CN105460809A - Stretching and retracting control system and method for telescopic boom and crane - Google Patents
Stretching and retracting control system and method for telescopic boom and crane Download PDFInfo
- Publication number
- CN105460809A CN105460809A CN201410783250.7A CN201410783250A CN105460809A CN 105460809 A CN105460809 A CN 105460809A CN 201410783250 A CN201410783250 A CN 201410783250A CN 105460809 A CN105460809 A CN 105460809A
- Authority
- CN
- China
- Prior art keywords
- telescopic
- telescopic boom
- arm
- operating mode
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
Abstract
The invention discloses a stretching and retracting control system and method for a telescopic boom and a crane. The stretching and retracting control system for the telescopic boom comprises a working condition detection device and a controller, wherein the working condition detection device is used for detecting the boom position of the telescopic boom and working condition data and transmitting the boom position and the working condition data to the controller; the controller is used for determining the current value according to the boom position and the working condition data, outputting electric currents with the current value to an execution element, so that the stretching action or retracting action of the telescopic boom is executed. By the adoption of the stretching and retracting control system and method for the telescopic boom and the crane, different stretching and retracting control currents are determined according to different stretching and retracting working conditions.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of telescopic boom telescopic control system, method and hoisting crane.
Background technology
Single cylinder bolt-type hoisting crane is the hoisting crane being realized telescopic boom Telescopic by the combinative movement of telescopic oil cylinder and arm pin and cylinder pin.Fig. 1 illustrates single cylinder bolt-type Telescopic boom structure of crane schematic diagram of the prior art.As shown in Figure 1, telescopic boom comprises: basic arm 11, two saves arm 12, three and saves arm 13, four joint arm 14, five joint arm 15, telescopic oil cylinder 10, arm pin 111, arm pin-and-hole 112, cylinder pin 101, cylinder pin-and-hole 102 etc.
The single-cylinder bolt device being positioned at telescopic crane boom can assist telescopic oil cylinder to realize the flexible of telescopic crane boom, and its formation mainly contains cylinder pin, arm pin, dovetail furrow, dovetail furrow oil cylinder, various detector switch and other auxiliary facilities.Telescopic oil cylinder employing cylinder bar is fixed, cylinder body is movable, namely cylinder pin is not fixing, oil cylinder head is equipped with multiple sensor, and the afterbody often saving arm is designed with induction installation, oil cylinder can find needs flexible arm, can realize the flexible of this joint arm after movable cylinder lock lives this joint arm.Each joint arm can lock together by movable arm pin, is positioned on each joint arm arm tail.
Fig. 2 is the cross sectional drawing of cylinder head perpendicular to dovetail furrow of the telescopic oil cylinder that single cylinder bolt-type telescopic crane boom of the prior art is shown.As shown in Figure 2, the cylinder head of telescopic oil cylinder is provided with cylinder pin 201, proximity switch 202 is detected in arm position, cylinder lock is dead/separate lock detection switch 203, dovetail furrow 204 and arm lock dead/unlock and detect proximity switch (not shown in Fig. 2).Wherein, proximity switch is detected for detection arm position in arm position.Cylinder lock is dead/and whether separate lock detection switch stretches out completely or retracts for detecting cylinder pin.Arm lock is dead/and unlock and detect proximity switch and be used for detection arm pin and whether stretch out completely or retract.
Single cylinder bolt-type hoisting crane automatic telescopic process is described below:
Semi-girder flow process:
Cylinder head travels forward detection arm position: pull out arm position, cylinder pin → stretch cylinder detection arm position → detect and insert cylinder pin → pull out arm pin → oil cylinder armed and stretch → (pre-decelerating release arm pin) arms pin;
Cylinder head motion detection arm backward position: pull out arm position, cylinder pin → contracting cylinder detection arm position → detect and insert cylinder pin → pull out arm pin → oil cylinder armed and stretch → (pre-decelerating release arm pin) arms pin.
Contracting arm flow process:
Contracting non-present arm: pull out arm position, cylinder pin → detection arm position → detect and insert cylinder pin → pull out arm pin → contracting arm → arms pin;
Forearm is worked as in contracting: pull out arm pin → contracting arm → arms pin.
In automatic telescopic process, such as: during different joint arm stretch/shrink, it is different that telescopic oil cylinder needs to overcome gravity work, and the oil pump current value size therefore needed is also different: such as, telescopic boom has seven joint arms, when stretching Section 2 arm, oil cylinder needs the gravity overcoming the 2nd, 3,4,5,6,7 joint arms, and when stretching Section 7 arm, only need the self gravitation overcoming Section 7 arm, both of these case, the size of semi-girder electric current has very big difference, the speed of guarantee semi-girder.
