CN104058336A - Front lifting crane and control method and system thereof - Google Patents
Front lifting crane and control method and system thereof Download PDFInfo
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- CN104058336A CN104058336A CN201410304175.1A CN201410304175A CN104058336A CN 104058336 A CN104058336 A CN 104058336A CN 201410304175 A CN201410304175 A CN 201410304175A CN 104058336 A CN104058336 A CN 104058336A
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Abstract
The embodiment of the invention discloses a front lifting crane and a control method and system of the front lifting crane. The control system comprises a main controller, a display, an expansion controller, a length sensor, an angle sensor, an engine controller, a gearbox controller, an oil pressure sensor and a detection sensor, wherein the display, the expansion controller, the length sensor, the angle sensor, the engine controller and the gearbox controller are respectively connected with the main controller through a CAN; the oil pressure sensor and the detection sensor are respectively connected with the expansion controller through the CAN. The oil pressure sensor, the length sensor, the angle sensor, the detection sensor, the engine controller and the gearbox controller collect working pressure information of a hydraulic system in a hydraulic cylinder of the crane, length information and angle information of a lazy arm, working status information of all units in the control system, operation condition information of an engine and the operation condition information of a gearbox and transmit all the information to the main controller respectively. The main controller sends the received information to the display for real-time display and sends corresponding failure warning information to the display for display when a failure happens. According to the front lifting crane and the control method and system of the front lifting crane, self diagnosis of failure information during operation of the crane can be achieved.
Description
Technical field
The present invention relates to control technology, especially a kind of front-handling mobile crane and control method and system.
Background technology
Fault self-diagnosis technology in engineering machinery field is a very important technology, is the important indicator of evaluation engineering Machinery Control System advance.Use fault self-diagnosis technology, when control system is moved, the controlling unit of internal system is carried out to validity monitoring always, out of service immediately when breaking down, and the trouble location of display requirement processing, to guarantee the reliability of control system self, avoid the generation of quality and safety misadventure.
In prior art, only, in power limit device control system, there is simple fault self-diagnosis function.For travelling and the judgement of the fault of operation-control system of hoisting crane car load, can only investigate one by one by the display interface of switch controller.Whether power supply, the communication state that first will judge car load electric elements meet the demands; Further input, output port and the relevant control parameter query interface by controller judges whether control system exists fault; According to the state of port, further judge whether the mode of operation of electric elements meets the demands again, check that circuit or element are to get rid of circuit or electric elements built-in problem.
Existing control technology is according to phenomenon of the failure for the judgement of fault, and the associated components by check system maybe may produce the part of fault, progressively analyzes and gets rid of.This just requires malfunction elimination personnel to be familiar with very much the operating system configuring and possesses the abundant practical experience of dealing with problems, otherwise is difficult to the on-the-spot problem existing of investigation.In addition, adjustment or the necessary external Special debugging instrument of correction or computer equipment for control program and relevant control parameter, and require to only have professional and technical personnel have authority change or adjust relevant control program, the related service personnel through mandate or training can not change or improve according to correct flow process in time.Therefore, debugging, maintenance efficiency after hoisting crane et out of order are low, have a strong impact on the reliability of complete machine and the complete machine operating efficiency of front-handling mobile crane.
Summary of the invention
Embodiment of the present invention technical matters to be solved is: provide a kind of front-handling mobile crane and control method thereof and system, the selfdiagnosis of failure message when realizing crane job.
