CN105152025A - Method and device for controlling telescoping speed of single cylinder latch type telescopic arm and crane - Google Patents
Method and device for controlling telescoping speed of single cylinder latch type telescopic arm and crane Download PDFInfo
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- CN105152025A CN105152025A CN201410559812.XA CN201410559812A CN105152025A CN 105152025 A CN105152025 A CN 105152025A CN 201410559812 A CN201410559812 A CN 201410559812A CN 105152025 A CN105152025 A CN 105152025A
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Abstract
The invention discloses a method and device for controlling telescoping speed of a single cylinder latch type telescopic arm and a crane, and relates to the field of engineering machinery. The method comprises: obtaining the telescoping length when the telescopic arm telescopes automatically; calculating based on the change of the telescoping length to obtain the present telescoping speed of the telescopic arm; determining whether the present telescoping speed is as same as the preset telescoping speed; adjusting a variable pump to control electric current until the present telescoping speed is as same as the preset telescoping speed when the present telescoping speed is inconformity with the preset telescoping speed. The embodiments in the invention overcome the disadvantage of unstable telescoping speed of the telescopic arm, and improve the security and stability of the telescopic arm in telescoping process.
Description
Technical field
The present invention relates to engineering machinery field, especially a kind of control method of single-cylinder bolt type telescopic boom stretching speed and device and hoisting crane.
Background technology
At present, single cylinder bolt-type hoisting crane substantially all has automatic telescopic function, and the size of stretching speed depends on the control electric current of variable flow valve.In prior art, when controlling telescopic boom and stretching, the control current value that general artificial setting one is fixing, makes telescopic boom have certain stretching speed.But the determination of above-mentioned fixing control current value depends on the experience of designer, if arrange too large, the safety of telescopic boom automatic telescopic process can be affected; If arrange too small, stretching speed can be made excessively slow, thus the flexible efficiency of impact.
In actual applications, along with the growth of telescopic boom, due to the impact of the factors such as the increase of telescopic boom amount of deflection and telescopic boom friction force, the stretching speed of telescopic boom can be unstable, causes the stretching speed departing from expectation, thus affect the stability of operation.
Summary of the invention
The embodiment of the present invention one of them technical matters to be solved is: the problem solving telescopic boom stretching speed instability in telescopic process.
According to an aspect of the present invention, a kind of control method of single-cylinder bolt type telescopic boom stretching speed is provided, comprises: obtain the collapsing length of telescopic boom when automatic telescopic; The current stretching speed of telescopic boom is obtained according to the change calculations of collapsing length; Judge that whether current stretching speed is consistent with default stretching speed; If current stretching speed and default stretching speed inconsistent, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
In one embodiment, said method also comprises: the size comparing collapsing length and preset security distance, and comparative result be collapsing length be greater than preset security distance time, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.
In one embodiment, said method also comprises: judge whether current stretching speed is 0, if current stretching speed is 0, controllable capacity pump is controlled electric current and is adjusted to 0, stops flexible to control telescopic boom.
In one embodiment, said method also comprises: judge whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, if the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.
In one embodiment, said method also comprises: judge whether telescopic boom reaches target location according to collapsing length, if telescopic boom reaches target location, controllable capacity pump is controlled electric current and is adjusted to 0, stops flexible to control telescopic boom; If telescopic boom miss the mark position, then perform the operation that the described change calculations according to collapsing length obtains the current stretching speed of telescopic boom.
According to a further aspect in the invention, a kind of control setup of single-cylinder bolt type telescopic boom stretching speed is provided, comprises: length acquiring unit, for obtaining the collapsing length of telescopic boom when automatic telescopic; Speed calculating unit, for obtaining the current stretching speed of telescopic boom according to the change calculations of collapsing length; Velocity estimated unit, for judging that whether current stretching speed is consistent with default stretching speed; Current adjustment unit, for current stretching speed and default stretching speed inconsistent time, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
In one embodiment, said apparatus also comprises: the length comparing unit be connected with length acquiring unit and current adjustment unit respectively; Described length comparing unit, for comparing the size of collapsing length and preset security distance; Described current adjustment unit, time also for being greater than preset security distance at collapsing length, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
In one embodiment, described velocity estimated unit, also for judging whether current stretching speed is 0; Described current adjustment unit, also for when current stretching speed is 0, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
In one embodiment, said apparatus also comprises: the pressure judging unit be connected with current adjustment unit; Described pressure judging unit, for judging whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure; Described current adjustment unit, when being also greater than preset security pressure for the pressure of the telescopic oil cylinder in telescopic boom, controlling electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
In one embodiment, said apparatus also comprises: the length determining unit be connected with length acquiring unit, current adjustment unit and speed calculating unit respectively; Described length determining unit, for judging according to collapsing length whether telescopic boom reaches target location; Described current adjustment unit, also for when telescopic boom reaches target location, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
According to another aspect of the invention, provide a kind of hoisting crane, comprise the control setup of the single-cylinder bolt type telescopic boom stretching speed that above-mentioned any embodiment provides.
