than L1 and less than L2, alarm set sends cue;
S25: relatively L and first guards against the size of distance L 1;
S26: as L during less than L1, the controlling level supporting leg stops to stretch out; As L during greater than L1 and less than L2, show that the distance between horizontal support legs and obstacle is closer, but still be in a safe condition, can continue protruding.
Like this, when horizontal support legs was outwardly directed, the distance between horizontal support legs and obstacle was less than the second warning distance; Send cue to operating personal, remind operating personal to note, play the effect of early warning; Make operating personal that certain mental preparation arranged; Avoid the distance between horizontal support legs and the obstacle to arrive the first warning distance, when horizontal support legs stopped to stretch out, hoisting crane can not be adjusted to suitable position.After operating personal had had the time of anticipation, more stable to the operation of hoisting crane, the safety of hoisting crane was higher.
Please refer to Fig. 5, Fig. 5 is the diagram of circuit of the third specific embodiment of horizontal support legs control method provided by the present invention.
In the third concrete embodiment, horizontal support legs control method provided by the present invention may further comprise the steps:
S31: the controlling level supporting leg stretches out;
S32: the distance L between detection level supporting leg and obstacle;
S33: relatively L and second guards against the size of distance L 2;
S34: as L during less than L2, alarm set sends cue, as L during greater than L2, shows that movable crane is in a safe condition, and horizontal support legs can continue to stretch out;
S35: relatively L and first guards against the size of distance L 1;
S36: as L during less than L1, the controlling level supporting leg stops to stretch out; As L during greater than L1 and less than L2, show that the distance between horizontal support legs and obstacle is closer, but still be in a safe condition, can continue protruding;
S37: send cue, after promptly the controlling level supporting leg stops to stretch out, send out to cue to operating personal, remind the reason of operating personal shut-down operation, the handled easily personnel make correct selection according to cue.
Please refer to Fig. 6, Fig. 6 is the diagram of circuit of the 4th kind of specific embodiment of horizontal support legs control method provided by the present invention.
In the 4th kind of concrete embodiment, horizontal support legs control method provided by the present invention may further comprise the steps:
S41: the controlling level supporting leg stretches out;
S42: the distance L between detection level supporting leg and obstacle;
S43: relatively L and second guards against the size of distance L 2;
S44: as L during less than L2, alarm set sends cue, as L during greater than L2, shows that movable crane is in a safe condition, and horizontal support legs can continue to stretch out;
S45: relatively L and first guards against the size of distance L 1;
S46: as L during less than L1, the controlling level supporting leg stops to stretch out; As L during greater than L1 but less than L2, show that the distance between horizontal support legs and obstacle is closer, but still be in a safe condition, can continue protruding;
S47: send cue, after promptly the controlling level supporting leg stops to stretch out, send out to cue to operating personal, remind the reason of operating personal shut-down operation, the handled easily personnel make correct selection according to cue;
S48: the controlling level supporting leg continues outside trace and stretches out by force.After distance between horizontal support legs and obstacle reached the first warning distance, the horizontal support legs Be Controlled can not be stretched out again.After operating personal is confirmed; Danger can't appear in hoisting crane when the outside continuation of discovery trace stretched out, and can realize the operation purpose, and can press the switch of going beyond one's commission this moment; Switch is removed the control to horizontal support legs through going beyond one's commission; Make horizontal support legs can continue trace and stretch out, the realization hoisting crane is more operated, thereby improves the engineering adaptability of hoisting crane.
Obviously, the scope of above-mentioned trace should be able to guarantee that hoisting crane can danger not occur, horizontal support legs still is in a safe condition, and through after trace stretches out, the normal running of lifting function realizes engineering purpose.
In above-mentioned control method, when the needs cue, this cue can be the prompting of sound class such as alarm bell, also can be the prompting on the light such as warning light, or sound and light are pointed out simultaneously.Obviously, above-mentioned cue is wherein a kind of just, and what can play suggesting effect can also be image; Sound can be gradual change, and is different with the far and near sound of the distance of obstacle according to horizontal support legs; Light can be colored, according to the gradual change of distance low beam light color.Even can be on the telltale of operating personal the size of range of a signal, operating personal can be judged intuitively.In a word, as long as can play the effect of effective prompting, just can satisfy requirement of the present invention.
