CN202924612U - Linear hoisting device for truck-mounted knuckle boom crane - Google Patents

Linear hoisting device for truck-mounted knuckle boom crane Download PDF

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Publication number
CN202924612U
CN202924612U CN 201220536387 CN201220536387U CN202924612U CN 202924612 U CN202924612 U CN 202924612U CN 201220536387 CN201220536387 CN 201220536387 CN 201220536387 U CN201220536387 U CN 201220536387U CN 202924612 U CN202924612 U CN 202924612U
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CN
China
Prior art keywords
crane
arm
straight line
folding
sensor
Prior art date
Application number
CN 201220536387
Other languages
Chinese (zh)
Inventor
薛耀锋
宋昆
徐磊
张波
朱从民
李润生
张红
黄卫平
王卫青
Original Assignee
中国人民解放军总后勤部建筑工程研究所
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Priority to CN 201220536387 priority Critical patent/CN202924612U/en
Application granted granted Critical
Publication of CN202924612U publication Critical patent/CN202924612U/en

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Abstract

The utility model discloses a linear hoisting device for a truck-mounted knuckle boom crane. The linear hoisting device comprises an operation device, a sensor part, a processor part and an executor part, wherein the operation part, the sensor part and the executor part are respectively connected with the processor part. In the prior art, with the lengthening of a steel rope, a crane provided with a hoisting mechanism is likely to swing under the action of the wind load. The linear hoisting device disclosed by the utility model has the advantages that the relative position of a hoisted object and a hoisting hook is basically unchanged and the operation process is more stable and safer. Besides, the linear hoisting device saves more space than the crane provided with a hoisting mechanism; an angle sensor, a length sensor and a controller which are adopted can be simultaneously applied to a crane moment limiter, no extra devices are arranged, and the device cost is effectively reduced.

Description

A kind of straight line lifting appliance for the folding-jib lorry-mounted crane

Technical field

The utility model belongs to the hoisting crane field, relates to a kind of hoisting crane straight line lifting appliance, especially a kind of straight line lifting appliance for the folding-jib lorry-mounted crane.

Background technology

Truck with loading crane possesses lifting, transportation function simultaneously, quick, flexible, the convenient and loading and unloading with it, the advantage that unites two into one of transportation be familiar withs and accept by increasing user, are widely used in the cargo handing of the industries such as communications and transportation, civil construction, electric power and transfer goods at a distance.On it, dress lorry-mounted crane is divided into two kinds of straight arm type lorry-mounted crane and folding-jib lorry-mounted cranes according to the difference of structure.The straight arm type lorry-mounted crane is because crane arm can not fold, and hanging object must be completed through cable wire drive suspension hook by winch, and has realized the straight line lifting of goods and materials.The folding-jib lorry-mounted crane can still need be adjusted two luffings and an expanding-contracting action aligning drop point repeatedly by luffing and the flexible lifting of completing goods and materials in the process of rising and falling, operation inconvenience has reduced operating efficiency; Therefore the folding-jib lorry-mounted crane that has the straight line lifting to require generally also needs to install winding plant, but but extra requirement has been proposed for structure and installing space, simultaneously the same with the straight arm type lorry-mounted crane, install the loop wheel machine of hoisting mechanism additional, along with steel rope lengthens, easily be subject to the impact that wind carries and swing, having certain potential safety hazard.

The utility model content

The purpose of this utility model is to overcome the shortcoming of above-mentioned prior art, a kind of straight line lifting appliance for the folding-jib lorry-mounted crane is provided, this device is by arranging data acquisition unit on folding-jib crane, the communication that collects is analyzed judgement to the processor module that is arranged on hoisting crane, processor module sends instruction according to the data that collect executive device is controlled, thereby reaches the purpose of folding-jib crane straight line lifting.

The purpose of this utility model solves by the following technical programs:

Comprise handling device, Sensor section, treater part and actr part; Described handling device, Sensor section and actr part partly are connected with treater respectively.

Above-mentioned treater partly comprises Programmable Logic Controller, input circuit and output circuit.

