Super-lifting trolley control method, system and working vehicle

Abstract

The present invention relates to the technical field of mechanical equipment control, and particularly to a control method, system and working vehicle for a superlift trolley. The method includes: obtaining the force value received by the superlift strut, wherein the force value is detected by a force sensor, the superlift trolley is connected to the main machine through the superlift strut, and the force sensor is arranged between the superlift strut and the sleeve device; respectively adjusting the traveling speeds of the left and right crawlers of the superlift trolley according to the force value. The present invention is used to solve the problem that when the superlift trolley spins in place in the prior art, there is a risk of torsional deformation or even damage to the superlift strut, and to achieve the safe and reliable in-place rotation of the superlift trolley.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment control, and particularly relates to a control method and system for a superlift trolley and a working vehicle. Background Art

[0002] In the field of super-large tonnage crawler cranes, the crane includes a superlift trolley and a main unit. When the main unit moves, the trolley needs to move simultaneously with the main unit. There are mainly two states for the synchronous movement of the trolley and the main unit. One is synchronous walking, where the trolley and the main unit walk together and the tracks of the trolley are parallel to the tracks of the main unit. The other is synchronous slewing. In the synchronous slewing state, the main unit slews in place, and the superlift trolley moves forward or backward at the same rate through the left and right tracks to rotate around the main unit, and the tracks of the trolley are perpendicular to the superlift strut.

[0003] During the hoisting or transfer process of the crane, the main unit needs to frequently switch between slewing and walking actions, and then the track posture of the trolley also needs to switch between the synchronous slewing and synchronous walking postures. To achieve the switching between the above two states, the tracks of the superlift trolley need to turn in place and switch between two states: parallel to the superlift strut and perpendicular to the superlift strut. However, when turning in place, due to control errors and other reasons, the actual traveling speeds of the left and right tracks are inconsistent, the center of the trolley shifts, resulting in torsional deformation or even damage to the superlift strut connecting the main unit and the superlift trolley. Summary of the Invention

[0004] The present invention provides a control method and system for a superlift trolley and a working vehicle, aiming to solve the problem that the superlift strut has a risk of torsional deformation or even damage when the superlift trolley turns in place in the prior art, and to enable the superlift trolley to complete turning in place safely and reliably.

[0005] The present invention provides a control method for a superlift trolley, including: obtaining the force value received by the superlift strut, where the force value is detected by a force sensor, the superlift trolley is connected to the main unit through the superlift strut, and the force sensor is arranged between the superlift strut and the sleeve device; respectively adjusting the traveling speeds of the left and right tracks of the superlift trolley according to the force value.

[0006] According to the control method for a superlift trolley provided by the present invention, the step of respectively adjusting the traveling speeds of the left and right tracks of the superlift trolley according to the force value includes: respectively calculating a left given current and a right given current according to the force value, where the left given current has a positive correlation with the traveling speed of the left track, and the right given current has a positive correlation with the traveling speed of the right track; transmitting the left given value to the left travel pump, and transmitting the right given value to the right travel pump, where the left track is driven to rotate by the left travel pump, and the right track is driven to rotate by the right travel pump.

[0007] According to the present invention, a control method for a superlift trolley is provided. Calculating a left given current and a right given current respectively according to the force value includes: obtaining a control signal of a wireless remote controller on the superlift trolley; determining the in-situ turning direction of the superlift trolley according to the control signal; and calculating the left given current and the right given current respectively through a preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0008] According to the present invention, a control method for a superlift trolley is provided. Calculating the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current includes: obtaining a left initial current value of the left travel pump and a right initial current value of the right travel pump according to the control signal; when the in-situ turning direction is a left turn, subtracting a force adjustment value from the left initial current value to obtain the left given current; adding the force adjustment value to the right initial current value to obtain the right given current; where the force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

[0009] According to the present invention, when obtaining the force value received by the superlift boom, it further includes: obtaining a displacement value of the sleeve device, where the displacement value is detected by a length sensor, and the length sensor is arranged between the superlift boom and the sleeve device; when it is determined that the force value is greater than a preset force threshold, and / or when it is determined that the displacement value is greater than a preset displacement threshold, controlling the superlift trolley to stop moving and generating an alarm signal.