The collapsing length of telescopic boom is changed into stretching speed by the embodiment of the present invention, and compares in real time with default stretching speed in telescopic process, as long as the two is inconsistent, just adjusts the control electric current of variable flow valve in real time, thus makes stretching speed be stabilized in fixing preset value.Compared with prior art, the embodiment of the present invention improves the stability in telescopic boom telescopic process.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the sketch of single cylinder bolt-type telescopic hydraulic system;
Fig. 2 is the diagram of circuit of a control method embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention;
Fig. 3 is the diagram of circuit of another embodiment of control method of single-cylinder bolt type telescopic boom stretching speed of the present invention;
Fig. 4 is the structural representation of a control setup embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention;
Fig. 5 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention;
Fig. 6 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention;
Fig. 7 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Single cylinder bolt-type hoisting crane is the hoisting crane that a kind of combinative movement by telescopic oil cylinder and arm pin and cylinder pin realizes telescopic boom Telescopic.Telescopic crane boom is built-in with single cylinder bolt system, assists telescopic oil cylinder to realize the Telescopic of crane arm.Single cylinder bolt system mainly comprises cylinder pin, arm pin, arm pin bolt, dovetail furrow, dovetail furrow oil cylinder and other auxiliary facilities.Arm pin is the pin on telescopic boom, and its effect is locked together by each joint telescopic boom.Cylinder pin is the pin on telescopic oil cylinder, and its effect is locked together telescopic oil cylinder and telescopic boom.Arm pin bolt is connected to the bolt on arm pin, and it facilitates lower arm pin as the extension rod of arm pin.Dovetail furrow is the grooved mechanism of swallowtail shape on telescopic oil cylinder, is connected with dovetail furrow oil cylinder, for lower arm pin bolt.When pulling out arm pin, dovetail furrow lower arm pin bolt, band swing arm pin away arms pin-and-hole.
The combinative movement of telescopic oil cylinder and arm pin and cylinder pin realizes telescopic boom Telescopic and realizes especially by with under type: during arms pin, and arm pin relies on retracing spring insertion arm pin-and-hole, is locked together by adjacent two joint telescopic booms.When pulling out cylinder pin, cylinder pin departs from the cylinder pin-and-hole on telescopic boom, and telescopic oil cylinder and telescopic boom depart from, and can realize empty cylinder and stretch.When inserting cylinder pin, cylinder pin inserts the cylinder pin-and-hole on telescopic boom, telescopic oil cylinder and semi-girder is locked together, and can realize armed and stretch.
The size that the stretching speed of single-cylinder bolt type telescopic boom controls electric current mainly through control variable pump changes.Fig. 1 is the sketch of single cylinder bolt-type telescopic hydraulic system.As shown in Figure 1, this hydraulic efficiency pressure system mainly comprises controllable capacity pump 101, by pass valve 102, solenoid directional control valve 103, balance cock 104 and telescopic oil cylinder 105.Can the discharge capacity of control variable pump 101 by the control electric current changing controllable capacity pump 101, thus change the oil inlet quantity of telescopic oil cylinder 105, and then change the stretching speed of telescopic boom.Control electric current larger, stretching speed is faster; Control electric current less, stretching speed is slower.By pass valve 102 is for ensureing that whole hydraulic efficiency pressure system is normally run under Maximum safe pressure.Solenoid directional control valve 103 is for changing the flow direction of oil mass.Balance cock 104 is for fixing telescopic oil cylinder.Can installation length sensor 106 on telescopic oil cylinder 105, for measuring the collapsing length of telescopic boom, and determine the current location of telescopic boom.
Fig. 2 is the schematic flow sheet of a control method embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention.As shown in Figure 2, the method for the present embodiment comprises the steps:
Step 202, obtains the collapsing length of telescopic boom when automatic telescopic.
Wherein, collapsing length can be the length that telescopic boom stretches out, or the length that telescopic boom is retracted.
Step 204, obtains the current stretching speed of telescopic boom according to the change calculations of collapsing length.
Particularly, in real time the collapsing length of telescopic boom can be carried out differential process, thus obtain the current stretching speed of telescopic boom.