Above-mentioned treater partly is arranged on crane base or on crane chassis.

The aforesaid operations device comprises proportional control bar and the change-over switch that is arranged on wireless or wire remote control devices, and described change-over switch partly is connected with treater by input circuit.

The sensor partly comprises: is used for the linear transducer of the elongation of mensuration arm, is used for gathering the weight sensor of lift heavy quality information, and the first angular transducer and the second angular transducer; Described linear transducer is arranged on outer arm, and described weight sensor is arranged on the suspension hook upper end, and described the first angular transducer is arranged on outer arm, and described the second angular transducer is arranged on inner arm.

Above-mentioned actr partly comprises three road solenoid-operated proportional change-over valves, and the first amplitude oil cylinder, the second amplitude oil cylinder and the telescopic boom cylinder that are connected with three road solenoid-operated proportional change-over valves respectively.

Compared with prior art, the utlity model has following beneficial effect:

(1) in prior art, install the loop wheel machine of hoisting mechanism additional, along with steel rope lengthens, easily be subject to the impact that wind carries and swing, and adopt the utility model device, lift heavy and suspension hook relative position remain unchanged substantially, and operation process is more stable, safety.

(2) the utility model is than the mode that installs hoisting mechanism additional save space more, and the angular transducer of use, linear transducer and controller etc. can be common to crane torque limiter simultaneously, do not need additionally to set up, and have effectively saved equipment cost.

Description of drawings

Fig. 1 is system of the present utility model pie graph.

Fig. 2 is that the utility model is used schematic diagram on lorry-mounted crane.

Fig. 3 is implementing procedure figure of the present utility model.

Fig. 4 is the principal parameter instruction diagram.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is described in further detail:

Referring to Fig. 1 and Fig. 2, this straight line lifting appliance for the folding-jib lorry-mounted crane comprises handling device 1, Sensor section 2, treater part 3 and actr part 4; Described handling device 1, Sensor section 2 and actr part 4 are connected with treater part 3 respectively.Treater part 3 comprises Programmable Logic Controller 32, input circuit 31 and output circuit 33.Treater part 3 is arranged on crane base or on crane chassis.Handling device 1 comprises proportional control bar 11 and the change-over switch 12 that is arranged on wireless or wire remote control devices, and described change-over switch is connected with treater part 3 by input circuit 31.Sensor section 2 comprises: is used for the linear transducer 21 of the elongation of mensuration arm, is used for gathering the weight sensor 24 of lift heavy quality information, and the first angular transducer 22 and the second angular transducer 23; Described linear transducer 21 is arranged on outer arm, and described weight sensor 24 is arranged on the suspension hook upper end, and described the first angular transducer 22 is arranged on outer arm, and described the second angular transducer 23 is arranged on inner arm.Actr part 4 comprises three road solenoid-operated proportional change-over valves 13, and the first amplitude oil cylinder, the second amplitude oil cylinder and the telescopic boom cylinder that are connected with three road solenoid-operated proportional change-over valves 13 respectively.

The control method of this folding-jib lorry-mounted crane straight line lifting comprises the following steps, and is divided into two kinds of situations:

1) when loop wheel machine is in deployed condition, change-over switch is switched to straight line lifting state with the loop wheel machine operation, this moment, system preserved initial operation amplitude R; Operation amplitude error Δ R adjusts the first amplitude oil cylinder, the second amplitude oil cylinder and telescopic boom cylinder as quantitative control solenoid directional control valve group in the process that hoists or descend, thereby the actual job amplitude is controlled in certain scope;

When straight line hoisted, the first amplitude oil cylinder was being stretched out all the time, stretching speed v 1Be decided to be a with the deviator x coefficient of proportional control bar, with variable | Δ R| coefficient is decided to be b, with inner arm and horizontal direction angle | α | coefficient is c, and a, b, c are positive number, speed v 1=ax-b| Δ R|+c| α |;