[0010] The present invention further provides a superlift trolley control system, including a force sensor and a controller; the superlift trolley is connected to a main machine through a superlift boom, and the force sensor is arranged between the superlift boom and the sleeve device; the force sensor is used for detecting the force value received by the superlift boom and transmitting the force value to the controller; the controller is used for obtaining the force value and adjusting the left crawler travel speed and the right crawler travel speed of the superlift trolley respectively according to the force value.

[0011] According to the present invention, a control system for a superlift trolley is provided, which further includes a left track, a right track, a left travel pump, and a right travel pump; the controller is specifically configured to calculate a left given current and a right given current respectively according to the force value, and transmit the left given current to the left travel pump and the right given current to the right travel pump, wherein the left given current has a positive correlation with the traveling speed of the left track, and the right given current has a positive correlation with the traveling speed of the right track; the left travel pump operates based on the left given current and drives the left track to move; the right travel pump operates based on the right given current and drives the right track to move.

[0012] According to the present invention, a control system for a superlift trolley is provided, which further includes a wireless remote controller; the wireless remote controller is used to generate a control signal and transmit the control signal to the controller; the controller is specifically configured to obtain the control signal; determine the in-situ turning direction of the superlift trolley according to the control signal; and calculate the left given current and the right given current respectively through a preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0013] According to the present invention, a control system for a superlift trolley is provided, which further includes a length sensor; the length sensor is arranged between the superlift boom and the sleeve device; the length sensor is used to detect the displacement value of the sleeve device and transmit the displacement value to the controller; the controller is specifically configured to obtain the displacement value, and when it determines that the force value is greater than a preset force threshold and / or determines that the displacement value is greater than a preset displacement threshold, control the superlift trolley to stop moving and generate an alarm signal.

[0014] The present invention also provides a working vehicle, which includes a superlift trolley; when controlling the superlift trolley, the superlift trolley control method as described in any one of the above is implemented, wherein the superlift trolley control method is implemented based on the superlift trolley control system as described in any one of the above.

[0015] For the superlift trolley control method, system and working vehicle provided by the present invention, the force sensor is fixed at the second hinge point where the superlift boom is connected to the sleeve device, and the force value received by the superlift boom is detected through the force sensor. According to the force value, the traveling speeds of the left track and the right track of the superlift trolley are adjusted. Since the traveling speeds of the left track and the right track of the superlift trolley are adjusted according to the force value received by the superlift boom, when the superlift trolley is turning in-situ and the center of the trolley is offset, by changing the displacement of the center of the superlift trolley relative to the center of the host, it is possible to avoid excessive torsion on the superlift boom and prevent deformation or damage, ensuring that the superlift trolley can complete the slewing action safely and reliably. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0017] Figure 1 It is one of the schematic flowcharts of the control method for the luffing jib trolley provided by the present invention;

[0018] Figure 2 It is a structural example diagram of the crawler crane provided by the present invention;

[0019] Figure 3 It is a schematic diagram of the synchronous action of the luffing jib trolley and the main machine provided by the present invention;

[0020] Figure 4 It is a schematic diagram of the center offset when the luffing jib trolley rotates in place to the left provided by the present invention;

[0021] Figure 5 It is a schematic diagram of the center offset when the luffing jib trolley rotates in place to the right provided by the present invention;

[0022] Figure 6 It is a top view structural schematic diagram of the luffing jib trolley and the luffing jib provided by the present invention;

[0023] Figure 7 It is one of the schematic diagrams of the control system structure of the luffing jib trolley provided by the present invention;

[0024] Figure 8 It is the second schematic diagram of the control system structure of the luffing jib trolley provided by the present invention

[0025] Figure 9 It is a schematic diagram of the control device structure of the luffing jib trolley provided by the present invention;

[0026] Figure 10 It is a schematic diagram of the structure of the electronic device provided by the present invention. Specific embodiments

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0028] The superlift trolley control method provided by the present invention is applied to a controller, which is a device with data processing capabilities. Specifically, the specific implementation form of the controller includes any one of a microcontroller unit (MCU), a central processing unit (CPU), and other types of processing devices. The controller controls the operation of the superlift trolley through the superlift trolley control method provided by the present invention. The following combines Figures 1 to 6 to describe the superlift trolley control method of the present invention.

[0029] In one embodiment, as Figure 1 shown, the process steps implemented by the superlift trolley control method are as follows:

[0030] Step 101, obtain the force value received by the superlift strut. Among them, the force value is detected by a force sensor. The superlift trolley is connected to the main machine through the superlift strut, and the force sensor is arranged between the superlift strut and the sleeve device.

