Crawler crane tower arm work condition efficient luffing boom system and method

Abstract

The application provides a high-efficiency tower arm working condition lifting arm system and method for a crawler crane, which comprises a main luffing / tower arm luffing switching valve, a pilot handle and a tower arm luffing winch unit, the pilot handle, the main luffing / tower arm luffing switching valve and the tower arm luffing winch unit are sequentially connected through hydraulic pipelines; further comprising an electric proportional pressure regulating valve group and a shuttle valve unit; wherein the electric proportional pressure regulating valve group is connected in parallel with the main luffing / tower arm luffing switching valve through the hydraulic pipelines, so that the pilot handle and the tower arm luffing proportional valve can both control the tower arm luffing winch unit to perform the tower arm luffing winch operation; the shuttle valve unit is arranged on the parallel hydraulic pipelines. The application can control the main arm luffing and the tower arm luffing while automatically lifting the arm, and meanwhile avoids the risk of overturning of the crawler crane caused by improper manual operation of the driver during the lifting arm process.

Description

Technical Field

[0001] This invention relates to the field of crane control technology, specifically to a high-efficiency boom lifting system and method for the tower boom operation of crawler cranes. Background Technology

[0002] Tracked cranes have various boom configurations, with the tower boom configuration being the most complex and frequently used. In tower boom mode, both the main boom and auxiliary boom are typically quite long. During the boom raising process after assembly on the ground, it is crucial to strictly follow the procedures and alternately operate the main luffing winch and the tower boom luffing winch for control. The same applies to the boom lowering and retraction process. Failure to follow these procedures may result in the tracked crane tipping over.

[0003] Tracked cranes generally have two control methods: hydraulic pilot handle control and electro-proportional handle control. Currently, models controlled by hydraulic pilot handles cannot control their luffing movements via a controller because the movements are driven by the hydraulic handle. The operator needs to switch between controlling the main luffing and tower boom luffing winch in sequence, which is inefficient. At the same time, some operators lack experience and their operational errors can easily lead to the risk of the tracked crane tipping over. In other words, the complexity of manual operation may cause the crane to tip over. Summary of the Invention

[0004] This invention provides a high-efficiency boom raising and lowering system and method for crawler cranes operating in tower boom mode. It enables simultaneous automatic boom raising and lowering while controlling the main boom luffing and tower boom luffing, thus avoiding the risk of crawler crane overturning due to improper manual operation by the operator during boom raising and lowering. To achieve the above objectives, this invention adopts the following technical solution:

[0005] A high-efficiency boom lifting system for the tower boom of a crawler crane includes a main luffing / tower boom luffing switching valve, a pilot handle, and a tower boom luffing winch unit, wherein the pilot handle, the main luffing / tower boom luffing switching valve, and the tower boom luffing winch unit are connected sequentially via hydraulic lines.

[0006] Its features include: an electro-proportional pressure regulating valve assembly and a shuttle valve unit;

[0007] The electro-proportional pressure regulating valve group and the main luffing / tower boom luffing switching valve are connected in parallel through hydraulic pipelines so that either the pilot handle or the tower boom luffing proportional valve can control the tower boom luffing winch unit to perform tower boom luffing winch operation.

[0008] The shuttle valve unit is installed on the hydraulic pipeline used in parallel.

[0009] Preferably, the pilot handle is connected to a pilot oil source;

[0010] The main luffing / tower arm luffing switching valve is connected to the pilot handle via a hydraulic line; the main luffing / tower arm luffing switching valve includes oil port b0 and oil port a0 for connecting to the electro-proportional pressure regulating valve group;

[0011] The electro-proportional pressure regulating valve assembly includes a proportional valve Y5 and a proportional valve Y6, both of which have an oil port P and an oil port A; the oil port P of both the proportional valve Y5 and the proportional valve Y6 is connected to a pilot oil source.

[0012] The shuttle valve unit includes a second shuttle valve and a first shuttle valve;

[0013] The second shuttle valve has its first input port connected to port A of the proportional valve Y5, its second input port connected to port b0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing drop control port of the main valve.

[0014] The first shuttle valve has its first input port connected to the oil port A of the proportional valve Y6, its second input port connected to the oil port a0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing and hoisting control port of the main valve.

[0015] The third shuttle valve has its first input port connected to the output port of the second shuttle valve, its second input port connected to the output port of the first shuttle valve, and its output port connected to the tower boom luffing winch unit.