Again such as, when plugging cylinder pin or arm pin, in a lot of situation, because a variety of causes can cause cylinder pin or arm pin can not once plug successful situation, in this case, can by among a small circle back and forth the method for stretch/shrink arm realize the successful plug of cylinder pin or arm pin, this needs size of adjustment now flexible electric current to control stretch/shrink arm speed.
But in existing telescopic boom extension and contraction control, for telescopic boom telescopic process in varied situations, be all control with identical control electric current.Due to telescopic boom carry out flexible under different operating modes time, the resistance overcome required for telescopic oil cylinder is different, the power that driving engine provides is also different, and now, if carry out extension and contraction control with identical electric current, when engine power is not enough flexible resistance is comparatively large, then can causes flexible unsuccessful or situation that stretching speed is excessively slow, make flexible success ratio lower and flexible inefficiency.
Summary of the invention
The technical matters that the present invention solves is: can not determine different extension and contraction control electric currents according to different flexible operating modes in prior art.
According to a first aspect of the invention, providing a kind of telescopic boom telescopic control system, comprising: condition detector, for detecting arm position and the floor data of telescopic boom, and described arm position and described floor data being transferred to controller; Controller, according to described arm position and described floor data determination current value, and the electric current exporting described current value is to power element, performs telescopic boom and carries out stretching action or contracting action.
Further, described controller according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, is searched and determines the current value corresponding with described operating mode code.
Further, described floor data comprises: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, telescopic boom objective cross state.
Further, described condition detector comprises: proximity switch is detected in arm position, for the arm position detected when the telescopic boom of front stretching, described arm position is transferred to described controller; Cylinder lock is dead/unlock proximity switch, and be in locking state or released state for detecting cylinder pin and the described locking state detected or released state are transferred to described controller; Arm lock is dead/and unlock and detect proximity switch, be in locking state or released state for detection arm pin and the described locking state detected or released state are transferred to controller; Operating handle, for inputting retracted position value to determine that telescopic boom carries out stretching action or contracting action to described controller; And input equipment, for inputting telescopic boom objective cross state to controller.
Further, described floor data also comprises: the selection of the distance that the angle residing for telescopic boom, telescopic boom length, telescopic oil cylinder stretch out, the large cavity pressure of telescopic oil cylinder, automatic telescopic or manual telescopic operating mode, the selection of arm operating mode, single pump work or double pump work are selected.
According to a second aspect of the invention, provide a kind of hoisting crane, comprising: described telescopic boom telescopic control system.
According to a third aspect of the invention we, provide a kind of telescopic boom telescopic control method, comprising: condition detector detects arm position and the floor data of telescopic boom, and described arm position and described floor data are transferred to controller; Described controller is according to described arm position and described floor data determination current value, and the electric current exporting described current value is to power element, performs telescopic boom and carries out stretching action or contracting action.
Further, described controller comprises according to the step of described arm position and described floor data determination current value: described controller is according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, search and determine the current value corresponding with described operating mode code.
Further, described floor data comprises: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, telescopic boom objective cross state.
Further, described floor data also comprises: the selection of the large cavity pressure of the distance that telescopic boom length, telescopic oil cylinder stretch out, telescopic oil cylinder, automatic telescopic or manual telescopic operating mode, the selection of arm operating mode, single pump work or double pump work are selected.
In the present invention, detected arm position and the floor data of telescopic boom by condition detector, and described arm position and described floor data are transferred to controller; Described controller is according to described arm position and described floor data determination current value, and export the electric current of described current value to power element, perform telescopic boom to carry out stretching action or contracting action, thus achieve and determine different extension and contraction control electric currents according to different flexible operating modes.
By referring to the detailed description of accompanying drawing to exemplary embodiment of the present invention, further feature of the present invention and advantage thereof will become clear.
Accompanying drawing explanation
What form a part for specification sheets drawings describes embodiments of the invention, and together with the description for explaining principle of the present invention.
With reference to accompanying drawing, according to detailed description below, clearly the present invention can be understood, wherein:
Fig. 1 illustrates single cylinder bolt-type Telescopic boom structure of crane schematic diagram of the prior art.
Fig. 2 is the cross sectional drawing of cylinder head perpendicular to dovetail furrow of the telescopic oil cylinder that single cylinder bolt-type telescopic crane boom of the prior art is shown.
