CN105460809B - A kind of telescopic arm telescopic control system, method and crane - Google Patents
A kind of telescopic arm telescopic control system, method and crane Download PDFInfo
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- CN105460809B CN105460809B CN201410783250.7A CN201410783250A CN105460809B CN 105460809 B CN105460809 B CN 105460809B CN 201410783250 A CN201410783250 A CN 201410783250A CN 105460809 B CN105460809 B CN 105460809B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 239000000725 suspension Substances 0.000 claims description 6
- 230000009975 flexible effect Effects 0.000 abstract description 24
- 230000008602 contraction Effects 0.000 abstract description 6
- 230000001595 contractor effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
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- 230000005484 gravity Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 1
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Classifications
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of telescopic arm telescopic control system, method and crane.The telescopic arm telescopic control system includes：Condition detector and controller.Wherein, the arm position of condition detector detection telescopic arm and floor data, and the arm position and the floor data are transmitted to controller；Controller determines current value according to the arm position and the floor data, and the electric current for exporting the current value performs telescopic arm and carry out stretching action or contracting action to executive component.The present invention, which realizes, determines different extension and contraction control electric currents according to different flexible operating modes.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a telescopic boom extension control system and method and a crane.
Background
The single-cylinder bolt type crane realizes the telescopic function of a telescopic arm through the combined action of the telescopic oil cylinder, an arm pin and a cylinder pin. Fig. 1 is a schematic diagram showing the structure of a telescopic arm of a single-cylinder bolt type crane in the prior art. As shown in fig. 1, the telescopic arm includes: a basic arm 11, a two-joint arm 12, a three-joint arm 13, a four-joint arm 14, a five-joint arm 15, a telescopic cylinder 10, an arm pin 111, an arm pin hole 112, a cylinder pin 101, a cylinder pin hole 102, and the like.
The single-cylinder bolt device positioned in the telescopic arm of the crane can assist the telescopic oil cylinder to realize the telescopic action of the telescopic arm of the crane, and the single-cylinder bolt device mainly comprises a cylinder pin, an arm pin, a dovetail groove oil cylinder, various detection switches and other auxiliary facilities. The telescopic oil cylinder is fixed by a cylinder rod, the cylinder body is movable, namely, a cylinder pin is not fixed, a plurality of sensors are arranged on the cylinder head of the oil cylinder, an induction device is designed at the tail part of each section of arm, the oil cylinder can find the arm needing to be telescopic, and the telescopic action of the section of arm can be realized after the movable cylinder pin is locked on the section of arm. The movable arm pin can lock the sections of arms together and is positioned on the tail of each section of arm.
Fig. 2 is a cross-sectional view showing a cylinder head of a telescopic cylinder of a telescopic boom of a single cylinder pin type crane in the related art perpendicular to a dovetail groove. As shown in fig. 2, a cylinder pin 201, an arm position detection proximity switch 202, a cylinder pin lock/unlock detection switch 203, a dovetail groove 204, and an arm pin lock/unlock detection proximity switch (not shown in fig. 2) are provided on a cylinder head of the telescopic cylinder. Wherein, the arm position detection proximity switch is used for detecting the arm position. The cylinder pin deadlocking/unlocking detection switch is used to detect whether the cylinder pin is fully extended or retracted. The arm pin deadlocking/unlocking detection proximity switch is used to detect whether the arm pin is fully extended or retracted.
The automatic telescoping process of the single-cylinder bolt type crane is described as follows:
an arm extending process:
the cylinder head moves forwards to detect the arm position: cylinder pulling pin → cylinder extension detecting arm position → cylinder insertion pin detecting arm position → arm pulling pin → oil cylinder with arm extension → (decelerating in advance and releasing the arm pin) arm insertion pin;
the cylinder head moves backwards to detect the arm position, namely, cylinder pulling pin → cylinder retracting detection arm position → cylinder inserting pin detected at the arm position → arm pulling pin → cylinder belt arm stretching → (decelerating in advance and releasing the arm pin) arm inserting pin.
