Locking head assembly for a crane boom pin, boom with such assembly and crane with such boom

Abstract

A locking head assembly (210) for a boom (118) of a telescopic crane (110) includes a locking head (212) having a base (218); an operating plate (220) operably coupled to the base; one or more cylinder pins (222) and / or one or more segment locking arms (226) movable in response to movement of the operating plate relative to the base. An actuator (214) is operably coupled to the operating plate and configured to move the operating plate relative to the base. The actuator includes a motor (234) and a drive arm (236). The motor is configured to drive the drive arm between a first position and a second position. A motion reducer (216) is connected to the actuator and the locking head and includes a housing (238), a rod (240) movable relative to the housing, and a biasing device (242) disposed between the rod and the housing.

Description

Technical Field

[0001] The following description generally relates to a telescopic boom of a crane, for example a pinned boom. Background Art

[0002] A crane with a telescopic boom includes a mechanical locking head having a coupling pin and a locking arm configured to selectively engage and disengage portions of a boom's telescopic section. The mechanical locking head is mounted on a linear boom actuator configured to extend and retract the boom's various telescopic sections. To this end, the coupling pin is configured to engage the telescopic section to drive the section to extend or retract in response to movement of the linear boom actuator. Conversely, the coupling pin can disengage the telescopic section to allow the linear boom actuator and the mechanical locking head to move relative to the boom section. Thus, the mechanical locking head can be repositioned to engage a different telescopic section.

[0003] The locking arm is configured to engage a section lock on a telescopic section of the boom. The locking arm is operable to move the section lock between a locked position, in which telescopic movement of the telescopic section relative to an adjacent boom section is restricted, and an unlocked position, in which telescopic movement of the telescopic section relative to the adjacent boom section is permitted. Thus, with the coupling pin engaged in the telescopic section and the section lock in the unlocked position, the linear boom actuator can drive movement of the telescopic section to extend or retract the boom. Upon reaching the desired position, the locking arm can be moved to the locked position to lock the section lock and substantially prevent telescopic movement of the telescopic section relative to the adjacent boom section. The coupling pin can then be disengaged from the telescopic section to allow repositioning of the mechanical locking head.

[0004] Known linear boom actuators are formed as telescopic rod-cylinder assemblies with a fixed rod and a movable cylinder. A mechanical locking head is mounted on the cylinder. The coupling pin and locking arm are hydraulically actuated by a hydraulic trombone cylinder within the rod. However, the operation of hydraulic trombone cylinders can be adversely affected by entrained air and / or low temperatures. Furthermore, pressure within the trombone cylinder can deflect the rod or cylinder and cause the coupling pin or locking arm to become stuck. Boom operation can be delayed while this problem is corrected.

[0005] U.S. Patent Application Publication No. 2015 / 0128735 discloses a drive for a sliding connection member of a locking system of a telescopic system. The telescopic system includes an outer telescopic section and an inner telescopic section, each of which is provided with a locking hole through which a locking bolt can be inserted and withdrawn. The locking bolt is movable via an engaging member extending in a sliding path, enabling linear movement of the locking bolt. The boom sections can be connected to each other by inserting the locking bolt into the bolt hole, and the sliding connection member can be driven by a linear electric drive.

[0006] However, even with the aforementioned electric linear actuator, situations may arise where the coupling pin and / or locking arm may become stuck. In such cases, the movement of the electric linear actuator is also restricted. A control system connected to the electric linear actuator may attempt to continue the actuator. However, if the actuator's movement is blocked, such attempts may damage the linear actuator or cause premature or excessive wear.

[0007] It would therefore be desirable to provide a locking head assembly for a telescoping boom that incorporates a motion reducer to absorb movement of the actuator when movement of the locking head's cylinder pin and / or the knuckle boom is impeded. Summary of the Invention

[0008] According to one aspect, a locking head assembly for a telescopic boom includes a locking head having: a base; an operating plate operably coupled to the base; one or more cylinder pins and / or one or more joint locking arms operably coupled to the operating plate and capable of moving in response to movement of the operating plate relative to the base. The locking head assembly also includes an actuator operably coupled to the operating plate and configured to move the operating plate relative to the base. The actuator includes a motor and a drive arm. The motor is configured to move the drive arm between a first arm position and a second arm position. The locking head assembly also includes a motion reducer operably connected to the actuator and the locking head. The motion reducer includes a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing.

[0009] In response to movement of the operating plate relative to the base, one or more cylinder pins can move between a retracted pin position and an extended pin position. In response to movement of the operating plate relative to the base, one or more section locking arms can move between a locked position and an unlocked position.

[0010] In an embodiment, the motion reducer may be connected to and between the operating plate and the drive arm. When the operating plate moves in response to movement of the drive arm, the motion reducer may be in a rigid state. When movement of the operating plate in a first direction is blocked in response to movement of the drive arm in the first direction, the motion reducer may be in a first loaded state. When the motion reducer is in the first loaded state, the rod may be in a retracted position relative to the housing, and the biasing device may urge the operating plate in the first direction. When movement of the operating plate in a second direction is blocked in response to movement of the drive arm in the second direction, the motion reducer may be in a second loaded state. When the motion reducer is in the second loaded state, the rod may be in an extended position relative to the housing, and the biasing device may urge the operating plate in the second direction.

[0011] In an embodiment, the locking head assembly may further include an auxiliary drive device connected to the actuator. The auxiliary drive device may be an auxiliary actuator having an auxiliary motor and an auxiliary drive arm. The actuator may be mounted on the track and configured to translate relative to the track in response to movement of the auxiliary drive arm.

[0012] According to another aspect, a telescopic boom for a crane includes a base section; a plurality of telescopic sections movable relative to the base section to adjust the length of the boom; and a boom actuator disposed within the base section and operable to move the plurality of telescopic sections, thereby adjusting the length of the boom. The telescopic boom also includes a locking head assembly connected to the boom actuator. The locking head assembly includes a locking head having a base; an operating plate operably coupled to the base; one or more cylinder pins and / or one or more section locking arms operably coupled to the operating plate and movable in response to movement of the operating plate relative to the base. The locking head assembly also includes an actuator operably coupled to the operating plate and configured to move the operating plate relative to the base. The actuator includes a motor and a drive arm. The motor is configured to drive the drive arm between a first arm position and a second arm position. A motion reducer is operably coupled to the actuator and the locking head and includes a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing.

[0013] According to another aspect, a crane includes a carrier and a superstructure mounted on the carrier. The superstructure includes a telescopic boom having a base section; a plurality of telescopic sections movable relative to the base section to adjust the length of the boom; and a boom actuator disposed within the base section and operable to move one of the plurality of telescopic sections to adjust the length of the boom. The crane also includes a locking head connected to the boom actuator. The locking head includes a base; an operating plate operatively coupled to the base; one or more cylinder pins and / or one or more section locking arms operatively coupled to the operating plate and movable in response to movement of the operating plate relative to the base. An actuator is operatively mounted on the boom actuator, coupled to the operating plate, and configured to move the operating plate relative to the base. The actuator includes a motor and a drive arm. The motor is configured to drive the drive arm between a first arm position and a second arm position. A motion reducer is operatively coupled to the locking head and actuator and includes a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing.

