CN111056454A - Control method and system for loaded running attitude of crane - Google Patents
Control method and system for loaded running attitude of crane Download PDFInfo
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- CN111056454A CN111056454A CN201911312741.2A CN201911312741A CN111056454A CN 111056454 A CN111056454 A CN 111056454A CN 201911312741 A CN201911312741 A CN 201911312741A CN 111056454 A CN111056454 A CN 111056454A
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- crane
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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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- 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
- B66C23/62—Constructional features or details
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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
- B66C23/88—Safety gear
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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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to the field of cranes, in particular to a control method and a system for a loaded running attitude of a crane. The control method comprises the following steps: confirming that the crane enters a loaded running working condition; performing rotation in-place operation and rotation locking operation on the upper crane of the crane, namely locking a rotary table when a suspension arm is controlled to rotate to the right front of the crane according to a preset rotation angle limiting condition, and temporarily shielding a rotation operation handle signal; the chassis state of the crane is controlled to be a safe driving state, signals of a gear shifter are temporarily shielded after the gear of a gearbox is adjusted to be a minimum gear, the chassis speed of the crane is controlled to be within a safe speed, and a hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to be in a flexible suspension mode. According to the scheme of the invention, the loading posture of the crane is adjusted to the safe posture, then the loading is locked, and the chassis is controlled to run in the safe running state, so that the risk of the crane under the loaded running condition is obviously reduced.
Description
Technical Field
The invention relates to the field of cranes, in particular to a control method and a system for a loaded running attitude of a crane.
Background
The off-road tire crane is a type of wheel crane with distinct characteristics, has a function of running at a certain speed when loaded, namely a function of running with load, can easily work by using a tire lifting working condition under the condition that a construction site is narrow and a horizontal supporting leg cannot be completely opened, and has the capability of running with load which is not possessed by other automobile cranes.
It is emphasized that off-road tire cranes have severe conditional restrictions when using the on-board travel mode, requiring vehicle speed limits and prohibiting boarding actions. The crane is generally provided with a safety device force limiter, the load running working condition of the crane is controlled through the force limiter, the force limiter has the functions of preventing the crane from exceeding a hoisting allowable radius, exceeding a hoisting position and exceeding a hoisting capacity payload, but the force limiter only can limit the hoisting capacity and hoisting moment of a crane and cannot limit other conditions under the load running mode, the control is usually carried out manually, and if manual operation is improper or the setting is wrong, the crane has the risk of overturning under the load running working condition.
Disclosure of Invention
The invention provides a control method and a control system for a loaded running attitude of a crane, aiming at solving the problem that the crane has a risk of overturning under the loaded running condition easily caused by improper manual operation or wrong arrangement in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a control method for a loaded running attitude of a crane, the control method comprising:
confirming that the crane enters a loaded running working condition;
the method comprises the steps of performing rotation in-place operation and rotation locking operation on the upper vehicle of the crane, controlling a suspension arm to rotate to the front of the crane according to a preset rotation angle limiting condition, locking a rotary table, shielding a rotation operation handle signal, enabling the suspension arm not to be controlled by a rotation operation handle under the crane loaded running working condition, and controlling the suspension arm to be controlled by the rotation operation handle again after the suspension arm is separated from the crane loaded running working condition;
the chassis state of the crane is controlled to be a safe running state, the gear of the gearbox is adjusted to be a minimum gear, meanwhile, signals of the gear shifter are shielded, the gearbox is not controlled by the gear shifter under the loading running working condition of the crane, the gearbox is controlled by the gear shifter again after the loading running working condition of the crane is separated, the chassis speed of the crane is controlled within a safe speed, and the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to a flexible suspension mode.
Preferably, the locking of the rotating platform when the boom is controlled to rotate right ahead of the crane according to the preset rotation angle limiting condition comprises:
outputting a rotation control signal to the rotary table to synchronously control the rotary table and the suspension arm to rotate;
detecting the rotation angle of the suspension arm in real time until the suspension arm rotates to the right front of the crane;
and judging whether the suspension arm meets a preset rotation angle limiting condition, if so, automatically locking the rotary table through a rotation locking mechanism, wherein the rotation angle limiting condition is that the suspension arm rotates to a range which deviates 3 degrees from the central datum line of the crane to two sides respectively.
Preferably, the adjusting the gear of the gearbox to be the minimum gear and shielding the signal of the shifter, so that the gearbox is not controlled by the shifter in the crane loaded running condition, and the gearbox is controlled by the shifter again after the crane loaded running condition is separated comprises the following steps:
controlling the gearbox to run in a four-wheel drive and low-speed mode, shielding other gear signals except for a forward gear, a neutral gear and a1 gear of the gear shifter, enabling the gearbox to be controlled only by the forward gear, the neutral gear and the 1 gear under the crane loaded running condition, and restarting the gear shifter to switch other gears after the crane loaded running condition is separated;
the control of the chassis speed of the crane within a safe vehicle speed comprises the following steps: controlling the rotation speed of the engine accelerator not to exceed 2000rpm, so that the running speed of the crane does not exceed 1.6 km/h.
Preferably, the hydraulic/hydro-pneumatic suspension system comprises at least one suspension ram;
the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to a flexible suspension mode, and the method comprises the following steps:
and when the absolute value of the pressure difference between the rod cavity and the rodless cavity of the at least one suspension oil cylinder is detected to be not more than a pressure difference set value, controlling the oil circuit between the rod cavity and the rodless cavity of the at least one suspension oil cylinder to be communicated so as to switch the hydraulic/hydro-pneumatic suspension system into a flexible suspension mode.