[0031] In this embodiment, in the field of ultra-large tonnage crawler cranes, for example, cranes of 2000 tons and above, as Figure 2 shown, the superlift trolley (also known as the superlift counterweight trolley) is connected to the main machine through the superlift strut. The superlift strut is connected to the upper vehicle counterweight tray of the superlift trolley, and the superlift trolley moves through the trolley crawlers. Among them, the trolley crawlers include a left crawler and a right crawler. The main machine moves through the main machine crawlers.

[0032] When the main machine moves (including walking or slewing), the superlift trolley needs to move simultaneously with the main machine. There are mainly two states for the superlift trolley and the main machine to move synchronously. One is synchronous walking, where the superlift trolley and the main machine walk together; the other is synchronous slewing, where the main machine slews in place and the superlift trolley slews around the main machine. As Figure 3 shown, during synchronous walking, the trolley crawlers should be parallel to the main machine crawlers. During synchronous slewing, the trolley crawlers should be perpendicular to the superlift strut.

[0033] During the hoisting or transfer process of the crane, the main machine needs to frequently switch between slewing and walking actions, then the posture of the superlift trolley crawlers needs to switch between the synchronous slewing and synchronous walking postures. Specifically, as Figure 3 shown, the trolley crawlers need to switch from being parallel to the strut to being perpendicular to the superlift strut, or from being perpendicular to the strut to being parallel to the superlift strut. When the superlift trolley is switching postures, the connection between the upper vehicle of the superlift trolley and the main machine remains stationary, and the lower vehicle of the superlift trolley rotates in place to adjust the posture, that is, one crawler moves forward and the other crawler moves backward, keeping the center of the superlift trolley unchanged in place.

[0034] However, during the actual operation of the luffing trolley spinning in place, due to the inconsistent movement speeds of the left and right crawlers, the left crawler may be a little faster or the right crawler may be a little faster. As Figure 4 shown, a plane coordinate system is established with the center of the luffing trolley as the origin. When the luffing trolley spins in place to the left or right, the movement directions of the left and right crawlers are opposite. When the luffing trolley spins in place to the left, if the left crawler moves faster than the right crawler, the center of the luffing trolley will deviate towards the 4th quadrant; if the right crawler moves faster than the left crawler, the center of the luffing trolley will deviate towards the 2nd quadrant.

[0035] Similarly, as Figure 5 shown, when the luffing trolley spins in place to the right, if the left crawler moves faster than the right crawler, the center of the luffing trolley will deviate towards the 1st quadrant; if the right crawler moves faster than the left crawler, the center of the luffing trolley will deviate towards the 3rd quadrant.

[0036] Since the luffing trolley is connected to the main machine through the luffing strut, if the center of the luffing trolley shifts, two changes will occur. One is the front-back direction shift, that is, the center distance between the luffing trolley and the main machine will change. The allowable movement range between the main machine and the luffing trolley is limited. When the distance is too large, there is a risk that the luffing strut will slip out of the sleeve device. When the distance is too small, the sleeve device will interfere with the luffing strut. The other is the lateral shift. The luffing strut connecting the main machine and the luffing trolley will undergo lateral torsional deformation. When the lateral force is large enough, it will damage the luffing strut or the pin ear connected to the strut. Even during the slewing process, the operator observes the front-back telescopic distance of the sleeve device and the lateral deformation of the strut at all times, and stops when judging that the deviation is large based on personal feeling, and adjusts by single-acting one crawler. However, the adjustment method relying on manual observation still has a great risk because the specific magnitude of the lateral torsion force cannot be known.

[0037] In this embodiment, in order to ensure the normal slewing of the luffing trolley, a force sensor is arranged between the luffing strut and the sleeve device, and this force sensor can detect the force value received by the luffing strut. More specifically, the force sensor is fixed at the second hinge point where the luffing strut is connected to the sleeve device. This force sensor is a bidirectional force measuring sensor, that is, it can detect the change of force when being pulled and pressed respectively. As Figure 6 shown in the top view of the luffing trolley and the luffing strut, the force sensor is fixed at the second hinge point. When the luffing trolley shifts to the left (that is, the center of the luffing trolley deviates towards the 2nd quadrant or the 3rd quadrant as mentioned above), the force sensor is under tension, and at this time the force value detected by the force sensor is positive; when the luffing trolley shifts to the right (that is, the center of the luffing trolley deviates towards the 1st quadrant or the 4th quadrant as mentioned above), the force sensor is under extrusion, and at this time the force value detected by the force sensor is negative.