The control system of the front-handling mobile crane that the embodiment of the present invention provides, comprise: comprising: master controller, the telltale, extending controller, linear transducer, angular transducer, engine controller, the gearbox control that by fieldbus networks CAN, are connected with described master controller respectively, and the oil pressure sensor and the detecting sensor that by CAN, are connected with described extending controller respectively; Wherein:
Described oil pressure sensor is used for gathering the operation pressure information of front-handling mobile crane hydraulic actuating cylinder hydraulic efficiency pressure system, and gives described extending controller by the operation pressure communication collecting;
The operation pressure communication that described extending controller is used for described oil pressure sensor to collect is to described master controller;
Described linear transducer is used for gathering the length information of front-handling mobile crane arm, and the length information of the arm collecting is transferred to described master controller;
Described angular transducer is used for gathering the angle information of front-handling mobile crane arm, and the angle information of the arm collecting is transferred to described master controller;
Described detecting sensor is used for the work state information of each unit of acquisition control system and is transferred to described master controller;
Described engine controller is for gathering the operating condition information of driving engine and being transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours;
The operating condition communication that described gearbox control is used for gathering change speed gear box is to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller is for sending to described telltale to show in real time the operating condition information of the operating condition information of the operation pressure information receiving, length information, angle information, work state information, driving engine and change speed gear box; And judge respectively the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine, whether the operating condition information of change speed gear box meets preset standard, and when the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to described telltale;
Described telltale shows described operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box for real-time, and shows the fault alarm information that described master controller sends.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described extending controller comprises the first extending controller unit and the second extending controller unit;
Described the first extending controller unit is connected with described master controller by CAN, and described the second extending controller unit is connected with described the first extending controller unit by CAN;
Described oil pressure sensor is specifically connected with described the first extending controller unit by CAN respectively with described detecting sensor.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
Described oil pressure sensor is specially three, is respectively used to gather in hydraulic actuating cylinder the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, also comprise: the function control switch being connected with described master controller by CAN respectively and suspender controller, with the function control cock group being connected with described the first extending controller unit by CAN, and the bar handle being connected with described the second extending controller unit by CAN;
Described bar handle for receive the control arm of user input flexible, pitching, rotate, unblank and lock-in control instruction, and by described the second extending controller unit, described the first extending controller unit, be transferred to described master controller successively, by described master controller, send to suspender controller;
Described suspender controller is controlled the action of suspender for the control command sending according to described master controller;
Described master controller is also for when sending to telltale by fault alarm information, the information that corresponding preset standard and prompting user are proofreaied and correct to relevant work parameter sends to telltale to show, and according to pre-stored licencing key, the licencing key of user's input is verified, and indication display shows correction parameter input interface when the licencing key of user's input passes through checking, and the correction parameter in the correction sending according to telltale indication is adjusted relevant parameter, and send to described suspender controller according to the corresponding instruction of described correction indication generation, and by described the first extending controller unit, the unlatching of described function control switch transmission or the control command of disconnection are sent to function control cock group,
Described telltale is also for receiving the correction request that user sends based on described preset standard and described information and pointing out user to input licencing key, and the licencing key that receives user's input also sends to described master controller; And indicate and is transmitted to described master controller by the correction that correction parameter input interface receives the correction relevant work parameter of user's input, described correction is indicated and is comprised the correction parameter that user inputs;
Described function control switch is for receiving the unlatching of user's input or the control command of disconnection and being transferred to described master controller;
Described function control cock group, for according to the described unlatching of described master controller transmission or the control command of disconnection, is controlled the mode of operation of hoisting crane.
In another embodiment of the above-mentioned front-handling mobile crane control system of the present invention, described master controller and described telltale are wholely set.
The front-handling mobile crane that the embodiment of the present invention provides, comprises the front-handling mobile crane control system in above-mentioned any embodiment.
The control method of a kind of front-handling mobile crane that the embodiment of the present invention provides, comprising:
Oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure communication collecting to extending controller, by described extending controller by described operation pressure communication to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to described master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to described master controller; The work state information of each unit be transferred to described master controller in detecting sensor acquisition control system; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition communication of front-handling mobile crane change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller, the operating condition information of the operating condition information of driving engine and change speed gear box sends to described telltale, and judges respectively the work state information of each unit in described operation pressure information, length information, angle information, control system, whether the operating condition information of the operating condition information of driving engine, change speed gear box meets preset standard by the work state information of each unit in the operation pressure information receiving, length information, angle information, control system;
In response to the work state information of each unit in described operation pressure information, length information, angle information, control system,, the operating condition information of the operating condition information of driving engine or change speed gear box does not meet preset standard, described master controller generates corresponding fault alarm information and sends to described telltale;
Described telltale shows the work state information of each unit in described operation pressure information, length information, angle information, control system in real time, the operating condition information of the operating condition information of driving engine and change speed gear box, and when receiving the fault alarm information of described master controller transmission, shows this fault alarm information.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
The operation pressure information that described oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder comprises:
By three oil pressure sensors, gather in described hydraulic actuating cylinder the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses respectively.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, described by the operation pressure communication collecting to extending controller, by described extending controller, described operation pressure communication is comprised to master controller:
Described oil pressure sensor is given the first extending controller unit in described extending controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system;
Described the first extending controller unit is given described master controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, the work state information of each unit be transferred to described master controller and comprise in described detecting sensor acquisition control system:
The work state information of each unit in described detecting sensor acquisition control system, and by CAN, the work state information of each unit in control system is transferred to the first extending controller unit in described extending controller;
Described the first extending controller unit is given described master controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and by the second extending controller unit in described extending controller, the first extending controller unit, be transferred to described master controller successively;
Described master controller by flexible, the pitching of described control arm, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that described suspender controller sends according to described master controller, the action of suspender of rotating, unblank to control with lock-in control instruction.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
When described master controller sends to telltale by fault alarm information, the information of also corresponding preset standard and prompting user being proofreaied and correct to relevant work parameter sends to described telltale;
Described telltale shows described preset standard and described information;
Described telltale receives the correction request that user sends based on described preset standard and described information and points out user to input licencing key, and receives the licencing key that user inputs and send to described master controller;
Described master controller is verified the licencing key of user's input according to pre-stored licencing key, and indication display shows correction parameter input interface when the licencing key of user's input passes through checking;
Described telltale shows correction parameter input interface, receives user and indicates and be transmitted to described master controller by the correction of the correction relevant work parameter of this correction parameter input interface input, and described correction indication comprises the correction parameter that user inputs;
Described master controller is adjusted relevant parameter according to the correction parameter in described correction indication, and the correction sending according to telltale indication generates the corresponding suspender controller that sends to of corresponding instruction;
The action of suspender is controlled in the instruction that described suspender controller sends according to described master controller.