In addition; Between detection level supporting leg and the obstacle apart from the time; The preferably outermost end of detection level supporting leg and the distance between the obstacle; With the outermost end that guarantees horizontal support legs and the distance between the obstacle arrive predetermined warning apart from the time, movable crane is made corresponding judgment, thereby further improves the safe reliability of movable crane.
Except the control method of above-mentioned horizontal support legs is provided, the present invention also provides the control setup of realizing above-mentioned control method.
Please refer to Fig. 7, Fig. 7 is the structural representation of a kind of specific embodiment of horizontal support legs control setup provided by the present invention, and direction shown in the arrow is the direction of stretching out of horizontal support legs among the figure.
Horizontal support legs control setup provided by the present invention; Comprise detection part 21, controller 22 and execution unit; Wherein, Detection part 21 is used for the distance L between detection level supporting leg 23 and the obstacle 20, and the input end of controller 22 is used to receive the range signal L that detection part 21 detects, and compares the size of the L and the first warning distance L 1; Execution unit is connected with the mouth of controller 22, is used for controlling level supporting leg 23 and stretches out or stop; As L during less than L1, controlling level supporting leg 23 stops to stretch out.
In further technical scheme, controller 22 also is used for the size that comparison level supporting leg 23 and the distance L and second of 20 on obstacle are guarded against distance L 2.As L during greater than L2, show that movable crane is in a safe condition, horizontal support legs 23 can continue to stretch out; As L during less than L2, alarm set sends cue.
Particularly, above-mentioned detection part 21 can be a sensor, can both satisfy needs of the present invention like ultrasonic transduter and laser sensor.And sensor can be preferably mounted in the outermost end of horizontal support legs 23, with the outermost end of detection level supporting leg 23 and the distance of obstacle 20, guarantees the safety when horizontal support legs 23 stretches out.
Simultaneously, can also connect telltale 24, make operating personal further improve the reliability of operation according to the range information that provides on the telltale 24, information operation at the mouth of controller 22.
A kind of preferred embodiment in, control setup provided by the present invention comprises sensor as shown in Figure 7, electromagnetic valve 25, oil inlet, oil return pipe, controller 22, telltale 24.Sensor is installed in supporting leg and stretches out the outside of direction along horizontal support legs 23, and its detection signal is connected with the input end of controller 22; The mouth of controller 22 is connected with electromagnetic valve 25; Oil inlet is connected with the oil inlet P of electromagnetic valve 25; Oil return pipe is connected with the oil outlet T of electromagnetic valve 25; The first inlet A of electromagnetic valve 25 is connected with the rodless cavity 261 of horizontal support legs oil cylinder 26, and the second inlet B of electromagnetic valve 25 is connected with the rod chamber 262 of horizontal support legs oil cylinder 26.The mouth of controller 22 is connected with telltale 24 input ends.
The distance that logical supporting leg that arrives according to sensor of controller 22 and obstacle are 20 judges whether to carry out horizontal support legs 23 automatically and stretches out.Under dangerous situation, the mode of stretching action through telltale 24 icon warnings, audible alarm even limit levels supporting leg 23 plays the purpose of protecting pedestrian, protection hoisting crane.
Obviously, the electromagnetic valve 25 of this paper can be two position four-way solenoid valves, also can be the two-bit triplet electromagnetic valve.And; In order to improve the reliability that detects range information, on each horizontal support legs 23 sensor can be set, two even a plurality of sensor also can be set; According to the range information of a plurality of sensor, obtain the distance of 20 on horizontal support legs 23 and obstacle.
Further in the scheme, can remove this restraint through the switch of going beyond one's commission.The switch of going beyond one's commission is meant in control system, the switch that priority is high.In this application; When horizontal support legs 23 stretches out the confined danger factor of action when being judged that artificially these danger factor are not enough to constitute a threat to; After pressing the switch of going beyond one's commission, remove control, make horizontal support legs 23 can continue trace and stretch out horizontal support legs 23; The realization hoisting crane is more operated, thereby improves the engineering adaptability of hoisting crane.
Obviously, the scope of above-mentioned trace should be able to guarantee that hoisting crane can danger not occur, horizontal support legs still is in a safe condition, and through after trace stretches out, the normal running of lifting function realizes engineering purpose.