The invention provides a control system of a crane loaded running attitude, which is applied to the control method, and the control system comprises:
the working mode loading module 100 is used for confirming that the crane enters a loaded running working condition;
the upper vehicle control module 200 is used for performing rotation in-place operation and rotation locking operation on the upper vehicle of the crane, and comprises the steps of controlling a suspension arm to rotate to the front of the crane according to a preset rotation angle limiting condition, locking a rotary table, shielding a rotation operation handle signal, enabling the suspension arm not to be controlled by a rotation operation handle under the crane loaded running working condition, and controlling the suspension arm to be controlled by the rotation operation handle again after the suspension arm is separated from the crane loaded running working condition;
the chassis control module 300 is used for controlling the chassis state of the crane to be a safe driving state, adjusting the gear of the gearbox to be a minimum gear, shielding signals of the gear shifter, enabling the gearbox not to be controlled by the gear shifter under the crane loaded driving working condition, controlling the gear shifter again after the crane is separated from the crane loaded driving working condition, controlling the chassis speed of the crane to be within a safe vehicle speed, and switching the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition to be in a flexible suspension mode.
The invention provides a control system of the loaded running attitude of the crane, which is applied to the control method, and comprises a PLC (programmable logic controller) 1 and a force limiter 2;
the PLC controller 1 is respectively connected with the force limiter 2, the engine ECU3 and the gearbox ECU4 through CAN buses;
the signal input end of the PLC controller 1 is connected with a rotary angle sensor 5, a rotary lock in-place detection unit 6, a rotary lock unlocking switch 7, a two-four-wheel drive change-over switch 8, a gear shifter 9 and an accelerator pedal potentiometer 10;
the signal output end of the PLC 1 is connected with a rotary control valve group 11, a rotary locking valve group 12, a rigid-flexible switching valve group 13, a two-four-drive switching valve 17 and a high-low speed switching valve 15.
Preferably, the swing control valve group 11 comprises:
the first electromagnetic valve Y1 is arranged on the left rotary control oil path and the oil discharge oil path and is used for controlling the on-off of the left rotary control oil path and the oil discharge oil path;
the second electromagnetic valve Y2 is arranged on the right rotary control oil way and the oil discharge oil way and is used for controlling the on-off of the right rotary control oil way and the oil discharge oil way;
when the first electromagnetic valve Y1 and the second electromagnetic valve Y2 are electrified, the left rotary control oil path and the right rotary control oil path are respectively communicated with the oil discharge oil path, and the rotary operating handle is in a non-working state.
Preferably, said swing lock valve group 12 comprises:
the third electromagnetic valve Y3 is arranged on an oil way of a rodless cavity of the rotary locking oil cylinder A2 and is used for controlling the on-off of the oil way of the rodless cavity of the rotary locking oil cylinder A2 and an external oil way, when the third electromagnetic valve Y3 is electrified, the oil way of the rodless cavity of the rotary locking oil cylinder A2 is communicated with the external oil way, and hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to extend out to control the rotary locking mechanism to lock the rotary table;
and the fourth electromagnetic valve Y4 is arranged on an oil way of a rod cavity of the rotary locking oil cylinder A2 and used for controlling the on-off of the oil way of the rod cavity of the rotary locking oil cylinder A2 and an external oil way, when the fourth electromagnetic valve Y4 is electrified, the oil way of the rod cavity of the rotary locking oil cylinder A2 is communicated with the external oil way, and hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to retract so as to control the unlocking of the rotary locking mechanism.
Preferably, said rigid-flexible switching valve group 13 comprises:
the fifth electromagnetic valve Y5 is arranged on the oil way of the rod cavity of the left suspension oil cylinder A3 and is used for controlling the on-off of the oil way of the rod cavity of the left suspension oil cylinder A3 and an external oil way;
the sixth electromagnetic valve Y6 is arranged on the oil way of the rodless cavity of the left suspension oil cylinder A3 and is used for controlling the on-off of the oil way of the rodless cavity of the left suspension oil cylinder A3 and an external oil way;
the seventh electromagnetic valve Y7 is arranged on the oil way of the rod cavity of the right suspension oil cylinder A4 and is used for controlling the on-off of the oil way of the rod cavity of the right suspension oil cylinder A4 and an external oil way;
the eighth electromagnetic valve Y8 is arranged on the oil way of the rodless cavity of the right suspension oil cylinder A4 and is used for controlling the on-off of the oil way of the rodless cavity of the right suspension oil cylinder A4 and an external oil way;
when the fifth solenoid valve, the eighth solenoid valve and the fifth solenoid valve are not electrified, the left suspension oil cylinder A3 and the right suspension oil cylinder A4 are both in a locking state of a rod cavity oil way and a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a rigid suspension mode;
when the fifth solenoid valve Y5-the eighth solenoid valve Y8 are all electrified, the left suspension oil cylinder A3 and the right suspension oil cylinder A4 are both in a state that a rod cavity oil way is communicated with a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a flexible suspension mode.
Preferably, the gearshift valve group 14 includes a high-low speed switching valve 15 and a two-four-drive switching valve 17 for controlling the high-low speed control module 40 and the two-four-drive control module 41 of the transmission ECU4, respectively;
the high-low speed switching valve 15 comprises a pressure reducing valve 16 and a ninth electromagnetic valve Y9, the ninth electromagnetic valve Y9 is connected with the high speed port of the high-low speed control module 40 when being electrified, and the ninth electromagnetic valve Y9 is connected with the low speed port of the high-low speed control module 40 when not being electrified so as to be used for switching the high-low speed mode of the gearbox;
the two-four-drive switching valve 17 comprises a tenth electromagnetic valve Y10, the gearbox is driven by two wheels when the tenth electromagnetic valve Y10 is not electrified, the tenth electromagnetic valve Y10 is connected with the two-four-drive control module 41 when the tenth electromagnetic valve is electrified, and the gearbox is driven by four wheels and is used for switching the two-drive mode and the four-drive mode of the gearbox.