In another embodiment of the above-mentioned front-handling mobile crane control method of the present invention, also comprise:
Function control switch receives the unlatching of user's input or the control command of disconnection and is transferred to described master controller;
Described master controller sends to function control cock group by the first extending controller unit in described extending controller by the control command of described unlatching or disconnection;
The described unlatching that described function control cock group sends according to described master controller or the control command of disconnection, the mode of operation of control hoisting crane.
Based on the above-mentioned front-handling mobile crane of the present invention and control method and system, oil pressure sensor, linear transducer, angular transducer, detecting sensor, engine controller and gearbox control gather respectively the operation pressure information of hydraulic efficiency pressure system in hydraulic actuating cylinder, the operating condition information of the length information of front-handling mobile crane arm, the angle information of front-handling mobile crane arm, the work state information of each unit, driving engine and the operating condition information of change speed gear box, and is transferred to master controller.Master controller is by the operation pressure information receiving, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information of change speed gear box sends to telltale to show in real time, and judge respectively operation pressure information, length information, angle information, work state information, the operating condition information of driving engine, whether the operating condition information of change speed gear box meets preset standard, in operation pressure information, length information, angle information, work state information, when the operating condition information of driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to telltale to show in real time.Compared with prior art, during this control system operation, the controlling unit of internal system is carried out to validity monitoring always, various information during Real-Time Monitoring crane job, by telltale, show in real time, and when there is fault, can show in real time corresponding fault alarm information, fault self-diagnosis function during perfect crane job and in real time Presentation Function.
Description of the invention provides for example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the various embodiment with various modifications that the present invention's design is suitable for special-purpose.
Accompanying drawing explanation
With reference to accompanying drawing, according to detailed description below, can more be expressly understood the present invention, wherein:
Fig. 1 is the block diagram of an embodiment of control system of front-handling mobile crane of the present invention;
Fig. 2 is the block diagram of an embodiment of control system of front-handling mobile crane of the present invention;
Fig. 3 is the main display interface figure of the telltale in embodiment of control system of front-handling mobile crane of the present invention;
Fig. 4 is the main surface chart of the correction parameter of the telltale in embodiment of control system of front-handling mobile crane of the present invention;
Fig. 5 is the dividing range figure of the correction parameter of the telltale in embodiment of control system of front-handling mobile crane of the present invention;
Fig. 6 is the surface chart of the correction parameter cryptoguard of the telltale in embodiment of control system of front-handling mobile crane of the present invention;
Fig. 7 is the surface chart of the correction parameter input interface of the telltale in embodiment of control system of front-handling mobile crane of the present invention.
Fig. 8 is the diagram of circuit of an embodiment of control method of front-handling mobile crane of the present invention.
The specific embodiment
Fast development along with engineering machinery field automatic control technology, the self diagnostic capability of construction machinery and equipment control system is more and more stronger, when the system et out of order of construction machinery and equipment, self-diagnostic function by control system can ascertain the reason and definite position of fault quickly and accurately, thereby reduce the cost of maintenance and repair, improve the operating efficiency of construction machinery and equipment, effectively avoid the generation of quality and safety misadventure.For improving the technology content of product, the present invention adopts new control system on front-handling mobile crane, and on existing hardware basis, adopt the IQAN control system of Parker Hannifin Corporation, utilize programming and debugging software IQAN Creative Studio to develop the proprietary control program of front-handling mobile crane, wherein: control program is write convenient and swift; The logical relation that various functions is realized is clear; The input of reasonable distribution control system, output port, improve detection, the mode of various functions; For guaranteeing the fretting performance of various actions operation, by improving control program, the process initial and that stop of operation action is carried out to thinning processing, having realized failure message shows in real time, perfect fault self-diagnosis function, and on the telltale of control system, can carry out related commissioning, promote the overall performance of product and the comfort feature of maintenance, repair.
Fig. 1 is the block diagram of an embodiment of control system of front-handling mobile crane of the present invention.As shown in Figure 1, this control system comprises: master controller 110, and with the telltale 120 being connected with master controller 110 by fieldbus networks CAN respectively, extending controller 130, linear transducer 140, angular transducer 150, engine controller 180, gearbox control 190 and the oil pressure sensor 160 being connected with extending controller 130 by CAN respectively and detecting sensor 170.Wherein:
Oil pressure sensor 160 is for gathering the operation pressure information of front-handling mobile crane hydraulic actuating cylinder hydraulic efficiency pressure system, and by the operation pressure communication collecting to extending controller 130.
