CN108358063A - Counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery - Google Patents
Counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery Download PDFInfo
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- CN108358063A CN108358063A CN201810181805.9A CN201810181805A CN108358063A CN 108358063 A CN108358063 A CN 108358063A CN 201810181805 A CN201810181805 A CN 201810181805A CN 108358063 A CN108358063 A CN 108358063A
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- engineering machinery
- vertical cylinders
- calibration
- angle position
- counterweight tray
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The present invention provides a kind of counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery, are related to engineering machinery field.The counterbalance weight of engineering machinery automatic loading and unloading method includes：The operational motion for responding the control handle of engineering machinery, controls the swing mechanism revolution of engineering machinery, and the counterweight tray of engineering machinery is driven to return back to the first calibration angle position.Control Vertical Cylinders extend out to the first predeterminated position.Swing mechanism revolution is controlled, and counterweight tray is driven to return back to the second calibration angle position by the first calibration angle position.Control Vertical Cylinders are retracted to the second predeterminated position.The swing mechanism of the counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery utilizing works machinery, Vertical Cylinders and the calibration location information demarcated in advance, it realizes that the card slot of fixture block and counterweight tray connects automatically, realizes automatic lifting and the decline of balance weight.In this way, realizing the auxiliary for reducing manpower and handheld device, more efficient, operating process is convenient.
Description
Technical field
The present invention relates to engineering machinery fields, in particular to a kind of counterbalance weight of engineering machinery automatic loading and unloading method, dress
It sets and engineering machinery.
Background technology
The large and medium-sized hanging device with balance weight auto-loading unloading functions is widely used in various remove in construction machinery industry at present
Fortune, building trade.Balance weight Self-loading-unloading refers to the assistance for not needing other vehicles or lifting device, is loaded and unloaded using equipment itself flat
The technology and function of weight, the installation realized the quick, accurate of balance weight and stablized.Its executing agency is mainly by vertically
Face and horizontally disposed oil cylinder and vehicle frame detent mechanism itself coordinate to realize, wherein vertical fuel tank is balanced for controlling
The promotion of weight and the process of decline, cross cylinder are used to control locking and the unlocked state of balance weight.
In the previous above practical execution, to ensure balance weight connection procedure fast and effectively, operating personnel need by warp
It tests and Pilot Operational Equipment loads and unloads balance weight, complete the handling of balance weight, it can be seen that, existing balance weight mounting means
It from auxiliary judgment and needs to increase handheld device, cost performance is low, less efficient.
Invention content
One of the objects of the present invention is to provide a kind of counterbalance weight of engineering machinery automatic loading and unloading methods, can realize balance
The auxiliary for reducing manpower and handheld device is realized in the automatic lifting of weight and decline, and more efficient, operating process is convenient.
Another object of the present invention is to provide a kind of counterbalance weight of engineering machinery automatic handling devices, can realize balance
The auxiliary for reducing manpower and handheld device is realized in the automatic lifting of weight and decline, and more efficient, operating process is convenient.
Another object of the present invention is to provide a kind of engineering machinery, it can realize the automatic lifting of balance weight under
Drop realizes the auxiliary for reducing manpower and handheld device, and more efficient, operating process is convenient.
What the embodiment of the present invention was realized in：
A kind of counterbalance weight of engineering machinery automatic loading and unloading method, including：The operational motion of the control handle of engineering machinery is responded,
The swing mechanism revolution of the engineering machinery is controlled, and the counterweight tray of the engineering machinery is driven to return back to the first calibration angle
Spend position, wherein first calibration angle position indicates the fixture block of the Vertical Cylinders of the engineering machinery in the balance weight
Angle between the line of the centre of gyration of the projection of pallet and the swing mechanism and preset calibration zero curve is the first calibration
The position of angle, the counterweight tray are used to carry the balance weight of the engineering machinery.The Vertical Cylinders are controlled to extend out to
First predeterminated position.The swing mechanism revolution is controlled, and the counterweight tray is driven to demarcate angle position by described first
Return back to the second calibration angle position, wherein second calibration angle position indicates the Vertical Cylinders of the engineering machinery
Fixture block is between the projection of the counterweight tray and the line and preset calibration zero curve of the centre of gyration of the swing mechanism
Angle be the second calibration angle position.It controls the Vertical Cylinders and is retracted to the second predeterminated position.
Further, the operational motion of the control handle of the response engineering machinery, controls the revolution of the engineering machinery
Mechanism turns round, and the step of driving the counterweight tray of the engineering machinery to return back to the first calibration angle position includes：
The operational motion for responding the control handle of engineering machinery, is controlled the swing mechanism and is turned round with the first rotational speed,
And the counterweight tray is driven to return back to the adjacent locations for demarcating angle position close to described first；
It controls the swing mechanism to turn round with the second rotational speed, and drives the counterweight tray by the adjacent locations
Return back to first calibration angle position, wherein second rotational speed is less than first rotational speed.
