CN105197823A - Lazy arm amplitude variation control system and method - Google Patents
Lazy arm amplitude variation control system and method Download PDFInfo
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- CN105197823A CN105197823A CN201410634490.0A CN201410634490A CN105197823A CN 105197823 A CN105197823 A CN 105197823A CN 201410634490 A CN201410634490 A CN 201410634490A CN 105197823 A CN105197823 A CN 105197823A
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Abstract
The invention discloses a lazy arm amplitude variation control system and method. The lazy arm amplitude variation control system comprises an angle transducer, a controller and alarm equipment, wherein the angle transducer acquires the amplitude variation angle of a lazy arm in real time and sends the amplitude variation angle of the lazy arm to the controller; the controller judges that whether the amplitude variation angle of the lazy arm is equal to or greater than the upper warning value of the amplitude variation angle and smaller than or equal to the upper limit value of the amplitude variation angle, or is equal to or greater than the lower limiting value and smaller than or equal to the lower warning value of the amplitude variation angle, if yes, the controller outputs an alarm electrical signal to the alarm equipment for alarm processing; the alarm equipment gives an alarm according to the received alarm electrical signal. The lazy arm amplitude variation control system enables an operator to know that the lazy arm reaches the upper and lower limit value positions of the amplitude variation angle in advance to decelerate or lock the amplitude variation action of the lazy arm timely.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a boom amplitude variation control system and a boom amplitude variation control method.
Background
With the continuous development of the technology, the forward tonnage of the crane is large, the structure is complicated, the control is intelligent, the lifting height, the operation amplitude, the lifting capacity and the like are increased, and therefore higher requirements are provided for the lifting safety.
When the amplitude angle of the crane boom is too large, the risk that a hoisting object collides with the boom and the vehicle body structure is increased, and the collision can cause damage to the boom, the frame, the structure of the hoisting object and the appearance, and the shaking of the vehicle, thereby causing great risk to the hoisting safety; when the amplitude angle exceeds a certain value, the crane can even turn over, and serious consequences of vehicle damage and people death are generated. When the amplitude angle of the crane boom is too small, extrusion deformation may occur between the boom and the vehicle body structure, and the vehicle body structure may be even unbalanced due to the influence of the weight of the boom, thereby causing a risk of rollover. Therefore, the amplitude angle of the suspension arm is effectively limited, and certain warning information is sent to an operator timely, so that the lifting safety can be obviously improved.
Under the current technical conditions, the control of the movement speed of the boom is completely performed manually by an operator, for example, the operator can inform a controller of the need of deceleration processing through the current output of a handle (or in other ways), and then the controller controls the opening of an oil pump or an electromagnetic valve to achieve the purpose of adjusting the extension/retraction speed of the luffing cylinder. Therefore, when the suspension arm approaches the position of the upper limit value of the amplitude angle and continues amplitude rising action, or approaches the position of the lower limit value of the amplitude angle and continues amplitude falling action, the suspension arm cannot timely stop moving due to inertia, so that the limitation of the upper limit value and the lower limit value of the amplitude angle beyond which the suspension arm exceeds is caused, and the consequences such as vehicle overturning or extrusion deformation between the suspension arm and the vehicle body structure are caused.
The control of the upper limit value of the amplitude angle of the boom is also manually performed by an operator, for example, the operator determines the upper limit value of the amplitude angle of the boom according to the own hoisting experience and the knowledge of the performance of the crane operated, that is, the crane does not limit the upper limit value of the amplitude angle of the boom, and whether the boom performs amplitude lifting or not is only determined by whether the operator performs amplitude lifting or not.
Due to the influence of factors such as weather, visual field, inertia and quality of operators (such as fatigue, diseases, hoisting experience and the like), the operators are likely not to well control the movement speed and the upper limit value of the amplitude variation angle of the suspension arm. For example, due to the state of the operator, the hoisting experience, and the limitation on the knowledge of the vehicle, the upper limit value of the boom luffing angle may not be well determined. Even if an operator can well grasp the upper limit value of the amplitude angle of the boom, when the speed of the boom is too high, the vehicle may not stop in time due to too high inertia, and the vehicle may shake violently if the vehicle is light, the structure of the boom and a heavy object may be damaged, and the vehicle may roll over if the vehicle is heavy.
The control of the lower limit value of the amplitude angle of the suspension arm is carried out by a moment limiter of the crane. In the hoisting process, some physical quantities (such as the pressure of a luffing oil cylinder, the arm length of the suspension arm, the luffing angle of the suspension arm and the like) can be directly collected, and the current actual moment is obtained through calculation. The maximum allowable moment value of the crane is related to a plurality of factors, and the maximum allowable moment values of the crane are different when the crane is in different states (such as different amplitude angles of the boom, different arm lengths, different counterweights and the like). The moment limiter calculates the current actual moment in real time and compares the current actual moment with the maximum allowable moment in the current state in real time to determine whether to lock the amplitude-variable falling action of the suspension arm. For example, if the actual torque value in the current hoisting state is smaller than the maximum allowable torque value of the torque limiter, the luffing operation can be continued; and if the actual moment value in the current hoisting state is larger than the maximum allowable moment value of the moment limiter, locking the amplitude-variable falling action of the suspension arm, namely stopping the amplitude-variable falling action of the suspension arm.
Because the magnitude of the moment value in the current hoisting state is the only factor for limiting whether the suspension arm can continuously change the amplitude to fall, an operator can change the amplitude of the suspension arm to fall to a small angle under the permission of the moment limiter, and the extrusion deformation between the suspension arm and the vehicle body structure is caused.
Disclosure of Invention
The technical problem to be solved by the invention is that an operator cannot know in advance that the jib reaches the upper and lower limit values of the amplitude angle, so that the amplitude motion of the jib cannot be decelerated or locked in time.
According to a first aspect of the present invention, there is provided a boom luffing control system, comprising:
the angle sensor is used for acquiring the amplitude variation angle of the suspension arm in real time and transmitting the amplitude variation angle of the suspension arm to the controller;
the controller is used for judging whether the amplitude variation angle of the suspension arm is greater than or equal to the upper amplitude variation angle warning value and less than or equal to the upper amplitude variation angle limit value or not or greater than or equal to the lower amplitude variation angle limit value and less than or equal to the lower amplitude variation angle warning value or not according to the received amplitude variation angle of the suspension arm, and if so, outputting an alarm electric signal to alarm equipment for alarm processing; and
and the alarm equipment is used for giving an alarm according to the received alarm electric signal.
