CN114105004B - Control system for crane to get on and take up arm and automobile crane - Google Patents
Control system for crane to get on and take up arm and automobile crane Download PDFInfo
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- CN114105004B CN114105004B CN202111214962.3A CN202111214962A CN114105004B CN 114105004 B CN114105004 B CN 114105004B CN 202111214962 A CN202111214962 A CN 202111214962A CN 114105004 B CN114105004 B CN 114105004B
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- 230000033001 locomotion Effects 0.000 claims abstract description 85
- 238000001514 detection method Methods 0.000 claims abstract description 82
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000725 suspension Substances 0.000 description 16
- 239000010720 hydraulic oil Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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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
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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
- B66C23/06—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 with jibs mounted for jibbing or luffing movements
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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
- B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
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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
- B66C23/84—Slewing 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
- 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
- B66C23/94—Safety gear for limiting slewing movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a control system for getting on and off a crane arm and an automobile crane, wherein the control system comprises a crane boom, a rotation detection device, a variable amplitude detection device and a control device, the crane boom is arranged on the rotation device and provided with the variable amplitude device, and the control device is respectively communicated with the rotation device, the variable amplitude device, the rotation detection device and the variable amplitude detection device and is configured to: the method comprises the steps of receiving a real-time rotation position sent by a rotation detection device and a real-time amplitude variation position sent by an amplitude variation detection device, controlling the rotation device to perform rotation motion according to a preset rotation reference position and the real-time rotation position, and controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane jib with the center line of a jib support. By the technical scheme, the axis of the crane boom can be automatically aligned with the center line of the boom support, so that the phenomenon that the boom support is damaged by an operator when the operator operates the crane boom independently is avoided.
Description
Technical Field
The invention belongs to the technical field of automobile cranes, and particularly relates to a control system for a crane to get on and take off an arm and an automobile crane.
Background
The automobile crane is used as a lifting and carrying device and has two functions of lifting and running. During hoisting, the suspension arm can be lifted and extended out for hoisting operation, and after the hoisting is finished, the suspension arm needs to be placed on the suspension arm support, namely, the vehicle is restored to a drivable state. When the suspension arm is placed on the suspension arm support, as the length of the suspension arm is usually more than 10 meters, an operator is inconvenient to observe in a control room, and the operator needs to conduct command by a person outside the control room to align the axis of the suspension arm with the central line of the suspension arm support, otherwise, the phenomenon that the suspension arm support is damaged by collision easily occurs in the process of lowering the suspension arm only by the personal feeling of the operator.
Disclosure of Invention
Aiming at the defects or shortcomings of the prior art, the invention provides a control system for an upper crane arm folding mechanism of a crane and an automobile crane, and aims to solve the technical problem that a boom support is easily damaged when an operator operates the crane alone in the process of controlling the boom to be lowered.
In order to achieve the above object, the present invention provides a control system for getting on and off a crane, wherein the control system for getting on and off the crane comprises a crane boom, a rotation detection device, a luffing detection device and a control device, the crane boom is mounted on the rotation device and mounted with the luffing device, the rotation detection device is used for detecting a rotation position of the crane boom, the luffing detection device is used for detecting a luffing position of the crane boom, and the control device is respectively connected with the rotation device, the luffing device, the rotation detection device and the luffing detection device in a communication manner and configured to:
receiving a real-time rotation position sent by a rotation detection device and a real-time amplitude variation position sent by an amplitude variation detection device;
and controlling the slewing device to perform slewing motion according to the preset slewing reference position and the real-time slewing position, and controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane jib with the center line of the jib support.
In the embodiment of the present invention, the controlling the slewing device to perform slewing motion according to the preset slewing reference position and the real-time slewing position, and the controlling the amplitude varying device to perform amplitude varying motion according to the preset amplitude varying reference position and the real-time amplitude varying position, so as to align the axis of the crane jib with the center line of the jib support, comprises:
controlling the slewing device to perform active slewing motion according to a preset slewing floating position and a real-time slewing position, and controlling the amplitude variation device to perform amplitude variation motion according to a preset amplitude variation floating position and a real-time amplitude variation position so as to enable the crane jib to reach a floating support position;
and controlling the slewing device to perform floating slewing motion according to the preset slewing reference position and the real-time slewing position, and controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane jib with the center line of the jib support.
