A load-carrying double luffing control system, control method and crane

Abstract

The present invention discloses a load-carrying double luffing control system, a control method and a crane. The control system includes a torque system, a control system, an arm length detection device, a main boom luffing angle / working range detection device, a jib luffing angle / working range detection device, a jib luffing cylinder length detection device and control components related to the load-carrying stepless luffing control of the jib. During the hoisting operation, the torque limiter system realizes automatic switching between the conventional lifting performance and the load-carrying luffing performance according to the jib angle detection, the jib luffing cylinder wire detection, the main boom angle / working range and the lifting weight, and the luffing action states of the main boom / jib, enabling the crane to realize the free luffing function under the load-carrying state, meet the larger range adjustment in ultra-high and narrow spaces, and improve the operation efficiency and working condition adaptability of the crane.

Description

Technical Field

[0001] The present invention relates to a load-carrying double luffing control system, a control method and a crane, belonging to the technical field of construction machinery. Background Art

[0002] At present, large and medium-tonnage products with fixed auxiliary booms are designed with stepless luffing cylinders, which are only used to realize the angle transformation of the auxiliary boom when there is no load. When lifting a load, the main boom luffing cylinder is used for luffing. Previously, the fixed auxiliary boom was luffed by a pull plate and could not achieve load-carrying luffing of the auxiliary boom. However, existing products with a tonnage above large and medium-tonnage are all designed with stepless luffing cylinders, which provide a necessary condition for realizing load-carrying luffing of the auxiliary boom working conditions. Moreover, the design of the stepless luffing cylinder for the auxiliary boom only lifts the load at a fixed angle, and the function of the stepless luffing cylinder of the auxiliary boom cannot be fully exerted, seriously reducing the efficiency of the stepless luffing cylinder, the adaptability of the working conditions and the competitiveness of the product.

[0003] In addition, when the product operates in an ultra-high and narrow space, it will be difficult to lift. Sometimes, it is necessary to adjust the position of the outrigger and the angle of the auxiliary boom multiple times to lift to the designated position. In extreme cases, the lifting operation cannot be completed. With the intensification of urban construction, this kind of application in ultra-high and narrow spaces will also be more and more. The lack of the load-carrying luffing function of the auxiliary boom seriously affects the lifting efficiency and the large-range amplitude adjustment in ultra-high and narrow spaces. The product has poor adaptability, restricts the application range and competitiveness of the product, and reduces the reputation of the product. Figure 1 It is a comparison diagram of the operation ranges when only the main boom luffs and when the main boom and the auxiliary boom luff when the space of the main boom is limited.

[0004] The existing technology mainly realizes the stepless luffing function of the auxiliary boom, improves the micro-mobility when the auxiliary boom luffs steplessly, and solves the potential safety hazards caused by internal leakage. It does not involve the technical control of load-carrying luffing in the working conditions of the auxiliary boom, cannot realize the double luffing control method of the main boom luffing and the auxiliary boom luffing, and cannot fully exert the function of the stepless luffing cylinder of the auxiliary boom, so that the crane can adapt to more working conditions when luffing. Summary of the Invention

[0005] In order to solve the deficiencies of the existing technology, the purpose of the present invention is to provide a load-carrying double luffing control system, a control method and a crane, which solve the problems of limited lifting and low lifting efficiency in ultra-high and narrow spaces in the existing technology.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A load-carrying double luffing control system includes a torque system, a control system, an arm length detection device, a main boom luffing angle / working amplitude detection device, an auxiliary boom luffing angle / working amplitude detection device, an auxiliary boom luffing cylinder length detection device, and control elements related to the load-carrying stepless luffing control of the auxiliary boom;

[0008] The torque system includes a torque limiter and a controller. The torque limiter is used for real-time performance calculation during operation and calling corresponding working condition performances according to the calculation results. The controller is used for receiving signals from the control system and each detection device, performing judgments, and outputting real-time signals to relevant control components to execute actions.

[0009] The control system is used for real-time display of operation performance, operation status, and detection information of the detection device, and triggering the actions of the main boom luffing cylinder and the auxiliary boom luffing cylinder and adjusting the action speed.