[0038] The bidirectional force sensor can detect the force values received on the left and right sides of the superlift boom. Whether the center of the superlift trolley shifts to the left or to the right, the force value received by the superlift boom can be detected, ensuring that no matter which side the superlift boom shifts to, the traveling speeds of the left track and the right track can be adjusted in a timely manner to ensure that the superlift boom will not be deformed or damaged.

[0039] In one embodiment, since the center of the superlift trolley will shift in the front-back direction, in order to prevent the superlift boom from slipping out of the sleeve device, a length sensor is provided on the sleeve device. The length sensor is used to detect the displacement value of the sleeve device relative to the superlift boom. The length sensor is arranged between the superlift boom and the sleeve device. Specifically, as Figure 6 shown, the length sensor is fixed on the sleeve device, and the pulling rope of the length sensor is fixed on the superlift boom. While obtaining the force value received by the superlift boom, the displacement value of the sleeve device is obtained; when it is determined that the force value is greater than the preset force threshold, and / or when it is determined that the displacement value is greater than the preset displacement threshold, the superlift trolley is controlled to stop moving and an alarm signal is generated.

[0040] In this embodiment, when the displacement value is greater than the preset displacement threshold, it indicates that the superlift boom is about to slip out of the sleeve device; when the force value is greater than the preset force threshold, it indicates that there is a risk of deformation or damage to the superlift boom. As long as any one of the force value and the displacement value reaches the corresponding threshold, the superlift trolley's action of spinning in place is immediately cut off and an alarm signal is generated to manually adjust the state of the trolley and adjust both the force value and the displacement value to a safe range.

[0041] More specifically, the length sensor can also output positive and negative values. The middle position of the sliding rod of the sleeve device is the zero point. When the sleeve moves outwards, a positive value is displayed, and when the sleeve moves inwards, a negative value is displayed. Therefore, the preset displacement threshold can be correspondingly set with a positive length threshold and a negative length threshold. When the displacement value reaches any one of the positive length threshold and the negative length threshold, the superlift trolley's action of spinning in place is immediately cut off and an alarm signal is generated. Similarly, the preset force threshold can be correspondingly set with a positive force threshold and a negative force threshold. When the force value reaches any one of the positive force threshold and the negative force threshold, the superlift trolley's action of spinning in place is immediately cut off and an alarm signal is generated.

[0042] In this embodiment, the preset force threshold and the preset displacement threshold can be set according to factors such as the structure, actual situation, and requirements of the superlift boom and / or the sleeve device. The protection scope of this application is not limited by the specific values of the preset force threshold and the preset displacement threshold.

[0043] Step 102, respectively adjust the traveling speeds of the left track and the right track of the superlift trolley according to the force value.

[0044] In this embodiment, the luffing jib can withstand a certain degree of force value. Therefore, before the luffing jib is deformed or damaged, the traveling speeds of the left track and the right track of the luffing trolley can be adjusted respectively, so that the center offset of the luffing trolley changes in the decreasing direction, thereby keeping the trolley center near the origin and ensuring the normal operation of the luffing trolley. Specifically, after the controller obtains the force value received by the luffing jib, the controller outputs a track control signal according to the force value to control the luffing trolley through the track control signal, that is, to adjust the traveling speeds of the left track and the right track of the luffing trolley respectively according to the force value through the track control signal.

[0045] In one embodiment, the luffing trolley includes a left traveling pump and a right traveling pump. The left track is driven to rotate by the left traveling pump, the right track is driven to rotate by the right traveling pump, and the luffing trolley is driven to travel through the rotation of the left track and the right track. Specifically, the traveling speeds of the left track and the right track of the luffing trolley are adjusted respectively according to the force value, and the specific implementation process is as follows: the left given current and the right given current are calculated respectively according to the force value, wherein the left given current has a positive correlation with the traveling speed of the left track, and the right given current has a positive correlation with the traveling speed of the right track; the left given value is transmitted to the left traveling pump, and the right given value is transmitted to the right traveling pump.

[0046] In this embodiment, the speed of the traveling pump operation is determined by the magnitude of the given current obtained by the traveling pump. Specifically, the greater the left given current, the faster the left traveling pump operates, and the faster the forward speed of the left track rotation; the greater the right given current, the faster the right traveling pump operates, and the faster the forward speed of the right track rotation. Therefore, by adjusting the given current of the traveling pump, the speed control of the track can be conveniently realized.