Under the loaded running condition of the crane, the loading and the chassis of the crane are respectively controlled according to the technical scheme: on the first hand, the turning in-place operation and the turning locking operation are executed on the getting-on vehicle of the crane, the turning table is locked when the preset turning angle limiting condition is met by controlling the suspension arm to turn to the right front of the crane, and meanwhile, the turning operation handle is bypassed, so that the condition of manual misoperation is prevented, and the getting-on vehicle action is completely stopped; and in the second aspect, the chassis state of the crane is controlled to be a safe driving state, the gear of the gearbox is limited to be a minimum gear, the chassis speed of the crane is limited within a safe vehicle speed, and a hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to be in a flexible suspension mode, so that the crane is prevented from overspeed in the process of driving with load. The control method provided by the scheme of the invention replaces a mode of limiting the boarding action and the chassis speed by manual operation, locks the boarding after adjusting the boarding posture of the crane to be a safe posture, and controls the chassis to run in a safe running state, thereby obviously reducing the risk of the crane under the loaded running condition.
Drawings
Fig. 1 is a flowchart of a control method provided in the first embodiment;
FIG. 2 is a block diagram of a control system provided in a second embodiment;
FIG. 3 is an electrical schematic of a control system provided in a third embodiment;
fig. 4 is a control schematic of a swing control valve block in a third embodiment;
fig. 5 is a control schematic diagram of a swing lock valve block in a third embodiment;
FIG. 6 is a control schematic of a hydraulic/hydro-pneumatic suspension system in a third embodiment;
fig. 7 is a control schematic diagram of a transmission ECU in the third embodiment.
Description of the reference numerals
The working mode loading module 100; a boarding control module 200; a chassis control module 300;
a PLC controller 1; a force limiter 2; an engine ECU 3; a transmission ECU 4; a rotation angle sensor 5; a rotary lock in-place detection unit 6; a swing lock unlock switch 7; a two-four-drive change-over switch 8; a shifter 9, an accelerator pedal potentiometer 10; a rotary control valve group 11; a swing lock valve block 12; a rigid-flexible switching valve group 13; a speed change valve group 14, a high-low speed switching valve 15; a pressure reducing valve 16; a two-four drive switching valve 17; a power supply 18; a high-low speed control module 40; a two-four drive control module 41;
first solenoid valve-tenth solenoid valve: Y1-Y10; a swing operation handle a 1; a rotary locking cylinder A2; a piston rod A21 of the rotary locking oil cylinder; a left suspension cylinder A3; a right suspension cylinder A4; an oil inlet P; and an oil return port T.
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.
The endpoints of the ranges and any values disclosed herein are not limited to the precise range or value, and such ranges or values should be understood to encompass values close to those ranges or values. For ranges of values, between the endpoints of each of the ranges and the individual points, and between the individual points may be combined with each other to give one or more new ranges of values, and these ranges of values should be considered as specifically disclosed herein.
The first embodiment of the invention provides a control method for a loaded running posture of a crane, which comprises the following steps of:
and S1, confirming that the crane enters the loaded running working condition.
In practical application, the crane enters a load running condition according to information input by the man-machine interaction equipment of the force limiter. The force limiter, i.e. the moment limiter, is a safety system installed on the crane for overload limitation and moment protection of the crane, and generally consists of a microprocessor system connected to various sensors of the crane itself, and detects signals of various sensors including a force sensor signal, an angle sensor signal, a length sensor signal and a working condition setting condition by circulation, and compares the signals with the technical specification of a manufacturer to determine whether the crane works safely.
S2, performing rotation in-place operation and rotation locking operation on the upper part of the crane, including locking the rotary table when the suspension arm is controlled to rotate to the right front of the crane according to the preset rotation angle limiting condition, shielding the rotation operation handle signal, enabling the suspension arm not to be controlled by the rotation operation handle under the loading running condition of the crane, and being controlled by the rotation operation handle again after being separated from the loading running condition of the crane.
In practical application, a suspension arm of the crane is arranged on the rotary table and synchronously rotates with the rotary table, the rotary table is connected with the chassis through a slewing bearing, an outer ring of the slewing bearing is connected with the chassis, an inner ring of the slewing bearing is connected with the rotary table, and a slewing motor fixed on the rotary table drives a slewing reducer to be meshed with teeth of the outer ring of the slewing bearing so as to realize slewing of the rotary table. When the rotary table rotates to drive the suspension arm to move synchronously, the rotation angle of the rotary table and the suspension arm is used for representing the working direction of the crane, and the rotary table can be braked and locked at any angle within 360-degree rotation in practical application.
In step S2, the rotation of the turntable and the boom are synchronously controlled, the rotation angle of the boom is detected in real time, the turntable is locked when the boom rotates right ahead of the crane and meets the preset rotation angle limiting condition, and the rotation operation handle signal is temporarily bypassed to prevent manual misoperation of the handle. The loading posture of the crane is adjusted to be a safe posture through the step S2, and then the loading action is stopped, so that the situation that the crane exceeds the stability capacity of the crane due to the inertia of the suspension arm for suspending heavy objects under the loaded running condition is avoided.
And S3, controlling the chassis state of the crane to be a safe driving state, adjusting the gear of the gearbox to be a minimum gear, shielding signals of the gear shifter, enabling the gearbox not to be controlled by the gear shifter under the loading driving working condition of the crane, controlling the chassis speed of the crane to be within a safe vehicle speed after the loading driving working condition of the crane is separated, and switching the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition to be in a flexible suspension mode.
In step S3, the chassis state of the crane is controlled to a safe driving state by limiting the gear position of the gearbox, limiting the chassis speed of the crane and switching the rigidity and flexibility of the hydraulic/hydro-pneumatic suspension system, so as to prevent overspeed.
