CN109319663A - Control method, equipment and crane for crane - Google Patents
Control method, equipment and crane for crane Download PDFInfo
- Publication number
- CN109319663A CN109319663A CN201811485598.2A CN201811485598A CN109319663A CN 109319663 A CN109319663 A CN 109319663A CN 201811485598 A CN201811485598 A CN 201811485598A CN 109319663 A CN109319663 A CN 109319663A
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- CN
- China
- Prior art keywords
- crane
- fritter
- adjusting
- execution
- control equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B66C13/22—Control systems or devices for electric drives
-
- 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
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
Abstract
The embodiment of the present invention provides a kind of control method, equipment and crane for crane, belongs to engineering machinery field.The equipment includes: touching display screen, the corresponding aperture amount with one or more execution movement selected for receiving operator；And processor, for according to acting with one or more of execution, corresponding aperture amount to be adjusted and one or more of execution act corresponding electric proportional valve.Corresponding electric proportional valve is adjusted by the aperture amount selected according to operator, can realize the accurate control to the execution to be carried out movement automatically, avoids the fatigue operation that operator generates because needs manually control.
Description
Technical field
The present invention relates to engineering machinery fields, more particularly to a kind of control method, equipment and lifting for crane
Machine.
Background technique
In the related technology, crane passes through the operation that hydraulic control handle walking crane respectively acts, including luffing, flexible, volume
It raises and falls, turns round, or proportioning valve is controlled by electric control handle and executes the manipulation that above-mentioned crane respectively acts.
There are following technical problems for aforesaid operations process: operator, which generally requires to use both hands and feet, even keeps a movement not
It is dynamic, it is easy to produce fatigue, and often more difficult accurately control relatively slight fine movement.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of control method, equipment and crane for crane is provided, for solving
Certainly or at least partly solve above-mentioned technical problem.
To achieve the goals above, the embodiment of the present invention provides a kind of control equipment for crane, and the control is set
Standby includes: touching display screen, the corresponding aperture amount with one or more execution movement selected for receiving operator；With
And processor, for according to one or more of execution act corresponding aperture amount adjust with it is one or more of
Execution acts corresponding electric proportional valve.
Optionally, the touching display screen is used for simulating handle aperture regulation module corresponding with whole execution movement
It is shown, wherein the adjustment module that can not be combined the execution movement of adjusting is arranged to interlocking state.
Optionally, each simulating handle aperture regulation module includes by the first predetermined number of predetermined adjustment range equal part
The first of amount adjusts fritter, and the touching display screen is also used to when described first adjusts fritter and be selected, for first tune
Section fritter, which is shown, adjusts fritter for the second of the second predetermined quantity of the corresponding adjustable range equal part of the first adjusting fritter.
Optionally, whole execution movement include it is following one or more: left revolution operation, right-hand rotation operate, boom
Stretch operation, boom contracting operates, luffing plays operation, luffing falls operation, master file raises operation, master winch falls operation, secondary hoisting crane behaviour
Make and secondary elevator falls operation.
Correspondingly, the embodiment of the present invention also provides a kind of crane, the crane includes above-mentioned for crane
Control equipment.
Correspondingly, the embodiment of the present invention also provides a kind of control method for crane, which comprises receive behaviour
What author selected acts corresponding aperture amount with one or more execution；And it is moved according to one or more of execute
Make corresponding aperture amount and adjusts the corresponding electric proportional valve with one or more of execution movement.
Optionally, the method also includes: to simulating handle aperture regulation module corresponding with whole execution movement into
Row display, wherein the adjustment module that can not be combined the execution movement of adjusting is arranged to interlocking state.
Optionally, each adjustment module includes adjusting the first of the first predetermined quantity of predetermined adjustment range equal part
Fritter, the method also includes: described first adjust fritter it is chosen when, for the first adjusting fritter show by this first
Adjust the second predetermined quantity of the corresponding adjustable range equal part of fritter second adjusts fritter.
Optionally, whole execution movement include it is following one or more: left revolution operation, right-hand rotation operate, boom
Stretch operation, boom contracting operates, luffing plays operation, luffing falls operation, master file raises operation, master winch falls operation, secondary hoisting crane behaviour
Make and secondary elevator falls operation.