Further, the step of control Vertical Cylinders extend out to the first predeterminated position include：
Receive the first of the Vertical Cylinders the signal in place, wherein described first in place signal stretched in the Vertical Cylinders
It is triggered when going out to first predeterminated position；
Stop extending action according to the described first Vertical Cylinders of signal control in place.
Further, the control swing mechanism revolution, and the counterweight tray is driven to be demarcated by described first
Angle position returns back to the step of the second calibration angle position and includes：
It controls the swing mechanism to turn round with third rotational speed, and the counterweight tray is driven to be demarcated by described first
Angle position returns back to second calibration angle position.
Further, the step of control Vertical Cylinders are retracted to the second predeterminated position include：
Receive the second of the Vertical Cylinders the signal in place, wherein described second in place signal contract in the Vertical Cylinders
It is triggered when being back to second predeterminated position；
Stop retract action according to the described second Vertical Cylinders of signal control in place.
The embodiment of the present invention additionally provides a kind of counterbalance weight of engineering machinery automatic handling device, including：First revolution control
Module, the operational motion of the control handle for responding engineering machinery control the swing mechanism revolution of the engineering machinery, and band
The counterweight tray for moving the engineering machinery returns back to the first calibration angle position, wherein the first calibration angle position table
Show the fixture block of the Vertical Cylinders of the engineering machinery in the projection of the counterweight tray and the centre of gyration of the swing mechanism
Line and preset calibration zero curve between angle be the first calibration angle position, the counterweight tray is for carrying institute
State the balance weight of engineering machinery.First Vertical Cylinders control module extend out to the first default position for controlling the Vertical Cylinders
It sets.Second revolution control module for controlling the swing mechanism revolution, and drives the counterweight tray to be marked by described first
Determine angle position and return back to the second calibration angle position, wherein second calibration angle position indicates the engineering machinery
The fixture block of Vertical Cylinders is in the line and preset mark of the projection of the counterweight tray and the centre of gyration of the swing mechanism
Determine the position that the angle between zero curve is the second calibration angle.Second Vertical Cylinders control module, for controlling the vertical oil
Cylinder is retracted to the second predeterminated position.
Further, the first revolution control module is additionally operable to the operational motion of the control handle of response engineering machinery,
It controls the swing mechanism to turn round with the first rotational speed, and drives the counterweight tray to return back to and demarcated close to described first
The adjacent locations and the control swing mechanism of angle position are turned round with the second rotational speed, and drive the counterweight tray
First calibration angle position is returned back to by the adjacent locations, wherein second rotational speed is less than described first time
Rotary speed.
Further, the first Vertical Cylinders control module includes：
First receiving module, for receiving the first of the Vertical Cylinders the signal in place, wherein the described first signal in place
It is triggered when the Vertical Cylinders extend out to first predeterminated position；
First control module in place, for according to described first in place signal control the Vertical Cylinders stop stretching out it is dynamic
Make；
The second Vertical Cylinders control module includes：
Second receiving module, for receiving the second of the Vertical Cylinders the signal in place, wherein the described second signal in place
It is triggered when the Vertical Cylinders are retracted to second predeterminated position；
Second control module in place, for according to described second in place signal control the Vertical Cylinders stop retracting it is dynamic
Make.
Further, the second revolution control module is additionally operable to control the swing mechanism with third rotational speed time
Turn, and drives the counterweight tray to demarcate angle position by described first and return back to second calibration angle position.
The embodiment of the present invention additionally provides a kind of engineering machinery, including memory, processor and above-mentioned engineering machinery
Balance weight automatic handling device, the counterbalance weight of engineering machinery automatic handling device are installed in the memory and include one
Or multiple software function modules executed by the processor.