[0047] In one embodiment, when the luffing trolley turns left or right, if the center deviates from the origin, the adjustment methods are different. Specifically, the left given current and the right given current are calculated respectively according to the force value, and the implementation process is as follows: obtain the control signal of the luffing trolley; determine the in-situ turning direction of the luffing trolley according to the control signal; calculate the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0048] In this embodiment, the actuator on the luffing trolley has a control signal receiving mechanism, and the actuator can execute corresponding actions according to the control signal, such as moving forward or turning in-situ. Among them, the control signal includes the in-situ turning direction of the luffing trolley. The controller implementing this method can obtain the control signal, then parse the control signal and obtain the in-situ turning direction, and calculate the left given current and the right given current respectively according to the preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0049] In a specific example, the control signal receiving mechanism is a wireless signal receiving device, which can receive control signals through a wireless communication line. More specifically, the control signal can be generated by a wireless remote controller of the luffing trolley, and the wireless remote controller transmits the generated control signal to the control signal receiving structure on the luffing trolley to control the actuator of the luffing trolley to perform corresponding actions.

[0050] In this embodiment, the preset correlation between the force value and the current can be preset according to experience, experimental data, and / or requirements. The protection scope of this application is not limited by the specific content and setting principle of the preset correlation.

[0051] In one embodiment, the control signal further includes the initial current values given to the left traveling pump and the right traveling pump. By analyzing the control signal, not only the in-place turning direction can be obtained, but also the initial current values of the left traveling pump and the right traveling pump can be obtained. After determining the in-place turning direction, the given current can be obtained through the initial current value. Specifically, when it is determined that the in-place turning direction is to the left, the left given current and the right given current are calculated respectively through the preset correlation between the force value corresponding to the in-place turning direction and the current. The implementation process is as follows: according to the control signal, obtain the left initial current value of the left traveling pump and the right initial current value of the right traveling pump; when the in-place turning direction is to the left, subtract the force adjustment value from the left initial current value to obtain the left given current; add the force adjustment value to the right initial current value to obtain the right given current; wherein, the force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

[0052] In one embodiment, when it is determined that the in-place turning direction is to the right, the left given current and the right given current are calculated respectively through the preset correlation between the force value corresponding to the in-place turning direction and the current. The specific implementation process is as follows: according to the control signal, obtain the left initial current value of the left traveling pump and the right initial current value of the right traveling pump; when the in-place turning direction is to the right, add the force adjustment value to the left initial current value to obtain the left given current; subtract the force adjustment value from the right initial current value to obtain the right given current; wherein, the force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

[0053] The preset adjustment coefficient in the above embodiment can be set according to experience, experimental data, and / or actual requirements.

[0054] In a specific embodiment, AL1 represents the current value actually given to the proportional solenoid valve at the retracting end of the left crawler travel pump (i.e., the left given current); AR1 represents the current value actually given to the proportional solenoid valve at the advancing end of the right crawler travel pump (i.e., the right given current); AL represents the initial current value of the left crawler travel given according to the handle opening (i.e., the left initial current value); AR represents the initial current value of the right crawler travel given according to the handle opening (i.e., the right initial current value). b represents a preset adjustment coefficient; F represents the force value (positive when in tension and negative when in compression).

[0055] When the trolley spins in place to the left (the left crawler retracts and the right crawler advances), if the left crawler travels fast, the center of gravity moves backward, and the force sensor on the superlift boom is in tension (positive value); if the right crawler travels fast, the center of gravity moves forward, and the force sensor on the superlift boom is in compression (negative value). Then the process of calculating the given current value through the preset correlation is as follows:

[0056] Given current of the left travel pump: AL1 = AL - b * F;

[0057] Given current of the right travel pump: AR1 = AR + b * F.

[0058] When the trolley spins in place to the right (the left crawler advances and the right crawler retracts), if the left crawler travels fast, the center of gravity moves forward, and the force sensor on the superlift boom is in compression (negative value); if the right crawler travels fast, the center of gravity moves backward, and the force sensor on the superlift boom is in tension (positive value). Then the process of calculating the given current value through the preset correlation is as follows:

[0059] Given current of the left travel pump: AL1 = AL + b * F;

[0060] Given current of the right travel pump: AR1 = AR - b * F.

