CN115157949A - Suspension control method and system and crane - Google Patents
Suspension control method and system and crane Download PDFInfo
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- CN115157949A CN115157949A CN202210763039.3A CN202210763039A CN115157949A CN 115157949 A CN115157949 A CN 115157949A CN 202210763039 A CN202210763039 A CN 202210763039A CN 115157949 A CN115157949 A CN 115157949A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/06—Cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The application relates to the technical field of engineering machinery, in particular to a suspension control method, a suspension control system and a crane, wherein the suspension control method comprises the following steps: the method comprises the steps of firstly obtaining working condition data of the engineering machinery, then judging the moment when the suspension of the engineering machinery starts to bear the weight of an engineering machinery main body based on the obtained working condition data of the engineering machinery, and switching the suspension from a rigid working mode to a flexible working mode at the moment, so that when the suspension bears smaller weight and pressure of the engineering machinery body, the flexible buffer effect starts to be exerted, the buffer effect is exerted in the process of gradually bearing the weight of the engineering machinery body, the problems that after the rigid working mode bears the weight of the whole vehicle, the flexible mode is switched, the pressure required to be buffered at the moment of suspension is huge, the buffer effect is poor, the engineering machinery body shakes, engineering machinery components are damaged and the like are solved, and the stability and the safety of the engineering machinery are improved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a suspension control method, a suspension control system and a crane.
Background
The engineering machinery capable of running generally has multiple working conditions, such as running and operation, and the suspension of the engineering machinery generally has two modes, namely a flexible working mode and a rigid working mode, aiming at different working conditions. When the engineering machinery runs, the suspension and wheels connected with the suspension support the engineering machinery body, the suspension is in a flexible working mode, and a rodless cavity and a rod cavity of the suspension can be linked, so that the pressure buffering function is realized, and jolt of the engineering machinery body is reduced; and when the working condition is that the object is lifted, the engineering machinery is supported by the supporting legs connected with the body of the engineering machinery, the suspension of the engineering machinery is in a rigid working mode at the moment, and the suspended rodless cavity and the suspended rod cavity are disconnected and cannot be linked to buffer pressure, so that the consistency of the integral movement of the engineering machinery is ensured, and the phenomenon that the operation safety is influenced because the inner part of the engineering machinery moves in the operation process is avoided.
In the prior art, when the engineering machinery completes operation and needs to be converted into a running mode, and a suspension working mode is switched from a rigid working mode to a flexible working mode, the weight of an engineering machinery vehicle body causes large impact on devices such as a suspension device, so that the vehicle body is easy to shake, and even the components are damaged.
Disclosure of Invention
In view of the above, the present invention is directed to a suspension control method, a suspension control system and a crane.
In a first aspect, the present invention provides a suspension control method, comprising:
acquiring working condition data of the engineering machinery;
determining a target moment based on the working condition data, wherein the target moment is the moment when the suspension of the engineering machinery starts to bear the weight of the engineering machinery main body;
at the target moment, switching the suspension from a rigid mode of operation to a flexible mode of operation.
Optionally, the working condition data includes pressure data or tire pressure data of a rodless cavity of the suspension cylinder;
the determining a target time based on the operating condition data includes:
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment;
or determining the time when the tire pressure of the engineering machinery reaches a second preset value based on the tire pressure data, and determining the time as the target time.
Optionally, the working condition data includes one of pressure data of a rodless cavity of the suspension cylinder and tire pressure data, and displacement data of the suspension cylinder;
the suspension oil cylinder displacement data is used for representing the displacement of the suspension oil cylinder in the vertical direction;
the determining a target time based on the operating condition data includes:
judging whether the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value or not based on the displacement data of the suspension oil cylinder; if yes, acquiring pressure data or tire pressure data of a rodless cavity of the suspension oil cylinder;
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment; or determining the time when the pressure of the engineering machinery tire reaches a second preset value based on the tire pressure data, and determining the time as the target time.
Optionally, the working condition data includes one of pressure data of a rodless cavity of a suspension oil cylinder and tire pressure data, displacement data of the suspension oil cylinder and leg receiving signals of a supporting leg;
the suspension oil cylinder displacement data is used for representing the displacement of the suspension oil cylinder in the vertical direction;
the determining a target time based on the operating condition data includes:
judging whether the supporting leg of the engineering machinery is folded or not based on the supporting leg folding signal; if yes, acquiring displacement data of the suspension oil cylinder;
judging whether the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value or not based on the displacement data of the suspension oil cylinder; if so, acquiring pressure data or tire pressure data of the rodless cavity of the suspension oil cylinder;
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment; or determining the time when the pressure of the engineering machinery tire reaches a second preset value based on the tire pressure data, and determining the time as the target time.
Optionally, the method further comprises locking the work machine suspension in a rigid work mode when the work machine suspension does not start bearing the weight of the work machine body.