The advantageous effect of counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery provided in an embodiment of the present invention
It is：By responding the operational motion of the control handle of engineering machinery, the swing mechanism revolution of the engineering machinery is controlled, and drive
The counterweight tray of the engineering machinery returns back to the first calibration angle position.Also, it is pre- that control Vertical Cylinders extend out to first
If position.The swing mechanism revolution is controlled, and drives the counterweight tray to demarcate angle position by described first and returns back to
Second calibration angle position.Also, the control Vertical Cylinders are retracted to the second predeterminated position.The counterbalance weight of engineering machinery is automatic
Handling method, the swing mechanism of device and engineering machinery utilizing works machinery, Vertical Cylinders and the calibration position demarcated in advance
Information, realize Vertical Cylinders fixture block and counterweight tray it is automatic connection or releasing coordinate, and realize balance weight from
It is dynamic to be promoted and declined.In this way, realizing the auxiliary for reducing manpower and handheld device, more efficient, operating process is convenient.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is that counterbalance weight of engineering machinery automatic loading and unloading method provided in an embodiment of the present invention and counterbalance weight of engineering machinery are automatic
The structural schematic block diagram for the engineering machinery that handler is applied；
Fig. 2 is the standing block hole of the positioning convex ring and counterweight tray of the vehicle frame of engineering machinery provided in an embodiment of the present invention
Structural schematic diagram；
Fig. 3 is the structural schematic diagram of the counterweight tray and swing mechanism of engineering machinery provided in an embodiment of the present invention；
Fig. 4 is the schematic process flow diagram for the counterbalance weight of engineering machinery automatic loading and unloading method that first embodiment of the invention provides；
Fig. 5 is the sub-step schematic process flow diagram of step S101 in Fig. 4；
Fig. 6 is the sub-step schematic process flow diagram of step S102 in Fig. 4；
Fig. 7 is the sub-step schematic process flow diagram of step S104 in Fig. 4；
The step of Fig. 8 is the angle calibration for the counterbalance weight of engineering machinery automatic loading and unloading method that third embodiment of the invention provides
Schematic process flow diagram；
Fig. 9 is the structural schematic block diagram for the counterbalance weight of engineering machinery automatic handling device that fourth embodiment of the invention provides；
Figure 10 is the structural schematic block diagram of the submodule of the first Vertical Cylinders control module in Fig. 9；
Figure 11 is the structural schematic block diagram of the submodule of the second Vertical Cylinders control module in Fig. 9.
Icon：10- engineering machinery；100- counterbalance weight of engineering machinery automatic handling devices；11- memories；12- processors；
13- vehicle frames；131- positioning convex rings；14- counterweight trays；141- standing block holes；142- card slots；15- swing mechanisms；16- fixture blocks；
110- first turns round control module；120- the first Vertical Cylinders control modules；The first receiving modules of 121-；122- first is controlled in place
Molding block；130- second turns round control module；140- the second Vertical Cylinders control modules；The second receiving modules of 141-；142-
Two control modules in place.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term "upper", "lower" is base
In orientation or positional relationship shown in the drawings or the invention product using when the orientation or positional relationship usually put, or
Person is the orientation or positional relationship that those skilled in the art usually understand, is merely for convenience of description of the present invention and simplification of the description,
It does not indicate or imply the indicated equipment or element must have a particular orientation, with specific azimuth configuration and operation, because
This is not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
In concrete meaning.
Fig. 1 is that counterbalance weight of engineering machinery automatic loading and unloading method provided in an embodiment of the present invention and counterbalance weight of engineering machinery are automatic
The structural schematic block diagram for the engineering machinery 10 that handler 100 is applied, referring to Fig. 1, engineering machinery provided in this embodiment
Balance weight automatic loading and unloading method and counterbalance weight of engineering machinery automatic handling device 100 are applied to engineering machinery 10.The engineering machinery
10 can be the mechanical equipment that crane etc. has balance weight.The engineering machinery 10 includes memory 11, processor 12 and work
Journey mechanical balance weight automatic handling device 100.The counterbalance weight of engineering machinery automatic loading and unloading method and counterbalance weight of engineering machinery are automatic
Handler 100 realizes the auxiliary for reducing manpower and handheld device, more efficient, and operating process is convenient.
Memory 11 and processor 12 are directly or indirectly electrically connected between each other, to realize the transmission or friendship of data
Mutually.It is electrically connected for example, these elements can be realized between each other by one or more communication bus or signal wire.The engineering
Mechanical balance weight automatic handling device 100 include it is at least one can be stored in the form of software or firmware (firmware) it is described
In memory 11 or the software function module that is solidificated in the operating system (operating system, OS) of server.It is described
Processor 12 is for executing the executable module stored in the memory 11, such as the counterbalance weight of engineering machinery automatic loading and unloading
Software function module and computer program included by device 100 etc..
Wherein, the memory 11 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 11 is for storing program, and the processor 12 executes described program after receiving and executing instruction.
In order to more easily to counterbalance weight of engineering machinery automatic loading and unloading method provided in an embodiment of the present invention and engineering machine
Tool balance weight automatic handling device 100 illustrates.Knot of the engineering machinery 10 for balance weight automatic loading and unloading is first introduced below
Structure.
Fig. 2 and Fig. 3 are please referred to, engineering machinery 10 includes vehicle frame 13, counterweight tray 14 and swing mechanism 15.Its
In, positioning convex ring 131 is provided on vehicle frame 13, for being positioned to counterweight tray 14, positioning convex ring 131 is chosen as two
A, two positioning convex rings 131 are symmetrical arranged, and it is trapezoidal to be chosen as longitudinal section.Counterweight tray 14 is for carrying balance weight (figure
Do not show), standing block hole 141 is provided on counterweight tray 14, which coordinates for positioning convex ring 131 with to flat
Weight pallet 14 is positioned.Swing mechanism 15 can rotate, and drive counterweight tray 14 to turn round by vehicle frame 13.