[0014] According to another aspect, a method for controlling a boom actuator of a telescopic boom includes: detecting a position of an operating panel using one or more position sensors; comparing, by a controller, the detected position of the operating panel with an expected position of the operating panel; and determining, by the controller, whether the detected position of the operating panel is the same as the expected position of the operating panel. If the detected position of the operating panel is not the same as the expected position of the operating panel, the method further includes controlling a hydraulic rod-cylinder assembly to perform corrective operations until the operating panel is detected to be in the expected position. The operating panel moves to the expected position under a biasing force from a motion reducer operably coupled to the operating panel.

[0015] These and other features and advantages of the present invention will be apparent from the following detailed description taken in conjunction with the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view of a crane according to an embodiment;

[0017] Figure 2 is a top view of a boom actuator according to an embodiment;

[0018] Figure 3 yes Figure 2 a side view of a boom actuator;

[0019] Figure 4 yes Figure 2 A perspective view of a boom actuator;

[0020] Figure 5 yes Figure 2 an end view of a boom actuator;

[0021] Figure 6A is a perspective view of a locking head assembly according to an embodiment;

[0022] Figure 6B yes Figure 6A Detail (DETAIL) A enlarged view;

[0023] Figure 7 is a perspective view of a motion reducer in a rigid state according to an embodiment;

[0024] Figure 8 yes Figure 7 Another perspective of the motion reducer;

[0025] Figure 9 is in a first loading state according to an embodiment Figure 7 A perspective view of a motion reducer;

[0026] Figure 10 yes Figure 9 Another perspective of the motion reducer;

[0027] Figure 11 is in a second loading state according to an embodiment Figure 7 A perspective view of a motion reducer;

[0028] Figure 12 yes Figure 11 Another perspective of the motion reducer;

[0029] Figure 13 is a perspective view of a locking head assembly according to an embodiment;

[0030] Figure 14 It shows Figure 13 an enlarged view of a portion of the locking head assembly;

[0031] Figures 15 to 18 are various views of a motion reducer according to an embodiment;

[0032] Figure 19A to Figure 19G is a diagram showing the state and position of a locking head assembly according to an embodiment;

[0033] Figure 20 is a perspective view of an auxiliary drive device according to an embodiment;

[0034] Figure 21 is a perspective view of an actuator configured for use with an auxiliary drive device according to an embodiment;

[0035] Figure 22 According to the embodiment Figure 21 A perspective view of the auxiliary drive device together with the actuator;

[0036] Figure 23 is a schematic block diagram illustration illustrating an example of a control system according to an embodiment;

[0037] Figure 24 is an enlarged perspective view illustrating an example of a position sensor according to an embodiment;

[0038] Figure 25 is an enlarged perspective view illustrating another example of the position sensor according to the embodiment; and

[0039] Figure 26 is a block diagram illustrating an example of a method for controlling a boom actuator according to an embodiment. DETAILED DESCRIPTION

[0040] While the present apparatus is susceptible of embodiment in various forms, there is shown in the drawings and will be described below a presently preferred embodiment, wherein it should be understood that the disclosure is to be considered as an example of the apparatus and is not intended to be limited to the specific embodiment illustrated.

[0041] refer to Figure 1 , the crane 110 includes a carrier 112 and a superstructure 114 mounted on the carrier 112. In one embodiment, the superstructure 114 is rotatably mounted on the carrier 112. The superstructure 114 includes, for example, an operator cab 116 and a telescopic boom 118. The telescopic boom 118 includes a base section 120 and one or more telescopic sections 122 configured to move into and out of the base section 120 to retract and extend the boom 118, respectively.

[0042] The telescoping boom 118 includes a boom actuator 124 disposed in the base section 120 for moving one or more telescoping sections 122. In one embodiment, the boom actuator 124 is a linear actuator such as a hydraulic rod-cylinder assembly in which a rod 126 is fixed within the base section 120 and a cylinder 128 moves relative to the rod 126 between a retracted position and an extended position.

[0043] refer to Figures 2 to 5 The boom actuator 124 includes a locking head assembly 210 having a locking head 212, an actuator 214, and a motion reducer 216. The locking head assembly 210 is configured to selectively couple the boom actuator 124 to and decouple the boom actuator 124 from the telescopic section 122. The locking head assembly 210 can also be configured to operate a section lock (not shown) provided on the telescopic section 122 to lock and unlock the telescopic section to the next outwardly adjacent boom section 120, 122. The locking head assembly 210 can be connected to or mounted on the cylinder 128.

[0044] refer to Figure 6A and Figure 6B and Figures 19A to Figure 19G , in one embodiment, the locking head 212 includes a base 218 and an operating plate 220 operably connected to the base 218. The operating plate 220 is movable relative to the base 218 generally along or parallel to the longitudinal axis A of the boom actuator 124 and / or the boom 118. The locking head 212 also includes one or more cylinder pins 222 operably connected to the operating plate 220 via corresponding pin links 224. The pin links 224 can be lugs or similar structures connected to the cylinder pins 222 and extending to engage the operating plate 220. Additionally, the locking head 212 can include one or more segment locking arms 226 operably connected to the operating plate 220 via corresponding arm links 228. The arm links 228 can be lugs or similar structures connected to the segment locking arms 226 and extending to engage the operating plate 220.

[0045] The operating plate 220 includes one or more first guide walls 230. The first guide walls 230 include a first section extending substantially in the direction of movement of the operating plate 220 (i.e., in a direction parallel to the longitudinal axis A), and a second section extending at an angle relative to the first section and in a direction having a longitudinal component and a transverse component.

[0046] The first guide wall 230 is configured to engage the pin link 224. With the pin link 224 engaged at the first section of the first guide wall 230, movement of the operating plate 220 relative to the pin link 224 does not cause movement of the cylinder pin 222. However, with the pin link 224 engaged at the second section of the first guide wall 230, movement of the operating plate 220 relative to the pin link 224 causes lateral movement of the cylinder pin 222 relative to the base 218 between an extended pin position (e.g., see FIG. 19A ) and a retracted pin position (e.g., see FIG. 19B ).

[0047] The operating plate 220 may further include one or more second guide walls 232. The second guide walls 232 include a first section extending substantially in the direction of movement of the operating plate 220 (i.e., in a direction parallel to the longitudinal axis A), and a second section that is angled relative to the first section and extends in a direction having a longitudinal component and a transverse component.

[0048] The second guide wall 232 is configured to engage the arm link 228. With the arm link 228 engaged at the first section of the second guide wall 232, movement of the operating plate 220 relative to the arm link 228 does not cause movement of the segment lock arm 226. However, with the arm link 228 engaged at the second section of the second guide wall 232, movement of the operating plate 220 relative to the arm link 228 causes the segment lock arm 226 to move between a locked position (e.g., see FIG. 19A ) and an unlocked position (e.g., see FIG. 19B ). Figure 19C ) Move between. In one embodiment, the section locking arm 226 pivots or rotates between a locked position and an unlocked position.

[0049] The first guide wall 230 and the second guide wall 232 can be positioned relative to each other so that the section locking arm 226 remains in the locked position when the cylinder pin 222 is driven to move between the extended position and the retracted position. Similarly, the first guide wall 230 and the second guide wall 232 can be positioned so that the cylinder pin 222 remains in the extended position when the section locking arm 226 moves between the locked position and the unlocked position.

[0050] In one embodiment, the pin link 224 and the arm link 228 can be simultaneously positioned at portions of the first and second guide walls 230, 232, respectively, at the first sections (e.g., see FIG. 19A ). Thus, the cylinder pin 222 can be in the pin extended position while the section locking arm 226 is in the locked position.

