CN110422761A - A kind of front handling mobile crane container derailing automatic control system and method - Google Patents
A kind of front handling mobile crane container derailing automatic control system and method Download PDFInfo
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- CN110422761A CN110422761A CN201910704422.XA CN201910704422A CN110422761A CN 110422761 A CN110422761 A CN 110422761A CN 201910704422 A CN201910704422 A CN 201910704422A CN 110422761 A CN110422761 A CN 110422761A
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- suspender
- container
- large arm
- sensor
- derailing
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Classifications
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
-
- 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
Abstract
After the present invention provides a kind of front handling mobile crane container derailing autocontrol method, including the enabled switch of closure derailing, detects and whether locked between suspender and container；When suspender is separated with container, the lifting height H1 of suspender is detected；When continuing lifting altitude H2 at a slow speed, base weight magnitude is set；Suspender continues lifting altitude H3, records the weighing value of each weighing sensor at any time in the process, and it is compared with base weight magnitude respectively；When being greater than base weight magnitude if any any one weighing value, then the movement of large arm raising is closed immediately and is overhauled；Otherwise suspender is restored to normal lifting velocity, until container is detached from flat car.So the present invention acquires the weighing value of weighing sensor by vehicle control device, and it is compared with base weight magnitude, determine whether container is detached from the flat car of the F-TR lock with hawk header structure below, automatically according to comparison result to ensure container and flat car safe escape.
Description
Technical field
The present invention relates to a kind of front handling mobile cranes, and in particular to a kind of front handling mobile crane container derailing automatic control system and side
Method.
Background technique
Front handling mobile crane is the abbreviation of container front side crane, and front handling mobile crane is a kind of crane for loading and unloading container, is belonged to
In one kind of lifting equipment, it may also be said to be a kind of mobile handling machinery.Front handling mobile crane is that large arm is pushed up by lift oil tank, and large arm is again
Suspender is driven to promote container, to realize the handling and stacking of container.With being continuously increased for Railway Container Transport amount,
Locking device between container and Special flat truck is by original straight stand lock, boss lock, manually rotation lock till now complete
Automatic rotation lock and the F-TR with unique hawk header structure lock, and especially railway container F-TR lock has structure simple, prolonged resistance to
With, locking property and smoothness it is moderate the advantages that, it has also become main force's lock of railway container Special flat truck at present.F-TR lock peace
It mounted in the top end face for the flat car advanced along track, is adapted with the notch of container bottom end, after docking, as shown in Figure 1, peace
In the notch 4-1 of hawk cephalic par insertion 4 bottom end of container of F-TR lock 5 on flat car 6 and container 4 is hooked, is prevented
Its kind of overturning and upper jump.Railway container F-TR locks unique hawk header structure design, ensure that the safety of container in transit,
It solves the safety difficulties for preventing empty van from falling, but has caused F-TR lock unhook difficulty during container car unloading operation,
Easily lead to the safety problems such as flat car derailing.Therefore, to reduce container car unloading operation safety accident probability, collection is preferably played
Vanning transport advantage solves the problems, such as that flat car derailing during car unloading operation of railway container F-TR lock is particularly important.
Summary of the invention
The present invention for the security risk present on, provide a kind of front handling mobile crane container derailing automatic control system and
Method, vehicle control device is according to weight change of hung container during lifting to determine whether de- with railway platform truck
From, and then judge automatically and whether can lift by crane safely.
Technical scheme is as follows:
A kind of front handling mobile crane container derailing autocontrol method, comprising the following steps:
A, it after the enabled switch of closure derailing, detects and whether is locked between suspender and container；
B, when not locking between suspender and container, the large arm normal speed of front handling mobile crane is acted；
C, when having locked between suspender and container, make large arm raising at a slow speed；
D, when suspender is separated with container, the lifting height H1 of suspender is detected；
E, large arm drives suspender to continue raising at a slow speed, and when continuing lifting altitude H2, record is installed at this time at each suspender tapered end
Weighing sensor weighing value, and take maximum value Mmax therein, it is Mmax+m that base weight magnitude is arranged according to this；
F, suspender continues lifting altitude H3, records the weighing value of each weighing sensor at any time in the process, and distinguished
It is compared with the base weight magnitude in step E；
If G, wherein have any one weighing value to be greater than base weight magnitude, the movement of large arm raising, staff are closed immediately
It is overhauled；
If H, be respectively less than or be equal to base weight magnitude, suspender is restored to normal lifting velocity, puts down until container is detached from
Wooden handcart.
