CN111285258A - Crane, and method and device for controlling tower arm of crane - Google Patents
Crane, and method and device for controlling tower arm of crane Download PDFInfo
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- CN111285258A CN111285258A CN202010247967.5A CN202010247967A CN111285258A CN 111285258 A CN111285258 A CN 111285258A CN 202010247967 A CN202010247967 A CN 202010247967A CN 111285258 A CN111285258 A CN 111285258A
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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
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a crane, a crane tower arm control method and a crane tower arm control device, and relates to the technical field of engineering machinery. The crane is characterized in that a distance sensor for detecting the telescopic length of the telescopic oil cylinder is arranged on the telescopic oil cylinder, a circle number detection mechanism for detecting the rotation circle number of the winch is arranged on the tower arm winch, so that the controller can obtain the actual length of a main arm and the actual length of a rope released by the winch, the target length of the rope released by the winch is obtained through calculation according to the actual length of the main arm, the rope releasing or retracting speed of the winch is adjusted according to the comparison result of the target length of the rope and the actual length of the rope, the actual included angle between the main arm and the tower arm is kept within the range of the preset included angle, the cooperative regulation and control is realized through the length relation adjustment between the tower arm and the main arm, the control precision is higher, the good posture of a crane boom in the lifting or descending process is kept, the crane is effectively prevented.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a crane, and a crane tower arm control method and device.
Background
Before the working condition hoisting of the tower arm of the single-cylinder bolt type telescopic arm crane is used, the tower arm needs to reach the proper height by extending out of the main arm, and after the hoisting is finished, the main arm and the tower arm need to be retracted. In order to prevent the crane from tipping over, the included angle between the tower arm and the main arm needs to be ensured within a reasonable range in the main arm stretching process, so that the tower arm and the main arm keep good postures, and the gravity center of the crane is stabilized. In the existing crane, an angle sensor is usually arranged on a tower arm to detect an angle between the tower making arm and a main arm and control the angle within a preset range. However, the tower arm is easy to shake when rising or falling, so that the measurement error of the angle sensor is large, the control precision is poor, and the reliability of the crane is influenced.
Disclosure of Invention
The invention aims to provide a crane, a crane tower arm control method and a crane tower arm control device, which can improve the angle control precision between a tower arm and a main arm, can better keep a good posture between the tower arm and the main arm, and have better reliability of the crane.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a crane, including a vehicle body, a main arm, a telescopic cylinder, a tower arm, a winch, and a controller, where the telescopic cylinder is disposed on the vehicle body and connected to the main arm to drive the main arm to extend and retract, the tower arm is connected to the main arm, and the winch is disposed on the vehicle body and connected to the tower arm to drive the tower arm to rotate relative to the main arm;
the telescopic oil cylinder is provided with a distance sensor for detecting the telescopic length of the telescopic oil cylinder; the winch is provided with a circle number detection mechanism for detecting the number of rotation circles of the winch; the controller is connected with the distance sensor and the circle number detection mechanism in a communication mode, and the controller is configured to:
acquiring the actual length of the main arm according to the telescopic length of the telescopic oil cylinder, and calculating the target length of the rope released by winding according to the actual length of the main arm;
acquiring the actual length of a rope released by the winch according to the number of turns of the winch;
and adjusting the speed of hoisting and releasing or retracting the rope according to the comparison result of the target length of the rope and the actual length of the rope so as to keep the actual included angle between the main arm and the tower arm within the range of the preset included angle.
In an alternative embodiment, the number of turns detecting mechanism comprises an encoder, and the controller is electrically connected with the encoder to acquire the number of turns of the winding.
In an alternative embodiment, the predetermined included angle is in the range of 12 ° to 22 °.
In a second aspect, an embodiment of the present invention provides a method for controlling a tower arm of a crane, where based on the crane, the method includes:
acquiring the actual length of the main arm according to the telescopic length of the telescopic oil cylinder, and calculating the target length of the rope released by winding according to the actual length of the main arm;
acquiring the actual length of a rope released by the winch according to the number of turns of the winch;
and adjusting the speed of hoisting and releasing or retracting the rope according to the comparison result of the target length of the rope and the actual length of the rope so as to keep the actual included angle between the main arm and the tower arm within the range of the preset included angle.