Correspondingly, the embodiment of the present invention also provides a kind of machine readable storage medium, on the machine readable storage medium
It is stored with instruction, which is used for so that machine is able to carry out the above-mentioned control method for crane.
Through the above technical solutions, operator can quantitative choosing to be carried out on touching display screen execution movement pair
The aperture amount answered, processor can adjust corresponding electric proportional valve according to the aperture amount, to realized automatically to being carried out
The accurate control of execution movement avoids the fatigue operation that operator generates because needs manually control.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is shown according to the present invention first is that the structural block diagram of the control equipment for crane of embodiment；
Fig. 2 (a) to Fig. 2 (e) shows the simulating handle aperture regulation module diagram for each execution movement；
Fig. 3, which is shown, executes the schematic diagram fine-tuned to simulating handle aperture regulation module；
Fig. 4 shows the schematic illustration of the control equipment according to an embodiment of the invention for crane；
Fig. 5 shows the schematic illustration of the control equipment according to an embodiment of the invention for crane；And
Fig. 6 is shown according to the present invention first is that the flow diagram of the control method for crane of embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
In embodiments of the present invention, term " first " and " second " are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
Fig. 1 is shown according to the present invention first is that the structural block diagram of the control equipment for crane of embodiment.Such as Fig. 1 institute
To show, the embodiment of the present invention provides a kind of control equipment for crane, and the crane can be any type of crane,
Such as it can be autocrane, wheel-mounted crane, railroad track crane, crawler crane, derrick crane, gate seat lifting
Machine etc..The equipment may include touching display screen 110 and processor 120, wherein touching display screen 110 can be used for receiving behaviour
What author selected acts corresponding aperture amount with one or more execution, processor 120 can be used for according to it is one
Or multiple execution act corresponding aperture amount and adjust the corresponding electric proportional valve with one or more of execution movement.
Corresponding simulating handle aperture regulation module can be acted to whole execution on touching display screen 110 to show
Show, so that operator can carry out the adjusting of aperture amount by simulating handle aperture regulation module.The whole executes movement
Such as may include it is following one or more: operation is stretched in left revolution operation, right-hand rotation operation, boom, boom contracting operation, luffing rise
Operation, luffing falls operation, master file raises operation, master winch falls operation, secondary hoisting crane operation and secondary elevator fall operation.
Fig. 2 (a) to Fig. 2 (e) shows the simulating handle aperture regulation module diagram for each execution movement.Such as Fig. 2
(a) to Fig. 2 (e), each simulating handle aperture regulation module includes by the of the first predetermined quantity of predetermined adjustment range equal part
One adjusts fritter, such as the predetermined adjustment range for example can be 1 to 100%, and first predetermined quantity for example can be
10, then each first adjusting fritter can represent 10% regulated quantity, each first adjusting for adjusting fritter from left to right in figure
Size is incremented by successively, incremental change 10%.The preset range can be set according to actual needs as any appropriate value, described
First predetermined quantity, which also can be set according to actual needs, to be corresponded to for any appropriate value for example, can be set to 4,5,20 etc.
, each first adjusting fritter can represent 25%, 20%, 5% etc. regulated quantity.Optionally, fritter is adjusted a certain first
After chosen, the first adjusting fritter in front of it that sorts can be selected automatically, such as the 5th first adjusting fritter is selected
Fixed, then preceding 4 first adjustings fritter can also be automatically selected.Operator for example can by double-click touch screen show first
Fritter is adjusted to select corresponding first and adjust fritter.
In addition, can not be combined the adjustment module of the execution movement of adjusting can be arranged to interlocking state, every group is not
The execution movement that can be combined adjusting can be two or more.For example, left revolution operation and right-hand rotation operation cannot
It is enough combined adjusting, and the two cannot be adjusted simultaneously, therefore left revolution can be operated with right-hand rotation operation setting is interlocking shape
State, that is to say, that when adjusting the simulating handle aperture regulation module of one on touching display screen, the simulating handle of another one is opened
Degree adjustment module cannot be conditioned, that is, the another one of interlocking state cannot have regulated quantity when one has regulated quantity.
