A crane power take-off control system and control method

Abstract

The application provides a crane power take-off controller system and a control method, and the system comprises an upper equipment controller, an engine controller, a gearbox controller and a rocker switch group in a cab; the output end of the rocker switch is connected with the input end of the upper equipment controller; the upper equipment controller enables a remote control mode or a cab operation mode according to the state of the rocker switch group; the upper equipment controller is in communication connection with the engine controller and the gearbox controller respectively, and is used for judging the working logic of the power take-off behind the gearbox in the remote control mode or the cab operation mode; and based on the system, the application further provides a crane power take-off control method. Through the added power take-off protection switch, the remote control enabling switch, the gearbox rear power take-off remote control enabling switch and the gearbox rear power take-off remote control inhibition switch, the application can effectively and reliably switch between the remote control and the cab control, and greatly meets the safety requirement.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of crane power takeoff control, and particularly relates to a crane power takeoff control system and a control method. BACKGROUND

[0002] A crane is a hoisting and carrying machine widely used in ports, workshops, construction sites and other places, and is mainly used in lifting equipment, rescue, lifting, rescue and other scenes. The essential component of the crane is the power takeoff. The power takeoff (PTO) is a set or multiple sets of variable speed gears, also known as a power output device, which is generally composed of a gear box, a clutch and a controller, and is connected with a low gear of a variable speed box or an output shaft of a sub-box, and is connected with an input shaft of a lifting pump and other power takeoff devices. It is a separate gear in the variable speed box. When this gear is engaged and the throttle is increased, the lifting pump can operate. According to the source of the power takeoff component, it can be divided into engine power takeoff, transmission power takeoff, transfer case power takeoff or shaft breaking type power takeoff. The transmission power takeoff is the most common power takeoff, and according to the different arrangement positions on the transmission, it can be divided into transmission side power takeoff, rear power takeoff and front power takeoff.

[0003] In the prior art, the power takeoff control scheme does not provide a power takeoff protection device. There are usually two modes for crane lifting operation, one is cab operation and the other is remote control operation. When the two operation modes coexist, the conventional method is that the operator needs to enter the cab to operate, and the driver needs to inform the remote control crane operator to stop remote control operation. However, this method has a great risk, and therefore there is an urgent need for a technical means to avoid such risks. SUMMARY

[0004] In order to solve the above technical problems, the present application provides a crane power takeoff control system and control method, which can effectively and reliably switch between remote control and cab control, greatly meeting the safety requirements.

[0005] To achieve the above purpose, the present application adopts the following technical scheme:

[0006] A crane power takeoff control system comprises an upper control device 9, an engine controller 7, a transmission controller 8 and a rocker switch group located in the cab;

[0007] The output end of the rocker switch is connected with the input end of the upper control device 9; the upper control device 9 enables the remote control mode or the cab operation mode according to the state of the rocker switch group;

[0008] The upper control device 9 is in communication connection with the engine controller 7 and the transmission controller 8 respectively, and is used for judging the working logic of the transmission rear power takeoff in the remote control mode or the cab operation mode.

[0009] Further, the rocker switch group comprises a remote control enabling switch 3, a transmission rear power take-off remote control enabling switch 1, a transmission rear power take-off remote control disabling switch 2 and a power take-off protection switch 5 which are added in the cab.

[0010] The power take-off protection switch 5 is used to open or close the transmission rear power take-off function.

[0011] The remote control enabling switch 3 is used to distinguish whether the power take-off is through remote control or manual operation.

[0012] The transmission rear power take-off remote control enabling switch 1 is used to enable the remote control function; the transmission rear power take-off remote control disabling switch 2 is used to disable the remote control function when it is closed.

[0013] Further, the rocker switch group further comprises a transmission rear power take-off switch 4 and a transmission rear power take-off in-position switch 6.

[0014] The transmission rear power take-off switch 4 is used to send a transmission rear power take-off command; the transmission rear power take-off in-position switch 6 is used to determine whether the transmission rear power take-off is in position.

[0015] Further, the system further comprises a transmission rear power take-off electromagnetic valve 10.

[0016] The output end of the upper controller 9 is connected with the transmission rear power take-off electromagnetic valve 10; the transmission rear power take-off electromagnetic valve 10 opens or closes the transmission rear power take-off according to the output of the upper controller 9.

[0017] Further, the upper controller 9 is respectively connected with the engine controller 7 in communication through CAN lines.

[0018] Further, the upper controller 9 is respectively connected with the transmission controller 8 in communication through CAN lines, which is used to transmit the gear position and clutch control of the transmission.

[0019] The application further provides a crane power take-off controller control method, which is realized based on a crane power take-off controller control system and comprises the following steps.

[0020] If the power take-off protection switch 5 is disconnected, the transmission rear power take-off function is closed; if the power take-off protection switch 5 is connected, the state of the remote control enabling switch 3 is determined.