Arm contracting flow:
retracting the front arm: cylinder pin extraction → arm position detection → cylinder pin insertion at arm position detection → arm pin extraction → arm retraction → arm pin insertion;
retracting the front arm: arm pin pull → arm retract → arm pin insert.
In the auto-telescoping process, for example: when different festival arms are stretched/contracted, the work that the flexible hydro-cylinder need overcome gravity and do is different, and consequently the oil pump current value size that needs is also different: for example, the telescopic boom is provided with seven sections of booms, when the 2 nd section of boom is extended, the oil cylinder needs to overcome the gravity of the 2 nd, 3 rd, 4 th, 5 th, 6 th and 7 th sections of booms, and when the 7 th section of boom is extended, only the gravity of the 7 th section of boom needs to be overcome, under the two conditions, the magnitude of boom current is greatly different, and the boom speed can be ensured.
For another example, when inserting and pulling the cylinder pin or the arm pin, in many cases, due to various reasons, the cylinder pin or the arm pin cannot be inserted and pulled successfully at one time, in such a case, the cylinder pin or the arm pin can be inserted and pulled successfully by a method of extending/retracting the arm back and forth in a small range, which requires adjusting the magnitude of the telescopic current at this time to control the telescopic arm speed.
However, in the conventional telescopic boom extension and retraction control, the extension and retraction processes of the telescopic boom in different situations are controlled by the same control current. Because the flexible arm when stretching out and drawing back under different operating modes, the resistance that flexible hydro-cylinder needs to overcome is different, and the power that the engine provided is also different, and at this moment, if carry out flexible control with the same electric current, when the flexible resistance is great and engine power is not enough, then can cause the circumstances that flexible unsuccessful or flexible speed is too slow for flexible success rate is lower and flexible inefficiency.
Disclosure of Invention
The invention solves the technical problems that: in the prior art, different telescopic control currents cannot be determined according to different telescopic working conditions.
According to a first aspect of the present invention, there is provided a telescopic arm telescopic control system comprising: the working condition detection device is used for detecting the arm position and the working condition data of the telescopic arm and transmitting the arm position and the working condition data to the controller; and the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting action.
Further, the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value.
Further, the operating condition data includes: the locking state or the unlocking state of the cylinder pin, the locking state or the unlocking state of the arm pin, the extending action or the retracting action of the telescopic arm and the target combination state of the telescopic arm.
Further, the operating condition detecting device includes: the arm position detection proximity switch is used for detecting the arm position of the current telescopic arm and transmitting the arm position to the controller; the cylinder pin locking/unlocking proximity switch is used for detecting that a cylinder pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller; the arm pin locking/unlocking detection proximity switch is used for detecting that the arm pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller; the operation handle is used for inputting a telescopic state value to the controller so as to determine that the telescopic arm performs telescopic action or telescopic action; and the input equipment is used for inputting the target combination state of the telescopic arm to the controller.
Further, the operating condition data further includes: the angle of the telescopic boom, the length of the telescopic boom, the extending distance of the telescopic oil cylinder, the pressure of a large cavity of the telescopic oil cylinder, the selection of automatic telescopic or manual telescopic working conditions, the selection of suspension arm working conditions, and the selection of single pump working or double pump working.
According to a second aspect of the present invention, there is provided a crane comprising: the telescopic arm telescopic control system.
According to a third aspect of the present invention, there is provided a telescopic boom extension and retraction control method including: the working condition detection device detects the arm position and the working condition data of the telescopic arm and transmits the arm position and the working condition data to the controller; and the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting action.
Further, the step of determining the current value according to the arm position and the operating condition data by the controller comprises: and the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value.
Further, the operating condition data includes: the locking state or the unlocking state of the cylinder pin, the locking state or the unlocking state of the arm pin, the extending action or the retracting action of the telescopic arm and the target combination state of the telescopic arm.
Further, the operating condition data further includes: the length of the telescopic arm, the extending distance of the telescopic oil cylinder, the pressure of a large cavity of the telescopic oil cylinder, the selection of automatic telescopic or manual telescopic working conditions, the selection of suspension arm working conditions and the selection of single pump working or double pump working.