Step 206, judges that whether current stretching speed is consistent with default stretching speed.
Wherein, default stretching speed can set according to actual conditions, such as, stretch out according to telescopic boom or time of the length of retracting and expectation can set and presets stretching speed value accordingly.In addition, this default stretching speed also can be a default scope.
Step 208, if current stretching speed and default stretching speed inconsistent, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
Particularly, when current stretching speed is less than default stretching speed, controllable capacity pump can be adjusted and control electric current increase; When current stretching speed is greater than default stretching speed, controllable capacity pump can be adjusted and control electric current reduction.Above-mentioned adjustment controllable capacity pump controls the size operation of electric current until just stop when current stretching speed is consistent with default stretching speed.So, can ensure that the stretching speed of telescopic boom remains on fixing default stretching speed value.
The collapsing length of telescopic boom is changed into stretching speed by specific algorithm by the present embodiment, and compare in real time with default stretching speed in telescopic process, as long as the two is inconsistent, just automatically adjust the control electric current of variable flow valve in real time, thus make stretching speed be stabilized in fixing preset value, overcome the shortcoming of telescopic boom stretching speed instability in prior art, improve the stability in telescopic boom telescopic process and safety.
In actual applications, safety distance can be set when telescopic boom stretches, to ensure the safety in telescopic boom telescopic process further.In one embodiment, said method can also comprise: the size comparing collapsing length and preset security distance, and comparative result be collapsing length be greater than preset security distance time, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.Particularly, different safety distances can be set according to actual conditions when telescopic boom stretches out and retract, to meet application demand.
In addition, in telescopic boom telescopic process, may occur abnormal condition, such as, collide with some parts in arm in telescopic process, or do not get collapsing length in time, this all can cause current stretching speed to be 0.Therefore, above-mentioned abnormal condition are needed to take corresponding safety method.In one embodiment, said method can also comprise: judge whether current stretching speed is 0, if current stretching speed is 0, controllable capacity pump is controlled electric current and is adjusted to 0, stops flexible to control telescopic boom.When the present embodiment can effectively prevent abnormal condition from occurring, telescopic boom continues to stretch out or retract the damage of the arm inner structure caused.
As another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention, said method can also comprise: judge whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, if the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.The present embodiment, by the real-time judge to the pressure of telescopic oil cylinder, improves the safety in telescopic boom telescopic process further.
As another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention, said method can also comprise: judge whether telescopic boom reaches target location according to collapsing length, if telescopic boom reaches target location, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom; If telescopic boom miss the mark position, then perform the operation of the current stretching speed obtaining telescopic boom in step 204 according to the change calculations of collapsing length.
Wherein, for specific telescopic boom, target location is specific several definite value, therefore target location can preset according to actual conditions.
It may be noted that, above-mentioned safety distance judgement, whether stretching speed is the judgement of 0, the judgement of telescopic oil cylinder safe pressure, the judgement of telescopic boom target location, one can be chosen or several be combined with step 202 ~ 208 control carrying out telescopic boom stretching speed.A kind of combination is provided to carry out the exemplary embodiment of the control of telescopic boom stretching speed below.Wherein, the order that part judges can change, and such as, the order of step 317 and step 319 can be exchanged.
Fig. 3 is the schematic flow sheet of another embodiment of control method of single-cylinder bolt type telescopic boom stretching speed of the present invention.As shown in Figure 3, the method for the present embodiment can comprise the steps:
Step 301, starts.
Step 303, telescopic boom automatic telescopic, comprises and stretches out and retract.
Step 305, judges whether collapsing length is greater than preset security distance; Perform step 321; No, perform step 307.
According to collapsing length, step 307, judges whether telescopic boom current location equals target location; Perform step 321; No, perform step 309.
Step 309, the change calculations (such as carrying out differential process to collapsing length) according to collapsing length obtains current stretching speed V.
Step 311, judges that whether current stretching speed V is consistent with default stretching speed; Perform step 305; No, perform step 313 and step 315.
Step 313, adjustment variable flow valve controls electric current, repeats step 309 and step 311 afterwards.
Step 315, judges whether current stretching speed V is 0; Perform step 321; No, perform step 317.
Step 317, judges whether the pressure of telescopic oil cylinder is greater than preset security pressure; Perform step 321; No, perform step 319.
Step 319, telescopic boom continues flexible.Return step 305 afterwards.
Step 321, telescopic boom stops flexible.
The present embodiment not only can ensure that the stretching speed of telescopic boom keeps stable, and by the timely judgement to the pressure of collapsing length, stretching speed and telescopic oil cylinder, can control telescopic boom in time when unusual condition occurs stop flexible, improves the safety in telescopic boom telescopic process further.