Under the loaded running condition of the crane, the loading and the chassis of the crane are respectively controlled according to the technical scheme. On the first hand, the turning in-place operation and the turning locking operation are executed on the getting-on vehicle of the crane, the rotating platform is locked when the suspension arm is controlled to turn to the right front of the crane and the preset turning angle limiting condition is met, and meanwhile, the turning operation handle is bypassed, so that the condition of manual misoperation is prevented, and the getting-on vehicle action is completely stopped; and in the second aspect, the chassis state of the crane is controlled to be a safe driving state, the gear of the gearbox is limited to be a minimum gear, the chassis speed of the crane is limited within a safe vehicle speed, and a hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to be in a flexible suspension mode, so that the crane is prevented from overspeed in the process of driving with load. The control method provided by the scheme of the invention replaces a mode of limiting the boarding action and the chassis speed by manual operation, locks the boarding after adjusting the boarding posture of the crane to the safe posture, and controls the chassis to keep the safe driving state, thereby obviously reducing the risk of the crane under the loaded driving condition.
Further, in step S2, the locking the turntable when the boom is controlled to rotate to the position right in front of the crane according to the preset rotation angle limiting condition specifically includes:
outputting a rotation control signal to the rotary table to synchronously control the rotary table and the suspension arm to rotate;
detecting the rotation angle of the suspension arm in real time until the suspension arm rotates to the right front of the crane;
and judging whether the suspension arm meets a preset rotation angle limiting condition, if so, automatically locking the rotary table through a rotation locking mechanism, wherein the rotation angle limiting condition is that the suspension arm rotates to a range which deviates 3 degrees from the central datum line of the crane to two sides respectively. If not, the control signal is continuously output to finely adjust the rotation angle of the suspension arm.
The rotary locking mechanism can be locking teeth arranged on the rotary table, and the rotary table is locked by driving the locking teeth and limiting of the rotary support through the locking oil cylinder. And when the suspension arm rotates to meet the rotation angle limiting condition, the rotating platform is locked, and in practical application, the rotation angle of the suspension arm can float properly, but the absolute limiting condition of suspended load running must be met. Step S2 is that the crane boom is fixed right ahead of the crane and the turntable is locked, so that the influence of the crane boom and the heavy object carried by the crane boom on the gravity center of the crane can be greatly reduced, and the crane is prevented from exceeding the stability capability due to inertia under the loaded running condition.
Further, the adjusting the gear of the transmission to the minimum gear in step S3, and shielding a signal of the shifter at the same time, so that the transmission is not controlled by the shifter under the loaded running condition of the crane, and is controlled by the shifter again after the loaded running condition of the crane is released, specifically including:
the method comprises the steps of controlling a gearbox to run in a four-wheel drive and low-speed mode, shielding other gear signals except for a forward gear, a neutral gear and a gear 1 of a gear shifter, enabling the gearbox to be controlled only by the forward gear, the neutral gear and the gear 1 under the crane loaded running condition, and restarting the gear shifter to switch other gears after the gear shifter is separated from the crane loaded running condition.
The control of the chassis speed of the crane within a safe vehicle speed comprises the following steps: the rotation speed of the engine throttle is controlled not to exceed 2000rpm, so that the running speed of the crane does not exceed 1.6 km/h.
In the invention, the hydraulic/hydro-pneumatic suspension system of the crane comprises at least one suspension oil cylinder, and each suspension oil cylinder comprises a rodless cavity oil port and a rod cavity oil port.
Further, the switching of the hydraulic/hydro-pneumatic suspension system satisfying the flexible suspension condition into the flexible suspension mode described in the step S3 includes:
and when the absolute value of the pressure difference between the rod cavity and the rodless cavity of the at least one suspension oil cylinder is detected to be not more than a pressure difference set value, controlling the oil circuit between the rod cavity and the rodless cavity of the at least one suspension oil cylinder to be communicated so as to switch the hydraulic/hydro-pneumatic suspension system into a flexible suspension mode.
Optionally, when it is detected that the absolute value of the pressure difference between the rod cavity and the rodless cavity of the suspension oil cylinder is greater than the set pressure difference value, the pressure compensation can be performed by controlling the oil passage of the low-pressure cavity of the suspension oil cylinder to be communicated with the pressure oil source until the absolute value of the pressure difference is less than or equal to the set pressure difference value.
The hydraulic/hydro-pneumatic suspension system has good vibration damping performance and can perform rigid-flexible switching, lifting of the whole vehicle and other actions. The rigidity state of the hydraulic/hydro-pneumatic suspension system is that the oil circuit between the rod cavity and the rodless cavity of the two suspension oil cylinders is disconnected, the rodless cavity bears the load pressure, the rear axle of the crane is rigidly suspended, and the hydro-pneumatic suspension can not swing; the hydraulic/hydro-pneumatic suspension system is in a flexible state that an oil way between a rod cavity and a rodless cavity of at least one suspension oil cylinder is communicated, the side face of a piston rod bears load pressure, a rear axle of the crane is flexibly suspended, and the hydro-pneumatic suspension can swing. In practical application, the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched into a flexible suspension mode, so that the buffering and damping performance of the hydro-pneumatic suspension is improved.
A second embodiment of the present invention provides a control system for a loaded driving posture of a crane, which is applied to the above control method for a loaded driving posture of a crane, and as shown in fig. 3, the control system includes:
and the working mode loading module 100 is used for confirming that the crane enters a loaded running working condition.
The loading control module 200 is used for performing rotation in-place operation and rotation locking operation on loading of the crane, and comprises the steps of controlling the suspension arm to rotate to the front of the crane according to a preset rotation angle limiting condition, locking the rotary table, shielding a rotation operation handle signal, enabling the suspension arm not to be controlled by the rotation operation handle under the loading running condition of the crane, and being controlled by the rotation operation handle again after being separated from the loading running condition of the crane.
The chassis control module 300 is used for controlling the chassis state of the crane to be a safe driving state, adjusting the gear of the gearbox to be a minimum gear, shielding signals of the gear shifter, enabling the gearbox not to be controlled by the gear shifter under the crane loaded driving working condition, controlling the gear shifter again after the crane is separated from the crane loaded driving working condition, controlling the chassis speed of the crane to be within a safe vehicle speed, and switching the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition to be in a flexible suspension mode.