Please refer to Fig. 8, Fig. 8 is the control system figure of a kind of specific embodiment of control setup provided by the present invention.
Sensor is installed in supporting leg and stretches out the outside of direction along horizontal support legs 23, and its detection signal is connected with the input end of controller 22; The mouth of controller 22 is connected with electromagnetic valve 25; Oil inlet is connected with the oil inlet P of electromagnetic valve 25; Oil return pipe is connected with the oil outlet T of electromagnetic valve 25; The first inlet A of electromagnetic valve 25 is connected with the rodless cavity 261 of horizontal support legs oil cylinder 26, and the second inlet B of electromagnetic valve 25 is connected with the rod chamber 262 of horizontal support legs oil cylinder 26.The mouth of controller 22 is connected with the input end of telltale 24.
When electromagnetic valve 25 when electric, the oil inlet P and the first inlet A are communicated with, oil outlet T is communicated with the second inlet B, rodless cavity 261 oil-feeds of horizontal support legs oil cylinder 26, rod chamber 262 oil returns of horizontal support legs oil cylinder 26, horizontal support legs 23 stretches out; When electromagnetic valve 25 outages, the oil inlet P and the first inlet A break off, and the oil outlet T and the second inlet B break off, and horizontal support legs 23 stops to stretch out motion.
Start vehicle, press the switch that controlling level supporting leg 23 stretches out, the outside of sensor horizontal support legs oil cylinder 26 is from the distance L of obstacle 20, if distance L is guarded against distance L 2 greater than second, electromagnetic valve 25 gets electric, and horizontal support legs 23 continues to stretch action; If distance L is less than the second warning distance L 2, situation hazardous, early warning response; The early warning icon is reminded on the telltale 24, auditory tone cues, but electromagnetic valve 25; Horizontal support legs 23 can continue protruding action, continues to compare the size of the distance L and the first warning distance L 1; If distance L is greater than the first warning distance L 1, early warning response, telltale 24 early warning icons are reminded, auditory tone cues, but electromagnetic valve 25 electric, horizontal support legs 23 can continue protruding action, continues the size that distance L and first is relatively guarded against distance L 1; If distance L is less than the first warning distance L 1, situation is abnormally dangerous, alarm response, and electromagnetic valve 251 outages, horizontal support legs 23 stops to stretch out action, in addition, can also realize the prompting of telltale 24 alert icon, and sound frequency is accelerated, sound strengthens prompting.
Wherein, according to the difference of solenoid directional control valve form, also can be set to electromagnetic valve 25 when electric, horizontal support legs 23 stops level and stretches motion; During electromagnetic valve 25 outages, horizontal support legs 23 continuation levels are stretched motion.
Except the control setup of above-mentioned horizontal support legs, the present invention also provides a kind of movable crane that comprises above-mentioned control setup, and the structure of these other each several parts of movable crane please refer to prior art, and this paper repeats no more.
More than the control method and the control setup of movable crane provided by the present invention and horizontal support legs thereof carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.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 (13)
1. the control method of a horizontal support legs is used for movable crane, it is characterized in that, may further comprise the steps:
Step 1): the controlling level supporting leg is protruding;
Step 2): detect the distance L between said horizontal support legs and obstacle;
Step 3): the size of the distance L between more said horizontal support legs and obstacle and the first warning distance L 1;
Step 4): when the distance L between said horizontal support legs and obstacle is guarded against distance L 1 less than said first, control said horizontal support legs and stop to stretch out.
2. the control method of horizontal support legs according to claim 1 is characterized in that, also comprises between said step 2 and the said step 3:
Step 21): the size of the distance L between more said horizontal support legs and obstacle and the second warning distance L 2, this second warning distance L 2 is greater than the said first warning distance L 1;
Step 22): when the distance L between said horizontal support legs and obstacle is guarded against distance L 1 less than the said second warning distance L 2 and greater than said first, send cue.
3. the control method of horizontal support legs according to claim 2 is characterized in that, also comprises after the said step 4:
Step 41): send cue.
4. the control method of horizontal support legs according to claim 3 is characterized in that, said cue comprise bell signal, wigwag among both at least one.
5. according to the control method of each described horizontal support legs of claim 1 to 4, it is characterized in that, in the step 2, detect the outermost end of said horizontal support legs and the distance between the obstacle.
