A container spreader control system

Abstract

The present application relates to a kind of container spreader control system, including whole vehicle controller and spreader controller.Whole vehicle controller input connection lock switch, unlock switch and handle.Spread controller is connected with whole vehicle controller signal, and its input connection box access switch, lock access switch, unlock access switch, extension access buffer switch, contraction access buffer switch, and its output connection lock electromagnetic valve, unlock electromagnetic valve, extension electromagnetic valve, contraction electromagnetic valve, left side shift electromagnetic valve, right side shift electromagnetic valve.The present application cancels the control scheme of existing relay hard link, uses domestic whole vehicle controller and spreader controller and passes through CAN communication transmission signal mode, completes the functions such as container spreader's box, lock, unlock, extension, contraction, left and right side shift, left and right lateral inclination, front and back inclination, counterclockwise rotation, clockwise rotation, rotation deceleration stop, high-speed rotation, leveling function and intelligent limit angle function, and enriches the functionality of spreader system.

Description

Technical Field

[0001] This invention relates to the field of container spreader technology, and more particularly to a container spreader control system. Background Technology

[0002] As container throughput at port terminals increases, the demand for container reach stackers is also growing. However, most of the existing reach stacker systems are imported as a whole. These imported systems include mechanical, hydraulic, and electrical control components, making them entirely dependent on imports and resulting in high costs. While some domestically produced reach stackers use domestically designed solutions, they still employ relay series-parallel configurations.

[0003] However, container reach stackers are mostly used in the open air, and the environment is very harsh, with large temperature differences, high humidity, and salt spray. Therefore, the overall reliability and stability are required in such an environment, especially the safety requirements of the control system and control method. As a result, the domestic relay control solution has certain safety hazards, low lifespan and low reliability, and there is an urgent need to develop a domestic controller integration solution. Summary of the Invention

[0004] Based on this, and addressing the technical issues of existing container spreaders mainly using domestically produced relays for control, which pose certain safety hazards and have very low lifespan and reliability, a container spreader control system is proposed.

[0005] The present invention provides a container spreader control system, which includes:

[0006] The vehicle controller has input connections to a lock switch, an unlock switch, and a handle. The lock and unlock switches receive user-input lock and unlock commands, respectively. The vehicle controller detects the signals from the lock and unlock switches and issues lock and unlock signals when a closed signal is detected. The handle receives user-input extension, retraction, leftward movement, and rightward movement commands.

[0007] The spreader controller is connected to the vehicle controller via signal. Its inputs are connected to the box proximity switch, locking proximity switch, unlocking proximity switch, extension proximity buffer switch, and retraction proximity buffer switch. Its outputs are connected to the locking solenoid valve, unlocking solenoid valve, extension solenoid valve, retraction solenoid valve, left-side shift solenoid valve, and right-side shift solenoid valve.

[0008] When the spreader is started, after the spreader's locking head aligns with the container's lifting hole, the spreader controller detects the input signal from the container-landing proximity switch and issues a landing signal; if no landing signal is detected, it issues a non-landing signal. Based on the landing signal, the locking switch is closed to input a locking command. The vehicle controller issues a locking signal based on the locking command, and the spreader controller drives the locking solenoid valve to cause the locking head rotation cylinder to rotate and lock the spreader's locking head. When the spreader controller detects the input signal from the locking proximity switch, it issues a locking completion signal and controls the locking solenoid valve to disengage the locking head rotation cylinder. Based on the locking completion signal, the operating handle inputs a leftward or rightward movement command, and the vehicle controller adjusts accordingly. The left or right shift command sends a left or right shift signal. The spreader controller drives the left or right shift solenoid valve according to the left or right shift signal, so that the side shift cylinder drives the spreader to move to the left or right. According to the lock completion signal, the unlocking switch is closed to input the unlocking command. The vehicle controller sends the unlocking signal according to the unlocking command. The spreader controller drives the unlocking solenoid valve according to the unlocking signal to drive the lock head rotation cylinder to drive the spreader lock head to rotate in the opposite direction to unlock. When the spreader controller detects the input signal of the unlocking proximity switch, it sends the unlocking completion signal and controls the unlocking solenoid valve to disengage the lock head rotation cylinder. According to the unengaged signal, the operating handle inputs the extension or retraction command to perform the extension or retraction action of the spreader.

[0009] This invention eliminates the existing relay hard-link control scheme, adopts domestically produced vehicle controller and spreader controller, and transmits signals through CAN communication to complete the container spreader's loading, locking, unlocking, extension, retraction, and lateral movement, thereby improving the safety of spreader control and enriching the functionality of the spreader system.

[0010] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller input is connected to a leveling switch and a dual-axis tilt sensor for detecting the X-axis and Y-axis angles of the lifting device; the lifting device controller output is connected to a leveling solenoid valve; the leveling switch is used to close when a leveling command is received from the user; the vehicle controller is used to detect the signal of the leveling switch and, when the closing signal of the leveling switch is detected, compares the X-axis angle and Y-axis angle detected by the dual-axis tilt sensor with preset X-axis tilt threshold and Y-axis tilt threshold, respectively; if the X-axis angle is not equal to the X-axis tilt threshold or the Y-axis angle is not equal to the Y-axis tilt threshold, the vehicle controller issues a leveling signal; if the X-axis angle is equal to the X-axis tilt threshold or the Y-axis angle is equal to the Y-axis tilt threshold, the vehicle controller issues a leveling completion signal.

[0011] As a further improvement of the above-mentioned solution of the present invention, the leveling solenoid valve includes a left tilting solenoid valve, a right tilting solenoid valve, a front tilting solenoid valve, a rear tilting solenoid valve and a locking damping solenoid valve, and the leveling signal includes a left tilting leveling signal, a right tilting leveling signal, a front tilting leveling signal and a rear tilting leveling signal.

[0012] If the X-axis angle detected by the dual-axis tilt sensor is greater than the X-axis tilt angle threshold, the vehicle controller sends a left tilt leveling signal, and the rigging controller drives the left tilt solenoid valve according to the left tilt leveling signal.