[0051] Each of the first guide wall 230 and / or the second guide wall 232 may be formed by a slot or recess in the operation plate 220 , or may protrude from a surface of the operation plate 220 .

[0052] The operating plate 220 can be driven to move by an actuator 214 mounted to the boom actuator 124. The actuator 214 can include a motor 234 and a drive arm 236. In one embodiment, the actuator 214 is an electric actuator, and the motor 234 is an electric motor. The drive arm 236 is driven by the motor 234 to extend and / or retract. In one embodiment, a spring or similar biasing device can urge the drive arm 236 to move in one direction.

[0053] In one embodiment, the drive arm 236 moves generally in the direction of the longitudinal axis A and is configured to drive corresponding movement of the operating plate 220. That is, movement of the drive arm 236 extending relative to the motor 234 in a first direction D1 can cause movement of the operating plate 220 in the first direction D1. Similarly, movement of the drive arm 236 retracting relative to the motor 234 in a second direction D2 can cause movement of the operating plate in the second direction D2.

[0054] The motion reducer 216 is operatively connected to the actuator 214 and the locking head 212. In one embodiment, the motion reducer 216 is disposed between the actuator 214 and the locking head 212 and may be connected at one end to the drive arm 236 and at another end to the operating plate 220. In other embodiments, the actuator 214 may be disposed between the motion reducer 216 and the locking head 212.

[0055] refer to Figures 7 to 12 and Figures 19A to Figure 19G In one embodiment, the motion reducer 216 includes a housing 238, a rod 240 at least partially disposed within the housing 238, and at least one biasing device, such as a spring 242, disposed between the rod 240 and the housing 238. A first spring seat 244 may be disposed on the rod 240 at a first end of the spring 242. A second spring seat 246 may be disposed on the rod 240 at a second end of the spring 242. In one embodiment, the rod 240 extends through both the first spring seat 244 and the second spring seat 246. The rod 240 is movable relative to the first spring seat 244 and the second spring seat 246, and vice versa.

[0056] The housing 238 includes a first stopper 248 configured to limit movement of the first spring seat 244 in a first direction D1 relative to the housing 238. The housing 238 also includes a second stopper 250 configured to limit movement of the second spring seat 246 in a second direction D2 relative to the housing 238. The first stopper 248 further allows the first spring seat 244 and the housing 238 to move relative to the rod 240 in the second direction D2. The second stopper 250 further allows the second spring seat 246 and the housing 238 to move relative to the rod 240 in the first direction D1.

[0057] The rod 240 may include a first rod stopper 252 configured to limit movement of the first spring seat 244 in a first direction D1 relative to the rod 240. The rod 240 may also include a second rod stopper 254 configured to limit movement of the second spring seat 246 in a second direction D2 relative to the rod 240.

[0058] In the first operating state of the locking head assembly 210, the cylinder pin 222 and the segment locking arm 226 are free to move in response to movement of the operating plate 220 relative to the base 218, and the motion reducer 216 is in a rigid state (e.g., see Figure 7 、 Figure 8 and Figures 19A to Figure 19C ). Thus, movement of the drive arm 236 causes corresponding movement of the operating plate 220. In the rigid state, the rod 240 and the housing 238 remain substantially fixed relative to each other during movement of the drive arm 236. In one embodiment, the rod 240 is in a neutral position relative to the housing 238 and the motion reducer 216 is in the rigid state, such that the motion reducer 216 has a first length. Furthermore, in the rigid state, the force generated by the drive arm 236 is transmitted to the operating plate 220 through the motion reducer 216 without causing significant deformation of the spring 242 or relative movement of the housing 238 and the rod 240.

[0059] In one embodiment, the drive arm 236 is in the drive arm neutral position (see Figure 19A, In "N DA ” and can be driven in the first direction D1 from the neutral position N DA Move to the first position of the drive arm (see Figure 19C , indicated at "DA1"). In the first operating state, this movement of the drive arm 236 causes the operating plate 220 to move from the plate neutral position (see Figure 19A, In "N OP ”) to the first position of the plate (see Figure 19A, In one embodiment, when the operating plate 220 is in the plate neutral position NOP , the cylinder pin 222 is in the extended pin position and the section locking arm 226 is in the locked position. Figure 19C Movement of the plate to the first position OP1 shown in FIG causes the section locking arm 226 to move to the unlocked position to unlock the section lock between the telescoping section and the adjacent boom section while the cylinder pin 222 remains in the extended position engaged with the telescoping section.

[0060] On the contrary, the driving arm 236 moves from the first driving arm position DA1 ( Figure 19C ) to the neutral position N of the drive arm DA (FIG. 19A) causes the operation plate 220 to move from the plate first position OP1 ( Figure 19C ) to the neutral position N OP (Fig. 19A) The operation plate 220 moves from the plate first position OP1 to the plate neutral position N OP The movement of the locking arm 226 causes the locking arm 226 to move from the unlocked position ( Figure 19C ) moves to the locked position (Figure 19A) to lock the joint lock while the cylinder pin 222 remains in the extended position.

[0061] Still in the first operating state, the driving arm 236 moves from the driving arm neutral position N in the second direction D2. DA (FIG. 19A) to the second position DA2 of the driving arm (FIG. 19B) causes the operation plate 220 to move from the plate neutral position N in the second direction D2. OP (FIG. 19A) to the corresponding movement of the plate second position OP2 (FIG. 19B). The operating plate 220 moves from the plate neutral position N OP Movement to the second plate position OP2 causes the cylinder pin 222 to move from the extended pin position ( FIG. 19A ) to the retracted pin position ( FIG. 19B ) to disengage the telescoping segment while the segment locking arm 226 remains in the locked position.

[0062] On the contrary, the driving arm 236 moves in the first direction D1 from the driving arm second position DA2 (FIG. 19B) to the driving arm neutral position N DA The movement of the operating plate 220 ( FIG. 19A ) causes the operating plate 220 to move from the plate second position OP2 ( FIG. 19B ) to the plate neutral position N in the first direction D1. OP (Fig. 19A) The operation plate 220 moves from the plate second position OP2 to the plate neutral position N OP The movement of causes the cylinder pin 222 to move from the retracted pin position (FIG. 19B) to the extended pin position (FIG. 19A) while the section locking arm 226 remains in the locked position.

[0063] In other operating states of the locking head assembly 210, when the movement of the cylinder pin 222 or the section locking arm 226 is blocked, the movement of the operating plate 220 can be blocked. For example, if the movement of the cylinder pin 222 from the extended pin position to the retracted pin position is blocked, the operating plate 220 can be moved from the plate neutral position N when the drive arm 236 is operated. OP (FIG. 19A) to the plate second position OP2 (FIG. 19B) is also blocked. In another example, movement of the cylinder pin 222 from the retracted pin position to the extended pin position may be blocked, which then blocks the operating plate 220 from moving from the plate second position OP2 (FIG. 19B) to the plate neutral position N when the drive arm 236 is operated. OP (Figure 19A) movement.

[0064] In other examples, the movement of the section locking arm 226 from the locked position to the unlocked position may be blocked, which prevents the operating plate 220 from moving from the plate neutral position N when the driving arm 236 is operated. OP In another example, the movement of the section locking arm 226 from the unlocked position to the locked position can be blocked, which prevents the operating plate 220 from moving from the plate first position OP1 to the plate neutral position N when the driving arm 236 is operated. OP movement.