6. according to the control method of claim 3 or 4 described horizontal support legs, it is characterized in that, also comprise after the said step 41:
Step 5): control said horizontal support legs by force and continue outside trace and stretch out.
7. the control setup of a horizontal support legs is used for movable crane, it is characterized in that, comprising:
Detection part (21) is used for the distance L between detection level supporting leg (23) and the obstacle;
Controller (22) is used to receive the range signal L that said detection part (21) detects, and compares the size of the L and the first warning distance L 1;
Execution unit is connected with the mouth of said controller (22), is used to drive said horizontal support legs (23) and stretches out or stop; When the distance L between said horizontal support legs (23) and the obstacle is guarded against distance L 1 less than said first, drive said horizontal support legs (23) and stop to stretch out.
8. the control setup of horizontal support legs according to claim 7; It is characterized in that; Said controller (22) also be used between more said horizontal support legs (23) and the obstacle distance L and second the warning distance L 2 size, this second the warning distance L 2 greater than said first the warning distance L 1; When the distance L between said horizontal support legs (23) and the obstacle is guarded against distance L 1 less than the said second warning distance L 2 but greater than said first, send cue.
9. according to the control setup of claim 7 or 8 described horizontal support legs, it is characterized in that said detection part (21) is installed on the outermost end of said horizontal support legs (23).
10. the control setup of horizontal support legs according to claim 9 is characterized in that, said detection part (21) is ultrasonic transduter or laser sensor.
11. the control setup of horizontal support legs according to claim 9 is characterized in that, said execution unit is electromagnetic valve (25); The first inlet A of this electromagnetic valve (25) is communicated with the rodless cavity (261) of horizontal support legs oil cylinder (26), and the second inlet B is communicated with the rod chamber (262) of said horizontal support legs oil cylinder (26).
12. the control setup of horizontal support legs according to claim 9 is characterized in that, also comprises the mouth bonded assembly telltale (24) with said controller (22).
13. the control setup of horizontal support legs according to claim 9 is characterized in that, comprises that also being used for controlling by force said horizontal support legs (23) continues the switch of going beyond one's commission that trace stretches out.
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| CN2010102628089A CN102372234A (en) | 2010-08-23 | 2010-08-23 | Mobile type crane and control method and control device of horizontal support legs of mobile type crane |
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| CN2010102628089A CN102372234A (en) | 2010-08-23 | 2010-08-23 | Mobile type crane and control method and control device of horizontal support legs of mobile type crane |
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| CN103496636A (en) * | 2013-10-22 | 2014-01-08 | 徐州重型机械有限公司 | Operation area limiting method, operation area limiting device and fire fighting truck |
| WO2017120905A1 (en) * | 2016-01-15 | 2017-07-20 | 赵政荣 | Data collection method for use during playing game and head-mounted virtual reality apparatus |
| CN107915161A (en) * | 2017-11-01 | 2018-04-17 | 芜湖市长江起重设备制造有限公司 | A kind of backing plate self extending device of crane vertical leg |
| CN113371611A (en) * | 2021-04-29 | 2021-09-10 | 中联重科股份有限公司 | Control method and device for supporting leg assembly and engineering equipment |
| CN117208819A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103496636A (en) * | 2013-10-22 | 2014-01-08 | 徐州重型机械有限公司 | Operation area limiting method, operation area limiting device and fire fighting truck |
| WO2017120905A1 (en) * | 2016-01-15 | 2017-07-20 | 赵政荣 | Data collection method for use during playing game and head-mounted virtual reality apparatus |
| CN107915161A (en) * | 2017-11-01 | 2018-04-17 | 芜湖市长江起重设备制造有限公司 | A kind of backing plate self extending device of crane vertical leg |
| CN107915161B (en) * | 2017-11-01 | 2019-08-30 | 芜湖市长江起重设备制造有限公司 | A kind of backing plate self extending device of crane vertical leg |
| CN113371611A (en) * | 2021-04-29 | 2021-09-10 | 中联重科股份有限公司 | Control method and device for supporting leg assembly and engineering equipment |
| CN117208819A (en) * | 2023-11-09 | 2023-12-12 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
| CN117208819B (en) * | 2023-11-09 | 2024-02-02 | 临工重机股份有限公司 | Control method of telescopic boom forklift supporting leg and telescopic boom forklift |
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Application publication date: 20120314 |