CN110642147A - Lorry-mounted crane, automatic unfolding and folding control device and method - Google Patents
Lorry-mounted crane, automatic unfolding and folding control device and method Download PDFInfo
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- CN110642147A CN110642147A CN201910949043.7A CN201910949043A CN110642147A CN 110642147 A CN110642147 A CN 110642147A CN 201910949043 A CN201910949043 A CN 201910949043A CN 110642147 A CN110642147 A CN 110642147A
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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Abstract
The invention relates to the technical field of automatic control of cranes and discloses an automatic unfolding and folding control device of a lorry-mounted crane, which is based on a PLC chip and comprises: the control command end is used for receiving an unfolding or folding control command; the suspension arm telescopic control end is used for outputting a telescopic instruction for controlling the telescopic of the suspension arm; the suspension arm amplitude control end is used for outputting an amplitude instruction for controlling the amplitude of the suspension arm; the lifting control end of the lifting hook is used for outputting a lifting instruction for controlling the lifting of the lifting hook; the rotary table rotation control end is used for outputting a rotation instruction for controlling the rotation of the rotary table; and the telescopic instruction, the amplitude-changing instruction, the lifting instruction and the rotation instruction are automatically sent out in response to the control command according to a preset program. Meanwhile, the corresponding unfolding method and folding method are disclosed. Therefore, the lorry-mounted crane can be safely and reliably automatically unfolded or folded, manual operation can be avoided, and misoperation can be reduced.
Description
Technical Field
The invention relates to the technical field of automatic control of cranes, in particular to an automatic unfolding and folding control device of a lorry-mounted crane, an automatic unfolding control method of the lorry-mounted crane, an automatic folding control method of the lorry-mounted crane and the lorry-mounted crane.
Background
The conventional straight-arm lorry-mounted crane usually controls the lifting of a lifting hook, the stretching of a suspension arm, the amplitude rising and falling of the suspension arm, the rotation of a rotary table and other actions of hoisting mechanisms manually through a remote controller or a hydraulic operating handle. For a lorry-mounted crane arranged like the crane in fig. 3, when the lifting hook needs to be unfolded or folded, the action space of the lifting hook in front of a cab is extremely limited, and if the crane is not operated, the lifting hook is easy to collide with other mechanisms or a container on a chassis, so that the safety accident of the crane is caused. There is therefore a great operational safety risk by manually operating a crane of this type.
The existing control mode of the lorry-mounted crane is to manually control the actions of lifting mechanisms such as a lifting hook, an arm support, a rotary table and the like, and the operation completely depends on the observation and working experience of an operator; the manual mode of operation easily makes the lifting hook bump with other mechanisms on the chassis or packing box, has great safety risk.
When the lorry-mounted crane needs to be unfolded and folded, the lifting of the lifting hook, the stretching of the lifting arm, the amplitude rising and falling of the lifting arm and the control of the rotary action handle are controlled to control the action of the corresponding lifting mechanism. And under the state that the crane is furled, the installation space of the lifting hook is very narrow and small, and when the hoisting mechanism is manually operated, the lifting hook is easy to collide with other mechanisms or containers on the chassis, so that the safety accident of the crane is caused.
Disclosure of Invention
The invention aims to provide an automatic unfolding and folding control device and an automatic unfolding and folding control method for a lorry-mounted crane, which are used for realizing automatic unfolding and folding of the lorry-mounted crane so as to at least solve the risk problem of manual operation in the prior art.
In order to achieve the above object, the present invention provides an automatic folding and unfolding control device for a lorry-mounted crane, the control device is based on a PLC chip, and the control device includes:
the control command end is used for receiving an unfolding or folding control command;
the suspension arm telescopic control end is used for outputting a telescopic instruction for controlling the telescopic of the suspension arm;
the suspension arm amplitude control end is used for outputting an amplitude instruction for controlling the amplitude of the suspension arm;
the lifting control end of the lifting hook is used for outputting a lifting instruction for controlling the lifting of the lifting hook;
the rotary table rotation control end is used for outputting a rotation instruction for controlling the rotation of the rotary table;
the telescopic instruction, the amplitude-changing instruction, the lifting instruction and the rotation instruction are automatically sent out in response to the control command according to a preset program.
Optionally, the control command end includes an unfolding pin and a folding pin, which are respectively used for receiving the unfolding control command and the folding control command.
Optionally, the boom extension control end includes a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending an extension instruction and a retraction instruction in the extension instruction;
the suspension arm amplitude variation control end comprises a first control pin and a second control pin and is used for respectively sending an amplitude increasing instruction and an amplitude decreasing instruction in the amplitude varying instruction;
the lifting hook lifting control end comprises a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending a lifting instruction and a descending instruction in a lifting instruction; and/or
The rotary control end of the rotary table comprises a first control pin and a second control pin which are used for respectively sending a left-turn instruction and a right-turn instruction in the rotary instruction.
