CN107416698A - Container front crane cab position adapts to the control method and system of boom angle change - Google Patents

Container front crane cab position adapts to the control method and system of boom angle change Download PDF

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Publication number
CN107416698A
CN107416698A CN201710863666.3A CN201710863666A CN107416698A CN 107416698 A CN107416698 A CN 107416698A CN 201710863666 A CN201710863666 A CN 201710863666A CN 107416698 A CN107416698 A CN 107416698A
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CN
China
Prior art keywords
arm support
angle
driver
cabin
shift cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710863666.3A
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Chinese (zh)
Other versions
CN107416698B (en
Inventor
范志勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Hengtong Power Technology Co Ltd
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Connection Heng Tong Machinery Co Ltd In Changsha
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Priority to CN201710863666.3A priority Critical patent/CN107416698B/en
Publication of CN107416698A publication Critical patent/CN107416698A/en
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Publication of CN107416698B publication Critical patent/CN107416698B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

The invention discloses the control method and system that a kind of container front crane cab position adapts to boom angle change, detects front handling mobile crane arm support angle value θ, the operation handle of operational control arm support, controls the flexible valve of luffing range of cantilever support, changes the angle of arm support；When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out maximum Lmax, when arm support angle be in maximum θ max, corresponding driver's cabin Shift cylinder stretching minimum value, so as to realize the adaptive arm support angle change of cab position.The present invention can increase the minimum angle of visual field of operating personnel, shorten visual range, more facilitate container hanging to locking operation；Operating automation degree is improved, saves manpower.