In the embodiment of the invention, the boarding control module 200 is used for performing rotation in-place operation and rotation locking operation on the boarding of the crane, and the chassis control module 300 is used for performing safe running state control on the chassis of the crane, so that the boarding posture of the crane is adjusted to be safe and the boarding is locked under a loading running mode, the chassis keeps running at a safe speed, and the risk of the crane under the loading running condition is obviously reduced.
The third embodiment of the invention also provides a control system of the crane loaded running attitude, which is applied to the control method of the crane loaded running attitude, as shown in fig. 3, the control system comprises a PLC (programmable logic controller) 1 and a force limiter 2, and is used for carrying out working condition management on a rotation control device, a rotation locking device, a hydraulic/hydro-pneumatic suspension system, an engine, a gearbox and the like of the crane.
The PLC controller 1 is connected to the force limiter 2, the engine electronic control unit ECU3, and the transmission electronic control unit ECU4 via a can (controller Area network) bus, respectively. Among them, the engine ECU3 is used to control the rotational speed of the engine, the transmission ECU4 is used to control the gear of the transmission, the CAN bus is a serial communication protocol bus used for real-time communication, CAN use twisted pair wire to transmit signals, and is one of the most widely used field buses. Specifically, the CANH port of the PLC controller 1 is communicatively connected to the CANH ports of the force limiter 2, the engine ECU3, and the transmission ECU4, respectively, and the CANL port of the PLC controller 1 is communicatively connected to the CANL ports of the force limiter 2, the engine ECU3, and the transmission ECU4, respectively. The CANH port is used for transmitting high-level signals, and the CANL port is used for transmitting low-level signals.
The signal input end of the PLC 1 is connected with a rotation angle sensor 5, a rotation lock in-place detection unit 6, a rotation lock unlocking switch 7, a two-four-wheel drive change-over switch 8, a gear shifter 9 and an accelerator pedal potentiometer 10. The signal output end of the PLC 1 is connected with a rotary control valve group 11, a rotary locking valve group 12, a rigid-flexible switching valve group 13 and a speed change valve group 14, wherein the speed change valve group 14 mainly comprises a high-low speed switching valve 15 and a two-four-wheel drive switching valve 17 and is used for controlling the power output of the gearbox.
As shown in fig. 3, the force limiter 2, the engine ECU3, the transmission ECU4, as well as the swing angle sensor 5, the swing lock in-position detecting unit 6, the swing lock unlock switch 7, the two-four drive change-over switch 8, the shifter 9 and the accelerator pedal potentiometer 1 are each connected to a power source 18, which is preferably a lead storage battery that supplies a stable 24V voltage.
In the embodiment of the invention, a rotation angle sensor 5 is arranged at the position of a central collecting ring of the crane, and a PLC (programmable logic controller) 1 controls the rotation angle sensor 5 to detect the rotation angle of the suspension arm in real time and transmits the current rotation angle signal to a force limiter 2 through a CAN (controller area network) bus for controlling the working condition of the crane. When the boom rotates to the range of 3 degrees respectively deviating from the central datum line of the crane to the two sides, the PLC 1 outputs a turntable locking signal to the rotation locking valve group 12 so as to control the rotation locking mechanism to automatically lock the turntable. The rotation lock in-place detection unit 6 is used for detecting whether the rotation locking mechanism is locked in place or not, if so, a rotation lock in-place signal is input to the PLC controller 1, and the PLC controller 1 transmits the rotation lock in-place signal to the force limiter 2 through a CAN bus. And when the vehicle is separated from the loaded running working condition, the rotary lock unlocking switch 7 is used for unlocking the rotary locking mechanism, and the rotary table is braked again.
And after the received target rotation angle signal and the rotation lock in-place signal are received, the force limiter 2 enters the working condition of the tire through a key and selects the tire to run with load, and a weight lifting meter under the working condition of running with load is automatically switched. After getting into the on-load operating mode of traveling, power limit ware 2 sends operating mode management order to PLC controller 1 through the CAN bus, includes: controlling a rotary control valve group 11 to bypass a rotary operating handle signal, so that the suspension arm is not controlled by the rotary operating handle under the loading running working condition of the crane (after the suspension arm is separated from the loading running working condition of the crane, the rotary control valve group 11 is adjusted to enable the suspension arm to be controlled by the rotary operating handle again); outputs four-wheel drive and low speed commands to the speed change valve group 14; after the gear of the gearbox is adjusted to be the minimum gear, outputting a gear shielding signal to the gear shifter to shield other gear signals except for a forward gear, a neutral gear and a1 gear of the gear shifter, so that the gearbox is only controlled by the forward gear, the neutral gear and the 1 gear under the load running condition of the crane, and other gears are invalid; the engine ECU3 controls the rotating speed of the engine according to the position variation of the accelerator pedal potentiometer 10, and controls the rotating speed of the engine not to exceed 2000rpm, so that the running speed of the crane is limited to be lower than 1.6 km/h; and controlling the rigid-flexible switching valve group 13 to output a rigid-flexible switching command and controlling the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition to be switched into a flexible suspension mode.
Specifically, as shown in fig. 4, a swing control valve group 11 in the swing control apparatus includes:
the first electromagnetic valve Y1 is arranged on the left rotary control oil path and the oil discharge oil path and is used for controlling the on-off of the left rotary control oil path and the oil discharge oil path;
and the second electromagnetic valve Y2 is arranged on the right rotary control oil path and the oil discharge oil path and is used for controlling the on-off of the right rotary control oil path and the oil discharge oil path.