In this specification sheets, each embodiment all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, same or analogous part cross-reference between each embodiment.For device embodiment, because itself and embodiment of the method are substantially corresponding, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
Fig. 4 is the structural representation of a control setup embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention.As shown in Figure 4, the device of the present embodiment comprises:
Length acquiring unit 401, for obtaining the collapsing length of telescopic boom when automatic telescopic.
Exemplarily, linear transducer etc. can be utilized to detect the collapsing length of telescopic boom, then issue length acquiring unit 401.
Speed calculating unit 402, for obtaining the current stretching speed of telescopic boom according to the change calculations of collapsing length.
Velocity estimated unit 403, for judging that whether current stretching speed is consistent with default stretching speed.
Current adjustment unit 404, for current stretching speed and default stretching speed inconsistent time, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
The collapsing length of telescopic boom is changed into stretching speed by specific algorithm by the present embodiment, and compare in real time with default stretching speed in telescopic process, as long as the two is inconsistent, just adjust the control electric current of variable flow valve in real time, thus make stretching speed be stabilized in fixing preset value, overcome the shortcoming of telescopic boom stretching speed instability in prior art, improve the safety in telescopic boom telescopic process.
Fig. 5 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention.Compared with embodiment illustrated in fig. 4, the device of the present embodiment can also comprise the length comparing unit 501 be connected with length acquiring unit 401 and current adjustment unit 404 respectively, for comparing the size of collapsing length and preset security distance.Correspondingly, in the present embodiment, current adjustment unit 404, time also for being greater than preset security distance at collapsing length, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
Fig. 6 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention.Compared with embodiment illustrated in fig. 4, the device of the present embodiment also can also comprise the length determining unit 601 be connected with length acquiring unit 401, current adjustment unit 404 and speed calculating unit 402 respectively, for judging according to collapsing length whether telescopic boom reaches target location.Correspondingly, in the present embodiment, current adjustment unit 404, also for when telescopic boom reaches target location, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.Speed calculating unit 402, time also for reaching at telescopic boom not to target location, obtains the current stretching speed of telescopic boom according to the change calculations of collapsing length.
In another embodiment of the control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention, see Fig. 4, velocity estimated unit 403, also for judging whether current stretching speed is 0; Current adjustment unit 404, also for when current stretching speed is 0, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
Fig. 7 is the structural representation of another embodiment of control setup of single-cylinder bolt type telescopic boom stretching speed of the present invention.Compared with embodiment illustrated in fig. 4, the device of the present embodiment also can also comprise the pressure judging unit 701 be connected with current adjustment unit 404, for judging whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure.Particularly, pressure sensor can be utilized to measure the pressure of telescopic oil cylinder and send to pressure judging unit 701.
Correspondingly, in the present embodiment, current adjustment unit 404, when being also greater than preset security pressure for the pressure of the telescopic oil cylinder in telescopic boom, controlling electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
The embodiment of the present invention additionally provides a kind of hoisting crane, comprises the control setup of the single-cylinder bolt type telescopic boom stretching speed that above-mentioned any embodiment provides.
The collapsing length of telescopic boom is changed into stretching speed by specific algorithm by the present invention, and compare in real time with default stretching speed in telescopic process, as long as the two is inconsistent, just automatically adjust the control electric current of variable flow valve in real time, thus make stretching speed be stabilized in fixing preset value, overcome the shortcoming of telescopic boom stretching speed instability in prior art, improve the safety in telescopic boom telescopic process.Further, by carrying out judgement to the unusual condition in telescopic boom telescopic process and controlling in time to stop telescopic boom stretching, the safety in telescopic boom telescopic process is improved further.In addition, introduce and the pressure of telescopic oil cylinder is judged, further improve the safety in telescopic boom telescopic process.
Claims (11)
1. a control method for single-cylinder bolt type telescopic boom stretching speed, comprising:
Obtain the collapsing length of telescopic boom when automatic telescopic;
The current stretching speed of telescopic boom is obtained according to the change calculations of collapsing length;
Judge that whether current stretching speed is consistent with default stretching speed;
If current stretching speed and default stretching speed inconsistent, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
2. method according to claim 1, is characterized in that, also comprises:
The relatively size of collapsing length and preset security distance, and comparative result be collapsing length be greater than preset security distance time, controllable capacity pump is controlled electric current and is adjusted to 0, stop stretching to control telescopic boom.
3. method according to claim 1, is characterized in that, also comprises:
Judge whether current stretching speed is 0, if current stretching speed is 0, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.