Extending controller 130 for operation pressure communication that oil pressure sensor 160 is collected to master controller 110.
Linear transducer 140 is for gathering the length information of front-handling mobile crane arm, and the length information of the arm collecting is transferred to master controller 110.
Angular transducer 150 is for gathering the angle information of front-handling mobile crane arm, and the angle information of the arm collecting is transferred to master controller 110.
The work state information of each unit that detecting sensor 170 comprises for acquisition control system is also transferred to master controller 110.
Engine controller 180 being for gathering the operating condition information of front-handling mobile crane driving engine and being transferred to master controller 110, and wherein the operating condition information of driving engine can comprise the information such as rotating speed, water temperature, oil pressure, work-hours of transmitting set.
Gearbox control 190 is for the operating condition communication that gathers front-handling mobile crane change speed gear box to master controller 110, and wherein the operating condition information of change speed gear box can comprise oil temperature, gear information, the speed of a motor vehicle, the mileage of change speed gear box.
Master controller 110 is for by the operation pressure information receiving, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information of change speed gear box sends to telltale 120 to show in real time, and the operation pressure information that judgement receives respectively, length information, angle information, work state information, the operating condition information of driving engine, whether the operating condition information of change speed gear box meets preset standard, this preset standard can be: the scope of operation pressure, the scope of length, the scope of angle, default mode of operation, the rotating speed of driving engine, water temperature, oil pressure, the scope of work-hours, or the oil temperature of change speed gear box, gear information, the speed of a motor vehicle, mileage scope etc., and when the operating condition information of operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet corresponding preset standard, generate corresponding fault alarm information and send to telltale 120.
Operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box of telltale 120 for showing that in real time master controller 110 sends, and show the fault alarm information that master controller 110 sends.As shown in Figure 3, main display interface exemplary plot for the telltale in embodiment of control system of front-handling mobile crane of the present invention, operation pressure information during crane job, length information, angle information, work state information, the operating condition information of driving engine, and the operating condition information of change speed gear box etc. can be presented on this main display interface in real time, (that is: master controller 110 for each element in control system for convenient for maintaining personnel, telltale 120, extending controller 130, linear transducer 140, angular transducer 150, engine controller 180, gearbox control 190, oil pressure sensor 160 and detecting sensor 170) and the working condition of complete machine directly judge.And in the situation that there is potential safety hazard and fault, corresponding fault alarm information and need the fault cause of the related elements of maintenance, repair also can be presented in real time on main display interface, without technical personnel, remove field diagnostic, save the time that analysis, failure judgement reason and fault happening part consume, improved the complete machine operating efficiency of front-handling mobile crane.
In above-mentioned front-handling mobile crane control system, oil pressure sensor can gather the operation pressure information of hydraulic efficiency pressure system in hydraulic actuating cylinder and be transferred to master controller by extension sensor, and linear transducer, angular transducer and detecting sensor can gather respectively the length information of front-handling mobile crane arm, the work state information of each unit, the operating condition information of the operating condition information of driving engine and change speed gear box be transferred to master controller in the angle information of front-handling mobile crane arm, control system.During this control system operation, the controlling unit of internal system is carried out to validity monitoring always, various information during Real-Time Monitoring crane job.Master controller can read work pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box and is sent to telltale to show in real time by CAN, has realized the real-time monitoring to front-handling mobile crane.And master controller can judge respectively the operating condition information of operation pressure information, length information, angle information, work state information, driving engine, whether the operating condition information of change speed gear box meets preset standard, when the operating condition information of operation pressure information, length information, angle information work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to telltale to show in real time, fault self-diagnosis function during perfect crane job and in real time Presentation Function.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, extending controller 130 specifically comprises the first extending controller unit 131 and the second extending controller unit 132.As shown in Figure 2, be the block diagram of another embodiment of control system of front-handling mobile crane of the present invention.In this embodiment:
The first extending controller unit 131 is connected with master controller 110 by CAN, and the second extending controller unit 132 is connected with the first extending controller unit 131 by CAN.
Oil pressure sensor 160 is specifically connected with the first extending controller unit 131 by CAN respectively with detecting sensor 170.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, front-handling mobile crane hydraulic actuating cylinder specifically comprises a large chamber and two loculuses.Correspondingly, in this embodiment, oil pressure sensor 160 is specially three, is respectively used to gather in hydraulic actuating cylinder the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses, as shown in Figure 2.
Further, for guaranteeing lifting, exercising the stability of operation, need to proofread and correct to correlation parameter for example maximum, the minimum current value of flexible and pitching, the demarcation of length and angular transducer and the adjustment of coefficient of correction etc.