Fig. 3 is the structural representation of the telescopic boom telescopic control system illustrated according to the embodiment of the present invention.
Fig. 4 is the diagram of circuit of the telescopic boom telescopic control method illustrated according to the embodiment of the present invention.
Fig. 5 illustrates the flexible operating mode electricity stream correspondence table according to the embodiment of the present invention.
Detailed description of the invention
Various exemplary embodiment of the present invention is described in detail now with reference to accompanying drawing.It should be noted that: 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.
Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.
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.
Fig. 3 is the structural representation of the telescopic boom telescopic control system illustrated according to the embodiment of the present invention.As shown in Figure 3, telescopic boom telescopic control system 30 comprises: condition detector 301 and controller 302, and wherein, condition detector 301 is electrically connected with controller 302.For illustrative purposes, also show power element 310 in Fig. 3, it is electrically connected with controller 302.
Condition detector 301 is for detecting arm position (is where save arm namely when front stretching) and floor data (the i.e. retracted position of current telescopic boom of telescopic boom, such as comprise the locking state of cylinder pin or released state, telescopic boom stretch action or contracting action etc.), and described arm position and described floor data are transferred to controller 302.
Controller 302 is according to described arm position and described floor data determination current value, and the electric current exporting described current value is to power element 310 (such as telescoping electromagnetic valve), performs telescopic boom and carries out stretching action or contracting action.
In this embodiment, detected arm position and the floor data of telescopic boom by condition detector, and described arm position and described floor data are transferred to controller; Described controller is according to described arm position and described floor data determination current value, and export the electric current of described current value to power element, perform telescopic boom to carry out stretching action or contracting action, thus achieve and determine different extension and contraction control electric currents according to different flexible operating modes.Further, when performing flexible to telescopic boom, the control electric current that controller adapts to this operating mode according to the output of different operating modes carries out extension and contraction control to telescopic boom, prevents from occurring unsuccessful or that stretching speed is excessively slow situation of stretching when engine power is not enough flexible resistance is comparatively large.
In an embodiment of the present invention, described floor data can comprise: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, (namely the target of each joint arm stretches out state to telescopic boom objective cross state, for certain joint arm, the length can stretched out with this joint arm accounts for the percentum that this joint arm can stretch out total length and represents, such as two joint arms stretch 100%, and three, four, five, six joint arms stretch 46%).
In another embodiment, described floor data can also comprise: the distance (i.e. the long line length of cylinder) that the angle residing for telescopic boom, telescopic boom length, telescopic oil cylinder stretch out, the large cavity pressure of telescopic oil cylinder, automatic telescopic or manual telescopic operating mode are selected, arm operating mode selects (such as, select principal arm operating mode, auxiliary operating mode, super lifting working condition and surpassed one of tower arm operating mode), single pump work or double pump work selection etc.
In an embodiment of the present invention, described controller according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, is searched and determines the current value corresponding with described operating mode code.Such as, different arm positions and floor data are expressed as operating mode code, set up the relation between operating mode code and current value, such as, can set up operating mode code and current value data sheet one to one, and store in the controller; Controller is behind acquisition arm position and floor data, according to the corresponding relation of operating mode code and current value, obtain the current value corresponding with this operating mode code, and the electric current exporting this current value is to power element (such as telescoping electromagnetic valve), performs telescopic boom and stretch action or contracting action.
In this embodiment, utilize the retracted position residing for various sensor signal automatic decision telescopic booms in single cylinder bolt system, and operating mode division is carried out to situations different in telescopic process, foundation is controlled as telescopic process using different operating mode codes, the current value different according to different operating mode code Auto-matchings, telescopic process control electric current and the power needed for telescopic process are matched, control process is more accurate, the telescopic process of each joint arm is more steady, when avoiding that in traditional control method, same current mates all operating modes, the flexible unsuccessful and situation that speed is excessively slow occurred, improve the success ratio of telescopic process and flexible efficiency.