The simulating handle aperture regulation module diagram of left revolution operation and right-hand rotation operation is shown in Fig. 2 (a), is such as schemed
Shown in 2 (a), the simulating handle aperture that the left revolution operation of adjusting can be touched by touching display screen is 50% or touches adjusting
The simulating handle aperture of right-hand rotation operation is 50%, and the touch of left revolution operation and right-hand rotation operation is adjusted to interlocking state, i.e.,
It can only carry out the adjusting in one of direction.The simulating handle aperture that boom stretches operation and boom contracting operation is shown in Fig. 2 (b)
Adjustment module schematic diagram, as shown in Fig. 2 (b), the simulating handle that operation can be stretched by touching display screen touch adjusting boom is opened
Degree is 30% for the simulating handle aperture of 70% or touch adjusting boom contracting operation, and boom stretches the touching that operation and boom contracting operate
It touches and is adjusted to interlocking state, i.e., can only carry out the adjusting in one of direction.Luffing is shown in Fig. 2 (c) plays operation and luffing
The simulating handle aperture regulation module diagram for falling operation can be touched by touching display screen as shown in Fig. 2 (c) and adjust change
Width plays the simulating handle aperture of operation and is 60% or touches luffing to fall the simulating handle aperture of operation be 40%, and luffing plays operation
The touch for falling operation with luffing is adjusted to interlocking state, i.e., can only carry out the adjusting in one of direction.It is shown in Fig. 2 (d)
Master file raises operation and master winch falls the simulating handle aperture regulation module diagram of operation, can be touched by touching display screen
It adjusts master file and raises the simulating handle aperture of operation and be 80% or touch master winch to fall the simulating handle aperture of operation be 20%,
Master file raises operation and master winch falls the touch of operation and is adjusted to interlocking state, i.e., can only carry out the adjusting in one of direction.
Secondary hoisting crane operation is shown in Fig. 2 (e) and secondary elevator falls the simulating handle aperture regulation module diagram of operation, can be passed through
Touching display screen touches the simulating handle aperture of the secondary hoisting crane operation of adjusting and is 90% or touches the simulation that pair elevator falls operation
Handle aperture is 10%, and the touch that secondary hoisting crane operation falls operation with secondary elevator is adjusted to interlocking state, i.e., can only carry out wherein
The adjusting in one direction.Above-mentioned 50% listed, 70%, 30%, 60%, 40%, 80%, 20%, 90% and 10% are only used for
Example, rather than the limitation embodiment of the present invention.
Further, simulating handle aperture module can also be fine-tuned.Touching display screen can be also used for
When first adjustment module is selected, the corresponding adjustable range equal part of the first adjusting fritter is shown for first adjustment module
The second of second predetermined quantity adjusts fritter.For example, second predetermined quantity for example can be 10, if each first is adjusted
Fritter can represent 10% regulated quantity, a certain first adjust fritter it is chosen when, selected first adjust fritter for this,
10 second adjusting fritters can be further displayed, each second adjusting fritter can represent 1% regulated quantity.It is left to carry out
For revolution operation, Fig. 3, which is shown, executes the schematic diagram fine-tuned to simulating handle aperture regulation module.As shown in figure 3, such as
The first adjusting fritter that the left revolution of fruit operates 0 to 10% in corresponding simulating handle aperture regulation module is chosen, then is directed to
The first adjusting fritter, shows 10 second adjusting fritters, and operator can be completed by selected second adjusting fritter to a left side
Fine-tuning for the simulating handle aperture of operation is turned round, the left revolution aperture amount that operator selectes in Fig. 3 is 5%.
For carrying out left revolution operation or right-hand rotation operation, Fig. 4 shows according to an embodiment of the invention be used for
The schematic illustration of the control equipment of heavy-duty machine.As shown in figure 4, operator can be in control equipment provided in an embodiment of the present invention
The simulating handle aperture regulation module for adjusting left revolution is touched on touching display screen, or touches the simulating handle for adjusting right-hand rotation
Aperture regulation module.Processor can be handled simulating handle opening amount signal as corresponding pwm signal, to control the electric ratio of left revolution
The aperture of example valve or right-hand rotation electric proportional valve is to realize left revolution operation or right-hand rotation operation.
Further, user can be opened by the simulating handle that touching display screen acts the execution that can be combined adjusting
Degree adjustment module be adjusted, wherein can be combined execution movement include it is following one or more: master winch is operated+is hung
Arm scaling operation；Master winch operation+pair elevator operation；Luffing operation+hoisting arm expansion operation；Luffing operation+pair elevator operation；It returns
Turn operation+luffing operation；Turn round operation+master winch operation；Luffing operation+master winch operation；Turn round operation+pair elevator operation；
Turn round operation+scaling operation.