[0013] When the X-axis angle detected by the dual-axis tilt sensor is less than the X-axis tilt angle threshold, the vehicle controller sends a right tilt leveling signal, and the spreader controller drives the right tilt solenoid valve according to the right tilt leveling signal.

[0014] When the difference between the X-axis angle detected by the dual-axis tilt sensor and the X-axis tilt angle threshold is ±1°, the vehicle controller controls the vehicle motor to decelerate until leveling is completed, and the leveling speed is 0r.

[0015] When the X-axis angle detected by the dual-axis tilt sensor is equal to the X-axis tilt angle threshold, the spreader controller controls the left tilt solenoid valve or the right tilt solenoid valve to disconnect, lock the left and right tilt cylinders, and complete the X-axis leveling work.

[0016] If the Y-axis angle detected by the dual-axis tilt sensor is greater than the Y-axis tilt angle threshold, the vehicle controller sends a forward tilt leveling signal, and the spreader controller drives the forward tilt solenoid valve according to the forward tilt leveling signal.

[0017] When the Y-axis angle detected by the dual-axis tilt sensor is less than the Y-axis tilt angle threshold, the vehicle controller sends a rear tilt leveling signal, and the spreader controller drives the rear tilt solenoid valve according to the rear tilt leveling signal.

[0018] When the difference between the Y-axis angle detected by the dual-axis tilt sensor and the Y-axis tilt angle threshold is ±1°, the vehicle controller controls the vehicle motor to decelerate until leveling is completed, and the leveling speed is 0r.

[0019] When the Y-axis angle detected by the dual-axis tilt sensor is equal to the Y-axis tilt angle threshold, the spreader controller drives the locking damping solenoid valve, the damping cylinder locks, and the Y-axis leveling work is completed.

[0020] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller outputs a gearbox indicator light, a lock indicator light, and an unlock indicator light, which have different colors. The vehicle controller controls the gearbox indicator light to light up according to the gearbox indicator light, and the user issues a lock control command based on the lighting signal of the gearbox indicator light. The vehicle controller controls the lock indicator light and the unlock indicator light to light up according to the lock completion signal and the unlock completion signal, respectively, and the user issues an unlock, left-side or right-side movement control command based on the lighting signal of the lock indicator light.

[0021] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is also connected to a counterclockwise rotary switch and a clockwise rotary switch; the sling controller is also connected to a counterclockwise rotary proximity switch and a clockwise rotary proximity switch, and the sling controller is also connected to a counterclockwise rotary solenoid valve and a clockwise rotary solenoid valve at its output.

[0022] The vehicle controller detects signals from the counter-clockwise and clockwise rotary switches. When a closed signal from either the counter-clockwise or clockwise rotary switch is detected, the spreader controller sends a counter-clockwise or clockwise rotation signal. The spreader controller drives a counter-clockwise or clockwise rotary solenoid valve to rotate the spreader counter-clockwise or clockwise according to the counter-clockwise or clockwise rotation signal. The spreader controller also detects signals from the counter-clockwise or clockwise rotary proximity switch and, when a closed signal from either the counter-clockwise or clockwise rotary proximity switch is detected, controls the counter-clockwise or clockwise rotary solenoid valve to open, thereby stopping the spreader from rotating.

[0023] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is also connected to a high-speed rotary switch, and the sling controller is also connected to a high-speed rotary solenoid valve.

[0024] The vehicle controller detects the signal from the high-speed rotary switch and sends a rotation speed control signal to the spreader controller when the closed signal of the high-speed rotary switch is detected; the spreader controller drives the high-speed rotary solenoid valve according to the rotation speed control signal.

[0025] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is also connected to a rotary deceleration stop switch, and the spreader controller is also connected to a rotary deceleration stop solenoid valve.

[0026] The vehicle controller detects the signal from the rotary deceleration stop switch and sends a rotary deceleration stop signal to the spreader controller when the signal is detected. The spreader controller drives the rotary deceleration stop solenoid valve according to the rotary deceleration stop signal.

[0027] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is also connected to a heavy-duty pressure switch, and the handle is also used to receive user input commands for tilting to the left, tilting to the right, tilting forward, and tilting backward; the heavy-duty pressure switch is used to close when the load on the spreader exceeds a preset load threshold.

[0028] When the vehicle controller detects the closed signal of the heavy load pressure switch, it issues commands to prohibit tilting to the left, tilting to the right, tilting forward, and tilting backward.

[0029] When the vehicle controller does not detect the closed signal of the heavy load pressure switch, the spreader controller controls the drive of the left tilt solenoid valve, right tilt solenoid valve, forward tilt solenoid valve or backward tilt solenoid valve according to the left tilt command, right tilt command, forward tilt command or backward tilt command.

[0030] When the X-axis angle detected by the dual-axis angle sensor reaches a preset tilt angle value, the spreader controller controls the left tilt solenoid valve or the right tilt solenoid valve to disconnect.

[0031] When the Y-axis angle detected by the dual-axis angle sensor reaches a preset tilt angle value, the spreader controller drives the locking damping solenoid valve to work, and the damping cylinder locks.

[0032] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is connected to an overload pressure switch at its input and to a buzzer at its output. The overload pressure switch is used to close when the load on the spreader exceeds a preset load threshold two, where the load threshold two is greater than the load threshold one. When the vehicle controller detects the closing signal of the overload pressure switch, it controls the buzzer to sound an alarm and issues commands to prohibit leveling, prohibit leftward movement, prohibit rightward movement, prohibit leftward tilting, prohibit rightward tilting, prohibit forward tilting, prohibit backward tilting, prohibit counterclockwise rotation, prohibit clockwise rotation, prohibit high-speed rotation, and prohibit rotation deceleration and stop.