Engineering machinery 10 for the executing agency of balance weight automatic loading and unloading include Vertical Cylinders (not shown) perpendicular to the ground,
Horizontally disposed cross cylinder (not shown) and vehicle frame 13 detent mechanism of itself, by Vertical Cylinders, cross cylinder and
The detent mechanism of vehicle frame 13 itself coordinates to realize, wherein the positioning convex ring of vehicle frame 13 detent mechanism of, that is, above-mentioned itself
131.Vertical Cylinders are used to control promotion and the decline process of balance weight, and cross cylinder is used to control the locking and unlock of balance weight
State.In the present embodiment, Vertical Cylinders are two.Two Vertical Cylinders are symmetrical arranged perpendicular to ground, the piston of Vertical Cylinders
Bar top is provided with cricoid fixture block 16.The card slot 142 of annular is provided on the column of counterweight tray 14.When Vertical Cylinders
After the fixture block 16 of piston rod is connected with the card slot 142 of counterweight tray 14, Vertical Cylinders are reduced to the dress that balance weight is realized in position
Match, cross cylinder secondary locking balance weight after being promoted in place.When unloading balance weight, cross cylinder is first unlocked, rear vertical oil
The positioning convex ring 131 for the standing block hole 141 and vehicle frame 13 that cylinder extend out to counterweight tray 14 coordinates, and Vertical Cylinders turn round out card slot
142, retraction rod cavity completes balance weight unloading.
In addition, the engineering machinery 10 can configure display screen, with by selecting to hang automatically on a display screen or unloading balance automatically
Weight function.
Hereinafter engineering machine balancing provided in an embodiment of the present invention is specifically introduced so that the engineering machinery 10 is crane as an example
Weight automatic loading and unloading method and counterbalance weight of engineering machinery automatic handling device 100.
First embodiment
Referring to Fig. 4, present embodiments provide a kind of counterbalance weight of engineering machinery automatic loading and unloading method, and the present embodiment with
For automatic extension process, the counterbalance weight of engineering machinery automatic loading and unloading method is specifically introduced.The counterbalance weight of engineering machinery automatic loading and unloading
Method includes the following steps：
Step S101, the operational motion of the control handle of response engineering machinery 10, controls the swing mechanism of engineering machinery 10
15 revolutions, and the counterweight tray 14 of engineering machinery 10 is driven to return back to the first calibration angle position.Wherein, the first calibration angle
Position indicates the fixture block 16 of the Vertical Cylinders of engineering machinery 10 in the projection of counterweight tray 14 and the revolution of swing mechanism 15
Angle between the line of the heart and preset calibration zero curve is the position of the first calibration angle, and counterweight tray 14 is for carrying work
The balance weight of journey machinery 10.
In the present embodiment, during automatic extension, the first calibration angle position is that the counterweight tray 14 demarcated in advance corresponds to
Default initial position of the fixture block 16 when not coordinating with the card slot of counterweight tray 14 142, the default initial position of this in attached drawing 3 with
Position A is indicated.First calibration angle position is in advance calibration, by 14 card slot of counterweight tray, 142 precession and Vertical Cylinders
Cricoid fixture block 16 section periphery projection overlap obtain.That is, when counterweight tray 14 is in the first calibration angle
When position, fixture block 16 is in the line of the projection of counterweight tray 14 and the centre of gyration of swing mechanism 15 and preset calibration zero curve
Between angle be the first calibration angle, also, fixture block 16 does not coordinate with the card slot of counterweight tray 14 142, at Vertical Cylinders
In the state of retraction.
It should be noted that before step S101, automatic extension balance weight function can be selected by display screen, into certainly
Dynamic extension process.Also, counterweight tray 14 has been positioned at the positioning convex ring on vehicle frame 13 by the standing block hole 141 of its bottom
131.At this point, response operating personnel are dynamic to the operation of the left handle (may be set to be and operated using right handles) of engineering machinery 10
Make, and the swing mechanism 15 for controlling engineering machinery 10 turns round.Direction is operated by left handle, returning for swing mechanism 15 can be controlled
Turn direction, also, the rotational speed of control swing mechanism 15 can be corresponded to according to the handle aperture of left handle.
Referring to Fig. 5, in the present embodiment, in order to keep turning course control more accurate, automatic rotary speed can be set
Grade.Step S101 may include following sub-step：
Sub-step S1011, the operational motion of the control handle of response engineering machinery 10, control swing mechanism 15 is with first time
Rotary speed turns round, and counterweight tray 14 is driven to return back to the adjacent locations close to the first calibration angle position.
It should be appreciated that swing mechanism 15 is turned round with handle aperture corresponding speed automatically, and counterweight tray 14 is driven to turn round
It is the first default position for closing on angle to demarcate angle position to distance first, that is to say, that close to the first calibration angle position
The angle of the centre of gyration of opposite with first calibration both angle position swing mechanism of adjacent locations 15 be first default to close on
Angle.