Fig. 5 shows the schematic illustration of the control equipment according to an embodiment of the invention for crane.Such as Fig. 5 institute
Show, the touching display screen for controlling equipment receives the adjusting for the simulating handle aperture that operator acts execution, and processor can incite somebody to action
The analog signal processing of the received simulating handle aperture regulation of touching display screen be corresponding pwm signal, with control hoisting arm expansion,
Luffing, master winch, secondary elevator and/or the electric proportional valve of revolution movement.
Further, the control equipment provided in an embodiment of the present invention for crane also has powerful intelligence compatible
Ability, compatibility can be achieved to the intelligent functions being listed below: fault alarm information stores and display；Whole vehicle state data letter
The storage and display of breath；The interaction and processing of Vehicle Body Bus data；The storage of maintenance information and display；Electronic description is deposited
Storage and display；Storage and display of remote monitoring platform instruction, etc..
Correspondingly, the embodiment of the present invention also provides a kind of crane, which may include any real according to the present invention
Apply the control equipment that crane is used for described in example.The crane can be any type of crane, such as can be vapour
Vehicle crane, wheel-mounted crane, railroad track crane, crawler crane, derrick crane, gantry crane etc..In addition, can
To understand, control equipment provided in an embodiment of the present invention is not restricted to also can be applied to other needs for crane
In the equipment for carrying out motion action.
Fig. 6 is shown according to the present invention first is that the flow diagram of the control method for crane of embodiment.Such as Fig. 6
Shown, the embodiment of the present invention also provides a kind of control method for crane, the method may include: step S610 connects
What the author that brings drill to an end selected acts corresponding aperture amount with one or more execution；And step S620, according to described one
A or multiple execution act corresponding aperture amount and adjust the corresponding electric ratio with one or more of execution movement
Valve.Corresponding electric proportional valve is adjusted by the aperture amount selected according to operator, can be realized automatically dynamic to the execution to be carried out
The accurate control made avoids the fatigue operation that operator generates because needs manually control.
The concrete operating principle and benefit of control method provided in an embodiment of the present invention for crane can refer to above-mentioned
The concrete operating principle and benefit of control equipment provided in an embodiment of the present invention for crane, will not be described in great detail here.
Correspondingly, the embodiment of the present invention also provides a kind of machine readable storage medium, deposited on the machine readable storage medium
Instruction is contained, which is used for so that machine is able to carry out the control for being used for crane described in any embodiment according to the present invention
Method.
Control method, equipment and crane provided in an embodiment of the present invention for crane has the advantage that (1) is grasped
Make simpler convenience, avoids operator that a movement is kept to generate fatigue for a long time, it is more humanized；(2) to small fine
Movement the more accurate stabilization of control；(3) intelligent compatibility is powerful；(4) practical, there is biggish popularization model
It encloses.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of control equipment for crane, which is characterized in that the control equipment includes:
Touching display screen, the corresponding aperture amount with one or more execution movement selected for receiving operator；And
Processor, for according to one or more of execution act corresponding aperture amount adjust with it is one or more
A execution acts corresponding electric proportional valve.
2. control equipment according to claim 1, which is characterized in that the touching display screen is used for dynamic with all execution
Make corresponding simulating handle aperture regulation module to be shown, wherein the adjusting of the execution movement of adjusting can not be combined
Module is arranged to interlocking state.
3. control equipment according to claim 2, which is characterized in that each simulating handle aperture regulation module includes
Fritter is adjusted by the first of the first predetermined quantity of predetermined adjustment range equal part, the touching display screen is also used to described first
Adjust fritter it is chosen when, show for the first adjusting fritter by the of the corresponding adjustable range equal part of the first adjusting fritter
The second of two predetermined quantities adjusts fritter.
4. control equipment according to claim 2, which is characterized in that the whole execution movement includes following one or more
Person: left revolution operation, right-hand rotation operation, boom stretches operation, boom contracting operates, luffing plays operation, luffing falls operation, master file raises
Operation, master winch fall operation, secondary hoisting crane operation and secondary elevator and fall operation.