[0061] For the superlift trolley control method provided by the present invention, the force sensor is fixed at the second hinge point where the superlift boom is connected to the sleeve device, and the force value received by the superlift boom is detected through the force sensor. According to the force value, the advancing speeds of the left crawler and the right crawler of the superlift trolley are adjusted. Since the advancing speeds of the left crawler and the right crawler of the superlift trolley are adjusted according to the force value received by the superlift boom, when the superlift trolley spins in place and the center of the trolley shifts, by changing the displacement of the center of the superlift trolley relative to the center of the main machine, it is possible to avoid the torque on the superlift boom being too large, resulting in deformation or damage, and ensure that the superlift trolley can complete the slewing action safely and reliably.

[0062] Meanwhile, based on the detection values of the length sensor, the front-back offset state of the center of the superlift trolley is judged; based on the detection values of the force sensor, the lateral force magnitude and the lateral offset direction of the superlift strut are judged. According to the system algorithm, the speeds of the left and right crawlers of the superlift trolley are calculated, and the given current value of the traveling pump is calculated to reversely adjust the traveling speeds of the left and right crawlers, so that the center offset of the superlift trolley changes in the decreasing direction, thereby ensuring that the center of the superlift trolley remains near the origin during the in-situ turning process. If the detected force and length values continue to increase (either positively or negatively), when the detected values exceed the corresponding set thresholds, an alarm signal is generated and the in-situ turning action of the trolley is cut off, and the manual mode is switched to adjust the trolley state. The movement of the superlift trolley is controlled safely and efficiently, and at the same time, the control effect is better.

[0063] Next, a superlift trolley control system for implementing the superlift trolley control method will be introduced. The superlift trolley control system can be correspondingly referred to the superlift trolley control method described above, and the repeated parts will not be elaborated. As Figure 7 shown, the superlift trolley control system includes: a force sensor 701 and a controller 702; the superlift trolley is connected to the main machine via a superlift strut, and the force sensor 701 is arranged between the superlift strut and the sleeve device. More specifically, the force sensor 701 is fixed at the second hinge point where the superlift strut is connected to the sleeve device; the force sensor 701 is used to detect the force value received by the superlift strut and transmit the force value to the controller 702; the controller 702 is used to obtain the force value and respectively adjust the traveling speeds of the left crawler and the right crawler of the superlift trolley according to the force value.

[0064] In one embodiment, the superlift trolley control system further includes a left crawler, a right crawler, a left traveling pump, and a right traveling pump; the controller 702 is specifically configured to calculate a left given current and a right given current respectively according to the force value, and transmit the left given current to the left traveling pump and the right given current to the right traveling pump, wherein the left given current has a positive correlation with the traveling speed of the left crawler, and the right given current has a positive correlation with the traveling speed of the right crawler; the left traveling pump operates based on the left given current and drives the left crawler to move; the right traveling pump operates based on the right given current and drives the right crawler to run.

[0065] In one embodiment, the superlift trolley control system further includes a wireless remote controller; the wireless remote controller is used to generate a control signal and transmit the control signal to the controller 702; the controller 702 is specifically configured to obtain the control signal; determine the in-situ turning direction of the superlift trolley according to the control signal; and calculate the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0066] In one embodiment, the luffing trolley control system further includes a length sensor; the length sensor is disposed between the luffing strut and the sleeve device. More specifically, the length sensor is fixed on the sleeve device, and the pulling rope of the length sensor is fixed on the luffing strut; the length sensor is used to detect the displacement value of the sleeve device and transmit the displacement value to the controller 702; the controller 702 is specifically configured to obtain the displacement value, and when it determines that the force value is greater than a preset force threshold and / or when it determines that the displacement value is greater than a preset displacement threshold, control the luffing trolley to stop moving and generate an alarm signal.

[0067] In a specific embodiment, as Figure 8 shown, the luffing trolley control system includes a controller that provides computing and logic control, a wireless remote controller that displays data and alarm information, a length sensor and a force sensor installed on the luffing strut, and respectively controls the left traveling pump corresponding to the left crawler and the right traveling pump corresponding to the right crawler. Among them, the wireless remote controller has an operation handle, and the wireless remote controller communicates with the controller through a wireless remote receiver and a wireless remote transmitter via a Controller Area Network (CAN) bus.

[0068] The controller obtains the force value detected by the force sensor and at the same time obtains the displacement value detected by the length sensor. The controller also obtains a control signal from the wireless remote controller. After calculating the left given current and the right given current through the force value, the displacement value and the control signal, the controller transmits the left given current to the left traveling pump and the right given current to the right traveling pump to adjust the traveling speeds of the left and right crawlers of the luffing trolley and ensure that the center of the luffing trolley remains near the origin.

[0069] The present invention also provides a work vehicle, which includes a luffing trolley; when controlling the luffing trolley, the luffing trolley control method described in the above embodiments is implemented, wherein the luffing trolley control method is implemented based on the luffing trolley control system described in the above embodiments.

[0070] The luffing trolley control device provided by the present invention will be described below. The luffing trolley control device described below can be correspondingly referred to the luffing trolley control method described above, and the repeated parts will not be elaborated. As Figure 9 shown, the luffing trolley control device includes:

[0071] An acquisition module 901, configured to acquire the force value received by the luffing strut, wherein the force value is detected by a force sensor, and the force sensor is fixed at the second hinge point where the luffing strut is connected to the sleeve device;

[0072] An adjustment module 902, configured to respectively adjust the traveling speeds of the left and right crawlers of the luffing trolley according to the force value.

[0073] In one embodiment, the adjustment module 902 is specifically configured to calculate a left given current and a right given current respectively according to the force value, where the left given current has a positive correlation with the traveling speed of the left crawler, and the right given current has a positive correlation with the traveling speed of the right crawler; transmit the left given value to the left travel pump, and transmit the right given value to the right travel pump, where the left travel pump drives the left crawler to move when operating, and the right travel pump drives the right crawler to operate.

[0074] In one embodiment, the adjustment module 902 is specifically configured to obtain the control signal of the wireless remote controller on the superlift trolley; determine the in-situ turning direction of the superlift trolley according to the control signal; calculate the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current.

[0075] In one embodiment, the adjustment module 902 is specifically configured to obtain the left initial current value of the left travel pump and the right initial current value of the right travel pump according to the control signal; when the in-situ turning direction is a left turn, subtract the force adjustment value from the left initial current value to obtain the left given current; add the force adjustment value to the right initial current value to obtain the right given current; where the force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

[0076] In one embodiment, the adjustment module 902 is specifically configured to obtain the left initial current value of the left travel pump and the right initial current value of the right travel pump according to the control signal; when the in-situ turning direction is a right turn, add the force adjustment value to the left initial current value to obtain the left given current; subtract the force adjustment value from the right initial current value to obtain the right given current; where the force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

[0077] In one embodiment, the acquisition module 901 is further configured to obtain the force value received by the superlift strut while obtaining the displacement value of the sleeve device, where the displacement value is detected by a length sensor, the length sensor is fixed on the sleeve device, and the pull rope of the length sensor is fixed on the superlift strut;

[0078] The adjustment module 902 is specifically configured to control the superlift trolley to stop moving and generate an alarm signal when it is determined that the force value is greater than a preset force threshold and / or when it is determined that the displacement value is greater than a preset displacement threshold.

[0079] Figure 10 Illustrates a schematic physical structure diagram of an electronic device, such as Figure 10As shown in the figure, the electronic device may include: a processor 1001, a communications interface 1002, a memory 1003, and a communication bus 1004. Among them, the processor 1001, the communications interface 1002, and the memory 1003 communicate with each other through the communication bus 1004. The processor 1001 can call the logical instructions in the memory 1003 to execute the method for controlling the luffing trolley. The method includes: obtaining the force value received by the luffing boom, where the force value is detected by a force sensor, and the force sensor is fixed at the second hinge point where the luffing boom is connected to the sleeve device; adjusting the traveling speeds of the left and right crawlers of the luffing trolley respectively according to the force value.

[0080] In addition, when the logical instructions in the above-mentioned memory 1003 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0081] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the method for controlling the luffing trolley provided in the above-mentioned embodiments. The method includes: obtaining the force value received by the luffing boom, where the force value is detected by a force sensor, and the force sensor is fixed at the second hinge point where the luffing boom is connected to the sleeve device; adjusting the traveling speeds of the left and right crawlers of the luffing trolley respectively according to the force value.

[0082] In another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the super-lifting trolley control method provided in the above embodiments. The method includes: obtaining a force value received by the super-lifting strut, where the force value is detected by a force sensor fixed at the second hinge point where the super-lifting strut is connected to the sleeve device; and respectively adjusting the traveling speeds of the left and right tracks of the super-lifting trolley according to the force value.

