CN109264582A - Crane boom control method and device and crane - Google Patents
Crane boom control method and device and crane Download PDFInfo
- Publication number
- CN109264582A CN109264582A CN201811482118.7A CN201811482118A CN109264582A CN 109264582 A CN109264582 A CN 109264582A CN 201811482118 A CN201811482118 A CN 201811482118A CN 109264582 A CN109264582 A CN 109264582A
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- Prior art keywords
- angle
- arm
- crane
- tower
- principal arm
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 6
- 238000003466 welding Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of crane equipment, discloses a crane boom control method and device of a crane and the crane, and solves the problem that in the prior art, the welding end face between a tower arm and a main boom is easy to tear when the main boom is operated to lift and the tower arm descends according to the experience of operators. The method comprises the following steps: acquiring a main arm angle and a tower arm angle in real time; determining an included angle between a main arm and a tower arm; judging whether the included angle is smaller than or equal to a preset limit angle or not; and when the angle is smaller than or equal to the preset limit angle, limiting the main arm lifting operation and the tower arm descending operation of the crane. The embodiment of the invention is suitable for the process of installing the crane arm of the crane.
Description
Technical field
The present invention relates to technical field of crane equipment, and in particular, to a kind of crane arm control method of crane, dress
It sets and crane.
Background technique
The crane arm of crane includes principal arm and tower arm, during installation, as shown in Figure 1, before principal arm cantilever lifting, principal arm and tower arm
At horizontality.Then principal arm raising is operated, to turn over before preventing vehicle, before the extreme angles that principal arm reaches setting, it is necessary to protect
Tower arm head is demonstrate,proved without departing from ground, as shown in Fig. 2, tower arm must also do the movement declined simultaneously.When angle between tower arm and principal arm
It is smaller and smaller, and when reaching setting limit angle, the movement that tower arm rises is operated at this time, as shown in figure 3, vehicle cantilever lifting.But because of master
Arm head portion is relatively high, and people station is difficult to observe extreme position on ground, is all rule of thumb to operate, if continuing operation master
Arm cantilever lifting, tower arm lowering action, tower arm pulling plate can fluff, and tower arm all wt will all be loaded into tower arm tail portion and principal arm head and connect
In welding end surface between fishplate bar, as shown in Figure 4, it is easy to tear welding surface herein, weld seam tear causes cantilever crane to be broken
Accident.
Summary of the invention
The object of the present invention is to provide crane arm control method, device and the cranes of a kind of crane, solve existing
Declined in technology according to operator's experiential operating principal arm cantilever lifting and tower arm, easily cause tower arm tail portion and principal arm head connecting plate it
Between welding end surface tearing, the problem of causing cantilever crane to be broken, be automatically stopped the behaviour for causing the angle between principal arm and tower arm to reduce
Make, guarantees that the welding end surface between tower arm tail portion and principal arm head connecting plate will not be torn, improve the operational safety of equipment.
To achieve the goals above, the present invention provides a kind of crane arm control method of crane, which comprises real
When obtain the principal arm angle and tower arm angle of the crane；According to the principal arm angle and tower arm angle, the lifting is obtained
Angle between the principal arm and tower arm of machine；Judge whether the angle is less than or equal to predetermined limit angle；When the angle is small
When the predetermined limit angle, the operation of principal arm cantilever lifting and the tower arm step-down operation of the crane are limited.
Further, it is described judge whether the angle is less than or equal to predetermined limit angle before, the method is also
It include: to judge whether the angle is less than or equal to the sum of the predetermined limit angle and trim values；Be less than when the angle or
When equal to the sum of the predetermined limit angle and trim values, the principal arm of the crane and the service speed of tower arm are controlled according to pre-
If percentage slows down.
Further, after the operation of principal arm cantilever lifting and the tower arm step-down operation of the limitation crane, institute
State method further include: the principal arm for controlling the crane executes step-down operation, and/or the control tower arm executes cantilever lifting operation.
Further, angle of the principal arm angle between principal arm tail portion and horizontal plane, the tower arm angle are tower arm
Angle between tail portion and horizontal plane.
Further, described according to the principal arm angle and tower arm angle, obtain the crane principal arm and tower arm it
Between angle include: according to c3=180-c1+c2, the angle c3, c1 obtained between the principal arm and tower arm of the crane is institute
Principal arm angle is stated, c2 is the tower arm angle.