Optionally, the control device further includes:
the pull wire length sensor input end is used for receiving real-time hook pull wire length information and real-time suspension arm length information;
the input end of the amplitude variation angle sensor is used for receiving real-time amplitude information of the suspension arm;
and the input end of the rotary angle sensor is used for receiving the real-time turntable angle information.
Optionally, the control device further includes one or more of the following interfaces:
the acousto-optic output end is used for outputting control sound and/or light signals and indicating the current working state;
the stay wire overwinding prevention end is used for receiving stay wire overwinding information; and
and the sudden stop command end is used for receiving an action stop command, and the action stop command is used for stopping the current action.
In a second aspect of the present invention, there is also provided a lorry-mounted crane automatic deployment control method, including:
responding to a deployment instruction, and controlling the lorry-mounted crane to be deployed from an initial state to a preset state according to a preset program; the preset state comprises: presetting a turntable angle, presetting a boom length and presetting a boom amplitude.
Optionally, the preset program includes at least one of:
controlling the lifting hook to rise to the jack of the heavy hammer;
controlling the amplitude of the suspension arm to reach a preset amplitude;
controlling the rotary table to rotate to a preset rotary table angle;
controlling the lifting hook to descend for a preset time;
and controlling the boom to stretch to a preset boom length.
Optionally, the control method further includes: in the process that the lorry-mounted crane is unfolded from the initial state to the preset state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be unfolded to a preset state based on the detected real-time lifting hook stay wire length, the real-time lifting arm amplitude, the real-time rotary table angle and the real-time lifting arm length.
Optionally, controlling the amplitude of the boom to reach a preset amplitude of the boom includes:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is more than or equal to 30 degrees.
Optionally, controlling the turntable to rotate to a preset turntable angle includes:
detecting the current angle of the rotary table, wherein the current angle takes the initial rotary table angle as a reference;
if the current angle is (0 degrees and 180 degrees), controlling the turntable to rotate right;
if the current angle is (180 degrees, 360 degrees), controlling the rotary table to rotate left;
and if the current angle is 180 degrees, stopping the rotation action.
Optionally, controlling the boom to stretch to a preset boom length includes:
and if the detected current length is equal to the preset boom length, the stretching action is stopped.
In a third aspect of the present invention, there is also provided an automatic furling control method for a lorry-mounted crane, including:
responding to a furling instruction, and controlling the lorry-mounted crane to furl from the current state to the initial state according to a preset program; the initial state includes: an initial turntable angle, an initial boom length, and an initial boom amplitude.
Optionally, the preset program includes at least one of:
controlling the boom to retract to the initial boom length;
controlling the lifting hook to rise to the jack of the heavy hammer;
controlling the amplitude of the suspension arm to be a preset angle;
controlling the rotary table to rotate to the initial rotary table angle;
and controlling the amplitude of the suspension arm to be changed from the preset angle to the initial amplitude of the suspension arm.
Optionally, the control method further includes: in the process that the lorry-mounted crane is folded from the current state to the initial state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be folded to an initial state based on the detected real-time lifting hook stay wire length, the real-time lifting arm amplitude, the real-time rotary table angle and the real-time lifting arm length.
Optionally, controlling the boom to retract to the initial boom length comprises:
and if the detected current length is equal to the initial boom length, stopping retracting.
Optionally, controlling the amplitude of the boom to a preset angle includes:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is more than or equal to 30 degrees.
Optionally, controlling the turntable to rotate to the initial turntable angle includes:
detecting a current angle of the turntable, the current angle being referenced to the initial turntable angle
If the current angle is [180 degrees, 359 degrees ], controlling the turntable to rotate right;
if the current angle is (1 degree, 180 degrees), controlling the rotary table to rotate left;
if the current angle is [359 °, 1 ° ], the swiveling motion is stopped.
Optionally, controlling the boom to vary from the preset angle to the initial boom amplitude includes:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is less than or equal to 1 degree.
In a fourth aspect of the invention, the invention further provides a lorry-mounted crane, which comprises the automatic folding and unfolding control device for the lorry-mounted crane.
Through above-mentioned technical scheme, have following beneficial effect:
1) the unfolding and folding of the crane can be automatically finished through one-key operation, so that the crane can directly reach the unfolding operation or folding running state;
2) the crane can perform one-button unfolding and folding actions in any state, and the crane can automatically seek an optimal path according to the rotation angle of the rotary table to quickly finish the unfolding and folding operations. The hoisting operation can be safely and reliably carried out automatically;
3) the labor intensity of crane operators is reduced, the unfolding and folding efficiency of the crane is improved, and the operation safety of the crane is enhanced. The automatic hoisting process can not involve manual operation, the manual operation intensity can be reduced, and manual misoperation can be reduced.