[0065] The motion reducer 216 is configured to move from a rigid state to one or more loaded states when the drive arm 236 is operated to move while the movement of the operating plate 220 is blocked. That is, when the movement of the operating plate 220 is blocked, the force applied from the drive arm 236 overcomes the spring force of the spring 242, so that the relative positioning of the housing 238 and the rod 240 is changed. For example, when the rod 240 is in a retracted position relative to the housing 238 and the spring 242 is compressed to apply a biasing force for pushing the operating plate 220 in the first direction D1, the motion reducer 216 is moved to the first loaded state ( Figure 9 、 Figure 10 、 Figure 19F and Figure 19G ). The motion reducer 216 has a second length less than the first length in the first loading state. Therefore, in the first loading state, the motion reducer 216 can push the operating plate 220 from the plate neutral position N in the first direction D1 to OP Move to the plate first position OP1, or move from the plate second position OP2 to the plate neutral position N OP .

[0066] The motion reducer 216 is configured to move from the rigid state to the second loaded state ( ) when the rod 240 is in the extended position relative to the housing 238 and the spring 242 is compressed to apply a biasing force that pushes the operating plate 220 in the second direction D2. Figure 11 、 Figure 12 、 Figure 19D and Figure 19E ). The motion reducer 216 has a third length greater than the first length in the second loading state. Therefore, in the second loading state, the motion reducer 216 can push the operating plate 220 to move from the plate first position OP1 to the plate neutral position N in the second direction D2. OP Or from the neutral position N OP Move to the second plate position OP2.

[0067] In the above embodiment, when the movement of the cylinder pin 222 from the retracted pin position to the extended pin position is blocked ( Figure 19G ), or when the movement of the section locking arm from the locked position to the unlocked position is blocked ( FIG. 19F ), the motion reducer 216 may be moved from the rigid state to the first charged state in response to the corresponding movement of the driving arm 236. That is, the motion reducer 216 may be moved to the first charged state while holding the operation plate 220 from moving in response to the movement of the driving arm 236 in the first direction D1.

[0068] For example, the drive arm 236 can be operated to move from the drive arm neutral position N in the first direction D1. DA The operation plate 220 is held in the plate neutral position N1 while the segment lock arm 226 is prevented from moving to the unlock position. OP (also shown in FIG. 19F ). Similarly, the drive arm 236 can be operated to move in the first direction D1 from the drive arm second position DA2 to the position shown in FIG. Figure 19G The drive arm is in the neutral position N shown in DA However, in the case where the cylinder pin 222 is prevented from moving to the extended pin position, the operating plate 220 is maintained at the plate second position OP2 (also at Figure 19G shown in ).

[0069] Thus, in one embodiment, the rod 240 is held by the operating plate 220 to prevent movement in the first direction D1, and the drive arm 236 causes the housing 238 to move in the first direction D1 relative to the rod 240. The second stopper 250 of the housing 238 drives the second spring seat 246 along the rod 240, while the first rod stopper 252 holds the first spring seat 244 to prevent movement in the first direction D1, and the spring 242 is compressed.

[0070] The compression spring 242 applies a biasing force to the operating plate 220 in the first direction D1. Thus, when the cylinder pin 222 becomes free to extend, the spring force from the motion reducer 216 in the first loaded state causes the operating plate 220 to move from the plate second position OP2 to the plate neutral position N. OP, to extend the cylinder pin 222 without further operating the actuator 214 (or further moving the drive arm 236).

[0071] Similarly, when the section locking arm 226 becomes free to move to the unlocked position, the spring force from the motion reducer 216 in the first loaded state causes the operating plate 220 to move from the plate neutral position N OP Movement to the plate first position OP1 moves the section locking arm 226 to the unlocked position without further operation of the actuator 214 (or further movement of the drive arm 236).

[0072] The motion reducer 216 causes the operating plate 220 to move in the first direction D1 by applying the spring force of the compression spring 242 to the first spring seat 244 and, in turn, to the first lever stopper 252. The spring force causes the lever 240 to move to its neutral position relative to the housing 238 and drives the operating plate 220 in the first direction D1. As a result, the motion reducer 216 can return to its rigid state.

[0073] For example, when the cylinder pin 222 becomes free to extend, the motion reducer 216 may be moved from Figure 19G 19A to its rigid state, and the operating plate 220 can be moved from its first loaded state shown in FIG. Figure 19G The plate second position OP2 shown in FIG. 19 is moved to the plate neutral position N shown in FIG. 19A OP In another example, when the segment locking arm 226 becomes free to move to the unlocked position, the motion reducer 216 can move from its first loaded state shown in FIG. 19F to Figure 19C 19F, and the operating plate 220 can be moved from the plate neutral position N shown in FIG. OP Move to Figure 19C The plate is shown in a first position OP1.

[0074] In the above embodiment, when the cylinder pin 222 is prevented from moving from the extended pin position to the retracted pin position ( FIG. 19D ), or when the section lock arm 226 is prevented from moving from the unlocked position to the locked position ( FIG. 19B ), the cylinder pin 222 is prevented from moving from the extended pin position to the retracted pin position ( FIG. 19C ). Figure 19E ), the motion reducer 216 can move from the rigid state to the second loaded state.

[0075] For example, the drive arm 236 can be operated to move from the drive arm first position DA1 to the second direction D2. Figure 19E The drive arm is in the neutral position N shown in DA However, in the case where the section locking arm 226 is prevented from moving to the locked position, the operating plate 220 is maintained in the plate first position OP1. Similarly, the driving arm 236 can be operated to move from the driving arm neutral position N in the second direction D2.DA 19D . However, in the case where the cylinder pin 222 is prevented from moving to the retracted position, the operating plate 220 remains in the neutral position N of the plate. OP .

[0076] Therefore, the rod 240 is held by the operating plate 220 to prevent movement in the second direction D2, and the driving arm 236 causes the housing 238 to move in the second direction D2 relative to the rod 240. The first stopper 248 of the housing 238 drives the first spring seat 244 along the rod 240 in the second direction D2, while the second rod stopper 254 holds the second spring seat 246 to prevent movement in the second direction D2, and the spring 242 is compressed.

[0077] The compression spring 242 applies a biasing force to the operating plate 220 in the second direction D2. Thus, when the cylinder pin 222 becomes free to retract, the spring force from the motion reducer 216 in the second loaded state causes the operating plate 220 to move from the plate neutral position N2. OP Movement to the second plate position OP2 allows the cylinder pin 222 to retract without further operation of the actuator 214 (or further movement of the drive arm 236).

[0078] Similarly, when the section locking arm 226 becomes free to move to the locked position, the spring force from the motion reducer 216 in the second loaded state causes the operating plate 220 to move from the plate first position OP1 to the plate neutral position N OP , to move the section locking arm 226 to the locked position without further operating the actuator (or further moving the drive arm 236).

[0079] The motion reducer 216 causes the operating plate 220 to move in the second direction D2 by applying the spring force of the compression spring 242 to the second spring seat 246 in the second direction D2, and further to the second lever stopper 254. The spring force causes the lever 240 to retract to its neutral position relative to the housing 238, and drives the operating plate 220 in the second direction D2. Thus, the motion reducer 216 can return to its rigid state.