Optionally, the working condition data includes pressure data of a rodless cavity of the suspension oil cylinder and tire pressure data;
the determining a target time based on the operating condition data includes:
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder;
and detecting the tire pressure data at the moment when the pressure borne by the rodless cavity of the oil cylinder reaches a first preset value, and determining the moment as the target moment if the tire pressure at the moment reaches a second preset value.
In a second aspect, an embodiment of the present application provides a suspension control system, including:
the device comprises a controller, a data detection module and a control valve;
the controller is respectively connected with the data detection module and the control valve;
the controller is used for controlling the data detection module to detect and acquire working condition data of the engineering machinery;
the controller is further used for determining a target moment based on the working condition data, wherein the target moment is the moment when the suspension of the engineering machinery starts to bear the weight of the engineering machinery main body;
the controller is further configured to switch the suspension from a rigid mode of operation to a flexible mode of operation at the target time via the control valve.
Optionally, the data detection module includes a suspension cylinder rodless cavity pressure sensor and/or a tire pressure sensor, and is configured to acquire suspension cylinder rodless cavity pressure data and/or tire pressure data.
Optionally, the data detection module further includes a leg-retracting signal detector and a suspension cylinder displacement sensor.
In a third aspect, embodiments of the present application further provide a crane including a suspension control system as mentioned above.
The application provides a suspension control method, system and hoist, the suspension control method includes through obtaining engineering machine tool operating condition data, judge the moment that engineering machine tool's suspension begins to bear engineering machine tool main part weight, and will hang and switch over to flexible operating mode from rigid operating mode at this moment, thereby when hanging and bear less engineering machine tool automobile body weight pressure, just begin to exert flexible cushioning effect, in the in-process that bears all weights of engineering machine tool automobile body gradually, all exert the effect of slow-down pressure, avoid bearing the back of whole car weight under rigid operating mode, switch over flexible mode again, it needs the buffer pressure huge in the twinkling of an eye to hang, the buffer effect is not good, thereby engineering machine tool automobile body that leads to rocks, the problem of engineering machine tool component damage, improve engineering machine tool's stability and security.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally indicate like parts or steps.
FIG. 1 is a schematic structural diagram of a multi-bridge left-right cross interconnection type hydro-pneumatic suspension in the prior art.
Fig. 2 is a schematic flow chart of a suspension control method according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a suspension control method according to another embodiment of the present application.
Fig. 4 is a schematic flow chart of a suspension control method according to still another embodiment of the present application.
Fig. 5 is a schematic flow chart of a suspension control method according to still another embodiment of the present application.
Fig. 6 is a schematic flow chart of a suspension control method according to still another embodiment of the present application
Fig. 7 is a schematic structural diagram of a suspension control system according to an embodiment of the present application.
FIG. 8 is a schematic diagram of a suspension control system provided in accordance with another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Application overview:
fig. 1 is a schematic structural diagram of a multi-axle left-right cross interconnection type hydro-pneumatic suspension in the prior art, and as shown in fig. 1, the suspension is divided into a front axle and a rear axle, the front axle comprises a left front suspension oil cylinder 11 and a right front suspension oil cylinder 12, and the rear axle comprises a left rear suspension oil cylinder 13 and a right rear suspension oil cylinder 14. And the left front locking valve 21, the right front locking valve 22, the left rear locking valve 23, the right rear locking valve 24, the left front accumulator 31, the right front accumulator 32, the left rear accumulator 33, the right rear accumulator 34, the left front check valve 41, the right front check valve 42, the left rear check valve 43, the right rear check valve 44, the left front damper 51, the right front damper 52, the left rear damper 53, the right rear damper 54, the left front displacement sensor 61, the right front displacement sensor 62, the left rear displacement sensor 63 and the right rear displacement sensor 64 form a multi-bridge left-right cross interconnection type hydro-pneumatic suspension together. When the suspension is in a flexible working mode, the effect of buffering pressure is realized by controlling the linkage of each chamber of each suspension oil cylinder, and when the suspension is in a rigid working mode, each chamber of each suspension oil cylinder is controlled not to be linked by locking the locking valve, so that the consistency of the overall motion of the engineering machinery is maintained, and the safety of the engineering machinery is ensured.
For example: when the engineering machinery such as a crane is in a hoisting operation working condition, when the crane is in hoisting operation, a vehicle needs to be supported by a crane supporting leg oil cylinder, and the main weight of the crane does not need to be supported by hanging tires and the like. At the moment, the supporting legs are lifted to bear the whole weight of the whole crane, the four locking valves in the drawing 1 are all powered off, the suspension oil cylinder is in a rigid working mode, oil liquid in two cavities of the suspension oil cylinder is sealed in the oil cylinder, and a rodless cavity and a rod cavity in the suspension oil cylinder cannot be linked, so that in the supporting leg supporting process, an axle and tires are connected to form a whole body by being suspended on the frame, the axle, the tires, the suspension and other mechanisms are lifted along with the frame, the supporting leg oil cylinder is ensured to be in a ground-off state after supporting, the weight of the whole crane is supported, and operation preparation before lifting is realized.