Description

Container front crane cab position adapt to boom angle change control method and System
Technical field
The present invention relates to engineering goods cab position control field, particularly a kind of container front crane cab position Adapt to the control method and system of boom angle change.
Background technology
At this stage, crane, by the flexible of boom derricking cylinder 3, realizes packaging when carrying out 7 lifting operation of container The up and down motion of case, while front handling mobile crane arm support angle change is brought, regardless of whether how boom angle changes, the position phase of driver's cabin It is stationary state to vehicle frame, is in the surface of engine., need to be by driver's cabin when engine maintenance maintenance to be carried out Fixed latches 6 are pulled out, and then pass through Manual-pushing driver's cabin so that driver's cabin slides into front along guide rail, when engine is tieed up Shield maintenance terminates, and by manpower by driver's cabin pushed home, is then fixed driver's cabin with latch.Existing front handling mobile crane is being hung When carrying operation, cab position is fixed, when front handling mobile crane close to the carrier vehicle of equipment to carrying out Stuff (to) operation（As Fig. 1, Shown in Fig. 2）, the minimum sight 8 of operating personnel is not open enough, it is impossible to carries out container loading well to locking operation.
The content of the invention
The present invention is intended to provide a kind of container front crane cab position adapt to boom angle change control method and System, increase the minimum angle of visual field of operating personnel, shorten visual range, more facilitate container hanging to locking operation；Improve operation Automaticity, save manpower.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of container front crane driver's cabin position The control method for adapting to boom angle change is put, the main implementation process of this method is：Controller detection front handling mobile crane arm support angle value θ With operation handle signal, controller controls raising and landing, luffing raising and the landing of luffing range of cantilever support according to handle signal output While, the angle of arm support accordingly changes；When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out Maximum Lmax, when arm support angle is in maximum θ max, corresponding driver's cabin Shift cylinder stretches out minimum value, is driven so as to realize Sail the adaptive arm support angle change in room position.
Front handling mobile crane cab position changes automatically with arm support angle, becomes hour, driver's cabin reach, arm support angle in arm support angle During degree increase, moved after driver's cabin.When carrying out container loading operation, driver's cabin reach can increase the minimum visual field of operating personnel Angle, shorten visual range, more facilitate container hanging to locking operation.
The arm support angle and the driver's cabin Shift cylinder extension elongation are linear, and its linear relation is：L= (- Lmax/ θ max) × θ+Lmax, wherein L is the length value that driver's cabin oil cylinder stretches out under different arm support angle, θs.
Correspondingly, present invention also offers a kind of control system for realizing above-mentioned control method, including controller；The control Device processed stretches out control valve, driver's cabin Shift cylinder retraction control valve, luffing range of cantilever support elongation control valve, arm with driver's cabin Shift cylinder Frame luffing retraction control valve, arm support angular transducer, operation handle connection；The luffing range of cantilever support elongation control valve, luffing range of cantilever support Retraction control valve is installed on vehicle frame, and arm support angular transducer is installed on container front crane arm support.
Correspondingly, present invention also offers the control that a kind of container front crane cab position adapts to boom angle change System, it includes：
Detection unit, for detecting front handling mobile crane arm support angle value θ；
Angle control unit, for being manipulated by the operation handle of arm support, the flexible valve of luffing range of cantilever support is controlled, changes arm support Angle；
Control unit, for being handled as follows：When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out Maximum Lmax, when arm support angle is in maximum θ max, corresponding driver's cabin Shift cylinder stretches out minimum value, is driven so as to realize Sail the adaptive arm support angle change in room position.
Described control unit includes：
First processing module, for when arm support angle is in 0 ° of minimum value, control driver's cabin Shift cylinder to stretch out maximum Lmax；
Second processing module, for when arm support angle is in maximum θ max, control driver's cabin Shift cylinder to stretch out minimum value.
In described control unit, arm support angle and the driver's cabin Shift cylinder extension elongation are linear.
Compared with prior art, the advantageous effect of present invention is that：Front handling mobile crane cab position of the present invention can be with arm Frame angle changes automatically, becomes hour in arm support angle, driver's cabin reach, when arm support angle increases, is moved after driver's cabin；Collected During loading operation of casing, driver's cabin reach can increase the minimum angle of visual field of operating personnel, shorten visual range, more facilitate container Lifting is to locking operation；When needing to maintain front handling mobile crane engine maintenance, it is not required to manually pull out driver's cabin Fixed latches, and Moved forward with Manual-pushing driver's cabin, and only need for arm support angle to be reduced to the angle of needs, control system is automatically by driver's cabin Shift front handling mobile crane front end onto, improve operating automation degree, save manpower.
Brief description of the drawings
Fig. 1 is the existing container front crane structural representation of the present invention；
Fig. 2 is front handling mobile crane working state figure；
Fig. 3 is electric control theory figure of the present invention；
Fig. 4 is arm support angle and length of oil cylinder corresponding relation figure；Wherein, 1 is container front crane, and 2 be arm, and 3 be that arm becomes Width oil cylinder, 4 be driver's cabin, and 5 be arm support angle, and 6 be that driver's cabin fixes lock pin, and 7 be container, and 8 be the minimum sight of operating personnel, 9 be driver's cabin Shift cylinder, and 10 be cylinder support, and 11 be driver's cabin minimum sight of operating personnel in rearmost.
Embodiment
As shown in figure 3, numerical value of the PLC of the present invention by detection angles sensor R0, draws front handling mobile crane arm support angle Angle value θ.It is manipulated by arm support operation handle JOY, control luffing range of cantilever support flexible valve Y3（Luffing range of cantilever support extends control valve）、Y4 （Luffing range of cantilever support retraction control valve）, and then change the angle value of arm support.Controlled according to angle value and promote the flexible of driver's cabin oil cylinder. When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out maximum Lmax, when arm support angle is in maximum During value θ max, corresponding driver's cabin Shift cylinder stretches out minimum value, so as to realize the adaptive arm support angle change of cab position.Drive Sail extending and retracting for room Shift cylinder and control valve Y1, the retraction of driver's cabin Shift cylinder are stretched out by driver's cabin Shift cylinder respectively Control valve Y2 is controlled.
In Fig. 3, PLC is powered by 24V dc sources, and dc source is indirectly molten with PLC power interface Disconnected device FU.
It is as shown in Figure 4 that arm support angle corresponds to driver's cabin Shift cylinder extension elongation linear relationship.
Front handling mobile crane cab position changes automatically with arm support angle, becomes hour, driver's cabin reach, arm support angle in arm support angle During degree increase, moved after driver's cabin.When carrying out container loading operation, driver's cabin reach can increase the minimum visual field of operating personnel Angle, shorten visual range, more facilitate container hanging to locking operation.
Control system of the present invention includes：
Detection unit, for detecting front handling mobile crane arm support angle value θ；
Angle control unit, for being manipulated by the operation handle of arm support, the flexible valve of luffing range of cantilever support is controlled, changes arm support Angle；
Control unit, for being handled as follows：When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out Maximum Lmax, when arm support angle is in maximum θ max, corresponding driver's cabin Shift cylinder stretches out minimum value, is driven so as to realize Sail the adaptive arm support angle change in room position.
Control unit includes：
First processing module, for when arm support angle is in 0 ° of minimum value, control driver's cabin Shift cylinder to stretch out maximum Lmax；
Second processing module, for when arm support angle is in maximum θ max, control driver's cabin Shift cylinder to stretch out minimum value.
Front handling mobile crane cab position can change automatically with arm support angle, become hour, driver's cabin reach, arm support in arm support angle When angle increases, moved after driver's cabin.When carrying out container loading operation, driver's cabin reach can increase the minimum visual field of operating personnel Angle, shorten visual range, more facilitate container hanging to locking operation.
Front handling mobile crane cab position can change automatically with arm support angle, become hour, driver's cabin reach, arm support in arm support angle When angle increases, moved after driver's cabin.When carrying out container loading operation, driver's cabin reach can increase the minimum visual field of operating personnel Angle, shorten visual range, more facilitate container hanging to locking operation.