[0010] The boom length detection device is used for detecting the boom length status of the main boom.

[0011] The main boom luffing angle / working range detection device is used for detecting the main boom luffing angle / working range.

[0012] The auxiliary boom luffing angle / working range detection device is used for detecting the auxiliary boom luffing angle / working range.

[0013] The auxiliary boom luffing cylinder length detection device is used for detecting the length of the auxiliary boom luffing cylinder and converting the length of the auxiliary boom luffing cylinder into the auxiliary boom luffing angle / working range.

[0014] The control components related to the stepless luffing control of the auxiliary boom with load are used for controlling whether relevant actions are executed and their execution speeds by energizing, de-energizing, or the magnitude of the current.

[0015] Further, the aforementioned detection of the length of the auxiliary boom luffing cylinder includes a cylinder length wire and a controller.

[0016] The cylinder length wire changes synchronously with the auxiliary boom luffing cylinder, and jointly judges the included angle between the auxiliary boom and the main boom with the auxiliary boom luffing angle detection device, forming a double judgment, providing double verification for the boom to accurately identify the included angle between the auxiliary boom and the main boom.

[0017] The controller transmits signals to the torque system, the boom length detection device, the main boom luffing angle / working range detection device, the auxiliary boom luffing angle / working range detection device, the auxiliary boom luffing cylinder length detection device, and the control components related to the stepless luffing control of the auxiliary boom with load.

[0018] Further, the aforementioned also includes a boom position detection device and a boom pin detection device.

[0019] The boom position detection device is used for detecting the boom position status of the main boom.

[0020] The boom pin detection device is used for the locking and unlocking status of the boom pin.

[0021] A load-bearing double luffing control method, applying a load-bearing double luffing control system according to any one of the foregoing, includes the following steps:

[0022] Set the initial state.

[0023] Select the conventional lifting performance and start the operation;

[0024] Judge the working condition state in the initial state: judge whether the included angle between the main boom and the auxiliary boom is a fixed value;

[0025] Combine the working condition state results and execute the corresponding lifting working condition performance;

[0026] During the execution process, adjust the amplitude, main boom angle or auxiliary boom angle in real time;

[0027] Further judge the adjusted working condition in real time: whether the included angle between the main boom and the auxiliary boom is a fixed value;

[0028] If the included angle between the main boom and the auxiliary boom is a fixed value, select to execute the conventional lifting working condition performance, otherwise select to execute the auxiliary boom luffing with load lifting working condition performance;

[0029] If the lifting performance is cancelled, the execution ends, otherwise continue lifting and jump to judge the working condition during the execution process.

[0030] Furthermore, the specific method of combining the working condition state results and executing the corresponding lifting working condition performance is as follows:

[0031] If it is judged that the included angle between the main boom and the auxiliary boom is a fixed value, select the conventional working condition. In this working condition, further, if the state of the auxiliary boom conforms to the requirements of the conventional working condition and the calculation of the conventional lifting performance is not overloaded, execute the conventional lifting working condition performance, otherwise end;

[0032] If it is judged that the included angle between the main boom and the auxiliary boom is not a fixed value, select the auxiliary boom luffing with load working condition. In this working condition, further, if the state of the auxiliary boom conforms to the requirements of the auxiliary boom luffing with load working condition and the calculation of the auxiliary boom luffing with load lifting performance is not overloaded, execute the auxiliary boom luffing with load lifting working condition performance, otherwise end.

[0033] Furthermore, for the aforementioned execution of the conventional lifting working condition performance, only the main boom luffs and the included angle between the main boom and the auxiliary boom is a fixed value; for the execution of the auxiliary boom luffing with load lifting working condition performance, the main boom luffs and / or the auxiliary boom luffs.

[0034] A crane includes a load-carrying double-luffing control system according to any one of the foregoing, as well as a main boom (full name: main lifting boom) and an auxiliary boom (full name: auxiliary lifting boom or fixed auxiliary boom). The main boom luffs through a main boom luffing cylinder, and the auxiliary boom luffs through an auxiliary boom luffing oil cylinder. The luffing of the auxiliary boom is further divided into the form of pulling cylinder luffing or pressing cylinder luffing.