Further, still include: and the electric proportional handle is used for transmitting an electric signal for starting the amplitude variation of the suspension arm or an electric signal for falling the amplitude variation of the suspension arm to the controller.
Further, if the controller judges that the amplitude variation angle of the suspension arm is greater than or equal to the upper warning value of the amplitude variation angle and smaller than the upper limit value of the amplitude variation angle, and receives an electric signal for amplitude variation starting action of the suspension arm from the electric proportional handle, the controller reduces the current output to an oil pump for controlling the amplitude variation starting action of the suspension arm so as to perform deceleration treatment on the amplitude variation starting action of the suspension arm; or if the amplitude angle of the suspension arm is judged to be larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, the current output to the electromagnetic valve for controlling the suspension arm amplitude falling action is reduced, so that the suspension arm amplitude falling action is subjected to deceleration treatment.
Further, if the controller judges that the amplitude angle of the suspension arm is equal to the upper limit value of the amplitude angle and receives an amplitude starting electric signal of the suspension arm from the electric proportional handle, the controller stops outputting current to an oil pump for controlling the amplitude starting action of the suspension arm so as to stop the amplitude starting action of the suspension arm; or if the amplitude angle of the suspension arm is equal to the amplitude angle lower limit value and the electrical proportional handle receives the amplitude falling action electrical signal of the suspension arm, stopping outputting the current to the electromagnetic valve for controlling the amplitude falling action of the suspension arm so as to stop the amplitude falling action of the suspension arm.
Further, the warning value on the variable amplitude angle and the warning value under the variable amplitude angle are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values.
According to a second aspect of the present invention, there is provided a boom luffing control system, comprising:
the angle sensor is used for acquiring the amplitude variation angle of the suspension arm in real time and transmitting the amplitude variation angle of the suspension arm to the controller;
the electric proportional handle is used for transmitting an electric signal for starting the amplitude variation of the suspension arm or an electric signal for falling the amplitude variation of the suspension arm to the controller;
the controller is used for judging whether the amplitude variation angle of the suspension arm is larger than or equal to an upper alarm value of the amplitude variation angle and smaller than an upper limit value of the amplitude variation angle or not according to the received amplitude variation angle of the suspension arm, and whether an electric signal for amplitude variation starting action of the suspension arm is received from the electric proportional handle or not, if so, the current output to an oil pump for controlling the amplitude variation starting action of the suspension arm is reduced, so that the speed reduction treatment is carried out on the amplitude variation starting action of the suspension arm; or judging whether the amplitude angle of the suspension arm is larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and whether an amplitude falling action electric signal is received from the electric proportional handle, if so, reducing the current output to an electromagnetic valve for controlling the amplitude falling action of the suspension arm so as to reduce the speed of the amplitude falling action of the suspension arm.
Further, the controller stops outputting current to the oil pump to stop the amplitude starting action of the boom if judging that the amplitude angle of the boom is equal to the upper limit value of the amplitude angle and receiving an amplitude starting action electrical signal from the electric proportional handle, or stops outputting current to the electromagnetic valve to stop the amplitude falling action of the boom if judging that the amplitude angle of the boom is equal to the lower limit value of the amplitude angle and receiving an amplitude falling action electrical signal from the electric proportional handle.
According to a third aspect of the present invention, there is provided a boom luffing control method, including:
acquiring the amplitude variation angle of the suspension arm in real time;
and judging whether the amplitude angle of the suspension arm is greater than or equal to the upper amplitude angle warning value and less than or equal to the upper amplitude angle limit value or greater than or equal to the lower amplitude angle limit value and less than or equal to the lower amplitude angle warning value, and if so, alarming.
Further, still include: if the amplitude variation angle of the suspension arm is judged to be larger than or equal to the upper alarm value of the amplitude variation angle and smaller than the upper limit value of the amplitude variation angle, and an electric signal of amplitude variation starting operation of the suspension arm is received from the electric proportional handle, the speed reduction processing is carried out on the amplitude variation starting operation of the suspension arm; or if the amplitude angle of the suspension arm is judged to be larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and the electrical proportion handle receives the suspension arm amplitude falling action electrical signal, the suspension arm amplitude falling action is subjected to deceleration processing.
Further, still include: and if the amplitude variation angle of the suspension arm is equal to the upper limit value of the amplitude variation angle and the suspension arm amplitude variation starting action electric signal is received from the electric proportional handle, or the amplitude variation angle of the suspension arm is equal to the lower limit value of the amplitude variation angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping amplitude variation action of the suspension arm.
Further, the warning value on the variable amplitude angle and the warning value under the variable amplitude angle are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values.
According to a fourth aspect of the present invention, there is provided a boom luffing control method, including:
acquiring the amplitude variation angle of the suspension arm in real time;
judging whether the amplitude variation angle of the suspension arm is larger than or equal to the upper amplitude variation angle warning value and smaller than the upper amplitude variation angle limit value or not, and whether an amplitude variation starting electric signal of the suspension arm is received from the electric proportional handle or not, if so, performing deceleration processing on the amplitude variation starting operation of the suspension arm; or judging whether the amplitude angle of the suspension arm is larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and whether an amplitude falling action electric signal of the suspension arm is received from the electric proportional handle, if so, carrying out deceleration treatment on the amplitude falling action of the suspension arm.
Further, still include: and if the amplitude variation angle of the suspension arm is equal to the upper limit value of the amplitude variation angle and the suspension arm amplitude variation starting action electric signal is received from the electric proportional handle, or the amplitude variation angle of the suspension arm is equal to the lower limit value of the amplitude variation angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping amplitude variation action of the suspension arm.
In the invention, the amplitude variation angle of the suspension arm is obtained in real time through an angle sensor, and is transmitted to a controller; the controller judges whether the amplitude angle of the suspension arm is larger than or equal to the upper amplitude angle warning value and smaller than or equal to the upper amplitude angle warning value or larger than or equal to the lower amplitude angle warning value or not, and if so, transmits an alarm electric signal to the alarm device for alarm processing, so that an operator can know in advance that the suspension arm reaches the upper amplitude angle limit position and the lower amplitude angle limit position, and then timely performs deceleration or locking processing on the amplitude motion of the suspension arm.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram illustrating the structure of a boom luffing control system according to some embodiments of the present invention.
Fig. 2 is a schematic structural view illustrating boom luffing control systems according to further embodiments of the present invention.