Additional features and advantages 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 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 principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of an automatic folding and unfolding control device of a lorry-mounted crane according to an embodiment of the invention;
FIG. 2 is an electrical control diagram of an automatic unfolding and folding control device of the lorry-mounted crane according to an embodiment of the invention;
FIG. 3 is a schematic drawing illustrating a furled state of the lorry-mounted crane according to the embodiment of the invention;
FIG. 4 is a schematic illustration of a deployed state of a lorry-mounted crane according to an embodiment of the invention;
FIG. 5 is a flow chart of an automatic deployment control of a lorry-mounted crane according to an embodiment of the invention;
fig. 6 is a flow chart of automatic furling control of the lorry-mounted crane according to the embodiment of the invention.
Reference numerals
1, a lifting hook; 2 an anti-overwinding switch; 3, a heavy hammer; 4, a suspension arm; 5, a cargo box; 6 length angle sensor; 7 a control device; 8 three-color lamps; 9 is a rotary angle sensor; 10, a rotary table; 11 chassis.
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 the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the use of directional words such as "upper, lower, left, right", "inside, outside" and the like generally indicates directional information in the drawings, and is not intended to limit the scope of the present invention, and may also indicate other directional information than the directional information shown in the drawings.
Fig. 1 is a schematic structural diagram of an automatic folding and unfolding control device of a lorry-mounted crane according to an embodiment of the present invention, and as shown in fig. 1, the automatic folding and unfolding control device of the lorry-mounted crane is based on a PLC chip, and the control device at least includes:
the control command end is used for receiving an unfolding or folding control command;
the suspension arm telescopic control end is used for outputting a telescopic instruction for controlling the telescopic of the suspension arm;
the suspension arm amplitude control end is used for outputting an amplitude instruction for controlling the amplitude of the suspension arm;
the lifting control end of the lifting hook is used for outputting a lifting instruction for controlling the lifting of the lifting hook;
the rotary table rotation control end is used for outputting a rotation instruction for controlling the rotation of the rotary table;
the telescopic instruction, the amplitude-changing instruction, the lifting instruction and the rotation instruction are automatically sent out in response to the control command according to a preset program.
Therefore, a user only needs to send an unfolding control command or a folding control command to the control device, the control device can automatically send a telescopic command, an amplitude command, a lifting command and a rotation command to the corresponding mechanical component according to a preset program, the unfolding action or the folding action of the lorry-mounted crane is controlled to be completed, manual operation is avoided, manual operation intensity is reduced, manual misoperation is reduced, the unfolding and folding efficiency of the crane is improved, and the operation safety of the crane is enhanced.
Specifically, the control device in the method according to the embodiment of the present invention is based on a PLC (Programmable Logic Controller) chip, and may be implemented based on a processor or a control unit, and the processor or the control unit may originally belong to a part of the crane (for example, a crane host), and may also be attached to the crane as a new device, which still belongs to the protection scope of the embodiment of the present invention. The control device at least comprises:
and the control command end is used for receiving the unfolding or folding control command. In the specific implementation, the method can be realized by adopting an input pin for receiving a signal of a control command; the automatic unfolding or folding state of the crane can be selected by the aid of two input pins, such as a three-gear self-locking switch. And the following command outputs:
the suspension arm telescopic control end is used for outputting a telescopic instruction for controlling the telescopic of the suspension arm; the suspension arm amplitude control end is used for outputting an amplitude instruction for controlling the amplitude of the suspension arm; the lifting control end of the lifting hook is used for outputting a lifting instruction for controlling the lifting of the lifting hook; the rotary table rotation control end is used for outputting a rotation instruction for controlling the rotation of the rotary table; in a specific embodiment, each control terminal may be implemented by using two output pins, and the two pins are respectively connected to the corresponding solenoid valves to control the corresponding mechanical devices to generate opposite motions. For example, the boom extension control end is implemented by two pins, which respectively control the extension and retraction of the boom. When the extension of the suspension arm needs to be executed, the control device controls the output of the extension pin to switch on the extension electromagnetic valve; when the boom needs to be retracted, the control device controls the retraction pin to output so as to switch on the retraction electromagnetic valve; and the rest control ends are analogized in the same way.
In addition, it is allowable to configure some peripheral modules or peripheral functions for the processor or the control unit, and for example, additional sensing detection functions, safety control functions, etc. should also fall within the protection scope of the present invention. In one embodiment of the present invention, the control device further includes: the pull wire length sensor input end is used for receiving real-time hook pull wire length information and real-time suspension arm length information; the input end of the amplitude variation angle sensor is used for receiving real-time amplitude information of the suspension arm; and the input end of the rotary angle sensor is used for receiving the real-time turntable angle information.
