CN106256751A - The control method of single-cylinder bolt type telescopic boom arm pin back-off and system and crane - Google Patents
The control method of single-cylinder bolt type telescopic boom arm pin back-off and system and crane Download PDFInfo
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- CN106256751A CN106256751A CN201510338070.2A CN201510338070A CN106256751A CN 106256751 A CN106256751 A CN 106256751A CN 201510338070 A CN201510338070 A CN 201510338070A CN 106256751 A CN106256751 A CN 106256751A
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Abstract
The invention discloses the control method of a kind of single-cylinder bolt type telescopic boom arm pin back-off and system and crane, wherein, method includes: after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm pin-and-hole；Bounce back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；After default a period of time, it is judged that the pump pressure of the hydraulic system monitored whether reach arm pin bottom arm pin-and-hole time pump pressure threshold value；If the pump pressure of the hydraulic system monitored reaches pump pressure threshold value, it is determined that arm pin moves to bottom arm pin-and-hole, control telescopic arm and stop retraction.The control method of arm pin back-off that the present invention provides is more accurate, it is to avoid Artificial Control arm pin back-off to telescopic oil cylinder and the infringement of arm pin, improves the safety that telescopic arm is flexible.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of single-cylinder bolt type telescopic boom arm pin
The control method of back-off and system and crane.
Background technology
Figure 10 is the schematic diagram of the structure of existing single-cylinder bolt type telescopic boom, including substantially
Gap 1004 between 1003, arm pin and arm pin-and-hole bottom arm 1001, oil cylinder 1002, arm pin-and-hole,
Arm pin 1005, cylinder pin 1006, Section 2 arm 1007.
As shown in Figure 10, after a certain joint arm completes operating mode action the slotting upper arm pegs 1005 of setting,
Owing to the design of arm pin-and-hole is very big, between arm pin-and-hole and arm pin, there is very wide arc gap 1004.If do not taked to arrange
Executing elimination gap, during lifting, telescopic arm can produce suddenly under hanging thing and arm Gravitative Loads
Raw retracting action so that produce impact between arm pin and telescopic arm, to telescopic arm and the infringement of arm pin
Very big, there is the biggest potential safety hazard.Meanwhile, arm retraction can cause the long measurement error of cylinder, enters
And affect the control accuracy of telescopic location, reduce the success rate of expanding-contracting action.
In prior art, after arm pin is plugged, jib manually is retracted to realize arm pin by driver
Button, thus eliminate gap.But, owing to manual telescopic control accuracy is poor, arm pin in retraction process
And the impact between telescopic arm is very big, and oil cylinder and arm pin cause time serious the damage of unrepairable.
Summary of the invention
The embodiment of the present invention is to be solved be technical problem is that: solve manual back-off control accuracy difference
Problem.
According to an aspect of the present invention, it is provided that the control of a kind of single-cylinder bolt type telescopic boom arm pin back-off
Method, including: after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm pin
Hole；Bounce back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；After default a period of time, it is judged that monitoring
To the pump pressure of hydraulic system whether reach arm pin bottom arm pin-and-hole time pump pressure threshold value；If
The pump pressure of the hydraulic system monitored reaches pump pressure threshold value, it is determined that arm pin moves to arm pin-and-hole
Bottom, controls telescopic arm and stops retraction.
According to a further aspect in the invention, it is provided that the control of a kind of single-cylinder bolt type telescopic boom arm pin back-off
System processed, including controller, described controller includes: the first control unit, at telescopic arm
After arriving its corresponding telescopic location, control arm pin inserts corresponding arm pin-and-hole；Second control unit,
By controlling HYDRAULIC CONTROL SYSTEM telescopic arm retraction after inserting corresponding arm pin-and-hole at arm pin；?
When the pump pressure of the hydraulic system monitored reaches pump pressure threshold value, determine that arm pin moves to arm pin-and-hole
Bottom, controls telescopic arm and stops retraction；Pump pressure judging unit, for controlling telescopic arm retraction
After default a period of time after, it is judged that whether the pump pressure of the hydraulic system monitored reaches arm pin exists
Pump pressure threshold value time bottom arm pin-and-hole, and will determine that result is sent to described second control unit.
According to another aspect of the invention, it is provided that a kind of crane, provide including above-described embodiment
The control system of single-cylinder bolt type telescopic boom arm pin back-off.