In an alternative embodiment, the step of calculating the target rope length based on the actual length of the main arm comprises:
and calculating a functional relation between the rope target length and the actual length of the main arm according to the preset included angle range and the actual length of the main arm, and calculating the rope target length corresponding to the actual length of the main arm according to the functional relation.
In an alternative embodiment, the step of "obtaining the actual length of the rope according to the number of turns of winding" includes:
and when the rope is reeled and released, calculating the actual length of the rope according to the number of turns and the radius of rotation.
In an alternative embodiment, the step of "obtaining the actual length of the rope according to the number of turns of winding" includes:
when the rope is reeled in the winch, the actual length of the rope is calculated according to the actual length of the rope before reeling, the number of turns of rotation and the rotation radius.
In an alternative embodiment, the step of adjusting the speed of hoisting and releasing or taking up the rope according to the comparison result of the target length of the rope and the actual length of the rope comprises the following steps:
when the rope is released in the hoisting process, if the actual length of the rope is greater than the target length of the rope, the rope releasing speed of the hoisting is reduced; if the actual length of the rope is smaller than the target length of the rope, the rope releasing speed of the winch is increased;
when the rope is reeled in the winch, if the actual length of the rope is greater than the target length of the rope, the rope reeling speed of the winch is increased; and if the actual length of the rope is smaller than the target length of the rope, reducing the rope winding speed of the winch.
In an alternative embodiment, a crane tower arm control method comprises:
when the rope releasing speed of the winch is increased to the maximum speed, the actual length of the rope is still smaller than the target length of the rope, and the boom extending speed of the main boom is reduced;
when the rope retracting speed of the winch is increased to the maximum speed, the actual length of the rope is still larger than the target length of the rope, and the arm retracting speed of the main arm is reduced.
In a third aspect, an embodiment of the present invention provides a crane tower arm control device, where based on the crane, the crane tower arm control device includes:
the acquisition module is used for acquiring the actual length of the main arm and the actual length of the rope released by winding, and calculating the target length of the rope according to the actual length of the main arm;
and the control module is used for adjusting the speed of hoisting and releasing or retracting the rope according to the comparison result of the target length of the rope and the actual length of the rope so as to keep the actual included angle between the main arm and the tower arm within the preset included angle range.
The embodiment of the invention has the beneficial effects that:
the crane is provided with a distance sensor on the telescopic oil cylinder, and a circle number detection mechanism is arranged on the winch, the distance sensor can detect the telescopic length of the telescopic oil cylinder, and then the controller can obtain the actual length of the main arm. In order to maintain the included angle between the tower arm and the main arm within the preset included angle range, a functional relation exists between the actual length of the main arm and the target length of the rope released by winding, so that the controller can obtain the target length of the rope according to the actual length of the main arm. The number of turns detection mechanism can detect the number of turns of the hoist, and then the controller can obtain the actual length of the rope that the hoist was released in view of the above. The controller controls the winch to adjust the rope releasing or rope collecting speed by comparing the target length of the rope with the actual length of the rope, so that the actual included angle between the tower arm and the main arm falls within the preset included angle range, the gravity center of the crane is kept stable, and the crane is prevented from tipping. Because flexible hydro-cylinder and hoist all set up in the automobile body, the two can not take place great rocking basically at the in-process of hoist lift main arm, and then set up in the distance sensor of flexible hydro-cylinder and set up in the number of turns detection mechanism of hoist and carry out corresponding detection relatively under the more stable condition, and, flexible length is as direct detection object, and rope actual length is as direct regulation and control object, and the two is length numerical value and not angle numerical value, and it is littleer to receive the influence of rocking, and the testing result is more accurate. Furthermore, the controller can control the rope releasing or retracting speed of the winch more accurately, the control precision of the angle between the tower arm and the main arm is effectively improved, the postures of the tower arm and the main arm are adjusted better, and the crane has better reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings may be obtained according to these drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a crane according to an embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1 in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a crane control system in an embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling a crane tower arm according to an embodiment of the present invention;
fig. 5 is a flow chart of the hoisting rope releasing and the hoisting rope retracting in the embodiment of the invention.