To further improve the safety in the embodiments of the present invention, the control device further comprises one or more of the following interfaces:
the acousto-optic output end is used for outputting control sound and/or light signals and indicating the current working state; in an actual scene, the acousto-optic output end is connected with a three-color lamp, the three-color lamp emits flashing light and continuous warning sound to prompt the crane to perform automatic unfolding and folding operation, so that an operator or a pedestrian is reminded of moving the crane and asking the operator to keep away from an operation area, and safety accidents are avoided. Meanwhile, the operator can know whether the current action is finished or not, and the flow completion confirmation is carried out.
The stay wire overwinding prevention end is used for receiving stay wire overwinding information; the anti-overwinding switch is an automatic protection switch of an electric appliance for limiting overwinding of a steel wire rope of a hoisting machine, is matched with a heavy hammer with proper weight, and is disconnected or connected when the heavy hammer is lifted up or put down by utilizing the vertical movement of a lifting hook, so that the power supply of a winch is automatically cut off to be connected with a braking system, the purpose of limiting overwinding of the steel wire rope is achieved, and the purpose of lifting the lifting hook within a certain height is achieved.
And the sudden stop command end is used for receiving an action stop command, and the action stop command is used for stopping the current action. The emergency stop command terminal can be connected with a manual switch for manually stopping the current action in emergency so as to avoid safety accidents.
Fig. 2 is an electrical control diagram of an automatic extending and retracting control device of a lorry-mounted crane according to an embodiment of the invention, and as shown in fig. 2, S1 is a three-gear self-locking switch for selecting an automatic extending or retracting state of the crane; s2 is a hook overwinding prevention switch pin; r1, R2 and R3 respectively correspond to the length sensor of the suspension arm, the amplitude angle sensor of the suspension arm and the rotary table rotation angle sensor; s6 is a sudden stop switch; Y1-Y8 are solenoid valves for operating the operating mechanisms of the crane. Wherein Y1-Y8 are divided into 4 groups, and two of each group respectively control the corresponding action mechanisms to execute opposite actions.
The invention also provides an automatic unfolding control method of the lorry-mounted crane, which comprises the following steps: responding to a deployment instruction, and controlling the lorry-mounted crane to be deployed from an initial state to a preset state according to a preset program; the preset state comprises: the method comprises the steps of presetting a lifting hook position, presetting a turntable angle, presetting a boom length and presetting a boom amplitude.
The existing lorry-mounted crane needs an operator to carry out manual control when being unfolded, so that the operation is complex, and the misoperation is easy. The automatic expansion control method provided by the embodiment of the invention utilizes the preset program to automatically control, reduces the possibility of misoperation and improves the use experience of the equipment.
Further, the preset program includes:
controlling the lifting hook to rise to the jack of the heavy hammer, namely to the position of triggering the anti-overwinding switch;
controlling the amplitude of the suspension arm to reach a preset amplitude; the preset angle here is preferably 30 °, i.e. from the initial 0 ° position up to 30 °;
controlling the rotary table to rotate to a preset rotary table angle; the preset turntable angle is preferably 180 degrees, namely the turntable rotates from the hook position in the initial state to the hook position in the backward direction;
controlling the lifting hook to descend for a preset time; i.e. how many seconds, preferably 10 seconds, the hook is controlled to descend. As an alternative, it is also possible to implement the positioning of the hook position by means of GPS positioning technology. As a further alternative, the hook position may be detected or collected by a positioning module provided at the hook of the crane (e.g. near the hook).
And controlling the boom to stretch to a preset boom length. Preferably 2 times the fully contracted length of the boom.
The preset program is an action flow preset according to a field operation program, and the lorry-mounted crane can safely and efficiently move from an initial state to a preset unfolding state through the action flow. The automatic unfolding operation process comprises the rotation and amplitude variation of the lorry-mounted crane and the action of a lifting hook, and it should be noted that the execution sequence of the actions is not limited, and can be any sequence execution sequence under the condition of ensuring safety, so that the state of the lorry-mounted crane is unfolded to a preset unfolding state in a three-dimensional space, and the preset unfolding operation is completed.
Further, the control method further comprises: in the process that the lorry-mounted crane is unfolded from the initial state to the preset state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be unfolded to a preset state based on the detected real-time lifting hook stay wire length, the real-time lifting arm amplitude, the real-time rotary table angle and the real-time lifting arm length.