Correspondingly, the embodiment of the present invention also provides a kind of crane arm control device of crane, comprising: the detection of principal arm angle
Unit, for obtaining the principal arm angle of the crane in real time；Tower arm angle detection unit, for obtaining the crane in real time
Tower arm angle；Computing unit, for obtaining the principal arm and tower arm of the crane according to the principal arm angle and tower arm angle
Between angle；Processing unit, for judging whether the angle is less than or equal to predetermined limit angle；Control unit is used for
When the angle is less than or equal to the predetermined limit angle, the operation of principal arm cantilever lifting and the tower arm of the crane are limited
Step-down operation.
Further, the processing unit is also used to judge whether the angle is less than or equal to the predetermined limit angle
The sum of with trim values；Described control unit be also used to when the angle be less than or equal to the predetermined limit angle and trim values it
And when, the service speed of the principal arm and tower arm that control the crane is slowed down according to preset percentage.
Further, the principal arm that described control unit is also used to control the crane executes step-down operation, and/or control
The tower arm executes cantilever lifting operation.
Further, angle of the principal arm angle between principal arm tail portion and horizontal plane, the tower arm angle are tower arm
Angle between tail portion and horizontal plane.
Further, the computing unit is also used to obtain the principal arm and tower of the crane according to c3=180-c1+c2
Angle c3, c1 between arm are the principal arm angle, and c2 is the tower arm angle.
Correspondingly, the embodiment of the present invention also provides a kind of crane, the crane includes crane described above
Crane arm control device.
Through the above technical solutions, by judging whether the angle between principal arm and tower arm is less than or equal to predetermined limit angle
Degree, and when the angle is less than or equal to the predetermined limit angle, it is automatically stopped the angle caused between principal arm and tower arm
Reduced operation.The embodiment of the present invention solves in the prior art according under operator's experiential operating principal arm cantilever lifting and tower arm
The problem of dropping, the welding end surface between tower arm tail portion and principal arm head connecting plate is easily caused to tear, cantilever crane is caused to be broken guarantees tower
Welding end surface between arm tail portion and principal arm head connecting plate will not be torn, and improve the operational safety of equipment.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram before the principal arm cantilever lifting of crane；
Fig. 2 is the schematic diagram during the principal arm cantilever lifting of crane；
Fig. 3 is the schematic diagram after the principal arm raising of crane；
Fig. 4 is the principal arm of crane and the partial schematic diagram of tower arm junction；
Fig. 5 is a kind of flow diagram of the crane arm control method of crane provided in an embodiment of the present invention；
Fig. 6 is the signal of the angle between principal arm angle provided in an embodiment of the present invention, tower arm angle and principal arm and tower arm
Figure；
Fig. 7 is the flow diagram of the crane arm control method of another crane provided in an embodiment of the present invention；
Fig. 8 is a kind of structural schematic diagram of the crane arm control device of crane provided in an embodiment of the present invention.
Description of symbols
11-12-tower arm of principal arm
13-tower arm 14-welding end surfaces of pulling plate
15-principal arm heads 16-tower arm tail portion
17-connecting plates
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 5 is a kind of flow diagram of the crane arm control method of crane provided in an embodiment of the present invention.Such as Fig. 5 institute
Show, described method includes following steps:
Step 501, the principal arm angle and tower arm angle of the crane are obtained in real time；
Step 502, according to the principal arm angle and tower arm angle, the folder between the principal arm and tower arm of the crane is obtained
Angle；
Step 503, judge whether the angle is less than or equal to predetermined limit angle；
Step 504, when the angle is less than or equal to the predetermined limit angle, the principal arm for limiting the crane is risen
Arm operation and the tower arm step-down operation.
Wherein, when crane during installation, after vehicle cantilever lifting, because principal arm head is excessively high, operator station is difficult on ground
It observes the angle between principal arm and tower arm, obtains principal arm angle and tower arm angle in real time first in embodiments of the present invention.Such as
Shown in Fig. 6, de indicates that principal arm, ef indicate tower arm, and d is principal arm tail portion, and e is the junction in main arm head portion and tower arm tail portion, and f is tower
Arm head portion.It will be appreciated from fig. 6 that the angle c1 between principal arm tail portion and horizontal plane is principal arm angle, between tower arm tail portion and horizontal plane
Angle c2 be tower arm angle, then angle of the c3 between principal arm and tower arm.In embodiments of the present invention, exactly according to Fig. 6 institute
Size judgement between the angle c3 shown and predetermined limit angle, to determine the control of the operation to principal arm and tower arm.Wherein, tower
The value range of arm angle can be (- 90 °, 90 °).
