CN112850489B - Control system for pin telescoping mechanism and engineering machine - Google Patents
Control system for pin telescoping mechanism and engineering machine Download PDFInfo
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- CN112850489B CN112850489B CN202110013108.4A CN202110013108A CN112850489B CN 112850489 B CN112850489 B CN 112850489B CN 202110013108 A CN202110013108 A CN 202110013108A CN 112850489 B CN112850489 B CN 112850489B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 37
- 230000009471 action Effects 0.000 claims description 11
- 239000000725 suspension Substances 0.000 abstract description 14
- 238000012423 maintenance Methods 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a control system for a pin telescoping mechanism and engineering machinery, and belongs to the field of engineering machinery. The control system for the pin telescoping mechanism comprises a control device and an electric control element, wherein the control device drives the pin telescoping mechanism to act by controlling the on-off of the electric control element; the control system further comprises: the system comprises a wireless communication module and a standby power supply system; the standby power supply system is used for acquiring and sending a connection line state between the control device and the electric control element to the control device; the control device is used for correspondingly controlling the on-off of the electric control element or correspondingly controlling the on-off of the electric control element through the wireless communication module according to the received connection circuit state. The invention provides an operable temporary control system, which is convenient for retracting the suspension arm for maintenance and solves the problem that the suspension arm is difficult to retract when a cable breaks down in the prior art.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control system for a pin telescoping mechanism and engineering machinery.
Background
At present, a single-cylinder bolt telescopic mechanism refers to a whole mechanism that each section of arm of a suspension arm is stretched by an oil cylinder in the suspension arm, a certain section of arm of the suspension arm is driven to stretch by a cylinder pin, and the section of arm and the next section of arm are fixed by an arm pin after the arm pin stretches in place. The single-cylinder bolt telescopic mechanism can be used for engineering machinery such as an automobile crane, and the extension and retraction of a suspension arm of the automobile crane transmit signals of a sensor on an oil cylinder and control an electromagnetic valve on the oil cylinder through a cable of a cable drum. The cable is six core lines, and six core line functions do respectively: the cable head plug is fixed on the oil cylinder, and when the oil cylinder moves forwards, the plug moves forwards, and the cable on the cable drum is pulled out; when the oil cylinder retracts, the plug moves backwards, and the cable retracts to be wound on the cable drum. In the telescopic process, the cylinder pin and the arm pin battery valve are controlled to be opened and closed, and the cylinder pin and the arm pin are controlled to extend and retract by combining hydraulic oil in a central channel of the telescopic oil cylinder, so that the oil cylinder is contacted with and separated from the suspension arm body to drive the suspension arm to stretch.
According to the technical scheme, under the condition that a cable on a cable drum is broken, the opening and closing of a cylinder pin and an arm pin electromagnetic valve cannot be controlled, so that the suspension arm cannot stretch out and draw back, and the difficulty in maintaining an electric circuit in the suspension arm is greatly increased.
Disclosure of Invention
The invention aims to provide a control system for a pin telescoping mechanism and an engineering machine, so as to at least solve the problem that the single-cylinder pin telescoping mechanism cannot be controlled due to cable breakage.
In order to achieve the above object, a first aspect of the present invention provides a control system for a pin retracting mechanism, including a control device and an electric control element, wherein the control device drives the pin retracting mechanism to act by controlling on and off of the electric control element; the control system further comprises: the system comprises a wireless communication module and a standby power supply system;
the standby power supply system is used for acquiring and sending a connection line state between the control device and the electric control element to the control device;
the control device is used for correspondingly controlling the on-off of the electric control element or correspondingly controlling the on-off of the electric control element through the wireless communication module according to the received connection circuit state.
Optionally, the standby power system is further configured to supply power to the wireless communication module and/or the electronic control element according to the connection line state.
Optionally, the standby power system includes a power management module and a storage battery; the fault states include a non-power line fault state and a power line fault state;
and the power supply management module is used for disconnecting the storage battery and a power supply circuit of the wireless communication module when the connection circuit state is a non-power line fault state.
Optionally, the standby power system includes a power management module and a storage battery;
the power management module is used for switching on a power supply circuit between the storage battery and the wireless communication module when the connection circuit state is a power line fault state.