[0033] As a further improvement to the above-mentioned solution of the present invention, the vehicle controller is also connected to a work light switch as an input and to a left work light and a right work light as an output. When the vehicle controller detects the closed signal of the work light switch, it controls the left work light and the right work light to be lit.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This invention eliminates the existing relay hard-link control scheme, adopts a domestically produced vehicle controller and spreader controller, and transmits signals via CAN communication. It completes the container spreader's functions of container placement, locking, unlocking, extension, retraction, left and right lateral movement, left and right lateral tilting, front and back tilting, counter-clockwise rotation, clockwise rotation, rotation deceleration and stop, high-speed rotation, leveling, and intelligent tilt angle limiting, enriching the functionality of the spreader system and improving its intelligence. In implementing basic functions, a new control logic achieves interlocking logic for locking and unlocking, extension and retraction, left and right movement, front and back tilting, left and right lateral tilting, and counter-clockwise and clockwise rotation. It also achieves precise proportional control of extension and retraction, left and right lateral movement, left and right lateral tilting, and front and back tilting, making the operation more accurate and stable, and greatly improving operability.

[0036] 2. This invention adds a heavy-load sensing system and an overload sensing system, along with an alarm device. When the heavy-load pressure switch is closed, forward / backward and left / right tilting functions are prohibited, improving the safety of the lifting device. When the overload pressure switch is closed, all functions of the lifting device are protected and prohibited from operation, and the overload alarm buzzer is triggered. The maximum speed limit improves the ease of operation of the lifting device, and the added interlocking logic prevents lateral and forward / backward tilting operations from occurring simultaneously, maximizing the protection of the lifting device and improving its safety and lifespan.

[0037] 3. In order to improve the convenience of using the spreader, this invention further develops the automatic leveling function of the spreader in front and behind and left and right. The angle detection value of the dual-axis tilt sensor is used to realize the one-click leveling function, making it easier for the operator to level the spreader when lifting containers. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of a container spreader control system according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram illustrating the working principle of a container spreader control system according to an embodiment of the present invention.

[0040] Figure 3 This is a schematic diagram of the leveling control principle of a container spreader control system proposed in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram illustrating the tilt control principle of a container spreader control system proposed in an embodiment of the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Reference Figure 1 This embodiment proposes a container spreader control system, including a vehicle controller 5 and a spreader controller 1.

[0044] The vehicle controller 5 inputs are connected to the handle, lock switch 51, unlock switch 52, leveling switch 62, dual-axis tilt sensor 67, counterclockwise rotation switch 53, clockwise rotation switch 54, high-speed rotation switch 55, rotation deceleration stop switch 56, heavy load pressure switch 63, overload pressure switch 64, and work light switch 66. The vehicle controller 5 outputs are connected to the box indicator light 58, lock indicator light 57, unlock indicator light 59, left work light 60, right work light 61, and buzzer 65.

[0045] Locking switch 51, unlocking switch 52, counterclockwise rotation switch 53, clockwise rotation switch 54, high-speed rotation switch 55, rotation deceleration stop switch 56, and work light switch 66 are used to receive user input commands for locking, unlocking, counterclockwise rotation, clockwise rotation, high-speed rotation, rotation deceleration stop, and turning on the work light, respectively, and close upon receiving the corresponding control command. The vehicle controller 5 detects the signals from locking switch 51, unlocking switch 52, counterclockwise rotation switch 53, clockwise rotation switch 54, high-speed rotation switch 55, and rotation deceleration stop switch 56, and, upon detecting the closed signal of the corresponding switch, issues the corresponding locking signal, unlocking signal, counterclockwise rotation signal, clockwise rotation signal, high-speed rotation speed adjustment signal, and rotation deceleration stop signal.

[0046] The handle is used to receive user input commands to control the telescopic arm, including extension, retraction, leftward movement, rightward movement, leftward tilt, rightward tilt, forward tilt, and backward tilt.

[0047] The dual-axis tilt sensor 67 is used to detect the X-axis and Y-axis angles of the spreader. The leveling switch 62 is used to receive leveling commands input by the user and closes when the user inputs a leveling command. The vehicle controller 5 is used to detect the signal of the leveling switch 62 and, when the leveling switch 62 is detected to be closed, compares the X-axis and Y-axis angles of the spreader with preset X-axis tilt angle thresholds and Y-axis tilt angle thresholds, respectively.

[0048] The heavy-load pressure switch 63 and the overload pressure switch 64 are used to detect the load of the spreader and close when the load of the spreader exceeds a preset load threshold 1 and a load threshold 2, respectively. The load threshold 1 is less than the load threshold 2. In this embodiment, the load threshold 1 is 10-15t, and the load threshold 2 is ≥15t. The vehicle controller 5 also detects the signals of the heavy-load pressure switch 63 and the overload pressure switch 64: When the vehicle controller 5 detects the closed signal of the heavy-load pressure switch 63, it issues a command to prohibit tilting to the left, tilting to the right, tilting forward, and tilting backward; When the vehicle controller 5 detects the closed signal of the overload pressure switch 64, it controls the buzzer 65 to sound an alarm and issues commands to prohibit extending, retracting, locking, unlocking, moving to the left, moving to the right, leveling, rotating counterclockwise, rotating clockwise, rotating at high speed, tilting to the left, tilting to the right, tilting forward, and tilting backward.

[0049] The spreader controller 1 is connected to the vehicle controller 5 via a CAN bus. The spreader controller 1 inputs are connected to the following proximity switches: left front cargo box proximity switch 15, right front cargo box proximity switch 16, left rear cargo box proximity switch 17, right rear cargo box proximity switch 18, left upper locking proximity switch 11, right upper locking proximity switch 12, left unlocking proximity switch 13, right unlocking proximity switch 14, extension proximity buffer switch 23, extension proximity buffer switch 24, retraction proximity buffer switch 21, retraction proximity buffer switch 22, counter-clockwise rotation proximity switch 20, and clockwise rotation proximity switch 21. 19. Output connection: left upper locking solenoid valve 25, right upper locking solenoid valve 26, left unlocking solenoid valve 27, right unlocking solenoid valve 28, extension solenoid valve 29, extension solenoid valve 30, retraction solenoid valve 31, retraction solenoid valve 32, left side shift solenoid valve 33, right side shift solenoid valve 34, left tilt solenoid valve 35, right tilt solenoid valve 36, forward tilt solenoid valve 37, backward tilt solenoid valve 38, locking damping solenoid valve 39, counterclockwise rotation solenoid valve 40, clockwise rotation solenoid valve 41, high-speed rotation solenoid valve 43, rotation deceleration stop solenoid valve 42.