When the first solenoid valve Y1 and the second solenoid valve Y2 are energized, the left rotation control oil path and the right rotation control oil path are respectively communicated with the oil discharge oil path, so that the rotation operation handle a1 is in a non-working state. Under the working condition of crane hoisting, the first electromagnetic valve Y1 and the second electromagnetic valve Y2 are controlled to be electrified, and the left rotary control oil and the right rotary control oil are unloaded, so that the rotary control function of the rotary operating handle A1 on the rotary table and the suspension arm is temporarily shielded.
As shown in fig. 5, the swing lock apparatus includes a swing lock cylinder a2 and a swing lock valve assembly 12, wherein the swing lock valve assembly 12 includes:
and the third electromagnetic valve Y3 is arranged on an oil way of a rodless cavity of the rotary locking oil cylinder A2 and used for controlling the on-off of the oil way of the rodless cavity of the rotary locking oil cylinder A2 and an external oil way, when the third electromagnetic valve Y3 is electrified, the oil way of the rodless cavity of the rotary locking oil cylinder A2 is communicated with the external oil way, and hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to extend out to control the rotary locking mechanism to lock the rotary table.
And the fourth electromagnetic valve Y4 is arranged on an oil way of a rod cavity of the rotary locking oil cylinder A2 and used for controlling the on-off of the oil way of the rod cavity of the rotary locking oil cylinder A2 and an external oil way, when the fourth electromagnetic valve Y4 is electrified, the oil way of the rod cavity of the rotary locking oil cylinder A2 is communicated with the external oil way, and hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to retract so as to control the unlocking of the rotary locking mechanism.
Under the working condition of crane hoisting and running, the third electromagnetic valve Y3 is controlled to be electrified, hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to extend out to control a rotary locking mechanism to lock a rotary table, so that the crane is lifted to stop rotary motion; after the crane is relieved from the hoisting running working condition, the fourth electromagnetic valve Y4 is controlled to be electrified, hydraulic oil drives a piston rod A21 of the rotary locking oil cylinder to retract so as to control the rotary locking mechanism to be unlocked, the mechanism locks the rotary table, and the crane can be braked when getting on the vehicle.
In the hydraulic/hydro-pneumatic suspension system of the invention, a suspension cylinder group is composed of a left suspension cylinder A3 and a right suspension cylinder A4 which are respectively arranged at two sides of a frame, and the left suspension cylinder and the right suspension cylinder are preferably symmetrically arranged at two sides of the frame. The hydraulic/hydro-pneumatic suspension system further comprises an oil inlet P and an oil return port T. As shown in fig. 6, the hydraulic/hydro-pneumatic suspension system includes a left suspension cylinder A3, a right suspension cylinder a4, and a rigid-flexible switching valve group 13, wherein the rigid-flexible switching valve group 13 includes:
and the fifth electromagnetic valve Y5 is arranged on the oil path of the rod cavity of the left suspension oil cylinder A3 and is used for controlling the on-off of the oil path of the rod cavity of the left suspension oil cylinder A3 and an external oil path.
And the sixth electromagnetic valve Y6 is arranged on the oil path of the rodless cavity of the left suspension oil cylinder A3 and is used for controlling the on-off of the oil path of the rodless cavity of the left suspension oil cylinder A3 and an external oil path.
And the seventh electromagnetic valve Y7 is arranged on the oil path of the rod cavity of the right suspension oil cylinder A4 and is used for controlling the on-off of the oil path of the rod cavity of the right suspension oil cylinder A4 and an external oil path.
And the eighth electromagnetic valve Y8 is arranged on the oil path of the rodless cavity of the right suspension oil cylinder A4 and is used for controlling the on-off of the oil path of the rodless cavity of the right suspension oil cylinder A4 and an external oil path.
When the fifth solenoid valve, the eighth solenoid valve, namely Y5-Y8, is not electrified, the left suspension oil cylinder A3 and the right suspension oil cylinder A4 are both in a locking state of a rod cavity oil way and a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a rigid suspension mode; when the fifth solenoid valve, the eighth solenoid valve, namely Y5-Y8 are all electrified, the left suspension oil cylinder A3 and the right suspension oil cylinder A4 are both in a state that a rod cavity oil way is communicated with a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a flexible suspension mode.
When the absolute value of the pressure difference between the rod cavity and the rodless cavity of the left suspension oil cylinder A3 is detected to be not more than a first pressure difference set value, and when the absolute value of the pressure difference between the rod cavity and the rodless cavity of the right suspension oil cylinder A4 is detected to be not more than a second pressure difference set value, the fifth solenoid valve, the eighth solenoid valve and the fifth solenoid valve are controlled to be electrified, so that the oil circuit between the rod cavity and the rodless cavity of the left suspension oil cylinder A3 is communicated, the oil circuit between the rod cavity and the rodless cavity of the right suspension oil cylinder A4 is communicated, and the hydraulic/hydro-pneumatic suspension system is switched to a flexible suspension mode.
Optionally, when it is detected that the absolute value of the pressure difference between the rod cavity and the rodless cavity of the suspension cylinder is greater than a set pressure difference value, the oil path of the low-pressure cavity of the suspension cylinder is controlled to be communicated with a pressure oil source for pressure compensation until the absolute value of the pressure difference is less than or equal to the set pressure difference value.
The gearbox ECU4 of the gearbox (model 1/4-18NPTF) comprises a high-low speed control module 40 and a two-four-drive control module 41 which are respectively controlled by a high-low speed switching valve 15 and a two-four-drive switching valve 17 which are connected with a PLC controller.
As shown in fig. 7, the high-low speed switching valve 15 includes a pressure reducing valve 16 and a ninth solenoid valve Y9, the ninth solenoid valve Y9 is connected to the high speed port of the high-low speed control module 40 when energized, and the ninth solenoid valve Y9 is connected to the low speed port of the high-low speed control module 40 when not energized, so as to switch the high-low speed mode of the transmission.