Optionally, the standby power system includes a power management module and a storage battery;
the power management module is used for disconnecting the power supply circuit between the storage battery and the wireless communication module and connecting the power supply circuit between the wireless communication module and the whole vehicle power supply when the connection circuit state is a non-fault state.
Optionally, the standby power system includes a power management module and a storage battery;
the power management module is used for stopping charging the storage battery when the connection circuit state is a non-fault state and the detected electric quantity of the storage battery reaches a first preset value.
Optionally, the power management module is further configured to charge the storage battery until the electric quantity of the storage battery reaches the first preset value when the connection line state is a non-fault state and the detected electric quantity of the storage battery is smaller than a second preset value; the second preset value is smaller than the first preset value.
Optionally, the power management module is further configured to acquire the charging state of the storage battery when the connection line state is a non-fault state and the detected electric quantity of the storage battery is greater than a second preset value and smaller than a first preset value, and charge the storage battery until the electric quantity of the storage battery reaches the first preset value when it is determined that the charging state of the storage battery is a charging state.
Optionally, the connection line state comprises a control line state;
the control device is used for controlling the on-off of the electric control element through the wireless communication module when the received connection line state is a fault state.
Optionally, the control system further comprises a sensor; the sensor is used for detecting an action signal of the pin telescoping mechanism;
the wireless communication module is further used for transmitting the received action signal to the control device.
Optionally, the control system further includes an IO module, and the control device receives the action signal through the IO module.
The invention also provides engineering machinery comprising the control system for the pin telescoping mechanism.
Above-mentioned technical scheme is on prior art's basis, through the application to respond wireless communication module and stand-by power supply system, can provide an operable interim solution when the cable on the cable drum breaks down, is convenient for maintain the davit retraction, has compensatied among the prior art when the cable breaks down, the difficult problem of davit retraction.
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 control flow diagram of a control system for a pin retraction mechanism provided in accordance with one embodiment of the present invention;
FIG. 2 is a control flow diagram of a power management module in a control system for a pin retracting mechanism according to an embodiment of the invention;
FIG. 3 is a block diagram of a control system for a pin retraction mechanism provided in accordance with one embodiment of the present invention;
fig. 4 is a block diagram of a control system for a pin retracting mechanism according to yet another embodiment of the present invention.
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 the present invention, are given by way of illustration and explanation only, not limitation.
Example 1
The embodiment provides a control system for a pin telescoping mechanism, as shown in fig. 3, the control system includes a control device, a wireless communication module, a standby power system and an electric control element, the control device is used for controlling on-off of the electric control element to drive the pin telescoping mechanism to operate;
the standby power supply system is used for acquiring and sending a connection line state between the control device and the electric control element to the control device; in the standby power supply system, the state of a connecting circuit is obtained through a cable level signal which is arranged between a line acquisition control device and the electric control element and is close to one side of the electric control element; in particular by picking up a break-off point such as a line between the cable drum and the electrically controlled element. The acquisition mode can be realized by the conventional voltage acquisition unit or by directly connecting a controller in a standby power supply system after the voltage is reduced by a resistor; the connection line state comprises a control line state, and the level of the control line state is low when the control line state is a fault state, namely the level of the acquisition point is low. The design is convenient and quick to determine the state of a connecting line between the control device and the electric control element. The control device is used for controlling the on-off of the electric control element through the wireless communication module when the received connection line state is a fault state. Specifically, the control device is further configured to control the wireless communication module to send a control signal to the electronic control element when the received state of the connection line between the control device and the electronic control element is a fault state; the control signal is used for controlling the on-off of the electric control element.
When the state of a connecting circuit between the control device and the electric control element is a fault state, the fault of a cable line is indicated, and when a cylinder and an arm pin of the pin telescopic mechanism cannot normally act, the electric control element controls the opening and closing of a cylinder and arm pin electromagnetic valve through the wireless communication module.