Claims (7)

1. a kind of container front crane cab position adapts to the control method of boom angle change, it is characterised in that this method Mainly implementation process is：Controller detects front handling mobile crane arm support angle value θ and operation handle signal, controller are defeated according to handle signal While going out to control raising and the landing of luffing range of cantilever support, luffing raising and landing, the angle of arm support accordingly changes；Work as arm support When angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out maximum Lmax, when arm support angle is in maximum θ max When, corresponding driver's cabin Shift cylinder stretches out minimum value, so as to realize the adaptive arm support angle change of cab position.
2. container front crane cab position according to claim 1 adapts to the control method of boom angle change, its It is characterised by, the arm support angle and the driver's cabin Shift cylinder extension elongation are linear, and its linear relation is：L= (- Lmax/ θ max) × θ+Lmax, wherein L is the length value that driver's cabin oil cylinder stretches out under different arm support angle, θs.
3. a kind of control system for realizing the control method of the claims 1 or 2, it is characterised in that including controller；Institute State controller and stretch out control valve, driver's cabin Shift cylinder retraction control valve, luffing range of cantilever support elongation control with driver's cabin Shift cylinder Valve, luffing range of cantilever support retraction control valve, arm support angular transducer, operation handle connection；The luffing range of cantilever support elongation control valve, arm support Luffing retraction control valve is installed on vehicle frame, and arm support angular transducer is installed on container front crane arm support.
4. control system according to claim 3, it is characterised in that the controller is PLC.
5. a kind of container front crane cab position adapts to the control system of boom angle change, it is characterised in that including：
Detection unit, for detecting front handling mobile crane arm support angle value θ；
Angle control unit, for being manipulated by the operation handle of arm support, the flexible valve of luffing range of cantilever support is controlled, changes arm support Angle；
Control unit, for being handled as follows：When arm support angle is in 0 ° of minimum value, corresponding driver's cabin Shift cylinder stretches out Maximum Lmax, when arm support angle is in maximum θ max, corresponding driver's cabin Shift cylinder stretches out minimum value, is driven so as to realize Sail the adaptive arm support angle change in room position.
6. control system according to claim 5, it is characterised in that described control unit includes：
First processing module, for when arm support angle is in 0 ° of minimum value, control driver's cabin Shift cylinder to stretch out maximum Lmax；
Second processing module, for when arm support angle is in maximum θ max, control driver's cabin Shift cylinder to stretch out minimum value.
7. control system according to claim 5, it is characterised in that in described control unit, arm support angle is driven with described It is linear to sail room Shift cylinder extension elongation.
CN201710863666.3A 2017-09-22 2017-09-22 Container front crane cab position adapts to the control method and system of boom angle variation Active CN107416698B (en)

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CN201710863666.3A CN107416698B (en) 2017-09-22 2017-09-22 Container front crane cab position adapts to the control method and system of boom angle variation

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CN201710863666.3A CN107416698B (en) 2017-09-22 2017-09-22 Container front crane cab position adapts to the control method and system of boom angle variation

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108756781A (en) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 A kind of truck-mounted drilling rig crane arm control device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4053061A (en) * 1974-10-05 1977-10-11 Coles Cranes Limited Mobile crane
JPH0372123A (en) * 1989-08-11 1991-03-27 Hitachi Constr Mach Co Ltd Operator's cab of working machine
CN1561312A (en) * 2001-09-28 2005-01-05 神钢建设机械株式会社 Self-travelling work machine
CN201206084Y (en) * 2008-03-04 2009-03-11 抚顺挖掘机制造有限责任公司 Automatic up-down control cab for crawling crane
CN204677521U (en) * 2015-05-21 2015-09-30 安徽合力股份有限公司 A kind of container face crane auxiliary hydraulic system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4053061A (en) * 1974-10-05 1977-10-11 Coles Cranes Limited Mobile crane
JPH0372123A (en) * 1989-08-11 1991-03-27 Hitachi Constr Mach Co Ltd Operator's cab of working machine
CN1561312A (en) * 2001-09-28 2005-01-05 神钢建设机械株式会社 Self-travelling work machine
CN201206084Y (en) * 2008-03-04 2009-03-11 抚顺挖掘机制造有限责任公司 Automatic up-down control cab for crawling crane
CN204677521U (en) * 2015-05-21 2015-09-30 安徽合力股份有限公司 A kind of container face crane auxiliary hydraulic system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108756781A (en) * 2018-05-23 2018-11-06 徐工集团工程机械有限公司 A kind of truck-mounted drilling rig crane arm control device
CN108756781B (en) * 2018-05-23 2023-07-04 江苏徐工工程机械研究院有限公司 Control device for crane boom of vehicle-mounted drilling machine

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Effective date of registration: 20200918

Address after: No.1 Tarim railway, high tech Zone, Dingcheng District, Changde City, Hunan Province

Patentee after: Zoomlion Hengtong Power Technology Co., Ltd

Address before: Six East Road, economic and Technological Development Zone of Hunan province 410131 Changsha No. 88 (ZOOMLION quantang Industrial Park)

Patentee before: CHANGSHA ZHONGLIAN HENGTONG MACHINERY Co.,Ltd.