Icon: 100-a crane; 110-a vehicle body; 120-a main arm; 130-a telescopic oil cylinder; 132-a distance sensor; 140-a tower arm; 150-hoisting; 152-turn number detection mechanism; 160-controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, 2 and 3, the present embodiment provides a crane 100, which includes a car body 110, a main arm 120, a telescopic cylinder 130, a tower arm 140, a winch 150 and a controller 160. The telescopic cylinder 130 is provided to the vehicle body 110 and coupled to the main arm 120 to drive the main arm 120 to be telescopic, and the tower arm 140 is coupled to the main arm 120. The winch 150 is a tower arm winch, and the winch 150 is disposed on the vehicle body 110 and connected to the tower arm 140 to drive the tower arm 140 to rotate relative to the main arm 120. The telescopic cylinder 130 is provided with a distance sensor 132 for detecting the telescopic length of the telescopic cylinder 130. The hoist 150 is provided with a turn number detecting mechanism 152 for detecting the number of turns of the hoist 150. The controller 160 is communicatively coupled to the distance sensor 132 and the turn number detection mechanism 152, the controller 160 configured to: the actual length of the main arm 120 is obtained from the telescopic length of the telescopic cylinder 130, and the target length of the rope paid out by the winch 150 is calculated from the actual length of the main arm 120. The actual length of the rope paid out by the hoist 150 is obtained according to the number of rotations of the hoist 150. And adjusting the rope releasing or retracting speed of the winch 150 according to the comparison result of the target length of the rope and the actual length of the rope, so that the actual included angle between the main arm 120 and the tower arm 140 is kept within the preset included angle range.
The telescopic cylinder 130 is integrally located inside the main arm 120, the telescopic cylinder 130 includes a cylinder body fixed to the vehicle body 110 and a piston rod connected to the main arm 120. The main arm 120 includes a plurality of articulated arms, which can be sequentially extended by the driving of the telescopic cylinder. In the present embodiment, the main arm 120 includes 6 knuckle arms. In other embodiments, there may be 7 nodal arms or other numbers of nodal arms. In this embodiment, during the extension of the main arm 120, each articulated arm can extend under the driving of the telescopic cylinder 130, and the extension amount of the telescopic cylinder 130 is the extending movement distance of the end of the corresponding articulated arm. Because each knuckle arm is provided with a plurality of pin sites, the knuckle arms can have different extending moving distances when selecting different pin sites to be in pin joint with the adjacent knuckle arms.
In this embodiment, the distance sensor 132 is disposed at a position near the root of the vehicle body 110 of the telescopic cylinder 130, so as to minimize the influence of the shaking of the main arm 120 on the detection. In other embodiments, the distance sensor 132 may be disposed on the piston rod of the telescopic cylinder 130, and only needs to be able to detect the telescopic length of the telescopic cylinder 130. The distance sensor 132 may be an ultrasonic distance sensor or an infrared distance sensor, and the distance sensor 132 may detect the telescopic length of the telescopic cylinder 130.
The tower arm 140 is connected to an end of the main arm 120 away from the vehicle body 110, and an end of the tower arm 140 away from the main arm 120 is used for hoisting cargo. One end of the tower arm 140, which is far away from the main arm 120, is connected with a rope of the winch 150, and the posture of the tower arm 140 relative to the main arm 120 can be adjusted by releasing or retracting the rope of the winch 150, that is, the included angle between the tower arm 140 and the main arm 120 can be adjusted.
The winch 150 includes a winch frame fixed to the vehicle body 110 and a winch drum rotatably connected to the winch frame. A rope is wound around the winch drum to connect the tower arm 140. In this embodiment, the number of turns detecting mechanism 152 includes an encoder disposed on the hoisting bracket to detect the number of turns of the hoisting drum. The controller 160 is electrically connected to the encoder to obtain the number of rotations of the winch 150. The controller 160 calculates the actual length of the rope paid out by the hoist 150 according to the number of rotations of the hoist 150. In other embodiments, the number of turns detecting mechanism 152 may further include a toothed disc rotating synchronously with the winding drum, the toothed disc has protruding teeth arranged at equal intervals, the proximity switch fixed on the winding bracket is used to count the number of protruding teeth passing through the proximity switch when the winding drum rotates, the number of the emitted turns of the rope can be obtained by dividing the number of the protruding teeth on the toothed disc, and then the controller 160 may calculate the actual length of the rope emitted by the winding drum 150 according to the number of the rotating turns. The actual length of the rope paid out by the winch 150 is the actual length of the rope that has been paid out off the winch drum during the process of paying out or taking in the rope by the winch 150.