[0035] The beneficial effects achieved by the present invention:

[0036] 1. The moment limiter system realizes automatic switching between the conventional lifting capacity performance and the load - carrying luffing performance according to the secondary boom angle detection, the cylinder line detection of the secondary boom luffing cylinder, the main boom angle / working range and the lifting weight, and the luffing action states of the main boom / secondary boom, enabling the crane to achieve the free stepless luffing function under the load - carrying state and meet the larger range adjustment in the ultra - high and narrow space.

[0037] 2. When both the main boom luffing and the secondary boom luffing can reach the target range, at the same range, different main boom elevation angles and secondary boom rotation angles have different performances. The moment limiter system identifies and controls the real - time lifting weight of the crane, making the crane operation safe and reliable, and switching the lifting weight performance in real - time during the operation process, greatly improving the lifting efficiency.

[0038] 3. The load - carrying stepless luffing control system of the secondary boom realizes the real - time detection and control of the crane state under the load - carrying condition, and is used to judge whether the load - carrying stepless luffing is safe and reliable.

[0039] 4. After each working condition selection or judgment, an overload judgment is carried out to achieve real - time identification and re - confirmation after each key selection, preventing major accidents or even casualties caused by overload. Brief Description of the Drawings

[0040] Figure 1 is a comparison diagram of the working ranges when only the main boom luffs and the secondary boom luffs in the prior art when the space of the main boom is limited;

[0041] Figure 2 is a schematic diagram of the stepless double luffing of the main boom luffing and the secondary boom luffing of the present invention;

[0042] Figure 3 is a schematic diagram of the luffing of the stepless luffing device of the secondary boom of the present invention;

[0043] Figure 4 is a composition diagram of the load - carrying stepless double luffing control system for the secondary boom working condition of the crane of the present invention;

[0044] Figure 5 is a composition diagram of the load - carrying stepless double luffing control system for the secondary boom working condition of the crane of the present invention with the oil cylinder telescoping system;

[0045] Figure 6 is a flowchart of the automatic performance switching of the load - carrying stepless double luffing control system for the secondary boom working condition of the crane of the present invention. Detailed Embodiment

[0046] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0047] This embodiment discloses a load - carrying double luffing control system, as Figure 4As shown in the figure, the system includes a torque system 01, a control system 02, an arm length detection device 03, a main boom luffing angle / working range detection device 04, a jib luffing angle / working range detection device 05, a jib luffing cylinder length detection device 06, and control components related to the jib load-carrying stepless luffing control 07. Combining Figure 5 , for the main boom of the oil cylinder pin telescopic system, an arm position detection device A1 and an arm pin detection device A2 are further included; the main boom of the rope and pulley telescopic system may also include a telescopic oil cylinder flow detection device or other devices that can identify the length and position of the main boom.

[0048] The torque system 01 includes a torque limiter and a controller. Among them, the torque limiter is used for real-time performance calculation during operation (including the suspended load), and calls the corresponding working condition performance according to the calculation result; the controller is used to receive the signals of the control system 02 and each detection device, judge whether the main boom luffing, jib luffing, hoisting up and down and other actions can be performed currently according to the control logic, and output real-time signals to the relevant control components to execute the actions.

[0049] The control system 02 is used to display the operation performance, operation status, detection information of the detection device, etc. in real time, and can trigger the actions of the main boom luffing cylinder and the jib luffing cylinder and adjust the action speed; it can be, but is not limited to, the following forms: display, buttons, operation panel, handle, wireless remote control, remote debugging device, etc.

[0050] The arm length detection device 03 and the main boom luffing angle / working range detection device 04 are respectively used to detect the main boom arm length status, the main boom luffing angle / working range; through this part of detection, the current arm length, combination form and main boom elevation angle (the angle between the main boom and the horizontal plane) of the main boom can be identified in real time, and further, the corresponding arm length and combination performance can be judged and identified through the human-machine interaction system.