In the embodiment of the invention, the rotating device comprises a rotating platform and a hydraulic rotating transmission assembly, wherein the rotating platform is arranged on a crane body, the hydraulic rotating transmission assembly comprises a rotating valve and a rotating buffer valve, the rotating valve is used for controlling the rotating platform to perform active rotating motion, the rotating buffer valve is used for controlling the rotating platform to perform floating rotating motion, and the control device is respectively in communication connection with the rotating valve and the rotating buffer valve;
controlling the turning device to perform active turning motion according to a preset turning floating position and a real-time turning position comprises the following steps: controlling the opening and closing time of the rotary valve according to the preset rotary floating position and the real-time rotary position;
the control slewer according to predetermineeing gyration benchmark position and real-time gyration position and carry out the gyration that floats and move includes: and controlling the opening and closing duration of the rotary cushion valve according to the preset rotary reference position and the real-time rotary position.
In the embodiment of the invention, the method for controlling the slewing device to perform active slewing motion according to the preset slewing floating position and the real-time slewing position and controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation floating position and the real-time amplitude variation position so as to enable the crane jib to reach the floating support position comprises the following steps:
acquiring a preset rotary floating position and a preset variable amplitude floating position;
calculating a rotation position deviation according to a preset rotation floating position and a real-time rotation position, and calculating a variable amplitude position deviation according to a preset variable amplitude floating position and a real-time variable amplitude position;
and controlling the slewing device to perform active slewing motion according to the slewing position deviation, and controlling the amplitude variation device to perform amplitude variation motion according to the amplitude variation position deviation so as to enable the crane jib to reach the floating support position.
In the embodiment of the invention, the amplitude variation device comprises a hydraulic oil cylinder for driving the crane jib to perform amplitude variation motion and an amplitude variation valve for controlling the hydraulic oil cylinder to work, and the control device is in communication connection with the amplitude variation valve;
the step of controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation floating position and the real-time amplitude variation position comprises the following steps: controlling the amplitude variation valve to open for a first opening and closing time at a first opening degree according to a preset amplitude variation floating position and a real-time amplitude variation position;
the step of controlling the amplitude variation device to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position comprises the following steps of: and controlling the amplitude variation valve to open a second opening and closing time length at a second opening according to the preset amplitude variation reference position and the real-time amplitude variation position, wherein the second opening is smaller than the first opening.
In an embodiment of the invention, the boom support comprises a support body arranged on the crane body, a V-shaped opening is formed at the upper end of the support body, and one of two inclined surfaces forming the V-shaped opening is used for supporting the crane boom in floating rotary motion.
In the embodiment of the invention, the suspension arm support further comprises two buffer cushion blocks, the two buffer cushion blocks are correspondingly arranged on the two inclined surfaces one by one, and one of the two buffer cushion blocks is used for supporting the crane suspension arm in floating return motion on the corresponding inclined surface.
In the embodiment of the invention, the rotation angle of the crane boom at the floating support position is less than one half of the included angle of the V-shaped opening, and the floating support position is higher than the support body.
In an embodiment of the present invention, the control system further includes a hoisting valve for controlling the crane hook to perform a lifting motion, and a hook detection device for detecting a hook position of the crane hook, the control device is respectively in communication connection with the hoisting valve and the hook detection device, and the control device is further configured to:
receiving a real-time lifting hook position sent by a lifting hook detection device;
and controlling the winch valve to work according to the preset lifting hook reference position and the real-time lifting hook position.
In the embodiment of the invention, the control system also comprises an arm length detection device for detecting the length of the suspension arm of the crane suspension arm, and the control device is in communication connection with the arm length detection device;
before receiving the real-time rotation position sent by the rotation detection device and the real-time amplitude-variable position sent by the amplitude-variable detection device, the method further comprises the following steps:
receiving the real-time boom length sent by the boom length detection device;
and judging whether the crane jib meets the jib folding condition or not according to the real-time jib length.
In order to achieve the above object, the present invention also provides a mobile crane, wherein the mobile crane comprises the control system for the crane upper arm folding according to the above.