In accordance with a further aspect of the present invention, it is provided that the control of a kind of single-cylinder bolt type telescopic boom arm pin back-off
Method processed, including: after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm
Pin-and-hole；Bounce back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；Whether the cylinder long line value that judgement monitors
No longer change；If the cylinder monitored long line value no longer changes, it is determined that arm pin moves at the bottom of arm pin-and-hole
Portion, controls telescopic arm and stops retraction.
Further aspect according to the present invention, it is provided that the control of a kind of single-cylinder bolt type telescopic boom arm pin back-off
System processed, including controller, described controller includes: the first control unit, at telescopic arm
After arriving its corresponding telescopic location, control arm pin inserts corresponding arm pin-and-hole；Second control unit,
By controlling HYDRAULIC CONTROL SYSTEM telescopic arm retraction after inserting corresponding arm pin-and-hole at arm pin；?
When the cylinder long line value monitored no longer changes, determine that arm pin moves to bottom arm pin-and-hole, control flexible
Arm stops retraction；Cylinder long line judging unit, for judging that the cylinder long line value monitored the most no longer becomes
Change, and will determine that result is sent to described second control unit.
The embodiment of the present invention has the advantages that
On the one hand, whether the pump pressure of the hydraulic system that the present invention is monitored by judgement reaches pump pressure
Power threshold value judges whether arm pin moves to bottom arm pin-and-hole, thus is determining that arm pin moves to arm pin
Time bottom hole, automatically control telescopic arm and stop retraction.
On the other hand, present invention also offers a kind of cylinder by monitoring long line value and judge arm pin
Whether move to bottom arm pin-and-hole, thus when determining that arm pin moves to bottom arm pin-and-hole, automatically control
Telescopic arm processed stops retraction.
Compared with prior art, the control method of the arm pin back-off that the present invention provides is more accurate, keeps away
Exempt from Artificial Control arm pin back-off to telescopic oil cylinder and the infringement of arm pin, improve telescopic arm flexible
Safety.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it is clear that
Ground, the accompanying drawing in describing below is only some embodiments of the present invention, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is one embodiment of control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Schematic flow sheet；
Fig. 2 is another embodiment of control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Schematic flow sheet；
Fig. 3 is one embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Fig. 4 is another embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Fig. 5 is another embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Fig. 6 is the control system further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Fig. 7 is the control system a still further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Fig. 8 is one embodiment of control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Schematic flow sheet；
Fig. 9 is one embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation；
Figure 10 is the schematic diagram of the structure of existing single-cylinder bolt type telescopic boom.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real
Execute example rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into this
The scope of invention protection.
Unless specifically stated otherwise, the parts illustrated the most in these embodiments and the phase of step
Layout, numerical expression and numerical value are not limited the scope of the invention.
Simultaneously, it should be appreciated that for the ease of describing, the chi of the various piece shown in accompanying drawing
Very little is not to draw according to actual proportionate relationship.
May not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant
Thin discussion, but in the appropriate case, described technology, method and apparatus should be considered to authorize to be said
A part for bright book.
Shown here with in all examples discussed, any occurrence should be construed as merely
Exemplary rather than conduct limits.Therefore, other example of exemplary embodiment can have
There is different values.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is carried out in accompanying drawing subsequently
Discussed further.
Method for existing Artificial Control arm pin back-off controls accurate not problem, the present invention
Inventor find, can move to the pump pressure of hydraulic system and arm pin set up bottom arm pin-and-hole
One corresponding relation, if hydraulic system pump pressure reaches pump pressure threshold value, then shows that arm pin moves
Bottom arm pin-and-hole, so can control telescopic arm in time and stop retraction, to avoid telescopic oil cylinder
Cause damage with telescopic arm.
It should be noted that unless otherwise indicated, the most in the present invention, " the long line of a cylinder " word
Refer to the collapsing length of telescopic oil cylinder.
Fig. 1 is one embodiment of control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Schematic flow sheet.The control method of the present embodiment can be performed by controller, as it is shown in figure 1,
The control method of the present embodiment includes:
Step 102, after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm
Pin-and-hole.
Controller, according to actual working condition, controls telescopic arm and arrives stretch corresponding with working condition
Condensing and put, then control arm pin inserts corresponding arm pin-and-hole.
Step 104, bounces back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm.
The detection of arm pin can be used to switch whether real-time detection arm pin inserts, if arm pin is already inserted into arm
Pin-and-hole, then arm pin detection switch can to controller send arm pin already inserted into signal, controller exists
Receive arm pin already inserted into signal time, to hydraulic system send back-off instruction, in order to control stretch
Contracting arm bounces back.