Wherein, due to c3+c4=180 °, angle c3 is obtained, first has to calculate c4.Due to c4=c1-c2, because
This, c3=180 °-(c1-c2)=180 °-c1+c2, as long as after getting principal arm angle and tower arm angle in real time, Ji Keshi
When angle between principal arm and tower arm is calculated.
Wherein, the predetermined limit angle can carry out different settings according to different types of crane.Here in order to just
It is arranged in unified, for example, the predetermined limit angle can be set to, 90 ° of 85 °≤predetermined limit angle=, above-mentioned numerical value
Setting is only as an example, be not used to limit predetermined limit angle.
After obtaining the angle between principal arm and tower arm in real time, whether can be less than or equal to institute by angle described in real-time judge
State predetermined limit angle.When the angle is greater than the predetermined limit angle, it can return to step 501 and continue to obtain principal arm in real time
Angle and tower arm angle, obtain the angle between principal arm and tower arm, and it is described pre- then to judge whether the angle is less than or equal to
If extreme angles.When the angle is less than or equal to the predetermined limit angle, any one in following operation can be performed,
The welding end surface between principal arm and tower arm is avoided to tear:
1) principal arm for controlling the crane stops cantilever lifting operation, and controls the tower arm and stop step-down operation；
2) principal arm for controlling the crane executes step-down operation；
3) it controls the tower arm and executes cantilever lifting operation；
4) principal arm for controlling the crane executes step-down operation, and controls the tower arm and execute cantilever lifting operation.
Wherein it is possible to the principal arm for controlling the crane stops cantilever lifting operation, and controls the tower arm and stops step-down operation,
To prevent the angle from continuing to become smaller；Alternatively, increasing the size of the angle, the principal arm of crane is held as described in through control
Row step-down operation, perhaps by controlling, the tower arm executes cantilever lifting operation or the principal arm by controlling the crane executes
Step-down operation and the control tower arm execute cantilever lifting and operate.
By any one in aforesaid operations, the angle can be achieved and do not continue to become smaller, and then guarantees that tower arm is drawn
The problem of plate will not relax, and the welding end surface between tower arm tail portion and principal arm head connecting plate is avoided to tear, cantilever crane is caused to be broken,
Improve the operational safety of equipment.
In addition, in one embodiment of the invention, in order to guarantee that the angle between principal arm and tower arm reaches default pole
Limit angle when can smooth control, do not impact, as shown in fig. 7, providing a kind of stream of the crane arm control method of crane
Journey schematic diagram.As shown in fig. 7, described method includes following steps:
Step 701, the principal arm angle and tower arm angle of the crane are obtained in real time；
Step 702, according to the principal arm angle and tower arm angle, the folder between the principal arm and tower arm of the crane is obtained
Angle；
Step 703, judge whether the angle is less than or equal to the sum of the predetermined limit angle and trim values, if holding
Row step 704 executes step 701 if not；
Step 704, the service speed of the principal arm and tower arm that control the crane is slowed down according to preset percentage；
Step 705, judge whether the angle is less than or equal to predetermined limit angle, if executing step 706, hold if not
Row step 701；
Step 706, any one in operations described below can be performed:
The principal arm for controlling the crane stops cantilever lifting operation, and controls the tower arm and stop step-down operation；
The principal arm for controlling the crane executes step-down operation；
It controls the tower arm and executes cantilever lifting operation；Or
The principal arm for controlling the crane executes step-down operation, and controls the tower arm and execute cantilever lifting operation.
Wherein, before judging the angle and predetermined limit angle, it can first judge whether the angle is less than
The sum of or be equal to the predetermined limit angle and trim values, the trim values can be artificially arranged, and for example, 2 °, 3 ° or 4 °.It is described
Preset percentage can also be arranged according to the actual situation, and the percentage between for example, 40%-50% can reduce service speed
To the 40%-50% of former speed, when trim values are smaller, corresponding preset percentage is larger, corresponding when trim values are larger
Preset percentage is smaller.When being less than or equal to the sum of the predetermined limit angle and trim values by the angle, described in control
The principal arm of crane and the service speed of tower arm are slowed down according to preset percentage, guarantee that the angle between principal arm and tower arm is slow
Reduce, to guarantee to execute the operation of control principal arm and tower arm when the angle is less than or equal to the predetermined limit angle
When can be more smooth, not impact, for example, the principal arm for controlling the crane stops cantilever lifting operation, and control the tower arm
When stopping step-down operation, will not occur impact phenomenon in stopping movement since service speed is too fast, or in control institute
It, will not be fast due to operation when stating the principal arm execution step-down operation of crane, and/or control the tower arm execution cantilever lifting operation
It spends fastly when executing counteragent, the phenomenon that crane arm shake occurs.
Correspondingly, Fig. 8 is a kind of structural schematic diagram of the crane arm control device of crane provided in an embodiment of the present invention.
As shown in figure 8, described device 80 includes: principal arm angle detection unit 81, for obtaining the principal arm angle of the crane in real time；
Tower arm angle detection unit 82, for obtaining the tower arm angle of the crane in real time；Computing unit 83, for according to the master
Arm angle and tower arm angle, obtain the angle between the principal arm and tower arm of the crane；Processing unit 84, it is described for judging
Whether angle is less than or equal to predetermined limit angle；Control unit 85, for being less than or equal to the default pole when the angle
When limiting angle, the operation of principal arm cantilever lifting and the tower arm step-down operation of the crane are limited.
Wherein, the processing unit be also used to judge the angle whether be less than or equal to the predetermined limit angle with it is micro-
The sum of tone pitch；Described control unit is also used to be less than or equal to the sum of the predetermined limit angle and trim values when the angle
When, the service speed of the principal arm and tower arm that control the crane is slowed down according to preset percentage.
In addition, the principal arm that described control unit is also used to control the crane executes step-down operation, and/or described in control
Tower arm executes cantilever lifting operation.
Wherein, angle of the principal arm angle between principal arm tail portion and horizontal plane, the tower arm angle are tower arm tail portion
Angle between horizontal plane.
In addition, the computing unit be also used to be obtained according to c3=180-c1+c2 the crane principal arm and tower arm it
Between angle c3, c1 is the principal arm angle, and c2 is the tower arm angle.
Device through the embodiment of the present invention, solve in the prior art according to operator's experiential operating principal arm cantilever lifting and
The problem of tower arm declines, and the welding end surface between tower arm tail portion and principal arm head connecting plate is easily caused to tear, cantilever crane is caused to be broken,
Operation is observed without operator, realizes the operation for being automatically stopped and the angle between principal arm and tower arm being caused to reduce, guarantees tower
Welding end surface between arm tail portion and principal arm head connecting plate will not be torn, and improve the operational safety of equipment.
The specific operation process of the crane arm control device of above-mentioned crane, reference can be made to the crane arm of above-mentioned crane controls
The realization process of method.
Correspondingly, the embodiment of the present invention also provides a kind of crane, the crane includes rising described in above-described embodiment
The crane arm control device of heavy-duty machine.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (11)
1. a kind of crane arm control method of crane characterized by comprising
The principal arm angle and tower arm angle of the crane are obtained in real time；
According to the principal arm angle and tower arm angle, the angle between the principal arm and tower arm of the crane is obtained；
Judge whether the angle is less than or equal to predetermined limit angle；
When the angle be less than or equal to the predetermined limit angle when, limit the crane principal arm cantilever lifting operation and it is described
Tower arm step-down operation.
2. the method according to claim 1, wherein judging whether the angle is less than or equal to predetermined limit
Before angle, the method also includes:
Judge whether the angle is less than or equal to the sum of the predetermined limit angle and trim values；
When the angle is less than or equal to the sum of the predetermined limit angle and trim values, control the crane principal arm and
The service speed of tower arm is slowed down according to preset percentage.
3. the method according to claim 1, wherein in the principal arm cantilever lifting operation that limits the crane and described
After tower arm step-down operation, the method also includes:
The principal arm for controlling the crane executes step-down operation, and/or the control tower arm executes cantilever lifting operation.