Through the technical scheme, the control system for the arm lifting and retracting of the crane, provided by the embodiment of the invention, has the following beneficial effects:
the control system for the crane boom on-board and boom retracting comprises a crane boom, a rotation detection device, a variable amplitude detection device and a control device, wherein the crane boom is arranged on a rotation device and provided with the variable amplitude device, the rotation detection device is used for detecting the rotation position of the crane boom, the variable amplitude detection device is used for detecting the variable amplitude position of the crane boom, the control device can receive the real-time rotation position sent by the rotation detection device and the real-time variable amplitude position sent by the variable amplitude detection device, can control the rotation device to perform rotation motion according to the preset rotation reference position and the real-time rotation position, and can control the variable amplitude device to perform variable amplitude motion according to the preset variable amplitude reference position and the real-time variable amplitude position, the preset rotation reference position and the preset variable amplitude reference position can be set as the rotation position and the variable amplitude position of the crane boom when the axis of the crane boom is aligned with the center line of the boom support, and can automatically adjust the rotation device and the variable amplitude device through the real-time communication between the control device and the rotation detection device and the variable amplitude detection device respectively, so that the axis of the crane boom is automatically aligned with the center line of the boom support, thereby avoiding the phenomenon that an operating arm is damaged when an individual operation of a crane is performed.
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 an 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 invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a mobile crane according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control system for a boom of a crane according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a crane boom in a floating support position according to an embodiment of the present invention;
FIG. 4 is another schematic illustration of the crane boom in a floating support position according to an embodiment of the present invention;
FIG. 5 is a schematic view of the structure of the crane boom with its axis aligned with the center line of the boom support according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a portion of a hydraulic slew drive assembly in accordance with an embodiment of the present invention.
Description of the reference numerals
1. Crane body 2 crane boom
3. Rotary valve with rotary device 31
32. Rotary motor of rotary cushion valve 33
4. Amplitude changing device 5 crane hook
6. Boom support 61 support body
611. Inclined plane 612 horizontal plane
62. Cushion block
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the invention and are not restrictive thereof.
The following describes a control system for a crane jib loading and unloading according to the invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, in an embodiment of the present invention, there is provided a control system for a crane arm lift, wherein the control system for a crane arm lift comprises:
a crane boom 2 mounted on the slewing device 3 and having a luffing device 4 mounted thereon;
the rotation detection device is used for detecting the rotation position of the crane boom 2 driven by the rotation device 3 after the crane boom performs rotation motion;
the amplitude variation detection device is used for detecting the amplitude variation position of the crane jib 2 driven by the amplitude variation device 4 after amplitude variation motion; and
a control device in communication with the slewing device 3, the luffing device 4, the slewing detection device and the luffing detection device, respectively, and configured to:
receiving a real-time rotation position sent by a rotation detection device and a real-time amplitude variation position sent by an amplitude variation detection device;
and controlling the slewing device 3 to perform slewing motion according to the preset slewing reference position and the real-time slewing position, and controlling the amplitude variation device 4 to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane jib 2 with the central line of the jib support 6.
In the embodiment of the invention, the control system for the crane to get on the crane to get in the arm comprises a crane boom 2, a rotation detection device, an amplitude detection device and a control device, wherein the crane boom 2 is arranged on a rotation device 3 and is provided with the amplitude detection device 4, the rotation detection device is used for detecting the rotation position of the crane boom 2, the amplitude detection device is used for detecting the amplitude position of the crane boom 2, the control device can receive the real-time rotation position sent by the rotation detection device and the real-time amplitude position sent by the amplitude detection device, can control the rotation device 3 to perform rotation motion according to the preset rotation reference position and the real-time rotation position, and can control the amplitude device 4 to perform amplitude motion according to the preset amplitude reference position and the real-time amplitude position, and the preset rotation reference position and the preset amplitude reference position can be set as the rotation position and the amplitude position of the crane boom 2 when the axis of the crane boom 2 is aligned with the center line of the boom support 6, so that the boom 2 and the boom support 6 can be automatically aligned by real-time communication between the control device and the rotation detection device and the amplitude detection device, and the control device can avoid the boom 6 from colliding with the center line of the boom.
Specifically, the rotation detection device and the variable amplitude detection device may be both angle detection devices, that is, the rotation position detected by the rotation detection device is a rotation angle, and the variable amplitude position detected by the variable amplitude detection device is a variable amplitude angle. More specifically, the rotation angle of the crane boom 2 when the axis of the crane boom 2 is aligned with the center line of the boom support 6 may be set to 0 °, and the amplitude variation angle of the crane boom 2 when the axis of the crane boom 2 is aligned with the center line of the boom support 6 may be set to 0 °, in the embodiment of the present invention, the preset rotation reference position is a position at which the rotation angle of the crane boom 2 is 0 °, and the preset amplitude variation reference position is a position at which the amplitude variation angle of the crane boom 2 is 0 °. Of course, the present invention is not limited thereto, and the rotation detecting device and the amplitude detecting device may be other position detecting devices.