Step 106, after default a period of time, it is judged that the pump pressure of the hydraulic system monitored is
No reach arm pin bottom arm pin-and-hole time pump pressure threshold value；If, it is determined that arm pin moves to arm
Bottom pin-and-hole, perform step 108；If it is not, then arm pin does not also move to bottom arm pin-and-hole, return
Perform step 104；
Wherein, default a period of time can set according to practical situation, and specifically, this presets one
The section time is to determine the commutating period according to hydraulic system.Owing to telescopic arm is become back from elongation
During contracting, the pump pressure of hydraulic system is likely to reach default pump pressure threshold value, therefore,
Under normal circumstances, can default a period of time be set as more slightly larger than the commutating period of hydraulic system
Value, thus avoid erroneous judgement.
Step 108, controls telescopic arm and stops retraction.
Whether the pump pressure of the hydraulic system that the present embodiment is monitored by judgement reaches pump pressure threshold value
Judge whether arm pin moves to bottom arm pin-and-hole, thus determining that arm pin moves to bottom arm pin-and-hole
Time, automatically control telescopic arm and stop retraction.Compared with prior art, the arm pin that the present invention provides falls
The control method of button is more accurate, it is to avoid Artificial Control arm pin back-off is to telescopic oil cylinder and arm pin
Infringement, improves the safety that telescopic arm is flexible.
For the elevation angle of different telescopic arms, the pump pressure threshold value of its correspondence may also be not quite similar.
In the present invention, pump pressure threshold value can determine by the way of different.
Under a kind of mode, the elevation angle and the pump pressure threshold value of telescopic arm can be prestored in the controller
Corresponding relation, measured the elevation angle of telescopic arm by obliquity sensor in real time and be sent to controller,
Controller after getting the elevation angle of telescopic arm, right according to the elevation angle of telescopic arm and pump pressure threshold value
Should be related to, inquire about the pump pressure threshold value that the elevation angle of the telescopic arm got is corresponding.
Under another way, user can obtain the pump pressure threshold value of correspondence according to the elevation angle of telescopic arm,
Then will be by interactive display unit front pump pressure threshold, so, controller can directly receive
The pump pressure threshold value of user's input.
Under normal circumstances, the elevation angle of telescopic arm is the biggest, and pump pressure threshold value could be arranged to the least.Make
It is a non-limiting example, the corresponding pump pressure of a scope at the elevation angle that telescopic arm can be set
Power threshold value, i.e. when the elevation angle of telescopic arm is in the range of one, the pump pressure threshold value of its correspondence is identical.
In order to improve the accuracy of control, can dual by line value long to pump pressure threshold value and cylinder
Judge to determine whether arm pin moves to bottom arm pin-and-hole.Specifically, as in figure 2 it is shown, be this
The schematic flow sheet of another embodiment of control method of bright single-cylinder bolt type telescopic boom arm pin back-off.
The control method of the present embodiment includes:
Step 102, after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm
Pin-and-hole.
Step 104, bounces back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm.
Step 106, after default a period of time, it is judged that the pump pressure of the hydraulic system monitored is
No reach arm pin bottom arm pin-and-hole time pump pressure threshold value；The most then perform step 202；If
No, then return and perform step 104；
Step 202, it is judged that the cylinder long line value monitored the most no longer changes；If, it is determined that arm
Pin moves to bottom arm pin-and-hole, performs step 108；If it is not, then arm pin does not also move to arm pin-and-hole
Bottom, returns and performs step 104；
Step 108, controls telescopic arm and stops retraction.
The present embodiment, compared with embodiment illustrated in fig. 1, also includes that step 202 judges the cylinder monitored
Long line value the most no longer changes.Wherein, step 202 can perform before step 106, it is possible to
To perform after step 106, Fig. 2 schematically show only a kind of situation therein.Pass through
Whether the pump pressure monitored is reached the judgement of pump pressure threshold value, in combination with to the cylinder monitored
The judgement that long line the most no longer changes, can improve the accuracy of control further, thus really
Protect after arm pin moves to bottom arm pin-and-hole, control telescopic arm stopping retraction.
Corresponding with said method, the invention provides a kind of single-cylinder bolt type telescopic boom arm pin back-off
Control system.
