CN101927675A - Suspension system control method, suspension system and crane with same - Google Patents
Suspension system control method, suspension system and crane with same Download PDFInfo
- Publication number
- CN101927675A CN101927675A CN 201010274011 CN201010274011A CN101927675A CN 101927675 A CN101927675 A CN 101927675A CN 201010274011 CN201010274011 CN 201010274011 CN 201010274011 A CN201010274011 A CN 201010274011A CN 101927675 A CN101927675 A CN 101927675A
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- Prior art keywords
- suspension
- lifting
- fulcrum
- angle
- inclination
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0511—Roll angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/25—Stroke; Height; Displacement
- B60G2400/252—Stroke; Height; Displacement vertical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Vehicle Body Suspensions (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a suspension system control method, which comprises the following steps: judging whether frame angle of inclination exceeds the preset angle of inclination, if the angle of inclination does not exceed the preset angle of inclination, lifting and descending a suspension system; and otherwise, stopping lifting the suspension system. Additionally, the invention also provides the suspension system and a crane thereof; the suspension system comprises a tilt sensor, a height sensor and a suspension controller, wherein the tilt sensor is arranged on a revolving platform of a vehicle and is used for detecting the angle of inclination of the frame; the height sensor is arranged in the suspension system and is used for detecting the height of each suspension pivot in the suspension system; and the suspension controller controls the suspension system to lift and descend through the different value of the angle of inclination and the height of each suspension pivot. The suspension system can monitor the incline angle of the crane in real time, can give an alarm and stops the lifting and descending of the suspension system once the angle of inclination exceeds the preset value, can effectively prevent the crane from tipping over, and improves the safety of the crane when the suspension system is lifted.
Description
Technical field
The present invention relates to the control method of vehicle ', relate to a kind of control method of suspension of vehicle especially.In addition, the hoisting crane that the invention still further relates to a kind of suspension and have this system.
Background technology
Oil-gas suspension technology is widely used in the vehicle chassis, in the application operating process of full hoisting crane chassis, ground oleo-pneumatic suspension, all be that operator is blindly operated at operator's compartment, no matter be that M/C hangs or hang automatic leveling, all exist operator not know to work as the lifting position of forward mounting, do not know the levelness of car load, as the unmanned commander in next door, the danger that car load is tumbled occurs occurring easily when partial failure appears in maloperation or system yet.Special under some complicated road conditions, the adjustable height of range estimation is easy to cause the car load inclination and overturns.
In addition, an important feature of oleo-pneumatic suspension system is to realize the bodywork height position adjustments, especially for heavy-dutys vehicle such as hoisting cranes, the oleo-pneumatic suspension system is used for realizing the synchronization lifting of vehicle frame more, but, rely on hydraulic efficiency pressure system to keep that the synchronization lifting of vehicle frame is very complicated can not to reach ideal effect again, if the asynchronous danger that can increase suspension operational again of synchronization lifting.
Therefore, be necessary to provide a kind of failure-free suspension system control method and suspension, improve the safety of suspension vehicle when lifting.Simultaneously, also be necessary to make this suspension to have the effect of accurate more synchronization lifting.
Summary of the invention
The present invention aims to provide a kind of suspension control method and suspension, and the hoisting crane with this system, the technical matters of tumbling during the suspension lifting that can solve vehicle.
For this reason, according to an aspect of the present invention, provide a kind of suspension system control method, it comprises the following steps: to judge whether the vehicle frame angle of inclination exceeds the pre-determined tilt angle, if do not exceed, then suspension is carried out lifting; Otherwise, stop suspension and carry out lifting.
Further, judge that whether the vehicle frame angle of inclination exceeds before the pre-determined tilt angle, can also comprise: judge whether to receive the lifting request, receive after the lifting request, begin again to judge whether the vehicle frame angle of inclination exceeds the pre-determined tilt angle.
Further, if the lifting request is the synchronization lifting request, and the vehicle frame angle of inclination does not exceed the pre-determined tilt angle, then suspension is carried out lifting according to the following step: whether each diff-H that hangs between the fulcrum of judging suspension exceeds the predetermined altitude difference, if exceed, then adjust the height value that each hangs fulcrum, the diff-H that each is hung between the fulcrum drops to below the default synchronous altitude difference, makes each hang the fulcrum synchronization lifting again; Otherwise, directly make each hang the fulcrum synchronization lifting.
Further,, then reduce the height or the minimum suspension fulcrum height that raises of the highest suspension fulcrum, each diff-H that hangs between the fulcrum is dropped to below the default synchronous altitude difference if each diff-H that hangs between the fulcrum exceeds the predetermined altitude difference.
Further, if the lifting request is single-point lifting request, and the vehicle frame angle of inclination do not exceed the pre-determined tilt angle, then carries out lifting with the corresponding suspension fulcrum of single-point lifting request.