It should be noted that the communication connection mentioned in the present invention may be a wire connection or a wireless communication connection.
In the embodiment of the present invention, the controlling the slewing device 3 to perform slewing motion according to the preset slewing reference position and the real-time slewing position, and the controlling the amplitude varying device 4 to perform amplitude varying motion according to the preset amplitude varying reference position and the real-time amplitude varying position, so as to align the axis of the crane jib 2 with the center line of the jib support 6, includes:
controlling the slewing device 3 to actively perform slewing motion according to a preset slewing floating position and a real-time slewing position, and controlling the amplitude variation device 4 to perform amplitude variation motion according to a preset amplitude variation floating position and a real-time amplitude variation position so as to enable the crane jib 2 to reach a floating support position;
controlling the slewing device 3 to perform floating slewing motion according to the preset slewing reference position and the real-time slewing position, and controlling the amplitude variation device 4 to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane jib 2 with the center line of the jib support 6.
Further, the boom retracting process of the crane boom 2 may comprise two steps, the first step: the crane jib 2 reaches a floating support position by controlling the slewing device 3 to perform active slewing motion and controlling the amplitude variation device 4 to perform amplitude variation motion; in a second step, the crane boom 2 can be brought from the floating support position to a position where the axis of the crane boom 2 is aligned with the center line of the boom support 6 by controlling the slewing device 3 to perform a floating slewing motion and controlling the luffing device 4 to perform a luffing motion. Namely, after the crane boom 2 reaches the floating support position, the turning device 3 can control the whole crane to be in a floating turning state, so that the crane can be pushed or pulled by external force to make turning motion, and can reach the preset turning reference position from the preset turning floating position, and compared with the way that the turning device 3 directly adopts active turning to further reach the preset turning floating position, the buffering effect can be achieved, and the phenomenon that the boom support 6 is damaged by collision can be further avoided.
Referring to fig. 1, 2 and 6, in the embodiment of the present invention, the slewing device 3 includes a slewing platform disposed on the crane body 1 and a hydraulic slewing transmission assembly including a slewing valve 31 for controlling the slewing platform to perform active slewing motion and a slewing cushion valve 32 for controlling the slewing platform to perform floating slewing motion, and the control device is respectively connected in communication with the slewing valve 31 and the slewing cushion valve 32.
Controlling the revolving device 3 to perform active revolving motion according to the preset revolving floating position and the real-time revolving position comprises: controlling the opening and closing duration of the rotary valve 31 according to the preset rotary floating position and the real-time rotary position;
controlling the revolving device 3 to perform the floating revolving motion according to the preset revolving reference position and the real-time revolving position comprises: and controlling the opening and closing duration of the rotary cushion valve 32 according to the preset rotary reference position and the real-time rotary position.
Specifically, when the crane is retracted, the rotary valve 31 in the slewing device 3 may be powered on first to control the slewing platform to perform active slewing motion, the initial slewing position detected by the slewing detection device moves to the preset slewing floating position, then the rotary valve 31 is powered off, and the slewing buffer valve 32 is powered on, as shown in fig. 6, after the slewing buffer valve 32 is powered on, the ports a and B of the slewing motor 33 may be connected, so that the whole crane is in a floating slewing state, and may be pushed or pulled by means of external force to finally reach the preset slewing reference position. That is, after the manipulator sends an arm retracting start command, the rotary valve 31 can be controlled to be opened, the real-time rotary position detected by the rotary detection device is continuously compared with the preset rotary floating position, and when the real-time rotary position is the preset rotary floating position, the rotary valve 31 can be controlled to be closed; after the rotary valve 31 is closed, the rotary cushion valve 32 may be electrically opened, and the real-time rotary position detected by the rotary detection device is continuously compared with the preset rotary reference position, and when the real-time rotary position is the preset rotary reference position, the rotary cushion valve 32 may be controlled to be closed. So that switching and control of the active swing motion and the floating swing motion of the swing device 3 can be achieved by controlling the rotary valve 31 and the swing relief valve 32.