In this embodiment, the actual angle between the tower arm 140 and the main arm 120 refers to the acute angle α between the extension line of the main arm 120 and the tower arm 140, and the predetermined angle ranges from 12 ° to 22 °, i.e., 14 ° α to 22, if the actual angle α between the tower arm 140 and the main arm 120 is too large, the entire crane 100 has a risk of tipping toward the rear side of the vehicle, if the actual angle α between the tower arm 140 and the main arm 120 is too small, the entire crane 100 has a risk of tipping toward the front side, only when the angle α between the tower arm 140 and the main arm 120 is maintained within a suitable range, can it be ensured that the crane 100 does not tip during the lifting and lowering of the main arm 120, in other embodiments, the predetermined angle range may be set according to the specific structure of the main arm 120 and the tower arm 140 of the crane 100, only it is required to ensure that the crane 100 does not tip.
Referring to fig. 4, an embodiment of the present invention provides a method for controlling a tower arm of a crane, based on the crane 100, including:
step S1: the actual length of the main arm 120 is obtained from the telescopic length of the telescopic cylinder 130, and the target length of the rope released by the hoist 150 is calculated from the actual length of the main arm 120.
In the extending process of the main arm 120, taking the sixth arm and the fifth arm as an example, the sixth arm can extend under the driving of the telescopic cylinder 130, and when the fourth pin point of the sixth arm is fixed to the pin hole of the fifth arm, the extending amount of the telescopic cylinder 130 is the extending moving distance L of the end of the sixth arm6Since the basic length of the main arm 120 is L0(i.e., the length of the first arm, which is a fixed value), the controller 160 may calculate the actual length L of the main arm 120 at this time as L0+L6. After the telescopic cylinder 130 finishes driving the sixth arm, the telescopic cylinder 130 retracts to continue driving the fifth arm, and the extension of the telescopic cylinder 130 is the extension moving distance L of the tail end of the fifth arm (i.e. the end connected to the sixth arm)5Then, the controller 160 may calculate the actual length L of the main arm 120 at this time as L ═ L0+L6+L5. In this kind ofWhen fully extended, the actual length of the main arm 120 is L ═ L0+L6+L5+L4+L3+L2。
The joint arms can have different extending moving distances when selecting different pin positions to be in pin joint with the adjacent joint arms. Taking the sixth arm as an example, the sixth arm has 4 pin locations, and when the sixth arm is pinned to the fifth arm at the third pin location, the end of the sixth arm extends a distance L6Instead of the full length of the sixth arm, only a portion of the sixth arm extends and another portion remains unexposed, and the extended length of the sixth arm is the actual distance traveled by the third pin location, which can be detected by distance sensor 132. It can be seen that when different pin sites are selected for connection, L6Is different in value of L6Is a variable value. In the same way, L5、L4、L3、L2Also variable instead of constant, the distance sensor 132 can detect the current L5、L4、L3、L2. Through the arrangement of the distance sensor 132 and other related sensors, the controller 160 can distinguish which arm is moving at present, so that the controller 160 invokes different calculation formulas and calculates the actual length of the main arm 120 at present by combining the elongation of the telescopic cylinder 130. In addition, the shortening process of the main arm 120 is similar to the above-mentioned lengthening process, and the controller 160 can distinguish which arm is moving at present, so that the controller 160 invokes a different calculation formula and obtains the actual length of the main arm 120 at present by combining with the shortening calculation of the telescopic cylinder 130.
In this embodiment, calculating the target rope length from the actual length of the main arm 120 includes the following steps: and calculating a functional relation between the rope target length and the actual length of the main arm 120 according to the preset included angle range and the actual length of the main arm 120, and calculating the rope target length corresponding to the actual length of the main arm 120 according to the functional relation. Wherein the target rope length L is maintained within a predetermined angle between the main arm 120 and the tower arm 140 when the structure of the crane 100 is determined00And the actual length L of the main arm 12000F (L), storing the functional relationship in the controllerIn the controller 160, once the controller 160 acquires the actual length L of a certain main arm 120, the controller 160 can immediately acquire the target length L of the hoist 150 corresponding to the actual length of the main arm 12000. It will be appreciated that in other embodiments, the functional relationship described above may be fit from experimental data.
Step S2: the actual length of the rope paid out by the hoist 150 is obtained according to the number of rotations of the hoist 150.