4. the method according to claim 1, wherein the principal arm angle is between principal arm tail portion and horizontal plane
Angle, angle of the tower arm angle between tower arm tail portion and horizontal plane.
5. according to the method described in claim 4, obtaining it is characterized in that, described according to the principal arm angle and tower arm angle
Angle between the principal arm and tower arm of the crane includes:
According to c3=180-c1+c2, the angle c3, c1 obtained between the principal arm and tower arm of the crane is the principal arm angle
Degree, c2 are the tower arm angle.
6. a kind of crane arm control device of crane characterized by comprising
Principal arm angle detection unit, for obtaining the principal arm angle of the crane in real time；
Tower arm angle detection unit, for obtaining the tower arm angle of the crane in real time；
Computing unit, for obtaining between the principal arm and tower arm of the crane according to the principal arm angle and tower arm angle
Angle；
Processing unit, for judging whether the angle is less than or equal to predetermined limit angle；
Control unit, for limiting the principal arm of the crane when the angle is less than or equal to the predetermined limit angle
Cantilever lifting operation and the tower arm step-down operation.
7. device according to claim 6, which is characterized in that
The processing unit is also used to judge whether the angle is less than or equal to the sum of the predetermined limit angle and trim values；
Described control unit is also used to the control when the angle is less than or equal to the sum of the predetermined limit angle and trim values
The principal arm of the crane and the service speed of tower arm are slowed down according to preset percentage.
8. device according to claim 6, which is characterized in that described control unit is also used to control the master of the crane
Arm executes step-down operation, and/or the control tower arm executes cantilever lifting operation.
9. device according to claim 6, which is characterized in that the principal arm angle is between principal arm tail portion and horizontal plane
Angle, angle of the tower arm angle between tower arm tail portion and horizontal plane.
10. device according to claim 9, which is characterized in that the computing unit is also used to according to c3=180-c1+
C2, the angle c3, c1 obtained between the principal arm and tower arm of the crane is the principal arm angle, and c2 is the tower arm angle.
11. a kind of crane, which is characterized in that the crane includes the described in any item cranes of the claims 6-10
Crane arm control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482118.7A CN109264582A (en) | 2018-12-05 | 2018-12-05 | Crane boom control method and device and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811482118.7A CN109264582A (en) | 2018-12-05 | 2018-12-05 | Crane boom control method and device and crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109264582A true CN109264582A (en) | 2019-01-25 |
Family
ID=65186355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811482118.7A Pending CN109264582A (en) | 2018-12-05 | 2018-12-05 | Crane boom control method and device and crane |
Country Status (1)
| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60148893A (en) * | 1984-01-11 | 1985-08-06 | 日立建機株式会社 | Safety device for crane |
| EP0794149A3 (en) * | 1996-03-04 | 1998-10-14 | Manitowoc Crane Group, Inc. | Offsetting link assembly for folding luffing jib |
| CN101423179A (en) * | 2007-10-29 | 2009-05-06 | 利勃海尔爱茵根有限公司 | Method for erecting a crane boom |
| CN202542720U (en) * | 2012-03-28 | 2012-11-21 | 徐州重型机械有限公司 | Amplitude-variable jib off working state detection device and crane |
| CN103101838A (en) * | 2013-01-31 | 2013-05-15 | 中联重科股份有限公司 | Tower arm follow-up control equipment, method and system and engineering machinery |
-
2018
- 2018-12-05 CN CN201811482118.7A patent/CN109264582A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60148893A (en) * | 1984-01-11 | 1985-08-06 | 日立建機株式会社 | Safety device for crane |
| EP0794149A3 (en) * | 1996-03-04 | 1998-10-14 | Manitowoc Crane Group, Inc. | Offsetting link assembly for folding luffing jib |
| CN101423179A (en) * | 2007-10-29 | 2009-05-06 | 利勃海尔爱茵根有限公司 | Method for erecting a crane boom |
| CN202542720U (en) * | 2012-03-28 | 2012-11-21 | 徐州重型机械有限公司 | Amplitude-variable jib off working state detection device and crane |
| CN103101838A (en) * | 2013-01-31 | 2013-05-15 | 中联重科股份有限公司 | Tower arm follow-up control equipment, method and system and engineering machinery |
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Application publication date: 20190125 |
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