Further, if the vehicle frame angle of inclination exceeds the pre-determined tilt angle, can also comprise: send alerting signal.
According to another aspect of the present invention, provide a kind of suspension, it comprises: obliquity sensor, be arranged on the rotary table of vehicle, and be used to detect the angle of inclination of vehicle frame; Height sensor is arranged in the suspension, and each hangs the height of fulcrum to be used for detecting suspension; Suspension controller hangs the difference control suspension of the height of fulcrum and carries out lifting according to angle of inclination and each.
Further, suspension of the present invention can also comprise visual interface, changes visual interface and is arranged in the operator's compartment, and each that is used to show suspension hangs the height value of fulcrum.
Further, suspension of the present invention can also comprise warning device, and when the angle of inclination of judging vehicle frame surpassed the pre-determined tilt angle, described suspension controller was controlled described warning device and reported to the police.
Further, suspension of the present invention can also comprise synchronously/single-point lifting options button, is used to generate synchronization lifting request or single-point lifting request.
According to a further aspect of the invention, provide a kind of hoisting crane, it comprises above-mentioned suspension.
The present invention has following technique effect:
1. in the control process of suspension, the angle of inclination of monitor vehicle in case the angle of inclination exceeds predetermined value, will be sent warning and stopping to carry out suspension and carrying out lifting, the danger that can avoid vehicle to tumble effectively in real time.
2. when having guaranteed that vehicle can not tumbled, monitor the height of each suspension fulcrum of suspension in real time, guarantee that suspension can accurately realize synchronization lifting.
3. by visual display interface, operating personal can observe the height when forward mounting easily, can make the control of suspension of operating personal more reliable and secure.
Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.Below with reference to accompanying drawings, the present invention is further detailed explanation.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the suspension scheme drawing of the preferred embodiment of the present invention;
Fig. 2 is the synchronization lifting control flow scheme drawing of the preferred embodiment of the present invention;
Fig. 3 is the single-point lifting control flow scheme drawing of the preferred embodiment of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
For the suspension easy technical matters of tumbling when carrying out lifting that solves hoisting crane, the invention provides a kind of suspension system control method and suspension, be described in detail below in conjunction with the control method of accompanying drawing to suspension provided by the present invention and this system.
Suspension provided by the present invention mainly comprises obliquity sensor, is arranged on the rotary table of hoisting crane, is used to detect the angle of inclination of crane frame, detects the levelness of car load in other words conj.or perhaps; Height sensor, be arranged in the suspension near each hanging oil cylinder, each that is used to detect the crane frame that supported by hanging oil cylinder hangs the height of fulcrum, and crane locomotive will all adopt four to hang fulcrums usually, be left front fulcrum, left back fulcrum, right front fulcrum, and right back fulcrum; Suspension controller carries out lifting according to each hanging oil cylinder in the difference control suspension of the angle of inclination of vehicle frame and the height that each hangs fulcrum.
Observe intuitively for the ease of operating personal, prevent the blindness operation of operating personal to the suspension lifting process, suspension of the present invention can also comprise a visual interface, this visual interface can be arranged on the easy places of observing of operating personal such as operator's compartment, so just can improve reliability effectively, improve the safety of crane-suspended lifting suspension control.
In order further to improve the suspension lifting process safe, suspension of the present invention can also comprise warning device, when the angle of inclination of judging vehicle frame surpasses pre-determined tilt angle (this angle is 5 degree usually), can control this warning device by suspension controller reports to the police, this warning device can be a buzzer siren, like this, just alert is moved early, prevents that hoisting crane from tumbling.
In fact, general all is to be in the danger of just tumbling easily in the process of suspension lifting at hoisting crane, and described suspension lifting comprises synchronization lifting and single-point lifting again, no matter which kind of lifting process, all may have the danger of tumbling, but the mode of every kind of lifting is different again.Therefore, in order to realize different modes, suspension of the present invention can also comprise synchronously/single-point lifting options button, be used to generate synchronization lifting request or single-point lifting request, like this, suspension controller just can trigger corresponding lifting control program according to synchronization lifting request signal or single-point lifting request signal, realizes the different lifting action of suspension.
Fig. 1 is the suspension scheme drawing of the preferred embodiment of the present invention, sees also Fig. 1.As can be seen from Figure 1, suspension controller receives the height value of the height sensor of left front fulcrum, left back fulcrum, right front fulcrum and right back fulcrum, and the angle of inclination that is arranged on the obliquity sensor on the rotary table of hoisting crane, carry out work by poppet valve group in the hanging oil cylinder of different each fulcrum of control tube foot control system and lowering valve group respectively, realize the lifting of car load.
Respectively the synchronization lifting control process and the single-point lifting control process of suspension described below.