The furling action is executed according to a preset program, but if the furling action is executed, the current state of the lorry-mounted crane can be acquired in real time and fed back to the control device, so that the intellectualization in the control process can be improved undoubtedly. Therefore, the embodiment further detects the length of the pull line of the lifting hook, the amplitude of the lifting arm, the angle of the rotary table and the length of the lifting arm in real time, and sends the lengths to the control device, and the control device controls the lorry-mounted crane to be folded to the initial state by controlling the corresponding electromagnetic valve group according to the acquired information. In a practical scenario, various sensors may be provided to acquire the above information. In some embodiments, the crane hoist control system further comprises: the winding detection device is arranged in a winding drum of the crane, rotates concentrically with the winding drum and is used for detecting the length of a real-time winding steel wire rope; the amplitude detection device is arranged on the suspension arm of the crane and is used for detecting the lifting angle of the suspension arm in real time; the rotation detection device is arranged at the rotation center of the crane and is used for detecting a real-time rotation angle; and the electromagnetic valve group is used for triggering and controlling the crane to execute the height, amplitude and rotation angle of the lifting hook to be executed by the hoisting operation execution unit based on the detected length of the real-time hoisting steel wire rope, the real-time lifting angle and the real-time rotation angle of the lifting arm.
Fig. 5 is a flow chart of an automatic deployment control of the lorry-mounted crane according to an embodiment of the present invention, as shown in fig. 5:
the lorry-mounted crane is unfolded from the unfolding state shown in fig. 3 to the unfolding state shown in fig. 4, and as shown in fig. 3, the lorry-mounted crane in fig. 3 comprises a hook 1, an anti-overwinding switch 2, a heavy hammer 3, a suspension arm 4, a cargo box 5, a length angle sensor 6, a control device 7, a tri-color lamp 8, a rotation angle sensor 9, a turntable 10 and a chassis 11. The automatic unfolding action flow is as follows: firstly, the automatic unfolding and folding switch S1 is turned to the unfolding position, the control device 7 controls the output to be connected with the Y5 electromagnetic valve after receiving a switch command signal, at the moment, the lifting hook 1 ascends to act, after the lifting hook 1 lifts up the heavy hammer 3 when ascending, the anti-overwinding switch 2 is triggered to be connected, and the control device 7 stops the lifting action of the lifting hook 1 after detecting a signal of connecting the anti-overwinding switch pin S2; the output of the control device 7 is connected with a Y3 electromagnetic valve, the suspension arm 4 performs amplitude variation starting action, and when an amplitude variation angle sensor R2 of the suspension arm 4 detects that the suspension arm angle a1 is more than or equal to 30 degrees, the amplitude variation starting action is stopped; when the rotation angle sensor 9 detects that the rotation angle is more than or equal to 0 degrees and less than 180 degrees, the output of the control device 7 is connected with the Y8 electromagnetic valve and the rotary table 10 rotates rightwards; when the rotation angle sensor 9 detects that the rotation angle is more than or equal to 180 degrees and less than or equal to 360 degrees, the control device 7 detects that the rotation angle of the rotary table is within the range of 180 +/-1 degrees, and the rotation action is stopped; the output of the control device 7 is connected with the Y6 electromagnetic valve, the lifting hook 1 descends to start to act, and the lifting hook 1 stops descending after the descending time reaches 20 seconds; when the lifting hook 1 descends for 20 seconds, the output of the control device 7 is connected with a Y1 electromagnetic valve, the suspension arm 4 starts to extend, when the length sensor R1 detects that the length of the suspension arm 4 is equal to L2, the suspension arm 4 stops extending, and the automatic unfolding process of the crane is finished.
Corresponding to the automatic unfolding control method, the embodiment of the invention also provides an automatic folding control method of the lorry-mounted crane, which comprises the following steps: responding to a furling instruction, and controlling the lorry-mounted crane to furl from the current state to the initial state according to a preset program; the initial state includes: an initial turntable angle, an initial boom length, and an initial boom amplitude. The advantages are as described above for the auto-launch control method and are not repeated here.
In one embodiment of the present invention, the preset program includes:
controlling the boom to retract to the initial boom length; the initial length of the suspension arm is generally the fully contracted length of the suspension arm;
controlling the lifting hook to rise to the jack of the heavy hammer, namely to the position of triggering the anti-overwinding switch;
controlling the amplitude of the suspension arm to be a preset angle; the preset angle is preferably 30 degrees, the function is to prevent collision with other objects due to too low height when the rotary table rotates, and the rotary table is recovered to the initial angle after rotating in place;
controlling the rotary table to rotate to the initial rotary table angle; here the initial turntable angle is typically 0 °;
and controlling the amplitude of the suspension arm to be changed from the preset angle to the initial amplitude of the suspension arm, namely finally retracting the suspension arm to be in the initial state, wherein the initial turntable is preferably not more than 1 degree.