[0050] It should be noted that both the spreader controller 1 and the vehicle controller 5 are domestically produced control devices, and the port load capacity is 2A; all ports have power-on detection function to prevent premature or abnormal power-on of the spreader system and avoid malfunctions.

[0051] It should be noted that this system has three indicator lights: a green lock signal light 57, a red unlock signal light 59, and a yellow box-landing signal light 58. When both the left lock proximity switch 11 and the right lock proximity switch 12 are closed, the green lock signal light 57 illuminates; when both the left unlock proximity switch 13 and the right unlock proximity switch 14 are closed, the red unlock signal light 59 illuminates; when both the left front box-landing proximity switch 15, the right front box-landing proximity switch 16, the left rear box-landing proximity switch 17, and the right rear box-landing proximity switch 18 are closed, the yellow box-landing signal light 58 illuminates. The three indicator lights automatically switch according to the status of the proximity switches.

[0052] Next, combined Figures 2-4 The working principle of this embodiment will be explained.

[0053] 1. Packing

[0054] After the four unlocked locks of the spreader are inserted into the four lifting holes of the container, the top rod of the lock is moved up. The spreader controller 1 simultaneously detects the closed signals of the left front container approach switch 15, the right front container approach switch 16, the left rear container approach switch 17, and the right rear container approach switch 18, thus completing the container landing confirmation. The spreader controller 1 sends a container landing signal, and the vehicle controller 5 controls the container landing signal light 58 to light up according to the container landing signal.

[0055] If the spreader controller 1 does not detect the closed signals of the left front container landing proximity switch 15, right front container landing proximity switch 16, left rear container landing proximity switch 17, and right rear container landing proximity switch 18, it indicates that the container has not been successfully landed. The container landing signal light 58 will not illuminate, and the vehicle controller 5 will issue a prohibition on locking and a prohibition on unlocking command. In the empty container state, it can perform functions such as extension, retraction, leveling, left / right movement, rotation deceleration and stop, counterclockwise rotation, clockwise rotation, and high-speed rotation.

[0056] II. Locking and Unlocking

[0057] When the user observes the locking indicator light 58 illuminate, they operate the locking switch 51 to close and input a locking command. The vehicle controller 5 detects the closed signal of the locking switch 51 and sends a locking signal to the spreader controller 1. The spreader controller 1, based on the locking signal, drives the left locking solenoid valve 25 and the right locking solenoid valve 26, causing the lock cylinders to rotate the left and right lock heads of the spreader, completing the locking action. Simultaneously, the left locking proximity switch 11 and the right locking proximity switch 12 output signals to ports A1 and A2 of the spreader controller 1. The spreader controller 1 then sends a locking completion signal and controls the left locking solenoid valve 25 and the right locking solenoid valve 26 to disengage the lock cylinders. The vehicle controller 5, based on the locking completion signal, controls the locking indicator light 57 to illuminate.

[0058] When the gearbox is locked, and the user operates the unlock switch 52 to input the unlock command, the vehicle controller 5 detects the closed signal of the unlock switch 52 and sends an unlock signal. The spreader controller 1 drives the left unlock solenoid valve 27 and the right unlock solenoid valve 28 according to the unlock signal, so that the lock head rotation cylinder drives the spreader to rotate the left and right lock heads to complete the unlocking action. At the same time, the left unlock proximity switch 13 and the right unlock proximity switch 14 output signals to the A3 and A4 ports of the spreader controller 1. The spreader controller 1 confirms that the unlocking action is completed, sends an unlocking completion signal, and controls the left unlock solenoid valve 27 and the right unlock solenoid valve 28 to disengage the lock head rotation cylinder. The vehicle controller 5 controls the unlocking indicator light 59 to light up according to the unlocking completion signal.

[0059] It should be noted that the locking and unlocking functions are mutually exclusive. That is, if the locking switch 51 and the unlocking switch 52 are operated at the same time, the vehicle controller 5 will report a fault. When the left locking proximity switch 11, the right locking proximity switch 12, the left unlocking proximity switch 13, and the right unlocking proximity switch 14 all have signals input to the spreader controller 1 at the same time, a fault will be reported.

[0060] The vehicle controller 5 detects the overload pressure switch 64 signal based on the locking completion signal. If the spreader is overloaded (≥15t), the overload pressure switch 64 closes, the vehicle controller 5 controls the buzzer 65 to sound an alarm and issue a fault message, and issues commands prohibiting leveling, lateral movement, lateral tilting, forward / backward tilting, counterclockwise rotation, clockwise rotation, high-speed rotation, and rotation deceleration / stop. If the spreader is not overloaded (<15t), the overload pressure switch 64 does not close, and normal operation can proceed.

[0061] III. Expansion and Contraction Control

[0062] When the indicator light 58 is off, the user can extend or retract the box by operating the handle.

[0063] Extension: When the handle is stationary, the output voltage is 5V. When the handle is pushed forward, the analog signal is output between 0.5-5V. The vehicle controller 5 sends an extension signal. The spreader controller 1 drives the extension solenoid valve 29 and extension solenoid valve 30 simultaneously according to the extension signal. The telescopic cylinder drives the spreader to extend. As the voltage decreases, the openings of the extension solenoid valves 29 and 30 also increase, the flow rate increases, and the extension speed increases, thus completing the precise control of the extension action. When the extension is in place, the extension proximity buffer switches 23 and 24 close and output a signal to the spreader controller 1. The spreader controller 1 controls the extension solenoid valves 29 and 30 to disconnect and lock the telescopic cylinder and sends an extension completion signal, thus stopping the extension function.