5. a kind of crane, which is characterized in that the crane includes according to any one of claim 1 to 4 is used for
The control equipment of crane.
6. a kind of control method for crane, which is characterized in that the described method includes:
Receive the corresponding aperture amount with one or more execution movement that operator selectes；And
Movement is executed with one or more of according to corresponding aperture amount adjusting is acted with one or more of execution
Corresponding electric proportional valve.
7. according to the method described in claim 6, it is characterized in that, the method also includes: it is opposite to being acted with whole execution
The simulating handle aperture regulation module answered is shown, wherein the adjustment module quilt of the execution movement of adjusting can not be combined
It is set as interlocking state.
8. according to the method described in claim 6, it is characterized in that, each adjustment module includes by predetermined adjustment range etc.
The first of the first predetermined quantity divided adjusts fritter, the method also includes:
When described first adjusts fritter and be selected, show for the first adjusting fritter by the corresponding tune of the first adjusting fritter
The second of second predetermined quantity of adjusting range equal part adjusts fritter.
9. according to the method described in claim 6, it is characterized in that, it is described whole execution movement include it is following one or more:
Left revolution operation, right-hand rotation operation, boom stretches operation, boom contracting operates, luffing plays operation, luffing falls operation, master file raises behaviour
Make, master winch falls operation, secondary hoisting crane operation and secondary elevator fall operation.
10. a kind of machine readable storage medium, which is characterized in that be stored with instruction on the machine readable storage medium, this refers to
It enables for so that machine is able to carry out the control method according to any one of claims 6 to 9 for crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485598.2A CN109319663B (en) | 2018-12-06 | 2018-12-06 | Control method and device for crane and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811485598.2A CN109319663B (en) | 2018-12-06 | 2018-12-06 | Control method and device for crane and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109319663A true CN109319663A (en) | 2019-02-12 |
| CN109319663B CN109319663B (en) | 2020-09-15 |
Family
ID=65256610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811485598.2A Active CN109319663B (en) | 2018-12-06 | 2018-12-06 | Control method and device for crane and crane |
Country Status (1)
| Country | Link |
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| CN (1) | CN109319663B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0585697A (en) * | 1991-07-22 | 1993-04-06 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic operation method for crane |
| JPH0811585A (en) * | 1994-06-29 | 1996-01-16 | Tadano Ltd | Apparatus for operating hydraulic control part of mobile working machine |
| CN2644398Y (en) * | 2003-03-13 | 2004-09-29 | 长沙中联重工科技发展股份有限公司 | Electro-hydraulic ratio control system for crane |
| CN102491172A (en) * | 2011-11-18 | 2012-06-13 | 中联重科股份有限公司 | Device, method and system for controlling actions of operating mechanism and engineering mechanical equipment with system |
| WO2012117574A1 (en) * | 2011-02-28 | 2012-09-07 | 三菱重工業株式会社 | Remote operation apparatus, and operation apparatus |
| CN103062164A (en) * | 2013-01-09 | 2013-04-24 | 中联重科股份有限公司 | Overload protection debugging control method, overload protection debugging control device, overload protection debugging control system and engineering machine |
-
2018
- 2018-12-06 CN CN201811485598.2A patent/CN109319663B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0585697A (en) * | 1991-07-22 | 1993-04-06 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic operation method for crane |
| JPH0811585A (en) * | 1994-06-29 | 1996-01-16 | Tadano Ltd | Apparatus for operating hydraulic control part of mobile working machine |
| CN2644398Y (en) * | 2003-03-13 | 2004-09-29 | 长沙中联重工科技发展股份有限公司 | Electro-hydraulic ratio control system for crane |
| WO2012117574A1 (en) * | 2011-02-28 | 2012-09-07 | 三菱重工業株式会社 | Remote operation apparatus, and operation apparatus |
| CN102491172A (en) * | 2011-11-18 | 2012-06-13 | 中联重科股份有限公司 | Device, method and system for controlling actions of operating mechanism and engineering mechanical equipment with system |
| CN103062164A (en) * | 2013-01-09 | 2013-04-24 | 中联重科股份有限公司 | Overload protection debugging control method, overload protection debugging control device, overload protection debugging control system and engineering machine |
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| Publication number | Publication date |
|---|---|
| CN109319663B (en) | 2020-09-15 |
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