[0021] If the remote control enabling switch 3 is disconnected, the state of the transmission rear power take-off switch 4 is determined, and the transmission rear power take-off is executed through manual operation of the transmission rear power take-off switch 4.

[0022] If the remote control enable switch 3 is opened, but the gearbox rear power take-off control switch 2 is collected to open, the gearbox rear power take-off function is closed; when the remote control enable switch 3 is opened and the rising edge of the gearbox rear power take-off control switch 1 is collected, the remote control function is enabled.

[0023] Further, the action performed when the remote control enable switch 3 is opened is realized by the RS trigger; when R=0 and S=1 of the RS trigger, that is, when the remote control enable switch 3 is opened and the rising edge of the gearbox rear power take-off control switch 1 is collected, the remote control function is enabled, and the gearbox rear power take-off switch 4 is disabled.

[0024] Further, the gearbox rear power take-off control switch 2 and the remote control enable switch 3 are logically calculated and input to the R end of the RS trigger; the gearbox rear power take-off control switch 1 is input to the S end of the RS trigger.

[0025] The effects provided in the summary are only the effects of the embodiments, not all the effects of the application, and one of the above technical solutions has the following advantages or beneficial effects:

[0026] The application provides a crane power take-off control system and a control method. The system comprises an upper controller, an engine controller, a gearbox controller and a rocker switch group in a cab. The output end of the rocker switch is connected with the input end of the upper controller. The upper controller enables a remote control mode or a cab operation mode according to the state of the rocker switch group. The upper controller is in communication connection with the engine controller and the gearbox controller, and is used for judging the working logic of the gearbox rear power take-off in the remote control mode or the cab operation mode. Based on the crane power take-off control system, the application further provides a crane power take-off control method. The upper controller is used for calculating the gearbox rear power take-off logic. The rocker switch in the cab and the gearbox rear power take-off in-position switch arranged on the gearbox are collected through the cab wire harness. The upper controller is connected with the engine controller and the gearbox controller through CAN lines, calculates the gearbox rear power take-off logic, and controls the driving and disconnection of the gearbox rear power take-off electromagnetic valve. The gear position and the clutch control of the gearbox are transmitted through CAN messages, so that the gearbox rear power take-off operation is simply and reliably realized.

[0027] The application can effectively and reliably switch between remote control and cab control through the added power take-off protection switch, the remote control enable switch, the gearbox rear power take-off control enable switch and the gearbox rear power take-off control disable switch, and greatly meets the safety requirement. BRIEF DESCRIPTION OF DRAWINGS

[0028] As Figure 1 A crane power take-off control system connection schematic diagram is provided for the embodiment 1 of the application.

[0029] As Figure 2 A schematic diagram of gearbox rear power take-off protection logic in a crane power take-off control method proposed in Embodiment 2 of the present application is shown in the figure.

[0030] As Figure 3 A schematic diagram of gearbox rear power take-off operation control logic in a crane power take-off control method proposed in Embodiment 2 of the present application is shown in the figure.

[0031] Legend: 1 - transmission rear power take-off remote control enable switch; 2 - transmission rear power take-off remote control disable switch; 3 - remote control enable switch; 4 - gearbox rear power take-off switch; 5 - power take-off protection switch; 6 - gearbox rear power take-off in place switch; 7 - engine controller; 8 - gearbox controller; 9 - upper control controller; 10 - gearbox rear power take-off solenoid valve. DETAILED DESCRIPTION

[0032] In order to clearly illustrate the technical features of the present application, the present application will be described in detail below with specific embodiments, and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. In addition, the present application can repeatedly refer to the same numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not in itself indicate the relationship between the various embodiments and / or settings being discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. The present application omits the description of well-known components and processing techniques and processes to avoid unnecessary limitation of the present application.

[0033] Embodiment 1

[0034] The present application proposes a crane power take-off control system, which realizes a safe and reliable transmission rear power take-off operation by adding a remote control enable switch, a transmission rear power take-off remote control enable switch, a transmission rear power take-off remote control disable switch, and a power take-off protection switch in the cab.

[0035] Wherein BBM: Body Builder Module, upper control module;

[0036] Tcu: Transmission Control Unit, gearbox controller;

[0037] Ecu: Electronic Control Unit, engine controller;

[0038] As Figure 1A crane power take-off control system connection diagram is provided for the embodiment 1 of the present application; the system comprises: an upper controller 9, an engine controller 7, a gearbox controller 8 and a rocker switch group located in the cab;

[0039] The output end of the rocker switch is connected with the input end of the upper controller 9; the upper controller 9 enables the remote control mode or the cab operation mode according to the state of the rocker switch group;

[0040] The upper controller 9 is in communication connection with the engine controller 7 and the gearbox controller 8 respectively, for judging the working logic of the gearbox rear power take-off in the remote control mode or the cab operation mode.