According to the invention, the arm position and the working condition data of the telescopic arm are detected by a working condition detection device, and are transmitted to a controller; the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting actions, so that different telescopic control currents are determined according to different telescopic working conditions.
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 showing the structure of a telescopic arm of a single-cylinder bolt type crane in the prior art.
Fig. 2 is a cross-sectional view showing a cylinder head of a telescopic cylinder of a telescopic boom of a single cylinder pin type crane in the related art perpendicular to a dovetail groove.
Fig. 3 is a schematic configuration diagram illustrating a telescopic arm telescopic control system according to an embodiment of the present invention.
Fig. 4 is a flowchart illustrating a telescopic arm telescopic control method according to an embodiment of the present invention.
FIG. 5 is a current map illustrating telescoping operation according to an embodiment of the present invention.
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.
Fig. 3 is a schematic configuration diagram illustrating a telescopic arm telescopic control system according to an embodiment of the present invention. As shown in fig. 3, the telescopic arm telescopic control system 30 includes: the device comprises a working condition detection device 301 and a controller 302, wherein the working condition detection device 301 is electrically connected with the controller 302. Also shown in fig. 3, for illustrative purposes, is an actuator 310, which is electrically connected to the controller 302.
The working condition detecting device 301 is configured to detect an arm position of the telescopic boom (i.e., which boom is currently telescopic) and working condition data (i.e., a telescopic state of the telescopic boom, for example, a locked state or an unlocked state of a cylinder pin, a telescopic motion or a telescopic motion of the telescopic boom, and the like), and transmit the arm position and the working condition data to the controller 302.
The controller 302 determines a current value according to the arm position and the operating condition data, and outputs the current value to an actuator 310 (e.g., a telescopic solenoid valve) to perform a telescopic arm extending or retracting action.
In the embodiment, the arm position and the working condition data of the telescopic arm are detected by a working condition detection device and are transmitted to a controller; the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting actions, so that different telescopic control currents are determined according to different telescopic working conditions. Furthermore, when the telescopic boom is stretched, the controller outputs control current adapting to different working conditions to stretch and control the telescopic boom according to the different working conditions, so that the condition that the stretching is unsuccessful or the stretching speed is too slow when the stretching resistance is large and the power of the engine is insufficient is prevented.
In an embodiment of the present invention, the operating condition data may include: the locked state or the unlocked state of the cylinder pin, the locked state or the unlocked state of the arm pin, the extending action or the retracting action of the telescopic arm, and the target combination state of the telescopic arm (i.e. the target extending state of each knuckle arm can be expressed by the extending length of the knuckle arm in percentage of the total extending length of the knuckle arm, such as 100% extending length of the two-knuckle arm, and 46% extending length of the three, four, five, and six-knuckle arms).
In another embodiment, the operating condition data may further include: the angle of the telescopic boom, the length of the telescopic boom, the extending distance of the telescopic oil cylinder (namely the length of the long line of the cylinder), the pressure of a large cavity of the telescopic oil cylinder, the selection of an automatic telescopic or manual telescopic working condition, the selection of a suspension arm working condition (for example, the selection of one of a main boom working condition, an auxiliary boom working condition, a super-lift working condition and a super-lift tower boom working condition), the selection of single-pump work or double-pump work and the like.
In the embodiment of the invention, the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value. For example, different arm positions and working condition data are represented as working condition codes, a relation between the working condition codes and current values is established, for example, a data table in which the working condition codes and the current values are in one-to-one correspondence can be established and stored in a controller; after obtaining the arm position and the working condition data, the controller obtains a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value, outputs the current of the current value to an execution element (such as a telescopic electromagnetic valve) and executes telescopic arm extension action or telescopic arm contraction action.