Whether further scheme, being locked in step A between suspender and packaging is sensed by the locking being mounted on suspender
Device is come what is detected, and when locking between suspender and container, lock sensor is sent to vehicle control device for signal is locked.
Further scheme in step C, installs ratio electricity in the oil inlet end of the lift oil tank of control large arm lifting action
Magnet valve, the power end of the proportion magnetic valve and the output end of vehicle control device connect, and vehicle control device receives locking sensing
After device signal, output low current becomes smaller to control the opening of proportion magnetic valve, to control the oil inlet quantity into lift oil tank, makes
Large arm raising at a slow speed.
Further scheme is the positional relationship detected between suspender and container by case sensor in step D,
When suspender is separated with container, case sensor output signal disappear, detect the lifting height H1 of suspender.
Further scheme, lifting height H1 detection method is in step D: the first length angle sensor by being mounted in large arm
Device detect respectively large arm at a slow speed raising when and case sensor output signal disappear when large arm length and its between horizontal line
Then angle calculates separately out L1, L2 according to trigonometric function SinA*L, then the lifting height H1=L2-L1 of suspender at this time；Wherein
A angle between large arm and horizontal line, L be large arm length, L1 be large arm at a slow speed raising when suspender where right-angle side length, L2
The length of right-angle side where suspender when disappearing for case sensor output signal.
Further scheme, m is the half that container allows unbalance loading weight value in base weight magnitude in step E.
Further scheme, the unbalance loading weight value is to calculate container center of gravity using center of gravity calculation formula, to obtain collection
The barycentre offset and unbalance loading weight of vanning.
Further scheme declines large arm, returns after such as dropping to bottom before staff overhauls it in step G
Step C makes large arm raising at a slow speed；If do not dropped to bottom, then recycled back to step F.
H1, H2, H3 indicate the displacement that suspender rises every time in the present invention, and wherein H1 is to rise at a slow speed to be raised to after suspender is locked
Case blackout when displacement, i.e. container starts the difference in height for being lifted generation；It is also to open the enabled switch of derailing
To record the starting point of suspender tapered end height when enabling derailing function；H2 is that container is sling completely but when without departing from flat car
Lifting height, H3 is lifting height when container completely disengages flat car.That is H1 is measured value, and measurement can suspender accordingly
Reachable H2, H3 numerical value limited of practical lifting height；H2, H3 are usually the length for the hawk cephalic par locked according to F-TR to be arranged
, refer to that F-TR locks the height value taken off from the notch of container bottom end.As being arranged under normal circumstances are as follows: H1 30mm, H2
For 50mm, H3 70mm.
The same H1 of the detection method of lifting height H2, H3.
I.e. lock sensor detects when having locked between suspender and container, length angular transducer detection large arm at this time
Length and its angle between horizontal line；When waiting the output of case sensor no signal, i.e., big brachium when container starts to be lifted
Degree and its angle between horizontal line；Then according to trigonometric function SinA*L, the length of right-angle side where calculating separately out suspender twice
L1, L2 are spent, then the lifting height H1=L2-L1 of suspender at this time；When container is sling completely but when without departing from flat car, according to
Big arm lengths and its angle between horizontal line can calculate the height H2=L3-L2 that suspender rises again；Similarly, when container is complete
When total detachment flat car, member has the height H3=L4-L3 that third time rises.
Length angular transducer detect respectively large arm at a slow speed raising when and case sensor output signal disappear when large arm
Length and its angle between horizontal line, L1 is then calculated separately out according to trigonometric function SinA*L
Another goal of the invention of the invention is to provide a kind of front handling mobile crane container derailing control system, including vehicle control
Device, the enabled switch of derailing are connected to large arm front end suspender, and the lift oil tank that driving large arm is gone up and down, the raising
The oil inlet end of oil cylinder is serially connected with proportion magnetic valve, is equipped in the large arm for detecting big arm lengths and it is pressed from both sides between horizontal line
The length angular transducer at angle；It is separately installed with proximity sensor and weighing sensor at the suspender tapered end of the suspender, it is described
The output end of the enabled switch of length angular transducer, proximity sensor, weighing sensor, derailing is defeated with vehicle control device
Enter end connection, the output end of the vehicle control device connect with proportion magnetic valve and controls its openings of sizes.
Further scheme, the proximity sensor include passing for detecting what whether suspender tapered end and container contacted case
Sensor and the lock sensor whether locked.