[0064] Retraction: When the handle is stationary, the output voltage is 5V. When the handle is pushed back, the analog signal is output between 5-9.5V. The vehicle controller 5 sends a retraction signal. The spreader controller 1 drives the retraction solenoid valve 31 and the retraction solenoid valve 32 according to the retraction signal to realize the retraction action. As the voltage value increases, the opening of the retraction solenoid valve 31 and the retraction solenoid valve 32 also increases, the flow rate increases, and the retraction speed increases, thereby completing the precise control of the retraction action. When the retraction is in place, the retraction proximity buffer switches 21 and 22 close and output a signal to the spreader controller 1. The spreader controller 1 controls the retraction solenoid valve 31 and the retraction solenoid valve 32 to open and sends a retraction completion signal, thereby stopping the retraction function.

[0065] IV. Leveling Control

[0066] In both the unloaded and locked states, the user can operate the leveling switch 62 to close and perform the leveling function of the lifting device.

[0067] After the vehicle controller 5 detects the closed signal of the leveling switch 62, the vehicle controller 5 acquires the X-axis angle and Y-axis angle of the lifting device and compares the X-axis angle and Y-axis angle of the dual-axis tilt sensor 67 with the preset X-axis tilt threshold and Y-axis tilt threshold, respectively.

[0068] If the X-axis angle detected by the dual-axis tilt sensor 67 is greater than the X-axis tilt angle threshold, the vehicle controller 5 sends a left-side leveling signal. The hanger controller 1 controls the left tilt solenoid valve 35 to work according to the left-side leveling signal so that the left and right tilt cylinders drive the hanger to perform the left tilt leveling action on the X-axis.

[0069] If the X-axis angle detected by the dual-axis tilt sensor 67 is less than the X-axis tilt angle threshold, the vehicle controller 5 sends a right-side leveling signal. The spreader controller 1 controls the right tilt solenoid valve 36 to work according to the right-side leveling signal so that the left and right tilt cylinders drive the spreader to perform the right-side tilting leveling action on the X-axis.

[0070] When the difference between the X-axis angle and the X-axis tilt angle threshold is ±1°, the vehicle controller 5 controls the vehicle motor to reduce its speed by half to 500r until leveling is completed, at which point the leveling speed is 0r.

[0071] When the X-axis angle detected by the dual-axis tilt sensor 67 is equal to the X-axis tilt angle threshold, the vehicle controller 5 sends an X-axis leveling completion signal. The rigging controller 1 controls the left tilt solenoid valve 35 or the right tilt solenoid valve 36 to open according to the X-axis leveling completion signal, locks the left and right tilt cylinders, and completes the X-axis leveling action.

[0072] If the Y-axis angle detected by the dual-axis tilt sensor 67 is greater than the Y-axis tilt angle threshold, the vehicle controller 5 sends a forward tilting leveling signal. The spreader controller 1 controls the forward tilting solenoid valve 37 to work according to the forward tilting leveling signal so that the front and rear tilting cylinders drive the spreader to perform the forward tilting leveling action on the Y-axis.

[0073] If the Y-axis angle detected by the dual-axis tilt sensor 67 is less than the Y-axis tilt angle threshold, the vehicle controller 5 sends a rear tilt leveling signal. The loader controller 1 controls the rear tilt solenoid valve 38 to work according to the rear tilt leveling signal so that the front and rear tilt cylinders drive the loader to perform the rear tilt leveling action on the Y-axis.

[0074] When the difference between the Y-axis angle and the Y-axis tilt angle threshold is ±1°, the vehicle controller 5 controls the vehicle motor to reduce its speed by half to 500r until leveling is completed, at which point the leveling speed is 0r.

[0075] When the Y-axis angle detected by the dual-axis tilt sensor 67 is equal to the Y-axis tilt angle threshold, the vehicle controller 5 sends a Y-axis leveling completion signal. The lifting device controller 1 drives the locking damping solenoid valve 39 according to the Y-axis leveling completion signal, so as to lock the damping cylinder to perform forward and backward movement and complete the Y-axis leveling action.

[0076] V. Left and Right Shift Control

[0077] When the box is not engaged or locked, the user can operate the handle to move it left or right. The left side will stop when it reaches the desired position via a mechanical limit switch inside the lateral movement cylinder.

[0078] When the handle is stationary, the output voltage is 5V. When the handle is pushed to the left, a leftward movement command is input, and the analog signal is output between 0.5V and 5V. The spreader controller 1 drives the leftward movement solenoid valve 33 according to the leftward movement command, and realizes the leftward movement operation through the side movement cylinder. As the output voltage decreases, the opening of the leftward movement solenoid valve 33 also increases, and the leftward movement speed also increases, thereby completing the precise control of the leftward movement operation.

[0079] When the handle is pushed to the right, a rightward shift command is input, and an analog signal is output between 5-9.5V. The spreader controller 1 drives the rightward shift solenoid valve 34 according to the leftward shift command, and the rightward movement is achieved through the side-shifting cylinder. As the output voltage increases, the opening of the rightward shift solenoid valve 34 also increases, and the rightward shift speed also increases, thereby completing the precise control of the rightward shift. The rightward shift is stopped by the mechanical limit inside the side-shifting cylinder when it reaches the correct position.

[0080] VI. Lateral tilting and forward / backward tilting

[0081] When the spreader is not in a loaded state or is in a locked state, the vehicle controller 5 monitors the signal of the heavy-load pressure switch 63 in real time. If the spreader is under heavy load (10-15t), the heavy-load pressure switch 63 closes, and the vehicle controller 5 issues commands to prohibit tilting to the left, right, forward, and backward, thus prohibiting tilting to the left, right, forward, and backward. If the spreader is not under heavy load (<10t), and the vehicle controller 5 does not detect the closed signal of the heavy-load pressure switch 63, the handle can be operated to tilt to the left, right, forward, or backward.

[0082] (1) Unloaded box state

[0083] When the handle is stationary, the output voltage is 5V. When the handle is pushed to the left, a left tilt command is input, and the analog signal is output between 0.5-5V. The spreader controller 1 drives the right tilt solenoid valve according to the left tilt command, and the left tilt action is realized through the lateral tilt cylinder. When the X-axis angle detected by the dual-axis tilt sensor 67 reaches 10°, a 10° message is sent, and the spreader controller 1 controls the left tilt solenoid valve 35 to open, limiting the maximum left tilt angle to 10°.