In the embodiment of the present invention, the method for controlling the slewing device 3 to perform active slewing motion according to the preset slewing floating position and the real-time slewing position, and controlling the amplitude variation device 4 to perform amplitude variation motion according to the preset amplitude variation floating position and the real-time amplitude variation position, so as to enable the crane boom 2 to reach the floating support position, includes:
acquiring a preset rotary floating position and a preset variable amplitude floating position;
calculating a rotation position deviation according to a preset rotation floating position and a real-time rotation position, and calculating an amplitude variation position deviation according to a preset amplitude variation floating position and a real-time amplitude variation position;
and controlling the slewing device 3 to perform active slewing motion according to the slewing position deviation and controlling the amplitude variation device 4 to perform amplitude variation motion according to the amplitude variation position deviation so as to enable the crane boom 2 to reach the floating support position.
Further, the preset rotation floating position and the preset amplitude floating position can be preset in a storage unit of the control device, or can be sent to the control device by external input. Meanwhile, in the embodiment of the invention, the preset rotary floating position and the preset amplitude-variable floating position are determined according to the floating support position. The slewing device 3 is controlled to carry out active slewing motion by calculating the slewing position deviation between the preset slewing floating position and the real-time slewing position, and the amplitude variation device 4 is controlled to carry out amplitude variation motion by calculating the amplitude variation position deviation between the preset amplitude variation floating position and the real-time amplitude variation position, so that real-time adjustment can be realized, and the crane jib 2 can be ensured to accurately reach the floating support position.
In the embodiment of the invention, the amplitude variation device 4 comprises a hydraulic oil cylinder for driving the crane boom 2 to perform amplitude variation motion and an amplitude variation valve for controlling the hydraulic oil cylinder to work, and the control device is in communication connection with the amplitude variation valve.
The step of controlling the amplitude variation device 4 to perform amplitude variation motion according to the preset amplitude variation floating position and the real-time amplitude variation position comprises the following steps: and controlling the amplitude variation valve to open for a first opening and closing time at a first opening according to the preset amplitude variation floating position and the real-time amplitude variation position.
The step of controlling the amplitude variation device 4 to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position comprises the following steps: and controlling the amplitude variation valve to open a second opening and closing time length at a second opening according to the preset amplitude variation reference position and the real-time amplitude variation position, wherein the second opening is smaller than the first opening.
Furthermore, after the manipulator sends an arm retracting start instruction, the control device can control the amplitude variation valve to be powered on and opened at the first opening, and continuously compares the real-time amplitude variation position detected by the amplitude variation detection device with the preset amplitude variation floating position, and when the real-time amplitude variation position is the preset amplitude variation floating position, the control device can control the amplitude variation valve to be temporarily closed or reduced to be opened at the second opening. When the amplitude variation valve is opened again at the second opening degree or is directly reduced from the first opening degree to the second opening degree, the real-time amplitude variation position detected by the amplitude variation detection device can be continuously compared with the preset amplitude variation reference position, and when the real-time amplitude variation position is the preset amplitude variation reference position, the amplitude variation valve can be controlled to be closed. After the crane boom 2 reaches the floating support position, the amplitude variation valve is opened at a second opening degree lower than the first opening degree, so that the amplitude variation speed can be reduced, and the phenomenon that the boom support 6 is damaged by collision can be further avoided. Further, the first opening degree of the luffing valve can be a full opening degree, and the second opening degree of the luffing valve can be an opening degree that is less than half-open.
Specifically, when the amplitude variation detection device detects that the real-time amplitude variation position reaches the preset amplitude variation reference position, the control device can control the amplitude variation valve to be closed. Of course, the present invention is not limited thereto, and the luffing valve and the rotary valve may be manually closed by manual observation.
Referring to fig. 3 and 5, in the embodiment of the present invention, the boom support 6 includes a support body 61 for being disposed on the crane body 1, the upper end of the support body 61 is formed with a V-shaped opening, and one of two inclined surfaces 611 forming the V-shaped opening is used to support the crane boom 2 in a floating back motion. In particular, the V-shaped opening comprises two inclined surfaces 611 arranged obliquely at intervals, and a horizontal surface 612 connecting the two inclined surfaces 611, and the V-shaped opening is arranged axisymmetrically with respect to the center line of the horizontal surface 612, the center line of the horizontal surface 612 can become the center line of the boom support 6, and both inclined surfaces 611 can support the crane boom 2 in floating back motion. When the crane boom 2 reaches the floating support position, the opening degree of the luffing valve is reduced from the first opening degree to the second opening degree, the crane boom 2 slowly luffs, as the crane boom 2 is lowered, when the crane boom 2 is placed on one of the inclined surfaces 611, as shown in fig. 3, the inclined surface 611 gives a reaction force F perpendicular to the inclined surface 611 to the crane boom 2, and the force can resolve a horizontal force F1 to push the crane boom 2 to move inward, and since the rotating platform is in a floating rotation state, the horizontal force F1 can push the crane boom 2 to slowly rotate towards the center line of the boom support 6 until the axis of the crane boom 2 is aligned with the center line of the boom support 6, as shown in fig. 5.