Wherein the turn number detecting mechanism 152 transmits the detected turn number information to the controller 160. The actual length of the rope is the length of the rope connected between the tower arm 140 and the winch 150 that is not wound on the winch drum.
Referring to fig. 5, when the winch 150 is unwinding, step S21 is executed: calculating the actual length L of the rope according to the number n of the rotating turns and the rotating radius r11. When the rope on the winding drum is single-layer, L112 pi rn, when the rope on the winding drum is wound in multiple layers, the rotating radius r can be changed along with the change of the layer number, and at the moment, the actual length L of the rope needs to be adjusted according to the layer number of the rope11And (5) carrying out error correction.
When the winch 150 is winding, the step S22 is executed: calculating the actual length L of the rope according to the actual length S, the number n of rotating turns and the rotating radius r of the rope before rope reeling11. At this time, since the rope is in the rope take-up state, the rope S connected between the tower arm 140 and the hoist 150 before the rope take-up and not wound around the hoist drum is firstly obtained by the controller 160 according to L11The actual length L of the rope in the rope winding process can be obtained by S-2 pi rn11。
In the present embodiment, both of step S1 and step S2 may be performed simultaneously.
Step S3: according to the target length L of the rope00With the actual length L of the rope11The comparison result of (3) adjusts the rope releasing or rope retracting speed of the winch 150 so that the actual included angle α between the main arm 120 and the tower arm 140 is kept within the preset included angle range.
When the winch 150 releases the rope, after step S21, if the actual length L of the rope is greater than the predetermined length L11Greater than the target length L of the rope00Step S31 is executed: reducing the rope unwinding speed of the winch 150;if the actual length L of the rope is11Less than target length L of rope00Step S32 is executed: the rope unwinding speed of the winch 150 is increased.
When the hoist 150 is to be wound up, after the step S22 is executed, if the actual rope length L is greater than the predetermined value11Greater than the target length L of the rope00Step S33 is executed: increasing the rope take-up speed of the winch 150; if the actual length L of the rope is11Less than target length L of rope00Step S34 is executed: the rope take-up speed of the hoist 150 is reduced.
It should be noted that, in the present embodiment, the telescopic cylinder 130 is directly controlled and driven by the first hydraulic system, and the winch 150 is directly controlled and driven by the second hydraulic system.
During extension of the main arm 120, the winch 150 unwinds. The first hydraulic system is provided with a first control parameter YbAnd the second control parameter Y in the second hydraulic system is set to Y in advanceTY0，YTY0And YbIn a fixed proportional relationship. The controller 160 obtains the target rope length L by means of the distance sensor 132 and the loop number detection mechanism 15200With the actual length L of the rope1And mixing L00And L11And (6) comparing. If L is11＞L00Decrease YTY0Is YTY0-f1(L11-L00) To reduce the rope unwinding speed; if L is11＜L00Increase YTY0Is YTY0+f2(L11-L00) To improve the rope releasing speed. f. of1And f2The control method can be a P algorithm, a PID algorithm or other control algorithms to obtain higher control accuracy. For example, when L is00+A≥L11≥L00When A is, Y ═ YTY0＝KA1YbThe rope releasing speed is proper. When L is11＞L00When + A, Y ═ YTY0-KA2(L11-L00) And reducing the second control parameter Y until the second hydraulic system reaches the minimum stable displacement, and reducing the rope releasing speed of the winch 150 in the process. When L is11＜L00When + A, Y ═ YTY0+KA3(L00-L11) So as to perform the second controlThe parameter Y is increased until the second hydraulic system reaches the maximum stable displacement, in which process the rope releasing speed of the winch 150 is increased. Wherein A is a preset fluctuation value, KA1、KA2And KA3Respectively, corresponding linear scaling coefficients.
Furthermore, if during the rope payout adjustment of the winch 150, the winch 150 has reached the minimum achievable speed, but L, if the minimum stable displacement of the second hydraulic system has been reached11-L00And the trend of continuously increasing is that the first control parameter Y of the first hydraulic system is increasedbIs Yb+f6(L00-L11) The boom extension speed of the main boom 120 is increased. If the maximum stable displacement of the second hydraulic system is reached, namely the rope releasing speed of the winch 150 is increased to the maximum speed, the actual length of the rope is still smaller than the target length of the rope, and L00-L11And also tends to become larger, the first control parameter Y is decreasedbIs Yb-f5(L00-L11) The boom extension speed of the main boom 120 is reduced. That is, when the hoist 150 is controlled to the limit, the attitudes of the jib 120 and the tower arm 140 are adjusted in conjunction with controlling the elongation of the jib 120 to prevent the crane 100 from tipping over. f. of5And f6May be a P algorithm, a PID algorithm, or other control algorithm.