Sub-step S1012, control swing mechanism 15 is turned round with the second rotational speed, and drives counterweight tray 14 by closing on
Position returns back to the first calibration angle position, wherein the second rotational speed is less than the first rotational speed.
It should be noted that in the present embodiment, counterweight tray 14 is turned round by the adjacent locations of the first calibration angle position
To first calibration angle position, can be return back to and first calibration angle position have certain angle deviation angular range
It is interior.In addition, the second rotational speed is less than the first rotational speed, that is to say, that swing mechanism 15 is first returned with larger rotational speed
Turn and counterweight tray 14 is driven to return back to the adjacent locations close to the first calibration angle position, then again with smaller revolution speed
Degree turns round and counterweight tray 14 is driven to return back to the first calibration angle position by adjacent locations.
Please continue to refer to Fig. 4, which further includes：
Step S102, control Vertical Cylinders extend out to the first predeterminated position.
It should be noted that in step s 102, left handle only enables, i.e., when controlling Vertical Cylinders action, left hand
Handle only enables, in this way, operating personnel carry out enabled control by left handle always, can ensure the safety of operating process.
In addition, the first predeterminated position is the target location that preset Vertical Cylinders stretch out, for example, it may be position when reaching bottom
It sets.
Referring to Fig. 6, in the present embodiment, step S102 may include following sub-step：
Step S1021 receives the first of Vertical Cylinders the signal in place, wherein first in place signal stretched out in Vertical Cylinders
It is triggered when to the first predeterminated position.
Wherein, first signal can be by close to switch triggering in place.For example, it is vertical to left and right two to stretch Vertical Cylinders automatically
First signal triggering in place when oil cylinder reaches bottom.
Step S1022 stops extending action according to the first Vertical Cylinders of signal control in place.
Please continue to refer to Fig. 4, which further includes：
Step S103, control swing mechanism 15 turn round, and drive counterweight tray 14 by the first calibration angle position revolution
To the second calibration angle position, wherein the second calibration angle position indicates the fixture block 16 of the Vertical Cylinders of engineering machinery 10 in flat
Angle between the projection of weight pallet 14 and the line and preset calibration zero curve of the centre of gyration of swing mechanism 15 is second
Demarcate the position of angle.
It should be noted that during automatic hang, the second calibration angle position be counterweight tray 14 fixture block 16 with
Rigging position when card slot 142 coordinates, the rigging position is indicated with position B in attached drawing 3.Second calibration angle position is being demarcated
When, it demarcates to obtain when being fully connected in the card slot 142 by the 16 precession counterweight tray 14 of fixture block of Vertical Cylinders.
In the present embodiment, in step S103, control swing mechanism 15 is turned round with third rotational speed, and drives balance great trust
Disk 14 returns back to the second calibration angle position by the first calibration angle position.Wherein, third rotational speed is less than the first revolution
The small speed class of speed, can be equal with the second rotational speed, can not also be equal.
In addition, it is necessary to explanation, in the present embodiment, control swing mechanism 15 turns round, and drive counterweight tray 14 by
First calibration angle position returns back to the second calibration angle position, can return back to have centainly with the second calibration angle position
In the angular range of angular deviation.
Step S104, control Vertical Cylinders are retracted to the second predeterminated position.
It should be noted that in step S104, left handle also only enables.
Referring to Fig. 7, in the present embodiment, step S104 may include following sub-step：
Sub-step S1041 receives the second of Vertical Cylinders the signal in place, wherein second in place signal contract in Vertical Cylinders
It is triggered when being back to the second predeterminated position.
It should be noted that in the present embodiment, second in place signal can be reduced to close to switch by left-right balance heavy oil cylinder
The oil pressure sensor of top or balance weight triggers when being more than the first restriction pressure.
Sub-step S1042 stops retract action according to the second Vertical Cylinders of signal control in place.
At this point, completing to hang balance weight, can be prompted to complete information by display screen.
Second embodiment
Fig. 2-Fig. 4 is please referred to, a kind of counterbalance weight of engineering machinery automatic loading and unloading method, and this implementation are present embodiments provided
Example specifically introduces the counterbalance weight of engineering machinery automatic loading and unloading method for unloading process automatically.The flow chart of the present embodiment can join
First embodiment is examined, difference lies in initial shapes for the counterbalance weight of engineering machinery automatic loading and unloading method and first embodiment of the present embodiment
State is different, and in the present embodiment, when original state, balance weight has been hung up properly, and fixture block 16 has been assembled with card slot 142, by this reality
The counterbalance weight of engineering machinery automatic loading and unloading method for applying example realizes that the automatic of balance weight unloads process.The present embodiment is only illustrated below
With the difference of first embodiment, the present embodiment does not refer to that place can refer to first embodiment.