More specifically, as shown in fig. 4, the boom support 6 further comprises two cushion blocks 62, the two cushion blocks 62 are arranged on the two inclined surfaces 611 in a one-to-one correspondence, and one cushion block 62 of the two cushion blocks 62 is used for supporting the crane boom 2 in floating back motion on the corresponding inclined surface 611. I.e. the cushion block 62 on the inclined surface 611, may also be used for supporting the crane boom 2 in floating back motion, and the cushion block 62 is made of a material having a cushioning effect, so that it may play a role in cushioning. The cushion block 62 may be made of rubber.
In the embodiment of the invention, the rotation angle of the crane boom 2 at the floating support position is less than half of the included angle of the V-shaped opening, and the floating support position is higher than the bracket body (61). Namely, the floating support position of the crane jib 2 should be located right above the V-shaped opening of the support body (61), and the amplitude angle of the crane jib 2 at the floating support position should ensure that the lowest point of the outer contour of the crane jib 2 should be higher than the highest point of the jib support 6. Specifically, the rotation angle of the crane boom 2 between the floating support position and the center line of the boom support 6 may be 2 ° to 3 °, and the amplitude-varying angle of the crane boom 2 between the floating support position and the center line of the boom support 6 may be 2 ° to 4 °. That is, if the position where the axis of the crane jib 2 is aligned with the center line of the jib support 6 is set to be the preset rotation reference position with the rotation angle of 0 ° and the preset amplitude reference position with the amplitude angle of 0 °, the rotation angle of the crane jib 2 at the floating support position may be 2 ° to 3 °, and the amplitude angle may be 2 ° to 4 °. It should be noted in particular that the angle of rotation of the crane boom 2 in the floating support position should ensure that the crane boom 2 falls onto the inclined surface 611 of the boom support 6 without interfering with the boom support 6 and accurately falls onto the inclined surface 611. Further, in the present embodiment, the swivel angle of the crane boom 2 between the floating support position and the center line of the boom support 6 may be 2.3 ° to 2.5 °, and the amplitude-varying angle of the crane boom 2 between the floating support position and the center line of the boom support 6 may be 3 ° to 3.2 °.
In an embodiment of the present invention, the control system for the crane to get on and off the arm further includes a hoisting valve for controlling the crane hook 5 to perform a lifting motion and a hook detection device for detecting a hook position of the crane hook 5, the control device is respectively connected in communication with the hoisting valve and the hook detection device, and the control device is further configured to:
receiving a real-time lifting hook position sent by a lifting hook detection device;
and controlling the winch valve to work according to the preset lifting hook reference position and the real-time lifting hook position.
Specifically, in the process of retracting the boom of the crane boom 2, the real-time hook position can be detected through the hook detection device, the hook position deviation is calculated according to the preset hook reference position and the real-time hook position, and then the hoisting valve is controlled to work according to the hook position deviation, so that the crane hook 5 reaches the preset hook reference position. More specifically, the hook detection device may be used to detect the distance between the crane hook 5 and the head of the crane boom 2, the predetermined hook reference position being such that the crane hook 5 does not interfere with the normal travel of the crane body 1. The preset hook reference position may be a position where the distance between the crane hook 5 and the head of the crane boom 2 is 0.5-0.7 m.
In the embodiment of the invention, the control system for the arm folding and the boarding of the crane further comprises an arm length detection device for detecting the length of the suspension arm of the crane suspension arm 2, and the control device is in communication connection with the arm length detection device.
Before receiving the real-time rotation position sent by the rotation detection device and the real-time amplitude-variable position sent by the amplitude-variable detection device, the method further comprises the following steps:
receiving the real-time boom length sent by the boom length detection device;
and judging whether the crane jib 2 meets the jib folding condition or not according to the real-time jib length.