In the process of shortening the main arm 120, the winch 150 retracts the rope, and the rope retracting speed of the winch 150 is adjusted by continuously adjusting the second control parameter Y in the same manner as in the above-described extending process. When the rope retracting speed of the winch 150 is increased to the maximum speed, if the actual length of the rope is still greater than the target length of the rope, the arm retracting speed of the main arm 120 is decreased. By adjusting the first control parameter YbSo as to realize the control of the extension of the main arm 120, and finally, the length between the main arm 120 and the tower arm 140 is adjusted to be cooperatively controlled, and the included angle between the main arm 120 and the tower arm 140 is maintained within the range of the preset included angle, thereby maintaining a good posture and stabilizing the overall gravity center of the crane 100.
This embodiment still provides a hoist tower arm controlling means, based on above-mentioned hoist 100, includes: an acquisition module and a control module, the acquisition module is used for acquiring the actual length L and the volume of the main arm 120Actual length L of rope released by the hoist 15011And calculating the target rope length L according to the actual length L of the main arm 12000. The control module is used for controlling the rope to be in accordance with the target length L of the rope00With the actual length L of the rope11The comparison result of (3) adjusts the rope releasing or rope retracting speed of the winch 150 so that the actual included angle α between the main arm 120 and the tower arm 140 is kept within the preset included angle range.
The working principle of the crane 100 provided by the embodiment is as follows:
the controller 160 acquires the actual length L of the main arm 120, the actual length of the main arm 120, and the rope target length L according to the telescopic length of the telescopic cylinder 13000Has a functional relationship L between00F (L), the target rope length L can be calculated00. Meanwhile, the actual length L of the rope released by the winch 150 is obtained according to the number of turns of the winch 15011. Comparison L00And L11When the winch 150 releases the rope, if L is11＞L00Reducing the rope releasing speed by reducing a second control parameter Y of the second hydraulic system; if L is11＜L00And increasing the rope releasing speed by increasing the second control parameter Y. When the winch 150 is winding, if L11＞L00Increasing the second control parameter Y to increase the rope winding speed; if L is11＜L00And reducing the rope winding speed by reducing the second control parameter Y. The controller 160 may adjust the rope unwinding or rope winding speed of the winch 150 in real time according to the extension and retraction of the main arm 120, so that the extension and retraction of the main arm 120 and the retraction of the tower arm 140 are performed cooperatively to maintain the included angle between the main arm 120 and the tower arm 140 within the preset included angle range, thereby ensuring that the jib has a good posture and preventing the crane 100 from tipping over.
The crane 100 is provided with the distance sensor 132 on the telescopic cylinder 130 and the turn number detecting mechanism 152 on the hoist 150, and can acquire the actual length of the main arm 120, the target length of the rope, and the actual length of the rope in real time. The controller 160 flexibly adjusts the second control parameter Y to adjust the winding/unwinding speed of the winch 150 according to the comparison result of the target rope length and the actual rope length, and adjusts the first control parameter Y at a proper timebTo adjust the amount of extension and retraction of the main arm 120During the extension or shortening of the main arm 120, the main arm 120 and the tower arm 140 cooperate with each other, and the actual included angle between the main arm 120 and the tower arm 140 is maintained within the preset included angle range, so that the good posture of the boom is maintained, the crane 100 is prevented from tipping, and the safety is improved. Distance sensor 132 sets up in flexible hydro-cylinder 130, number of turns detection mechanism 152 sets up in hoist 150, flexible hydro-cylinder 130 and hoist 150 all are fixed in automobile body 110, and it is less to rock, and measuring error is less to flexible length is as direct detection object, and the rope actual length is as direct regulation and control object, and the two is length numerical value and not angle numerical value, and it is littleer to receive the influence of rocking, and the testing result is more accurate, thereby control process is more steady, is favorable to improving the control accuracy who controls hoist 100.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A crane is characterized by comprising a crane body, a main arm, a telescopic oil cylinder, a tower arm, a winch and a controller, wherein the telescopic oil cylinder is arranged on the crane body and connected to the main arm to drive the main arm to stretch, the tower arm is connected to the main arm, and the winch is arranged on the crane body and connected to the tower arm to drive the tower arm to rotate relative to the main arm;
the telescopic oil cylinder is provided with a distance sensor for detecting the telescopic length of the telescopic oil cylinder; the winch is provided with a circle number detection mechanism for detecting the number of rotation circles of the winch; the controller is in communicative connection with the distance sensor and the turn number detection mechanism, the controller configured to:
acquiring the actual length of the main arm according to the telescopic length of the telescopic oil cylinder, and calculating the target length of the rope released by the winch according to the actual length of the main arm;
acquiring the actual length of a rope released by the winch according to the number of turns of the winch;
and adjusting the speed of rope unwinding or rope winding of the winch according to the comparison result of the target length of the rope and the actual length of the rope, so that the actual included angle between the main arm and the tower arm is kept within the range of a preset included angle.
