CN106256751B - The control method and system and crane of single-cylinder bolt type telescopic boom arm pin back-off - Google Patents
The control method and system and crane of single-cylinder bolt type telescopic boom arm pin back-off Download PDFInfo
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- CN106256751B CN106256751B CN201510338070.2A CN201510338070A CN106256751B CN 106256751 B CN106256751 B CN 106256751B CN 201510338070 A CN201510338070 A CN 201510338070A CN 106256751 B CN106256751 B CN 106256751B
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Abstract
The invention discloses a kind of control method of single-cylinder bolt type telescopic boom arm pin back-off and system and crane, wherein, method includes：Telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole；By controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back；After default a period of time, judge whether the pump pressure of the hydraulic system monitored reaches pump pressure force threshold of the arm pin at arm pin-and-hole bottom；If the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, it is determined that arm pin moves to arm pin-and-hole bottom, control telescopic arm stops retraction.The control method for the arm pin back-off that the present invention is provided is more accurate, it is to avoid infringement of the artificial control arm pin back-off to telescopic oil cylinder and arm pin, improves the flexible security of telescopic arm.
Description
Technical field
The present invention relates to technical field of engineering machinery, especially a kind of controlling party of single-cylinder bolt type telescopic boom arm pin back-off
Method and system and crane.
Background technology
Figure 10 is the schematic diagram of the structure of existing single-cylinder bolt type telescopic boom, including basic arm 1001, oil cylinder
1002nd, between arm pin-and-hole bottom 1003, arm pin and arm pin-and-hole gap 1004, arm pin 1005, cylinder pin 1006, Section 2 arm 1007.
As shown in Figure 10, after the operating mode that a certain joint arm completes setting is acted and inserts upper arm pegs 1005, because arm pin-and-hole is set
Meter is very big, there is very wide arc gap 1004 between arm pin-and-hole and arm pin.Such as take no action to eliminate gap, during lifting, stretch
Arm can produce retracting action suddenly under hanging object and arm Gravitative Loads so that impact be produced between arm pin and telescopic arm, to stretching
The infringement of contracting arm and arm pin is very big, with very big potential safety hazard.Meanwhile, arm retraction can cause the long measurement error of cylinder, and then
The control accuracy of telescopic location is influenceed, the success rate of expanding-contracting action is reduced.
In the prior art, after arm pin is plugged, driver manually retracts arm support to realize arm pin back-off, so that between eliminating
Gap.But, because manual telescopic control accuracy is poor, the impact in retraction process between arm pin and telescopic arm is very big, when serious pair
Oil cylinder and arm pin cause the damage of unrepairable.
The content of the invention
Technical problem to be solved of the embodiment of the present invention is：Solve the problem of manual back-off control accuracy is poor.
According to an aspect of the present invention there is provided a kind of control method of single-cylinder bolt type telescopic boom arm pin back-off, including：Stretch
Contracting arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole；By controlling HYDRAULIC CONTROL SYSTEM telescopic arm
Retraction；After default a period of time, judge whether the pump pressure of the hydraulic system monitored reaches arm pin at arm pin-and-hole bottom
Pump pressure force threshold；If the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, it is determined that arm pin moves to arm pin-and-hole
Bottom, control telescopic arm stops retraction.
According to another aspect of the present invention there is provided a kind of control system of single-cylinder bolt type telescopic boom arm pin back-off, including
Controller, the controller includes：First control unit, for the control arm pin after telescopic arm reaches its corresponding telescopic location
Insert corresponding arm pin-and-hole；Second control unit, for being inserted in arm pin after corresponding arm pin-and-hole by controlling hydraulic system control
Telescopic arm retraction processed；When the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, determine that arm pin moves to arm pin-and-hole
Bottom, control telescopic arm stops retraction；Pump pressure judging unit, for default a period of time after control telescopic arm retraction
Afterwards, judge whether the pump pressure of the hydraulic system monitored reaches pump pressure force threshold of the arm pin at arm pin-and-hole bottom, and will sentence
Disconnected result is sent to second control unit.