After the suspension loading operation is completed and the supporting legs are retracted, the four locking valves in the figure 1 are all powered on, the front axle oil cylinder and the oil cylinders on the left side and the right side of the rear axle are in a communicated state, the suspension oil cylinders are in a flexible working mode, the weight of the whole machine is transmitted to the axle and the tire through the suspension oil cylinders to bear force, the vehicle running state is achieved, and the suspension performs a buffering function.
In the prior art, before a support leg supports, a suspension oil cylinder is in a flexible state, the suspension oil cylinder supports the weight of a component above the suspension oil cylinder, and a rodless cavity and a rod cavity of the oil cylinder are both high-pressure. After the supporting legs support the vehicle, the suspension oil cylinder only bears the weight of an axle, tires and the like below the oil cylinder, and the suspension oil cylinder is pulled, specifically, the pressure of a rodless cavity is zero, and the pressure of a rod cavity is small (because the weight of the axle, the tires and the like is small).
The supporting legs are retracted under the rigid state, the weight of the whole machine is borne by the suspension oil cylinder, the pressure of the rodless cavity is high (because the weight of the engineering machinery components above the suspension oil cylinder, namely the weight of the main body of the engineering machinery except tires, is supported), because the oil cylinder is in the rigid locking state, the suspension locking valve is in the power-off state, the rodless cavity and the rod cavity of the suspension oil cylinder are disconnected, the pressure cannot be transmitted to the rod cavity, and the rod cavity of the suspension oil cylinder only has small pressure in the energy accumulator and cannot buffer the pressure. Therefore, the supporting legs are folded, the suspension is switched to a flexible state, and the pressure difference between two cavities of the suspension oil cylinder is large, so that large pressure impact can be generated during switching, the whole vehicle is rocked, components of the engineering machinery are easily damaged, and the safety and the stability of the engineering machinery are reduced.
The method comprises the following steps:
fig. 2 is a schematic flow chart of a suspension control method according to an embodiment of the present invention, and as shown in fig. 2, the suspension control method according to the present application includes:
and S101, acquiring working condition data of the engineering machinery.
Specifically, the working condition data of the engineering machinery such as the crane may include pressure data of a rodless cavity of a suspension cylinder on the crane, tire pressure data of tires of the engineering machinery, or other data that may represent the pressure of a weight support device of the crane, so as to determine the pressure data of the weight support device of the crane. For example, the pressure to which the rodless chamber of the suspension cylinder of the crane is exposed is represented by the pressure data of the rodless chamber of the suspension cylinder, or the pressure to which the leg of the crane is exposed is represented by the pressure data of the leg.
The pressure sensor arranged at the position of the suspension oil cylinder can be used for detecting the pressure data of the rodless cavity of the suspension oil cylinder, the tire pressure sensor is used for detecting the tire pressure data of a tire, or the pressure sensor arranged at the position of the supporting leg is used for detecting the pressure born by the supporting leg. It should be noted that, during the hoisting operation, since the support legs bear the entire weight of the crane, and the suspension and the wheels are both in a state of being separated from the ground, when the wheels are not grounded, the suspension cylinder does not support the weight above the suspension cylinder, the suspension only bears the weight of pulling up the axle and the wheels below the suspension cylinder, and the pressure of the part is specifically borne by the rod cavity of the suspension cylinder, and at the moment, the rod-free cavity of the suspension cylinder does not bear the pressure. The rodless cavity is pressurized only when the suspension cylinder begins to bear the weight of the crane body after the support legs are retracted and the wheels are grounded.
And S102, determining a target time based on the working condition data.
The target time is a time when the suspension of the construction machine starts to bear the weight of the construction machine body.
Specifically, taking the pressure data of the rodless cavity of the suspension cylinder as an example, after the pressure data of the rodless cavity of the suspension cylinder is obtained, the moment when the suspension starts to bear the weight of the main body of the engineering machinery is determined according to the pressure data of the rodless cavity of the suspension cylinder, wherein the weight of the main body of the engineering machinery can be the weight of a device, located above the suspension cylinder, on the engineering machinery such as a crane. When the pressure data of the rodless cavity of the suspension oil cylinder shows that the pressure exists in the rodless cavity of the suspension oil cylinder or reaches a preset value, the moment is determined as a target moment, namely the moment when the suspension of the engineering machinery starts to bear the weight of the main body of the engineering machinery.
It should be noted that, in the above-mentioned multiple data, only one data may be selected for performing the above-mentioned determination, or multiple data may be simultaneously used for performing multiple determinations, and only if the multiple data are successfully determined, the target time is determined, so as to improve the accuracy of determining the target time.
And S103, switching the suspension from the rigid working mode to the flexible working mode at the target moment.
