System and method for controlling movement trajectory of container side crane arm
A motion trajectory and control system technology, applied in transportation and packaging, load suspension components, cranes, etc., can solve problems such as low alignment efficiency, high safety risks, rollovers, etc., and achieve the effect of difficult rollover and precise lock alignment
Active Publication Date: 2018-08-24
中联恒通动力科技有限公司
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Problems solved by technology
This kind of operation method completely depends on the operator's observation and work experience when repeatedly operating the oil cylinder to expand and contract, which is likely to cause the container to shake from side to side, not only the alignment efficiency is low, and even the operation is too frequent and intense, it is easy to cause rollover, and there is a large risk. Security Risk
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[0019] figure 2 In the process of loading the container 5 onto the vehicle frame, its vertical downward movement must be realized, that is, to ensure the vertical downward movement of the lifting point 10 of the upper boom (as shown in the direction of the arrow). The coordinate relationship of each variable is as image 3 as shown, image 3 From the Pythagorean theorem, it can be obtained that the range of the distance of the upper boom is L1=M×cos(θ1), and the range of the lower boom is L2=N×cos(θ2), where M and N are respectively designed and fixed for the upper and lower arms. Length, θ1, θ2 are the angles of the upper and lower arms relative to the frame plane measured by the sensor installed on the arm frame. When both the upper boom and the lower boom are retracted, L1 and L2 decrease at the same time. In order to ensure the vertical downward movement of the hoisting point 10, it is necessary to control the variation of the amplitude of the simultaneous time-reducti...
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The invention discloses a control system and method for the movement track of a lazy arm of a container side crane. The control system comprises a first angle sensor and a second angle sensor, wherein the first angle sensor is used for measuring the angle between an upper arm of the container side crane and the plane of a vehicle frame, and the second angle sensor is used for measuring the angle between a lower arm of the container side crane and the plane of the vehicle frame; both the first angle sensor and the second angle sensor are connected with a controller; and the controller controls an upper arm oil cylinder to stretch and retract through a first proportional valve and a second proportional valve correspondingly and controls a lower arm oil cylinder to stretch and retract through a third proportional valve and a fourth proportional valve correspondingly. By adoption of the control system and method for the movement track of the lazy arm of the container side crane, the movement track of a lifting point can be controlled automatically, and accurate locking of a container can be achieved; and the motion speed of the lazy arm can be adjusted according to requirements, shaking of the container is controlled to the maximum extent, and rollover is unlikely to occur.
Description
technical field [0001] The invention relates to the technical field of arm control of mechanical products, in particular to a system and method for controlling the movement track of a container side crane arm. Background technique [0002] Such as figure 1 As shown, the existing container side crane needs to carry out the hoisting operation, and the loading and unloading action of the container 5 is realized by controlling the expansion and contraction of the corresponding oil cylinders (upper arm oil cylinder 3 and lower arm oil cylinder 4) by operating the proportional valves corresponding to the upper arm 1 and the lower arm 2 . When the container is hoisted to the top of the vehicle frame 9, the container twist lock sleeve 6 is aligned with the container twist lock 7 on the vehicle frame by repeatedly operating the upper and lower arm oil cylinders to expand and contract, and the hoisting operation is completed. This kind of operation method completely depends on the o...
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IPC IPC(8): B66C13/16B66C13/20B66C13/48B66C23/62
CPCB66C13/16B66C13/20B66C13/48B66C23/62
Inventor 范志勇万友良郭阳春方杰平
Owner 中联恒通动力科技有限公司