In the present embodiment, before above-mentioned steps S101, can by display screen prompt confirm crane suspension hook without hang carry
The crane arm of material object, crane plays width to certain angle.And it is possible to balance weight function is unloaded by display screen selection automatically, into
Enter and unloads process automatically.
In the present embodiment, in above-mentioned steps S101, first calibration angle position be counterweight tray 14 fixture block 16 with
Rigging position when card slot 142 coordinates, i.e. position B.
In the present embodiment, in above-mentioned steps S102, the fixture block 16 of Vertical Cylinders is protected with the card slot 142 of counterweight tray 14
Hold cooperation.
In the present embodiment, in above-mentioned steps S103, the second calibration angle position during unloading automatically is calibration in advance
Counterweight tray 14 correspond to default initial position of the fixture block 16 when not coordinating with the card slot of counterweight tray 14 142, ascend the throne
Set A.
In the present embodiment, in above-mentioned steps S104, second in place signal can by left-right balance heavy oil cylinder close to switch
The oil pressure sensor for being reduced to top or balance weight triggers when being more than the second restriction pressure.
At this point, completing to unload balance weight, can be prompted to complete information by display screen.
3rd embodiment
Referring to Fig. 8, a kind of counterbalance weight of engineering machinery automatic loading and unloading method is present embodiments provided, in first embodiment
Further include the steps that angle calibration on the basis of second embodiment, for demarcating the first calibration angle and the second calibration angle,
To determine the first calibration angle position and the second calibration angle position.
In the present embodiment, the step of angle calibration before above-mentioned steps S101 comprising following steps：
Step S201 sets the calibration zero curve of swing mechanism 15.
In the present embodiment, to the quantitative displacement angle of revolution scale 0 of swing mechanism 15,360 ° of the correspondence that turns around is confirmed back.Its
In, the dotted line demarcated in zero curve such as attached drawing indicates.
Step S202, the positioning convex ring 131 that balance weight to be hung, which is lifted, to be made to be arranged symmetrically on vehicle frame 13 to vehicle frame 13 are embedded in
In the standing block hole 141 of 14 bottom of counterweight tray.
Step S203, is manually operated left handle, and control swing mechanism 15 turns round so that 14 card slot 142 of counterweight tray revolves
Into place and the 16 section periphery of cricoid fixture block of Vertical Cylinders in the projection of counterweight tray 14, to which calibration obtains the first mark
Determine angle.
In the present embodiment, the first calibration angle is the angle residing for the A of position.
Step S204, manual operation Vertical Cylinders stretch action, and Vertical Cylinders reach bottom signal triggering balance weight close to switch
Action stops.
Step S205 is manually operated left handle, controls the card slot 142 of the 16 precession counterweight tray 14 of fixture block of Vertical Cylinders
Inside it is fully connected, to which calibration obtains the second calibration angle.
In the present embodiment, the second calibration angle is the angle residing for the B of position.
Left handle, control Vertical Cylinders contracting action, until being reduced to position is manually operated in step S206.
In the present embodiment, Vertical Cylinders are reduced to top or balance weight or so adherence pressure close to switch and (are arrived more than limit value
Position builds the pressure) signal triggering balance weight action stopping.
Fourth embodiment
Referring to Fig. 9, present embodiments providing a kind of counterbalance weight of engineering machinery automatic handling device 100, the engineering machinery
Balance weight automatic handling device 100 includes the first revolution control module 110, the revolution of the first Vertical Cylinders control module 120, second
Control module 130 and the second Vertical Cylinders control module 140.
First revolution control module 110, the operational motion of the control handle for responding engineering machinery 10, controls engineering machine
The swing mechanism 15 of tool 10 turns round, and the counterweight tray 14 of engineering machinery 10 is driven to return back to the first calibration angle position.Its
In, the first calibration angle position indicates the fixture block 16 of the Vertical Cylinders of engineering machinery 10 in the projection and revolution of counterweight tray 14
Angle between the line of the centre of gyration of mechanism 15 and preset calibration zero curve is the position of the first calibration angle, balances great trust
Disk 14 is used to carry the balance weight of engineering machinery 10.
In embodiments of the present invention, step S101 can be executed by the first revolution control module 110.
First revolution control module 110 is additionally operable to the operational motion of the control handle of response engineering machinery 10, control revolution
Mechanism 15 is turned round with the first rotational speed, and is driven counterweight tray 14 to return back to and closed on position close to the first calibration angle position
It sets and controls swing mechanism 15 to turn round with the second rotational speed, and counterweight tray 14 is driven to return back to first by adjacent locations
Demarcate angle position, wherein the second rotational speed is less than the first rotational speed.
In embodiments of the present invention, sub-step S1011 and sub-step S1012 can be held by the first revolution control module 110
Row.