Specifically, at the moment of determining the target, after the suspension of the engineering machine starts to bear the weight of the main body of the engineering machine, the suspension is switched from the rigid working mode to the flexible working mode when the suspension of the engineering machine starts to bear the smaller weight of the crane, so that the suspension starts to exert the function of the buffer pressure, the process of the buffer pressure is smooth, the buffer pressure cannot begin to buffer huge pressure after the rodless cavity bears the weight of all devices above the rodless cavity, and the moment of switching the flexible working mode is caused, and the larger pressure impact exists.
It should be noted that, the working condition data of the engineering machinery may be collected in real time or periodically, and the above steps may be performed after the data is collected each time, and whether the suspension starts to bear the weight of the main body of the engineering machinery at the time of collecting the data each time is determined, so as to ensure the accuracy and timeliness of the target time detection.
It can be understood that, as mentioned above, when the judgment data reaches the preset value, it is judged that the suspension starts to bear the weight of the main body of the construction machine at the moment, and the suspension is switched from the rigid operation mode to the flexible operation mode. Certainly, in order to limit the data acquisition frequency, when the acquired data exceeds a preset value, for example, when the pressure data of the rodless cavity of the suspension cylinder is greater than the preset value, although the situation indicates that the suspension cylinder does not start to bear the weight of the main body of the engineering machine at this moment, the situation indicates that the suspension cylinder already bears the weight of a part of the main body of the engineering machine, at this moment, the suspension is switched from the rigid working mode to the flexible working mode, and the function of suspension buffer pressure is exerted.
The embodiment of the application provides a suspension control method, including through obtaining engineering machine tool operating mode data, judge the moment that engineering machine tool's suspension begins to bear engineering machine tool main part weight, and will hang and switch over to flexible operating mode from rigid operating mode at this moment, thereby when hanging and bear less engineering machine tool automobile body weight pressure, just begin to exert flexible cushioning effect, in the in-process that bears all weights of engineering machine tool automobile body gradually, all exert the effect of slow-down pressure, avoid bearing whole car weight under rigid operating mode after, switch over flexible operating mode again, it is huge to hang the needs buffer pressure in the twinkling of an eye, thereby the engineering machine tool automobile body that leads to rocks, the problem of engineering machine tool component damage, improve engineering machine tool's stability and security.
It should be noted that, in the suspension control method provided in the embodiment of the present application, when the target time is determined, the suspension is switched from the rigid mode to the flexible mode at the target time, that is, before the target time is determined, the suspension is in the rigid operation mode even when the suspension of the construction machine does not start to bear the weight of the main body of the construction machine. Before the rodless cavity of the suspension oil cylinder is determined to be 0 or lower than a preset value through detection, the state of the suspension oil cylinder is controlled to be locked in a rigid working mode through controlling devices such as a locking valve and the like connected with the suspension oil cylinder when the suspension of the engineering machinery does not bear the weight of the engineering machinery main body, and therefore the operation safety of the engineering machinery is guaranteed.
Fig. 3 is a schematic flow chart of a suspension control method according to another embodiment of the present disclosure, as shown in the figure, in some embodiments, the working condition data of the engineering machine further includes suspension cylinder displacement data, and a target time, that is, a time when the suspension of the engineering machine starts to bear the weight of the main body of the engineering machine, is determined together with the suspension cylinder displacement data and the suspension cylinder rodless cavity pressure data. The method specifically comprises the following steps:
s201, obtaining displacement data of the suspension oil cylinder.
Specifically, the displacement data of the suspension oil cylinder can be acquired through a position sensor arranged at the suspension oil cylinder. The suspension cylinder displacement data may be data indicating a position of the suspension cylinder in a vertical direction, i.e., a height change of the suspension cylinder.
S202, judging that the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value.
It should be noted that, when the lifting operation of the engineering machine such as a crane is completed, and the supporting leg is retracted, only when the suspension cylinder is displaced to a preset range, for example, when the displacement reaches a value greater than or equal to a first preset value, the suspension cylinder starts to bear the weight of the component above the suspension cylinder, and then the pressure of the rodless cavity of the suspension cylinder may change. Therefore, whether the displacement of the suspension oil cylinder in the vertical direction reaches a second preset value is judged, if yes, the suspension oil cylinder possibly begins to bear the weight of the main body of the engineering machinery, pressure possibly exists in a rodless cavity of the suspension oil cylinder, and the following S203 and subsequent steps are executed; if not, the suspension oil cylinder cannot bear the weight of the main body of the engineering machine, the rodless cavity of the suspension oil cylinder must have no pressure, the following steps are stopped to be executed, or the displacement data of the suspension oil cylinder is obtained again after preset time to be judged, and the suspension oil cylinder is locked to be in a rigid working mode at the moment.
And S203, acquiring pressure data of a rodless cavity of the suspension oil cylinder.
S204, determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as a target moment.
And S205, switching the suspension from the rigid working mode to the flexible working mode at the target moment.