In this embodiment, utilize the automatic flexible state that judges flexible arm position department of various sensor signals in the single cylinder bolt system, and carry out the operating mode to the different condition of flexible in-process and divide, regard as flexible process control foundation with different operating mode codes, according to the different current values of the automatic matching of operating mode code of difference, make flexible process control current and the required power phase-match of flexible process, control process is more accurate, the flexible process of each section arm is more steady, when having avoided the same current to match all operating modes in the traditional control method, the flexible unsuccessful and the too slow condition of speed that appear, the success rate and the flexible efficiency of flexible process have been improved.
As for the correspondence relationship of the condition code and the current value, fig. 5 may be referred to. FIG. 5 is a current map illustrating telescoping operation according to an embodiment of the present invention. For example, as shown in fig. 5, the condition code includes a B value and an XNUMBER value, for example, one B value and one XNUMBER value may constitute one condition code, where the B value indicates the boom position of the telescopic boom (i.e. which boom is currently telescopic); the XNUMBER value represents other operating condition data, for example, the XNUMBER value can be determined according to the cylinder pin being in a locked state, the telescopic boom extending action, and the target combination state of the telescopic boom being in a fully-extended 100% operating condition. Of course, in order to divide the working conditions more accurately, more working condition data may be referred to when dividing the working conditions, such as a boom working condition (for example, one of a main boom working condition, an auxiliary boom working condition, a super-lift working condition, and a super-lift tower boom working condition), a distance that the telescopic cylinder extends, a locked state or an unlocked state of the boom pin, automatic telescopic operation or manual telescopic operation, single pump operation or double pump operation, and the like. The more the operating mode data is like this, when the flexible action of carrying out flexible arm, the controller can be according to actual conditions control flexible action more accurately.
The controller can respectively assign values to the B value and the XNUMBER value according to the obtained arm position and working condition data of the telescopic arm, after the B value and the XNUMBER value are determined, a current value corresponding to the B value and the XNUMBER value is searched, the current of the current value is output to an execution element (such as a telescopic solenoid valve), and the telescopic arm is stretched or contracted.
For example, when the controller obtains the arm position of the currently telescopic arm, i.e. which arm is currently telescopic, to assign a value to B, for example, the currently telescopic 2 nd arm, B is 2. The controller obtains the current working condition data as follows: the working condition of a main arm, the angle of the main arm is 72 degrees, the fully-extended arm is 100 percent, the automatic extension and contraction are carried out, a single pump is arranged, the arm position is provided with two sections of arms, a cylinder pin is locked, an arm pin is unlocked, the extension action is carried out, the extending distance of the extension oil cylinder is larger than or equal to X (wherein X is a set value and the unit is millimeter), and XNUMBER can be assigned as 1 (if the data of other working conditions are not changed, the extending distance of the extension<X, then XNUMBER can be assigned a value of 2). When B is 2 and XNUMBER is 1, the controller looks up the current correspondence table for the stretching operation shown in fig. 5 to obtain the current value I corresponding to B is 2 and XNUMBER is 112(the current value is the current value adapting to the working condition), and the current value I is output12To an actuator (e.g., a telescopic solenoid valve) to control the extension and retraction of the telescopic arm.
For another example, when the 2 nd arm is currently extended or contracted, B is 2; the working condition data are as follows: the working condition of a main arm, the angle of the main arm is 72 degrees, the fully-extended arm is 100 percent, the automatic extension and retraction are carried out, a single pump is arranged, the arm position is provided with two sections of arms, a cylinder pin is locked, an arm pin is unlocked, the arm position is contracted, the extending distance of the extension oil cylinder is larger than or equal to Y (wherein Y is a set value and the unit is millimeter), and XNUMBER can be assigned to be 3 (if the data of other working conditions are not changed, the extending distance of the extension<Y, then XNUMBER may be assigned a value of 4), so that when B is 2 and XNUMBER is 3, the controller looks up the current correspondence table for stretching condition as shown in fig. 5 to obtain the current correspondence table for stretching condition with B being 2 and XNUCurrent value I corresponding to MBER 332Outputting the current value I32To an actuator (e.g., a telescopic solenoid valve) to control the extension and retraction of the telescopic arm.
