CN2644397Y - Electronic speed regulator for crane - Google Patents
Electronic speed regulator for crane Download PDFInfo
- Publication number
- CN2644397Y CN2644397Y CN 03227134 CN03227134U CN2644397Y CN 2644397 Y CN2644397 Y CN 2644397Y CN 03227134 CN03227134 CN 03227134 CN 03227134 U CN03227134 U CN 03227134U CN 2644397 Y CN2644397 Y CN 2644397Y
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- China
- Prior art keywords
- controller
- signal
- motor driver
- cpu
- motor
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Abstract
The utility model relates to an electronic speed governor used for a crane, which comprises a left landing leg switch, a right landing leg switch, a linear regulation resistance arranged under the accelerator pedal of the operating house, a controller, a motor driver and a stepper motor; wherein, the controller, the motor driver and the stepper motor are connected in series with each other orderly; the input end of the controller is connected with the left landing leg switch, the right landing leg switch and the signal of the regulation resistance of the operating house; the input signal is processed by the controller and a PWM signal is output and then is transmitted into the motor driver to drive the stepper motor to turn after isolated and amplified by the motor driver; the swing stem of the accelerator is then driven to swing by the stepper motor. The utility model has the advantages of simple structure, easy installation, convenient debugging and good jiggle performance, therefore overcomes the defects of a plurality of controlling points, complicated structure, discommodious installation, hard debugging, laborious operation and bad operating sensitivity existing in current robotistic control loop of accelerator.
Description
Technical field
The utility model relates to a kind of hoisting crane, is meant a kind of hoisting crane electronic governor especially.
Background technology
Existing hoisting crane mostly adopts mechanical type or hydrostatic-mechanical to handle.Mechanical type is to adopt pedal machines to arrive the engine throttle actuating unit by steel-wire flexible-shaft transmission power; Hydrostatic-mechanical then is to adopt pedal gear to drive hydraulic total pump, comes the maneuvering engine throttle by hydraulic pressure transfer power to carrying out oil cylinder.The shortcoming that these two kinds of maneuverability patterns exist: it is many to handle point, and machinery is complicated, inconvenience is installed, debug difficulties; Distance, resistance is big, and idle travel is big, handles effort, and the sensitieness of operation is poor.
The utility model content
The purpose of this utility model be to overcome the deficiency of prior art and provide a kind of simple in structure, install, debugging is convenient, fretting performance is good hoisting crane electronic governor.
For achieving the above object, the utility model comprises the left branch leg switch, right supporting leg switch, be installed on the linear potentiometer under the control cabin Das Gaspedal, controller, motor driver, stepping motor, described controller, motor driver, stepping motor is connected in series successively, the input termination left branch leg on-off signal of controller, right supporting leg on-off signal, control cabin potential device signal, after the incoming signal via controller is handled, output pwm signal is to motor driver, isolate the rotation of amplification rear drive stepping motor through motor driver, drive the swing of throttle fork by stepping motor again.
The utility model also is provided with the crawl adjusting switch on crane executing mechanism, the crawl adjusting switch links to each other with controller.
The utility model is compared with existing mechanical type or the hydrostatic-mechanical handle structure of adopting, and has following advantage: 1) on the control curve to being input as step response, eliminated the idle travel that system's shape factor such as stretcher, steel-wire flexible-shaft forms; 2) on program, staging treating is adopted in input, both guaranteed the running velocity of hoisting crane, guaranteed fretting performance again; 3) at actuating unit the crawl adjusting switch is set, it is convenient to install, debug; 4) load of control cabin Das Gaspedal is light, manipulation is light; 5) replace oil pipe with lead, make installation, the debugging convenient.
Below in conjunction with drawings and the specific embodiments structure of the present utility model is further described.
Description of drawings
Fig. 1 is a structured flowchart of the present utility model.
Fig. 2 is the structured flowchart of Fig. 1 middle controller.
Fig. 3 is the electrical schematic diagram of the utility model embodiment.
The specific embodiment
As shown in Figure 1, the utility model is by left branch leg switch 1, right supporting leg switch 2, control cabin potential device 3, controller 4, motor driver 5, stepping motor 6, throttle fork 7 is formed, described controller 3, motor driver 4, stepping motor 5 is connected in series successively, the input termination left branch leg switch 1 of controller, right supporting leg switch 2, control cabin potential device 3, after incoming signal via controller 4 is handled, controller 4 output pwm signals, this signal is delivered to motor driver 5, isolate 6 rotations of amplification rear drive stepping motor through motor driver 5, drive 7 swings of throttle forks by stepping motor 6 again.
As shown in Figure 2, the controller 4 among Fig. 1 includes A/D converter 8, memory device 9, CPU10, PWM module 11, and A/D converter 8 links to each other with CPU10, be used for will input analog signal conversion be that digital signal is delivered to CPU10 and handled; Memory device 9 links to each other with CPU10, is used for storage running program and data; PM module 11 links to each other with CPU10, is used for producing pwm pulse signal under CPU10 control.