2) when telescopic boom does not stretch out, stretch to adjust the operation amplitude by controlling the second amplitude oil cylinder, the flexible and Δ R's of the second amplitude oil cylinder is positive and negative relevant; When Δ R<-during ε, if θ<0 ° second amplitude oil cylinder stretch out, if θ〉0 ° of second amplitude oil cylinder retract; As Δ R〉during ε, if θ<0 ° second amplitude oil cylinder retract, if θ〉0 ° of second amplitude oil cylinder stretch out; Stretching speed v 2Be decided to be d with the deviator x coefficient of proportional control bar, with variable | Δ R| coefficient location e, with outer arm and horizontal direction angle | θ | coefficient is f, and d, e, f are positive number, speed v 2=dx-e| Δ R|+f| θ |; As telescopic boom overhang Δ L〉0 the time, adjust the operation amplitude by controlling telescopic boom cylinder, when Δ R<-during ε, telescopic boom cylinder begins to stretch out, as Δ R telescopic boom cylinder begins to retract during ε, the determining and v of stretching speed 2Identical;

In the process that straight line hoists, after outer arm and inner arm angle β are greater than set angle, stop stretching out or second amplitude oil cylinder of retracting, and the flexible adjustment operation amplitude by telescopic boom cylinder the determining and v of speed 2Identical;

When the inner arm change angle reached setting value, by increasing the flexible adjustment operation amplitude of outer arm change angle and telescopic boom, when outer arm and inner arm angle or telescopic boom stroke reached setting value, operation stopped, can not continuing to hoist, but the step-down operation of permission straight line;

In above-mentioned steps, R is initial operation amplitude; Δ R is the operation amplitude error; v 1And v 2Be stretching speed; ε is operation amplitude error limit; θ is the outer arm change angle; β is outer arm and inner arm angle.

The utility model is used for the straight line lifting appliance of folding-jib lorry-mounted crane, comprises handling device 1, Sensor section 2, treater part 3 and actr part 4.Wherein handling device 1, Sensor section 2 and actr part 4 are connected with treater part 3 respectively.

Handling device should comprise proportional control bar 11, this proportional control bar 11 generally is positioned on the wire remote control devices or Digiplex of lorry-mounted crane, in order to reduce the quantity of proportional control bar on remote controller, a change-over switch generally also is set on line control machine, makes function conversion between the some actions of operation and the lifting of operation straight line of some joysticks by change-over switch.

Described Sensor section 2 comprises: is used for the linear transducer 21 of the elongation of mensuration arm, is used for gathering the weight sensor 24 of lift heavy quality information, and the first angular transducer 22 and the second angular transducer 23; Linear transducer 21 is arranged on outer arm, and weight sensor 24 is arranged on the suspension hook upper end, and the first angular transducer 22 is arranged on outer arm, and the second angular transducer 23 is arranged on inner arm.

Described treater part 3 comprises Programmable Logic Controller 32, input circuit 31 and output circuit 33.Programmable Logic Controller 32 is connected with Sensor section 2 by input circuit 31, is connected with actr part 4 by output circuit 33.

Described actr part 4 comprises three road solenoid-operated proportional change-over valves 13, the first amplitude oil cylinder, the second amplitude oil cylinder and telescopic boom cylinder that this three road solenoid-operated proportionals change-over valve 13 is connected with three road solenoid-operated proportional change-over valves 13 respectively.Actr 4 generally is arranged on the position that loop wheel machine both sides are convenient to handle.

Fig. 3 is implementing procedure figure of the present utility model, and in figure, the first amplitude oil cylinder, the second amplitude oil cylinder and telescopic boom cylinder are referred to as oil cylinder 1, oil cylinder 2 and oil cylinder 3, and Fig. 4 is the principal parameter instruction diagram.Following basis is set forth control thought of the present utility model by reference to the accompanying drawings.

At first the principal parameter that relates in control flow is described.