[0083] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

[0084] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a telescopic boom hoist trolley, characterized in that, Including: Obtaining the force value received by the luffing jib. The force value is detected by a force sensor. The luffing trolley is connected to the main machine through the luffing jib, and the force sensor is arranged between the luffing jib and the sleeve device; The force sensor is a force sensor fixed at the second hinge point where the luffing jib is connected to the sleeve device. The force sensor is a bidirectional force measuring sensor, that is, it can detect the change of force when being pulled and pressed respectively; When obtaining the force value received by the luffing jib, it further includes: Obtaining the displacement value of the sleeve device. The displacement value is detected by a length sensor, and the length sensor is arranged between the luffing jib and the sleeve device; When it is determined that the force value is greater than a preset force threshold, and / or when it is determined that the displacement value is greater than a preset displacement threshold, controlling the luffing trolley to stop moving and generating an alarm signal; Adjusting the left crawler traveling speed and the right crawler traveling speed of the luffing trolley respectively according to the force value; The adjusting the left crawler traveling speed and the right crawler traveling speed of the luffing trolley respectively according to the force value includes: Calculating a left given current and a right given current respectively according to the force value. The left given current has a positive correlation with the left crawler traveling speed, and the right given current has a positive correlation with the right crawler traveling speed; Transmitting the left given current to the left travel pump, and transmitting the right given current to the right travel pump. The left crawler is driven to rotate by the left travel pump, and the right crawler is driven to rotate by the right travel pump.

2. The control method for a telescopic boom hoist trolley according to claim 1, characterized in that, The calculating the left given current and the right given current respectively according to the force value includes: Obtaining the control signal of the luffing trolley; Determining the in-situ turning direction of the luffing trolley according to the control signal; Calculating the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current; 3. The control method for a telescopic boom hoist trolley according to claim 2, characterized in that, The calculating the left given current and the right given current respectively through the preset correlation between the force value corresponding to the in-situ turning direction and the current includes: Obtaining the left initial current value of the left travel pump and the right initial current value of the right travel pump according to the control signal; When the in-situ turning direction is a left turn, subtracting the force adjustment value from the left initial current value to obtain the left given current; adding the force adjustment value to the right initial current value to obtain the right given current; The force adjustment value is obtained by weighting the force value with a preset adjustment coefficient.

4. A control system for a telescopic boom hoist trolley, characterized in that, Including a force sensor, a controller, a left crawler, a right crawler, a left travel pump and a right travel pump; The luffing trolley is connected to the main machine through the luffing jib, and the force sensor is arranged between the luffing jib and the sleeve device; The force sensor is used to detect the force value received by the luffing jib and transmit the force value to the controller; The force sensor is a force sensor fixed at the second hinge point where the luffing jib is connected to the sleeve device. The force sensor is a bidirectional force measuring sensor, that is, it can detect the change of force when being pulled and pressed respectively; The controller is configured to obtain the force value and, based on the force value, adjust the traveling speeds of the left track and the right track of the superlift trolley respectively; The superlift trolley control system further includes a length sensor; the length sensor is disposed between the superlift strut and the sleeve device; The length sensor is configured to detect the displacement value of the sleeve device and transmit the displacement value to the controller; Specifically, the controller is configured to obtain the displacement value and, when it determines that the force value is greater than a preset force threshold and / or when it determines that the displacement value is greater than a preset displacement threshold, control the superlift trolley to stop moving and generate an alarm signal; Specifically, the controller is configured to calculate a left given current and a right given current respectively according to the force value, transmit the left given current to the left travel pump, and transmit the right given current to the right travel pump, wherein the left given current has a positive correlation with the traveling speed of the left track, and the right given current has a positive correlation with the traveling speed of the right track; The left travel pump operates based on the left given current and drives the left track to move; The right travel pump operates based on the right given current and drives the right track to run.

5. The control system for a telescopic boom hoist trolley according to claim 4, characterized in that, It further includes a wireless remote controller; The wireless remote controller is configured to generate a control signal and transmit the control signal to the controller; Specifically, the controller is configured to obtain the control signal; determine the in-situ turning direction of the superlift trolley according to the control signal; and calculate the left given current and the right given current respectively through a preset correlation between the force value corresponding to the in-situ turning direction and the current.

6. A working vehicle, characterized in that, The work vehicle includes a superlift trolley; When controlling the superlift trolley, the superlift trolley control method according to any one of claims 1 to 3 is implemented, wherein the superlift trolley control method is implemented based on the superlift trolley control system according to any one of claims 4 - 5.

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