The standby power supply system also comprises a power supply management module and a storage battery; the control device is connected with the electric control element through a cable, and the cable comprises a control cable and a power supply cable. The power management module is used for controlling corresponding relays in the standby power system to be disconnected when the connection circuit state is determined to be a fault state and the fault state is a non-power line fault state, namely the power cable collection point is at a high level and the power cable collection point is controlled to be at a low level, so that the power supply circuit of the storage battery and the wireless communication module is disconnected.
The power management module is used for controlling corresponding relays in the standby power system to be closed and switching on a power supply circuit between the storage battery and the wireless communication module when the connection circuit state is determined to be a fault state and the fault state is a power line fault state, namely when the power cable collection point is at a low level and the power cable collection point is controlled to be at a low level.
The power management module is used for determining that the connection circuit state is a non-fault state, namely the power cable collection point is a high-point level and the control cable collection point is a high level, and the power management module controls the corresponding relay in the standby power system to be switched off, so that the storage battery is switched off from the power supply line of the wireless communication module, and the corresponding relay in the standby power system is controlled to be switched on, so that the power supply line between the wireless communication module and the whole vehicle power supply is switched on.
The power management module is used for determining that the connection circuit state is a non-fault state (normal state), namely the power cable collection point is at a high level and the control cable collection point is at a high level, and stopping charging the storage battery when the electric quantity of the storage battery reaches a first preset value.
The power supply management module is further used for charging the storage battery until the electric quantity of the storage battery reaches the first preset value and then stopping charging when the state of the connecting line is determined to be a non-fault state and the electric quantity of the storage battery is smaller than a second preset value; the second preset value is smaller than the first preset value.
As shown in fig. 2, in order to solve the problem of frequent charging of the storage battery and prolong the service life of the battery when the electric quantity of the storage battery is less than 100%, the power management module is further configured to obtain the charging state of the storage battery when the connection circuit state is a non-failure state and the detected electric quantity of the storage battery is greater than a second preset value and less than a first preset value, and charge the storage battery until the electric quantity of the storage battery reaches the first preset value when the charging state of the storage battery is determined to be a charging state.
As shown in fig. 4, the embodiment further provides a construction machine, including the control system described above; the control device preferably comprises a whole vehicle power system and a PLC controller; the wireless communication module preferably comprises a wireless remote control receiver; the engineering machine further comprises a cable drum, a junction box, an IO module and an emergency power supply system; the electrically controlled components preferably include a cylinder pin valve and an arm pin valve.
The emergency power supply system comprises a power supply management module and a storage battery, wherein the storage battery is a battery pack, and the power supply management module is used for detecting the electric quantity of the battery pack and controlling the charging and discharging of the battery pack; the cable drum is used for accommodating a connecting cable between a finished automobile power system and the PLC and the electric control element.
The whole vehicle power supply system is connected with the PLC, supplies power to the PLC, and is connected with the junction box through a power supply core and a ground core in the cable drum six-core cable; an IO module is arranged in the junction box, CANH and CANL lines in the six-core cable are connected to the IO module in the junction box, and a power supply and a ground in the six-core cable are connected to the IO module and the emergency power supply system and used for supplying power to the IO module and the emergency power supply system. After cylinder pin valve signals and arm pin valve signals in the six-core cable are connected into the junction box, the six-core cable is connected to the cylinder pin electromagnetic valve and the arm pin electromagnetic valve from the junction box through wires to control the opening and closing of the cylinder and the arm pin valve, and an output port of the wireless remote control receiver is also connected with the cylinder pin electromagnetic valve and the arm pin electromagnetic valve to participate in the control of the cylinder and the arm pin.
The wireless remote control transmitter is placed in the control room and is in a closed state under normal conditions, and the wireless remote control receiver is not sent instructions; the emergency power supply system is specifically determined according to the state of a connecting line.
The emergency power supply system is connected with the wireless remote control receiver and used for supplying power to the wireless remote control receiver; the emergency power supply system comprises a power supply management module and a battery pack, wherein the power supply management module is powered by the battery pack, can monitor the electric quantity of the battery pack, controls the charging and discharging of the battery pack, and controls the power supply source of the wireless remote control receiver; the wireless remote control transmitter controls the port output of the wireless receiver through a wireless signal.