FIG. 3 is a flow diagram illustrating a method of boom luffing control according to some embodiments of the present invention.
Fig. 4 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
Fig. 5 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
Fig. 6 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
Fig. 7 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
FIG. 8 is a schematic diagram illustrating a range of boom luffing angle limits according to some embodiments of the invention.
FIG. 9 is a schematic block diagram illustrating a hydraulic system for luffing a boom according to some embodiments of the present disclosure.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
According to the invention, when the suspension arm is positioned above the horizontal plane, the angle of the suspension arm relative to the horizontal plane is a positive value, and when the suspension arm is positioned below the horizontal plane, the angle of the suspension arm relative to the horizontal plane is a negative value. Or, it can be said that a positive angle indicates that the boom luffing position is above the horizontal plane, and a negative angle indicates that the boom luffing position is below the horizontal plane. FIG. 8 is a schematic diagram illustrating a range of boom luffing angle limits according to some embodiments of the invention. As shown in FIG. 8, amaxAnd aminRespectively representing the upper limit value of the amplitude variation angle and the lower limit value of the amplitude variation angle of the crane jib; bmaxAnd bminRespectively representing the warning value at the amplitude variation angle of the crane jib and the warning value at the amplitude variation angle.
Wherein a ismaxThe amplitude is positive, and the amplitude position corresponding to the amplitude upper limit value is positioned above the horizontal plane;
aminthe amplitude of the water is controlled by the amplitude-variable angle control device, and the amplitude of the water is controlled by the amplitude-variable angle control device;
bmaxthe warning value is a positive value, and the position of the amplitude variation corresponding to the warning value on the amplitude variation angle is positioned above the horizontal plane;
bmincan be a negative value or a positive value, wherein the negative value represents the amplitude-changing angleThe amplitude variation position corresponding to the warning value under the amplitude is positioned below the horizontal plane, and the positive value indicates that the amplitude variation position corresponding to the warning value under the amplitude variation angle is positioned above the horizontal plane.
From a to amaxAnd bmaxThe limited amplitude variation angle area is an upper warning belt; b is formed byminAnd aminThe defined amplitude angle region is the lower warning band (as shown in fig. 8).
FIG. 1 is a schematic diagram illustrating the structure of a boom luffing control system according to some embodiments of the present invention. As shown in fig. 1, the boom luffing control system 100 includes: angle sensor 101, controller 102 and alarm device 103. Additionally, for purposes of illustration, an electric proportional handle 104, an oil pump 110, a solenoid valve (e.g., proportional valve) 111, and a boom arm 112 are also shown in FIG. 1. Wherein,
the angle sensor 101 is configured to obtain a boom luffing angle in real time, and transmit the boom luffing angle to a controller (the boom luffing angle is an angle of the boom relative to a horizontal plane);
the controller 102 is configured to determine, according to the received boom luffing angle, whether the boom luffing angle is greater than or equal to an upper warning value of the luffing angle and less than or equal to an upper limit value of the luffing angle, or whether the boom luffing angle is greater than or equal to a lower limit value of the luffing angle and less than or equal to a lower warning value of the luffing angle, and if so, output an alarm electrical signal to an alarm device for alarm processing; and
the alarm device 103 is used for alarming according to the received alarm electric signal.
In the embodiment, the amplitude angle of the suspension arm is obtained in real time through the angle sensor, and the amplitude angle of the suspension arm is transmitted to the controller; the controller judges whether the amplitude angle of the suspension arm is larger than or equal to the upper amplitude angle warning value and smaller than or equal to the upper amplitude angle warning value or larger than or equal to the lower amplitude angle warning value or not, and if so, transmits an alarm electric signal to the alarm device for alarm processing, so that an operator can know in advance that the suspension arm reaches the upper amplitude angle limit position and the lower amplitude angle limit position, and then timely performs deceleration or locking processing on the amplitude motion of the suspension arm.
In an embodiment of the present invention, the angle sensor may be installed at a position in the middle of the boom main arm. The controller may be an onboard controller or other onboard intelligent processing unit (e.g., onboard display). The alarm device can be a display device, a light-emitting device or a sound-emitting device, and alarms by displaying alarm characters or images, emitting light or emitting sound.
In an embodiment of the present invention, the boom luffing control system further includes: an electrical proportional handle (e.g., electrical proportional handle 104) for transmitting an electrical boom luffing start-up action signal or a boom luffing drop action signal to the controller. The controller determines that the suspension arm is to perform amplitude starting action according to the suspension arm amplitude starting action electric signal received from the electric proportional handle, or determines that the suspension arm is to perform amplitude falling action according to the suspension arm amplitude falling action electric signal received from the electric proportional handle. For example, the electric proportional handle can move in four directions of front, back, left and right, the middle origin point is the zero position of the electric proportional handle, different movement strokes of the electric proportional handle in the four directions of front, back, left and right can output currents with different values to the controller, and meanwhile, an electric signal in the movement direction of the current electric proportional handle is sent to the controller. For example: the electric proportional handle is pushed forwards to represent the amplitude-variable falling action of the suspension arm, and is pushed backwards to represent the amplitude-variable rising action of the suspension arm. Therefore, the controller can judge the amplitude rising and falling action of the suspension arm according to the amplitude starting action electric signal or the amplitude falling action electric signal of the suspension arm received from the electric proportional handle.
In the embodiment of the present invention, if the controller 102 determines that the boom luffing angle is greater than or equal to the upper warning value of the luffing angle and less than the upper limit value of the luffing angle, and receives the boom luffing start electric signal from the electric proportional handle 104, the controller reduces the current output to the oil pump 110 for controlling the boom luffing start operation, so as to perform deceleration processing on the boom luffing start operation (for example, to make the speed of the boom luffing start operation to be performed smaller or to decelerate the boom luffing start operation being performed); or if the boom luffing angle is judged to be greater than the lower luffing angle limit value and less than or equal to the lower luffing angle warning value, and the electrical proportional handle 104 receives the boom luffing motion electrical signal, the current output to the electromagnetic valve 111 for controlling the boom luffing motion is reduced, so as to perform deceleration processing on the boom luffing motion (for example, to make the speed of the boom luffing motion to be performed smaller or decelerate the boom luffing motion being performed).
In the embodiment, the controller is used for judging that the suspension arm is positioned in the upper warning band and receives a suspension arm amplitude variation starting action electric signal from the electric proportional handle, or the controller is positioned in the lower warning band and receives a suspension arm amplitude variation falling action electric signal from the electric proportional handle, and then the speed reduction processing is carried out on the suspension arm amplitude variation action, so that the suspension arm reaches the amplitude variation angle upper limit value amaxLower limit value a of position or amplitudeminThe amplitude variation speed of the suspension arm is reduced before the position, so that accidents or faults caused by the fact that the suspension arm cannot stop immediately and exceeds the upper and lower limit values when the suspension arm reaches the upper and lower limit values due to inertia, too high speed and the like are prevented, and the influence of human factors can be eliminated by controlling the speed reduction through the controller, so that the control is safer, more efficient and more reliable.
FIG. 9 is a schematic block diagram illustrating a hydraulic system for luffing a boom according to some embodiments of the present disclosure. As shown in fig. 9, the small chamber 912 of the luffing cylinder 910 is connected to a tank 932 via a small chamber oil passage 914, the large chamber 913 of the luffing cylinder 910 is connected to a directional valve 918 via a balancing valve 917, the directional valve 918 is connected to the tank 932 via an oil pump 931 and a luffing oil passage 915, and the directional valve 918 is also directly connected to the tank 932 via a luffing oil passage 916.
An oil pump 931 (similar to the oil pump 110 shown in fig. 1) is connected to the balance valve 917 via a solenoid valve 919 (similar to the solenoid valve 111 shown in fig. 1, for example, a directional valve), wherein the oil pump can deliver hydraulic oil in the oil tank to the solenoid valve 919, the hydraulic oil reaches the balance valve 917 via an outlet of the solenoid valve 919, the hydraulic oil generates an outlet pressure at the outlet of the solenoid valve, the outlet pressure acts on a spool of the balance valve 917, so that the spool is offset, the balance valve is in a passage way, and a controller (not shown in fig. 9) transmits current to the solenoid valve 919, and the smaller the current, the smaller the opening degree of the solenoid valve 919, the smaller the outlet pressure of the solenoid valve is, the smaller the opening degree of the balance valve 917 is, and if the current is zero (i.e., the solenoid valve 919 is de-energized.
As shown in fig. 9, the boom 922 is connected to a vehicle body (not shown in fig. 9) through a hinge point 928, the boom 922 surrounds the hinge point 928, and luffing motion is performed according to extension and contraction of a cylinder rod 911 of a luffing cylinder 910. The method comprises the following specific steps:
when the boom performs the luffing action, the reversing valve 918 is powered (for example, a controller (not shown in fig. 9) is powered), and the electromagnetic valve 919 is powered off (i.e., is not powered). When the direction valve 918 is powered, the oil pump 931 can deliver hydraulic oil in the tank to the balance valve 917 via the direction valve 918; under the pressure of the hydraulic oil, the check valve in the balance valve 917 is opened, so that the hydraulic oil can flow to the large cavity 913 of the luffing cylinder through the balance valve, and therefore the hydraulic oil can flow from the oil tank 932 to the large cavity 913 through the luffing oil line 915, the oil pump 931, the reversing valve 918 and the balance valve 917 in sequence; and the hydraulic oil in the small cavity 912 of the luffing cylinder flows back to the oil tank 932 through the small cavity oil passage 914, so that the cylinder rod 911 connected with the suspension arm 922 stretches out, and the suspension arm performs a luffing action. By adjusting the value of the current output to the oil pump 931 by the controller (not shown in fig. 9), the flow rate of the hydraulic oil entering the large cavity of the luffing cylinder can be adjusted, and thus the speed of the luffing movement of the boom can be adjusted, for example, the smaller the value of the current output to the oil pump 931 by the controller is, the smaller the oil supply flow rate of the oil pump 931 to the large cavity 913 is, the slower the luffing movement of the boom is, and if the current output to the oil pump 931 by the controller is reduced to zero, the luffing movement of the boom is stopped.
When the boom performs amplitude-changing falling action, the reversing valve 918 is de-energized (i.e. not energized), and the electromagnetic valve 919 is energized (e.g. energized from the controller). The direction change valve 918, in case of power loss, can allow the flow of hydraulic oil from the balance valve 917 to the tank 932, and not allow hydraulic oil from the oil pump 931 to the balance valve 917; when the electromagnetic valve 919 is powered on, the balance valve 917 can be enabled to be open, that is, hydraulic oil can be allowed to flow to the reversing valve 918 from the large cavity 913 through the balance valve 917, the boom 922 depends on the gravity of the boom and the gravity of the hoisted object 927 to perform amplitude-variable falling motion, the cylinder rod 911 is contracted, the hydraulic oil flows through the balance valve 917, the reversing valve 918 and the amplitude-variable falling oil way 916 from the large cavity 913 in sequence and flows back to the oil tank 932, and the hydraulic oil in the oil tank can flow into the small cavity 912 through the small cavity oil way 914 under the action of back pressure. As described above, in this process, if the controller reduces the current output to the solenoid valve 919, the opening degree of the solenoid valve 919 can be reduced, and the outlet pressure is reduced, the opening degree of the balance valve 917 is reduced, so that the flow rate of the hydraulic oil that flows back from the large chamber to the oil tank is reduced, and the speed at which the boom performs the amplitude-varying dropping operation is reduced. If the current output to the electromagnetic valve 919 by the controller is reduced to zero, the hydraulic oil in the large cavity cannot flow back to the oil tank, and the amplitude-variable falling action of the suspension arm is stopped.
Therefore, when the boom performs the luffing action, the controller can reduce the speed of the luffing starting of the boom by reducing the current output to the oil pump (such as the oil pump 931) for controlling the luffing action of the boom, so that the flow of the hydraulic oil entering the large cavity is reduced. For example, the boom arm is currently moving in a luffing direction and is within the upper warning band. Along with the increasing of the amplitude angle, the maximum allowable current value of the oil pump is smaller and smaller, the controller ensures that the maximum current value of the oil pump does not exceed the maximum allowable current value, the maximum movement speed of the suspension arm is further smaller and smaller, and finally the maximum allowable current value of the oil pump is reduced to 0. At this time, the suspension arm can not move continuously to the amplitude-variable starting direction any more. When the boom performs the amplitude drop action, the controller can reduce the speed of the amplitude drop action of the boom by reducing the current output to the electromagnetic valve (such as the electromagnetic valve 919) for controlling the amplitude drop action of the boom.
Of course, if the controller determines that the boom is located in the upper warning zone and receives the boom amplitude-changing falling action electrical signal from the electrical proportional handle, or the boom is located in the lower warning zone and receives the boom amplitude-changing starting action electrical signal from the electrical proportional handle, the controller may not perform deceleration processing on the amplitude-changing action of the boom.
In the embodiment of the invention, if the controller judges that the amplitude angle of the suspension arm is equal to the upper limit value of the amplitude angle and receives an electric signal for starting the amplitude of the suspension arm from the electric proportional handle, the controller stops outputting current to the oil pump for controlling the amplitude starting action of the suspension arm so as to stop the amplitude starting action of the suspension arm, or if the amplitude angle of the suspension arm is equal to the lower limit value of the amplitude angle and receives an electric signal for lowering the amplitude of the suspension arm from the electric proportional handle, the controller stops outputting current to the electromagnetic valve for controlling the amplitude lowering action of the suspension arm so as to stop the amplitude lowering action of the. For example, if the boom arm is located at a as shown in FIG. 8maxAt a position and about to perform a luffing action or at aminAnd when the amplitude-changing falling action is to be carried out, the amplitude-changing action (namely locking treatment) to be carried out by the suspension arm in the corresponding amplitude-changing direction is stopped.
For example, the signal transmission process of the normal luffing motion of the boom is as follows: the controller receives the electric signal and outputs current to the oil pump or the electromagnetic valve to control the flow of hydraulic oil entering or flowing out of the amplitude-variable oil cylinder so as to adjust the amplitude-variable motion speed of the suspension arm. When the crane is in a locked state, the controller neglects the acquired electric proportional handle signal, and directly sets the current value output to the oil pump or the electromagnetic valve to be 0, so that the oil pump or the electromagnetic valve does not output, and the crane arm stops amplitude variation motion.
Of course, if the controller determines that the boom is at amaxThe position of the boom is received from the electric proportional handle, or the boom is judged to be positioned at aminAnd when the position receives an electric signal for starting the amplitude variation of the suspension arm from the electric proportional handle, the amplitude variation of the suspension arm can not be locked.
In the embodiment of the invention, the controller stores the upper and lower warning values of the amplitude variation angle and the upper and lower amplitude variation angles in advanceAnd (4) limiting values. Wherein, the upper limit value and the lower limit value a of the amplitude variation angle of the suspension armmaxAnd aminCan be obtained by crane product design indexes. Warning value b in amplitude variation anglemaxAnd warning value b under amplitude variation angleminThe warning value at the variable amplitude angle and the warning value at the variable amplitude angle can be obtained by calculation, for example, the warning value at the variable amplitude angle and the warning value at the variable amplitude angle are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values. For example, the angle Δ1And angle delta2The angle can be 3-5 degrees, and of course, other angle values can be determined according to actual conditions or actual needs.
In another embodiment of the invention, the warning value b on the amplitude variation anglemaxAnd warning value b under amplitude variation angleminIt can also be determined directly by the technician and then stored on the controller, depending on the actual situation or need.
Fig. 2 is a schematic structural view illustrating boom luffing control systems according to further embodiments of the present invention. As shown in fig. 2, the boom luffing control system 200 includes: angle sensor 201, electric proportional handle 204 and controller 202. Additionally, for ease of illustration purposes, an oil pump 210, a solenoid valve (e.g., proportional valve) 211, and a boom 212 are also shown in FIG. 2. The angle sensor 201 and the electric proportional handle 204 are similar to the angle sensor 101 and the electric proportional handle 104 of fig. 1, respectively, and are not described herein again.
The controller 202 is configured to determine, according to the received boom luffing angle, whether the boom luffing angle is greater than or equal to an upper warning value of the luffing angle and smaller than an upper limit value of the luffing angle (i.e., determine whether the boom is located in an upper warning zone), and whether a boom luffing start electrical signal is received from the electrical proportional handle 204, and if so, reduce a current output to the oil pump 210 that controls the boom luffing start operation, so as to perform a deceleration process on the boom luffing start operation (e.g., to make the speed of the boom luffing start operation to be performed smaller or decelerate the boom luffing start operation that is being performed); or judging whether the amplitude angle of the suspension arm is larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value (namely judging whether the suspension arm is positioned in a lower warning band), and whether a suspension arm amplitude falling action electric signal is received from the electric proportional handle, if so, reducing the current output to the electromagnetic valve 211 for controlling the suspension arm amplitude falling action so as to carry out deceleration treatment on the suspension arm amplitude falling action (for example, the speed of the suspension arm amplitude falling action to be carried out is smaller or the ongoing suspension arm amplitude falling action is decelerated).
In an embodiment of the present invention, controller 202 is configured to determine that boom 212 is to be luffed based on a boom luffing actuation electrical signal received from electrical proportional handle 204, or that boom 212 is to be luffed based on a boom luffing actuation electrical signal received from electrical proportional handle 204.
Similarly, in the embodiment of the present invention, if the boom variable amplitude angle is equal to the upper limit of the amplitude angle and the boom variable amplitude start operation electrical signal is received from the electrical proportional handle 204, the controller 202 stops outputting the current to the oil pump 210 to stop the amplitude start operation of the boom 212, or if the boom variable amplitude angle is equal to the lower limit of the amplitude angle and the boom variable amplitude drop operation electrical signal is received from the electrical proportional handle 204, the controller stops outputting the current to the electromagnetic valve 211 to stop the amplitude drop operation of the boom 212.
FIG. 3 is a flow diagram illustrating a method of boom luffing control according to some embodiments of the present invention.
In step S301, a boom luffing angle is obtained in real time. Wherein the amplitude variation angle of the suspension arm is the angle of the suspension arm relative to the horizontal plane.
In step S302, it is determined whether the boom luffing angle is greater than or equal to the upper luffing angle warning value and less than or equal to the upper luffing angle limit value, or greater than or equal to the lower luffing angle limit value and less than or equal to the lower luffing angle warning value. If so, the process proceeds to step S303, otherwise, the process ends, for example, the alarm processing may not be performed.
In step S303, an alarm process.
In the embodiment, the amplitude variation angle of the suspension arm is obtained in real time, whether the amplitude variation angle of the suspension arm is larger than or equal to the upper amplitude variation angle warning value and smaller than or equal to the upper amplitude variation angle limit value or is larger than or equal to the lower amplitude variation angle limit value and smaller than or equal to the lower amplitude variation angle warning value is judged, if yes, alarm processing is carried out, so that an operator can know in advance that the suspension arm reaches the upper amplitude variation angle limit value and the lower amplitude variation angle limit value, and then deceleration or locking processing is carried out on the amplitude variation action of the.