[0016] Preferably, the main luffing / tower boom luffing switching valve further includes oil port b1 and oil port a1; oil port b1 is connected to the main luffing descent control port of the main valve; oil port a1 is connected to the main luffing lifting control port of the main valve.

[0017] Preferably, it further includes:

[0018] The jib tension sensor, main boom angle sensor, and auxiliary boom angle sensor are all electrically connected to the input terminal of the control module;

[0019] The output of the control module is electrically connected to the electro-proportional pressure regulating valve group and the main luffing / tower boom luffing switching valve, respectively; the control module is used to acquire the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor;

[0020] The display is connected to the control module via a bus signal; the display's arm raising / lowering mode is used to achieve automatic control after clicking.

[0021] A method for efficient boom lowering in the working condition of a crawler crane tower boom, based on an efficient boom lowering system for the working condition of a crawler crane tower boom, includes:

[0022] S1. Perform automatic control activation:

[0023] The monitor's arm raising / lowering mode is used for automatic control after clicking; when the arm raising mode switch is turned on, automatic arm raising is performed.

[0024] S2, the control module outputs, controlling the main boom / tower boom luffing switching valve to automatically switch to the main boom luffing circuit, and the manual pilot handle is pushed in the direction of controlling the start of the main boom luffing;

[0025] S3. The execution control module acquires and outputs the sensor's detection information:

[0026] The control module acquires in real time the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor;

[0027] During this process, when excessive tower boom tension is detected, the control module starts to output current to control the speed of proportional valve Y5, causing the tower boom to descend. This ensures that the tower boom tension remains within a safe range during the main boom's lift-off process until the target angle of the main boom is reached.

[0028] S4. After the main boom rises to the target angle, the control module outputs to control the main boom / tower boom luffing switching valve to switch automatically. The pilot handle starts to control the tower boom to luff upward until the tower boom luffs in place, and the boom raising is completed.

[0029] Preferably, it further includes:

[0030] A1. Perform automatic control activation:

[0031] The monitor's arm raising / lowering mode is used for automatic control after clicking; when the lowering mode switch is turned on, it will automatically lower the arm.

[0032] A2. The control module outputs the control boom / tower boom luffing switching valve to automatically switch to the tower boom luffing circuit. The manual operator pushes the handle in the direction of controlling the tower boom luffing drop.

[0033] A3. The execution control module acquires and outputs the sensor's detection information:

[0034] The control module acquires the main boom angle information detected by the main boom angle sensor and the tower boom angle information detected by the auxiliary boom angle sensor in real time until the target angle between the main boom and the tower boom is reached.

[0035] A4. After the target angle between the main boom and the tower boom is reached, the control module outputs to control the main boom / tower boom luffing switching valve to switch automatically, and the pilot handle starts to control the main boom to luff downward.

[0036] The control module acquires in real time the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor;

[0037] During this process, when the tower boom tension is detected to be too low, the control module starts to output current to control the speed of the proportional valve Y6, causing the tower boom to rise. This ensures that the tower boom tension remains within a safe range during the main boom landing process until the main boom lands safely, and the boom landing is completed.

[0038] Compared with the prior art, the advantages of the present invention are:

[0039] (1) By adding an electro-proportional pressure regulating valve group and several shuttle valves to the original pilot handle control system, and by changing the original hydraulic circuit structure, the main boom luffing and tower boom luffing can be controlled simultaneously during automatic boom lifting and lowering, thus improving efficiency.

[0040] (2) It solves the risk of crane tipping. In the prior art, manual operation is complicated and may cause the crane to tip over. The present invention avoids complicated manual operation. The main operation is automatically switched by the control module, thus achieving the advantage of preventing the crane from tipping over during the boom raising and lowering process. Attached Figure Description

[0041] Figure 1 Diagram of an efficient boom lifting system for the tower boom of a crawler crane under operating conditions;

[0042] Figure 2 for Figure 1 Hydraulic schematic diagram. Detailed Implementation

[0043] The present invention will now be described in more detail with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0044] like Figures 1-2 As shown, a high-efficiency lifting boom system for a crawler crane tower boom includes:

[0045] The pilot handle connects to the pilot oil source. The pilot handle controls the luffing drop and luffing rise in directions 1 and 3 respectively, and works in conjunction with the main luffing / tower jib luffing switching valve to control the luffing rise and fall of the main jib or the tower jib.

[0046] The main luffing / tower boom luffing switching valve is an electrically operated valve, connected to the pilot handle via a hydraulic line; the main luffing / tower boom luffing switching valve includes oil port b0 and oil port a0 for connecting to the electro-proportional pressure regulating valve group.