In this specification, each embodiment all uses the mode gone forward one by one to describe, and each embodiment emphasis is said
Bright is all the difference with other embodiments, same or analogous part between each embodiment
Cross-reference.For control system embodiment, due to itself and control method embodiment base
This correspondence, so describe is fairly simple, relevant part sees the part explanation of embodiment of the method i.e.
Can.
Fig. 3 is one embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation.As it is shown on figure 3, the control system of the present embodiment includes controller 301, this control
Device 301 processed includes:
First control unit 3011, for control arm after telescopic arm arrives its corresponding telescopic location
Pin inserts corresponding arm pin-and-hole；
Second control unit 3012, by controlling hydraulic pressure after inserting corresponding arm pin-and-hole at arm pin
System controls telescopic arm retraction；When pump pressure in the hydraulic system monitored reaches pump pressure threshold value,
Determine that arm pin moves to bottom arm pin-and-hole, control telescopic arm and stop retraction；
Pump pressure judging unit 3013, after the default a period of time after controlling telescopic arm retraction,
Judge the pump pressure of hydraulic system monitored whether reach arm pin bottom arm pin-and-hole time pump pressure
Threshold value, and will determine that result is sent to the second control unit 3012.Wherein, unrestricted as one
Property example, default a period of time is to determine the commutating period according to hydraulic system.
Whether the pump pressure of the hydraulic system that the present embodiment is monitored by judgement reaches pump pressure threshold value
Judge whether arm pin moves to bottom arm pin-and-hole, thus determining that arm pin moves to bottom arm pin-and-hole
Time, automatically control telescopic arm and stop retraction.Compared with prior art, the arm pin that the present invention provides falls
The control method of button is more accurate, it is to avoid Artificial Control arm pin back-off is to telescopic oil cylinder and arm pin
Infringement, improves the safety that telescopic arm is flexible.
Pump pressure threshold value multiple can determine mode to have, and corresponding system structure also differs.This
Bright provide two kinds of different system structure of Fig. 4 with Fig. 5.
Fig. 4 is another embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation.Controller 301 in the present embodiment also includes: elevation angle acquiring unit 3014
With pump pressure threshold query unit 3015；
Elevation angle acquiring unit 3014, for the elevation angle of acquisition telescopic arm in real time, and is sent to pump pressure
Threshold query unit 3015；
Pump pressure threshold query unit 3015, for the elevation angle according to telescopic arm and pump pressure threshold value
Corresponding relation, inquires about the pump pressure threshold value that the elevation angle of the telescopic arm got is corresponding, and is sent to pump
Pressure judging unit 3013.
Fig. 5 is another embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation.Controller 301 in the present embodiment also includes: pump pressure threshold value receives unit
3016, for receiving the pump pressure threshold value that user is inputted by interactive display unit.
In order to improve the accuracy of control further, as shown in Figure 6, for single cylinder bolt-type of the present invention
The structural representation of the control system further embodiment of Telescopic boom pin back-off, in the present embodiment
Controller 301 can also include: cylinder long line judging unit 3017, long for judging the cylinder monitored
Line value the most no longer changes, and will determine that result is sent to the second control unit 3012.
Correspondingly, the second control unit 3012 in the present embodiment, it is additionally operable to the cylinder monitoring long
Line value no longer changes, and when the pump pressure of the hydraulic system monitored reaches pump pressure threshold value, really
Arms pin moves to bottom arm pin-and-hole, controls telescopic arm and stops retraction.
Fig. 7 is the control system a still further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation.As it is shown in fig. 7, the control system of the present embodiment can also include:
Pump pressure monitoring device 302, such as, can be pressure transducer, be used for monitoring hydraulic system
Pump pressure and be sent to controller 301.
See Fig. 7, in another embodiment of control system, it is also possible to include obliquity sensor
303, it is used for measuring the elevation angle of telescopic arm in real time and being sent to controller 301.
See Fig. 7, in another embodiment of control system, it is also possible to include showing alternately dress
Put 304, for receiving the pump pressure threshold value of user's input, and be sent to controller 301.
See Fig. 7, in another embodiment of control system, it is also possible to include that the long line of cylinder is monitored
Device 305, such as, can be displacement transducer, is used for monitoring cylinder long line value and sending it to control
Device 301 processed.
See Fig. 7, in another embodiment of control system, it is also possible to include that the detection of arm pin is opened
Close 306, for sending corresponding signal to controller 302 after arm pin insertion arm pin-and-hole being detected,
Back-off instruction is sent to hydraulic system with trigger controller 301.