In an embodiment of the present invention, the method for controlling the amplitude of the boom further includes: receiving an electric signal for starting the amplitude variation of the suspension arm or an electric signal for falling the amplitude variation of the suspension arm from the electric proportional handle; if an electric signal for starting the amplitude variation of the suspension arm is received from the electric proportional handle, determining that the suspension arm is about to perform amplitude variation starting action; and if the electrical proportional handle receives an electrical signal of the amplitude-change falling action of the suspension arm, determining that the suspension arm is about to carry out the amplitude-change falling action.
In an embodiment of the present invention, the method for controlling the amplitude of the boom further includes: if the amplitude variation angle of the suspension arm is judged to be larger than or equal to the upper alarm value of the amplitude variation angle and smaller than the upper limit value of the amplitude variation angle, and an electric signal of amplitude variation starting operation of the suspension arm is received from the electric proportional handle, the speed reduction processing is carried out on the amplitude variation starting operation of the suspension arm; or if the amplitude angle of the suspension arm is judged to be larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and the electrical proportion handle receives the suspension arm amplitude falling action electrical signal, the suspension arm amplitude falling action is subjected to deceleration processing. Thereby reaching the upper limit value a of the amplitude variation angle at the suspension armmaxLower limit value a of position or amplitudeminPosition ofThe amplitude variation speed of the suspension arm is reduced, accidents or faults caused by the fact that the suspension arm cannot stop immediately and exceeds the upper and lower limit values when the suspension arm reaches the upper and lower limit values due to inertia, too high speed and the like are prevented, and the controller is used for controlling speed reduction to eliminate the influence of human factors, so that the control is safer, more efficient and more reliable.
In an embodiment of the present invention, the method for controlling the amplitude of the boom further includes: and if the amplitude angle of the suspension arm is equal to the upper limit value of the amplitude angle and the suspension arm amplitude starting action electric signal is received from the electric proportional handle, or the amplitude angle of the suspension arm is equal to the lower limit value of the amplitude angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping the amplitude action of the suspension arm (namely locking the amplitude action of the suspension arm). For example, the boom luffing motion is stopped or the boom luffing motion is stopped.
In the embodiment of the invention, the upper limit value and the lower limit value a of the amplitude variation angle of the suspension armmaxAnd aminCan be obtained by crane product design indexes. Warning value b in amplitude variation anglemaxAnd warning value b under amplitude variation angleminThe warning value at the variable amplitude angle and the warning value at the variable amplitude angle can be obtained by calculation, for example, the warning value at the variable amplitude angle and the warning value at the variable amplitude angle are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values. For example, the angle Δ1And angle delta2The angle can be 3-5 degrees, and of course, other angle values can be determined according to actual conditions or actual needs.
In another embodiment of the invention, the warning value b on the amplitude variation anglemaxAnd amplitude of variationWarning value b under angleminIt can also be determined directly by the technician and then stored on the controller, depending on the actual situation or need.
Fig. 4 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
In step S401, a boom luffing angle is obtained in real time.
In step S402, it is determined whether the boom luffing angle is greater than or equal to the upper luffing angle warning value and less than or equal to the upper luffing angle limit value, or greater than or equal to the lower luffing angle limit value and less than or equal to the lower luffing angle warning value. If so, the process proceeds to step S403, otherwise, the process ends.
In step S403, an alarm process.
In step S404, a boom amplitude start operation electrical signal or a boom amplitude drop operation electrical signal is received from the electric proportional handle.
In step S405, it is determined whether the boom luffing angle is greater than or equal to the upper warning value of the luffing angle and less than the upper limit value of the luffing angle, and whether an electrical boom luffing start actuating signal is received from the electrical proportional handle. If so, the process proceeds to step S406, otherwise to step S407.
In step S406, deceleration processing is performed for the boom luffing start operation.
In step S407, it is determined whether the boom luffing angle is greater than the luffing angle lower limit value and less than or equal to the luffing angle lower warning value, and whether a boom luffing drop motion electrical signal is received from the electrical proportional handle. If so, the process proceeds to step S408, otherwise to step S409.
In step S408, the boom amplitude lowering operation is decelerated.
In step S409, it is determined whether the boom luffing angle is equal to the luffing angle upper limit value and whether a boom luffing start electrical signal is received from the electrical proportional handle. If so, the process proceeds to step S410, otherwise to step S411.
In step S410, the boom luffing operation is stopped.
In step S411, it is determined whether the boom luffing angle is equal to the luffing angle lower limit and whether an electrical boom luffing drop motion signal is received from the electrical proportional handle. If so, the process proceeds to step S412, otherwise, the process ends.
In step S412, the boom luffing motion is stopped.
In the embodiment of the invention, the controller can circularly operate the processes, namely in each cycle period, the controller can receive the amplitude variation angle information of the suspension arm of the angle sensor, and judge whether the suspension arm is positioned in the warning band, whether the amplitude variation starting action electric signal or the amplitude variation falling action electric signal of the suspension arm is received from the electric proportional handle, whether the amplitude variation angle reaches the upper limit value and the lower limit value of the amplitude variation angle, and the like, so that corresponding processing, such as alarming, decelerating or locking processing, is carried out.
In the embodiment of the present invention, the above sequence of the steps used in the method is only for illustration, and the steps of the method of the present invention are not limited to the sequence specifically described above, for example, it may be determined first whether the boom luffing angle is greater than the lower limit value of the luffing angle and less than or equal to the lower limit value of the luffing angle, and whether the boom luffing down action electrical signal is received from the electrical proportional handle, and if not, whether the boom luffing angle is greater than or equal to the upper limit value of the luffing angle and less than the upper limit value of the luffing angle, and whether the boom luffing start action electrical signal is received from the electrical proportional handle. Thus, the steps of the method of embodiments of the present invention are not limited to the order depicted in FIG. 4.
Fig. 5 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
In step S501, a boom luffing angle is obtained in real time. Wherein the amplitude variation angle of the suspension arm is the angle of the suspension arm relative to the horizontal plane.
In step S503, it is determined whether the boom luffing angle is greater than or equal to the upper warning value of the luffing angle and less than the upper limit value of the luffing angle, and whether an electrical boom luffing start actuating signal is received from the electrical proportional handle. If so, the process proceeds to step S505, otherwise, it ends.
In step S505, deceleration processing is performed for the boom luffing start operation.