Of course, it will be understood by those skilled in the art that the division or assignment of the conditions is not limited to the manner described above, for example, in the case that the condition data includes other data besides the above-described condition data, the conditions may be further divided in detail, for example, the condition code may include values reflecting other data in addition to the B value and the XNUMBER value. For another example, the assignment may be performed by directly writing code to distinguish all operating conditions. Accordingly, the scope of the invention is not limited in this respect.
In the embodiment of the present invention, the correspondence between the operating condition code and the current value (for example, the current correspondence table for the telescopic operating condition shown in fig. 5) may be obtained through experiments. For example, for the telescopic working condition represented by each B value and XNUMBER value, an operator may enable the controller to output currents with different current values to the actuator to control the telescopic boom to be telescopic, and according to actual needs, obtain a current value with the highest telescopic efficiency (e.g., the fastest telescopic speed), that is, a current value adapted to the telescopic working condition, so as to obtain a corresponding relationship between the working condition code and the current value.
In an embodiment of the present invention, the operation condition detecting means may include: the arm position detection proximity switch, the cylinder pin locking/unlocking proximity switch, the arm pin locking/unlocking detection proximity switch, the operating handle and the input device. Wherein,
the arm position detection proximity switch is used for detecting the arm position of the telescopic arm which is telescopic at present and transmitting the arm position to the controller. Wherein, the controller can judge which section of arm is what that is flexible at present according to the arm position of receiving.
The cylinder pin locking/unlocking proximity switch is used for detecting that a cylinder pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller. The controller can judge whether the current telescopic oil cylinder is in loaded extension or loaded contraction according to the locking state, and judge whether the current telescopic oil cylinder is in idle cylinder extension or idle cylinder contraction according to the unlocking state.
The arm pin locking/unlocking detection proximity switch is used for detecting that the arm pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller. Wherein, the arm pin is stretched out to be in a locking state and retracted to be in an unlocking state.
The operating handle is used for inputting a telescopic state value to the controller so as to determine that the telescopic arm performs telescopic action or telescopic action. For example, an operator outputs a handle signal to the controller through the operating handle, and the controller processes the handle signal and outputs a control current to the telescopic solenoid valve. For example, the handle signal input ranges are: 1000 to 1000, wherein the input range is-1000 to 0, the stretching operation is performed, and 0 to 1000, the shrinking operation is performed.
The input device is used for inputting the target combination state of the telescopic arm to the controller. For example, the input device is a touch screen display. The operator may input a target combination state of the telescopic boom by using the touch screen display, for example, the boom combination state of each boom section of the telescopic boom is that the boom section two extends 100%, and the boom section three, four, five, and six boom sections 46%. In another embodiment, the input device may input a boom condition selection signal (for example, a CAN (Controller Area Network) signal, which is selected by an operator through the input device to confirm the input) to the Controller, and the Controller analyzes the CAN signal to determine which of the main boom condition, the sub boom condition, the super lift condition, and the super lift tower arm condition the current boom condition is. In another embodiment, the input device can also input automatic telescopic or manual telescopic working condition selection, single pump working or double pump working selection and the like into the controller. For example, the input device may be a rocker switch and/or a display in the cage.
In an embodiment of the present invention, the operating condition detecting device may further include: an angle sensor, an arm pin locking/unlocking detection proximity switch. Wherein,
the angle sensor is used for detecting the angle of the telescopic arm and transmitting the angle to the controller. For example, the angle sensor includes a main arm angle sensor, a tower arm angle sensor, an auxiliary arm angle sensor, and the like. The operator or the controller can determine the required target combination state of the telescopic arm according to the angle signal, because different target combination states of the telescopic arm can be selected according to different angle ranges.
In an embodiment of the present invention, the operating condition detecting device may further include: and a length sensor, for example, installed at the tail of the main arm, for measuring the extending distance of the telescopic cylinder (i.e., the length of the cylinder length line) and transmitting the measured distance value to the controller. In another embodiment, the length sensor may measure the length of the telescoping arm and transmit the measured length value to the controller.