According to another aspect of the invention there is provided a kind of crane, including the single cylinder bolt-type that above-described embodiment is provided is stretched
The control system of contracting arm arm pin back-off.
In accordance with a further aspect of the present invention there is provided a kind of control method of single-cylinder bolt type telescopic boom arm pin back-off, including：
Telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole；By controlling HYDRAULIC CONTROL SYSTEM to stretch
Arm bounces back；Judge whether the long line value of cylinder monitored no longer changes；If the long line value of the cylinder monitored no longer changes, it is determined that arm pin
Arm pin-and-hole bottom is moved to, control telescopic arm stops retraction.
According to the further aspect of the present invention there is provided a kind of control system of single-cylinder bolt type telescopic boom arm pin back-off, including
Controller, the controller includes：First control unit, for the control arm pin after telescopic arm reaches its corresponding telescopic location
Insert corresponding arm pin-and-hole；Second control unit, for being inserted in arm pin after corresponding arm pin-and-hole by controlling hydraulic system control
Telescopic arm retraction processed；When the long line value of cylinder monitored no longer changes, determine that arm pin moves to arm pin-and-hole bottom, control telescopic arm
Stop retraction；Whether the long line judging unit of cylinder, the long line value of cylinder for judging to monitor no longer changes, and will determine that result is sent
To second control unit.
The embodiment of the present invention has the advantages that：
On the one hand, the present invention judges by the way that whether the pump pressure for the hydraulic system for judging to monitor reaches pump pressure force threshold
Whether arm pin moves to arm pin-and-hole bottom, so as to when it is determined that arm pin moves to arm pin-and-hole bottom, automatically control telescopic arm stopping
Retraction.
On the other hand, by the long line value of the cylinder monitored judge whether arm pin moves to arm present invention also offers a kind of
Pin-and-hole bottom, so as to when it is determined that arm pin moves to arm pin-and-hole bottom, automatically control telescopic arm and stop retraction.
Compared with prior art, the control method of arm pin back-off that the present invention is provided is more accurate, it is to avoid artificial control
Infringement of the arm pin back-off to telescopic oil cylinder and arm pin, improves the flexible security of telescopic arm.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of control method one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention；
Fig. 2 is the flow signal of another embodiment of the control method of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure；
Fig. 3 is the structural representation of control system one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention；
Fig. 4 is the structural representation of another embodiment of the control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure；
Fig. 5 is the structural representation of another embodiment of the control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure；
Fig. 6 is the structural representation of the control system further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure；
Fig. 7 is the structural representation of the control system a still further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure；
Fig. 8 is the schematic flow sheet of control method one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention；
Fig. 9 is the structural representation of control system one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention；
Figure 10 is the schematic diagram of the structure of existing single-cylinder bolt type telescopic boom.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
For existing artificial control arm pin back-off method control it is not accurate enough the problem of, the present inventor hair
It is existing, the pump pressure of hydraulic system and arm pin can be moved to arm pin-and-hole bottom and set up a corresponding relation, if hydraulic system
Pump pressure reaches pump pressure force threshold, then shows that arm pin moves to arm pin-and-hole bottom, so in time telescopic arm can be controlled to stop back
Contracting, to avoid causing damage to telescopic oil cylinder and telescopic arm.
It should be noted that unless otherwise indicated, otherwise in the present invention, " the long line of cylinder " word refers to telescopic oil cylinder
Collapsing length.
Fig. 1 is the schematic flow sheet of control method one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention.
The control method of the present embodiment can be performed by controller, as shown in figure 1, the control method of the present embodiment includes：
Step 102, telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole.
Controller reaches telescopic location corresponding with working condition according to actual working condition, control telescopic arm, then
Control arm pin inserts corresponding arm pin-and-hole.
Step 104, by controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back.
Whether can be inserted using the real-time detection arm pin of arm pin detection switch, if arm pin is already inserted into arm pin-and-hole, arm pin
Detection switch can send the signal that arm pin is already inserted into controller, controller when receiving the signal that arm pin is already inserted into,
Back-off instruction is sent to hydraulic system, to control telescopic arm to bounce back.