[0084] When the handle is pushed to the right, a right tilt command is input, and the analog signal is output between 5-9.5V. The spreader controller 1 drives the right tilt solenoid valve according to the right tilt command, and the right tilt action is realized through the lateral tilt cylinder. When the X-axis angle detected by the dual-axis tilt sensor 67 reaches -10°, a -10° message is sent, and the spreader controller 1 controls the right tilt solenoid valve 36 to open, limiting the maximum right tilt angle to 10°.

[0085] When the handle is pushed forward, a forward tilt command is input, and an analog signal is output between 0.5-5V. The spreader controller 1 drives the forward tilt solenoid valve 37 according to the forward tilt command, and the forward tilt action is achieved through the forward and backward tilt cylinders. When the Y-axis angle detected by the dual-axis tilt sensor 67 reaches 10°, a 10° message is sent, and the spreader controller 1 drives the locking damping solenoid valve 39, locking the damping cylinder and limiting the maximum forward tilt angle to 10°.

[0086] When the handle is pushed backward, a tilting command is input, and an analog signal is output between 5-9.5V. The spreader controller 1 drives the tilting solenoid valve 38 according to the tilting command, and the tilting action is realized through the front and rear tilting cylinders. When the Y-axis angle detected by the dual-axis tilt sensor 67 reaches -10°, a -10° message is sent. The spreader controller 1 drives the locking damping solenoid valve 39, the damping cylinder is locked, and the maximum tilting angle is limited to 10°.

[0087] (2) In the locked state after the box is engaged, and the heavy-duty pressure switch Q9 is not closed.

[0088] When the handle is stationary, the output voltage is 5V. When the handle is pushed to the left, a left tilt command is input, and the analog signal is output between 0.5-5V. The spreader controller 1 drives the left tilt solenoid valve according to the left tilt command, and the left tilt action is realized through the left and right tilt cylinders. When the X-axis angle detected by the dual-axis tilt sensor 67 reaches 6°, a 6° message is issued, and the spreader controller 1 controls the left tilt solenoid valve 35 to open, limiting the maximum left tilt angle to 6°.

[0089] When the handle is pushed to the right, a right tilt command is input, and the analog signal is output between 5-9.5V. The spreader controller 1 drives the right tilt solenoid valve according to the right tilt command, and the right tilt action is realized through the left and right tilt cylinders. When the X-axis angle detected by the dual-axis tilt sensor 67 reaches -6°, a -6° message is issued, and the spreader controller 1 controls the right tilt solenoid valve 36 to open, limiting the maximum right tilt angle to 6°.

[0090] When the handle is pushed forward, a forward tilt command is input, and an analog signal is output between 0.5-5V. The spreader controller 1 drives the forward tilt solenoid valve 37 according to the forward tilt command, and the forward tilting action is achieved through the forward and backward tilting cylinders. When the Y-axis angle detected by the dual-axis tilt sensor 67 reaches 6°, a 6° message is sent, and the spreader controller 1 drives the locking damping solenoid valve 39, locking the damping cylinder and limiting the maximum forward tilt angle to 6°.

[0091] When the handle is pushed backward, a tilting command is input, and an analog signal is output between 5-9.5V. The spreader controller 1 drives the tilting solenoid valve 38 according to the tilting command, and the tilting action is realized through the front and rear tilting cylinders. When the Y-axis angle detected by the dual-axis tilt sensor 67 reaches -6°, a -6° message is sent. The spreader controller 1 drives the locking damping solenoid valve 39, the damping cylinder is locked, and the maximum tilting angle is limited to 6°.

[0092] Lateral tilting and forward / backward tilting actions cannot be performed simultaneously. The purpose is to protect against stress when there is already a container under the spreader and the load inside the container is not particularly heavy, by performing lateral tilting and forward / backward tilting angles.

[0093] VII. Counterclockwise and clockwise rotation, high-speed rotation, and rotation deceleration stop.

[0094] Even when the container is not engaged or when it is engaged and locked, the user can rotate the lifting device counterclockwise, clockwise, at high speed, and decelerate to stop.

[0095] The user operates the counterclockwise rotary switch 53 or the clockwise rotary switch 54. After the vehicle controller 5 detects the closed signal of the counterclockwise rotary switch 53 or the clockwise rotary switch 54, it sends a counterclockwise rotation signal or a clockwise rotation signal. The spreader controller 1 drives the counterclockwise rotary solenoid valve 40 or the clockwise rotary solenoid valve 41 to control the rotation motor speed to 600r, driving the spreader to rotate counterclockwise or clockwise at a constant speed of 6° / s. When the counterclockwise or clockwise rotation reaches the end, the spreader controller 1 receives the input signal of the counterclockwise rotary proximity switch 20 or the clockwise rotary proximity switch 19. The spreader controller 1 then controls the counterclockwise rotary solenoid valve 40 or the clockwise rotary solenoid valve 41, and the rotary motor stops, with the rotation motor speed at 0r, completing the end-stop function.

[0096] If it is necessary to increase the rotation speed during counterclockwise / clockwise rotation, press the high-speed rotation switch 55. After the vehicle controller 5 detects the closing signal of the high-speed rotation switch 55, it sends an acceleration signal. The spreader controller 1 drives the high-speed rotation solenoid valve 43 according to the acceleration signal, so that the rotation speed of the rotating motor is increased from the original 600r to 800r, the rotation is accelerated, and the spreader rotates counterclockwise or clockwise at a constant speed of 7.5° / s.

[0097] When an emergency occurs during rotation, the rotation deceleration stop switch 56 is pressed. After the vehicle controller 5 detects the closed signal of the rotation deceleration stop switch 56, it issues a stop signal. The spreader controller 1 drives the rotation deceleration stop solenoid valve 42 according to the stop signal, controls the rotation motor to stop, and thus immediately stops the rotation.