[0051] The jib luffing angle / working range detection device 05 and the jib luffing cylinder length detection device 06 are respectively used to detect the jib luffing angle / working range and the jib luffing cylinder length. The jib luffing cylinder length is further converted into the jib luffing angle / working range. The jib luffing is detected by two methods: the jib luffing angle and the jib luffing cylinder length, which ensures the angle accuracy during the jib load-carrying luffing and improves the safety of the boom; for the jib double-cylinder luffing structure, the detection devices on both sides of the cylinder can also judge the side bending condition of the jib, improving the stability of the boom during the jib load-carrying stepless luffing.

[0052] Such as Figure 3As shown, the cylinder length detection device 06 of the auxiliary boom luffing cylinder is installed on the auxiliary boom luffing oil cylinder, which includes a cylinder length line and a controller. During the telescopic movement of the auxiliary boom oil cylinder, the cylinder length line changes synchronously, and the signal is transmitted to the torque system 01, the boom length detection device 03, the main boom luffing angle / working range detection device 04, the auxiliary boom luffing angle / working range detection device 05, the cylinder length detection device 06 of the auxiliary boom luffing cylinder, and the control components 07 related to the stepless luffing control of the auxiliary boom with load in real time through the controller.

[0053] This system fully determines the state of the whole machine under the condition of the auxiliary boom through the relevant detection devices and components 03 - 06, including the main boom length, the auxiliary boom length, the combination form, the main boom elevation angle, the auxiliary boom elevation angle, and the actual working range. Through the above information plus the performance planning method, it identifies the conventional lifting performance or the state of the stepless luffing performance of the auxiliary boom with load.

[0054] The control components 07 related to the stepless luffing control of the auxiliary boom with load are used to control whether the relevant actions are executed and their execution speeds by being powered on, powered off, or the magnitude of the current.

[0055] The boom position detection device A1 and the boom pin detection device A2 are respectively used to detect the state of the main boom position and the locked / unlocked state of the boom pin.

[0056] During the lifting operation, the torque system 01 automatically switches between the conventional lifting performance and the luffing performance with load according to information such as the lifting weight, the state of the main boom length, the main boom angle / working range state, the auxiliary boom angle / working range state, and the length of the auxiliary boom luffing oil cylinder, so as to meet the use requirements of stepless luffing for different working conditions and different weights of heavy objects, and further solve the problem of difficult operation in ultra-high and narrow spaces, and improve the luffing range during the stepless luffing operation of the auxiliary boom.

[0057] This embodiment involves two lifting performance conditions:

[0058] 1) During the operation, when the auxiliary boom reaches a specified fixed angle through the telescopic movement of the auxiliary boom luffing oil cylinder, and the main boom length and combination, and the auxiliary boom length and angle are consistent with the selected performance of the conventional working condition, the conventional lifting working condition performance is executed. Only when using the conventional working condition, it needs to be manually selected.

[0059] Under the conventional working condition, during the lifting process, to meet the lifting requirements at different working ranges, the main boom elevation angle state changes by the telescopic movement of the main boom luffing cylinder, realizing the luffing of the main boom with the auxiliary boom. During the process, the included angle between the main and auxiliary booms and the length of the lifting boom always remain unchanged. The torque limiter identifies the real-time lifting weight according to the actual main boom length and combination, the auxiliary boom length and angle, and the working range of the crane, and judges whether it exceeds the rated lifting weight, and then transmits the logical judgment information to each control component through the controller to execute the next action or give a warning. In this working condition, the control program restricts the luffing of the auxiliary boom and allows the lifting winch to rise and fall, the main boom to luff up and down, and the left and right slewing actions;

[0060] 2) During operation, the crane changes its amplitude by varying the elevation angles of the main boom and the jib. The torque limiter device performs the performance of stepless load-changing amplitude operation of the jib when the main boom length and combination, the jib length and angle, and the selection performance of the load-changing amplitude condition of the jib are in line. The transition from the conventional load-lifting condition to the stepless load-changing amplitude condition of the jib requires manual selection; otherwise, the double-amplitude state of the main boom and the jib cannot be achieved.