Step 106, after default a period of time, judge whether the pump pressure of the hydraulic system monitored reaches arm pin in arm
Pump pressure force threshold during pin-and-hole bottom；If, it is determined that arm pin moves to arm pin-and-hole bottom, performs step 108；If it is not, then arm
Pin does not move to arm pin-and-hole bottom also, returns and performs step 104；
Wherein, default a period of time can set according to actual conditions, specifically, and it is according to liquid for a period of time that this is default
What the commutating period of pressure system determined.Because telescopic arm is from during extending and being changed into retraction, the pump pressure of hydraulic system
Default pump pressure force threshold may be reached, therefore, it is generally the case that default a period of time can be set as comparing hydraulic system
Commutating period slightly larger value, so as to avoid erroneous judgement.
Step 108, control telescopic arm stops retraction.
The present embodiment judges arm pin by the way that whether the pump pressure for the hydraulic system for judging to monitor reaches pump pressure force threshold
Whether arm pin-and-hole bottom is moved to, so as to when it is determined that arm pin moves to arm pin-and-hole bottom, automatically control telescopic arm and stop retraction.
Compared with prior art, the control method of arm pin back-off that the present invention is provided is more accurate, it is to avoid artificial control arm pin back-off
Infringement to telescopic oil cylinder and arm pin, improves the flexible security of telescopic arm.
For the elevation angle of different telescopic arms, its corresponding pump pressure force threshold may also be not quite similar.In the present invention, pump pressure
Force threshold can be determined by different modes.
Under a kind of mode, the elevation angle and the corresponding relation of pump pressure force threshold of telescopic arm can be prestored in the controller,
The elevation angle of telescopic arm is measured in real time by obliquity sensor and controller is sent to, controller is at the elevation angle for getting telescopic arm
Afterwards, according to the elevation angle of telescopic arm and the corresponding relation of pump pressure force threshold, the corresponding pump pressure in the elevation angle of the telescopic arm got is inquired about
Force threshold.
Under another way, user can obtain corresponding pump pressure force threshold according to the elevation angle of telescopic arm, then will pass through
Interactive display unit front pump pressure threshold, so, controller can directly receive the pump pressure force threshold of user's input.
Under normal circumstances, the elevation angle of telescopic arm is bigger, and pump pressure force threshold could be arranged to smaller.It is non-limiting as one
Example, can set one pump pressure force threshold of scope correspondence at the elevation angle of telescopic arm, i.e., when the elevation angle of telescopic arm is at one
In the range of when, its it is corresponding pump pressure force threshold it is identical.
In order to improve the accuracy of control, arm can be determined by the dual judgement to pump pressure force threshold and the long line value of cylinder
Whether pin moves to arm pin-and-hole bottom.Specifically, as shown in Fig. 2 being the control of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
The schematic flow sheet of another embodiment of method processed.The control method of the present embodiment includes：
Step 102, telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole.
Step 104, by controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back.
Step 106, after default a period of time, judge whether the pump pressure of the hydraulic system monitored reaches arm pin in arm
Pump pressure force threshold during pin-and-hole bottom；If so, then performing step 202；Step 104 is performed if it is not, then returning；
Step 202, judge whether the long line value of cylinder monitored no longer changes；If, it is determined that arm pin moves to arm pin-and-hole
Bottom, performs step 108；If it is not, then arm pin does not move to arm pin-and-hole bottom also, return and perform step 104；
Step 108, control telescopic arm stops retraction.
The present embodiment is compared with embodiment illustrated in fig. 1, in addition to whether no longer step 202 judges the long line value of cylinder monitored
Change.Wherein, step 202 can be performed before step 106, can also be performed after step 106, and Fig. 2 is only symbolically
A kind of situation being shown in which.The judgement of pump pressure force threshold whether is reached by the pump pressure to monitoring, in combination with right
The judgement whether long line of cylinder monitored no longer changes, can further improve the accuracy of control, so that it is guaranteed that in arm
Pin, which is moved to behind arm pin-and-hole bottom, controls telescopic arm to stop retraction.