Corresponding relation about operating mode code and current value can shown in reference diagram 5.Fig. 5 illustrates the flexible operating mode electricity stream correspondence table according to the embodiment of the present invention.Such as, as shown in Figure 5, operating mode code comprises B value and XNUMBER value, and such as, a B value and an XNUMBER value can form an operating mode code, and wherein, B value represents the arm position (is where save arm namely when front stretching) of telescopic boom; Other floor datas of XNUMBER value expression such as, can be locking state according to cylinder pin, telescopic boom carries out stretching action, telescopic boom objective cross state is full semi-girder 100% operating mode, determine XNUMBER value.Certainly, in order to operating mode is divided more accurate, can with reference to more floor data when dividing operating mode, the locking state of such as arm operating mode (such as, principal arm operating mode, auxiliary operating mode, super lifting working condition and surpassed one of tower arm operating mode), distance that telescopic oil cylinder stretches out, arm pin or released state, automatic telescopic or manual telescopic, single pump work or double pump work etc.Such floor data is more, and when carrying out the expanding-contracting action of telescopic boom, controller can control expanding-contracting action more accurately according to actual condition.
Controller can according to obtaining the arm position of telescopic boom and floor data respectively to B value and XNUMBER value assignment, after determining B value and XNUMBER value, search the current value corresponding with this B value and this XNUMBER value, export the electric current of this current value to power element (such as telescoping electromagnetic valve), perform telescopic boom and stretch action or contracting action.
Such as, controller is when the arm position obtaining the telescopic boom when front stretching, and namely when front stretching is where save arm, comes B assignment, such as, when front stretching Section 2 arm, then and B=2.Controller obtains current floor data: principal arm operating mode, principal arm angle 72 °, full semi-girder 100% operating mode, automatic telescopic, single pump, arm is saved in arm position two, cylinder lock is dead, arm pin unlocks, stretch action, (wherein X is setting value for distance >=X that telescopic oil cylinder stretches out, unit is millimeter), can be 1 (if other floor datas are constant to XNUMBER assignment, and the distance <X that telescopic oil cylinder stretches out, then can be 2 to XNUMBER assignment).Like this when B=2, XNUMBER=1, the flexible operating mode electricity stream correspondence table shown in Fig. 5 searched by controller, obtains and current value I that B=2, XNUMBER=1 are corresponding
12(this current value is the current value adapting to this operating mode), exports this current value I
12electric current to power element (such as telescoping electromagnetic valve), thus control the flexible of telescopic boom.
Again such as, when front stretching Section 2 arm, then B=2, floor data is: principal arm operating mode, principal arm angle 72 °, full semi-girder 100% operating mode, automatic telescopic, single pump, arm is saved in arm position two, cylinder lock is dead, arm pin unlocks, contracting action, (wherein Y is setting value to distance>=Y that telescopic oil cylinder stretches out, unit is millimeter), can be 3 (if other floor datas are constant to XNUMBER assignment, and the distance <Y that telescopic oil cylinder stretches out, can be then 4 to XNUMBER assignment), like this at B=2, during XNUMBER=3, the flexible operating mode electricity stream correspondence table shown in Fig. 5 searched by controller, obtain and B=2, the current value I that XNUMBER=3 is corresponding
32, export this current value I
32electric current to power element (such as telescoping electromagnetic valve), thus control the flexible of telescopic boom.
Certainly, it will be appreciated by those skilled in the art that, mode described above is not limited in about the division of operating mode or assignment, such as, when floor data also comprises other data except described floor data above, operating mode can divide further in detail, and such as operating mode code, except comprising B value and XNUMBER value, can also comprise the value of other data of reflection.Again such as, the mode about assignment can also be directly write code to distinguish all operating modes etc.Therefore, scope of the present invention is not limited in this.
In an embodiment of the present invention, the corresponding relation (the flexible operating mode electricity stream correspondence table such as shown in Fig. 5) of operating mode code and current value can be obtained by experiment.Such as, for the flexible operating mode representated by each B value and XNUMBER value, operating personal can make controller export the electric current of different current value to power element, control telescopic boom to stretch, according to actual needs, obtain the current value of flexible most effective (such as stretching speed is the fastest), be the current value adapting to described flexible operating mode, thus obtain the corresponding relation of operating mode code and current value.
In an embodiment of the present invention, condition detector can comprise: that proximity switch, cylinder lock are detected in arm position is dead/unlock proximity switch, arm lock dead/unlock and detect proximity switch, operating handle and input equipment.Wherein,
Arm position is detected proximity switch for the arm position detected when the telescopic boom of front stretching and described arm position is transferred to described controller.Wherein, what controller can work as front stretching according to the arm position judgement received is where save arm.
Cylinder lock is dead/unlocks proximity switch be in locking state or released state for detecting cylinder pin and the described locking state detected or released state are transferred to described controller.Wherein, according to locking state, controller can judge that a year contracting is stretched or be with to current telescopic oil cylinder as band carries, and judges that current telescopic oil cylinder is that empty cylinder is stretched or the contracting of empty cylinder according to released state.