Wherein case sensor, lock sensor be proximity sensor.
The enabled switch of vehicle control device, lift oil tank, derailing is carried on current existing front handling mobile crane in the present invention
Component, wherein the enabled switch of derailing is for distinguishing different vehicle operating status.Lock sensor, length angular transducer,
Weighing sensor, proportion magnetic valve are commercial products commonly used in the art.The present invention is not related to their internal structure and work
The improvement for making principle, object of the present invention is to apply them in the application come the technical issues of solving the application.
Then the present invention utilizes center of gravity calculation public affairs using the hoist amount of four suspender tapered ends on weighing sensor detection suspender
Formula calculates the center of gravity of container, to obtain the barycentre offset and unbalance loading weight of container；It will using length angular transducer
Big arm lengths and its angle calcu-lation between horizontal line go out the height of suspender tapered end rising at this time, and then vehicle control device is according to suspender
The weight of four suspension centres, takes that weight value of maximum along with one when lifting altitude record container hangs flat car
The unbalance loading weight value of permission is as base weight magnitude, during suspender plays container continuation raising, at four tapered ends
The weight value of weighing sensor is compared with the base weight magnitude, the weighing value of the weighing sensor at any one tapered end
Greater than base weight magnitude, then show container without departing from flat car.Suspender lifts by crane container together with flat car one in order to prevent
It causes danger from rail, vehicle control device closes proportion magnetic valve, then automatically cuts off the raising movement of suspender, and in display
The upper weight maximum for showing which tapered end is i.e. without departing from flat car, so that rapidly and accurately inspection is handled driver；At this time may be used
Suspender decline is operated, then container position is adjusted by movements such as operation suspender sidesway, rotations, then repeats again above
Raising process.
If tapered end weighing sensor weight value is respectively less than or is equal to base weight magnitude in whole process, suspender can be always
Raising is detached from flat car until container, then presses normal speed raising, and whole process suspender will not stop.
So the present invention had both reduced the probability of flat car derailment accident, moreover it is possible to the number provided according to four weighing sensors
According to the barycentre offset and unbalance loading weight for accurately calculating container.
So the present invention demarcates base by the weighing sensor that vehicle control device acquisition is installed on front sling tapered end
Quasi- weight value；Then during suspender raising, vehicle control device compares container actual weight value and base weight magnitude
Compared with, determine whether container is detached from the flat car of the F-TR lock with hawk header structure below automatically according to comparison result,
To ensure container and flat car safe escape.The present invention had not only realized container derailing automatic control function, but also realized
The function of accurate weighing Container Weight and unbalance loading weight.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of F-TR lock,
Fig. 2 is the device of the invention schematic diagram,
Fig. 3 is control principle drawing of the invention.
In Fig. 1: 1- suspender, 2- proximity sensor, 3- weighing sensor, 4- container, 4-1 notch, 5-F-TR lock, 6- are flat
Wooden handcart, 7- length angular transducer, 8- large arm, 9- solenoid valve, 10- vehicle control device, the enabled switch of 11- derailing, 12- raising
Oil cylinder.
Specific embodiment
Embodiment 1:
As shown in figure 3, a kind of front handling mobile crane container derailing autocontrol method, comprising the following steps:
A, it after the enabled switch of closure derailing, is detected between suspender and container by the lock sensor being mounted on suspender
Whether lock；When locking between suspender and container, lock sensor is sent to vehicle control device for signal is locked；
B, when not locking between suspender and container, the large arm normal speed of front handling mobile crane is acted；
C, when having locked between suspender and container, one proportion magnetic valve, the ratio are installed in the oil inlet end of lift oil tank
The power end of solenoid valve and the output end of vehicle control device connect, after vehicle control device receives lock sensor signal, output
Low current becomes smaller to control the opening of proportion magnetic valve, to control the oil inlet quantity into lift oil tank, makes large arm raising at a slow speed；
D, the positional relationship between suspender and container is detected by case sensor, when suspender is separated with container,
The output signal of case sensor disappears, then detects the lifting height H1 of suspender；
E, large arm drives suspender to continue raising at a slow speed, and as lifting altitude H2, record is installed at this time at each suspender tapered end
The weighing value of weighing sensor, and take maximum value Mmax therein, it is Mmax+m that base weight magnitude is arranged according to this, is m for collection
Vanning allows the half of unbalance loading weight value；
F, suspender continues lifting altitude H3, records the weighing value of each weighing sensor at any time in the process, and distinguished
It is compared with the base weight magnitude in step E；
If G, wherein have any one weighing value to be greater than base weight magnitude, the movement of large arm raising, staff are closed immediately
It is overhauled；Before maintenance, first decline large arm, return step C makes large arm raising at a slow speed after such as dropping to bottom；As do not dropped to
Bottom is then recycled back to step F.
If H, be respectively less than or be equal to base weight magnitude, suspender is restored to normal lifting velocity, until container is de-
From flat car.
Further scheme, lifting height H1 detection method is in step D: the first length angle sensor by being mounted in large arm
Device detect respectively large arm at a slow speed raising when and case sensor output signal disappear when large arm length and its between horizontal line
Then angle calculates separately out L1, L2 according to trigonometric function SinA*L, then the lifting height H1=L2-L1 of suspender at this time；Wherein
A angle between large arm and horizontal line, L be large arm length, L1 be large arm at a slow speed raising when suspender where right-angle side length, L2
The length of right-angle side where suspender when disappearing for case sensor output signal.
The same H1 of the detection method of lifting height H2, H3.
Since suspender is along ramping, and large arm can stretch, so according to big arm lengths and large arm and water
The length of right-angle side where angle can calculate suspender corresponding to angle at this time between horizontal line.
Further scheme, the unbalance loading weight value is to calculate container center of gravity using center of gravity calculation formula, to obtain collection
The barycentre offset and unbalance loading weight of vanning.M is the half that container allows unbalance loading weight value, i.e., impost value m is according to rule
Surely the container maximum unbalance loading weight allowed determines, for example the maximum unbalance loading weight that allows is 6 tons, then m=6/2=3 ton.
The barycentre offset of container and the calculating of unbalance loading weight are specifically exemplified below:
Four suspension centres on suspender in the same plane surround a long side be 5850mm, the rectangle that short side is 2260mm, if
Container is uniform dielectric, then center of gravity is located at rectangular centre；If container is inhomogeneous medium, rectangular centre is set such as origin
(0,0), then the coordinate of four suspension centres can be expressed as (x1, y1), (x2, y2), (x3, y3), (x4, y4), as (- 2925,
1130), (2925,1130), (2925, -1130), (- 2925, -1130), when the weight for obtaining four suspension centres by weighing sensor
After magnitude m1, m2, m3, m4, so that it may calculate barycentric coodinates (x, y) by formula, wherein x=(x1*m1+x2*m2+x3*m3+
x4*m4)/(m1+m2+m3+m4);y=(y1*m1+y2*m2+y3*m3+y4*m4)/(m1+m2+m3+m4).Then it is sat according to origin
Mark (0,0) and barycentric coodinates (x, y) obtain the barycentre offset of container, and unbalance loading weight is calculated according to container or so weight difference
It obtains, i.e., (m1+m4) is compared with the difference of (m2+m3).To obtain the center of gravity and cargo actual shifts situation of container.
Embodiment 2:
A kind of front handling mobile crane container derailing autocontrol method, comprising the following steps:
A, it after closing the enabled switch of derailing automatic control, is detected by lock sensor and whether is locked between suspender and container
Tightly；
B, when not locking between suspender and container, the output of lock sensor no signal, then vehicle control device will not enter just
Container derailing automatic control program is hung in face, and driver can be with fast lifting large arm, in order to avoid influence normal operation；
C, when having locked between suspender and container, lock sensor outputs signal to vehicle control device, vehicle control device control
Lift oil tank work processed rises large arm slowly；Large arm at a slow speed raising when and suspender case sensor signal disappear when, length angle
Degree sensor respectively by that time big arm lengths L and its included angle A between horizontal line be transferred to vehicle control device；Vehicle control device fortune
Suspender lifting height H1=L2*sinA2-L1*sinA1 at this time is calculated according to big arm lengths L and angle A with trigonometric function
≈30mm；
D, it when detecting that suspender continues to rise 50mm, records measured by four weighing sensors at four suspender tapered ends at this time
M1(5 tons of weighing value), m2(5.5 tons), m3(6 tons), m4(5.2 tons), then take maximum value Mmax(6 tons therein), then
At Mmax(6 tons) on the basis of, increase m(2 tons of impost value), i.e. Mmax+m=8 tons is used as base weight magnitude；
Wherein container raising stops and preset maximum allowable unbalance loading weight is 4 tons, then impost value m=4/2=2 ton.
E, when suspender continue raising during, by weighing value m12, m22 of four suspender tapered end weighing sensors, m32,
M42 is compared with 8 tons of base weight magnitude automatically, and the weighing value of weighing sensor is at four suspender tapered ends during raising
Variation, if weighing value m12, m22, m32, m42 of four weighing sensors any one be greater than 8 ton hour of base weight magnitude,
Then controller closes proportion magnetic valve and automatically cuts off the movement of suspender raising, and which suspender lock display is particularly located in instrument
The weight of weighing sensor detection at head is maximum, while acousto-optic buzzing prompts in driver's cabin, to help related personnel quick
Accurate inspection processing, improves operating efficiency；Otherwise suspender continues raising, and after detection raising has 70 mm, then suspender is restored to normally
High-speed lifting speed.
Embodiment 3:
As shown in Figure 1, 2, a kind of front handling mobile crane container derailing control system, including vehicle control device 10, derailing is enabled to be opened
11 are closed, 8 front end suspender 1 of large arm, and the lift oil tank 12 that driving large arm 8 is gone up and down are connected to, the lift oil tank 12
Oil inlet end is serially connected with proportion magnetic valve 9, is equipped in the large arm 8 for detecting 8 length of large arm and its angle between horizontal line
Length angular transducer 7；Proximity sensor 2 and weighing sensor 3, institute are separately installed at the suspender tapered end of the suspender 1
State length angular transducer 7, proximity sensor 2, weighing sensor 3, derailing enable switch 11 output end with vehicle control
The input terminal of device 10 processed connects, and the output end of the vehicle control device 10 connect with proportion magnetic valve 9 and controls its openings of sizes.
Further scheme, the proximity sensor 2 include that whether suspender tapered end and container contacted be case for detecting
Sensor and the lock sensor whether locked.
The present invention big arm lengths and its angle between horizontal line will calculate suspender at this time using length angular transducer
The height that tapered end rises, then vehicle control device records four suspension centres when container hangs flat car according to suspender lifting altitude
Weight takes that weight value of maximum along with the unbalance loading weight value of a permission is as base weight magnitude, hangs in suspender
Container continue raising during, the weight value of the weighing sensor at four tapered ends and the base weight magnitude are compared
Compared with the weighing value of the weighing sensor at any one tapered end is greater than base weight magnitude, then shows container without departing from plate
Vehicle.Container is hung rail together with flat car and caused danger by suspender in order to prevent, and vehicle control device closes ratio electricity
Magnet valve, then automatically cut off the raising movement of suspender, and shows the weight maximum of which tapered end i.e. without departing from flat over the display
Wooden handcart, so that rapidly and accurately inspection is handled driver；Suspender decline can be operated at this time, then pass through operation suspender sidesway, rotation
Turn that movements is waited to adjust container position, then repeats the above raising process again.
If tapered end weighing sensor weight value is respectively less than or is equal to base weight magnitude in whole process, suspender can be always
Raising is detached from flat car until container, then presses normal speed raising, and whole process suspender will not stop.
So the present invention had both reduced the probability of flat car derailment accident, moreover it is possible to the number provided according to four weighing sensors
According to accurately calculating the barycentre offset and unbalance loading weight of container using center of gravity calculation formula, avoid container and plate
It connects between vehicle and does not align and the accidents such as run-off the straight.
Claims (10)
1. a kind of front handling mobile crane container derailing autocontrol method, it is characterised in that: the following steps are included:
A, it after the enabled switch of closure derailing, detects and whether is locked between suspender and container；
B, when not locking between suspender and container, the large arm normal speed of front handling mobile crane is acted；
C, when having locked between suspender and container, make large arm raising at a slow speed；
D, when suspender is separated with container, the lifting height H1 of suspender is detected；
E, large arm drives suspender to continue raising at a slow speed, and when continuing lifting altitude H2, record is installed at this time at each suspender tapered end
Weighing sensor weighing value, and take maximum value Mmax therein, it is Mmax+m that base weight magnitude is arranged according to this；
F, suspender continues lifting altitude H3, records the weighing value of each weighing sensor at any time in the process, and distinguished
It is compared with the base weight magnitude in step E；
If G, wherein have any one weighing value to be greater than base weight magnitude, the movement of large arm raising, staff are closed immediately
It is overhauled；
If H, be respectively less than or be equal to base weight magnitude, suspender is restored to normal lifting velocity, puts down until container is detached from
Wooden handcart.