[0047] The electro-proportional pressure regulating valve group controls the boom luffing and boom raising via electrical signals. It includes proportional valves Y5 and Y6, each with an oil port P and an oil port A. The oil port P of both proportional valves Y5 and Y6 is connected to the pilot oil source.

[0048] The proportional speed control valve oil circuit and the pilot handle oil circuit are connected in parallel through the first shuttle valve (shuttle valve 1) and the second shuttle valve (shuttle valve 2), so that both the proportional speed control valve oil circuit and the pilot handle oil circuit can control the boom luffing.

[0049] The second shuttle valve (shuttle valve 2) has its first input port connected to the oil port A of the proportional valve Y5, its second input port connected to the oil port b0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing drop control port of the main valve.

[0050] The first shuttle valve (shuttle valve 1) has its first input port connected to the oil port A of the proportional valve Y6, its second input port connected to the oil port a0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing and hoisting control port of the main valve.

[0051] The third shuttle valve (shuttle valve 3) has its first input port connected to the output port of the second shuttle valve, its second input port connected to the output port of the first shuttle valve, and its output port connected to the tower jib luffing winch unit. Specifically, the main jib luffing winch brake control oil circuit is connected to the pilot handle and the main jib luffing circuit via the shuttle valve, and the tower jib luffing winch brake control oil circuit is connected to the pilot handle and the proportional pressure regulating valve and the tower jib luffing circuit via the shuttle valve. When the pressure reaches a certain level during operation, the winch brake opens, thus completing the winch control function.

[0052] The main luffing / arm luffing switching valve also includes port b1 and port a1; port b1 is connected to the main luffing descent control port of the main valve; port a1 is connected to the main luffing hoisting control port of the main valve.

[0053] The jib tension sensor, main boom angle sensor, and auxiliary boom angle sensor are all electrically connected to the input terminal of the control module.

[0054] The output of the control module is electrically connected to the electro-proportional pressure regulating valve group and the main luffing / tower jib luffing switching valve, respectively. The control module is used to acquire the tower jib luffing tension detected by the tower jib tension sensor, the main jib angle information detected by the main jib angle sensor, and the tower jib angle information detected by the auxiliary jib angle sensor.

[0055] The display is connected to the control module via a bus signal; the display's arm raising / lowering mode is used to achieve automatic control after clicking.

[0056] As can be seen from the existing technology, the shuttle valve is mainly used in the hydraulic system to realize the pressure selection function. It includes two input ports and one output port. When the hydraulic oil input to the two input ports has different oil pressure or only one input port has oil pressure, the movement of the shuttle valve core makes the input port with higher oil pressure connected to the output port, and the other input port cut off from the output port, thereby outputting the hydraulic oil with higher oil pressure.

[0057] In this embodiment, the main valve, pilot handle, main luffing / tower boom luffing switching valve, main luffing winch unit, and tower boom luffing winch unit are all existing technologies.

[0058] In this embodiment, "too much" or "too little" tower arm tension refers to reaching a certain set value.

[0059] Working principle of the high-efficiency boom lifting system for the tower boom of this crawler crane:

[0060] (1) High-efficiency boom lifting method:

[0061] During the boom raising process, the main boom rises first, followed by the lowering of the tower boom, and finally the raising of the tower boom.

[0062] S1. Execute the automatic control start operation.

[0063] The monitor's arm raising / lowering mode is used for automatic control after clicking; when the arm raising mode switch is turned on, automatic arm raising is performed; specifically, the high-efficiency arm raising mode is activated by pressing the high-efficiency arm raising mode soft button on the monitor.

[0064] S2, the control module outputs, automatically switching (connecting) the main boom / tower boom luffing switching valve to the main boom luffing circuit. The operator manually pushes the pilot handle in the direction controlling the start of the main boom luffing. The main boom luffing winch speed is directly controlled by the hydraulic handle.

[0065] Specifically, the main boom / tower boom luffing switching valve is connected to the main luffing hoisting control port of the main valve (existing technology).

[0066] The main boom luffing circuit includes the main valve, the main luffing descent main oil circuit, the main luffing descent control port, the main luffing hoisting main oil circuit, and the main luffing hoisting control port.

[0067] In the pilot handle, the starting direction for controlling the boom luffing is direction 3.

[0068] S3. The execution control module acquires and outputs the detection information from the sensor.

[0069] The control module acquires in real time the boom luffing tension detected by the boom tension sensor, the boom angle information detected by the boom angle sensor, and the boom angle information detected by the jib angle sensor.

[0070] During this process, when excessive tower boom tension is detected, the control module starts outputting current according to the pre-programmed control strategy, controlling the speed of the proportional valve Y5 (tower boom luffing proportional valve), causing the tower boom to descend. This ensures that the tower boom tension remains within a safe range during the main boom's liftoff process until the target angle of the main boom is reached. In other words, the proportional valve speed Y5 is connected to the tower boom luffing and descent control port.

[0071] S4. After the main boom rises to the target angle, the control module outputs and controls the main boom / tower boom luffing switching valve to automatically switch to the tower boom luffing circuit. The pilot handle starts to control the tower boom luffing action independently until the tower boom luffs to the desired position, and the boom raising is completed.

[0072] Specifically, the boom luffing circuit includes the main valve, the boom luffing descent main oil circuit, the boom luffing descent control port, the boom luffing hoisting main oil circuit, and the boom luffing hoisting control port.

[0073] At this time, the electro-proportional pressure regulating valve group does not operate, the second input port of the first shuttle valve is connected to its output port, and the pilot handle directly controls the tower arm luffing.

[0074] The automatic switching of the main boom / tower boom luffing switching valve connects the tower boom luffing circuit, which means connecting the tower boom luffing hoisting control port.

[0075] (2) Efficient drop arm method.

[0076] During the lowering process, the jib descends first, followed by the main boom, and finally the jib rises.

[0077] A1. Perform automatic control start operation.

[0078] The monitor's arm raising / lowering mode is for automatic control upon clicking; once the lowering mode switch is turned on, automatic arm lowering is performed. Specifically, the high-efficiency lowering mode is activated by pressing the high-efficiency lowering mode soft button on the monitor during arm lowering.

[0079] A2. The control module outputs control the main boom / tower boom luffing switching valve to automatically switch to the tower boom luffing circuit. The operator manually pushes the handle to control the tower boom luffing direction. The tower boom luffing winch speed is directly controlled by the hydraulic handle.

[0080] In the pilot handle, the direction of the boom luffing is controlled by direction 1.

[0081] The main boom / tower boom luffing switching valve is connected to the tower boom luffing circuit's tower boom luffing control port. At this time, the second input port of the second shuttle valve is connected to its output port, and the proportional valve Y5 does not operate.

[0082] A3. The execution control module acquires and outputs the detection information from the sensor.

[0083] The control module acquires the main boom angle information detected by the main boom angle sensor and the tower boom angle information detected by the auxiliary boom angle sensor in real time until the target angle between the main boom and the tower boom is reached; during this step, the main boom angle information remains unchanged, that is, the main boom remains stationary.

[0084] A4. After the target angle between the main boom and the tower boom is reached, the control module outputs and controls the main boom / tower boom luffing switching valve to automatically switch to the main boom luffing circuit. The pilot handle then starts to control the main boom to luff downward.

[0085] That is, the main boom / tower boom luffing switching valve is connected to the main boom luffing circuit's main luffing descent control port.

[0086] The control module acquires in real time the boom luffing tension detected by the boom tension sensor, the boom angle information detected by the boom angle sensor, and the boom angle information detected by the jib angle sensor.

[0087] During this process, if the jib tension is detected to be too low, the control module outputs current according to the pre-programmed control strategy to control the speed of the proportional valve Y6 (jib luffing proportional valve), causing the jib to rise. This ensures that the jib tension remains within a safe range during the jib landing process until the jib lands safely, completing the jib landing. That is, the first input port of the first shuttle valve is connected to its output port.

[0088] In high-efficiency luffing mode, the display shows the current luffing status of the main boom or tower boom, and displays information such as tower boom tension, main boom angle, tower boom angle, and main tower angle. The tower boom tension, main boom angle, and tower boom angle are directly obtained from the corresponding sensors, while the main tower angle information is obtained from the main boom angle and tower boom angle through geometric calculations.

[0089] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A high-efficiency boom lifting system for a crawler crane tower boom, comprising a main luffing / tower boom luffing switching valve, a pilot handle, and a tower boom luffing winch unit, wherein the pilot handle, the main luffing / tower boom luffing switching valve, and the tower boom luffing winch unit are connected sequentially via hydraulic lines; Its features are: It also includes an electro-proportional pressure regulating valve assembly and a shuttle valve unit; The electro-proportional pressure regulating valve group and the main luffing / tower boom luffing switching valve are connected in parallel through hydraulic pipelines so that either the pilot handle or the electro-proportional pressure regulating valve group can control the tower boom luffing winch unit to perform tower boom luffing winch operation. The shuttle valve unit is installed on the hydraulic pipeline connected in parallel; The pilot handle is connected to the pilot oil source; The main luffing / tower boom luffing switching valve includes oil port b0 and oil port a0 for connecting to the electro-proportional pressure regulating valve group; The electro-proportional pressure regulating valve assembly includes a proportional valve Y5 and a proportional valve Y6, both of which have an oil port P and an oil port A; the oil port P of both the proportional valve Y5 and the proportional valve Y6 is connected to a pilot oil source. The shuttle valve unit includes a second shuttle valve and a first shuttle valve; The second shuttle valve has its first input port connected to port A of the proportional valve Y5, its second input port connected to port b0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing drop control port of the main valve. The first shuttle valve has its first input port connected to the oil port A of the proportional valve Y6, its second input port connected to the oil port a0 of the main luffing / tower arm luffing switching valve, and its output port connected to the tower arm luffing and hoisting control port of the main valve. The third shuttle valve has its first input port connected to the output port of the second shuttle valve, its second input port connected to the output port of the first shuttle valve, and its output port connected to the tower boom luffing winch unit.

2. The high-efficiency lifting boom system for the tower boom of a crawler crane according to claim 1, characterized in that, The main luffing / tower boom luffing switching valve also includes port b1 and port a1; port b1 is connected to the main luffing descent control port of the main valve; port a1 is connected to the main luffing hoisting control port of the main valve.

3. The high-efficiency lifting boom system for the tower boom of a crawler crane according to claim 1, characterized in that, Also includes: The jib tension sensor, main boom angle sensor, and auxiliary boom angle sensor are all electrically connected to the input terminal of the control module; The output of the control module is electrically connected to the electro-proportional pressure regulating valve group and the main luffing / tower boom luffing switching valve, respectively; the control module is used to acquire the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor; The display is connected to the control module via a bus signal; the display's arm raising / lowering mode is used to achieve automatic control after clicking.

4. A method for efficient boom lowering in the working condition of a crawler crane tower boom, based on the efficient boom lowering system for the working condition of a crawler crane tower boom as described in claim 3, characterized in that, include: S1. Perform automatic control activation: The monitor's arm raising / lowering mode is used for automatic control after clicking; when the arm raising mode switch is turned on, automatic arm raising is performed. S2, the control module outputs, controlling the main boom / tower boom luffing switching valve to automatically switch to the main boom luffing circuit, and the manual pilot handle is pushed in the direction of controlling the start of the main boom luffing; S3. The execution control module acquires and outputs the sensor's detection information: The control module acquires in real time the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor; During this process, the control module outputs current to control the speed of the proportional valve Y5, causing the tower boom to descend, thus keeping the tower boom tension within a safe range during the main boom's lift-off process until the target angle of the main boom is reached. S4. After the main boom rises to the target angle, the control module outputs to control the main boom / tower boom luffing switching valve to switch automatically. The pilot handle starts to control the tower boom to luff upward until the tower boom luffs in place, and the boom raising is completed.

5. The efficient boom raising and lowering method for the tower boom of a crawler crane according to claim 4, characterized in that, Also includes: A1. Perform automatic control activation: The monitor's arm raising / lowering mode is used for automatic control after clicking; when the lowering mode switch is turned on, it will automatically lower the arm. A2. The control module outputs the control boom / tower boom luffing switching valve to automatically switch to the tower boom luffing circuit. The manual operator pushes the handle in the direction of controlling the tower boom luffing drop. A3. The execution control module acquires and outputs the sensor's detection information: The control module acquires the main boom angle information detected by the main boom angle sensor and the tower boom angle information detected by the auxiliary boom angle sensor in real time until the target angle between the main boom and the tower boom is reached. A4. After the target angle between the main boom and the tower boom is reached, the control module outputs to control the main boom / tower boom luffing switching valve to switch automatically, and the pilot handle starts to control the main boom to luff downward. The control module acquires in real time the tower boom luffing tension detected by the tower boom tension sensor, the main boom angle information detected by the main boom angle sensor, and the tower boom angle information detected by the auxiliary boom angle sensor; During this process, the control module outputs current to control the speed of the proportional valve Y6, causing the tower boom to rise. This ensures that the tower boom tension remains within a safe range during the main boom landing process until the main boom lands safely, completing the boom landing.

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