CN109319663B - Control method and device for crane and crane - Google Patents
Control method and device for crane and crane Download PDFInfo
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- CN109319663B CN109319663B CN201811485598.2A CN201811485598A CN109319663B CN 109319663 B CN109319663 B CN 109319663B CN 201811485598 A CN201811485598 A CN 201811485598A CN 109319663 B CN109319663 B CN 109319663B
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- crane
- opening degree
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the invention provides a control method and equipment for a crane and the crane, and belongs to the field of engineering machinery. The apparatus comprises: the touch display screen is used for receiving the opening amount which is selected by an operator and corresponds to one or more execution actions respectively; and a processor for adjusting the electro proportional valves corresponding to the one or more execution actions according to the opening amounts corresponding to the one or more execution actions, respectively. The corresponding electro proportional valve is adjusted according to the opening amount selected by the operator, so that accurate control over the execution action to be performed can be automatically realized, and fatigue operation of the operator due to manual control is avoided.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control method and equipment for a crane and the crane.
Background
In the related art, the crane performs operations of various actions of the crane, including amplitude variation, stretching, hoisting, lifting, rotation and the like, through a hydraulic control handle, or performs control of various actions of the crane through an electric control handle to control a proportional valve.
The above operation process has the following technical problems: operators often require both hands and feet and even keep one motion motionless, are prone to fatigue, and often have difficulty accurately controlling relatively subtle movements.
Disclosure of Invention
It is an object of embodiments of the present invention to provide a control method, a device and a crane for a crane, which solve or at least partially solve the above technical problems.
In order to achieve the above object, an embodiment of the present invention provides a control apparatus for a crane, including: the touch display screen is used for receiving the opening amount which is selected by an operator and corresponds to one or more execution actions respectively; and a processor for adjusting the electro proportional valves corresponding to the one or more execution actions according to the opening amounts corresponding to the one or more execution actions, respectively.
Optionally, the touch display screen is configured to display the simulated handle opening degree adjustment modules corresponding to all execution actions, where the adjustment modules of the execution actions that cannot be combined and adjusted are set to an interlocking state.
Optionally, each simulated handle opening degree adjusting module includes a first predetermined number of first adjusting small blocks for equally dividing a predetermined adjusting range, and the touch display screen is further configured to display a second predetermined number of second adjusting small blocks for equally dividing the adjusting range corresponding to the first adjusting small blocks for the first adjusting small blocks when the first adjusting small blocks are selected.
Optionally, the all performing actions include one or more of: left swing operation, right swing operation, boom extension operation, boom retraction operation, luffing drop operation, main hoisting drop operation, secondary hoisting operation, and secondary hoisting drop operation.
Correspondingly, the embodiment of the invention also provides a crane, and the crane comprises the control equipment for the crane.
Correspondingly, the embodiment of the invention also provides a control method for the crane, which comprises the following steps: receiving opening amounts selected by an operator and respectively corresponding to one or more execution actions; and adjusting electro proportional valves respectively corresponding to the one or more execution actions according to the opening amount respectively corresponding to the one or more execution actions.
Optionally, the method further includes: and displaying the simulated handle opening degree adjusting modules corresponding to all the execution actions, wherein the adjusting modules of the execution actions which can not be subjected to combined adjustment are set to be in an interlocking state.
Optionally, each of the adjustment modules includes a first predetermined number of first adjustment tiles that equally divide a predetermined adjustment range, and the method further includes: and when the first adjusting small block is selected, displaying a second preset number of second adjusting small blocks which equally divide the adjusting range corresponding to the first adjusting small block aiming at the first adjusting small block.
Optionally, the all performing actions include one or more of: left swing operation, right swing operation, boom extension operation, boom retraction operation, luffing drop operation, main hoisting drop operation, secondary hoisting operation, and secondary hoisting drop operation.
Accordingly, the embodiment of the present invention also provides a machine-readable storage medium, which stores instructions for enabling a machine to execute the control method for a crane.
