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Multi-degree-of-freedom four-track counterweight trolley synchronous control system and control method

A technology of synchronous control and counterweight trolley, which is applied to non-deflectable wheel steering, vehicle components, steering mechanisms, etc., can solve the problems of high price, high mechanical performance requirements, and large loss, so as to reduce the overall weight and ensure synchronization Effect of controlling precision and reducing stress load

Inactive Publication Date: 2013-04-24
SHANGHAI SANY TECH
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Problems solved by technology

[0003] However, compared with the crawler-type walking scheme, the tire-type walking scheme has a more complex structure, is expensive and has a great loss; at the same time, the fully rigid connection method requires extremely high mechanical properties of the connecting mechanism between the main machine and the trolley.

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  • Multi-degree-of-freedom four-track counterweight trolley synchronous control system and control method
  • Multi-degree-of-freedom four-track counterweight trolley synchronous control system and control method
  • Multi-degree-of-freedom four-track counterweight trolley synchronous control system and control method

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Embodiment Construction

[0052] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0053] In the present invention, the crawler crane (hereinafter referred to as the main engine) is equipped with a super-lifting counterweight trolley (hereinafter referred to as the trolley), which is equipped with two left and right crawler mechanisms that can independently rotate around its own axis of rotation. The two crawler mechanisms They are referred to as trolley 1 and trolley 2 for short, and the specific structural block diagram is as follows figure 1 shown. It can be seen from the figure that the main engine is connected to the trolley through a telescopic two-link mechanism. In the above structure, the whole system provides three degrees of freedom in pose and orientation, namely the rotation angles β and g, and the telescopic length l of the two linkages. Among them, the first set of crawler mechanism trolley 1 and the second set of crawler m...

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Abstract

The invention provides a multivariant four-track counterweight trolley synchronous control system and a control method applied to a crawling crane. The synchronous control system comprises an operation handle, a speed synchronous controller, a main frame controller, a trolley controller, a position gesture compensator, a main frame hydraulic system and a hydraulic motor speed sensor, a trolley hydraulic system, a hydraulic motor speed sensor, a rotation angle sensor arranged on a main frame, a track directional angle sensor arranged on the trolley, two rotation angle sensors and a length sensor arranged on two link mechanisms at the joint of the main frame and the trolley. The synchronous control system and method of the invention allow the main frame to be connected with the trolley in the manner of releasing at full degree of freedom, decrease the stress load on the connecting mechanism of the main frame and the trolley, protect the connecting mechanism of the main frame and the trolley, lighten the whole weight, and ensure the synchronous control precision between the trolley and the main frame.

Description

technical field [0001] The present invention relates to a synchronous control system and a control method of a crawler counterweight trolley, in particular to a synchronous control system and a control method of a four-track counterweight trolley with multiple degrees of freedom applied to a crawler crane. Background technique [0002] When a crane is lifting, it needs to carry a certain weight of counterweight to keep it stable. For crawler cranes with super large tonnage, superlift counterweight trolleys are usually used as their corresponding counterweights. At present, the super-lifting counterweight trolleys (hereinafter referred to as trolleys) of foreign ultra-large tonnage crawler cranes (hereinafter referred to as the main engine) all adopt crawler or tire-type walking schemes. Among them, the connection between the host and the car is basically a fully rigid connection. [0003] However, compared to the crawler-type walking solution, the tire-type walking sol...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D5/32B62D11/24
Inventor 王建明周晓煜刘响陈志刚陈本现汪平张戈
Owner SHANGHAI SANY TECH
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