Arm lock is dead/and unlock and detect proximity switch, be in locking state or released state for detection arm pin and the described locking state detected or released state are transferred to controller.Wherein, arm pin stretches out for locking state, retracts as released state.
Operating handle is used for described controller input retracted position value to determine that telescopic boom carries out stretching action or contracting action.Such as, operating personal exports handle signal to controller by operating handle, and this handle signal of controller process also exports control electric current to telescoping electromagnetic valve.Such as, handle signal input range is :-1000 ~ 1000, and wherein, input range is-1000 ~ 0, then for stretching action, 0 ~ 1000 is contracting action.
Input equipment is used for controller input telescopic boom objective cross state.Such as, input equipment is touch-screen display.Operating personal can utilize touch-screen display to input telescopic boom objective cross state, and the semi-girder assembled state that such as telescopic boom respectively saves arm is that two joint arms stretch 100%, three, four, five, six joint arms 46%.In another embodiment, arm operating mode can be selected signal (such as CAN (ControllerAreaNetwork by input equipment, controller local area network) signal, by input equipment, selection is carried out to arm operating mode by operator and confirms input) input to controller, controller is resolved CAN signal, thus determine that current arm operating mode is principal arm operating mode, auxiliary operating mode, super lifting working condition and which to have surpassed in tower arm operating mode.In another embodiment, input equipment can also input automatic telescopic or the selection of manual telescopic operating mode, single pump work or double pump work selection etc. to controller.Such as, input equipment can be the rocker switch and/or telltale etc. in control cabin.
In an embodiment of the present invention, condition detector can also comprise: angular transducer, arm lock be dead/and unlock and detect proximity switch.Wherein,
Angular transducer is for the angle that detects residing for telescopic boom and described angle is transferred to described controller.Such as, angular transducer comprises principal arm angular transducer, tower arm angular transducer, auxiliary angular transducer etc.Operating personal or controller can determine the telescopic boom objective cross state of needs according to angle signal, this is owing to can select different telescopic boom objective cross states according to different angular ranges.
In an embodiment of the present invention, condition detector can also comprise: linear transducer, such as be installed on principal arm afterbody place, it is for the distance (i.e. the long line length of cylinder) measuring telescopic oil cylinder and stretch out and the distance value recorded is transferred to described controller.In another embodiment, linear transducer can measure telescopic boom length, and the length value recorded is transferred to controller.
In another embodiment, condition detector can also comprise: pressure sensor, for measuring the large cavity pressure of telescopic oil cylinder, and described large cavity pressure is transferred to controller.
Fig. 4 is the diagram of circuit of the telescopic boom telescopic control method illustrated according to the embodiment of the present invention.
In step S401, condition detector detects arm position and the floor data of telescopic boom, and described arm position and described floor data are transferred to controller.
In step S402, controller is according to described arm position and described floor data determination current value.
In step S403, controller exports the electric current of described current value to power element, performs telescopic boom and carries out stretching action or contracting action.
In this embodiment, detected arm position and the floor data of telescopic boom by condition detector, and described arm position and described floor data are transferred to controller; Described controller is according to described arm position and described floor data determination current value, and export the electric current of described current value to power element, perform telescopic boom to carry out stretching action or contracting action, thus achieve and determine different extension and contraction control electric currents according to different flexible operating modes.Further, when performing flexible to telescopic boom, the control electric current that controller adapts to this operating mode according to the output of different operating modes carries out extension and contraction control to telescopic boom, prevents from occurring unsuccessful or that stretching speed is excessively slow situation of stretching when engine power is not enough flexible resistance is comparatively large.
In an embodiment of the present invention, controller comprises according to the step of described arm position and described floor data determination current value: controller is according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, search and determine the current value corresponding with described operating mode code.Such as, different arm positions and floor data are expressed as operating mode code, set up the relation between operating mode code and current value, such as, can set up operating mode code and current value data sheet one to one, and store in the controller; Controller is behind acquisition arm position and floor data, according to the corresponding relation of operating mode code and current value, obtain the current value corresponding with this operating mode code, and the electric current exporting this current value is to power element (such as telescoping electromagnetic valve), performs telescopic boom and stretch action or contracting action.