In the embodiment, the amplitude starting operation is decelerated by judging whether the suspension arm is in the upper warning band or not and receiving an amplitude starting operation electric signal of the suspension arm from the electric proportional handle or not, so that the amplitude angle of the suspension arm reaches the upper limit value amaxThe amplitude starting speed of the suspension arm is reduced before the position, so that accidents or faults caused by the fact that the suspension arm cannot stop immediately and exceeds the upper limit value position due to inertia, too high speed and the like when the suspension arm reaches the upper limit value position are prevented, and the influence of human factors can be eliminated by controlling the speed reduction through the controller, so that the control is safer, more efficient and more reliable.
Fig. 6 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
In step S602, a boom luffing angle is obtained in real time. Wherein the amplitude variation angle of the suspension arm is the angle of the suspension arm relative to the horizontal plane.
In step S604, it is determined whether the boom luffing angle is greater than the luffing angle lower limit value and less than or equal to the luffing angle lower warning value, and whether a boom luffing drop motion electrical signal is received from the electrical proportional handle. If so, the process proceeds to step S606, otherwise, the process ends.
In step S606, the boom amplitude dropping operation is decelerated.
In the embodiment, the amplitude of the drop motion of the suspension arm is reduced by judging whether the suspension arm is in the lower warning band or not and whether the amplitude of the drop motion of the suspension arm is received from the electric proportional handle or not, and if so, the amplitude of the drop motion of the suspension arm is reduced, so that the amplitude of the suspension arm reaches the lower limit value a of the amplitude angleminBefore the position, the amplitude drop speed of the suspension arm is reduced,the problem that accidents or faults are caused by the fact that the suspension arm cannot stop immediately and exceeds the lower limit position when the suspension arm reaches the lower limit position due to the fact that inertia, too high speed and the like is avoided, and the controller is used for controlling speed reduction to eliminate the influence of human factors, so that control is safer, more efficient and more reliable.
In an embodiment of the present invention, the method for controlling the amplitude of the boom further includes: if an electric signal for starting the amplitude variation of the suspension arm is received from the electric proportional handle, determining that the suspension arm is about to perform the amplitude variation starting action; and if the electrical proportional handle receives an electrical signal of the amplitude-change falling action of the suspension arm, determining that the suspension arm is about to carry out the amplitude-change falling action.
In an embodiment of the present invention, the method for controlling the amplitude of the boom further includes: and if the amplitude angle of the suspension arm is equal to the upper limit value of the amplitude angle and the suspension arm amplitude starting action electric signal is received from the electric proportional handle, or the amplitude angle of the suspension arm is equal to the lower limit value of the amplitude angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping the amplitude action of the suspension arm (namely locking the amplitude action of the suspension arm). For example, the boom luffing motion is stopped or the boom luffing motion is stopped.
Fig. 7 is a flowchart illustrating a boom luffing control method according to other embodiments of the present invention.
In step S701, a boom luffing angle is obtained in real time.
In step S702, it is determined whether the boom luffing angle is greater than or equal to the upper warning value of the luffing angle and less than the upper limit value of the luffing angle, and whether an electrical boom luffing start actuating signal is received from the electrical proportional handle. If so, the process proceeds to step S703, otherwise, the process proceeds to step S704.
In step S703, deceleration processing is performed for boom luffing start operation.
In step S704, it is determined whether the boom luffing angle is greater than the luffing angle lower limit value and less than or equal to the luffing angle lower warning value, and whether a boom luffing drop motion electrical signal is received from the electrical proportional handle. If so, the process proceeds to step S705, otherwise, it ends.
In step S705, the boom amplitude lowering operation is decelerated.
In the embodiment of the present invention, the above sequence of the steps used in the method is only for illustration, and the steps of the method of the present invention are not limited to the sequence specifically described above, for example, it may be determined first whether the boom luffing angle is greater than the lower limit value of the luffing angle and less than or equal to the lower limit value of the luffing angle, and whether the boom luffing down action electrical signal is received from the electrical proportional handle, and if not, whether the boom luffing angle is greater than or equal to the upper limit value of the luffing angle and less than the upper limit value of the luffing angle, and whether the boom luffing start action electrical signal is received from the electrical proportional handle. Thus, the steps of the method of embodiments of the present invention are not limited to the order depicted in FIG. 7.
Thus far, the present invention has been described in detail. Some details well known in the art have not been described in order to avoid obscuring the concepts of the present invention. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
The method and system of the present invention may be implemented in a number of ways. For example, the methods and systems of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (13)
1. A boom luffing control system comprising:
the angle sensor is used for acquiring the amplitude variation angle of the suspension arm in real time and transmitting the amplitude variation angle of the suspension arm to the controller;
the controller is used for judging whether the amplitude variation angle of the suspension arm is greater than or equal to the upper amplitude variation angle warning value and less than or equal to the upper amplitude variation angle limit value or not or greater than or equal to the lower amplitude variation angle limit value and less than or equal to the lower amplitude variation angle warning value or not according to the received amplitude variation angle of the suspension arm, and if so, outputting an alarm electric signal to alarm equipment for alarm processing; and
and the alarm equipment is used for giving an alarm according to the received alarm electric signal.
2. The boom luffing control system of claim 1, further comprising:
and the electric proportional handle is used for transmitting an electric signal for starting the amplitude variation of the suspension arm or an electric signal for falling the amplitude variation of the suspension arm to the controller.
3. The boom variable amplitude control system according to claim 2, wherein if the controller determines that the boom variable amplitude angle is greater than or equal to the upper warning value of the variable amplitude angle and smaller than the upper limit value of the variable amplitude angle and receives an electrical signal for starting the boom variable amplitude from the electrical proportional handle, the controller reduces the current output to an oil pump for controlling the starting of the boom variable amplitude to reduce the speed of the starting of the boom variable amplitude;
or
And if the amplitude angle of the suspension arm is judged to be larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and an electrical signal of the amplitude falling action of the suspension arm is received from the electrical proportion handle, reducing the current output to the electromagnetic valve for controlling the amplitude falling action of the suspension arm so as to perform deceleration treatment on the amplitude falling action of the suspension arm.
4. The boom luffing control system according to claim 2, wherein the controller stops outputting current to an oil pump controlling the boom luffing action to stop the boom luffing action if the controller determines that the boom luffing angle is equal to the luffing angle upper limit value and receives a boom luffing starting action electrical signal from the electrical proportional handle;
or
And if the amplitude angle of the suspension arm is equal to the lower limit value of the amplitude angle and the electrical proportional handle receives an electrical signal of amplitude falling action of the suspension arm, stopping outputting current to the electromagnetic valve for controlling the amplitude falling action of the suspension arm so as to stop the amplitude falling action of the suspension arm.