Further, as shown in fig. 1 and fig. 2, in the normal condition of the cable line between the control device and the electric control element, when the battery capacity is lower than a certain proportion (the proportion is determined by referring to the power of the power management module, the remote control receiver and the electromagnetic valve and the battery capacity), the power management module controls the charging line to be connected, and the battery starts to be charged; when the electric quantity of the storage battery reaches a first preset value, and the first preset value is preferably 100% of the electric quantity of the battery pack, the power management module controls a charging circuit between the power management module and the battery pack to be disconnected, and the battery pack stops charging; the power supply of the power supply management module is powered by the battery pack. The power management module can automatically adjust the power supply source of the remote control receiver according to the level on the power line, and when the power management module detects that the electric signal on the power line is high, the power management module can disconnect the power supply line of the remote control receiver from the battery pack and connect the power line in the cable to directly supply power; when the power management module can not detect the high level signal, the battery pack is switched on to supply power to the power supply circuit of the wireless remote control receiver, and the battery pack supplies power.
Specifically, the control process of the pin telescoping mechanism under the control of the control system is as follows:
under normal conditions, the PLC controls the opening and closing of the cylinder pin valve and the arm pin valve through a cable of the cable drum, and the action of the cylinder pin and the arm pin is controlled by combining hydraulic oil in a central channel of the telescopic oil cylinder, so that the purposes of separation and contact of the telescopic oil cylinder in the suspension arm and the suspension arm body are achieved, and the suspension arm is driven to stretch and retract.
If the control circuit of the cylinder and the arm pin electromagnetic valve is in a normal state, namely the level at the acquisition point of the control circuit is high level, the opening and closing of the cylinder and the arm pin electromagnetic valve can be controlled by the PLC controller, so that the maintenance is conveniently carried out after the suspension arm retracts;
if the power supply circuit has no fault, the control circuit has a fault, namely the level at the acquisition point of the power supply circuit is high level, and the level at the acquisition point of the control circuit is low level; the power supply management module can be connected with a power supply line from a power line in the cable to the wireless remote control receiver, and a signal is sent to the wireless remote control receiver by operating the wireless remote control transmitter to control the power on and off of the cylinder and the arm pin electromagnetic valve;
if the control circuit and the power supply circuit of the cylinder pin and the arm pin electromagnetic valve have problems, the power supply management module can not detect a high level signal on a power supply line, the battery pack can be controlled to supply power to the wireless remote control receiver, and the wireless remote control transmitter can be operated to send a signal to the wireless remote control receiver to control the opening and closing of the cylinder pin and the arm pin. A power management module in the emergency power supply system is a key component, and can switch the power supply source of the wireless remote controller according to whether power is available in a power line; in addition, the power management module also monitors the electric quantity of the battery pack, and when the electric quantity of the battery pack is lower than a second preset value (the ratio is determined by referring to the power of the power management module, the remote control receiver and the solenoid valve and the capacity of the battery pack, and is set as a percent here), the power management module controls the battery pack to start charging, and the charging is stopped when the charging reaches 100 percent.
Through the scheme, when a cable on the cable drum breaks down, the operable control system for the pin telescoping mechanism temporarily is provided, so that the boom can be conveniently retracted for maintenance, and the problem that the boom is difficult to retract when the cable breaks down in the prior art is solved.
On the basis of the control system, in another embodiment mode, the control system further comprises a sensor and an IO module;
the wireless communication module is also used for transmitting the action signal of the pin telescoping mechanism detected by the sensor to the control device; and the control device receives an action signal of the pin telescoping mechanism through the IO module.
The two wireless communication modules are provided with transmitting and receiving functions, one wireless communication module is arranged on the telescopic oil cylinder and is connected with the IO module through a bus; the other wireless communication module is placed in the electric control box of the rotary table, is connected with the PLC through a bus, can perform signal interaction, transmits the received wireless signal to the PLC, receives the signal from the PLC and sends the signal to the wireless communication module on the oil cylinder; therefore, opening and closing of the cylinder and the arm pin valve can be controlled, and action signals of the pin telescopic mechanism, such as sensor signals of extending or retracting of the cylinder and the arm pin, can be sent to the PLC, so that the action signals are displayed on the moment limiter, and the boom is more convenient to stretch. If the cable breaks down, the IO module on the telescopic oil cylinder and the power supply of the wireless communication module can be supplied with power by the battery pack, so that the normal sending of the sensor signal and the control of the cylinder and the arm pin electromagnetic valve are ensured. In order to ensure that the battery pack can be used for a long enough time and still transmit signals and control the electromagnetic valve through the cable, the wireless communication module is started only when the cable line fails.