In an embodiment of the present invention, before the arm position that condition detector detects telescopic boom and floor data, also comprise: the corresponding relation obtaining operating mode code and current value by experiment.Such as, for the flexible operating mode representated by each B value and XNUMBER value, operating personal can make controller export the electric current of different current value to power element, control telescopic boom to stretch, according to actual needs, obtain the current value of flexible most effective (such as stretching speed is the fastest), be the current value adapting to described flexible operating mode, thus obtain the corresponding relation of operating mode code and current value.
In an embodiment of the present invention, described floor data can comprise: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, telescopic boom objective cross state (such as two joint arms stretch 100%, and three, four, five, six joint arms stretch 46%).
In another embodiment, described floor data can also comprise: the distance (i.e. the long line length of cylinder) that the angle residing for telescopic boom, telescopic boom length, telescopic oil cylinder stretch out, the large cavity pressure of telescopic oil cylinder, automatic telescopic or manual telescopic operating mode are selected, arm operating mode selects (such as, select principal arm operating mode, auxiliary operating mode, super lifting working condition and surpassed one of tower arm operating mode), single pump work or double pump work selection etc.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
Method and system of the present invention may be realized in many ways.Such as, any combination by software, hardware, firmware or software, hardware, firmware realizes method and system of the present invention.Said sequence for the step of described method is only to be described, and the step of method of the present invention is not limited to above specifically described order, unless specifically stated otherwise.In addition, in certain embodiments, can be also record program in the recording medium by the invention process, these programs comprise the machine readable instructions for realizing according to method of the present invention.Thus, the present invention also covers the recording medium stored for performing the program according to method of the present invention.
Although be described in detail specific embodiments more of the present invention by example, it should be appreciated by those skilled in the art, above example is only to be described, instead of in order to limit the scope of the invention.It should be appreciated by those skilled in the art, can without departing from the scope and spirit of the present invention, above embodiment be modified.Scope of the present invention is limited by claims.
Claims (10)
1. a telescopic boom telescopic control system, is characterized in that, comprising:
Condition detector, for detecting arm position and the floor data of telescopic boom, and transfers to controller by described arm position and described floor data;
Controller, according to described arm position and described floor data determination current value, and the electric current exporting described current value is to power element, performs telescopic boom and carries out stretching action or contracting action.
2. telescopic boom telescopic control system according to claim 1, is characterized in that,
Described controller according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, is searched and determines the current value corresponding with described operating mode code.
3. telescopic boom telescopic control system according to claim 1, is characterized in that,
Described floor data comprises: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, telescopic boom objective cross state.
4., according to the arbitrary described telescopic boom telescopic control system of claims 1 to 3, it is characterized in that, described condition detector comprises:
Proximity switch is detected in arm position, described arm position is transferred to described controller for the arm position detected when the telescopic boom of front stretching;
Cylinder lock is dead/unlock proximity switch, and be in locking state or released state for detecting cylinder pin and the described locking state detected or released state are transferred to described controller;
Arm lock is dead/and unlock and detect proximity switch, be in locking state or released state for detection arm pin and the described locking state detected or released state are transferred to controller;
Operating handle, for inputting retracted position value to determine that telescopic boom carries out stretching action or contracting action to described controller;
And
Input equipment, for inputting telescopic boom objective cross state to controller.
5. telescopic boom telescopic control system according to claim 3, is characterized in that,
Described floor data also comprises: the selection of the distance that the angle residing for telescopic boom, telescopic boom length, telescopic oil cylinder stretch out, the large cavity pressure of telescopic oil cylinder, automatic telescopic or manual telescopic operating mode, the selection of arm operating mode, single pump work or double pump work are selected.
6. a hoisting crane, is characterized in that, comprising: telescopic boom telescopic control system as described in as arbitrary in claim 1 to 5.
7. a telescopic boom telescopic control method, is characterized in that, comprising:
Condition detector detects arm position and the floor data of telescopic boom, and described arm position and described floor data are transferred to controller;
Described controller is according to described arm position and described floor data determination current value, and the electric current exporting described current value is to power element, performs telescopic boom and carries out stretching action or contracting action.
8. telescopic boom telescopic control method according to claim 7, it is characterized in that, described controller comprises according to the step of described arm position and described floor data determination current value:
Described controller according to described arm position and described floor data determination operating mode code, and according to the corresponding relation of operating mode code and current value, is searched and determines the current value corresponding with described operating mode code.
9. telescopic boom telescopic control method according to claim 7, is characterized in that,
Described floor data comprises: the locking state of the locking state of cylinder pin or released state, arm pin or released state, telescopic boom stretch action or contracting action, telescopic boom objective cross state.