As above-mentioned another embodiment of front-handling mobile crane control system of the present invention, also comprise: the function control switch 210 being connected with master controller 110 by CAN respectively and suspender controller 220, and the function control cock group 230 being connected with the first extending controller unit 131 by CAN, and the bar handle 240 being connected with the second extending controller unit 132 by CAN, as shown in Figure 2.Wherein:
Bar handle 240 for receive the control arm of user input flexible, pitching, rotate, unblank and lock-in control instruction, and by the second extending controller unit 132, the first extending controller unit 131, be transferred to master controller 110 successively, by master control 110, send to suspender controller 220.
Suspender controller 220 is controlled the action of suspender for the control command sending according to master controller 110.
Master controller 110 is also for when sending to telltale 120 by fault alarm information, the information that corresponding preset standard and prompting user are proofreaied and correct to relevant work parameter sends to telltale 120, and according to pre-stored licencing key, the licencing key of user's input is verified, and indication display 120 shows correction parameter input interfaces when the licencing key of user's input passes through checking, and the correction parameter in the correction indication sending according to telltale 120 is adjusted relevant parameter, and generate the corresponding suspender controller 220 that sends to of corresponding instruction according to this correction indication.To send to function control cock group 230 to realize the working state control of hoisting crane the unlatching of function control switch 210 transmissions or the control command of disconnection by the first extending controller unit 131.Particularly, when user inputs unlatching control command, hoisting crane can be controlled in running order; When user inputs disconnection control command, can control hoisting crane in off working state.As shown in Figure 4 and Figure 5, be respectively the main surface chart of display correction parameter and the dividing range figure of an embodiment of control system of front-handling mobile crane of the present invention, user can proofread and correct indication by this main interface and dividing range input, do not need special-purpose debugging acid or external computer equipment, maintain easily and keep in repair, improved the operating efficiency of front-handling mobile crane.
Telltale 120 is also for receiving the correction request of user's transmission and pointing out user to input licencing key, and the licencing key that receives user's input also sends to master controller 110; And indicate and is transmitted to master controller 110 by the correction that correction parameter input interface receives the correction relevant work parameter of user's input, proofread and correct to indicate and comprise the correction parameter that user inputs.As shown in Figure 6; correction parameter cryptoguard surface chart for the telltale of the embodiment of control system of front-handling mobile crane of the present invention; user inputs licencing key could carry out correction and the modification of relevant work parameter after verifying on telltale, has promoted the safety of control system.As shown in Figure 7, correction parameter input interface surface chart for the telltale in embodiment of control system of front-handling mobile crane of the present invention, the password of user's input is by after verifying, the correction of parameter can be carried out at this interface, for example: adjust the flexible maximum of pitching action control, the limit of minimum current; The slope parameter of maximum, minimum current control electric current, delay function; The coefficient of weighing; Proportionality coefficient etc.
The unlatching that function control switch 210 is inputted for the preset standard that receives user and show based on telltale 120 and information or the control command of disconnection are also transferred to master controller 110.
Function control cock group 230, for according to the unlatching of master controller 110 transmissions or the control command of disconnection, is controlled the mode of operation of hoisting crane.
Further, as above-mentioned another embodiment of front-handling mobile crane control system of the present invention, master controller 110 and telltale 120 can be wholely set.
The embodiment of the present invention also provides a kind of front-handling mobile crane, comprises the front-handling mobile crane control system in above-mentioned any embodiment.
Fig. 8 is the diagram of circuit of an embodiment of control method of front-handling mobile crane of the present invention.As shown in Figure 8, the control method of this embodiment front-handling mobile crane comprises:
310, oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure communication collecting to extending controller, by extending controller by operation pressure communication to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to master controller; The work state information of each unit be transferred to master controller in detecting sensor acquisition control system; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to master controller, and wherein the operating condition information of driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition communication of front-handling mobile crane change speed gear box to master controller, wherein operating condition packets of information oil scraper temperature, gear information, the speed of a motor vehicle, the mileage of change speed gear box.
In control system, the collection of above-mentioned each unit to corresponding information, can gather in real time, also can according to unified or default collection period separately, (for example, 2s) gather, the action between each unit does not exist execution time or sequence limit.
320, master controller, the operating condition information of the operating condition information of driving engine and change speed gear box sends to telltale, and judges respectively the work state information of each unit in operation pressure information, length information, angle information, control system, whether the operating condition information of the operating condition information of driving engine, change speed gear box all meets corresponding preset standard by the work state information of each unit in the operation pressure information receiving, length information, angle information, control system.
Wherein, the preset standard of each acquisition parameter information can arrange respectively.
While not meeting preset standard in the operating condition information of the work state information of each unit, driving engine or the operating condition information of change speed gear box in operation pressure information, length information, angle information, control system, master controller also generates corresponding fault alarm information and sends to telltale for the parameter information that does not meet preset standard.