2. control method according to claim 1, it is characterised in that: whether lock between suspender and packaging in step A is
It is detected by the lock sensor being mounted on suspender, when locking between suspender and container, lock sensor will lock
Tight signal is sent to vehicle control device.
3. control method according to claim 2, it is characterised in that: in step C, in the raising of control large arm lifting action
The oil inlet end of oil cylinder installs a proportion magnetic valve, and the power end of the proportion magnetic valve and the output end of vehicle control device connect,
After vehicle control device receives lock sensor signal, output low current becomes smaller to control the opening of proportion magnetic valve, to control
System enters the oil inlet quantity of lift oil tank, makes large arm raising at a slow speed.
4. control method according to claim 1, it is characterised in that: be to be hung by case sensor to detect in step D
Have the positional relationship between container, when suspender is separated with container, the output signal of case sensor disappear, detect
The lifting height H1 of suspender.
5. control method according to claim 1, it is characterised in that: lifting height H1 detection method is in step D: first by
The length angular transducer being mounted in large arm detect respectively large arm at a slow speed raising when and case sensor output signal disappear when
Large arm length and its angle between horizontal line, L1, L2 are then calculated separately out according to trigonometric function SinA*L, then hung at this time
The lifting height H1=L2-L1 of tool；Wherein A angle between large arm and horizontal line, L are the length of large arm, and L1 is that large arm rises at a slow speed
The length of right-angle side where suspender when rising, L2 are the length of right-angle side where suspender when case sensor output signal disappears.
6. control method according to claim 1, it is characterised in that: m is container permission in base weight magnitude in step E
The half of unbalance loading weight value.
7. control method according to claim 3, it is characterised in that: the unbalance loading weight value is to utilize center of gravity calculation formula
Container center of gravity is calculated, to obtain the barycentre offset and unbalance loading weight of container.
8. control method according to claim 1, it is characterised in that: before staff overhauls it in step G,
Decline large arm, return step C makes large arm raising at a slow speed after such as dropping to bottom；If do not dropped to bottom, then recycled back to step F.
9. a kind of front handling mobile crane container derailing control system, including vehicle control device (10), the enabled switch (11) of derailing, even
It connects in large arm (8) front end suspender (1), and the lift oil tank (12) that driving large arm (8) is gone up and down, it is characterised in that: described
The oil inlet end of lift oil tank (12) is serially connected with proportion magnetic valve (9), is equipped on the large arm (8) long for detecting large arm (8)
The length angular transducer (7) of degree and its angle between horizontal line；It is separately installed at the suspender tapered end of the suspender (1) close
Sensor (2) and weighing sensor (3), the length angular transducer (7), weighing sensor (3), are prevented proximity sensor (2)
The output end of the enabled switch (11) of derailing is connect with the input terminal of vehicle control device (10), the vehicle control device (10) it is defeated
Outlet connect with proportion magnetic valve (9) and controls its openings of sizes.
10. derailing control system according to claim 7, it is characterised in that: the proximity sensor (2) includes being used for
What whether detection suspender tapered end and container contacted case sensor and the lock sensor whether locked.
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| CN201910704422.XA CN110422761B (en) | 2019-07-31 | 2019-07-31 | Automatic control system and method for preventing derailment of reach stacker container |
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| CN110980532A (en) * | 2019-12-17 | 2020-04-10 | 徐州重型机械有限公司 | Method and device for centering control of lifting appliance |
| CN111792529A (en) * | 2020-07-13 | 2020-10-20 | 安徽省雄峰起重机械有限公司 | Crane load-lifting capacity monitoring system |
| CN113682986A (en) * | 2021-09-07 | 2021-11-23 | 国网江苏省电力有限公司常州供电分公司 | Working method of intelligent machine for deep foundation pit operation |
| CN113697669A (en) * | 2021-08-25 | 2021-11-26 | 三一海洋重工有限公司 | Control method, controller and system for FTR (fiber to the Home) lock protection and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113697669A (en) * | 2021-08-25 | 2021-11-26 | 三一海洋重工有限公司 | Control method, controller and system for FTR (fiber to the Home) lock protection and crane |
| CN113682986A (en) * | 2021-09-07 | 2021-11-23 | 国网江苏省电力有限公司常州供电分公司 | Working method of intelligent machine for deep foundation pit operation |
| CN113682986B (en) * | 2021-09-07 | 2024-03-19 | 国网江苏省电力有限公司常州供电分公司 | Working method of intelligent deep foundation pit operation machine |
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