The control system of the single-cylinder bolt type telescopic boom arm pin back-off that the present invention provides can be applied and rise
On heavy-duty machine.
In an embodiment of crane of the present invention, can include that any one embodiment above-mentioned carries
The control system of the single-cylinder bolt type telescopic boom arm pin back-off of confession.
Fig. 8 is one embodiment of control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Schematic flow sheet.As shown in Figure 8, the method for the present embodiment includes:
Step 802, after telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm
Pin-and-hole；
Step 804, bounces back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；
Step 806, it is judged that the cylinder long line value monitored the most no longer changes；If, it is determined that arm
Pin moves to bottom arm pin-and-hole, performs step 808；If not, it is determined that arm pin does not also move to arm
Bottom pin-and-hole, return and perform step 804；
Step 808, controls telescopic arm and stops retraction.
Fig. 9 is one embodiment of control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Structural representation, this control system may be used for performing the control method shown in Fig. 8.Such as Fig. 9 institute
Showing, including controller 901, this controller 901 includes:
First control unit 9011, for control arm after telescopic arm arrives its corresponding telescopic location
Pin inserts corresponding arm pin-and-hole；
Second control unit 9012, by controlling hydraulic pressure after inserting corresponding arm pin-and-hole at arm pin
System controls telescopic arm retraction；When the cylinder monitored long line value no longer changes, determine that arm pin moves
Bottom arm pin-and-hole, control telescopic arm and stop retraction；
Cylinder long line judging unit 9013, for judging that the cylinder long line value monitored the most no longer changes,
And will determine that result is sent to the second control unit 9012.
In above-mentioned two embodiment, the cylinder long line value monitored by judgement judges whether arm pin is transported
Move bottom arm pin-and-hole, thus when determining that arm pin moves to bottom arm pin-and-hole, automatically control flexible
Arm stops retraction.Compared with prior art, the control method of the arm pin back-off that the present invention provides is more
Accurately, it is to avoid Artificial Control arm pin back-off, to telescopic oil cylinder and the infringement of arm pin, improves flexible
The safety that arm is flexible.
One of ordinary skill in the art will appreciate that: realize all or part of of said method embodiment
Step can be completed by the hardware that programmed instruction is relevant, and aforesaid program can be stored in a meter
In calculation machine read/write memory medium, this program upon execution, performs to include said method embodiment
Step；And aforesaid storage medium includes: ROM, RAM, magnetic disc or CD etc. are various can
To store the medium of program code.
Description of the invention is given for the sake of example and description, and is not exhaustively
Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area
It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described
Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable
The various embodiments with various amendments in special-purpose.
Claims (17)
1. a control method for single-cylinder bolt type telescopic boom arm pin back-off, including:
After telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm pin-and-hole；
Bounce back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；
After default a period of time, it is judged that whether the pump pressure of the hydraulic system monitored reaches arm pin
Pump pressure threshold value time bottom arm pin-and-hole；
If the pump pressure of the hydraulic system monitored reaches pump pressure threshold value, it is determined that arm pin moves to
Bottom arm pin-and-hole, control telescopic arm and stop retraction.
Method the most according to claim 1, it is characterised in that according to following method in advance
Determine pump pressure threshold value:
Obtain the elevation angle of telescopic arm in real time；
The elevation angle according to telescopic arm and the corresponding relation of pump pressure threshold value, inquire about the telescopic arm got
Pump pressure threshold value corresponding to the elevation angle.
Method the most according to claim 1, it is characterised in that according to following method in advance
Acquisition pump pressure threshold value:
Receive the pump pressure threshold value that user is inputted by interactive display unit.
Method the most according to claim 1, it is characterised in that also include:
Judge that the cylinder long line value monitored the most no longer changes；
If the cylinder monitored long line value no longer changes, and the pump pressure of the hydraulic system monitored reaches
To pump pressure threshold value, it is determined that arm pin moves to bottom arm pin-and-hole, control telescopic arm and stop retraction.
Method the most according to claim 1, it is characterised in that changing according to hydraulic system
Described default a period of time is determined to the time.
6. a control system for single-cylinder bolt type telescopic boom arm pin back-off, including controller, institute
State controller to include:
First control unit, inserts for control arm pin after telescopic arm arrives its corresponding telescopic location
Enter corresponding arm pin-and-hole；
Second control unit, by controlling hydraulic system after inserting corresponding arm pin-and-hole at arm pin
Control telescopic arm retraction；When pump pressure in the hydraulic system monitored reaches pump pressure threshold value, really
Arms pin moves to bottom arm pin-and-hole, controls telescopic arm and stops retraction；
Pump pressure judging unit, after the default a period of time after controlling telescopic arm retraction, sentences
The pump pressure of the disconnected hydraulic system monitored whether reach arm pin bottom arm pin-and-hole time pump pressure threshold
Value, and will determine that result is sent to described second control unit.