Specifically, pressure data of a rodless cavity of the suspension oil cylinder can be acquired by pressing a pressure sensor arranged at the suspension oil cylinder, and then according to the same principle as the embodiment, the time when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value is determined as the time when the suspension of the engineering machinery begins to bear the weight of the main body of the engineering machinery, and the suspension working mode is switched to the flexible working mode at the time.
In addition, the pressure data of the rod-free cavity can be replaced by the tire pressure data, the judgment condition is changed from whether the pressure data of the rod-free cavity reaches the preset value or not to whether the pressure data of the tire reaches the preset value or not, and the subsequent judgment process and the subsequent judgment result are the same. In the scheme, only when the pressure data of the rodless cavity reaches the preset value and the tire pressure reaches the preset value, the suspension working mode is switched when the pressure data of the rodless cavity is judged to be the target time, so that the switching safety is ensured.
It should be noted that, in the above process, only after the target time meeting the condition is finally determined, the suspension is switched from the rigid working mode to the flexible working mode at the target time, so it can be understood that, in the above other steps, the suspension is in the rigid working mode, including when the displacement of the suspension cylinder in the vertical direction does not reach the second preset value, and when the pressure borne by the rodless cavity of the suspension cylinder does not reach the first preset value. In addition, due to the problem of detection frequency, the moment that the pressure borne by the rodless cavity of the suspension oil cylinder cannot be detected to reach the first preset value may occur, and at the moment, when the pressure of the rodless cavity of the suspension oil cylinder is detected to be greater than the first preset value for the first time, the suspension is switched from the rigid working mode to the flexible working mode.
It can be understood that displacement data is detected, and related calculation is less compared with calculation related to detection principle data, so in the embodiment of the application, displacement data of the suspension oil cylinder is detected to judge height displacement of the suspension oil cylinder in the vertical direction, when the height displacement of the suspension oil cylinder reaches or exceeds a certain preset value, detection of pressure data of a rodless cavity of the suspension oil cylinder is started, and when the suspension oil cylinder is judged to bear the weight of a main body of the engineering machinery, a pressure sensor is not needed to detect the pressure data in real time, and energy consumption can be effectively reduced.
In other embodiments, in the suspension control method provided by the present application, the operating condition data of the work machine further includes a leg retracting signal. The specific control method is shown in fig. 4, and includes:
s301, a leg folding signal of the leg is obtained.
S302, determining whether the supporting legs are in a leg folding state.
Specifically, the leg retracting signal may indicate whether the leg starts to retract or is in the leg retracting process, and the leg retracting signal may be acquired by detecting with a sensor provided at the leg cylinder, or directly connected to the leg cylinder control system, so as to directly receive the leg retracting signal initiated by the control system. It should be noted that, when the landing leg fixed support hoist, hang the locking in rigid mode, hang and can not bear hoist main part weight, only receive the leg to certain degree after as the landing leg, hang just can probably bear the weight of hoist main part, so detect the landing leg earlier and receive the leg signal, only receive the leg at the landing leg and carry out subsequent detection again, can save the consumption greatly.
Detecting a leg-retracting signal, if the leg-retracting signal exists, indicating that the leg starts to retract or is in a leg-retracting state, and executing the subsequent steps when the instruction book is hung and possibly bears the weight of a main body of a working machine such as a crane; if the leg-retracting signal does not exist, the leg-retracting signal indicates that the leg does not start to retract, the specification is suspended and cannot bear the weight of the main body of the working machine such as a crane, the subsequent steps are not executed, and whether the leg-retracting signal exists can be detected again after a preset time period.
And S303, acquiring displacement data of the suspension oil cylinder.
S304, judging whether the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value or not based on the suspension oil cylinder displacement data.
S305, if the displacement of the suspension oil cylinder in the vertical direction reaches a second preset value, acquiring pressure data of a rodless cavity of the suspension oil cylinder.
S306, determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as a target moment.
And S307, switching the suspension from the rigid working mode to the flexible working mode at the target moment.
Specifically, after the support leg is determined to start to contract, displacement data of the suspension cylinder is obtained, whether the displacement of the suspension cylinder reaches a preset value is further judged, pressure data of a rodless cavity of the suspension cylinder is obtained when the displacement of the suspension cylinder reaches the preset value, and the moment when the suspension of the engineering machinery starts to bear the weight of the main body of the engineering machinery is determined based on the rodless cavity data of the suspension cylinder.
In addition, the suspension control method provided by the embodiment of the application can further include receiving an instruction whether to start an automatic anti-impact mode sent by a user, and when the user instructs to start the automatic anti-impact mode through the instruction, automatically judging the moment when the suspension of the engineering machine starts to bear the weight of the engineering machine main body, and switching the working mode of the suspension oil cylinder to be a flexible working mode at the moment; when the user instructs not to start the automatic anti-collision through the instruction, the information acquisition, the target moment determination and the switching of the working modes of the suspension oil cylinder are not carried out, so that different requirements of the user are met.