10. telescopic boom telescopic control method according to claim 8, is characterized in that,
Described floor data also comprises: the selection of the large cavity pressure of the distance that telescopic boom length, telescopic oil cylinder stretch out, telescopic oil cylinder, automatic telescopic or manual telescopic operating mode, the selection of arm operating mode, single pump work or double pump work are selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410783250.7A CN105460809B (en) | 2014-12-17 | 2014-12-17 | A kind of telescopic arm telescopic control system, method and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410783250.7A CN105460809B (en) | 2014-12-17 | 2014-12-17 | A kind of telescopic arm telescopic control system, method and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105460809A true CN105460809A (en) | 2016-04-06 |
| CN105460809B CN105460809B (en) | 2018-01-16 |
Family
ID=55599043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410783250.7A Active CN105460809B (en) | 2014-12-17 | 2014-12-17 | A kind of telescopic arm telescopic control system, method and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105460809B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106744389A (en) * | 2016-12-22 | 2017-05-31 | 吉林大学 | A kind of efficient single cylinder bolt-type multistage sequential telescopic method for optimizing route |
| CN106744386A (en) * | 2016-12-22 | 2017-05-31 | 吉林大学 | Single cylinder bolt-type multistage sequential telescopic method for optimizing route |
| CN108996409A (en) * | 2018-08-07 | 2018-12-14 | 湖南中联重科智能技术有限公司 | Control the method and device of crane hoisting arm expansion |
| CN110374333A (en) * | 2019-06-25 | 2019-10-25 | 中联重科股份有限公司 | Pumping vehicle arm rack control method, pumping vehicle arm rack control system and pump truck |
| CN111039200A (en) * | 2019-12-30 | 2020-04-21 | 徐州重型机械有限公司 | Crane and control method |
| CN111683892A (en) * | 2018-02-16 | 2020-09-18 | 株式会社多田野 | Crane with a movable crane |
| CN111994797A (en) * | 2020-09-10 | 2020-11-27 | 徐工消防安全装备有限公司 | Safety control method and system for aerial work platform |
| CN114852868A (en) * | 2022-04-29 | 2022-08-05 | 中联重科股份有限公司 | Control method, controller and device for crane boom and crane |
| US11970869B2 (en) | 2019-06-25 | 2024-04-30 | Zoomlion Heavy Industry Science And Technology Co., Ltd. | Pump truck boom control method, pump truck boom control system and pump truck |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2484624A1 (en) * | 2009-09-29 | 2012-08-08 | Changsha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. | Single-cylinder pin-type telescopic boom track optimized control method and control system thereof |
| 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 |
| CN102862917A (en) * | 2012-09-28 | 2013-01-09 | 中联重科股份有限公司 | Telescopic remote control operation device and system for single-cylinder pin-inserting-type crane jibs and crane |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN103539013A (en) * | 2013-11-07 | 2014-01-29 | 徐州重型机械有限公司 | Telescopic boom pin unlocking control device, crane and control method thereof |
| CN203670348U (en) * | 2013-12-05 | 2014-06-25 | 徐州重型机械有限公司 | Single-cylinder bolt type retractable oil cylinder, retractable arm and engineering mechanical device |
| CN203889933U (en) * | 2014-01-20 | 2014-10-22 | 安徽柳工起重机有限公司 | System for controlling free stretch of suspension arm of automobile crane |
| CN104129725A (en) * | 2014-08-21 | 2014-11-05 | 徐州重型机械有限公司 | Single-cylinder pin type telescopic arm, telescopic method and crane |
-
2014
- 2014-12-17 CN CN201410783250.7A patent/CN105460809B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2484624A1 (en) * | 2009-09-29 | 2012-08-08 | Changsha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. | Single-cylinder pin-type telescopic boom track optimized control method and control system thereof |
| 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 |
| CN102862917A (en) * | 2012-09-28 | 2013-01-09 | 中联重科股份有限公司 | Telescopic remote control operation device and system for single-cylinder pin-inserting-type crane jibs and crane |
| CN103303800A (en) * | 2013-06-24 | 2013-09-18 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN103539013A (en) * | 2013-11-07 | 2014-01-29 | 徐州重型机械有限公司 | Telescopic boom pin unlocking control device, crane and control method thereof |
| CN203670348U (en) * | 2013-12-05 | 2014-06-25 | 徐州重型机械有限公司 | Single-cylinder bolt type retractable oil cylinder, retractable arm and engineering mechanical device |