In the embodiment of the invention, the boom retracting condition is that the real-time boom length of the crane boom 2 is the boom length when the crane boom 2 is fully contracted, if the real-time boom length meets the boom retracting condition, the operation of receiving the real-time rotation position sent by the rotation detection device and the real-time amplitude change position sent by the amplitude change detection device is executed, and if the real-time boom length does not meet the boom retracting condition, the subsequent operation is not executed. In particular, the arm length detecting means may be a pull wire detecting means.
In order to achieve the above object, the present invention also provides a mobile crane, wherein the mobile crane comprises the control system for the crane upper arm folding according to the above. Since the truck crane adopts all the technical solutions of the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control system for a crane boom hoist, the control system comprising:
a crane boom (2) mounted on the slewing device (3) and carrying a luffing device (4);
the rotation detection device is used for detecting the rotation position of the crane boom (2);
the amplitude detection device is used for detecting the amplitude position of the crane jib (2); and
a control device in communication with the slewing device (3), the luffing device (4), the slewing detection device and the luffing detection device, respectively, and configured to:
receiving a real-time rotation position sent by the rotation detection device and a real-time amplitude variation position sent by the amplitude variation detection device;
controlling the slewing device (3) to perform slewing motion according to a preset slewing reference position and a real-time slewing position, and controlling the amplitude variation device (4) to perform amplitude variation motion according to a preset amplitude variation reference position and a real-time amplitude variation position so as to align the axis of the crane jib (2) with the center line of the jib support (6);
the step of controlling the slewing device (3) to perform slewing motion according to a preset slewing reference position and a real-time slewing position and controlling the amplitude variation device (4) to perform amplitude variation motion according to a preset amplitude variation reference position and a real-time amplitude variation position so as to align the axis of the crane boom (2) with the center line of the boom support (6) comprises the following steps:
controlling the slewing device (3) to perform active slewing motion according to a preset slewing floating position and a real-time slewing position, and controlling the amplitude variation device (4) to perform amplitude variation motion according to a preset amplitude variation floating position and a real-time amplitude variation position so as to enable the crane jib (2) to reach a floating support position;
and controlling the slewing device (3) to perform floating slewing motion according to the preset slewing reference position and the real-time slewing position, and controlling the amplitude variation device (4) to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position so as to align the axis of the crane boom (2) with the center line of the boom support (6).
2. The control system for the on-board crane jib loading and unloading according to claim 1, wherein the slewing device (3) comprises a slewing platform for being arranged on a crane body (1) and a hydraulic slewing transmission assembly, the hydraulic slewing transmission assembly comprises a slewing valve (31) for controlling the slewing platform to perform active slewing motion and a slewing cushion valve (32) for controlling the slewing platform to perform floating slewing motion, and the control device is respectively in communication connection with the slewing valve (31) and the slewing cushion valve (32);
the control of the slewing device (3) to carry out active slewing motion according to the preset slewing floating position and the real-time slewing position comprises the following steps: controlling the opening and closing duration of the rotary valve (31) according to the preset rotary floating position and the real-time rotary position;
the step of controlling the slewing device (3) to perform floating slewing motion according to the preset slewing reference position and the real-time slewing position comprises the following steps: and controlling the opening and closing duration of the rotary buffer valve (32) according to the preset rotary reference position and the real-time rotary position.
3. The control system for the jib loading and unloading of cranes of claim 1, wherein said control of said slewing device (3) for active slewing movement according to a preset slewing floating position and a real-time slewing position and said luffing device (4) for luffing movement according to a preset luffing floating position and a real-time luffing position for bringing said crane jib (2) to a floating support position comprises:
acquiring a preset rotary floating position and a preset variable amplitude floating position;
calculating a rotation position deviation according to the preset rotation floating position and the real-time rotation position, and calculating a variable amplitude position deviation according to the preset variable amplitude floating position and the real-time variable amplitude position;
and controlling the slewing device (3) to actively perform slewing motion according to the slewing position deviation, and controlling the amplitude variation device (4) to perform amplitude variation motion according to the amplitude variation position deviation so as to enable the crane boom (2) to reach a floating support position.