The preset program is an action flow preset according to a field operation program, and the lorry-mounted crane can be safely and efficiently automatically folded from the current state to the initial state through the action flow. The automatic furling operation process comprises the rotation, amplitude variation and lifting hook action of the lorry-mounted crane, and it should be noted that the execution sequence of the actions is not limited, and can be any sequence under the condition of ensuring safety, so that the state of the lorry-mounted crane is furled to an initial state in a three-dimensional space, and the furling operation is completed.
In an embodiment provided by the present invention, the control method further includes: in the process that the lorry-mounted crane is folded from the current state to the initial state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be folded to an initial state based on the detected real-time lifting hook stay wire length, the real-time lifting arm amplitude, the real-time rotary table angle and the real-time lifting arm length.
The furling action is executed according to a preset program, but if the furling action is executed, the current state of the lorry-mounted crane can be acquired in real time and fed back to the control device, so that the intellectualization in the control process can be improved undoubtedly. Therefore, the embodiment further detects the length of the pull line of the lifting hook, the amplitude of the lifting arm, the angle of the rotary table and the length of the lifting arm in real time, and sends the lengths to the control device, and the control device controls the lorry-mounted crane to be folded to the initial state by controlling the corresponding electromagnetic valve group according to the acquired information. In practical scenarios, various sensors may be provided to obtain the above information, such as: detecting the real-time hook stay wire length based on a winch detection device, detecting the real-time suspension arm amplitude based on a variable amplitude detection device arranged on a suspension arm of the crane, and detecting the real-time turntable angle based on a rotation detection device arranged at the rotation center of the crane; detecting a real-time boom length based on a pull line sensor mounted on the boom; and the control unit or the processor receives and realizes the completion of automatic furling operation based on the detected information.
Fig. 6 is a flow chart of automatic furling control of the lorry-mounted crane according to an embodiment of the invention, as shown in fig. 6:
the lorry-mounted crane is folded from the unfolding state shown in the figure 4 to the state shown in the figure 3, and the automatic folding control flow is as follows: firstly, turning an automatic unfolding and folding switch S1 to a 'folding' position, switching on a Y2 electromagnetic valve by the output of a control device 7, retracting the suspension arm 4, and switching off the Y2 electromagnetic valve when the length of the suspension arm 4 is less than or equal to L1 (the fully-retracted length of the suspension arm 4), and stopping the retracting action of the suspension arm 4; the output of the control device 7 is connected with a Y5 electromagnetic valve, the lifting hook 1 ascends to act, when the lifting hook 1 ascends to jack the heavy hammer 3, the overwinding prevention switch 2 triggers the overwinding prevention switch pin S2 to be connected, and the control device 7 stops the ascending action of the lifting hook 1 after detecting an S2 connection signal; thirdly, the output of the control device 7 is connected with a Y3 electromagnetic valve, the suspension arm 4 performs amplitude variation starting action, and when the amplitude variation angle sensor R2 of the suspension arm 4 detects that the suspension arm angle a1 is more than or equal to 30 degrees, the amplitude variation starting action is stopped; fourthly, when the rotation angle sensor 9 detects that the rotation angle is more than or equal to 180 degrees and less than 359 degrees, the output of the control device 7 is switched on the Y8 electromagnetic valve, and the rotary table rotates rightwards; when the rotation angle sensor 9 detects that the rotation angle is more than 1 degree and less than 180 degrees, the output of the control device 7 is communicated with the Y7 electromagnetic valve for connection, and the rotary table rotates leftwards; when the rotation angle sensor R3 detects that the rotation angle of the rotary table is in the range of 359-1 degrees (including 360 degrees or 0 degrees), the rotation action is stopped; and fifthly, the output of the control device 7 is connected with a Y4 electromagnetic valve, the suspension arm 4 performs amplitude-variable falling action, when the amplitude-variable angle sensor R2 of the suspension arm 4 detects that the suspension arm angle a1 is less than or equal to 1 degree, the amplitude-variable falling action is stopped, and the automatic furling action process of the crane is finished.
The invention further provides a lorry-mounted crane controller which comprises the automatic folding and unfolding control device for the lorry-mounted crane.
The control system of the crane is an electric control unit with complex structure and rich functions, the intelligent degree of the crane is higher and higher, the implementation mode provided by the invention can realize one-key unfolding or one-key folding only by adding the control device in the lorry-mounted crane, the manual operation burden is obviously reduced, the misoperation is reduced, and the crane has the advantages of small hardware change and low implementation cost.