[0061] Under the stepless load-changing amplitude condition of the jib, during the load-lifting process, to meet the load-lifting requirements at different amplitudes, the elevation angle of the main boom or the angle between the main boom and the jib is changed by extending or retracting the main boom amplitude cylinder or the jib amplitude cylinder, thereby achieving the amplitude change of the boom. During this process, the angle between the main and jibs changes continuously and freely within the variable range. The torque limiter identifies the actual load being lifted based on the actual main boom length and combination, the jib length and angle, and the crane amplitude, and determines whether it exceeds the rated load capacity. In this condition, the control program and the display logic are improved to meet the two amplitude-changing actions, no longer restricting the amplitude-changing action of the jib during load-lifting, and allowing the hoisting winch to rise and fall, the main boom to amplitude-change up and down, the jib to amplitude-change up and down, and the left and right slewing actions.

[0062] Combined with Figure 2 the working schematic diagram, since the performance of the jib under different jib rotation angles is different at the same amplitude, to improve the product competitiveness, the angle between the main and jibs under the jib condition is divided into multiple angle ranges within the total angle change range (0 - JDmax), such as 0 - JD1, JD1 - JD2,..., JDn - 1 - JDmax, etc., and the load capacity within each angle range is given. When JDi ≤ the angle between the main and jibs < JDi + 1, regardless of whether it is by extending or retracting the main boom amplitude cylinder, the jib amplitude cylinder, or both the main and jib amplitude cylinders simultaneously, as long as the angle between the main and jibs is within this range, the torque limiter will determine the load capacity corresponding to the actual amplitude based on the main boom length, main boom combination, jib length, and the angle range between the main and jibs and control it, and issue commands according to the control logic.

[0063] The following respectively gives the conventional load-lifting performance table mode and the stepless load-changing amplitude performance table mode of the jib. The table and its data are the performance of a certain crane product under the jib condition.

[0064] Table 1 Conventional Load-Lifting Performance Table (Fixed Angle of Jib)

[0065]

[0066] Table 2 Stepless Load-Changing Amplitude Load-Lifting Performance Table of Jib

[0067]

[0068] Combined with Figure 6 , this embodiment also relates to a load-carrying double-amplitude control method:

[0069] Set the initial state: The boom is in any combination, the boom pins are locked, and the angle between the main boom and the jib is at any angle;

[0070] Select the conventional lifting performance and start the operation;

[0071] Judge the working condition state in the initial state: Judge whether the angle between the main boom and the jib is a fixed value;

[0072] If it is judged that the angle between the main boom and the jib is a fixed value, select the conventional working condition. In this working condition, further, if the jib state conforms to the requirements of the conventional working condition and the conventional lifting performance calculation is not overloaded, then execute the conventional lifting working condition performance, otherwise end (that is, complete the lifting operation or do not have the lifting operation state, and lifting operation is prohibited); If it is judged that the angle between the main boom and the jib is not a fixed value, select the jib luffing with load working condition. In this working condition, further, if the jib state conforms to the requirements of the jib luffing with load working condition and the jib luffing with load lifting performance calculation is not overloaded, then execute the jib luffing with load lifting working condition performance, otherwise end;

[0073] After manually executing the corresponding lifting working condition, judge in real time whether the current performance is overloaded during the execution process. If it is not overloaded, then execute the lifting operation;

[0074] During the execution process, adjust the amplitude or the main boom angle or the jib angle in real time;

[0075] Judge further for the adjusted working condition whether the angle between the main boom and the jib is a fixed value;

[0076] If the previous operation is a fixed value, then execute the conventional lifting working condition performance, that is, only the main boom luffs and the angle between the main boom and the jib is a fixed value, otherwise execute the jib luffing with load lifting working condition performance, that is, both the main boom luffing and the jib luffing are available;

[0077] If the lifting performance is cancelled, then execute to end, otherwise continue the lifting and jump to judge the working condition during the execution process.

[0078] This embodiment also relates to a crane, which applies the foregoing control system to solve the problems of limited lifting in ultra-high and narrow spaces and low lifting efficiency in the prior art.