[0041] The rocker switch group comprises a remote control enabling switch 3, a gearbox rear power take-off remote control enabling switch 1, a gearbox rear power take-off remote control disabling switch 2 and a power take-off protection switch 5 which are additionally provided in the cab;

[0042] The power take-off protection switch 5 is used for opening or closing the gearbox rear power take-off function; the remote control enabling switch 3 is used for distinguishing whether the power take-off is through remote control or manual control; the gearbox rear power take-off remote control enabling switch 1 is used for enabling the remote control function; the gearbox rear power take-off remote control disabling switch 2 is used for disabling the remote control function when it is closed.

[0043] The rocker switch group further comprises a gearbox rear power take-off switch 4 and a gearbox rear power take-off in-position switch 6; the gearbox rear power take-off switch 4 is used for sending a gearbox rear power take-off command; the gearbox rear power take-off in-position switch 6 is used for judging whether the gearbox rear power take-off is in position.

[0044] The system further comprises a gearbox rear power take-off electromagnetic valve 10; the output end of the upper controller 9 is connected with the gearbox rear power take-off electromagnetic valve 10; the gearbox rear power take-off electromagnetic valve 10 opens or closes the gearbox rear power take-off according to the output of the upper controller 9.

[0045] The upper controller 9 collects the states of the rocker switches including the gearbox rear power take-off remote control enabling switch 1, the gearbox rear power take-off remote control disabling switch 2, the remote control enabling switch 3, the gearbox rear power take-off switch 4 and the power take-off protection switch 5 through the cab wire harness, and enables the remote control mode or the cab operation mode according to the collected rocker switch states.

[0046] The upper controller 9 is connected with the engine controller 7 and the gearbox controller 8 through CAN line, receives or sends relevant messages, and is used for judging the working logic of the gearbox rear power take-off.

[0047] The power take-off protection switch 5: under the premise that the switch is not closed, the cab power take-off switch and the remote control power take-off switch cannot work, and is used for closing the gearbox rear power take-off function.

[0048] Remote control enable switch 3: This switch is used to distinguish between the remote control device and the gearbox rear power take-off switch in the cab. If the remote control enable switch is closed, the gearbox rear power take-off can only be controlled by the remote control device, and the power take-off switch in the cab is disabled; otherwise, the crane operation can only be performed by the gearbox rear power take-off switch 4 arranged in the cab.

[0049] Gearbox rear power take-off remote control disable switch 2: If this switch is closed, the remote control function is disabled, and the operation can only be performed by the power take-off switch in the cab.

[0050] The crane power take-off control system proposed in Embodiment 1 of the present application sets the gearbox rear power take-off in place switch on the gearbox through the upper controller, and connects the engine and the gearbox through the CAN line. The upper controller calculates the logic of the gearbox rear power take-off, and controls the driving and disconnection of the gearbox rear power take-off electromagnetic valve. The gear position and clutch control of the gearbox are transmitted through the CAN message, and the gearbox rear power take-off operation is simply and reliably realized.

[0051] The crane power take-off control system proposed in Embodiment 1 of the present application adds the power take-off protection switch, the remote control enable switch, the gearbox rear power take-off remote control enable switch, and the gearbox rear power take-off remote control disable switch, which can effectively and reliably switch between remote control and cab control, greatly meeting the safety requirements.

[0052] Embodiment 2

[0053] Based on the crane power take-off control system proposed in Embodiment 1 of the present application, Embodiment 2 of the present application further proposes a crane power take-off control method, which comprises:

[0054] If the power take-off protection switch 5 is closed, the gearbox rear power take-off function is closed; if the power take-off protection switch 5 is opened, the state of the remote control enable switch 3 is judged;

[0055] If the remote control enable switch 3 is closed, the state of the gearbox rear power take-off switch 4 is judged, and the gearbox rear power take-off is executed by manually operating the gearbox rear power take-off switch 4;

[0056] If the remote control enable switch 3 is opened, but the gearbox rear power take-off remote control disable switch 2 is opened, the gearbox rear power take-off function is closed; when the remote control enable switch 3 is opened and the rising edge of the gearbox rear power take-off remote control enable switch 1 is collected, the remote control function is enabled.

[0057] As Figure 2 The gearbox rear power take-off protection logic diagram in the crane power take-off control method proposed in Embodiment 2 of the present application.

[0058] The flag fl_PTOSwtOn of the gearbox rear power take-off logic is determined by the result of step S101.

[0059] The calculation logic of step S101 is as follows:

[0060] If the power take-off protection switch 5 is off, the flag fl_PTOSwtOn of the gearbox rear power take-off logic is 0, that is, the remote control function and the cab manual operation mode are both disabled.