[0080] For example, when the cylinder pin 222 becomes free to retract, the motion reducer 216 may move from its second loaded state shown in FIG. 19D to its rigid state shown in FIG. 19B , and the operating plate 220 may move from the plate neutral position N shown in FIG. 19D . OP 19B to the plate second position OP2. In another example, when the section locking arm 226 becomes free to move to the locked position, the motion reducer 216 may be moved from Figure 19E 19A to its rigid state, and the operating plate 220 can be moved from its second loaded state shown in FIG. Figure 19E The plate first position OP1 shown in FIG. 19 is moved to the plate neutral position N shown in FIG. 19A OP .

[0081] refer to Figure 6A and Figure 13 In one embodiment, the locking head assembly 210 may further include an auxiliary drive device connected to the actuator 214, such as the auxiliary actuator 256 ( Figure 6A ). The auxiliary actuator 256 can be an actuator similar to the actuator 214 and includes an auxiliary motor 258 and an auxiliary drive arm 260 driven by the auxiliary motor 258. In one embodiment, the auxiliary actuator 256 is an electric actuator and the auxiliary motor 258 is an electric motor. The auxiliary drive arm 260 is configured to move in a first direction D1 and a second direction D2. The auxiliary drive arm 260 is configured to move over a distance that is approximately twice as long as the distance that the drive arm 236 moves (i.e., approximately twice as long as the distance between the drive arm first position DA1 and the drive arm second position DA2).

[0082] refer to Figure 13 and Figure 14 In one embodiment, for example, if the operation of the actuator 214 ceases, the auxiliary actuator 256 can operate in place of the actuator 214. To this end, the actuator 214 can be mounted on the cylinder 128 for translational movement. For example, the actuator 214 can be mounted on a track 262 to slide or roll relative to the cylinder 128. An auxiliary drive arm 260 can be connected to the actuator 214 and configured to move the actuator 214 on the track 262 in response to the operation of the auxiliary actuator 256.

[0083] For example, it can be determined that the actuator 214 having the drive arm 236 is in a neutral position. Then, by using the auxiliary actuator 256 to drive the movement of the operating plate 220, the desired movement of the cylinder pin 222 and the section locking arm 226 can be performed.

[0084] In another example, the operation of the actuator 214 may be stopped when the driving arm 236 is in the driving arm first position DA1 or the driving arm second position DA2 and the operating plate 220 is in the corresponding plate first position OP1 or plate second position OP2. The auxiliary actuator 256 may be operated with the auxiliary driving arm 260 initially in the neutral position to adjust the plate first position OP1 and the plate neutral position N2 to the plate first position OP1 and the plate neutral position N3. OP Between and / or in the neutral position N OPThe auxiliary actuator 256 moves the operating plate 220 between its retracted second position and the plate second position OP2. However, the extension distance of the auxiliary driving arm 260 from its neutral position to its first position is twice as long as the extension distance of the driving arm 236 from the driving neutral position to the driving arm first position DA1 to account for the situation in which the driving arm 236 and the operating plate 220 may be in their retracted second positions when the auxiliary actuator 256 begins to operate.

[0085] refer to Figures 15 to 18 In one embodiment, motion reducer 216 may further include a second biasing device, such as a second spring 264, configured to provide a spring force in a direction opposite to the spring force of spring 242, or alternatively, in the same direction as the spring force of spring 242. Second spring 264 may be disposed within spring 242. In this manner, a desired force distribution may be provided. Furthermore, the force distribution may be tuned as desired by adjusting or replacing spring 242 or second spring 264. For example, the net spring force of motion reducer 216 may be tuned to be greater than or less than the spring force of spring 242.

[0086] refer to Figure 20 In another embodiment, the auxiliary drive device may be a threaded driver 356. In one embodiment, the threaded driver 356 may be a turnbuckle or similar device. In one embodiment, the actuator 214 may be connected to the cylinder 128 via the threaded driver 356. In one embodiment, the threaded driver 356 may have an internally threaded component or tube 362 and an externally threaded component or rod 364 that is configured to mate with and threadably engage the tube 362. The threaded driver 356 may be operably connected to a cylinder bracket 360 that is connected to the cylinder 128 of the boom actuator. In one embodiment, the rod 364 may be coupled to the cylinder bracket 360 via a thrust washer and held in place by a retaining ring. In one embodiment, the rod 364 is configured to rotate relative to the cylinder bracket 360 and the tube 362. The rod 364 may be substantially retained to prevent linear movement relative to the cylinder bracket 360. Thus, rotation of the rod 364 can cause linear movement of the tube 362 and the actuator 214 via the threaded engagement between the tube 362 and the rod 364. In one embodiment, the rod 364 can be rotated by, for example, a tool that engages the end of the rod 364 adjacent the cylinder bracket 360. Thus, the threaded driver 356 can be mechanically or manually driven to move the actuator 214 relative to the cylinder 128, thereby driving movement of the operating plate 220.

[0087] refer to Figures 21 to 22In another embodiment, the auxiliary drive device can be connected to the actuator 214 at the auxiliary drive interface 458 on the actuator 214. For example, in one embodiment, the auxiliary drive device can be a tool (not shown) connected to the auxiliary drive interface 458, which can be operated to drive the gear transmission of the motor 234, thereby driving the movement of the drive arm 236. Figure 22 As shown in FIG, in one embodiment, the auxiliary drive device can be a secondary motor 456 that can be connected to the auxiliary drive interface 458. The secondary motor 456 can then be operated to drive the movement of the drive arm 236 via the gear transmission of the motor 234. The secondary motor 456 can be operably connected to the control system 310 ( Figure 1 ) and controlled via the control system 310.

[0088] Reference again Figure 1 , the crane 110 may also include a control system 310. The control system 310 may be operably connected to the boom actuator 124 and configured to control the movement of the boom actuator 124. For example, the control system 310 may control the boom actuator 124 to extend and retract. In an embodiment, the control system 310 may also be operably connected to the locking head assembly 210, for example, to control the operation of the actuator 214. For example, the control system 310 may operate the actuator 214 to extend and / or retract the drive arm 236, thereby causing movement of the operating plate 220. Thus, the control system 310 may control the movement of the cylinder pin 222 and the section locking arm 226 by controlling the movement of the operating plate 220 using the actuator 214.

[0089] Figure 23 3 is a schematic diagram illustrating an example of a control system 310 according to an embodiment. The control system 310 may control the movement of the boom 118 to extend or retract. In an embodiment, the control system 310 may control the actuator 214 to move the operating plate 220 from the plate neutral position N OP The control system 310 may control the boom actuator 124 to position the locking head 212 adjacent to the portion of the telescopic joint 122 to be coupled to the locking head 212 using the coupling pin 222. The control system 310 may control the actuator 214 to move the operating plate 220 from the plate second position OP2 to the plate neutral position N. OP , thereby moving the cylinder pin 222 from the pin retracted position to the pin extended position to engage the telescopic joint to be moved. The control system 310 can control the actuator 214 to move the operating plate 220 from the plate neutral position N OPThe control system 310 may control the boom actuator 124 to extend or retract, thereby causing the telescopic section 122 to move to extend or retract. The control system 310 may control the actuator 214 to move the operating plate 220 from the plate first position OP1 to the plate neutral position N. OP , thereby moving the section locking arm 226 from the unlocked position to the locked position.

[0090] In an embodiment, the control system 310 may also be operably connected to an auxiliary drive device such as the auxiliary actuator 256. Thus, the control system 310 may control the movement of the operating plate 220 by controlling the auxiliary actuator 256 instead of the actuator 214.