5. The boom variable amplitude control system according to claim 1, wherein the variable amplitude angle upper warning value and the variable amplitude angle lower warning value are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values.
6. A boom luffing control system comprising:
the angle sensor is used for acquiring the amplitude variation angle of the suspension arm in real time and transmitting the amplitude variation angle of the suspension arm to the controller;
the electric proportional handle is used for transmitting an electric signal for starting the amplitude variation of the suspension arm or an electric signal for falling the amplitude variation of the suspension arm to the controller;
the controller is used for judging whether the amplitude variation angle of the suspension arm is larger than or equal to an upper alarm value of the amplitude variation angle and smaller than an upper limit value of the amplitude variation angle or not according to the received amplitude variation angle of the suspension arm, and whether an electric signal for amplitude variation starting action of the suspension arm is received from the electric proportional handle or not, if so, the current output to an oil pump for controlling the amplitude variation starting action of the suspension arm is reduced, so that the speed reduction treatment is carried out on the amplitude variation starting action of the suspension arm;
or
And judging whether the amplitude angle of the suspension arm is greater than the amplitude angle lower limit value and less than or equal to the amplitude angle lower warning value, and whether an amplitude falling action electric signal is received from the electric proportional handle, if so, reducing the current output to an electromagnetic valve for controlling the amplitude falling action of the suspension arm so as to reduce the amplitude falling action of the suspension arm.
7. The boom luffing control system according to claim 6, wherein the controller stops outputting current to the oil pump to stop the boom luffing action if the boom luffing angle is judged to be equal to the luffing angle upper limit value and a boom luffing starting action electrical signal is received from the electrical proportional handle;
or
And if the amplitude angle of the suspension arm is equal to the lower limit value of the amplitude angle and the electrical proportional handle receives an electrical signal of amplitude falling action of the suspension arm, stopping outputting current to the electromagnetic valve to stop the amplitude falling action of the suspension arm.
8. A boom amplitude variation control method comprises the following steps:
acquiring the amplitude variation angle of the suspension arm in real time;
and judging whether the amplitude angle of the suspension arm is greater than or equal to the upper amplitude angle warning value and less than or equal to the upper amplitude angle limit value or greater than or equal to the lower amplitude angle limit value and less than or equal to the lower amplitude angle warning value, and if so, alarming.
9. The boom luffing control method of claim 8, further comprising:
if the amplitude variation angle of the suspension arm is judged to be larger than or equal to the upper alarm value of the amplitude variation angle and smaller than the upper limit value of the amplitude variation angle, and an electric signal of amplitude variation starting operation of the suspension arm is received from the electric proportional handle, the speed reduction processing is carried out on the amplitude variation starting operation of the suspension arm;
or
And if the amplitude angle of the suspension arm is judged to be larger than the amplitude angle lower limit value and smaller than or equal to the amplitude angle lower warning value, and an electrical signal of the amplitude falling action of the suspension arm is received from the electrical proportion handle, the amplitude falling action of the suspension arm is subjected to deceleration treatment.
10. The boom luffing control method of claim 8, further comprising:
and if the amplitude variation angle of the suspension arm is equal to the upper limit value of the amplitude variation angle and the suspension arm amplitude variation starting action electric signal is received from the electric proportional handle, or the amplitude variation angle of the suspension arm is equal to the lower limit value of the amplitude variation angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping amplitude variation action of the suspension arm.
11. The boom amplitude variation control method according to claim 8, wherein the amplitude variation angle upper warning value and the amplitude variation angle lower warning value are respectively as follows:
the warning value of the amplitude variation angle is equal to the upper limit value of the amplitude variation angle-the angle delta1(ii) a And
the warning value under the amplitude variation angle is equal to the lower limit value of the amplitude variation angle plus the angle delta2；
Wherein the angle delta1And angle delta2Respectively the parameters of calculating the warning value at the amplitude variation angle and the warning value at the amplitude variation angle, the angle delta1And angle delta2Are all positive values.
12. A boom amplitude variation control method comprises the following steps:
acquiring the amplitude variation angle of the suspension arm in real time;
judging whether the amplitude variation angle of the suspension arm is larger than or equal to the upper amplitude variation angle warning value and smaller than the upper amplitude variation angle limit value or not, and whether an amplitude variation starting electric signal of the suspension arm is received from the electric proportional handle or not, if so, performing deceleration processing on the amplitude variation starting operation of the suspension arm;
or
And judging whether the amplitude angle of the suspension arm is greater than the amplitude angle lower limit value and less than or equal to the amplitude angle lower warning value, and whether an electrical signal of amplitude falling action of the suspension arm is received from the electrical proportional handle, if so, carrying out deceleration treatment on the amplitude falling action of the suspension arm.
13. The boom luffing control method of claim 12, further comprising:
and if the amplitude variation angle of the suspension arm is equal to the upper limit value of the amplitude variation angle and the suspension arm amplitude variation starting action electric signal is received from the electric proportional handle, or the amplitude variation angle of the suspension arm is equal to the lower limit value of the amplitude variation angle and the suspension arm amplitude falling action electric signal is received from the electric proportional handle, stopping amplitude variation action of the suspension arm.
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| CN201410634490.0A CN105197823A (en) | 2014-11-12 | 2014-11-12 | Lazy arm amplitude variation control system and method |
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| CN106597895A (en) * | 2016-12-12 | 2017-04-26 | 三汽车制造有限公司 | Boom system control method, boom control system and boom device |
| CN110002341A (en) * | 2019-04-30 | 2019-07-12 | 徐工集团工程机械股份有限公司建设机械分公司 | The method for control speed and system of engineering machinery executing agency execution movement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106044569A (en) * | 2016-07-05 | 2016-10-26 | 武汉船用机械有限责任公司 | Control method and control system for stern gantry crane |
| CN106597895A (en) * | 2016-12-12 | 2017-04-26 | 三汽车制造有限公司 | Boom system control method, boom control system and boom device |
| CN110002341A (en) * | 2019-04-30 | 2019-07-12 | 徐工集团工程机械股份有限公司建设机械分公司 | The method for control speed and system of engineering machinery executing agency execution movement |
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Application publication date: 20151230 |