Through the technical scheme, the operator can quantitatively select the opening degree corresponding to the execution action to be performed on the touch display screen, and the processor can adjust the corresponding electro proportional valve according to the opening degree, so that the accurate control of the execution action to be performed is automatically realized, and the fatigue operation caused by the manual control of the operator is avoided.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 shows a block diagram of a control apparatus for a crane according to one embodiment of the present invention;
2(a) to 2(e) show schematic diagrams of the simulated handle opening adjustment module for each actuation;
FIG. 3 shows a schematic diagram of a fine adjustment performed on a simulated handle opening adjustment module;
FIG. 4 shows a schematic diagram of a control device for a crane according to an embodiment of the invention;
FIG. 5 shows a schematic diagram of a control device for a crane according to an embodiment of the invention; and
fig. 6 shows a flow chart of a control method for a crane according to one embodiment of the invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In embodiments of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Fig. 1 shows a block diagram of a control apparatus for a crane according to one embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a control apparatus for a crane, which may be any type of crane, such as an automobile crane, a tire crane, a railway track crane, a crawler crane, a tower crane, a gantry crane, and the like. The device may include a touch screen display 110 and a processor 120, wherein the touch screen display 110 may be configured to receive an opening amount selected by an operator corresponding to each of one or more performed actions, and the processor 120 may be configured to adjust an electro-proportional valve corresponding to each of the one or more performed actions according to the opening amount corresponding to each of the one or more performed actions.
The simulated handle opening degree adjusting modules corresponding to all the executed actions can be displayed on the touch display screen 110, so that the operator can adjust the opening degree through the simulated handle opening degree adjusting modules. The overall execution action may include, for example, one or more of: left swing operation, right swing operation, boom extension operation, boom retraction operation, luffing drop operation, main hoisting drop operation, secondary hoisting operation, and secondary hoisting drop operation.
Fig. 2(a) to 2(e) show schematic views of the simulated handle opening degree adjustment module for each execution motion. As shown in fig. 2(a) to 2(e), each analog handle opening degree adjusting module includes a first predetermined number of first adjusting small blocks equally dividing a predetermined adjusting range, for example, the predetermined adjusting range may be, for example, 1 to 100%, the first predetermined number may be, for example, 10, each first adjusting small block may represent an adjusting amount of 10%, and the adjusting size of each first adjusting small block from left to right in the drawing is sequentially increased by 10%. The predetermined range may be set to any suitable value according to actual needs, and the first predetermined number may also be set to any suitable value according to actual needs, for example, may be set to 4, 5, 20, etc., and correspondingly, each first adjustment small block may represent an adjustment amount of 25%, 20%, 5%, etc. Optionally, after a certain first adjustment tile is selected, the first adjustment tile ranked in front of it may be automatically selected, for example, the 5 th first adjustment tile is selected, and then the first 4 first adjustment tiles may also be automatically selected. The operator may select the corresponding first adjustment tile, for example, by double-clicking on the first adjustment tile displayed by the touch screen.
In addition, the adjustment modules of the performance actions that are not capable of combination adjustment may be set to an interlocked state, and each set of the performance actions that are not capable of combination adjustment may be two or more. For example, the left swing operation and the right swing operation cannot be combined and adjusted, and both cannot be adjusted at the same time, so the left swing operation and the right swing operation may be set to an interlocked state, that is, when the analog grip opening degree adjustment module of one is adjusted on the touch display screen, the analog grip opening degree adjustment module of the other cannot be adjusted, that is, when one has an adjustment amount, the other in the interlocked state cannot have the adjustment amount.
Fig. 2(a) shows a schematic diagram of the simulated handle opening degree adjusting module for left and right swing operations, and as shown in fig. 2(a), the simulated handle opening degree for left swing operation can be adjusted to be 50% by touch on the touch display screen or the simulated handle opening degree for right swing operation can be adjusted to be 50% by touch, and the touch adjustments for left and right swing operations are in an interlocking state, that is, only one direction can be adjusted. Fig. 2(b) shows a schematic diagram of a simulated handle opening degree adjusting module for the boom extension operation and the boom retraction operation, and as shown in fig. 2(b), the simulated handle opening degree of the boom extension operation and the simulated handle opening degree of the boom retraction operation can be adjusted by touching the touch display screen to be 70% or 30%, and the touch adjustment of the boom extension operation and the boom retraction operation is an interlocking state, that is, the adjustment can be performed only in one direction. Fig. 2(c) shows a schematic diagram of the module for adjusting the opening degree of the simulated handle for the amplitude-varying lifting operation and the amplitude-varying lowering operation, and as shown in fig. 2(c), the opening degree of the simulated handle for the amplitude-varying lifting operation is adjusted to be 60% or the opening degree of the simulated handle for the touch amplitude-varying lowering operation is adjusted to be 40% through touch of the touch display screen, and the touch adjustment for the amplitude-varying lifting operation and the amplitude-varying lowering operation is in an interlocking state, that is, only one direction can be adjusted. Fig. 2(d) shows a schematic diagram of the module for adjusting the simulated handle opening for the main hoisting operation and the main hoisting operation, the simulated handle opening for the main hoisting operation can be adjusted to 80% or 20% by touching the touch display screen, and the touch adjustment for the main hoisting operation and the main hoisting operation is in an interlocking state, that is, the adjustment in one direction can only be performed. Fig. 2(e) shows a schematic diagram of the module for adjusting the opening degree of the analog handle for the secondary winding and raising operation and the secondary winding and lowering operation, the opening degree of the analog handle for the secondary winding and raising operation is adjusted to be 90% or 10% through touch of the touch display screen, and the touch adjustment for the secondary winding and raising operation and the secondary winding and lowering operation is in an interlocking state, that is, adjustment in only one direction can be performed. The above listed 50%, 70%, 30%, 60%, 40%, 80%, 20%, 90% and 10% are only for illustration and are not intended to limit the embodiments of the present invention.
Furthermore, the opening degree module of the simulation handle can be finely adjusted. The touch display screen can also be used for displaying a second preset number of second adjusting small blocks, which are equally divided into the adjusting range corresponding to the first adjusting small block, aiming at the first adjusting module when the first adjusting module is selected. For example, the second predetermined number may be 10, for example, if each first adjustment tile may represent a 10% adjustment amount, when a certain first adjustment tile is selected, 10 second adjustment tiles may be further displayed for the selected first adjustment tile, and each second adjustment tile may represent a 1% adjustment amount. Taking the left-hand swing operation as an example, fig. 3 shows a schematic diagram of performing fine adjustment on the simulated handle opening degree adjustment module. As shown in fig. 3, if 0 to 10% of the first adjustment small blocks in the analog handle opening degree adjustment module corresponding to the left swing operation are selected, 10 second adjustment small blocks are displayed for the first adjustment small blocks, and the operator can complete fine adjustment of the analog handle opening degree of the left swing operation by selecting the second adjustment small blocks, and the left swing opening degree selected by the operator in fig. 3 is 5%.
Taking a left-hand swing operation or a right-hand swing operation as an example, fig. 4 shows a schematic view of a control device for a crane according to an embodiment of the present invention. As shown in fig. 4, an operator may touch the simulated handle opening degree adjusting module for adjusting left rotation or touch the simulated handle opening degree adjusting module for adjusting right rotation on the touch display screen of the control device provided in the embodiment of the present invention. The processor can process the opening degree signal of the simulation handle into a corresponding PWM signal so as to control the opening degree of the left-turning electro-proportional valve or the right-turning electro-proportional valve to realize the left-turning operation or the right-turning operation.
Further, the user can adjust the simulated handle opening degree adjusting module of the execution action capable of being combined and adjusted through the touch display screen, wherein the execution action capable of being combined and adjusted includes one or more of the following: performing main winch operation and boom stretching operation; main hoisting operation and auxiliary hoisting operation; amplitude variation operation and suspension arm stretching operation; amplitude variation operation + auxiliary hoisting operation; rotating operation and amplitude variation operation; rotating operation + main hoisting operation; amplitude variation operation + main hoisting operation; rotating operation + auxiliary hoisting operation; slewing operation + telescoping operation.
Fig. 5 shows a schematic view of a control device for a crane according to an embodiment of the invention. As shown in fig. 5, the touch display screen of the control device receives the adjustment of the opening degree of the simulated handle for executing the motion by the operator, and the processor may process the analog signal of the adjustment of the opening degree of the simulated handle received by the touch display screen into a corresponding PWM signal to control the electro proportional valve of the boom extension, amplitude variation, main hoisting, auxiliary hoisting and/or rotation motion.
Further, the control device for the crane provided by the embodiment of the invention also has strong intelligent compatibility capability, and can realize compatibility for the intelligent functions listed as follows: storing and displaying fault alarm information; storing and displaying the vehicle state data information; interaction and processing of vehicle body bus data; storing and displaying maintenance information; storing and displaying the electronic specification; storage and display of remote monitoring platform instructions, and the like.
Correspondingly, the embodiment of the invention also provides a crane, and the crane can comprise the control device for the crane according to any embodiment of the invention. The crane may be any type of crane, for example, an automobile crane, a tire crane, a railroad track crane, a crawler crane, a tower crane, a gantry crane, etc. In addition, it is understood that the control device provided by the embodiment of the invention is not limited to be used for the crane, and the control device can also be applied to other devices needing action operation.
Fig. 6 shows a flow chart of a control method for a crane according to one embodiment of the invention. As shown in fig. 6, an embodiment of the present invention further provides a control method for a crane, which may include: step S610, receiving opening quantities selected by an operator and respectively corresponding to one or more execution actions; and a step S620 of adjusting the electro proportional valves corresponding to the one or more execution actions according to the opening amount corresponding to the one or more execution actions respectively. The corresponding electro proportional valve is adjusted according to the opening amount selected by the operator, so that accurate control over the execution action to be performed can be automatically realized, and fatigue operation of the operator due to manual control is avoided.
The specific working principle and benefits of the control method for the crane provided by the embodiment of the invention can refer to the specific working principle and benefits of the control device for the crane provided by the embodiment of the invention, and are not described again here.
Accordingly, the embodiment of the present invention further provides a machine-readable storage medium, which stores instructions for enabling a machine to execute the control method for a crane according to any embodiment of the present invention.
The control method and the equipment for the crane and the crane provided by the embodiment of the invention have the following advantages: (1) the operation is simpler and more convenient, the fatigue of an operator caused by keeping one action for a long time is avoided, and the operation is more humanized; (2) the control on the tiny and fine actions is more accurate and stable; (3) the intelligent compatibility is strong; (4) the practicability is strong, and the popularization range is wide.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (8)
1. A control device for a crane, characterized in that the control device comprises:
the touch display screen is used for receiving the opening amount which is selected by an operator and corresponds to one or more execution actions respectively; and
a processor for adjusting electro proportional valves corresponding to the one or more execution actions, respectively, according to opening amounts corresponding to the one or more execution actions, respectively,
the touch display screen is used for displaying the simulation handle opening degree adjusting modules corresponding to all execution actions, each simulation handle opening degree adjusting module comprises a first preset number of first adjusting small blocks which equally divide a preset adjusting range, the touch display screen is further used for displaying a second preset number of second adjusting small blocks which equally divide the adjusting range corresponding to the first adjusting small blocks aiming at the first adjusting small blocks when the first adjusting small blocks are selected, and the operator selects the opening degree through the simulation handle opening degree adjusting modules.
2. The control apparatus according to claim 1, wherein the adjustment module that is unable to perform the combined adjustment performing action is set to an interlocked state.
3. The control device of claim 1, wherein the overall performance action includes one or more of: left swing operation, right swing operation, boom extension operation, boom retraction operation, luffing drop operation, main hoisting drop operation, secondary hoisting operation, and secondary hoisting drop operation.
4. A crane, characterized in that the crane comprises a control device for a crane according to any one of claims 1-3.
5. A control method for a crane, the method comprising:
receiving opening amounts respectively corresponding to one or more execution actions selected by an operator on a touch display screen; and
adjusting electro proportional valves respectively corresponding to the one or more execution actions according to the opening amount respectively corresponding to the one or more execution actions,
the touch display screen is used for displaying the simulation handle opening degree adjusting modules corresponding to all execution actions, each simulation handle opening degree adjusting module comprises a first preset number of first adjusting small blocks which equally divide a preset adjusting range, the touch display screen is further used for displaying a second preset number of second adjusting small blocks which equally divide the adjusting range corresponding to the first adjusting small blocks aiming at the first adjusting small blocks when the first adjusting small blocks are selected, and the operator selects the opening degree through the simulation handle opening degree adjusting modules.
6. The method of claim 5, wherein the action-performing conditioning modules that are not capable of combined conditioning are set to an interlocked state.
7. The method of claim 5, wherein the overall execution action includes one or more of: left swing operation, right swing operation, boom extension operation, boom retraction operation, luffing drop operation, main hoisting drop operation, secondary hoisting operation, and secondary hoisting drop operation.
8. A machine-readable storage medium having stored thereon instructions for enabling a machine to execute the control method for a crane according to any one of claims 5 to 7.
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 |
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| Publication Number | Publication Date |
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| CN109319663A CN109319663A (en) | 2019-02-12 |
| CN109319663B true CN109319663B (en) | 2020-09-15 |
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| CN201811485598.2A Active CN109319663B (en) | 2018-12-06 | 2018-12-06 | Control method and device for crane and crane |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2851456B2 (en) * | 1991-07-22 | 1999-01-27 | 石川島播磨重工業株式会社 | Automatic operation of crane operation |
| 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 |
| JP2012180158A (en) * | 2011-02-28 | 2012-09-20 | Mitsubishi Heavy Ind Ltd | Remote operation device and operation device |
| CN102491172B (en) * | 2011-11-18 | 2013-07-24 | 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 |
| CN103062164B (en) * | 2013-01-09 | 2015-05-13 | 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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