While 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 solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the 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 will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A control system for a pin telescoping mechanism comprises a control device and an electric control element, wherein the control device drives the pin telescoping mechanism to act by controlling the on-off of the electric control element; characterized in that the control system further comprises: the system comprises a wireless communication module and a standby power supply system;
the standby power supply system is used for acquiring and sending a connection line state between the control device and the electric control element to the control device;
the control device is used for correspondingly controlling the on-off of the electric control element or correspondingly controlling the on-off of the electric control element through the wireless communication module according to the received connection circuit state;
the standby power supply system is also used for supplying power to the wireless communication module and/or the electric control element according to the connection line state;
the standby power supply system comprises a power supply management module and a storage battery; the fault state comprises a non-power line fault state and a power line fault state;
and the power supply management module is used for disconnecting the storage battery and a power supply circuit of the wireless communication module when the connection circuit state is a non-power line fault state.
2. The control system of claim 1, wherein the backup power system comprises a power management module and a battery;
the power management module is used for switching on a power supply circuit between the storage battery and the wireless communication module when the connection circuit state is a power line fault state.
3. The control system of claim 1, wherein the backup power system comprises a power management module and a battery;
the power management module is used for disconnecting the power supply circuit between the storage battery and the wireless communication module and connecting the power supply circuit between the wireless communication module and the whole vehicle power supply when the connection circuit state is a non-fault state.
4. The control system of claim 1, wherein the backup power system comprises a power management module and a battery;
the power management module is used for stopping charging the storage battery when the connection circuit state is a non-fault state and the detected electric quantity of the storage battery reaches a first preset value.
5. The control system of claim 4, wherein the power management module is further configured to charge the battery until the charge of the battery reaches the first preset value when the connection line status is a non-fault status and the detected charge of the battery is less than a second preset value; the second preset value is smaller than the first preset value.
6. The control system of claim 4, wherein the power management module is further configured to obtain the charging status of the battery when the status of the connection line is a non-fault status and the detected charge level of the battery is greater than a second preset value and less than a first preset value, and charge the battery until the charge level of the battery reaches the first preset value when the charging status of the battery is determined to be a charging status.
7. The control system of claim 1, wherein the connection line state comprises a control line state;
the control device is used for controlling the on-off of the electric control element through the wireless communication module when the received connection line state is a fault state.
8. The control system of claim 1, further comprising a sensor; the sensor is used for detecting an action signal of the pin telescoping mechanism;
the wireless communication module is further used for transmitting the received action signal to the control device.
9. The control system of claim 8, further comprising an IO module through which the control device receives the action signal.
10. A working machine, characterized by comprising a control system for a pin retraction mechanism according to any of claims 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110013108.4A CN112850489B (en) | 2021-01-06 | 2021-01-06 | Control system for pin telescoping mechanism and engineering machine |
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| CN202110013108.4A CN112850489B (en) | 2021-01-06 | 2021-01-06 | Control system for pin telescoping mechanism and engineering machine |
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| CN112850489B true CN112850489B (en) | 2022-03-25 |
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| CN112850489A (en) | 2021-05-28 |
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Application publication date: 20210528 Assignee: Hunan ZOOMLION Crawler Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044887 Denomination of invention: Control system and construction machinery for pin telescopic mechanisms Granted publication date: 20220325 License type: Common License Record date: 20231030 Application publication date: 20210528 Assignee: Hunan Zoomlion engineering hoisting equipment Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044882 Denomination of invention: Control system and construction machinery for pin telescopic mechanisms Granted publication date: 20220325 License type: Common License Record date: 20231030 Application publication date: 20210528 Assignee: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980044881 Denomination of invention: Control system and construction machinery for pin telescopic mechanisms Granted publication date: 20220325 License type: Common License Record date: 20231030 |