| CN203889933U (en) * | 2014-01-20 | 2014-10-22 | 安徽柳工起重机有限公司 | System for controlling free stretch of suspension arm of automobile crane |
| CN104129725A (en) * | 2014-08-21 | 2014-11-05 | 徐州重型机械有限公司 | Single-cylinder pin type telescopic arm, telescopic method and crane |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106744389A (en) * | 2016-12-22 | 2017-05-31 | 吉林大学 | A kind of efficient single cylinder bolt-type multistage sequential telescopic method for optimizing route |
| CN106744386A (en) * | 2016-12-22 | 2017-05-31 | 吉林大学 | Single cylinder bolt-type multistage sequential telescopic method for optimizing route |
| CN106744386B (en) * | 2016-12-22 | 2018-04-10 | 吉林大学 | Single cylinder bolt-type multistage sequential telescopic method for optimizing route |
| CN111683892A (en) * | 2018-02-16 | 2020-09-18 | 株式会社多田野 | Crane with a movable crane |
| CN108996409A (en) * | 2018-08-07 | 2018-12-14 | 湖南中联重科智能技术有限公司 | Control the method and device of crane hoisting arm expansion |
| CN110374333A (en) * | 2019-06-25 | 2019-10-25 | 中联重科股份有限公司 | Pumping vehicle arm rack control method, pumping vehicle arm rack control system and pump truck |
| CN110374333B (en) * | 2019-06-25 | 2020-08-14 | 中联重科股份有限公司 | Pump truck arm support control method, pump truck arm support control system and pump truck |
| US11970869B2 (en) | 2019-06-25 | 2024-04-30 | Zoomlion Heavy Industry Science And Technology Co., Ltd. | Pump truck boom control method, pump truck boom control system and pump truck |
| CN111039200A (en) * | 2019-12-30 | 2020-04-21 | 徐州重型机械有限公司 | Crane and control method |
| CN111994797A (en) * | 2020-09-10 | 2020-11-27 | 徐工消防安全装备有限公司 | Safety control method and system for aerial work platform |
| CN114852868A (en) * | 2022-04-29 | 2022-08-05 | 中联重科股份有限公司 | Control method, controller and device for crane boom and crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105460809B (en) | 2018-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105460809A (en) | Stretching and retracting control system and method for telescopic boom and crane | |
| CN103938659B (en) | The measuring method of spud leg stroke, device and hydraulic bolt jacking system | |
| CN203866807U (en) | Hydraulic bolt type oil cylinder lifting system and oil cylinder state detection device thereof | |
| CN102070089A (en) | Crane with single-cylinder bolt type working arm as well as method and device for measuring arm length thereof | |
| CN104555736B (en) | A kind of five joint arm rope crane operating mode's switch method and devices | |
| CN101804945B (en) | Single cylinder bolt-type telescopic arm device and arm section position detection system thereof | |
| CN202468547U (en) | Telescoping cylinder and stroke detection apparatus thereof | |
| CN105715622B (en) | Engineering machinery and its pumping system | |
| WO2014172074A1 (en) | Method and system for detecting engagement with a work tool accessory | |
| CN104773653A (en) | Telescopic control method, system and telescopic arm structure of single-cylinder plug pin of crane | |
| CN109630006A (en) | Side ladder, for ladder alignment detection method and fire fighting truck | |
| CN204405871U (en) | A kind of indirect detection mechanism | |
| CN206590844U (en) | Insulating overhead operating vehicle | |
| CN202767157U (en) | Loader bucket leveling device | |
| CN102849631B (en) | A kind of single-cylinder bolt type telescopic boom is emergent receives arm method and device | |
| CN104944302B (en) | A kind of semi-girder detection means, telescopic arm crane and its method | |
| CN208816060U (en) | Drilling rod operation indicating system | |
| CN205858356U (en) | Attitude of shield machine controls the mounting structure of total powerstation support hanging basket | |
| CN106256751A (en) | The control method of single-cylinder bolt type telescopic boom arm pin back-off and system and crane | |
| CN204224144U (en) | A kind of arm level detecting apparatus and hoisting crane | |
| CN203420968U (en) | Oil cylinder displacement sensing device of turbine hydraulic system | |
| CN105156045A (en) | Automatic hydraulic tong operating device | |
| CN104340894A (en) | Hoisting machinery moment protection system and automatic working condition recognition method | |
| CN105003206B (en) | Rotary drilling rig, support leg extending or retracting control system of rotary drilling rig and control method | |
| CN106640845B (en) | Rotary steering hydraulic system solenoid valve block test method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |