CN109532805B - Crane braking system, automatic positioning system and crane - Google Patents
Crane braking system, automatic positioning system and crane Download PDFInfo
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- CN109532805B CN109532805B CN201811416714.5A CN201811416714A CN109532805B CN 109532805 B CN109532805 B CN 109532805B CN 201811416714 A CN201811416714 A CN 201811416714A CN 109532805 B CN109532805 B CN 109532805B
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- 230000002159 abnormal effect Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
- B60T13/26—Compressed-air systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/08—Brake-action initiating means for personal initiation hand actuated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The embodiment of the invention provides a crane braking system, an automatic positioning system and a crane, and belongs to the field of engineering machinery. This hoist includes the rear axle air receiver for export compressed air, this system includes: the system comprises a current signal follower, a proportional pressure valve and a double-cavity brake air chamber, wherein the current signal follower is used for outputting a current signal when the crane needs to brake; the proportional pressure valve is connected with the rear axle air cylinder and used for adjusting the air pressure of the compressed air passing through the proportional pressure valve according to the current signal; and the double-cavity brake air chamber is used for receiving the compressed air passing through the proportional pressure valve and braking the crane according to the air pressure of the compressed air. The invention adopts an electric control loop, greatly shortens the braking response time difference between the rear axle and the front axle and is also beneficial to realizing intelligent control.
Description
Technical Field
The invention relates to engineering machinery, in particular to a crane braking system, an automatic positioning system and a crane.
Background
In the existing double-circuit service brake system, a front axle is used as a front circuit, a rear axle is used as a rear circuit, a foot brake valve is a serial double-cavity foot brake master valve, and the rear circuit of an upper cavity has faster response than the front circuit of a lower cavity so as to compensate for overlong brake delay of a rear circuit pipeline.
In the design of a rear axle brake control loop of a common crane, because a spring double-cavity air chamber is far away from a brake master cylinder, the rear brake control loop is connected between a rear axle air cylinder and the brake master cylinder as well as between the spring double-cavity air chamber and the rear axle air cylinder by using a multi-stage relay valve. In the two-three axle brake circuit, the output signal of the first-level relay valve is used as the control signal of the second-level relay valve, so that between axles far away from each other, the brake air chamber butted with the far-end relay valve can be synchronously inflated with the brake air chamber butted with the near-end relay valve, the response time is shortened, and the brake synchronism is improved.
However, the main defect of the pneumatic brake system is that the brake pressure needs to be built up for a certain time, the air valve pipeline is inevitably lengthened along with the lengthening of the vehicle body, the brake response delay is more obvious, and although the improved foot brake valve and the relay valve are adopted in the existing brake system to accelerate the response, the phenomena of brake delay, brake nodding, tail flicking and the like are still not negligible. And the existing air brake system is difficult to realize intelligent control.
Disclosure of Invention
The embodiment of the invention aims to provide a crane braking system, an automatic positioning system and a crane, wherein the crane braking system, the automatic positioning system and the crane adopt an electric control loop, so that the braking response time difference of a rear axle and a front axle is greatly shortened, and the intelligent control is facilitated.
In order to achieve the above object, an embodiment of the present invention provides a crane braking system, where the crane includes a rear axle air cylinder for outputting compressed air, and the system includes: the system comprises a current signal follower, a proportional pressure valve and a double-cavity brake air chamber, wherein the current signal follower is used for outputting a current signal when the crane needs to brake; the proportional pressure valve is connected with the rear axle air cylinder and used for adjusting the air pressure of the compressed air passing through the proportional pressure valve according to the current signal; and the double-cavity brake air chamber is used for receiving the compressed air passing through the proportional pressure valve and braking the crane according to the air pressure of the compressed air.
Preferably, the system further comprises: and the differential relay valve is connected between the proportional pressure valve and the double-cavity brake air chamber and used for opening the air outlet when the compressed air passes through the proportional pressure valve so as to enable the compressed air to enter the double-cavity brake air chamber.
Preferably, the crane comprises a brake pedal, the current signal output device is an angle sensor, and the angle sensor is connected with the brake pedal and is used for detecting the angle change of the brake pedal so as to output a current signal according to the angle change.
Preferably, the system further comprises: and the processor is used for controlling the current signal output device to output current according to the distance between the crane and the destination and the speed of the crane.
Preferably, the system further comprises: and the foot brake controller is used for remotely controlling the brake pedal.
Preferably, the system further comprises: and the two-position two-way electromagnetic valve is connected between the air cylinder and the proportional pressure valve.
Preferably, the system further comprises: and the hand brake is used for releasing the brake of the crane or finishing the brake under the condition that the hand brake of the crane is in the brake state.
Preferably, the handbrake brake comprises: the manual brake valve, with the normal solenoid valve that manual brake valve established ties, with the manual brake of manual brake valve parallelly connected button and with the normal disconnected solenoid valve that manual brake button establishes ties, wherein, the manual brake button is used for: controlling the normally-on electromagnetic valve to be powered on and off and the normally-off electromagnetic valve to be powered on and off so that the compressed air enters the double-cavity brake air chamber through the hand brake to release braking; and controlling the normally-on electromagnetic valve to be in power-off connection and the normally-off electromagnetic valve to be in power-off disconnection, so that the compressed air is discharged through the hand brake valve to complete braking.
The embodiment of the invention also provides an automatic crane positioning system, which comprises: the crane braking system described above; and the navigation control device is used for positioning the crane and formulating a travel path according to the position and the destination position of the crane so as to control the crane to travel along the travel path.
The embodiment of the invention also provides a crane, which comprises the crane automatic positioning system.
According to the technical scheme, the crane braking system, the automatic positioning system and the crane provided by the invention are adopted, the rear axle air storage cylinder is used for outputting compressed air, the current signal output device is used for outputting a current signal when the crane needs to be braked, the proportional pressure valve is used for adjusting the air pressure of the compressed air passing through the proportional pressure valve according to the current signal, then the double-cavity braking air chamber is used for receiving the compressed air passing through the proportional pressure valve, and the crane is braked according to the air pressure of the compressed air. The invention adopts an electric control loop, greatly shortens the braking response time difference between the rear axle and the front axle and is also beneficial to realizing intelligent control.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a crane braking system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relationship between the current signal output by the current signal output device and the pressure of the compressed air passing through the proportional pressure valve according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a crane braking system according to another embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a crane braking system according to another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a handbrake brake according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the switching between the automatic positioning mode and the normal mode of the crane according to an embodiment of the present invention; and
fig. 7 is a schematic structural diagram of an automatic crane positioning system provided by an embodiment of the invention.
Description of the reference numerals
1 rear axle air cylinder 2 current signal output device
3 proportional pressure valve 4 double-cavity brake chamber
5 two-position two-way electromagnetic valve 6 differential relay valve
7 brake pedal 8 angle sensor
9 baroceptor 10 service brake controller
11 processor 51 hand brake valve
52 normally-on electromagnetic valve 53 hand brake button
54 normally-off solenoid valve 71 navigation control device
72 vehicle control device 73 emergency device
74 mobile terminal.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic structural diagram of a crane braking system according to an embodiment of the present invention. As shown in fig. 1, the crane comprises a rear axle air reservoir 1 for outputting compressed air, the system comprising: the device comprises a current signal follower 2, a proportional pressure valve 3 and a double-cavity brake air chamber 4, wherein the current signal follower 2 is used for outputting a current signal when the crane needs to brake; the proportional pressure valve 3 is connected with the rear axle air cylinder 1 and used for adjusting the air pressure of the compressed air passing through the proportional pressure valve 3 according to the current signal; the double-cavity brake air chamber 4 is used for receiving the compressed air passing through the proportional pressure valve 3 and braking the crane according to the air pressure of the compressed air.
In the embodiment of the invention, when the crane is not braked, the current signal output device 2 and the proportional pressure valve 3 do not work, and the double-cavity brake air chamber 4 does not get air; when the crane brakes, gas in the electric control loop is from the rear axle gas storage cylinder 1 to the proportional pressure valve 3, and the current signal is output by the current signal output device 2, the output air pressure of the proportional pressure valve 3 can be changed from 0 to 10bar according to the current signal output by the current signal output device 2, then the dual-cavity brake air chamber 4 is inflated, the dual-cavity brake air chamber 4 is a spring dual-cavity brake air chamber and is provided with a front cavity and a rear cavity, during service braking, the front cavity is inflated, the front cavity membrane pushes the push rod to generate braking force, the braking force is in direct proportion to the introduced air pressure, and service braking is performed.
Fig. 2 is a schematic diagram showing the relationship between the current signal output by the current signal output unit 2 and the air pressure of the compressed air passing through the proportional pressure valve 3 according to an embodiment of the present invention. As shown in fig. 2, the power supply needs 12V, the starting current is 100mA, when the emergency brake is stepped on, the current is instantly changed from 0 to 1600mA, and the air pressure at the outlet of the proportional pressure valve 3 reaches 10 bar; when the pedal brake is pressed, the current is changed from 0-1200mA, 1200-400 mA and 400-1200mA, and the air pressure at the outlet of the proportional pressure valve 3 is changed along with the change.
Fig. 3 is a schematic structural diagram of a crane braking system according to another embodiment of the invention. As shown in fig. 3, the system comprises a pneumatic control circuit and an electric control circuit, the pneumatic control circuit is the same as the prior art and is not marked in the figure. The electric control loop comprises the rear axle air cylinder 1, the current signal output device 2, the proportional pressure valve 3 and the double-cavity brake air chamber 4, and also comprises:
a two-position two-way electromagnetic valve 5 connected between the air cylinder and the proportional pressure valve 3;
a differential relay valve 6 connected between the proportional pressure valve 3 and the dual-chamber brake chamber 4 for opening an air outlet when the compressed air passes through the proportional pressure valve 3, so that the compressed air enters the dual-chamber brake chamber 4;
the crane comprises a brake pedal 7, the current signal output device 2 is an angle sensor 8, and the angle sensor 8 is connected with the brake pedal 7 and used for detecting the angle change of the brake pedal 7 so as to output a current signal according to the angle change.
In the embodiment of the invention, gas in an electric control loop is normally opened from a gas storage cylinder two-position two-way electromagnetic valve 5 to a proportional pressure valve 3, an angle sensor 8 is arranged at a brake pedal 7, when the brake pedal 7 is stepped on, the angle sensor 8 measures the angle change of the brake pedal 7 so as to output a corresponding current signal, the proportional pressure valve 3 outputs air pressure which is changed from 0 to 10bar according to the signal output of the angle sensor 8, then the air outlet of a differential relay valve is opened, a double-cavity brake air chamber 4 is inflated, and service braking is carried out.
The proportional pressure valve 3 can adopt a Norcrown VP40 series, the valve has the advantages of quick response time, high precision and a work output curve similar to a human pedal, but the proportional pressure valve is not limited to the valve. Because the electric control loop is provided with the two-position two-way electromagnetic valve 5, the embodiment of the invention can also open or close the electric control loop by controlling the power on and power off of the two-position two-way electromagnetic valve 5 so as to control the braking of the crane.
According to the embodiment of the invention, the air pressure sensor 9 can be arranged behind the proportional pressure valve 3, when the brake pedal 7 is stepped on, whether the air pressure is abnormal or not can be detected, and when the air pressure is abnormal, the electric control loop lamp is lightened, so that the real-time detection is convenient.
The electric control loop has faster response time than the pneumatic control loop, and the differential relay valve opens the air outlet in advance, thereby shortening the response time difference with the front axle and improving the brake hysteresis phenomenon.
Fig. 4 is a schematic structural diagram of a crane braking system according to another embodiment of the invention. As shown in fig. 4, the system further includes: and the foot brake controller 10 is used for remotely controlling the brake pedal 7.
In the embodiment of the invention, the brake pedal 7 can be remotely controlled by the foot brake controller 10 to adjust the current signal output by the angle sensor 8, so that the current signal changes from 0-1600mA, and the output pressure of the corresponding proportional pressure valve 3 changes from 0-10 bar; when the vehicle needs to be restarted, the foot brake controller 10 remotely controls the brake pedal 7 to adjust a current signal, the current signal changes from 1600-0mA, the air outlet of the proportional pressure valve 3 is closed, air is exhausted from the double-cavity brake air chamber 4 to the exhaust port of the differential relay valve, the service brake is released, and the vehicle continues to run.
The system also provides a fully intelligent braking scheme, i.e. the invention may include a processor 11 which determines from the distance of the crane from the destination and the speed of the crane that it should take more than atmospheric pressure of compressed air into the dual chamber brake chamber 4 to stop the crane at the destination. Thereupon, the control current signal outputter 2 outputs a current signal to control the proportional pressure valve 3 so that the air pressure of the compressed air passing through the proportional pressure valve 3 reaches a desired air pressure.
Fig. 5 is a schematic structural diagram of a handbrake brake according to an embodiment of the present invention. As shown in fig. 5, to ensure the safety of the vehicle, the hand brake is always in a pulling state (braking state). The embodiment of the invention provides a hand brake which can enable a crane to release braking and complete braking when a hand brake is in a braking state all the time.
The double-cavity brake air chamber 4 is provided with a front cavity and a rear cavity, when the bicycle is driven, the rear cavity is inflated to release the force of the parking spring, the push rod returns to the 0-stroke state and brake is released, and the rear cavity is kept inflated in the driving process. The hand brake is connected with the rear cavity of the double-cavity brake air chamber 4, and therefore, when the crane is required to brake, the rear cavity of the double-cavity brake air chamber 4 needs to be inflated.
Therefore, in an embodiment of the present invention, the handbrake brake includes:
when the brake needs to be released, the normally-off solenoid valve 54 is controlled to be electrically connected, so that compressed air can bypass the hand brake valve 51 to enter the dual-chamber brake air chamber 4 to release the brake, and the normally-on solenoid valve 52 can be controlled to be electrically disconnected, so that the compressed air cannot be discharged from the hand brake valve 51.
When the brake is needed to be completed, the normally-off electromagnetic valve 54 is pressed down again, the power is lost and the normally-off electromagnetic valve 54 is controlled to be switched off, so that the compressed air can not bypass the hand brake valve 51 to enter the double-cavity brake air chamber 4, the normally-on electromagnetic valve 52 is controlled to be switched on, the compressed air in the double-cavity brake air chamber 4 is discharged through the hand brake valve 51, and the brake is completed.
Fig. 6 is a schematic diagram illustrating switching between an automatic crane positioning mode and a normal mode according to an embodiment of the present invention. As shown in fig. 6, the automatic braking scheme is implemented by adding an electric control loop on the basis of the original braking system of the product, and controlling the current through the remote foot brake controller (or processor) and the hand brake controller to realize an automatic in-place braking mode, so that the original braking operation, function and performance of the product are not affected while the requirements of the automatic braking function of the project are met. When in a conventional driving mode, the automatic positioning system is not started, the original braking system and mode are used, and the air braking system realizes the functions of service braking and parking braking by controlling the foot braking valve and the hand braking valve; and in the automatic in-place mode, the foot brake valve and the hand brake valve of the vehicle are in a normal state, after the automatic in-place switch is turned on, the hand brake button is pressed, and the brake function control under different scene working conditions is realized through the foot brake controller according to a control program.
Fig. 7 is a schematic structural diagram of an automatic crane positioning system provided by an embodiment of the invention. As shown in fig. 7, the system includes: the crane braking system described above; and a navigation control device 71 for positioning the crane and making a travel path according to the position and the destination position of the crane so as to control the crane to travel along the travel path.
Most of domestic and foreign cranes work under complicated working conditions of rugged road, harsh environment and the like, have extremely high requirements on the driving control technology of drivers and have great potential safety hazards. Under the environment of a national intelligent project vigorously propelled, the realization of automatic positioning of the crane is more important, the control program automatically simulates and plans the running track through surveying the hoisting field, the functions of automatic gear shifting, intelligent braking, active steering and the like are completed after starting, and finally the crane safely reaches the designated position.
The invention realizes the automatic planning of the path of the crane and finally realizes the automatic parking at the specified position in the specified area of the known obstacle. The automatic positioning principle is that the vehicle-mounted sensing system senses the surrounding environment, automatically plans a driving route according to the road, vehicle position and obstacle information obtained by sensing, and controls the steering and speed of the vehicle, so that the vehicle can safely and reliably reach a preset position, and automatic braking and flameout parking are realized.
The automatic positioning is a digital accurate operation, can reduce errors of manual driving, enables the vehicle to be accurately parked on an appointed operation station, and improves the working efficiency. Meanwhile, the automatic in-place operation can be realized in some complex construction sites, so that the safety risk of drivers can be avoided.
The embodiment of the invention is also provided with a remote control emergency braking system, and emergency braking can be realized through the remote control system when the vehicle-mounted system is out of control in an automatic driving state. When the automatic driving system is abnormal, the automatic driving system can be switched to manual driving to continue driving. In other words, the automatic braking and the manual braking in the embodiment of the invention are connected in parallel and can be switched at any time, and the automatic steering and the manual steering are also connected in parallel and can be switched at any time.
The automatic crane positioning system comprises four parts, namely a navigation control device 71, a vehicle control device 72, an emergency device 73 and a mobile terminal 74. The vehicle control device 72 is in communication connection with the navigation control device 71, the emergency device 73 and the mobile terminal 74 through a CAN bus.
The navigation control device 71 is a neural center of the whole system, realizes vehicle positioning and steering control, realizes a path calculation function and other information services, and coordinates and manages software and hardware of the whole system;
the vehicle control device 72 realizes basic control of vehicle starting, flameout, acceleration and deceleration, gear shifting, braking and the like;
the emergency device 73 realizes the functions of emergency operation of the vehicle in emergency, vehicle brake control, flameout and the like;
the mobile terminal 74 communicates with the vehicle-mounted part through a radio station, and sends a control command of the mobile terminal to the vehicle-mounted system, and sends the relevant information of the vehicle to the mobile terminal 74 for display.
The embodiment of the invention also provides a crane, which comprises the crane automatic positioning system.
The crane braking system, the automatic positioning system and the crane provided by the invention have the following technical effects:
1. the electric control loop greatly shortens the braking response time difference between the rear axle and the front axle;
2. the electric control loop can be converted into the current magnitude of the input end of the proportional pressure valve according to the angle change of the pedal plate stepped by a driver, so that a proper output pressure curve is obtained, and the brake response meeting the actual requirement is easier to obtain;
3. the crane can work in both normal running and automatic positioning modes, and meanwhile, the two control modes of the pneumatic control loop and the electric control loop ensure that the crane can still work normally under the complex working condition when a certain loop fails, and the safety performance of braking is greatly improved by monitoring in real time;
4. when the crane is in an automatic in-place mode, external control of parking braking and service braking can be realized through a remote control button, operation is convenient, and stability is high;
5. compared with the existing air brake, the brake device has the advantages that the brake lag, brake nodding and tail drifting phenomena of the multi-bridge crane are improved, meanwhile, the brake device is applied to an automatic in-place project, the intelligent brake and parking functions are achieved, and a feasible brake scheme is provided for further intelligent development.
According to the technical scheme, the crane braking system, the automatic positioning system and the crane provided by the invention are adopted, the rear axle air storage cylinder is used for outputting compressed air, the current signal output device is used for outputting a current signal when the crane needs to be braked, the proportional pressure valve is used for adjusting the air pressure of the compressed air passing through the proportional pressure valve according to the current signal, then the double-cavity braking air chamber is used for receiving the compressed air passing through the proportional pressure valve, and the crane is braked according to the air pressure of the compressed air. The invention adopts an electric control loop, greatly shortens the braking response time difference between the rear axle and the front axle and is also beneficial to realizing intelligent control.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (9)
1. A crane braking system, the crane comprising a rear axle air reservoir for outputting compressed air, the system comprising:
a current signal output device, a proportional pressure valve, a double-cavity brake air chamber and a processor, wherein,
the processor is used for controlling the current signal output device to output a current signal according to the distance between the crane and a destination and the speed of the crane;
the proportional pressure valve is connected with the rear axle air cylinder and used for adjusting the air pressure of the compressed air passing through the proportional pressure valve according to the current signal;
and the double-cavity brake air chamber is used for receiving the compressed air passing through the proportional pressure valve and braking the crane according to the air pressure of the compressed air.