First Vertical Cylinders control module 120 extend out to the first predeterminated position for controlling Vertical Cylinders.
In embodiments of the present invention, step S102 can be executed by the first Vertical Cylinders control module 120.
Referring to Fig. 10, in the present embodiment, the first Vertical Cylinders control module 120 may include the first receiving module 121
With the first control module 122 in place.
First receiving module 121, for receiving the first of Vertical Cylinders the signal in place, wherein first in place signal hanging down
Straight oil cylinder triggers when extending out to the first predeterminated position.
In embodiments of the present invention, sub-step S1021 can be executed by the first receiving module 121.
First control module 122 in place, for stopping extending action according to the first Vertical Cylinders of signal control in place.
In embodiments of the present invention, sub-step S1022 can by first in place control module 122 execute.
Please continue to refer to Fig. 9, the second revolution control module 130 is turned round, and drive balance weight for controlling swing mechanism 15
Pallet 14 returns back to the second calibration angle position by the first calibration angle position, wherein the second calibration angle position indicates engineering
The fixture block 16 of the Vertical Cylinders of machinery 10 is in the line of the projection of counterweight tray 14 and the centre of gyration of swing mechanism 15 and in advance
If calibration zero curve between angle be the second calibration angle position
In embodiments of the present invention, step S103 can be executed by the second revolution control module 130.
Further, the second revolution control module 130 is additionally operable to control swing mechanism 15 with the revolution of third rotational speed, and
Counterweight tray 14 is driven to return back to the second calibration angle position by the first calibration angle position.
Second Vertical Cylinders control module 140 is retracted to the second predeterminated position for controlling Vertical Cylinders.
In embodiments of the present invention, step S104 can be executed by the second Vertical Cylinders control module 140.
Please refer to Fig.1 1, in the present embodiment, the second Vertical Cylinders control module 140 may include the second receiving module 141
With the second control module 142 in place.
Second receiving module 141, for receiving the second of Vertical Cylinders the signal in place, wherein second in place signal hanging down
Straight oil cylinder triggers when being retracted to the second predeterminated position.
In embodiments of the present invention, sub-step S1041 can be executed by the second receiving module 141.
Second control module 142 in place, for stopping retract action according to the second Vertical Cylinders of signal control in place.
In embodiments of the present invention, step S1042 can by second in place control module 142 execute.
In conclusion 10 utilizing works machinery 10 of the counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery
Swing mechanism 15, Vertical Cylinders and the calibration location information demarcated in advance, realize the fixture block 16 and balance weight of Vertical Cylinders
The automatic connection or releasing cooperation of pallet 14, and realize automatic lifting and the decline of balance weight.Manpower is reduced in this way, realizing
More efficient with the auxiliary of handheld device, operating process is convenient.Further, it is possible to using display screen display hang unload balance weight information,
Identification revolution left handle direction, setting automatic rotary speed class and program automatic assembling balance weight process.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of counterbalance weight of engineering machinery automatic loading and unloading method, which is characterized in that including：
The operational motion for responding the control handle of engineering machinery, controls the swing mechanism revolution of the engineering machinery, and drives institute
The counterweight tray for stating engineering machinery returns back to the first calibration angle position, wherein first calibration angle position indicates institute
The fixture block of the Vertical Cylinders of engineering machinery is stated in the company of the projection of the counterweight tray and the centre of gyration of the swing mechanism
Angle between line and preset calibration zero curve is the position of the first calibration angle, and the counterweight tray is for carrying the work
The balance weight of journey machinery；
It controls the Vertical Cylinders and extend out to the first predeterminated position；
The swing mechanism revolution is controlled, and drives the counterweight tray to demarcate angle position by described first and returns back to second
Demarcate angle position, wherein second calibration angle position indicates the fixture block of the Vertical Cylinders of the engineering machinery in described
Angle between the line of the centre of gyration of the projection of counterweight tray and the swing mechanism and preset calibration zero curve is the
The position of two calibration angles；
It controls the Vertical Cylinders and is retracted to the second predeterminated position.
2. counterbalance weight of engineering machinery automatic loading and unloading method according to claim 1, which is characterized in that the response engineering machine
The operational motion of the control handle of tool, controls the swing mechanism revolution of the engineering machinery, and drives the flat of the engineering machinery
Weight pallet returns back to the step of the first calibration angle position and includes：
The operational motion for responding the control handle of engineering machinery, is controlled the swing mechanism and is turned round with the first rotational speed, and band
It moves the counterweight tray and returns back to the adjacent locations for demarcating angle position close to described first；
It controls the swing mechanism to turn round with the second rotational speed, and the counterweight tray is driven to be turned round by the adjacent locations
Angle position is demarcated to described first, wherein second rotational speed is less than first rotational speed.