Δ L: the telescopic boom elongation is recorded by linear transducer;

Δ Lmax: telescopic boom maximal tensility, the intrinsic parameter of loop wheel machine, known quantity;

α: the inner arm change angle can be recorded by angular transducer;

α 1: the minimum change angle of the inner arm of default is known quantity;

α 2: the maximum change angle of the inner arm of default, relevant with the loop wheel machine structure, be known quantity;

θ: the outer arm change angle can be recorded by angular transducer;

β: outer arm and inner arm angle, β=π+θ-α be can be calculated by observed reading;

β 1: default outer arm and inner arm maximum angle, relevant with the loop wheel machine structure, be known quantity;

β 2: the minimum angle of default outer arm and inner arm is known quantity;

R: initial operation amplitude be can be calculated by the size of observed reading α, θ, Δ L and loop wheel machine;

R ': the actual job amplitude be can be calculated by the size of observed reading α, θ, Δ L and loop wheel machine;

Δ R: the operation amplitude error, Δ R=R '-R can be calculated;

ε: operation amplitude error limit, system default parameter, be one on the occasion of;

I, j: subsidiary variable, be mainly used in control flow cutting off or the electric conduction magnet valve after operation judges.

The major control thought of straight line lifting is, determine that several variablees control first and second amplitude oil cylinder and telescopic oil cylinder as parameter, wherein the coefficient magnitude of parameter is to be determined by the importance of parameter, and concrete coefficient need to be tested adjustment for the loop wheel machine of different structure size.

As shown in diagram of circuit, when straight line rises, when reaching setting value, the first amplitude oil cylinder is not in the state of stretching always, the second amplitude oil cylinder and telescopic boom cylinder have to stretch according to residing state contracting, when straight line falls, when reaching setting value, the inner arm oil cylinder is not in the contracting state always, and the second amplitude oil cylinder and telescopic boom cylinder have to stretch according to residing state contracting.

Below by the straight line procedure declaration control flow that hoists:

When loop wheel machine is in deployed condition, change-over switch is switched to straight line lifting state with the loop wheel machine operation, this moment, system preserved initial operation amplitude R; Operation amplitude error Δ R adjusts the first amplitude oil cylinder, the second amplitude oil cylinder and telescopic boom cylinder as quantitative control solenoid directional control valve group in the process that hoists or descend, thereby the actual job amplitude is controlled in certain scope;

When straight line hoisted, the first amplitude oil cylinder was being stretched out all the time, stretching speed v 1Be decided to be a with the deviator x coefficient of proportional control bar, with variable | Δ R| coefficient is decided to be b, with inner arm and horizontal direction angle | α | coefficient is c, and a, b, c are positive number, speed v 1=ax-b| Δ R|+c| α |;

When telescopic boom does not stretch out, stretch to adjust the operation amplitude by controlling the second amplitude oil cylinder, the flexible and Δ R's of the second amplitude oil cylinder is positive and negative relevant; When Δ R<-during ε, if θ<0 ° second amplitude oil cylinder stretch out, if θ〉0 ° of second amplitude oil cylinder retract; As Δ R〉during ε, if θ<0 ° second amplitude oil cylinder retract, if θ〉0 ° of second amplitude oil cylinder stretch out; Stretching speed v 2Be decided to be d with the deviator x coefficient of proportional control bar, with variable | Δ R| coefficient location e, with outer arm and horizontal direction angle | θ | coefficient is f, and d, e, f are positive number, speed v 2=dx-e| Δ R|+f| θ |; As telescopic boom overhang Δ L〉0 the time, adjust the operation amplitude by controlling telescopic boom cylinder, when Δ R<-during ε, telescopic boom cylinder begins to stretch out, as Δ R telescopic boom cylinder begins to retract during ε, the determining and v of stretching speed 2Identical;

In the process that straight line hoists, after outer arm and inner arm angle β are greater than set angle, stop stretching out or second amplitude oil cylinder of retracting, and the flexible adjustment operation amplitude by telescopic boom cylinder the determining and v of speed 2Identical;

When the inner arm change angle reached setting value, by increasing the flexible adjustment operation amplitude of outer arm change angle and telescopic boom, when outer arm and inner arm angle or telescopic boom stroke reached setting value, operation stopped, can not continuing to hoist, but the step-down operation of permission straight line;

The control that straight line descends and straight line hoists is similar.