The second four-wheel drive switching valve 17, i.e. the tenth solenoid valve Y10, is configured to be driven by two wheels when the tenth solenoid valve Y10 is not energized, and the tenth solenoid valve Y10 is connected to the second four-wheel drive control module 41 of the transmission when energized, and specifically to the 2WD/4WD port of the second four-wheel drive control module 41, so that the transmission is switched to four-wheel drive for switching the four-wheel drive mode and the two-wheel drive mode of the transmission. The two-four drive control module 41 of the gearbox is also connected with an engine.
The ninth electromagnetic valve Y9 is a two-position four-way electromagnetic valve, when the ninth electromagnetic valve Y9 is electrified, the left position is in a working state, the oil inlet line is an oil inlet P-a port B of the pressure reducing valve 16-Y9-a high-speed port of the gearbox, and the gearbox enters a high-speed running mode; on the contrary, when the ninth electromagnetic valve Y9 is not electrified, the right position is in a working state, the oil inlet line is an A port of the oil inlet P-reducing valve 16-Y9-a low-speed port of the gearbox, and the gearbox enters a low-speed running mode. Under the working condition of crane hoisting and traveling, the ninth electromagnetic valve Y9 is controlled not to be electrified, so that the gearbox keeps running in a low-speed mode, and meanwhile, the tenth electromagnetic valve Y10 is controlled to be electrified, so that the gearbox is switched to four-wheel drive.
In the scheme of the invention, the crane is subjected to lifting running posture and function management on the upper vehicle and the chassis of the crane respectively based on an electric and hydraulic system of the crane, the rotary locking oil cylinder is controlled to lock the upper vehicle through a force limiter signal, a rotary angle signal and a rotary lock in-place signal, an accelerator and a gear are controlled through setting a rotating speed, a gear and a suspension mode, and the chassis is kept in a safe running state.
The preferred embodiments of the present invention have been described above in detail, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, many simple modifications can be made to the technical solution of the invention, including combinations of various technical features in any other suitable way, and these simple modifications and combinations should also be regarded as the disclosure of the invention, and all fall within the scope of the invention.
Claims (10)
1. A control method for a loaded running attitude of a crane is characterized by comprising the following steps:
confirming that the crane enters a loaded running working condition;
the method comprises the steps of performing rotation in-place operation and rotation locking operation on the upper vehicle of the crane, controlling a suspension arm to rotate to the front of the crane according to a preset rotation angle limiting condition, locking a rotary table, shielding a rotation operation handle signal, enabling the suspension arm not to be controlled by a rotation operation handle under the crane loaded running working condition, and controlling the suspension arm to be controlled by the rotation operation handle again after the suspension arm is separated from the crane loaded running working condition;
the chassis state of the crane is controlled to be a safe running state, the gear of the gearbox is adjusted to be a minimum gear, meanwhile, signals of the gear shifter are shielded, the gearbox is not controlled by the gear shifter under the loading running working condition of the crane, the gearbox is controlled by the gear shifter again after the loading running working condition of the crane is separated, the chassis speed of the crane is controlled within a safe speed, and the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to a flexible suspension mode.
2. The control method according to claim 1, wherein the controlling the boom to rotate right ahead of the crane according to the preset rotation angle limit condition to lock the rotating platform comprises:
outputting a rotation control signal to the rotary table to synchronously control the rotary table and the suspension arm to rotate;
detecting the rotation angle of the suspension arm in real time until the suspension arm rotates to the right front of the crane;
and judging whether the suspension arm meets a preset rotation angle limiting condition, if so, automatically locking the rotary table through a rotation locking mechanism, wherein the rotation angle limiting condition is that the suspension arm rotates to a range which deviates 3 degrees from the central datum line of the crane to two sides respectively.
3. The control method according to claim 1 or 2, wherein the step of adjusting the gear of the gearbox to the minimum gear while shielding the signal of the gear shifter, so that the gearbox is not controlled by the gear shifter in the crane loaded running condition and is controlled by the gear shifter again after the crane loaded running condition is separated, comprises the following steps:
controlling the gearbox to run in a four-wheel drive and low-speed mode, shielding other gear signals except for a forward gear, a neutral gear and a1 gear of the gear shifter, enabling the gearbox to be controlled only by the forward gear, the neutral gear and the 1 gear under the crane loaded running condition, and restarting the gear shifter to switch other gears after the crane loaded running condition is separated;
the control of the chassis speed of the crane within a safe vehicle speed comprises the following steps:
controlling the rotation speed of the engine accelerator not to exceed 2000rpm, so that the running speed of the crane does not exceed 1.6 km/h.
4. The control method of claim 1, wherein the hydraulic/hydro-pneumatic suspension system comprises at least one suspension cylinder;
the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition is switched to a flexible suspension mode, and the method comprises the following steps:
and when the absolute value of the pressure difference between the rod cavity and the rodless cavity of the at least one suspension oil cylinder is detected to be not more than a pressure difference set value, controlling the oil circuit between the rod cavity and the rodless cavity of the at least one suspension oil cylinder to be communicated so as to switch the hydraulic/hydro-pneumatic suspension system into a flexible suspension mode.
5. A control system of a crane loaded running attitude, applied to the control method according to any one of claims 1 to 4, characterized by comprising:
the working mode loading module (100) is used for confirming that the crane enters a loaded running working condition;
the upper vehicle control module (200) is used for performing rotation in-place operation and rotation locking operation on the upper vehicle of the crane, and comprises a rotating table which is locked when the suspension arm is controlled to rotate to the position right in front of the crane according to a preset rotation angle limiting condition, and a rotation operation handle signal is shielded at the same time, so that the suspension arm is not controlled by the rotation operation handle under the crane loaded running condition, and is controlled by the rotation operation handle again after being separated from the crane loaded running condition;
and the chassis control module (300) is used for controlling the chassis state of the crane to be a safe driving state, adjusting the gear of the gearbox to be a minimum gear, shielding signals of the gear shifter, enabling the gearbox not to be controlled by the gear shifter under the crane loaded driving working condition, and being controlled by the gear shifter again after the crane is separated from the crane loaded driving working condition, controlling the chassis speed of the crane to be within a safe vehicle speed, and switching the hydraulic/hydro-pneumatic suspension system meeting the flexible suspension condition into a flexible suspension mode.