Fig. 2 is the synchronization lifting control flow scheme drawing of the preferred embodiment of the present invention, sees also Fig. 1.When operating personal was pressed the synchronization lifting button, suspension controller received the synchronization lifting request signal and switches to suspension height interface and levelness (angle of inclination) display interface by CAN bus request visual interface.Next, suspension controller judges whether current car load levelness exceeds the maxim that design allows, also can be described as the angle of inclination of judging vehicle frame and whether exceed the pre-determined tilt angle, if exceed, then suspension controller no longer responds suspension lifting request and output alarm, this actuation of an alarm can be reported to the police by buzzer siren, also can show by visual interface, should do the best to cause the attention of operating personal easily; On the contrary, if suspension controller is judged current car load levelness and is not exceeded the maxim that design allows, then suspension controller control suspension is carried out synchronization lifting, at this moment, need suspension controller to judge whether four diff-Hs that hang between the fulcrum of vehicle frame have exceeded the setting height difference, if exceed, lifting vertex or nadir wherein then, make the height of four fulcrums identical as far as possible, that is to say, height difference between four fulcrums can be in a suitable scope, this suitable scope can be used as the permission diff-H parameter that can set, in the height difference between each fulcrum is reduced to this scope, just can think that four points of crane frame are in synchronous regime, at this moment, just can control suspension and carry out synchronization lifting by suspension controller.
Suspension provided by the present invention and control method thereof, real-time judge suspension height and levelness in whole lifting process, reached prevent effect that hoisting crane tumbles in, reach the effect of precise synchronization lifting again.
Fig. 3 is the single-point lifting control flow scheme drawing of the preferred embodiment of the present invention, sees also Fig. 3.When operating personal is pressed the single-point lifting button, suspension controller receives single-point lifting request signal and switches to suspension height interface and levelness (angle of inclination) display interface by CAN bus request visual interface, in such cases, only need to judge whether current car load levelness exceeds the maxim that design allows, also can be described as the angle of inclination of judging vehicle frame and whether exceed the pre-determined tilt angle, if exceed, then suspension controller no longer responds suspension lifting request and output alarm, if do not exceed, then carry out lifting by suspension controller control and the fulcrum that the corresponding needs of receiving of single-point suspension lifting request carry out lifting.In this lifting process, still need constantly to monitor the levelness of car load, prevent that vehicle from tumbling.
On the other hand, the present invention also provides a kind of hoisting crane with above-mentioned suspension, this kind hoisting crane suspension when carrying out work, can actv. prevent that hoisting crane from tumbling, and can carry out accurately synchronization lifting.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a suspension system control method is characterized in that, comprises the following steps:
Judge whether the vehicle frame angle of inclination exceeds the pre-determined tilt angle,
If do not exceed, then suspension is carried out lifting;
Otherwise, stop described suspension and carry out lifting.
2. suspension system control method according to claim 1, it is characterized in that, judge whether the vehicle frame angle of inclination exceeds before the pre-determined tilt angle, also comprise: judge whether to receive the lifting request, receive after the described lifting request, begin again to judge whether the vehicle frame angle of inclination exceeds the pre-determined tilt angle.
3. suspension system control method according to claim 2 is characterized in that, if described lifting request is the synchronization lifting request, and the vehicle frame angle of inclination do not exceed the pre-determined tilt angle, and then suspension is carried out lifting according to the following step:
Whether each diff-H that hangs between the fulcrum of judging suspension exceeds the predetermined altitude difference,
If exceed, then adjust described each and hang the height value of fulcrum, described each diff-H that hangs between the fulcrum is dropped to below the default synchronous altitude difference, make described each hang the fulcrum synchronization lifting again;
Otherwise, directly make each hang the fulcrum synchronization lifting.
4. suspension system control method according to claim 3, it is characterized in that, if each diff-H that hangs between the fulcrum exceeds the predetermined altitude difference, then reduce the height or the minimum suspension fulcrum height that raises of the highest suspension fulcrum, the described diff-H that each hangs between the fulcrum is dropped to below the default synchronous altitude difference.
5. suspension system control method according to claim 2 is characterized in that, if described lifting request is single-point lifting request, and the vehicle frame angle of inclination do not exceed the pre-determined tilt angle, then carries out lifting with the corresponding suspension fulcrum of described single-point lifting request.
6. suspension system control method according to claim 1 is characterized in that, if the vehicle frame angle of inclination exceeds the pre-determined tilt angle, also comprises: send alerting signal.
7. a suspension is characterized in that, comprising:
Obliquity sensor is arranged on the rotary table of vehicle, is used to detect the angle of inclination of vehicle frame;
Height sensor is arranged in the suspension, and each hangs the height of fulcrum to be used for detecting described suspension;
Suspension controller is controlled described suspension according to described angle of inclination and described each difference that hangs the height of fulcrum and is carried out lifting.