In the embodiment provided by the invention, the PLC is used for presetting a program, so that an operator can unfold or fold the lorry-mounted crane through a command. The preset state can be manually input and automatically learned. After the preset state parameters are determined, the system automatically outputs control instructions to execute actions such as rotation, amplitude variation, hoisting direction, action sequence, action speed and the like. The system also designs a plurality of safety controls including overwinding prevention, state prompt and emergency stop control, and improves the safety of the operation process. Meanwhile, real-time state feedback of various sensors is designed, state monitoring in the unfolding or folding process is increased, and the intelligence and accuracy of action execution are improved. Therefore, intelligent folding and unfolding of the lorry-mounted crane are realized, the labor intensity of operators is greatly reduced, and the safety, convenience and efficiency of operation are improved.
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 (17)
1. The utility model provides an automatic controlling means that opens and shuts of lorry crane, controlling means is based on the PLC chip, its characterized in that, controlling means includes:
the control command end is used for receiving an unfolding or folding control command;
the suspension arm telescopic control end is used for outputting a telescopic instruction for controlling the telescopic of the suspension arm;
the suspension arm amplitude control end is used for outputting an amplitude instruction for controlling the amplitude of the suspension arm;
the lifting control end of the lifting hook is used for outputting a lifting instruction for controlling the lifting of the lifting hook;
the rotary table rotation control end is used for outputting a rotation instruction for controlling the rotation of the rotary table;
and the telescopic instruction, the amplitude-changing instruction, the lifting instruction and the rotation instruction are automatically sent out in response to the control command according to a preset program.
2. The automatic unfolding and folding control device of lorry-mounted crane according to claim 1,
the suspension arm telescopic control end comprises a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending an extension instruction and a retraction instruction in the telescopic instruction;
the suspension arm amplitude variation control end comprises a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending an amplitude increasing instruction and an amplitude decreasing instruction in the amplitude varying instruction;
the lifting hook lifting control end comprises a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending a lifting instruction and a descending instruction in the lifting instruction; and/or
The rotary control end of the rotary table comprises a first control pin and a second control pin, and the first control pin and the second control pin are used for respectively sending a left-turn instruction and a right-turn instruction in the rotary instruction.
3. The automatic folding and unfolding control device for lorry-mounted cranes as claimed in claim 1, characterized in that the control device further comprises:
the pull wire length sensor input end is used for receiving real-time hook pull wire length information and real-time suspension arm length information;
the input end of the amplitude variation angle sensor is used for receiving real-time amplitude information of the suspension arm;
and the input end of the rotary angle sensor is used for receiving the real-time turntable angle information.
4. An automatic unfolding control method of a lorry-mounted crane is characterized by comprising the following steps:
responding to a deployment instruction, and controlling the lorry-mounted crane to be deployed from an initial state to a preset state according to a preset program; the preset state comprises: presetting a turntable angle, presetting a boom length and presetting a boom amplitude.
5. The lorry-mounted crane automatic deployment control method according to claim 4, characterized in that the preset program comprises at least one of:
controlling the lifting hook to rise to the jack of the heavy hammer;
controlling the amplitude of the suspension arm to reach the preset amplitude of the suspension arm;
controlling the rotary table to rotate to the preset rotary table angle;
controlling the lifting hook to descend for a preset time;
and controlling the suspension arm to stretch to the preset length.
6. The lorry-mounted crane automatic deployment control method according to claim 5, characterized in that the control method further comprises: in the process that the lorry-mounted crane is unfolded from the initial state to the preset state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be unfolded to the preset state based on the detected real-time lifting hook stay wire length, real-time lifting arm amplitude, real-time rotary table angle and real-time lifting arm length.
7. The lorry-mounted crane automatic deployment control method as claimed in claim 6, wherein the controlling of the jib luffing to the preset jib amplitude comprises:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is more than or equal to 30 degrees.
8. The lorry-mounted crane automatic deployment control method according to claim 6, wherein the controlling of the turntable to swing to the preset turntable angle comprises:
detecting the current angle of the rotary table, wherein the current angle takes the initial rotary table angle as a reference;
if the current angle is (0 degrees and 180 degrees), controlling the turntable to rotate rightwards;
if the current angle is (180 degrees, 360 degrees), controlling the rotary table to rotate left;
and if the current angle is 180 degrees, stopping the rotation action.
9. The lorry crane automatic deployment control method according to claim 6, characterized in that said control boom extending to said preset boom length comprises:
and detecting the current length, and if the current length is equal to the preset boom length, stopping the stretching action.
10. An automatic furling control method of a lorry-mounted crane is characterized by comprising the following steps:
responding to a furling instruction, and controlling the lorry-mounted crane to furl from the current state to the initial state according to a preset program; the initial state includes: an initial turntable angle, an initial boom length, and an initial boom amplitude.