2. The crane of claim 1, wherein the turn number detection mechanism comprises an encoder, and the controller is electrically connected to the encoder to obtain a number of turns of the hoist.
3. A crane as claimed in claim 1, wherein said predetermined included angle is in the range 12 ° to 22 °.
4. A crane tower arm control method based on any one of claims 1 to 3, comprising:
acquiring the actual length of the main arm according to the telescopic length of the telescopic oil cylinder, and calculating the target length of the rope released by the winch according to the actual length of the main arm;
acquiring the actual length of a rope released by the winch according to the number of turns of the winch;
and adjusting the speed of rope unwinding or rope winding of the winch according to the comparison result of the target length of the rope and the actual length of the rope, so that the actual included angle between the main arm and the tower arm is kept within the range of a preset included angle.
5. The method as claimed in claim 4, wherein the step of calculating the target rope length from the actual length of the main jib comprises:
and calculating a functional relation between the rope target length and the actual length of the main arm according to the preset included angle range and the actual length of the main arm, and calculating the rope target length corresponding to the actual length of the main arm according to the functional relation.
6. The method as claimed in claim 4, wherein the step of obtaining the actual length of the rope according to the number of turns of the hoisting comprises:
and when the rope is unwound from the winch, calculating the actual length of the rope according to the number of the rotation turns and the rotation radius.
7. The method as claimed in claim 4, wherein the step of obtaining the actual length of the rope according to the number of turns of the hoisting comprises:
and when the rope is reeled in the winch, calculating the actual length of the rope according to the actual length of the rope before reeling, the number of turns and the rotating radius.
8. The method as claimed in claim 4, wherein the step of adjusting the speed of unwinding or winding the hoisting rope according to the comparison result between the target length of the rope and the actual length of the rope comprises:
when the winch releases the rope, if the actual length of the rope is greater than the target length of the rope, the rope releasing speed of the winch is reduced; if the actual length of the rope is smaller than the target length of the rope, improving the rope releasing speed of the winch;
when the winch receives the rope, if the actual length of the rope is greater than the target length of the rope, the rope receiving speed of the winch is increased; and if the actual length of the rope is smaller than the target length of the rope, reducing the rope winding speed of the winch.
9. The crane tower arm control method of claim 8, comprising:
when the rope releasing speed of the winch is increased to the maximum speed, the actual length of the rope is still smaller than the target length of the rope, and the boom extending speed of the main boom is reduced;
and when the rope retracting speed of the winch is increased to the maximum speed, the actual length of the rope is still larger than the target length of the rope, and the arm retracting speed of the main arm is reduced.
10. A crane tower arm control device based on any one of claims 1 to 3, comprising:
the acquisition module is used for acquiring the actual length of the main arm and the actual length of the rope released by the winch and calculating the target length of the rope according to the actual length of the main arm;
and the control module is used for adjusting the speed of rope unwinding or rope winding of the winch according to the comparison result of the target length of the rope and the actual length of the rope, so that the actual included angle between the main arm and the tower arm is kept within the range of a preset included angle.
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| CN202010247967.5A CN111285258B (en) | 2020-04-01 | 2020-04-01 | Crane, and method and device for controlling tower arm of crane |
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| CN114380223A (en) * | 2021-12-17 | 2022-04-22 | 三一汽车起重机械有限公司 | Crane hoisting rope follow-up control method and device and crane |
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| CN111285258B (en) | 2021-03-19 |
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