[0079] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can still be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A load-carrying double luffing control method, characterized in that Applied to a load-carrying double luffing control system, the control system includes a torque system, a control system, an arm length detection device, a main boom luffing angle / working radius detection device, a jib luffing angle / working radius detection device, a jib luffing cylinder length detection device, and control components related to the jib load-carrying stepless luffing control; The torque system includes a torque limiter and a controller. The torque limiter is used for real-time performance calculation during operation and calls corresponding working condition performances according to the calculation results. The controller is used to receive signals from the control system and each detection device, execute judgments, and output real-time signals to relevant control components to execute actions; The control system is used to display operation performance, operation status, and detection information of the detection device in real time, and trigger the actions of the main boom luffing cylinder and the jib luffing cylinder and adjust the action speed; The arm length detection device is used to detect the state of the main boom arm length; The main boom luffing angle / working radius detection device is used to detect the main boom luffing angle / working radius; The jib luffing angle / working radius detection device is used to detect the jib luffing angle / working radius; The jib luffing cylinder length detection device is used to detect the length of the jib luffing cylinder and convert the length of the jib luffing cylinder into the jib luffing angle / working radius; The control components related to the jib load-carrying stepless luffing control are used to control whether relevant actions are executed and their execution speeds by being powered on, powered off, or the magnitude of the current; The control method includes the following steps: Set the initial state; Select the conventional lifting performance and start the operation; Judge the working condition state in the initial state: Judge whether the angle between the main and jib booms is a fixed value; Combined with the result of the working condition state, execute the corresponding lifting working condition performance; During the execution process, adjust the amplitude, main boom angle, or jib angle in real time; Further perform real-time judgment on the adjusted working condition: Whether the angle between the main and jib booms is a fixed value; If the angle between the main and jib booms is a fixed value, select to execute the conventional lifting working condition performance, otherwise select to execute the jib load-carrying luffing lifting working condition performance; If the lifting performance is cancelled, the execution ends, otherwise continue lifting and jump to judge the working condition during the execution process.

2. The on-load double luffing control method according to claim 1, wherein The specific method of combining the result of the working condition state and executing the corresponding lifting working condition performance is as follows: If it is judged that the angle between the main and jib booms is a fixed value, select the conventional working condition. In this working condition, further, if the jib state conforms to the requirements of the conventional working condition and the calculation of the conventional lifting performance is not overloaded, execute the conventional lifting working condition performance, otherwise end; If it is judged that the angle between the main and jib booms is not a fixed value, select the jib load-carrying luffing working condition. In this working condition, further, if the jib state conforms to the requirements of the jib load-carrying luffing working condition and the calculation of the jib load-carrying luffing lifting performance is not overloaded, execute the jib load-carrying luffing lifting working condition performance, otherwise end.

3. A load-carrying double luffing control method according to claim 1, characterized in that When executing the conventional lifting working condition performance, only the main boom luffs, and the angle between the main and jib booms is a fixed value. When executing the jib load-carrying luffing lifting working condition performance, the main boom luffs and / or the jib luffs.

4. A load-carrying double luffing control method according to claim 1, characterized in that, The detection of the jib luffing cylinder length includes a cylinder wire and a controller; The cylinder line length of the jib changes synchronously with the boom angle cylinder, and jointly judges the included angle between the jib and the main boom with the jib angle detection device, forming a dual judgment, providing dual verification for the boom to accurately identify the included angle between the jib and the main boom; The controller transmits signals to the torque system, the boom length detection device, the main boom angle / working range detection device, the jib angle / working range detection device, the jib angle cylinder line length detection device, and the control components related to the jib load-carrying stepless amplitude change control.

5. A load-carrying double luffing control method according to claim 1, characterized in that, The control system further includes a boom position detection device and a boom pin detection device; The boom position detection device is used to detect the state of the main boom position; The boom pin detection device is used for the locking and unlocking states of the boom pins.

6. A crane, characterized in that, Applied to a load-carrying double amplitude change control method according to any one of claims 1-5.

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