3. counterbalance weight of engineering machinery automatic loading and unloading method according to claim 1, which is characterized in that the control is described to hang down
The step of straight oil cylinder extend out to the first predeterminated position include：
Receive the first of the Vertical Cylinders the signal in place, wherein described first in place signal extend out in the Vertical Cylinders
It is triggered when first predeterminated position；
Stop extending action according to the described first Vertical Cylinders of signal control in place.
4. counterbalance weight of engineering machinery automatic loading and unloading method according to claim 1, which is characterized in that returned described in the control
Rotation mechanism turns round, and drives the counterweight tray to demarcate angle position by described first and return back to the second calibration angle position
Step includes：
It controls the swing mechanism to turn round with third rotational speed, and the counterweight tray is driven to demarcate angle by described first
Position returns back to second calibration angle position.
5. counterbalance weight of engineering machinery automatic loading and unloading method according to claim 1, which is characterized in that the control is described to hang down
The step of straight oil cylinder is retracted to the second predeterminated position include：
Receive the second of the Vertical Cylinders the signal in place, wherein described second in place signal be retracted in the Vertical Cylinders
It is triggered when second predeterminated position；
Stop retract action according to the described second Vertical Cylinders of signal control in place.
6. a kind of counterbalance weight of engineering machinery automatic handling device, which is characterized in that including：
First revolution control module, the operational motion of the control handle for responding engineering machinery, controls the engineering machinery
Swing mechanism turns round, and the counterweight tray of the engineering machinery is driven to return back to the first calibration angle position, wherein described the
One calibration angle position indicates the fixture block of the Vertical Cylinders of the engineering machinery in the projection of the counterweight tray and described time
Angle between the line of the centre of gyration of rotation mechanism and preset calibration zero curve is the position of the first calibration angle, the balance
Weight pallet is used to carry the balance weight of the engineering machinery；
First Vertical Cylinders control module extend out to the first predeterminated position for controlling the Vertical Cylinders；
Second revolution control module for controlling the swing mechanism revolution, and drives the counterweight tray by described first
Calibration angle position returns back to the second calibration angle position, wherein second calibration angle position indicates the engineering machinery
Vertical Cylinders fixture block in the counterweight tray projection and the swing mechanism the centre of gyration line with it is preset
Angle between calibration zero curve is the position of the second calibration angle；
Second Vertical Cylinders control module is retracted to the second predeterminated position for controlling the Vertical Cylinders.
7. counterbalance weight of engineering machinery automatic handling device according to claim 6, which is characterized in that the first revolution control
Molding block is additionally operable to the operational motion of the control handle of response engineering machinery, controls the swing mechanism and is returned with the first rotational speed
Turn, and drives the counterweight tray to return back to and returned described in the adjacent locations for demarcating angle position close to described first and control
Rotation mechanism is turned round with the second rotational speed, and the counterweight tray is driven to return back to first calibration by the adjacent locations
Angle position, wherein second rotational speed is less than first rotational speed.
8. counterbalance weight of engineering machinery automatic handling device according to claim 6, which is characterized in that the described first vertical oil
Cylinder control module includes：
First receiving module, for receiving the first of the Vertical Cylinders the signal in place, wherein described first in place signal in institute
It states when Vertical Cylinders extend out to first predeterminated position and triggers；
First control module in place, for according to described first in place signal control the Vertical Cylinders and stop extending action；
The second Vertical Cylinders control module includes：
Second receiving module, for receiving the second of the Vertical Cylinders the signal in place, wherein described second in place signal in institute
It states when Vertical Cylinders are retracted to second predeterminated position and triggers；
Second control module in place, for according to described second in place signal control the Vertical Cylinders and stop retract action.
9. counterbalance weight of engineering machinery automatic handling device according to claim 1, which is characterized in that the second revolution control
Molding block is additionally operable to control the swing mechanism with the revolution of third rotational speed, and drives the counterweight tray by described first
Calibration angle position returns back to second calibration angle position.
10. a kind of engineering machinery, which is characterized in that including：
Memory；
Processor；And
Such as claim 6-9 any one of them counterbalance weight of engineering machinery automatic handling devices, the counterbalance weight of engineering machinery is certainly
Dynamic handler is installed in the memory and includes one or more software function modules executed by the processor.
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| CN201810181805.9A CN108358063A (en) | 2018-03-06 | 2018-03-06 | Counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery |
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| CN201810181805.9A CN108358063A (en) | 2018-03-06 | 2018-03-06 | Counterbalance weight of engineering machinery automatic loading and unloading method, apparatus and engineering machinery |
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| CN109231034A (en) * | 2018-11-26 | 2019-01-18 | 中联重科股份有限公司 | Counterweight lifts in place, playback of removing stage makeup and costume control device and crane automatically |
| CN110713125A (en) * | 2019-10-17 | 2020-01-21 | 三一汽车起重机械有限公司 | Counterweight assembling method and device and engineering machinery |
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Application publication date: 20180803 |