Similarly, the pressure data of the rod-less cavity can be replaced by the tire pressure data, the judgment condition is also changed from whether the pressure data of the rod-less cavity reaches the preset value or not to whether the pressure data of the tire reaches the preset value or not, and the subsequent judgment process and the subsequent judgment result are the same. In the scheme, only when the pressure data of the rodless cavity reaches the preset value and the tire pressure reaches the preset value, the switching of the suspension working mode is carried out when the judgment is that the target time is reached, so that the switching safety is ensured.
The suspension control method provided by the present application will be described in detail below in a complete embodiment, as shown in fig. 5, including:
it is first determined whether the user has started automatic impact protection. When the user indicates not to start the anti-impact function, the follow-up action is not executed; when the user instructs to start the anti-collision function, the following flow is started.
And then detecting whether a leg retracting signal exists. If not, determining that the crane works for the supporting legs (the supporting legs support the whole weight of the crane), and locking and suspending in a rigid working mode; and if the leg retracting signal of the support leg oil cylinder is detected, starting to detect the displacement data of the suspension oil cylinder.
Obtaining and judging whether the displacement of the suspension oil cylinder reaches a preset value, if not, determining that the crane is in a supporting leg working condition (the supporting leg supports the whole weight of the crane), and locking and suspending the suspension to be in a rigid working mode; and if so, detecting the rodless cavity data of the suspension oil cylinder.
Judging whether the pressure of a rodless cavity of the suspension oil cylinder reaches a preset value or not, and if not, locking the suspension to be in a rigid working mode; and if so, determining the moment when the suspension of the engineering machinery begins to bear the weight of the engineering machinery main body, and switching the suspension into a flexible working mode.
According to the suspension control method provided by the embodiment of the application, after a leg retracting signal of a supporting leg is detected, displacement data of a suspension oil cylinder is detected, after the displacement of the suspension oil cylinder reaches a preset value, the pressure of a rodless cavity of the suspension oil cylinder is detected, when the pressure of the rodless cavity of the suspension oil cylinder reaches the preset value, the moment when the pressure of the rodless cavity of the suspension oil cylinder reaches the preset value is determined as a target moment, the moment when the suspension of the engineering machinery starts to bear the weight of a main body of the engineering machinery is determined, and a suspension working mode is switched from a rigid working mode to a flexible working mode at the moment.
Therefore, when the supporting legs are retracted by the crane and the suspension starts to bear the weight of the main body of the engineering machinery, namely when the tire of the crane just lands, the suspension is switched to a flexible working mode, pressure intercommunication between a rod cavity and a rodless cavity of the suspension oil cylinder is realized, the weight of the whole crane is gradually transferred from the supporting legs to the suspension oil cylinder, the problem that the pressure required to be buffered in the moment of the suspension oil cylinder is huge, great pressure impact is caused, the crane body shakes, great noise is generated, and components and parts are damaged is solved, and the running stability and the safety of the crane are improved. And after the supporting legs are retracted, the suspension oil cylinder directly reaches the flexible state required by the running working condition, and the working efficiency of the crane is improved.
In other embodiments, the operating condition data further includes tire pressure data of the engineering machine, and the tire pressure data is used for assisting in judging the time when the suspension starts to bear the weight of the engineering machine body.
Specifically, on the basis of the above embodiment, when it is determined that the pressure exists in the rod-less cavity of the suspension cylinder according to the pressure data of the rod-less cavity of the suspension cylinder, the tire pressure data at that time is obtained, and whether the tire of the construction machine lands or not is judged, and a certain pressure exists. It should be noted that, when the suspension cylinder starts to bear the weight of the main body of the construction machine, that is, at the moment when the tire of the construction machine just lands on the ground, the tire pressure of the tire may suddenly increase compared with the tire pressure that does not land on the ground, so when the pressure in the rod-less chamber of the suspension cylinder is determined, the tire pressure at that moment is determined, and the correctness of the pressure data in the rod-less chamber can be verified. For example, when the pressure of the rodless cavity reaches a preset value, tire pressure data is collected for verification, then the tire pressure data shows that the pressure of the tire does not reach the preset value, and at the moment, the suspension working mode is locked to be a rigid working mode for the operation safety of the engineering machinery. The pressure data of the rodless cavity of the suspension oil cylinder can be obtained again subsequently, and the tire pressure information can be verified again, so that the accuracy of the suspension working mode switching moment is ensured, and the specific flow is shown in fig. 6.
It should be noted that, in the above embodiment, based on the performance of the data detection device and the computing unit, for a device with strong performance, which has a high data acquisition frequency and strong computing power, the following data may be acquired after the result of the previous step is judged; for the device with general acquisition frequency, after the result is judged, the subsequent data is acquired, each acquisition and calculation possibly causes certain delay, and finally the most accurate time of switching the suspension working mode is missed, so that the various data can be acquired simultaneously, the judgment and the like are calculated again, the suspension working mode is switched at the first time of obtaining the result, and the accuracy of the switching time is ensured.