System the most according to claim 6, it is characterised in that described controller also includes:
Elevation angle acquiring unit and pump pressure threshold query unit；
Described elevation angle acquiring unit, for the elevation angle of acquisition telescopic arm in real time, and is sent to described pump
Pressure threshold query unit；
Described pump pressure threshold query unit, for the elevation angle according to telescopic arm and pump pressure threshold value
Corresponding relation, inquires about the pump pressure threshold value that the elevation angle of the telescopic arm got is corresponding.
System the most according to claim 6, it is characterised in that described controller also includes:
Pump pressure threshold value receives unit, for receiving the pump pressure that user is inputted by interactive display unit
Power threshold value.
System the most according to claim 6, it is characterised in that described controller also includes:
Cylinder long line judging unit, for judging that the cylinder long line value monitored the most no longer changes, and will
Judged result is sent to described second control unit；
Described second control unit, is additionally operable to no longer change in the cylinder monitored long line value, and supervises
When the pump pressure of the hydraulic system measured reaches pump pressure threshold value, determine that arm pin moves at the bottom of arm pin-and-hole
Portion, controls telescopic arm and stops retraction.
System the most according to claim 6, it is characterised in that described default a period of time
It is to determine the commutating period according to hydraulic system.
11. according to the system described in claim 6-10 any one, it is characterised in that described
System also includes:
Pump pressure monitoring device, for monitoring the pump pressure of hydraulic system and being sent to controller.
12. systems according to claim 11, it is characterised in that described system also includes:
Obliquity sensor, is used for measuring the elevation angle of telescopic arm in real time and being sent to controller.
13. systems according to claim 11, it is characterised in that described system also includes:
Interactive display unit, for receiving the pump pressure threshold value of user's input, and is sent to controller.
14. systems according to claim 11, it is characterised in that described system also includes:
Cylinder long line monitoring device, is used for monitoring cylinder long line value and sending it to controller.
15. 1 kinds of cranes, it is characterised in that include described in claim 6-14 any one
The control system of single-cylinder bolt type telescopic boom arm pin back-off.
The control method of 16. 1 kinds of single-cylinder bolt type telescopic boom arm pin back-offs, including:
After telescopic arm arrives its corresponding telescopic location, control arm pin inserts corresponding arm pin-and-hole；
Bounce back by controlling HYDRAULIC CONTROL SYSTEM telescopic arm；
Judge that the cylinder long line value monitored the most no longer changes；
If the cylinder monitored long line value no longer changes, it is determined that arm pin moves to bottom arm pin-and-hole, control
Telescopic arm processed stops retraction.
The control system of 17. 1 kinds of single-cylinder bolt type telescopic boom arm pin back-offs, including controller, institute
State controller to include:
First control unit, inserts for control arm pin after telescopic arm arrives its corresponding telescopic location
Enter corresponding arm pin-and-hole；
Second control unit, by controlling hydraulic system after inserting corresponding arm pin-and-hole at arm pin
Control telescopic arm retraction；When the cylinder monitored long line value no longer changes, determine that arm pin moves to arm
Bottom pin-and-hole, control telescopic arm and stop retraction；
Cylinder long line judging unit, for judging that the cylinder long line value monitored the most no longer changes, and will
Judged result is sent to described second control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510338070.2A CN106256751B (en) | 2015-06-17 | 2015-06-17 | The control method and system and crane of single-cylinder bolt type telescopic boom arm pin back-off |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510338070.2A CN106256751B (en) | 2015-06-17 | 2015-06-17 | The control method and system and crane of single-cylinder bolt type telescopic boom arm pin back-off |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106256751A true CN106256751A (en) | 2016-12-28 |
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| CN113526378A (en) * | 2021-07-14 | 2021-10-22 | 三一汽车起重机械有限公司 | Automatic calibration method for hole position parameters of crane arm pin, calculation equipment and crane |
| CN113735028A (en) * | 2021-08-06 | 2021-12-03 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial work platform |
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| CN113735028B (en) * | 2021-08-06 | 2023-08-18 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial working platform |
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