11. The automatic furling control method for lorry-mounted cranes as claimed in claim 10, wherein the preset program comprises at least one of the following:
controlling the boom to retract to the initial boom length;
controlling the lifting hook to rise to the jack of the heavy hammer;
controlling the amplitude of the suspension arm to be a preset angle;
controlling the rotary table to rotate to the initial rotary table angle;
and controlling the amplitude of the suspension arm to be changed from the preset angle to the initial amplitude of the suspension arm.
12. The automatic furling control method of the lorry-mounted crane as claimed in claim 11, wherein the control method further comprises: in the process that the lorry-mounted crane is folded from the current state to the initial state:
and triggering a corresponding electromagnetic valve group to control the lorry-mounted crane to be folded to the initial state based on the detected real-time lifting hook stay wire length, real-time lifting arm amplitude, real-time rotary table angle and real-time lifting arm length.
13. The lorry crane automatic furling control method as claimed in claim 12, wherein said controlling boom retraction to said initial boom length comprises:
and detecting the current length, and if the current length is equal to the initial boom length, stopping retracting.
14. The automatic furling control method for the lorry-mounted crane as claimed in claim 12, wherein the controlling of the boom to be luffed to a preset angle comprises:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is more than or equal to 30 degrees.
15. The automatic furling control method for lorry-mounted crane according to claim 12, wherein the controlling of the rotation of the turntable to the initial turntable angle comprises:
detecting the current angle of the rotary table, wherein the current angle takes the initial rotary table angle as reference
If the current angle is [180 degrees ] and 359 degrees, controlling the rotary table to rotate right;
if the current angle is (1 degree, 180 degrees), controlling the rotary table to rotate left;
if the current angle is [359 °, 1 ° ], the swiveling action is stopped.
16. The automatic furling control method for the lorry-mounted crane as claimed in claim 12, wherein the controlling the boom to be luffed from the preset angle to the initial boom amplitude comprises:
and detecting the current amplitude of the suspension arm, and stopping amplitude variation action if the current amplitude is less than or equal to 1 degree.
17. An on-board crane, characterized by comprising an on-board crane automatic folding and unfolding control device according to any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910949043.7A CN110642147A (en) | 2019-10-08 | 2019-10-08 | Lorry-mounted crane, automatic unfolding and folding control device and method |
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| CN201910949043.7A CN110642147A (en) | 2019-10-08 | 2019-10-08 | Lorry-mounted crane, automatic unfolding and folding control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111776944A (en) * | 2020-06-19 | 2020-10-16 | 长沙瑞捷机械科技股份有限公司 | Crane control method and device |
| CN114105004A (en) * | 2021-10-19 | 2022-03-01 | 中联重科股份有限公司 | Control system for crane to get on and take up arm and automobile crane |
| CN118255266A (en) * | 2024-05-31 | 2024-06-28 | 三一帕尔菲格特种车辆装备有限公司 | Method for expanding and contracting lorry-mounted crane and lorry-mounted crane |
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| CN103663176A (en) * | 2013-12-05 | 2014-03-26 | 长沙中联消防机械有限公司 | Fixed-point unfolding control method for ascending vehicle arm support |
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| JP2012126540A (en) * | 2010-12-17 | 2012-07-05 | Kobelco Cranes Co Ltd | Crane |
| CN102923575A (en) * | 2012-10-18 | 2013-02-13 | 中国人民解放军总后勤部建筑工程研究所 | Device and method for unfolding and withdrawing folding-arm crane by one-key operation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111776944A (en) * | 2020-06-19 | 2020-10-16 | 长沙瑞捷机械科技股份有限公司 | Crane control method and device |
| CN114105004A (en) * | 2021-10-19 | 2022-03-01 | 中联重科股份有限公司 | Control system for crane to get on and take up arm and automobile crane |
| CN114105004B (en) * | 2021-10-19 | 2022-12-23 | 中联重科股份有限公司 | Control system for crane to get on and take up arm and automobile crane |
| CN118255266A (en) * | 2024-05-31 | 2024-06-28 | 三一帕尔菲格特种车辆装备有限公司 | Method for expanding and contracting lorry-mounted crane and lorry-mounted crane |
| CN118255266B (en) * | 2024-05-31 | 2024-08-13 | 三一帕尔菲格特种车辆装备有限公司 | Method for expanding and contracting lorry-mounted crane and lorry-mounted crane |
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Address after: 415106 Guanxi Town, Dingcheng District, Changde City, Hunan Province Applicant after: Zhonglian Hengtong Machinery Co.,Ltd. Address before: 410000 No.88, South Section of Dongliu Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province (Zoomlion Heavy Industry Science&Technology Co.,Ltd. Large tonnage Chassis Assembly Plant) Applicant before: CHANGSHA ZHONGLIAN HENGTONG MACHINERY Co.,Ltd. |
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Application publication date: 20200103 |