[0098] 8. Work Light

[0099] The left work light 60 and the right work light 61 communicate with each other via CAN messages through the vehicle controller 5 and are driven by the vehicle controller 5. When the user operates the work light switch 66, the vehicle controller 5 detects the closed signal of the work light switch 66 and controls the left work light 60 and the right work light 61 to light up.

[0100] With the above settings, this embodiment has the following characteristics:

[0101] 1. This invention eliminates the existing relay hard-link control scheme and adopts a domestically produced vehicle controller 5 and spreader controller 1, transmitting signals via CAN communication. This enables the container spreader to perform functions such as container placement, locking, unlocking, extension, retraction, left and right lateral movement, left and right lateral tilting, front and back tilting, counter-clockwise rotation, clockwise rotation, rotation deceleration and stop, rotation speed adjustment, leveling, and intelligent tilt angle limiting. In implementing basic functions, a new control logic achieves interlocking logic for locking and unlocking, extension and retraction, left and right movement, front and back tilting, left and right lateral tilting, and counter-clockwise and clockwise rotation. It also achieves precise proportional control of extension / retraction, left and right lateral movement, left and right lateral tilting, and front and back tilting, making the operation more accurate and stable and greatly improving operability.

[0102] 2. By setting up a heavy-load pressure switch 63 and an overload pressure switch 64, this invention adds intelligent load sensing and intelligent tilt angle control functions:

[0103] (1) Intelligent tilt limit function: If the spreader is tilted laterally or forward and backward when it is not in the box state, it can achieve a maximum tilt of ±10°. When the spreader controller sends a ±10° message, it stops the action and automatically locks the oil cylinder to stop tilting.

[0104] (2) If the spreader is in the unlocked state after being placed in the container, none of the spreader functions can be realized.

[0105] (3) If the spreader is locked after the container is in place and the heavy load pressure switch 63 is closed, that is, the cargo in the container is between 10-15t, which is considered heavy load. The left and right tilting and front and back tilting angles are restricted and tilting is not allowed.

[0106] (4) If the spreader is locked after the container is in place, and the overload pressure switch 64 and the heavy load pressure switch 63 are not closed, it can tilt left and right and forward and backward normally. However, the maximum angle of left and right tilting and forward and backward tilting is 6°. When the spreader controller sends a ±6° message, the function in both directions is stopped. The purpose is to protect the spreader from stress when there is a container under it, but the load in the container is not particularly heavy. The maximum speed limit improves the ease of operation of the spreader and adds interlocking logic so that lateral and forward and backward tilting cannot be performed at the same time, so that the spreader is protected to the maximum extent and the safety and service life of the spreader are improved.

[0107] The above intelligent tilt control function can automatically identify several conditions of the spreader, including when it is not in contact with the container, when it is unlocked without being in contact with the container, and when it is lightly loaded or heavily loaded. It can automatically limit and protect the spreader's tilt angle, maximizing the protection of the spreader system and meeting the user's needs to the greatest extent.

[0108] 3. This invention adds an intelligent automatic leveling function. By detecting the two angle values ​​of the dual-axis sensor, and comparing the current angle value with the threshold, it automatically controls the opening and closing of the left and right tilt and forward and backward tilt solenoid valves to control the forward and backward and left and right angles. When the tilt angle is within ±1° during the leveling process, the leveling deceleration function is automatically implemented, and the end buffer function is implemented for maximum speed limit. When the leveling angle reaches the set threshold, the X-axis cuts off the left / right tilt, and the Y-axis activates the locking damping valve to lock it, thereby realizing the dual-axis automatic leveling function.

[0109] 4. The left and right work lights communicate with the vehicle controller via CAN messages and are driven by the vehicle controller.

[0110] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A container spreader control system, characterized in that, It includes: The vehicle controller has input connections to a lock switch, an unlock switch, and a handle. The lock switch and unlock switch are used to receive lock and unlock commands input by the user, respectively. The vehicle controller is used to detect the signals from the lock and unlock switches and to issue lock and unlock signals, respectively, when the closed signals of the lock and unlock switches are detected. The handle is used to receive extension, retraction, leftward movement, and rightward movement commands input by the user. as well as The spreader controller is connected to the vehicle controller via signal. Its inputs are connected to the box proximity switch, locking proximity switch, unlocking proximity switch, extension proximity buffer switch, and retraction proximity buffer switch. Its outputs are connected to the locking solenoid valve, unlocking solenoid valve, extension solenoid valve, retraction solenoid valve, left-side shift solenoid valve, and right-side shift solenoid valve. The vehicle controller input is connected to a leveling switch and a dual-axis tilt sensor for detecting the X-axis and Y-axis angles of the spreader; the spreader controller output is connected to a leveling solenoid valve; the leveling switch closes upon receiving a leveling command from the user; the vehicle controller detects the signal from the leveling switch and, upon detecting the closed signal, compares the X-axis and Y-axis angles detected by the dual-axis tilt sensor with preset X-axis tilt thresholds and Y-axis tilt thresholds, respectively. If the X-axis angle is not equal to the X-axis tilt threshold or the Y-axis angle is not equal to the Y-axis tilt threshold, the vehicle controller issues a leveling signal; if the X-axis angle is equal to the X-axis tilt threshold or the Y-axis tilt threshold is equal to the Y-axis tilt threshold, the vehicle controller issues a leveling completion signal. The leveling solenoid valves include a left tilt solenoid valve, a right tilt solenoid valve, a forward tilt solenoid valve, a backward tilt solenoid valve, and a locking damping solenoid valve. The leveling signals include a left tilt leveling signal, a right tilt leveling signal, a forward tilt leveling signal, and a backward tilt leveling signal. If the dual-axis tilt sensor detects that the X-axis angle is greater than the X-axis tilt angle threshold, the vehicle controller sends a left tilt leveling signal, and the rigging controller drives the left tilt solenoid valve according to the left tilt leveling signal. When the X-axis angle detected by the dual-axis tilt sensor is less than the X-axis tilt angle threshold, the vehicle controller sends a right tilt leveling signal, and the spreader controller drives the right tilt solenoid valve according to the right tilt leveling signal. When the difference between the X-axis angle detected by the dual-axis tilt sensor and the X-axis tilt angle threshold is ±1°, the vehicle controller controls the vehicle motor to decelerate until leveling is completed. When the X-axis angle detected by the dual-axis tilt sensor is equal to the X-axis tilt angle threshold, the spreader controller controls the left tilt solenoid valve or the right tilt solenoid valve to disconnect, lock the left and right tilt cylinders, and complete the X-axis leveling work. If the Y-axis angle detected by the dual-axis tilt sensor is greater than the Y-axis tilt angle threshold, the vehicle controller sends a forward tilt leveling signal, and the spreader controller drives the forward tilt solenoid valve according to the forward tilt leveling signal. When the Y-axis angle detected by the dual-axis tilt sensor is less than the Y-axis tilt angle threshold, the vehicle controller sends a rear tilt leveling signal, and the spreader controller drives the rear tilt solenoid valve according to the rear tilt leveling signal. When the difference between the Y-axis angle detected by the dual-axis tilt sensor and the Y-axis tilt angle threshold is ±1°, the vehicle controller controls the vehicle motor to decelerate until leveling is completed. When the Y-axis angle detected by the dual-axis tilt sensor is equal to the Y-axis tilt angle threshold, the spreader controller drives the locking damping solenoid valve, the damping cylinder locks, and the Y-axis leveling work is completed.