Device embodiment：
Fig. 7 is a schematic structural diagram of a suspension control system according to an embodiment of the present application, and as shown in fig. 7, a suspension control method according to an embodiment of the present application includes a controller 101, a data detection module 102, and a control valve 103.
The controller 101 is connected to a data detection module 102 and a control valve 103, respectively. The controller 101 is configured to control the data detection module 102 to obtain the working condition data of the engineering machine.
Specifically, the controller 101 may be a separately provided control module, or may be an original controller of a construction machine such as a crane. The data detection module 102 may include a plurality of sensors, such as a sensor for acquiring a leg-receiving signal of a leg, a position sensor for acquiring a displacement of a suspension cylinder, including a height of the suspension cylinder, and a pressure sensor for acquiring a pressure data of a rodless cavity of the suspension cylinder, and of course, the data detection module may also be an integrated module integrating the above functions, and is configured to implement the above functions of detecting and acquiring various data. Wherein the data detection module 102 CAN transmit the data collected by detection to the controller 101 through the CAN signal.
The controller 101 is further configured to determine a target time, which is a time when the suspension of the work machine starts to bear the weight of the body of the work machine, based on the operating condition data.
The content of this portion may be implemented in a program in the controller 101, and is the same as the principle of the portion in the foregoing method embodiment, and may be understood by specifically referring to the portion in the foregoing method embodiment, which is not described herein again.
The controller 101 is also used to switch the suspension from the rigid operation mode to the flexible operation mode at a target moment by controlling the valve.
Specifically, the controller 101 performs a function of switching the suspension operation mode by controlling the valve 103. The control valve 103 may include a main valve 31 and an executing structure 32, both of which may be original devices on the engineering machinery such as a crane, or may be independently arranged. The actuator 32 may be embodied as a directional control valve or a latch valve connected to the suspension cylinder. The controller 101 calculates and converts the corresponding electrical signal based on the operating condition data and sends the electrical signal to the main valve 31, and the main valve 31 sends the electrical signal to the actuating mechanism 32 such as a reversing valve or a lock valve, and controls the actuating mechanism 32 to perform corresponding actions, thereby achieving the purpose of switching the suspension operating mode.
In addition, the suspension control system provided by the application further comprises an execution instruction for receiving whether the user executes the collision prevention, namely the detection and the suspension flexibility switching energy supply. In some embodiments, the data detection module 102 may also implement this functionality.
Fig. 8 is a schematic diagram of a suspension control system according to another embodiment of the present application, and as shown in fig. 8, the data detection module in the above embodiment may include a suspension cylinder rodless cavity pressure sensor, a leg receiving signal detector, a suspension cylinder displacement sensor, and a tire pressure sensor, and is configured to collect an automatic impact prevention command, a leg signal, a suspension cylinder displacement signal, a suspension cylinder rodless cavity pressure signal, and a tire pressure signal, and all of them may be transmitted to a controller in a CAN signal manner, and the controller determines, based on the above signals, a time for switching a suspension operating mode, and sends the time to a controller valve in an electrical signal manner, so as to implement switching of the suspension operating mode.
As shown in fig. 8, the control valve may include a main valve and an actuator including a lock valve, and the controller may first send a control electric signal to the main valve, and the main valve may control a state of the lock valve to switch the suspension operation mode. In addition, a reversing valve and the like can be added in the suspension system, so that the accuracy and the stability of the switching of the suspension working mode are improved.
The suspension control system that this application embodiment provided, after the user confirms to open the scour protection and hit the instruction, receive leg signal detector through the landing leg, detect the landing leg and receive leg signal, if there are landing leg and receive leg signal and tire pressure signal, then based on through suspension cylinder displacement sensor, detect the displacement data of suspension cylinder, if the displacement of suspension cylinder in vertical direction reaches the default, continue through suspension cylinder rodless chamber pressure sensor, detect whether there is pressure in suspension cylinder rodless chamber, when reaching the default with suspension cylinder rodless chamber pressure, and after the tire pressure signal is verified and is confirmed, confirm for the moment that the suspension begins to bear engineering machine tool main part weight, and at this moment, switch over the mode of operation that hangs to flexible mode from rigid mode. So, when hanging and bear less engineering machine tool automobile body weight pressure, just begin to exert flexible cushioning effect, bear the in-process of all weights of engineering machine tool automobile body gradually, all exert the effect of slow-down pressure, avoid bearing whole car weight under the rigidity mode of operation after, switch flexible mode again, it is huge to hang needs cushioning pressure in the twinkling of an eye, the cushioning effect is not good to the engineering machine tool automobile body that leads to rocks, the problem of engineering machine tool component damage improves engineering machine tool's stability and security.