Corresponding with the above method, the invention provides a kind of control system of single-cylinder bolt type telescopic boom arm pin back-off.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and it
Same or analogous part cross-reference between the difference of its embodiment, each embodiment.It is real for control system
Apply for example, because it is substantially corresponding with control method embodiment, so description is fairly simple, related part is real referring to method
Apply the part explanation of example.
Fig. 3 is the structural representation of control system one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention.
As shown in figure 3, the control system of the present embodiment includes controller 301, the controller 301 includes：
First control unit 3011, for after telescopic arm reaches its corresponding telescopic location the insertion of control arm pin it is corresponding
Arm pin-and-hole；
Second control unit 3012, for after arm pin inserts corresponding arm pin-and-hole by controlling HYDRAULIC CONTROL SYSTEM to stretch
Arm bounces back；When the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, determine that arm pin moves to arm pin-and-hole bottom, control
Telescopic arm processed stops retraction；
Pump pressure judging unit 3013, after default a period of time after control telescopic arm retraction, judges to monitor
The pump pressure of hydraulic system whether reach pump pressure force threshold of the arm pin at arm pin-and-hole bottom, and will determine that result is sent to
Two control units 3012.Wherein, as a non-limiting example, default a period of time is the commutating period according to hydraulic system
Determine.
The present embodiment judges arm pin by the way that whether the pump pressure for the hydraulic system for judging to monitor reaches pump pressure force threshold
Whether arm pin-and-hole bottom is moved to, so as to when it is determined that arm pin moves to arm pin-and-hole bottom, automatically control telescopic arm and stop retraction.
Compared with prior art, the control method of arm pin back-off that the present invention is provided is more accurate, it is to avoid artificial control arm pin back-off
Infringement to telescopic oil cylinder and arm pin, improves the flexible security of telescopic arm.
Pump pressure force threshold can have a variety of determination modes, and corresponding system architecture is also differed.The invention provides Fig. 4 and
Two kinds of different system architectures of Fig. 5.
Fig. 4 is the structural representation of another embodiment of the control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure.Controller 301 in the present embodiment also includes：Elevation angle acquiring unit 3014 and pump pressure threshold query unit 3015；
Elevation angle acquiring unit 3014, for obtaining the elevation angle of 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 the corresponding relation of pump pressure force threshold, is looked into
The corresponding pump pressure force threshold in the elevation angle of the telescopic arm got is ask, and is sent to pump pressure judging unit 3013.
Fig. 5 is the structural representation of another embodiment of the control system of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure.Controller 301 in the present embodiment also includes：Force threshold receiving unit 3016 is pumped, it is aobvious by interaction for receiving user
The pump pressure force threshold of showing device input.
In order to further improve the accuracy of control, as shown in fig. 6, being single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Control system further embodiment structural representation, the controller 301 in the present embodiment can also include：The long line of cylinder judges
Whether unit 3017, the long line value of cylinder for judging to monitor 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, is additionally operable to no longer change in the long line value of cylinder monitored,
And when the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, determine that arm pin moves to arm pin-and-hole bottom, control is stretched
Contracting arm stops retraction.
Fig. 7 is the structural representation of the control system a still further embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention
Figure.As shown in fig. 7, the control system of the present embodiment can also include：
Pump pressure monitoring device 302, for example, can be pressure sensor, pump pressure and transmission for monitoring hydraulic system
To controller 301.
Referring to Fig. 7, in another embodiment of control system, obliquity sensor 303 can also be included, for surveying in real time
Measure the elevation angle of telescopic arm and be sent to controller 301.
Referring to Fig. 7, in another embodiment of control system, interactive display unit 304 can also be included, for receiving
The pump pressure force threshold of user's input, and it is sent to controller 301.
Referring to Fig. 7, in another embodiment of control system, the long line monitoring device 305 of cylinder can also be included, for example may be used
To be displacement transducer, for monitoring the long line value of cylinder and sending it to controller 301.
Referring to Fig. 7, in another embodiment of control system, arm pin detection switch 306 can also be included, in inspection
Corresponding signal is sent to controller 302 after measuring arm pin insertion arm pin-and-hole, sends to hydraulic system with trigger controller 301
Button instruction.