2. The container spreader control system according to claim 1, characterized in that, The vehicle controller outputs a gearbox indicator light, a lock indicator light, and an unlock indicator light, each with a different color. The vehicle controller illuminates the gearbox indicator light based on the gearbox indicator light's illumination signal, and the user issues a lock control command based on the illuminated gearbox indicator light's illumination signal. The vehicle controller also illuminates the lock indicator light and unlock indicator light based on the lock completion signal and unlock completion signal, respectively, and the user issues unlock, left-side shift, or right-side shift control commands based on the illuminated lock indicator light's illumination signal.

3. The container spreader control system according to claim 1, characterized in that, The vehicle controller also has input connections to a counterclockwise rotary switch and a clockwise rotary switch; the spreader controller also has input connections to a counterclockwise rotary proximity switch and a clockwise rotary proximity switch, and the spreader controller also has output connections to a counterclockwise rotary solenoid valve and a clockwise rotary solenoid valve. The vehicle controller detects signals from the counter-clockwise and clockwise rotary switches. When a closed signal from either the counter-clockwise or clockwise rotary switch is detected, the spreader controller sends a counter-clockwise or clockwise rotation signal. The spreader controller drives a counter-clockwise or clockwise rotary solenoid valve to cause the rotary motor to drive the spreader to rotate counter-clockwise or clockwise, based on the counter-clockwise or clockwise rotation signal. The spreader controller also detects signals from the counter-clockwise or clockwise rotary proximity switch and, when a closed signal from either the counter-clockwise or clockwise rotary proximity switch is detected, controls the counter-clockwise or clockwise rotary solenoid valve to open, thereby stopping the spreader from rotating.

4. The container spreader control system according to claim 3, characterized in that, The vehicle controller also has a high-speed rotary switch connected to its input, and the spreader controller also has a high-speed rotary solenoid valve connected to its output. The vehicle controller detects the signal from the high-speed rotary switch and sends a rotation speed control signal to the spreader controller when the closed signal of the high-speed rotary switch is detected. The spreader controller drives the high-speed rotary solenoid valve according to the rotation speed control signal to increase the speed of the rotary motor and achieve high-speed rotation of the spreader.

5. The container spreader control system according to claim 1, characterized in that, The vehicle controller also has a rotary deceleration stop switch connected to its input, and the spreader controller also has a rotary deceleration stop solenoid valve connected to its output. The vehicle controller detects the signal from the rotary deceleration stop switch and sends a rotary deceleration stop signal to the spreader controller when the signal is detected. The spreader controller drives the rotary deceleration stop solenoid valve according to the rotary deceleration stop signal.

6. The container spreader control system according to claim 4, characterized in that, The vehicle controller is also connected to a heavy-duty pressure switch, and the handle is used to receive user input commands for tilting to the left, tilting to the right, tilting forward, and tilting backward; the heavy-duty pressure switch is used to close when the load on the spreader exceeds a preset load threshold. When the vehicle controller detects the closed signal of the heavy load pressure switch, it issues commands to prohibit tilting to the left, tilting to the right, tilting forward, and tilting backward. When the vehicle controller does not detect the closed signal of the heavy load pressure switch, the spreader controller controls the drive of the left tilt solenoid valve, right tilt solenoid valve, forward tilt solenoid valve or backward tilt solenoid valve according to the left tilt command, right tilt command, forward tilt command or backward tilt command. When the X-axis angle detected by the dual-axis tilt sensor reaches a preset tilt angle value, the spreader controller controls the left tilt solenoid valve or the right tilt solenoid valve to disconnect. When the Y-axis angle detected by the dual-axis tilt sensor reaches a preset tilt angle value, the spreader controller drives the locking damping solenoid valve to work, and the damping cylinder locks.

7. The container spreader control system according to claim 6, characterized in that, The vehicle controller has an input connected to an overload pressure switch and an output connected to a buzzer. The overload pressure switch is used to close when the load on the spreader exceeds a preset load threshold two, where load threshold two is greater than load threshold one. When the vehicle controller detects the closing signal of the overload pressure switch, it controls the buzzer to sound an alarm and issues commands to prohibit leveling, leftward movement, rightward movement, leftward tilting, rightward tilting, forward tilting, backward tilting, counterclockwise rotation, clockwise rotation, high-speed rotation, and rotation deceleration and stop.

8. The container spreader control system according to claim 1, characterized in that, The vehicle controller also has a work light switch connected to its input and a left work light and a right work light connected to its output. When the vehicle controller detects a closed signal from the work light switch, it controls the left and right work lights to illuminate.

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