In another embodiment, the operation condition detection device may further include: and the pressure sensor is used for measuring the pressure of the large cavity of the telescopic oil cylinder and transmitting the pressure of the large cavity to the controller.
Fig. 4 is a flowchart illustrating a telescopic arm telescopic control method according to an embodiment of the present invention.
In step S401, the working condition detection device detects an arm position of the telescopic arm and working condition data, and transmits the arm position and the working condition data to the controller.
In step S402, the controller determines a current value according to the arm position and the operating condition data.
In step S403, the controller outputs the current with the current value to the actuator, and the telescopic arm performs the extending operation or the retracting operation.
In the embodiment, the arm position and the working condition data of the telescopic arm are detected by a working condition detection device and are transmitted to a controller; the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting actions, so that different telescopic control currents are determined according to different telescopic working conditions. Furthermore, when the telescopic boom is stretched, the controller outputs control current adapting to different working conditions to stretch and control the telescopic boom according to the different working conditions, so that the condition that the stretching is unsuccessful or the stretching speed is too slow when the stretching resistance is large and the power of the engine is insufficient is prevented.
In an embodiment of the present invention, the step of determining the current value according to the arm position and the operating condition data by the controller includes: and the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value. For example, different arm positions and working condition data are represented as working condition codes, a relation between the working condition codes and current values is established, for example, a data table in which the working condition codes and the current values are in one-to-one correspondence can be established and stored in a controller; after obtaining the arm position and the working condition data, the controller obtains a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value, outputs the current of the current value to an execution element (such as a telescopic electromagnetic valve) and executes telescopic arm extension action or telescopic arm contraction action.
In an embodiment of the present invention, before the operating condition detecting device detects the arm position of the telescopic arm and the operating condition data, the method further includes: and obtaining the corresponding relation between the working condition codes and the current values through experiments. For example, for the telescopic working condition represented by each B value and XNUMBER value, an operator may enable the controller to output currents with different current values to the actuator to control the telescopic boom to be telescopic, and according to actual needs, obtain a current value with the highest telescopic efficiency (e.g., the fastest telescopic speed), that is, a current value adapted to the telescopic working condition, so as to obtain a corresponding relationship between the working condition code and the current value.
In an embodiment of the present invention, the operating condition data may include: the locking state or unlocking state of the cylinder pin, the locking state or unlocking state of the arm pin, the extending action or retracting action of the telescopic arm, and the target combination state of the telescopic arm (for example, the two-section arm extends 100%, and the three-section, four-section, five-section and six-section arms extend 46%).
In another embodiment, the operating condition data may further include: the angle of the telescopic boom, the length of the telescopic boom, the extending distance of the telescopic oil cylinder (namely the length of the long line of the cylinder), the pressure of a large cavity of the telescopic oil cylinder, the selection of an automatic telescopic or manual telescopic working condition, the selection of a suspension arm working condition (for example, the selection of one of a main boom working condition, an auxiliary boom working condition, a super-lift working condition and a super-lift tower boom working condition), the selection of single-pump work or double-pump work and the like.
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 (8)
1. A telescopic boom telescoping control system, comprising:
the working condition detection device is used for detecting the arm position and the working condition data of the telescopic arm and transmitting the arm position and the working condition data to the controller;
the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to the execution element, and executes the telescopic arm to perform stretching or retracting action;
and the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value.
2. The telescopic arm telescopic control system according to claim 1,
the working condition data comprises: the locking state or the unlocking state of the cylinder pin, the locking state or the unlocking state of the arm pin, the extending action or the retracting action of the telescopic arm and the target combination state of the telescopic arm.
3. The telescopic boom extension control system according to claim 1 or 2, wherein the operating condition detecting means includes:
the arm position detection proximity switch is used for detecting the arm position of the current telescopic arm and transmitting the arm position to the controller;
the cylinder pin locking/unlocking proximity switch is used for detecting that a cylinder pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller;
the arm pin locking/unlocking detection proximity switch is used for detecting that the arm pin is in a locking state or an unlocking state and transmitting the detected locking state or the detected unlocking state to the controller;
the operation handle is used for inputting a telescopic state value to the controller so as to determine that the telescopic arm performs telescopic action or telescopic action;
and
and the input equipment is used for inputting the target combination state of the telescopic arm to the controller.