The control system for the single-cylinder bolt type telescopic boom arm pin back-off that the present invention is provided can be applied on crane.
In one embodiment of crane of the present invention, the single-cylinder bolt that any one above-mentioned embodiment is provided can be included
The control system of formula Telescopic boom pin back-off.
Fig. 8 is the schematic flow sheet of control method one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention.
As shown in figure 8, the method for the present embodiment includes：
Step 802, telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole；
Step 804, by controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back；
Step 806, judge whether the long line value of cylinder monitored no longer changes；If, it is determined that arm pin moves to arm pin-and-hole
Bottom, performs step 808；If not, it is determined that arm pin does not move to arm pin-and-hole bottom also, return and perform step 804；
Step 808, control telescopic arm stops retraction.
Fig. 9 is the structural representation of control system one embodiment of single-cylinder bolt type telescopic boom arm pin back-off of the present invention,
The control system can be used for performing the control method shown in Fig. 8.As shown in figure 9, including controller 901, the controller 901 is wrapped
Include：
First control unit 9011, for after telescopic arm reaches its corresponding telescopic location the insertion of control arm pin it is corresponding
Arm pin-and-hole；
Second control unit 9012, for after arm pin inserts corresponding arm pin-and-hole by controlling HYDRAULIC CONTROL SYSTEM to stretch
Arm bounces back；When the long line value of cylinder monitored no longer changes, determine that arm pin moves to arm pin-and-hole bottom, control telescopic arm stops back
Contracting；
Whether the long line judging unit 9013 of cylinder, the long line value of cylinder for judging to monitor no longer changes, and will determine that result
It is sent to the second control unit 9012.
In above-mentioned two embodiment, judge whether arm pin moves to arm pin-and-hole bottom by the long line value of cylinder for judging to monitor
Portion, so as to when it is determined that arm pin moves to arm pin-and-hole bottom, automatically control telescopic arm and stop retraction.Compared with prior art, originally
The control method for inventing the arm pin back-off provided is more accurate, it is to avoid artificial control arm pin back-off is to telescopic oil cylinder and arm pin
Infringement, improves the flexible security of telescopic arm.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Description of the invention is provided for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
State embodiment and be more preferably to illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed
The solution present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (15)
1. a kind of control method of single-cylinder bolt type telescopic boom arm pin back-off, it is characterised in that including：
Telescopic arm reaches control arm pin after its corresponding telescopic location and inserts corresponding arm pin-and-hole；
By controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back；
After default a period of time, judge whether the pump pressure of the hydraulic system that monitors reaches arm pin at arm pin-and-hole bottom
It is pumped force threshold；
If the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, it is determined that arm pin moves to arm pin-and-hole bottom, control
Telescopic arm stops retraction.
2. according to the method described in claim 1, it is characterised in that pump pressure force threshold is predefined according to following method：
The elevation angle of telescopic arm is obtained in real time；
According to the elevation angle of telescopic arm and the corresponding relation of pump pressure force threshold, the corresponding pump pressure in the elevation angle of the telescopic arm got is inquired about
Force threshold.
3. according to the method described in claim 1, it is characterised in that pump pressure force threshold is obtained according to following method in advance：
Receive the pump pressure force threshold that user is inputted by interactive display unit.
4. according to the method described in claim 1, it is characterised in that also include：
Judge whether the long line value of cylinder monitored no longer changes；
If the long line value of the cylinder monitored no longer changes, and the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, then
Determine that arm pin moves to arm pin-and-hole bottom, control telescopic arm stops retraction.
5. according to the method described in claim 1, it is characterised in that determine described default one according to the commutating period of hydraulic system
The section time.