[0091] The control system 310 may include a controller 510 having a processor 512 (such as a microprocessor or other suitable computer processing device), a memory 514, and a communication interface 516 operably connected to each other, for example, on a bus 518. The processor 512 may be configured to execute program instructions and operate and / or control other components of the control system 310 to operate in response to executing program instructions.

[0092] The memory 514 may be a computer-readable storage medium such as a non-transitory computer-readable storage medium and may be configured to store program instructions. The memory may include one or more memory devices each including a computer-readable storage medium.

[0093] The communication interface 516 may include a transceiver or similar “device to device” configured to accommodate wired or wireless communications between the control system 310 and one or more other devices communicatively connected to the control system 310 .

[0094] The control system 310 may include or be operatively connected to other devices, such as a user input device 520, via which an operator may provide instructions to the control system 310. The user input device 520 may be, for example, a joystick, a lever, a button, a knob, a scroll wheel, a switch, a slider, a touch screen display, a microphone, a camera, a sensor, a keypad, a keyboard, a pointing device, directional arrow keys, and the like, including combinations thereof.

[0095] Thus, the controller 510 may be configured to receive an operator command via the user input device 520. In an embodiment, the operator command may be a boom extend / retract command to extend or retract the boom 118. The control system 310 may control the operation of the boom actuator 124 and / or the actuator 214 in response to receiving the boom extend / retract command, for example, as described above.

[0096] In an embodiment, the control system 310 may include one or more sensors, or be operatively connected to one or more sensors. In an embodiment, the one or more sensors may include a first sensor 522, a second sensor 524, or both. The one or more sensors may include one or more position sensors. In an embodiment, the one or more sensors may be configured to detect the position of the operating panel 220.

[0097] In an embodiment, one or more sensors may be operably connected to the controller 510. The one or more sensors may provide a signal to the controller 510, which may be processed by the controller 510 to determine the position of the operating plate 220. Thus, the position of the operating plate 220 may be detected.

[0098] refer to Figure 24 In an embodiment, the first sensor 522 may include a plurality of proximity switches 522. In an embodiment, the plurality of proximity switches 522 may include a first proximity switch, a second proximity switch, and a third proximity switch, the first proximity switch, the second proximity switch, and the third proximity switch being positioned to respond to the operation panel 220 moving to the panel first position OP1, the panel neutral position N, and the panel neutral position N, respectively. OP The proximity switches 522 may be activated by a target 526 on the operating panel 220. In one embodiment, the controller 510 may store position information associating each proximity switch 522 with a corresponding position of the operating panel 220. Thus, in response to receiving a signal from a particular proximity switch, the controller 510 may determine the corresponding position of the operating panel 220 based on the stored position information.

[0099] refer to Figure 25 In an embodiment, the second sensor 524 may be a linear position sensor 524. In an embodiment, the linear position sensor 524 may include a moving portion 528 configured to move with the operating plate 220. The moving portion 528 may be movable relative to a base portion 530 of the linear position sensor 524. In an embodiment, the moving portion 528 may be a magnetic target 528 capable of moving with the operating plate 220, and the base portion 530 may be an elongated magnetic sensor portion 530. The linear position sensor 524 may provide a signal indicating the position of the moving portion 528 relative to the base portion 530 to the controller 510. The controller 510 may store position information that associates the relative position of the moving portion 528 and the base portion 530 with the position of the operating plate 220. The controller 510 may determine the position of the operating plate 220 based on the position information.

[0100] In the first operating state, the control system 310, via the controller 510, may also determine the position of the cylinder pin 222 and / or the section locking arm 226 based on the position of the operating plate 220. For example, the controller 510 may store pin position information indicating an expected pin position corresponding to the determined position of the operating plate 220. For example, the pin position information may indicate the position of the cylinder pin 222 and / or the section locking arm 226 when the operating plate 220 is in the plate neutral position N. OP The pin position information may also indicate that the cylinder pin 222 is expected to be in the extended pin position when the operating plate 220 is in the second plate position OP2.

[0101] Similarly, the control system 310, via the controller 510, may store arm position information indicating an expected section locking arm position corresponding to a determined position of the operating plate 220. For example, the arm position information may indicate an expected section locking arm position when the operating plate 220 is in the plate neutral position N. OP The section locking arm 226 is expected to be in the locked position when the operating plate 220 is in the first plate position OP1. The arm position information may also indicate that the section locking arm 226 is expected to be in the unlocked position when the operating plate 220 is in the first plate position OP1.

[0102] The control system 310 may also be configured, via the controller 510, to determine whether movement of the cylinder pin 222 and / or the boom 226 is blocked. For example, the control system 310 may be configured to receive a boom extend / retract command via the user input device 520. In response to the boom extend / retract command, the control system 310 may be configured to control the locking head assembly 210 and the boom actuator 124 to extend or retract the telescopic section 122 according to the boom extend / retract command.

[0103] For example, the control system 310, via the controller 510, may control the boom actuator 124 to perform a predetermined sequence of operations. In an embodiment, the predetermined sequence of operations may be performed in a first operating state and may include, for example: controlling the hydraulic rod-cylinder assembly to position the locking head 212 adjacent to a portion of the telescopic section 122 to be engaged by the cylinder pin 222; controlling the actuator 214 to move the operating plate 220 to move the cylinder pin 222 to an extended pin position to engage the telescopic section 122 to be moved; controlling the actuator 214 to move the operating plate 220 to move the section locking arm 226 to an unlocked position; controlling the hydraulic rod-cylinder assembly to extend or retract the telescopic section 122 to be moved; controlling the actuator 214 to move the operating plate 220 to move the section locking arm to a locked position; controlling the actuator 214 to move the operating plate 220 to move the cylinder pin to a pin-retracted position; and controlling the hydraulic rod-cylinder assembly to move the locking head assembly 210 relative to the boom section, for example, for repositioning to move another telescopic section.

[0104] However, in the event that movement of the cylinder pin 222 and / or the section locking arm 226 is blocked, movement of the operating plate 220 may also be blocked. Therefore, if the control system 310 determines that the operating plate 220 has not moved or is not positioned as expected, the control system 310 may determine that movement of the cylinder pin 222 and / or the section locking arm 226 is blocked. For example, in response to receiving a boom extend / retract command, the control system 310 may determine the position of the operating plate 220, control the actuator 214 to move the operating plate 220 to move the cylinder pin 222 or the section locking arm 226, and determine the position of the operating plate 220 during and / or after operation of the actuator 214 to move the operating plate 220. If the control system 310 determines that the position of the operating plate 220 has not changed after operation of the actuator 214, the control system 310 may determine that movement of the cylinder pin 222 or the section locking arm 226 is blocked based on the expected movement of the operating plate 220.

[0105] If the control system 310 determines that movement of the cylinder pin 222 and / or the section locking arm 226 is blocked, the control system 310 may control the boom actuator 124 to perform one or more corrective actions. The corrective actions may include, for example, relatively short extension and / or retraction actions. The corrective actions may cause the cylinder pin 222 and / or the section locking arm 226 to move relative to the adjacent boom section 122 and may provide sufficient clearance to allow movement of the cylinder pin 222 and / or the section locking arm 226.

[0106] As described above, the motion reducer 216 can be moved to the loaded state with the cylinder pin 222 and / or the segment locking arm 226, and consequently the operating plate 220, blocked from movement. When sufficient clearance is provided by the corrective action, the force applied to the operating plate 220 from the motion reducer 216 in the loaded state can cause the operating plate to move to its intended position. Movement of the operating plate 220 under the biasing force from the motion reducer 216 can result in corresponding movement of the cylinder pin 222 and / or the segment locking arm 226.