4. The control system for the crane jib loading and unloading according to claim 1, wherein the luffing device (4) comprises a hydraulic cylinder for driving the crane jib (2) to perform luffing motion and a luffing valve for controlling the operation of the hydraulic cylinder, and the control device is in communication connection with the luffing valve;
the step of controlling the amplitude variation device (4) to perform amplitude variation motion according to the preset amplitude variation floating position and the real-time amplitude variation position comprises the following steps: controlling the amplitude variation valve to open for a first opening and closing time at a first opening degree according to the preset amplitude variation floating position and the real-time amplitude variation position;
the step of controlling the amplitude variation device (4) to perform amplitude variation motion according to the preset amplitude variation reference position and the real-time amplitude variation position comprises the following steps of: and controlling the amplitude variation valve to open a second opening and closing time length at a second opening according to the preset amplitude variation reference position and the real-time amplitude variation position, wherein the second opening is smaller than the first opening.
5. Control system for crane jib loading according to claim 1, wherein the jib support (6) comprises a support body (61) for being arranged on the crane body (1), the upper end of the support body (61) being formed with a V-shaped opening, one (611) of the two inclined surfaces (611) forming the V-shaped opening being used to support the crane jib (2) in floating back motion.
6. The control system for a jib on crane of claim 5, wherein said jib support (6) further comprises two cushion blocks (62), said two cushion blocks (62) being arranged on two of said inclined surfaces (611) in a one-to-one correspondence, one of said cushion blocks (62) of said two cushion blocks (62) being adapted to support said crane jib (2) in floating back motion on said corresponding inclined surface (611).
7. Control system for crane jib stowing according to claim 5 wherein the swivel angle of the crane jib (2) in the floating support position, which is higher than the bracket body (61), is less than half the angle of the V-shaped opening.
8. The control system for the arm folding on the crane according to any one of claims 1 to 7, further comprising a hoist valve for controlling the crane hook (5) to perform a lifting motion and a hook detection device for detecting the hook position of the crane hook (5), the control device being in communication with the hoist valve and the hook detection device, respectively, the control device being further configured to:
receiving the real-time hook position sent by the hook detection device;
and controlling the work of the hoisting valve according to the preset lifting hook reference position and the real-time lifting hook position.
9. The control system for arm retraction on a crane according to any of claims 1 to 7, characterized in that the control system further comprises an arm length detection device for detecting the boom length of the crane boom (2), the control device being in communication with the arm length detection device;
before receiving the real-time rotation position sent by the rotation detection device and the real-time amplitude-variable position sent by the amplitude-variable detection device, the method further comprises the following steps:
receiving the real-time boom length sent by the boom length detection device;
and judging whether the crane boom (2) meets the boom retracting condition or not according to the real-time boom length.
10. Truck crane, characterized in that it comprises a control system for a crane jib loading and unloading according to any of claims 1 to 9.
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| CN202111214962.3A CN114105004B (en) | 2021-10-19 | 2021-10-19 | Control system for crane to get on and take up arm and automobile crane |
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| CN202111214962.3A CN114105004B (en) | 2021-10-19 | 2021-10-19 | Control system for crane to get on and take up arm and automobile crane |
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| CN114105004B true CN114105004B (en) | 2022-12-23 |
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| CN111392607A (en) * | 2020-04-26 | 2020-07-10 | 安徽柳工起重机有限公司 | Loading and unloading control system of automobile crane and control method thereof |
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| CN201891687U (en) * | 2010-01-15 | 2011-07-06 | 徐州海伦哲专用车辆股份有限公司 | Rotary hydraulic system capable of realizing free slip-rotation and centering of arm bracket |
| CN109911772A (en) * | 2019-04-30 | 2019-06-21 | 安徽柳工起重机有限公司 | Dress receives Vehicular ceiling arm rotary control system and its control method on a kind of crane |
| CN110642147A (en) * | 2019-10-08 | 2020-01-03 | 长沙中联恒通机械有限公司 | Lorry-mounted crane, automatic unfolding and folding control device and method |
| CN111392607A (en) * | 2020-04-26 | 2020-07-10 | 安徽柳工起重机有限公司 | Loading and unloading control system of automobile crane and control method thereof |
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Application publication date: 20220301 Assignee: Zoomlion Heavy Industry Science and Technology Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044881 Denomination of invention: Control system for boom retraction on cranes and truck cranes Granted publication date: 20221223 License type: Common License Record date: 20231030 Application publication date: 20220301 Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044887 Denomination of invention: Control system for boom retraction on cranes and truck cranes Granted publication date: 20221223 License type: Common License Record date: 20231030 Application publication date: 20220301 Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044882 Denomination of invention: Control system for boom retraction on cranes and truck cranes Granted publication date: 20221223 License type: Common License Record date: 20231030 |
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