4. method according to claim 1, is characterized in that, also comprises:
Judge whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, if the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom.
5. method according to claim 1, is characterized in that, also comprises:
Judge whether telescopic boom reaches target location according to collapsing length, if telescopic boom reaches target location, controllable capacity pump is controlled electric current and is adjusted to 0, stop flexible to control telescopic boom;
If telescopic boom miss the mark position, then perform the operation that the described change calculations according to collapsing length obtains the current stretching speed of telescopic boom.
6. a control setup for single-cylinder bolt type telescopic boom stretching speed, comprising:
Length acquiring unit, for obtaining the collapsing length of telescopic boom when automatic telescopic;
Speed calculating unit, for obtaining the current stretching speed of telescopic boom according to the change calculations of collapsing length;
Velocity estimated unit, for judging that whether current stretching speed is consistent with default stretching speed;
Current adjustment unit, for current stretching speed and default stretching speed inconsistent time, adjustment controllable capacity pump controls the size of electric current, until current stretching speed is consistent with default stretching speed.
7. device according to claim 6, is characterized in that, also comprises the length comparing unit be connected with length acquiring unit and current adjustment unit respectively;
Described length comparing unit, for comparing the size of collapsing length and preset security distance;
Described current adjustment unit, time also for being greater than preset security distance at collapsing length, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
8. device according to claim 6, is characterized in that,
Described velocity estimated unit, also for judging whether current stretching speed is 0;
Described current adjustment unit, also for when current stretching speed is 0, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
9. device according to claim 6, is characterized in that, also comprises: the pressure judging unit be connected with current adjustment unit,
Described pressure judging unit, for judging whether the pressure of the telescopic oil cylinder in telescopic boom is greater than preset security pressure;
Described current adjustment unit, when being also greater than preset security pressure for the pressure of the telescopic oil cylinder in telescopic boom, controlling electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
10. device according to claim 6, is characterized in that, also comprises the length determining unit be connected with length acquiring unit, current adjustment unit and speed calculating unit respectively;
Described length determining unit, for judging according to collapsing length whether telescopic boom reaches target location;
Described current adjustment unit, also for when telescopic boom reaches target location, controls electric current by controllable capacity pump and is adjusted to 0, stops flexible to control telescopic boom.
11. 1 kinds of hoisting cranes, is characterized in that, comprise the control setup of the arbitrary described single-cylinder bolt type telescopic boom stretching speed of claim 6-10.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410559812.XA CN105152025B (en) | 2014-10-20 | 2014-10-20 | The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed |
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| CN201410559812.XA CN105152025B (en) | 2014-10-20 | 2014-10-20 | The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed |
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| CN105152025B CN105152025B (en) | 2018-03-16 |
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| US5877693A (en) * | 1998-05-27 | 1999-03-02 | Grove U.S. L.L.C. | Method and apparatus for measuring the length of a multi-section telescopic boom |
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| CN102701120A (en) * | 2012-05-25 | 2012-10-03 | 中联重科股份有限公司 | Method, device, system and engineering machinery for controlling telescopic speed of arm support |
| CN103663153A (en) * | 2013-12-10 | 2014-03-26 | 中联重科股份有限公司 | Crane winding control method, device and system and crane |
| CN103879907A (en) * | 2014-02-25 | 2014-06-25 | 中联重科股份有限公司 | Control method and system of single cylinder bolt telescoping mechanism |
| CN103896154A (en) * | 2012-12-26 | 2014-07-02 | 三一重工股份有限公司 | A crane and a control method thereof |
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2014
- 2014-10-20 CN CN201410559812.XA patent/CN105152025B/en active Active
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|---|---|---|---|---|
| US5877693A (en) * | 1998-05-27 | 1999-03-02 | Grove U.S. L.L.C. | Method and apparatus for measuring the length of a multi-section telescopic boom |
| CN102431911A (en) * | 2011-09-29 | 2012-05-02 | 中联重科股份有限公司 | Suspension arm telescopic action control method, device and engineering machinery |
| CN102701120A (en) * | 2012-05-25 | 2012-10-03 | 中联重科股份有限公司 | Method, device, system and engineering machinery for controlling telescopic speed of arm support |
| CN103896154A (en) * | 2012-12-26 | 2014-07-02 | 三一重工股份有限公司 | A crane and a control method thereof |
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| CN103879907A (en) * | 2014-02-25 | 2014-06-25 | 中联重科股份有限公司 | Control method and system of single cylinder bolt telescoping mechanism |
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| CN105152025B (en) | 2018-03-16 |
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