8. suspension according to claim 7 is characterized in that, also comprises visual interface, and described visual interface is arranged in the operator's compartment, and each that is used to show suspension hangs the height value of fulcrum.
9. suspension according to claim 7 is characterized in that, also comprises synchronously/single-point lifting options button, is used to generate synchronization lifting request or single-point lifting request.
10. suspension according to claim 7 is characterized in that, also comprises warning device, and when the angle of inclination of judging vehicle frame surpassed the pre-determined tilt angle, described suspension controller was controlled described warning device and reported to the police.
11. a hoisting crane is characterized in that, comprises each described suspension in the claim 7 to 10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010274011 CN101927675A (en) | 2010-09-07 | 2010-09-07 | Suspension system control method, suspension system and crane with same |
| PCT/CN2011/076379 WO2012031499A1 (en) | 2010-09-07 | 2011-06-27 | Suspension system control method, suspension system and crane with the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010274011 CN101927675A (en) | 2010-09-07 | 2010-09-07 | Suspension system control method, suspension system and crane with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101927675A true CN101927675A (en) | 2010-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010274011 Pending CN101927675A (en) | 2010-09-07 | 2010-09-07 | Suspension system control method, suspension system and crane with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101927675A (en) |
| WO (1) | WO2012031499A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012031499A1 (en) * | 2010-09-07 | 2012-03-15 | 湖南三一智能控制设备有限公司 | Suspension system control method, suspension system and crane with the same |
| CN102729883A (en) * | 2012-07-19 | 2012-10-17 | 三一重工股份有限公司 | Tank-transport truck |
| WO2012149784A1 (en) * | 2011-05-03 | 2012-11-08 | 长沙中联重工科技发展股份有限公司 | Control method, control apparatus, and control system for suspension of rough terrain tire crane |
| CN103407343A (en) * | 2013-08-14 | 2013-11-27 | 重庆大江工业有限责任公司 | Hydro-pneumatic spring adjusting device and method for wheel type armored vehicle |
| CN105539056A (en) * | 2015-12-25 | 2016-05-04 | 徐州重型机械有限公司 | Air suspension control system and method for crane and crane |
| CN108674119A (en) * | 2018-04-26 | 2018-10-19 | 北京航天发射技术研究所 | A kind of automatic adjustment height method of vehicle suspension |
| CN112279095A (en) * | 2020-11-15 | 2021-01-29 | 信华智能装备(江苏)有限公司 | Crane capable of alarming in automatic inclination and synchronously retracting and releasing |
| CN113666270A (en) * | 2021-07-12 | 2021-11-19 | 中联重科股份有限公司 | Method for controlling a crane, controller and crane |
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| CN101927675A (en) * | 2010-09-07 | 2010-12-29 | 三一汽车起重机械有限公司 | Suspension system control method, suspension system and crane with same |
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- 2011-06-27 WO PCT/CN2011/076379 patent/WO2012031499A1/en active Application Filing
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| US4765649A (en) * | 1986-03-17 | 1988-08-23 | Toyota Jidosha Kabushiki Kaisha | System for vehicle body roll control detecting and compensating for changes of loaded vehicle weight |
| JPH07228117A (en) * | 1994-02-17 | 1995-08-29 | Unisia Jecs Corp | Suspension device for vehicle |
| CN1224388A (en) * | 1996-07-11 | 1999-07-28 | 戴姆勒－奔驰公司 | Ground clearance-regulated, air-suspended axle aggregate |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012031499A1 (en) * | 2010-09-07 | 2012-03-15 | 湖南三一智能控制设备有限公司 | Suspension system control method, suspension system and crane with the same |
| WO2012149784A1 (en) * | 2011-05-03 | 2012-11-08 | 长沙中联重工科技发展股份有限公司 | Control method, control apparatus, and control system for suspension of rough terrain tire crane |
| CN102729883A (en) * | 2012-07-19 | 2012-10-17 | 三一重工股份有限公司 | Tank-transport truck |
| CN103407343A (en) * | 2013-08-14 | 2013-11-27 | 重庆大江工业有限责任公司 | Hydro-pneumatic spring adjusting device and method for wheel type armored vehicle |
| CN105539056A (en) * | 2015-12-25 | 2016-05-04 | 徐州重型机械有限公司 | Air suspension control system and method for crane and crane |
| CN108674119A (en) * | 2018-04-26 | 2018-10-19 | 北京航天发射技术研究所 | A kind of automatic adjustment height method of vehicle suspension |
| CN112279095A (en) * | 2020-11-15 | 2021-01-29 | 信华智能装备(江苏)有限公司 | Crane capable of alarming in automatic inclination and synchronously retracting and releasing |
| CN113666270A (en) * | 2021-07-12 | 2021-11-19 | 中联重科股份有限公司 | Method for controlling a crane, controller and crane |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012031499A1 (en) | 2012-03-15 |
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Application publication date: 20101229 |