The embodiment of the device comprises:
based on the same inventive concept, the embodiment of the application also provides a crane, which comprises the suspension control system mentioned in the embodiment of the suspension control system. The suspension control system detects the moment when the suspension begins to bear the weight of the engineering machinery main body, and at the moment, the suspension working mode is switched from a rigid working mode to a flexible working mode. So, when hanging and bear less engineering machine tool automobile body weight pressure, just begin to exert flexible cushioning effect, bearing the in-process of all weights of engineering machine tool automobile body gradually, all exert the effect of slow-down pressure, avoid bearing whole car weight under rigid work pattern after, switch flexible mode again, it is huge to hang needs buffer pressure in the twinkling of an eye, the buffering effect is not good, thereby the engineering machine tool automobile body that leads to rocks, the problem of engineering machine tool component damage, the stability and the security of improvement engineering machine tool.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A suspension control method, characterized by comprising:
acquiring working condition data of the engineering machinery;
determining a target moment based on the working condition data, wherein the target moment is the moment when the suspension of the engineering machinery starts to bear the weight of the engineering machinery main body;
at the target moment, switching the suspension from a rigid mode of operation to a flexible mode of operation.
2. The suspension control method according to claim 1, wherein the operating condition data includes suspension cylinder rodless cavity pressure data or tire pressure data;
the determining the target moment based on the working condition data comprises the following steps:
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment;
or determining the time when the tire pressure of the engineering machinery reaches a second preset value based on the tire pressure data, and determining the time as the target time.
3. The suspension control method according to claim 1, wherein the operating condition data includes one of suspension cylinder rodless cavity pressure data and tire pressure data, and suspension cylinder displacement data;
the suspension oil cylinder displacement data is used for representing the displacement of the suspension oil cylinder in the vertical direction;
the determining a target time based on the operating condition data includes:
judging whether the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value or not based on the displacement data of the suspension oil cylinder; if so, acquiring pressure data or tire pressure data of the rodless cavity of the suspension oil cylinder;
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment; or determining the time when the pressure of the engineering machinery tire reaches a second preset value based on the tire pressure data, and determining the time as the target time.
4. The suspension control method according to claim 1, wherein the operating condition data includes one of suspension cylinder rodless cavity pressure data and tire pressure data, suspension cylinder displacement data, and leg retraction signals;
the suspension oil cylinder displacement data is used for representing the displacement of the suspension oil cylinder in the vertical direction;
the determining the target moment based on the working condition data comprises the following steps:
judging whether the supporting legs of the engineering machinery are folded or not based on the supporting leg folding signals; if yes, acquiring displacement data of the suspension oil cylinder;
judging whether the displacement of the suspension oil cylinder in the vertical direction reaches a third preset value or not based on the displacement data of the suspension oil cylinder; if so, acquiring pressure data or tire pressure data of the rodless cavity of the suspension oil cylinder;
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder, and determining the moment as the target moment; or determining the time when the pressure of the engineering machinery tire reaches a second preset value based on the tire pressure data, and determining the time as the target time.
5. The suspension control method according to claim 1, further comprising locking the work machine suspension in a rigid work mode when the work machine suspension does not start bearing the work machine body weight.
6. The suspension control method according to claim 1, wherein the operating condition data includes suspension cylinder rodless cavity pressure data and tire pressure data;
the determining the target moment based on the working condition data comprises the following steps:
determining the moment when the pressure borne by the rodless cavity of the suspension oil cylinder reaches a first preset value based on the pressure data of the rodless cavity of the suspension oil cylinder;
and detecting the tire pressure data at the moment when the pressure borne by the rodless cavity of the oil cylinder reaches a first preset value, and determining the moment as the target moment when the tire pressure at the moment reaches a second preset value.
7. A suspension control system, comprising:
the device comprises a controller, a data detection module and a control valve;
the controller is respectively connected with the data detection module and the control valve;
the controller is used for controlling the data detection module to detect and acquire working condition data of the engineering machinery;
the controller is further used for determining a target moment based on the working condition data, wherein the target moment is the moment when the suspension of the engineering machinery starts to bear the weight of the engineering machinery main body;
the controller is further configured to switch the suspension from a rigid mode of operation to a flexible mode of operation at the target time via the control valve.
8. The suspension control system according to claim 7, wherein the data detection module comprises a suspension cylinder rodless cavity pressure sensor and/or a tire pressure sensor for acquiring suspension cylinder rodless cavity pressure data and/or tire pressure data.
9. The suspension control system of claim 8, wherein the data detection module further comprises a leg retraction signal detector and a suspension cylinder displacement sensor.
10. A crane comprising a suspension control system as claimed in any one of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210763039.3A CN115157949A (en) | 2022-06-30 | 2022-06-30 | Suspension control method and system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210763039.3A CN115157949A (en) | 2022-06-30 | 2022-06-30 | Suspension control method and system and crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115157949A true CN115157949A (en) | 2022-10-11 |
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ID=83490071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210763039.3A Pending CN115157949A (en) | 2022-06-30 | 2022-06-30 | Suspension control method and system and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115157949A (en) |
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2022
- 2022-06-30 CN CN202210763039.3A patent/CN115157949A/en active Pending
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