If the operating condition information of the work state information of each unit, driving engine and the operating condition information of change speed gear box all meet preset standard in operation pressure information, length information, angle information, control system, do not carry out the operation that generates corresponding fault alarm information and send to telltale.
330, telltale shows in real time the work state information of each unit in the operation pressure information that receives, length information, angle information, control system, the operating condition information of the operating condition information of driving engine and change speed gear box, and also shows this fault alarm information when receiving the fault alarm information that master controller sends.
In a specific embodiment of the above-mentioned control method of the present invention, the hydraulic actuating cylinder of front-handling mobile crane comprises a large chamber and two loculuses.Correspondingly, in this embodiment, oil pressure sensor is three, and the operation pressure information that oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder can be specifically: respectively by the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses in three oil pressure sensors collection hydraulic actuating cylinders.
In another specific embodiment of the above-mentioned control method of the present invention, the operation pressure communication collecting, to extending controller, specifically can be realized operation pressure communication to master controller in the following manner by extending controller: oil pressure sensor by CAN by the operation pressure communication of hydraulic efficiency pressure system to the first extending controller unit in extending controller; The first extending controller unit by CAN by the operation pressure communication of hydraulic efficiency pressure system to master controller.
In another specific embodiment of the above-mentioned control method of the present invention, the work state information of each unit be transferred to master controller and specifically can realize in the following manner in detecting sensor acquisition control system: the work state information of each unit in detecting sensor acquisition control system, and by CAN, the work state information of each unit in the control system collecting is transferred to the first extending controller unit in extending controller; The first extending controller unit by CAN by the operation pressure communication of hydraulic efficiency pressure system to master controller.
In addition, in another embodiment of the control method of front-handling mobile crane of the present invention, can also comprise following operation:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and by the second extending controller unit in extending controller, the first extending controller unit, this control command is transferred to master controller successively;
Master controller by flexible, the pitching of the control arm receiving, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that suspender controller sends according to master controller, the action of suspender of rotating, unblank to control with lock-in control instruction.
Further, in another embodiment of the control method of front-handling mobile crane of the present invention, can also comprise following operation:
When master controller sends to telltale by fault alarm information, the information of also corresponding preset standard and prompting user being proofreaied and correct to relevant work parameter sends to telltale;
Telltale shows preset standard and the information receiving.User can input correction request at display interfaces based on this preset standard and information;
Telltale receives the correction request that user sends based on preset standard and information and points out user to input licencing key, and receives the licencing key that user inputs and send to master controller;
Master controller is verified the licencing key of user's input according to pre-stored licencing key, and indication display shows correction parameter input interface when the licencing key of user's input passes through checking;
Telltale shows correction parameter input interface, receives user and indicates and be transmitted to master controller by the correction of the correction relevant work parameter of this correction parameter input interface input, and this correction indication comprises the correction parameter that user inputs;
Master controller is adjusted relevant parameter according to the correction parameter of proofreading and correct in indication, and the correction sending according to telltale indication generates the corresponding suspender controller that sends to of corresponding instruction;
The action of suspender is controlled in the instruction that suspender controller sends according to master controller.
Further, in another embodiment of the control method of front-handling mobile crane of the present invention, can also comprise following operation:
Function control switch receives the unlatching of user's input or the control command of disconnection and is transferred to master controller;
Master controller sends to function control cock group by the first extending controller unit in extending controller by the control command of opening or disconnect;
The unlatching that function control cock group sends according to master controller or the control command of disconnection, the mode of operation of control hoisting crane.
One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can complete by the relevant hardware of programmed instruction, aforesaid program can be stored in a computer read/write memory medium, this program, when carrying out, is carried out the step that comprises said method embodiment; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CDs.
In this specification sheets, each embodiment all adopts the mode of going forward one by one to describe, and each embodiment stresses is the difference with other embodiment, same or analogous part cross-references between each embodiment.Because system embodiment is substantially corresponding with embodiment of the method, the part explanation of the corresponding embodiment of relevant part cross-references.
May realize in many ways method of the present invention, system.For example, can realize method and system of the present invention by any combination of software, hardware, firmware or software, hardware, firmware.Said sequence for the step of described method is only in order to describe, and the step of method of the present invention is not limited to above specifically described order, unless special version otherwise.In addition, in certain embodiments, can be also the program being recorded in recording medium by the invention process, these programs comprise for realizing the machine readable instructions of the method according to this invention.Thereby the present invention also covers storage for carrying out the recording medium of the program of the method according to this invention.