[0107] Figure 26is a diagram illustrating an example of a method for controlling a boom actuator to operate a telescopic boom according to an embodiment. Method 600 may include detecting a position of an operating panel 220 at 610. At 612, the method may include comparing the detected position of the operating panel 220 to an expected position of the operating panel 220. At 614, the method may include determining whether the detected position of the operating panel 220 is the same as the expected position of the operating panel 220. At 616, if the detected position of the operating panel 220 is not the same as the expected position of the operating panel 220, the method may include performing corrective actions using the boom actuator 124 until the operating panel 220 is detected at the expected position, wherein the operating panel 220 moves to the expected position under the biasing force from the motion reducer 216. In embodiments, this method may be used with the boom actuator 124, locking head assembly 210, and control system 310 described herein.

[0108] At 610, the control system 310 may detect the position of the operating plate 220 based on one or more signals received from one or more sensors, such as the first sensor 522 and / or the second sensor 524. In an embodiment, the detected position of the operating plate 220 may be, for example, the plate first position OP1, the plate neutral position N2, or the plate neutral position N3. OP Or board second position OP2.

[0109] At 612, the control system 310 may compare the detected position of the operating panel 220 with an expected position of the operating panel 220. The expected position of the operating panel 220 may be stored, for example, in the memory 514. The expected position may be, for example, the panel first position OP1, the panel neutral position N OP Or plate second position OP2. The control system 310 may select an expected position to be compared with the detected position based on, for example, an expected movement of the operating plate 220 in response to operation of the actuator 214 and / or an expected operation of the cylinder pin 222 and / or the section locking arm 226. For example, in an embodiment, if the expected operation is to move the cylinder pin 222 to the retracted pin position, the control system 310 may determine that the expected position is plate second position OP2. Therefore, in an embodiment, the control system 310 may compare the detected position of the operating plate 220 with the expected position (i.e., plate second position OP2 in this example). The expected operation may be determined based on, for example, a user instruction or identifying an expected operation in a predetermined sequence of operations.

[0110] At 614, the control system 310 may determine whether the detected position of the operating plate 220 is the same as the expected position based on the comparison made at 612. If the detected position of the operating plate 220 is the same as the expected position, the control system 310 may continue operating the boom actuator 124 according to the predetermined operating sequence.

[0111] At 616, if the detected position of the operating plate 220 is different from the expected position, the control system 310 may operate the boom actuator 124 to perform one or more corrective actions. The corrective actions may be corrective movements, such as relatively small extensions and / or retractions that cause the locking head 212 to move relative to the adjacent telescoping section 122 of the boom 118. For example, the control system 310 may control the cylinder 128 of the hydraulic rod-cylinder assembly to extend and / or retract relative to the rod 126 in a series of relatively short alternating movements to cause the cylinder pin 222 and / or the section locking arm 226 to move a corresponding relatively short distance relative to the adjacent boom section. The relatively small movements may move the cylinder pin 222 and / or the section locking arm 226 to a position in which they are freely movable. Thus, when the cylinder pin 222 and / or the section locking arm 226 are moved to their freely movable position during the corrective movements of the boom actuator 124, the operating plate 220 may be moved to the expected position under the biasing force of the motion reducer 216. The control system 310 may then detect that the operating panel 220 is in the expected position and continue with the predetermined operating sequence.

[0112] In an embodiment, corrective operations may be performed until the control system detects that the operating plate 220 is in the expected position. In an embodiment, the control system 310 may detect the position of the operating plate 220 at predetermined time intervals or at a time immediately before and just after operating the actuator 214. That is, the control system 310 may monitor the position of the operating plate 220. In an embodiment, the control system 310 may receive a boom extend / retract instruction via the user input device 520 and initiate a predetermined operating sequence in response to receiving the boom extend / retract instruction. The predetermined operating sequence may include an operating sequence for extending or retracting the telescopic joint 122 in a first operating state (i.e., when movement of the cylinder pin 222 and the joint locking arm 226 is not blocked). In an embodiment, the operation of the control system 310 described above may be performed by the controller 510 and / or in response to the controller 510 executing program instructions.

[0113] In an embodiment, the control system 310 may also be operably connected to the auxiliary actuator 256 and may be configured to control the movement of the auxiliary actuator 256. As described above, the auxiliary actuator 256 may be operated to control the movement of the operating plate 220 in the event that the operation of the actuator 214 is stopped. The operation of the actuator 214 may be controlled with the drive arm 236 in any drive arm position (i.e., the drive arm first position DA1, the drive arm neutral position N DA To this end, the control system 310 may be configured to control the auxiliary actuator 256 to position the auxiliary drive arm 260 so that the operating plate 220 is disposed at the plate first position OP1, the plate neutral position N2, or any other position between the plate first position OP1 and the plate neutral position N3. OPand the plate second position OP2. The control system 310 can also be configured to move the auxiliary drive arm 260 to move between the plate first position OP1, the plate neutral position N OP The operation panel 220 is moved between the first and second panel positions OP2.

[0114] For example, in an embodiment, if operation of the actuator 214 stops, the control system 310 may operate the auxiliary actuator 256 to move the auxiliary drive arm 260 until the operating plate 220 is detected by the one or more sensors 522, 524 at one of the first plate position OP1, the neutral plate position NOP, and the second plate position OP2. The control system 310 may then operate the auxiliary actuator 256 to move the operating plate 220 a known distance between the first plate position OP1, the neutral plate position NOP, and the second plate position OP2.

[0115] In an embodiment, the actuator 214 may be connected to the control system 310 via a bus. The bus may be a CAN bus. In an embodiment, the actuator 214 may be configured to provide information to the control system 310 via the bus. In an embodiment, the information provided by the actuator 214 may be information indicating a fault. For example, if the actuator 214 has become stuck (thereby ceasing operation) or overloaded, fault information may be provided. The fault information may also indicate other conditions. In this manner, the control system 310 provides fault information to technicians. The auxiliary actuator 256 may be connected to the control system 310 and provide fault information to the control system 310 in a similar manner.

[0116] Reference again Figure 23 In an embodiment, an electronics module 532 may be provided on the boom actuator 124. The electronics module 532 may be part of the control system 310 or operably connected to the control system 310. The actuator 214 may be operably connected to the electronics module 532. In an embodiment, the auxiliary actuator 256 may also be connected to the electronics module 532. The electronics module 532 may be configured to monitor the current being drawn by the actuator 214. The control system 310 may receive information indicating the current being drawn by the actuator 214 from the electronics module 532. The control system 310 may control the operation of the actuator 214 based on the information indicating the current. For example, in response to receiving information indicating that the actuator 214 is drawing too much current, the control system 310 may control the actuator 214 to slow down the speed of operation of the actuator 214. The auxiliary actuator 256 may be operably connected to the electronics module 532 and may be operated by the control system 310 in a similar manner based on the information indicating the current being drawn.

[0117] In an embodiment, the control system 310 may be configured to monitor the temperature of the locking head assembly 210, including, for example, the temperature of various components of the locking head assembly 210. The current drawn by the electrical components of the locking head assembly 210, such as the actuator 214, may be affected by temperature. Therefore, in an embodiment, the control system 310 may be operably connected to one or more temperature sensors 534 and may receive temperature information from the one or more temperature sensors 534. The control system 310 may control the operation of one or more electrical components of the locking head assembly 210, such as the actuator 214 and / or the auxiliary actuator 256, based on the received temperature information. For example, the control system 310 may be configured to adjust the speed of the actuator 214 or the maximum allowable current sent to the actuator 214 in response to the temperature information.