6. a kind of control system of single-cylinder bolt type telescopic boom arm pin back-off, it is characterised in that including controller, the controller
Including：
First control unit, for the corresponding arm pin-and-hole of control arm pin insertion after telescopic arm reaches its corresponding telescopic location；
Second control unit, for after arm pin inserts corresponding arm pin-and-hole by controlling HYDRAULIC CONTROL SYSTEM telescopic arm to bounce back；
When the pump pressure of the hydraulic system monitored reaches pump pressure force threshold, determine that arm pin moves to arm pin-and-hole bottom, control is flexible
Arm stops retraction；
Pump pressure judging unit, after default a period of time after control telescopic arm retraction, judges the hydraulic pressure system monitored
Whether the pump pressure of system reaches pump pressure force threshold of the arm pin at arm pin-and-hole bottom, and will determine that result is sent to second control
Unit processed.
7. system according to claim 6, it is characterised in that the controller also includes：Elevation angle acquiring unit and pump pressure
Force threshold query unit；
The elevation angle acquiring unit, for obtaining the elevation angle of telescopic arm in real time, and is sent to the pump pressure threshold query unit；
The pump pressure threshold query unit, for the elevation angle according to telescopic arm and the corresponding relation of pump pressure force threshold, inquiry is obtained
The corresponding pump pressure force threshold in the elevation angle for the telescopic arm got.
8. system according to claim 6, it is characterised in that the controller also includes：
Force threshold receiving unit is pumped, for receiving the pump pressure force threshold that user is inputted by interactive display unit.
9. system according to claim 6, it is characterised in that the controller also includes：
Whether the long line judging unit of cylinder, the long line value of cylinder for judging to monitor no longer changes, and will determine that result is sent to institute
State the second control unit；
Second control unit, is additionally operable to no longer change in the long line value of cylinder monitored, and the hydraulic system monitored
When pump pressure reaches pump pressure force threshold, determine that arm pin moves to arm pin-and-hole bottom, control telescopic arm stops retraction.
10. system according to claim 6, it is characterised in that described default a period of time is changing according to hydraulic system
Determined to the time.
11. the system according to claim 6-10 any one, it is characterised in that the system also includes：
Pump pressure monitoring device, for monitoring the pump pressure of hydraulic system and being sent to controller.
12. system according to claim 11, it is characterised in that the system also includes：
Obliquity sensor, for measuring the elevation angle of telescopic arm in real time and being sent to controller.
13. system according to claim 11, it is characterised in that the system also includes：
Interactive display unit, for receiving the pump pressure force threshold of user's input, and is sent to controller.
14. system according to claim 11, it is characterised in that the system also includes：
The long line monitoring device of cylinder, for monitoring the long line value of cylinder and sending it to controller.
15. a kind of crane, it is characterised in that including the single-cylinder bolt type telescopic boom arm described in claim 6-14 any one
Sell the control system of back-off.
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| 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 |
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| 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 |
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| CN106256751A CN106256751A (en) | 2016-12-28 |
| CN106256751B true CN106256751B (en) | 2017-10-27 |
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| CN113526378B (en) * | 2021-07-14 | 2023-08-29 | 三一汽车起重机械有限公司 | Automatic calibration method for crane arm pin hole site parameters, computing equipment and crane |
| 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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| CN103407912A (en) * | 2013-08-27 | 2013-11-27 | 徐州重型机械有限公司 | Single-cylinder plug pin type telescopic arm, crane and telescoping method of single-cylinder plug pin type telescopic arm |
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| CN103896155A (en) * | 2014-01-27 | 2014-07-02 | 徐州徐工随车起重机有限公司 | Hydraulic control system for controlling double cylinders to telescope sequentially, suspension arm mechanism and crane |
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| CN104444816A (en) * | 2014-09-30 | 2015-03-25 | 中联重科股份有限公司 | Hydraulic control system of hoisting machinery and hoisting machinery |
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| US6269635B1 (en) * | 1999-01-20 | 2001-08-07 | Manitowoc Crane Group, Inc. | Control and hydraulic system for a liftcrane |
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| CN103407912A (en) * | 2013-08-27 | 2013-11-27 | 徐州重型机械有限公司 | Single-cylinder plug pin type telescopic arm, crane and telescoping method of single-cylinder plug pin type telescopic arm |
| CN203998671U (en) * | 2013-11-07 | 2014-12-10 | 徐州重型机械有限公司 | A kind of telescopic boom arm pin unlock control device and hoisting crane thereof |
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