6. A control system of a crane loaded traveling attitude, applied to the control method according to any one of claims 1 to 4, characterized in that the control system comprises a PLC (1) and a force limiter (2);
the PLC controller (1) is respectively connected with the force limiter (2), the engine electronic control unit ECU (3) and the gearbox electronic control unit ECU (4) through CAN buses;
the signal input end of the PLC (1) is connected with a rotary angle sensor (5), a rotary lock in-place detection unit (6), a rotary lock unlocking switch (7), a two-four-wheel drive change-over switch (8), a gear shifter (9) and an accelerator pedal potentiometer (10);
the signal output end of the PLC (1) is connected with a rotary control valve group (11), a rotary locking valve group (12), a rigid-flexible switching valve group (13) and a speed change valve group (14).
7. Control system according to claim 6, characterized in that the swing control valve group (11) comprises:
the first electromagnetic valve (Y1) is arranged on the left rotary control oil path and the oil discharge oil path and is used for controlling the on-off of the left rotary control oil path and the oil discharge oil path;
the second electromagnetic valve (Y2) is arranged on the right rotary control oil way and the oil discharge oil way and is used for controlling the on-off of the right rotary control oil way and the oil discharge oil way;
when the first solenoid valve (Y1) and the second solenoid valve (Y2) are energized, the left rotary control oil path and the right rotary control oil path are respectively communicated with the oil discharge oil path, so that the rotary operating handle (A1) is in a non-working state.
8. The control system of claim 6, wherein the swing lock valve block (12) comprises:
the third electromagnetic valve (Y3) is arranged on an oil way of a rodless cavity of the rotary locking oil cylinder (A2) and used for controlling the on-off of the oil way of the rodless cavity of the rotary locking oil cylinder (A2) and an external oil way, when the third electromagnetic valve (Y3) is electrified, the oil way of the rodless cavity of the rotary locking oil cylinder (A2) is communicated with the external oil way, and hydraulic oil drives a piston rod (A21) of the rotary locking oil cylinder to extend out to control the rotary locking mechanism to lock the rotary table;
the fourth electromagnetic valve (Y4) is arranged on an oil path with a rod cavity of the rotary locking oil cylinder (A2) and used for controlling the on-off of the oil path with the rod cavity of the rotary locking oil cylinder (A2) and an external oil path, when the fourth electromagnetic valve (Y4) is electrified, the oil path with the rod cavity of the rotary locking oil cylinder (A2) is communicated with the external oil path, and a piston rod (A21) of the hydraulic oil driving the rotary locking oil cylinder retracts to control the unlocking of the rotary locking mechanism.
9. Control system according to claim 6, characterized in that said rigid-flexible switching valve group (13) comprises:
the fifth electromagnetic valve (Y5) is arranged on the oil way of the rod cavity of the left suspension oil cylinder (A3) and is used for controlling the on-off of the oil way of the rod cavity of the left suspension oil cylinder (A3) and an external oil way;
the sixth electromagnetic valve (Y6) is arranged on the oil way of the rodless cavity of the left suspension oil cylinder (A3) and is used for controlling the on-off of the oil way of the rodless cavity of the left suspension oil cylinder (A3) and an external oil way;
the seventh electromagnetic valve (Y7) is arranged on the oil way of the rod cavity of the right suspension oil cylinder (A4) and is used for controlling the on-off of the oil way of the rod cavity of the right suspension oil cylinder (A4) and an external oil way;
the eighth electromagnetic valve (Y8) is arranged on the oil way of the rodless cavity of the right suspension oil cylinder (A4) and is used for controlling the on-off of the oil way of the rodless cavity of the right suspension oil cylinder (A4) and an external oil way;
when the fifth solenoid valve (Y5) to the eighth solenoid valve (Y8) are not electrified, the left suspension oil cylinder (A3) and the right suspension oil cylinder (A4) are in a state of locking a rod cavity oil way and a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a rigid suspension mode;
when the fifth solenoid valve (Y5) to the eighth solenoid valve (Y8) are electrified, the left suspension oil cylinder (A3) and the right suspension oil cylinder (A4) are both in a state that a rod cavity oil way is communicated with a rodless cavity oil way, and the hydraulic/hydro-pneumatic suspension system is in a flexible suspension mode.
10. The control system according to claim 6, characterized in that the gear change valve group (14) comprises a high-low speed switching valve (15) and a two-four-drive switching valve (17), a high-low speed control module (40) and a two-four-drive control module (41) for controlling the gearbox ECU (4), respectively;
the high-low speed switching valve (15) comprises a pressure reducing valve (16) and a ninth electromagnetic valve (Y9), the ninth electromagnetic valve (Y9) is connected with a high speed port of the high-low speed control module (40) when being electrified, and the ninth electromagnetic valve (Y9) is connected with a low speed port of the high-low speed control module (40) when not being electrified so as to be used for switching the high-low speed mode of the gearbox;
the two-four-drive switching valve (17) comprises a tenth electromagnetic valve (Y10), the gearbox is driven by two wheels when the tenth electromagnetic valve (Y10) is not electrified, the tenth electromagnetic valve (Y10) is connected with the two-four-drive control module (41) when the tenth electromagnetic valve is electrified, and the gearbox is driven by four wheels and is used for switching two-drive and four-drive modes of the gearbox.
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Cited By (1)
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| CN112830392A (en) * | 2020-12-30 | 2021-05-25 | 中联重科股份有限公司 | Driving control method of telescopic arm crawler crane |
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| CN111056454B (en) | 2021-07-23 |
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