2. The crane braking system of claim 1, further comprising:
and the differential relay valve is connected between the proportional pressure valve and the double-cavity brake air chamber and used for opening the air outlet when the compressed air passes through the proportional pressure valve so as to enable the compressed air to enter the double-cavity brake air chamber.
3. The crane braking system according to claim 1, wherein the crane comprises a brake pedal, and the current signal output device is an angle sensor connected to the brake pedal for detecting an angle change of the brake pedal to output a current signal according to the angle change.
4. The crane braking system of claim 3, further comprising:
and the foot brake controller is used for remotely controlling the brake pedal.
5. The crane braking system of claim 1, further comprising:
and the two-position two-way electromagnetic valve is connected between the air cylinder and the proportional pressure valve.
6. The crane braking system of claim 1, further comprising:
and the hand brake is used for releasing the brake of the crane or finishing the brake under the condition that the hand brake of the crane is in the brake state.
7. The crane braking system of claim 6 wherein the handbrake brake comprises:
the manual brake valve, with the normal solenoid valve that manual brake valve established ties, with the manual brake of manual brake valve parallelly connected button and with the normal disconnected solenoid valve that manual brake button establishes ties, wherein, the manual brake button is used for:
controlling the normally-on electromagnetic valve to be powered on and off and the normally-off electromagnetic valve to be powered on and off so that the compressed air enters the double-cavity brake air chamber through the hand brake to release braking;
and controlling the normally-on electromagnetic valve to be in power-off connection and the normally-off electromagnetic valve to be in power-off disconnection, so that the compressed air is discharged through the hand brake valve to complete braking.
8. An automatic crane positioning system, comprising:
the crane braking system of any one of claims 1-7; and
and the navigation control device is used for positioning the crane and formulating a traveling path according to the position and the destination position of the crane so as to control the crane to travel along the traveling path.
9. A crane, characterized in that the crane comprises a crane automatic seating system according to claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811416714.5A CN109532805B (en) | 2018-11-26 | 2018-11-26 | Crane braking system, automatic positioning system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811416714.5A CN109532805B (en) | 2018-11-26 | 2018-11-26 | Crane braking system, automatic positioning system and crane |
Publications (2)
| Publication Number | Publication Date |
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| CN109532805A CN109532805A (en) | 2019-03-29 |
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| CN111301373B (en) * | 2019-04-12 | 2024-06-04 | 东莞市粤熙实业有限公司 | Intelligent electric control automatic emergency braking control method and system for automobile |
| CN110333740B (en) * | 2019-06-10 | 2020-10-27 | 中联重科股份有限公司 | Automatic positioning method, device and system for engineering machinery and engineering machinery |
| CN111477062B (en) * | 2020-04-24 | 2024-06-25 | 浙江众合护航科技有限公司 | Air brake AEBS simulation platform for commercial vehicle for teaching and research |
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| CN2631877Y (en) * | 2003-07-22 | 2004-08-11 | 万安集团有限公司 | Electronic controlled gas pressure braker of vehicle |
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| CN101913351B (en) * | 2010-08-23 | 2013-08-14 | 三一汽车起重机械有限公司 | Pneumatic braking system, crane with pneumatic braking system and pneumatic braking method |
| CN102294996A (en) * | 2011-06-08 | 2011-12-28 | 唐应时 | Electromechanical ACBS (Anti-lock Central Braking System) automobile retarder control device and control method thereof |
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| CN2631877Y (en) * | 2003-07-22 | 2004-08-11 | 万安集团有限公司 | Electronic controlled gas pressure braker of vehicle |
| CN200942765Y (en) * | 2006-05-21 | 2007-09-05 | 东风汽车有限公司 | Automobile emergency braking device and differential relay valve thereof |
| CN203623652U (en) * | 2013-12-02 | 2014-06-04 | 杭叉集团股份有限公司 | Large-tonnage forklift pneumatic operation system |
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