Embodiments of the invention can carry out validity monitoring to the controlling unit of internal system when control system is moved always, various information during Real-Time Monitoring crane job, and by telltale, show in real time fault self-diagnosis function during perfect crane job and in real time Presentation Function.And; when fault occurs; can on telltale, show fault happening part and possible reason in real time; do not need to ask technical personnel field diagnostic; saved the time that analysis, failure judgement reason consume; many problem operative employees just can be solved conveniently, greatly shortened the downtime of front-handling mobile crane, improved the operating efficiency of complete machine.Simultaneously due to cryptoguard; the attendant who authorizes, adjustment and the correction that professional and technical personnel can complete all kinds of parameters on telltale; need not external Special debugging instrument or computer equipment; timely, the comfort feature that guarantee maintenance, repair, improve the complete machine operating efficiency of front-handling mobile crane and the unfailing performance of complete machine.
Claims (13)
1. the control system of a front-handling mobile crane, it is characterized in that, comprise: master controller, the telltale, extending controller, linear transducer, angular transducer, engine controller, the gearbox control that by fieldbus networks CAN, are connected with described master controller respectively, and the oil pressure sensor and the detecting sensor that by CAN, are connected with described extending controller respectively; Wherein:
Described oil pressure sensor is used for gathering the operation pressure information of front-handling mobile crane hydraulic actuating cylinder hydraulic efficiency pressure system, and gives described extending controller by the operation pressure communication collecting;
The operation pressure communication that described extending controller is used for described oil pressure sensor to collect is to described master controller;
Described linear transducer is used for gathering the length information of front-handling mobile crane arm, and the length information of the arm collecting is transferred to described master controller;
Described angular transducer is used for gathering the angle information of front-handling mobile crane arm, and the angle information of the arm collecting is transferred to described master controller;
Described detecting sensor is used for the work state information of each unit of acquisition control system and is transferred to described master controller;
Described engine controller is for gathering the operating condition information of driving engine and being transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours;
The operating condition communication that described gearbox control is used for gathering change speed gear box is to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller is for sending to described telltale to show in real time the operating condition information of the operating condition information of the operation pressure information receiving, length information, angle information, work state information, driving engine and change speed gear box; And judge respectively the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine, whether the operating condition information of change speed gear box meets preset standard, and when the operating condition information of described operation pressure information, length information, angle information, work state information, driving engine or the operating condition information of change speed gear box do not meet preset standard, generate corresponding fault alarm information and send to described telltale;
Described telltale shows described operation pressure information, length information, angle information, work state information, the operating condition information of driving engine and the operating condition information of change speed gear box for real-time, and shows the fault alarm information that described master controller sends.
2. control system according to claim 1, is characterized in that, described extending controller comprises the first extending controller unit and the second extending controller unit;
Described the first extending controller unit is connected with described master controller by CAN, and described the second extending controller unit is connected with described the first extending controller unit by CAN;
Described oil pressure sensor is specifically connected with described the first extending controller unit by CAN respectively with described detecting sensor.
3. control system according to claim 2, is characterized in that, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
Described oil pressure sensor is specially three, is respectively used to gather in hydraulic actuating cylinder the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses.
4. control system according to claim 3, it is characterized in that, also comprise: the function control switch being connected with described master controller by CAN respectively and suspender controller, with the function control cock group being connected with described the first extending controller unit by CAN, and the bar handle being connected with described the second extending controller unit by CAN;
Described bar handle for receive the control arm of user input flexible, pitching, rotate, unblank and lock-in control instruction, and by described the second extending controller unit, described the first extending controller unit, be transferred to described master controller successively, by described master controller, send to suspender controller;
Described suspender controller is controlled the action of suspender for the control command sending according to described master controller;
Described master controller is also for when sending to telltale by fault alarm information, the information that corresponding preset standard and prompting user are proofreaied and correct to relevant work parameter sends to telltale to show, and according to pre-stored licencing key, the licencing key of user's input is verified, and indication display shows correction parameter input interface when the licencing key of user's input passes through checking, and the correction parameter in the correction sending according to telltale indication is adjusted relevant parameter, and send to described suspender controller according to the corresponding instruction of described correction indication generation, and by described the first extending controller unit, the unlatching of described function control switch transmission or the control command of disconnection are sent to function control cock group,
Described telltale is also for receiving the correction request that user sends based on described preset standard and described information and pointing out user to input licencing key, and the licencing key that receives user's input also sends to described master controller; And indicate and is transmitted to described master controller by the correction that correction parameter input interface receives the correction relevant work parameter of user's input, described correction is indicated and is comprised the correction parameter that user inputs;
Described function control switch is for receiving the unlatching of user's input or the control command of disconnection and being transferred to described master controller;
Described function control cock group, for according to the described unlatching of described master controller transmission or the control command of disconnection, is controlled the mode of operation of hoisting crane.
5. according to the control system described in claim 1 to 4 any one, it is characterized in that, described master controller and described telltale are wholely set.
6. a front-handling mobile crane, is characterized in that, comprises the control system described in claim 1 to 5 any one.