[0118] It should be understood that various features from any of the above-described embodiments may be used with other embodiments described herein.

[0119] All patents cited herein are hereby incorporated by reference, whether or not expressly done so within the context of this disclosure.

[0120] In this disclosure, the words "a" or "an" will be deemed to include both the singular and the plural. Conversely, any reference to plural items shall include the singular, where appropriate. Furthermore, it should be understood that terms such as "upper" or "lower" referring to the orientation of various components are used for illustrative purposes only and do not limit the subject matter of this disclosure to a particular orientation.

[0121] It will be observed from the foregoing that many modifications and variations may be implemented without departing from the true spirit and scope of the novel concepts of the present disclosure. It is to be understood that no limitation with respect to the specific embodiments shown is intended or should be inferred. The present disclosure is intended to cover all such modifications that fall within the scope of the claims.

Claims

1. A locking head assembly for a telescopic boom, the locking head assembly comprising: A locking head comprising: a base; an operating plate operatively coupled to the base; one or more cylinder pins and / or one or more joint locking arms operatively coupled to the operating plate and movable in response to movement of the operating plate relative to the base; an actuator operably coupled to the operating plate and configured to move the operating plate relative to the base, the actuator comprising a motor and a drive arm, wherein the motor is configured to drive the drive arm between a first drive arm position and a second drive arm position; and a motion reducer operatively coupled to the locking head and the actuator, the motion reducer comprising a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing, wherein the motion reducer is disposed between and connected to the operating plate and the actuating arm.

2. The locking head assembly according to claim 1, wherein: one or more cylinder pins movable between a retracted pin position and an extended pin position in response to movement of the operating plate relative to the base; and The one or more segment locking arms are movable between a locked position and an unlocked position in response to movement of the operating plate relative to the base.

3. The locking head assembly according to claim 1, wherein: The motion reducer is in a rigid state when the operating plate moves in response to movement of the drive arm.

4. The locking head assembly according to claim 1, wherein: The motion reducer is in a first charged state when movement of the operating plate in a first direction is prevented in response to movement of the drive arm in the first direction.

5. The locking head assembly according to claim 4, wherein: When the motion reducer is in the first charged state, the lever is in a retracted position relative to the housing, and the biasing device urges the operating plate in the first direction.

6. The locking head assembly according to claim 1, wherein: The motion reducer is in a second charged state when movement of the operating plate in a second direction is prevented in response to movement of the drive arm in the second direction.

7. The locking head assembly according to claim 6, wherein: When the motion reducer is in the second charged state, the lever is in an extended position relative to the housing and the biasing device urges the operating plate in the second direction.

8. The locking head assembly of claim 1, further comprising an auxiliary drive actuator connected to the actuator.

9. The locking head assembly according to claim 8, wherein: The auxiliary drive device is an auxiliary actuator including an auxiliary motor and an auxiliary drive arm, and the actuator is mounted on a track and configured to move translationally relative to the track in response to movement of the auxiliary drive arm.

10. A telescopic boom for a crane, the telescopic boom comprising: Basal segment; a plurality of telescopic sections movable relative to the base section to adjust the length of the boom; a boom actuator disposed within the base section and operable to move a telescopic section of the plurality of telescopic sections to adjust the length of the boom; and a locking head assembly connected to the boom actuator, the locking head assembly comprising: A locking head comprising: a base; an operating plate operatively coupled to the base; one or more cylinder pins and / or one or more joint locking arms operatively coupled to the operating plate and movable in response to movement of the operating plate relative to the base; an actuator operably coupled to the operating plate and configured to move the operating plate relative to the base, the actuator comprising a motor and a drive arm, wherein the motor is configured to drive the drive arm between a first arm position and a second arm position; and a motion reducer operatively coupled to the locking head and the actuator, the motion reducer comprising a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing, wherein the motion reducer is disposed between and connected to the operating plate and the actuating arm.

11. The telescopic boom according to claim 10, wherein: the one or more cylinder pins being movable between a retracted pin position and an extended pin position in response to movement of the operating plate relative to the base; and The one or more segment locking arms are movable between a locked position and an unlocked position in response to movement of the operating plate relative to the base.

12. The telescopic boom according to claim 10, wherein: The motion reducer is in a rigid state when the operating plate moves in response to movement of the drive arm.

13. The telescopic boom according to claim 10, wherein: The motion reducer is in a first charged state when movement of the operating plate in a first direction is prevented in response to movement of the drive arm in the first direction.

14. The telescopic boom according to claim 10, wherein: The motion reducer is in a second charged state when movement of the operating plate in a second direction is prevented in response to movement of the drive arm in the second direction.

15. A crane comprising: carrier; A superstructure mounted on the carrier, the superstructure having a telescopic boom, the telescopic boom comprising: Basal segment; a plurality of telescopic sections movable relative to the base section to adjust the length of the boom; and a boom actuator disposed within the base section and operable to move a telescopic section of the plurality of telescopic sections to adjust the length of the boom; a locking head connected to the boom actuator, the locking head comprising: a base; an operating plate operably coupled to the base; one or more cylinder pins and / or one or more joint locking arms operably coupled to the operating plate and movable in response to movement of the operating plate relative to the base; an actuator operably mounted on the boom actuator, coupled to the operating plate and configured to move the operating plate relative to the base, the actuator comprising a motor and a drive arm, wherein the motor is configured to drive the drive arm between a first arm position and a second arm position; and a motion reducer operatively coupled to the locking head and the actuator, the motion reducer comprising a housing, a rod at least partially disposed within the housing, and a biasing device disposed between the rod and the housing, wherein the motion reducer is disposed between and connected to the operating plate and the actuating arm.

16. The crane according to claim 15, wherein: the one or more cylinder pins being movable between a retracted pin position and an extended pin position in response to movement of the operating plate relative to the base; and The one or more segment locking arms are movable between a locked position and an unlocked position in response to movement of the operating plate relative to the base.

17. The crane according to claim 15, wherein: The motion reducer is in a rigid state when the operating plate moves in response to movement of the drive arm.

18. The crane according to claim 15, wherein: The motion reducer is in a first charged state when movement of the operating plate in a first direction is prevented in response to movement of the drive arm in the first direction.

19. The crane according to claim 15, wherein: The motion reducer is in a second charged state when movement of the operating plate in a second direction is prevented in response to movement of the drive arm in the second direction.

20. A method for controlling a boom actuator of a telescopic boom, the boom actuator comprising a hydraulic rod-cylinder assembly and a locking head assembly, the locking head assembly having a base, an operating plate operatively coupled to the base, one or more cylinder pins and / or one or more joint locking arms operatively coupled to the operating plate and movable in response to movement of the operating plate relative to the base, the method comprising: detecting the position of the operating panel using one or more position sensors; comparing, by a controller, the detected position of the operating plate with an expected position of the operating plate; determining, by the controller, whether the detected position of the operation panel is the same as the expected position of the operation panel; and If the detected position of the operating plate is different from the expected position of the operating plate, controlling the hydraulic rod-cylinder assembly to perform corrective operation until the operating plate is detected at the expected position, The operating plate moves to the desired position under a biasing force from a motion reducer operably coupled to and disposed between the operating plate and a drive arm of an actuator configured to move the operating plate relative to a base.

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