4. The telescopic arm telescopic control system according to claim 2,
the operating condition data further includes: the angle of the telescopic boom, the length of the telescopic boom, the extending distance of the telescopic oil cylinder, the pressure of a large cavity of the telescopic oil cylinder, the selection of automatic telescopic or manual telescopic working conditions, the selection of suspension arm working conditions, and the selection of single pump working or double pump working.
5. A crane, comprising: a telescopic arm telescopic control system as claimed in any one of claims 1 to 4.
6. A telescopic arm expansion control method is characterized by comprising the following steps:
the working condition detection device detects the arm position and the working condition data of the telescopic arm and transmits the arm position and the working condition data to the controller;
the controller determines a current value according to the arm position and the working condition data, outputs the current of the current value to an execution element, and executes the telescopic arm to perform stretching or retracting action;
wherein the step of the controller determining the current value according to the arm position and the working condition data comprises: and the controller determines a working condition code according to the arm position and the working condition data, and searches and determines a current value corresponding to the working condition code according to the corresponding relation between the working condition code and the current value.
7. The telescopic arm telescopic control method according to claim 6,
the working condition data comprises: the locking state or the unlocking state of the cylinder pin, the locking state or the unlocking state of the arm pin, the extending action or the retracting action of the telescopic arm and the target combination state of the telescopic arm.
8. The telescopic arm telescopic control method according to claim 6,
the operating condition data further includes: the length of the telescopic arm, the extending distance of the telescopic oil cylinder, the pressure of a large cavity of the telescopic oil cylinder, the selection of automatic telescopic or manual telescopic working conditions, the selection of suspension arm working conditions and the selection of single pump working or double pump working.
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| CN201410783250.7A CN105460809B (en) | 2014-12-17 | 2014-12-17 | A kind of telescopic arm telescopic control system, method and crane |
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| CN106744389B (en) * | 2016-12-22 | 2018-07-17 | 吉林大学 | A kind of efficient 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 |
| JP6665874B2 (en) * | 2018-02-16 | 2020-03-13 | 株式会社タダノ | crane |
| CN108996409B (en) * | 2018-08-07 | 2021-01-15 | 湖南中联重科智能技术有限公司 | Method and device for controlling crane boom to stretch and retract |
| 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 |
| CN111039200A (en) * | 2019-12-30 | 2020-04-21 | 徐州重型机械有限公司 | Crane and control method |
| CN111994797B (en) * | 2020-09-10 | 2022-04-26 | 徐工消防安全装备有限公司 | Safety control method and system for aerial work platform |
| CN114852868B (en) * | 2022-04-29 | 2023-06-20 | 中联重科股份有限公司 | Control method, controller and device for crane boom and crane |
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| CN101670984B (en) * | 2009-09-29 | 2012-06-06 | 长沙中联重工科技发展股份有限公司 | Optimal control method and control system of single-cylinder bolt type telescopic boom trail |
| CN102701120B (en) * | 2012-05-25 | 2015-04-29 | 中联重科股份有限公司 | Method, device and system for controlling telescopic speed of arm support and engineering machinery |
| CN102862917B (en) * | 2012-09-28 | 2014-09-17 | 中联重科股份有限公司 | Telescopic remote control operation equipment and system for single-cylinder bolt type crane boom and crane |
| CN103303800B (en) * | 2013-06-24 | 2015-06-03 | 中联重科股份有限公司 | Crane rotation control method and system and crane |
| CN103539013B (en) * | 2013-11-07 | 2015-06-17 | 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 |
| CN104129725B (en) * | 2014-08-21 | 2016-05-25 | 徐州重型机械有限公司 | A kind of single-cylinder bolt type telescopic boom, telescopic method and crane |
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