7. a control method for front-handling mobile crane, is characterized in that, comprising:
Oil pressure sensor gathers the operation pressure information of hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder, and by the operation pressure communication collecting to extending controller, by described extending controller by described operation pressure communication to master controller; Linear transducer gathers the length information of front-handling mobile crane arm and is transferred to described master controller; Angular transducer gathers the angle information of front-handling mobile crane arm and is transferred to described master controller; The work state information of each unit be transferred to described master controller in detecting sensor acquisition control system; Engine controller gathers the operating condition information of front-handling mobile crane driving engine and is transferred to described master controller, and the operating condition information of described driving engine comprises rotating speed, water temperature, oil pressure, work-hours; Gearbox control gathers the operating condition communication of front-handling mobile crane change speed gear box to described master controller, the operating condition packets of information oil scraper temperature of described change speed gear box, gear information, the speed of a motor vehicle, mileage;
Described master controller, the operating condition information of the operating condition information of driving engine and change speed gear box sends to described telltale, and judges respectively the work state information of each unit in described operation pressure information, length information, angle information, control system, whether the operating condition information of the operating condition information of driving engine, change speed gear box meets preset standard by the work state information of each unit in the operation pressure information receiving, length information, angle information, control system;
In response to the work state information of each unit in described operation pressure information, length information, angle information, control system,, the operating condition information of the operating condition information of driving engine or change speed gear box does not meet preset standard, described master controller generates corresponding fault alarm information and sends to described telltale;
Described telltale shows the work state information of each unit in described operation pressure information, length information, angle information, control system in real time, the operating condition information of the operating condition information of driving engine and change speed gear box, and when receiving the fault alarm information of described master controller transmission, shows this fault alarm information.
8. control method according to claim 7, is characterized in that, described front-handling mobile crane hydraulic actuating cylinder comprises a large chamber and two loculuses;
The operation pressure information that described oil pressure sensor gathers hydraulic efficiency pressure system in front-handling mobile crane hydraulic actuating cylinder comprises:
By three oil pressure sensors, gather in described hydraulic actuating cylinder the operation pressure of hydraulic efficiency pressure system in a large chamber and two loculuses respectively.
9. control method according to claim 8, is characterized in that, described by the operation pressure communication collecting to extending controller, by described extending controller, described operation pressure communication is comprised to master controller:
Described oil pressure sensor is given the first extending controller unit in described extending controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system;
Described the first extending controller unit is given described master controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system.
10. control method according to claim 7, is characterized in that, the work state information of each unit be transferred to described master controller and comprise in described detecting sensor acquisition control system:
The work state information of each unit in described detecting sensor acquisition control system, and by CAN, the work state information of each unit in control system is transferred to the first extending controller unit in described extending controller;
Described the first extending controller unit is given described master controller by CAN by the operation pressure communication of described hydraulic efficiency pressure system.
11. according to the control method described in claim 7 to 10 any one, it is characterized in that, also comprises:
Bar handle receive the control arm of user's input flexible, pitching, rotate, unblank and lock-in control instruction, and by the second extending controller unit in described extending controller, the first extending controller unit, be transferred to described master controller successively;
Described master controller by flexible, the pitching of described control arm, rotate, unblank to send to suspender controller with lock-in control instruction;
Flexible, the pitching of the control arm that described suspender controller sends according to described master controller, the action of suspender of rotating, unblank to control with lock-in control instruction.
12. according to the control method described in claim 7 to 10 any one, it is characterized in that, also comprises:
When described master controller sends to telltale by fault alarm information, the information of also corresponding preset standard and prompting user being proofreaied and correct to relevant work parameter sends to described telltale;
Described telltale shows described preset standard and described information;
Described telltale receives the correction request that user sends based on described preset standard and described information and points out user to input licencing key, and receives the licencing key that user inputs and send to described master controller;
Described master controller is verified the licencing key of user's input according to pre-stored licencing key, and indication display shows correction parameter input interface when the licencing key of user's input passes through checking;
Described telltale shows correction parameter input interface, receives user and indicates and be transmitted to described master controller by the correction of the correction relevant work parameter of this correction parameter input interface input, and described correction indication comprises the correction parameter that user inputs;
Described master controller is adjusted relevant parameter according to the correction parameter in described correction indication, and the correction sending according to telltale indication generates the corresponding suspender controller that sends to of corresponding instruction;
The action of suspender is controlled in the instruction that described suspender controller sends according to described master controller.
13. according to the control method described in claim 7 to 10 any one, it is characterized in that, also comprises:
Function control switch receives the unlatching of user's input or the control command of disconnection and is transferred to described master controller;
Described master controller sends to function control cock group by the first extending controller unit in described extending controller by the control command of described unlatching or disconnection;
The described unlatching that described function control cock group sends according to described master controller or the control command of disconnection, the mode of operation of control hoisting crane.
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