As shown in Figure 3, be the electrical schematic diagram of the utility model embodiment.Power module adopts DC converter 6W24S5-1200DC-DC among the figure, and it provides the 5V working power of circuit.CPU uses 8 PIC16F873 micro controller systems of COMS of the U.S. little core company, this micro controller system adopts reduced instruction set computer, Harvard's bus architecture, inside has 10 multi-channel a/d converters, and pulse duration modulation (PWM) module is compared in the FLASH program store of the eeprom memory of 128 bit bytes, 4K, two seizure.Resistance WRA0, left branch leg on-off signal, right supporting leg on-off signal that one straight line potential device is installed under the Das Gaspedal of control cabin are delivered to 2,4,6 pin of micro controller system respectively, micro controller system 13 pin, 21 pin output pwm pulse signal motor driver.The output of motor driver meets stepping motor M.Motor driver adopts 23H3002 type actuator, and the weak electric signal that this actuator provides computer control system is enlarged into the heavy current signal that stepping motor can be accepted.For making the proper communication of control system and actuator energy, avoid the phase mutual interference, internal drive adopts optocoupler that incoming signal is isolated, and the positive input terminal of three road incoming signals adopts positive connection altogether in internal drive, and the incoming signal amplitude is a Transistor-Transistor Logic level.Establish on the shell of actuating unit that a hilted broadsword is two puts toggle switch, be used for the crawl adjustment.RC4, the RC5 of CPU received at its two ends respectively, middle contact ground connection.
Principle of work of the present utility model is as follows: after powering on, and CPU at first the sample null value of control cabin linear potentiometer, the button switch at the left and right supporting leg of cycle detection place and the resistance of potential device then.As detect-switch presses-and current potential is low, and CPU calls the PWM subprogram, and its RC2 mouth is exported the pwm signal of a fixed frequency, pulsewidth, step number and is given motor driver, and drive motor rotates a certain angle.Driven by motor steel-wire flexible-shaft, flexible axle drive the engine throttle fork, make throttle 1200 right sides of turning left of rising; The CPU program loop detects this switch, is that height-button unclamps until current potential, and CPU puts 1 with RB0, calls the PWM subprogram once more, makes the same angle of motor counter-rotating, and throttle is got back to idling.The Throttle Opening Control at control cabin place is the infinite speed variation formula, CPU sampling resistor value, carry out the A/D conversion, demarcate with the size of last time AD value comparative figure variation and call different PWM subprograms, still the pwm signal of exporting a fixed frequency, pulsewidth, step number by the RC2 mouth is given motor driver, and drive motor rotates a certain angle.Circulate and so forth until the AD value less than worker AD null value, motor return, throttle return.The crawl adjusting switch is used to be provided with throttle position, and operating switch can transfer to throttle arbitrary position.
Claims (3)
1, a kind of hoisting crane electronic governor, by the left branch leg switch, right supporting leg switch, be installed on the linear potentiometer under the control cabin Das Gaspedal, controller, motor driver, stepping motor is formed, it is characterized in that: described controller, motor driver, stepping motor is connected in series successively, the input termination left branch leg on-off signal of controller, right supporting leg on-off signal, control cabin linear potentiometer signal, after the incoming signal via controller is handled, output pwm signal is to motor driver, isolate the rotation of amplification rear drive stepping motor through motor driver, drive the swing of throttle fork by stepping motor again.
2, hoisting crane electronic governor according to claim 1, it is characterized in that: described controller comprises A/D converter, memory device, CPU, PWM module, A/D converter links to each other with CPU, be used for will input analog signal conversion be that digital signal is delivered to CPU and handled; Memory device links to each other with CPU, is used for storage running program and data; The PWM module links to each other with CPU, is used for producing pwm pulse signal under CPU control.
3, hoisting crane electronic governor according to claim 1 is characterized in that: be provided with the crawl adjusting switch on crane executing mechanism, the crawl adjusting switch links to each other with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03227134 CN2644397Y (en) | 2003-03-13 | 2003-03-13 | Electronic speed regulator for crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03227134 CN2644397Y (en) | 2003-03-13 | 2003-03-13 | Electronic speed regulator for crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2644397Y true CN2644397Y (en) | 2004-09-29 |
Family
ID=34290901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03227134 Expired - Lifetime CN2644397Y (en) | 2003-03-13 | 2003-03-13 | Electronic speed regulator for crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2644397Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102695579A (en) * | 2009-09-16 | 2012-09-26 | 三星重工业株式会社 | Local purging system |
| WO2013082913A1 (en) * | 2011-12-07 | 2013-06-13 | 湖南三一智能控制设备有限公司 | Throttle control device and method for excavator |
-
2003
- 2003-03-13 CN CN 03227134 patent/CN2644397Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102695579A (en) * | 2009-09-16 | 2012-09-26 | 三星重工业株式会社 | Local purging system |
| CN102695579B (en) * | 2009-09-16 | 2015-09-02 | 三星重工业株式会社 | Spot air cleaning system |
| WO2013082913A1 (en) * | 2011-12-07 | 2013-06-13 | 湖南三一智能控制设备有限公司 | Throttle control device and method for excavator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: CHANGSHA ZOOMLION HEAVY INDUSTRY SCIENCE + TECHNOL Free format text: FORMER NAME: CHANG SHA ZOOMLION HEAVY INDUSTRY SCIENCE + TECHNOLOGY DEVELOPMENT CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 410013 No. 307 South silver basin, Changsha, Hunan, Yuelu District Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 410013 No. 307 South silver basin, Changsha, Hunan, Yuelu District Patentee before: Chang Sha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
|
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20130313 Granted publication date: 20040929 |