In actual job, can consider parameter that weight sensor is surveyed, can carry out certain correction to the actual job amplitude according to the quality of operation amplitude and institute's check weighing thing, improve the precision of straight line lifting.

When change-over switch switched to normal operations, the straight line lifting was lost efficacy, and this proportional control bar can only operate the cylinder action of appointment.

Claims (6)

1. a straight line lifting appliance that is used for the folding-jib lorry-mounted crane, is characterized in that: comprise handling device (1), Sensor section (2), treater part (3) and actr part (4); Described handling device (1), Sensor section (2) and actr part (4) are connected with treater part (3) respectively.
2. the straight line lifting appliance for the folding-jib lorry-mounted crane according to claim 1 is characterized in that: described treater part (3) comprises Programmable Logic Controller (32), input circuit (31) and output circuit (33).
3. the straight line lifting appliance for the folding-jib lorry-mounted crane according to claim 1 and 2 is characterized in that: described treater part (3) is arranged on crane base or on crane chassis.
4. the straight line lifting appliance for the folding-jib lorry-mounted crane according to claim 1, it is characterized in that: described handling device (1) comprises proportional control bar (11) and the change-over switch (12) that is arranged on wireless or wire remote control devices, and described change-over switch is connected with treater part (3) by input circuit (31).
5. the straight line lifting appliance for the folding-jib lorry-mounted crane according to claim 1, it is characterized in that: described Sensor section (2) comprising: the linear transducer (21) that is used for the elongation of mensuration arm, be used for gathering the weight sensor (24) of lift heavy quality information, and the first angular transducer (22) and the second angular transducer (23); Described linear transducer (21) is arranged on outer arm, and described weight sensor (24) is arranged on the suspension hook upper end, and described the first angular transducer (22) is arranged on outer arm, and described the second angular transducer (23) is arranged on inner arm.
6. the straight line lifting appliance for the folding-jib lorry-mounted crane according to claim 1, it is characterized in that: described actr part (4) comprises three road solenoid-operated proportional change-over valves, and the first amplitude oil cylinder, the second amplitude oil cylinder and the telescopic boom cylinder that are connected with three road solenoid-operated proportional change-over valves respectively.
CN 201220536387 2012-10-18 2012-10-18 Linear hoisting device for truck-mounted knuckle boom crane CN202924612U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220536387 CN202924612U (en) 2012-10-18 2012-10-18 Linear hoisting device for truck-mounted knuckle boom crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220536387 CN202924612U (en) 2012-10-18 2012-10-18 Linear hoisting device for truck-mounted knuckle boom crane

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CN202924612U true CN202924612U (en) 2013-05-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102910534A (en) * 2012-10-18 2013-02-06 中国人民解放军总后勤部建筑工程研究所 Linear hoisting device of goose-neck jib lorry-mounted crane and control method of linear hoisting device
CN103466453A (en) * 2013-09-29 2013-12-25 徐州重型机械有限公司 Method and system for controlling winch of crane to move relative to lifting arm
CN105253786A (en) * 2015-10-30 2016-01-20 长治清华机械厂 Folding arm type lorry-mounted crane

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102910534A (en) * 2012-10-18 2013-02-06 中国人民解放军总后勤部建筑工程研究所 Linear hoisting device of goose-neck jib lorry-mounted crane and control method of linear hoisting device
CN102910534B (en) * 2012-10-18 2014-12-24 中国人民解放军总后勤部建筑工程研究所 Linear hoisting device of goose-neck jib lorry-mounted crane and control method of linear hoisting device
CN103466453A (en) * 2013-09-29 2013-12-25 徐州重型机械有限公司 Method and system for controlling winch of crane to move relative to lifting arm
CN103466453B (en) * 2013-09-29 2015-08-19 徐州重型机械有限公司 Control the method and system that crane hoisting is servo-actuated relative to arm
CN105253786A (en) * 2015-10-30 2016-01-20 长治清华机械厂 Folding arm type lorry-mounted crane

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130508

Termination date: 20151018

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