[0061] If the power take-off protection switch 5 is closed, the flag fl_PTOSwtOn of the gearbox rear power take-off logic is determined by the result of step S102, that is, the state of the remote control enable switch 3 needs to be determined.

[0062] The calculation logic of step S102 is as follows:

[0063] If the remote control enable switch 3 is off, the state of the flag fl_PTOSwtOn of the gearbox rear power take-off logic is determined by the state of the gearbox rear power take-off switch 4, that is, the gearbox rear power take-off output is operated by the rocker switch set in the cab.

[0064] If the remote control enable switch 3 is closed, the result of step S103 is determined.

[0065] The calculation logic of step S103 is as follows:

[0066] Step S103 is an RS flip-flop, and its truth table is shown in Table 1 below, that is, when the rising edge of the gearbox rear power take-off remote control disable switch 2 or the remote control enable switch 3 is collected, the RS flip-flop is reset, that is, the output result of step S103 is 0; this step is to enable the remote control operation mode, and once a sudden situation occurs, the gearbox rear power take-off function can be closed by pressing the gearbox rear power take-off remote control disable switch or pressing the remote control enable switch again, thereby avoiding danger; when R=0 and S=1 of the RS flip-flop, that is, the remote control enable switch 3 is closed and the rising edge of the gearbox rear power take-off remote control enable switch 1 is collected, the remote control function is enabled, at this time, only remote control operation is allowed, and the gearbox rear power take-off switch in the cab is disabled.

[0067] Table 1: Truth table of RS flip-flop

[0068] R S Q 0 0 Hold previous state value 0 1 1 1 0 0 1 1 0

[0069] Step 107 is a logical OR operation of steps 105 and 106.

[0070] Steps 104, 105, and 106 are rising edge operations of collecting switches.

[0071] When the fl_PTOSwtOn is 1, the PTO operation control logic enters S201 and S202:

[0072] As Figure 3 A schematic diagram of the PTO operation control logic in a crane PTO controller according to an embodiment of the present application.

[0073] The result of the calculation of fl_PTOSwtOn is Cond1;

[0074] Cond2 calculation logic:

[0075] Receive CAN information from the engine controller and the transmission controller and calculate:

[0076] When the vehicle speed is less than or equal to V_PTO, and the engine speed is between Eng_PTOMin and Eng_PTOMax, and the transmission is in neutral, Cond2 = 1;

[0077] Wherein:

[0078] The vehicle speed is the CCVS1.Wheel Based Vehicle Speed message sent by the engine controller

[0079] The engine speed is the EEC1.Engine Speed message sent by the engine controller

[0080] The neutral state is determined by the ETC2.Transmission Current Gear message sent by the transmission controller;

[0081] V_PTO is preferably calibrated to 10 km / h;

[0082] Eng_PTOMax is preferably calibrated to 800 rpm;

[0083] Eng_PTOMin is preferably calibrated to 400 rpm;

[0084] Cond3 calculation logic: when Cond1 is satisfied and Cond2 is satisfied and the input shaft speed is less than 200 rpm for 5 seconds, Cond3 = 1;

[0085] Wherein the input shaft speed is the ETC1.Transmission Input Shaft Speed message sent by the transmission controller.

[0086] Cond4 calculation logic:

[0087] Cond4 is determined by the ETC2.Transmission Current Gear message sent by the transmission controller

[0088] ETC1. Transmission Torq Converter Lockup Enaged message is calculated, when the received message is equal to 1, it represents the clutch is engaged, and equal to 0 represents the clutch is not engaged.

[0089] When the software is executed, it directly enters step S201; S201 is an initialization module, which prohibits the TC1 message sending, and clears the count Exit cnt.

[0090] When Cond1 and Cond2 are satisfied at the same time, it enters step S202 from step S201; in step 202, the clutch separation request is sent, and the transmission controller is sent through the TC1 message.

[0091] The priority judgment Cond3 condition is satisfied, when Cond3 is satisfied, it enters step S203 from step S202; at the same time, the transmission rear power electromagnetic valve 10 is driven to output. When the condition 3 is not satisfied, the output of the transmission rear power electromagnetic valve 10 is immediately stopped;

[0092] In step 203, the clutch release control and the request to limit the gear position are sent, and the transmission controller is sent through the TC1 message; when Cond3 condition is not satisfied, whether Cond1 is satisfied is judged again; if Cond1 no longer meets the requirements, it enters step S206 from step S202;

[0093] When Cond1 is not satisfied, it enters step S204 from step S203; step S204 sends the clutch separation request; the priority judgment Cond4 is satisfied, if Cond4 is satisfied and the 300 count time is satisfied, it enters step S205 from step S204; if the 300 count time is not reached, whether Cond4 is satisfied is judged, if Cond4 is not satisfied, it enters step S205 from step S204;

[0094] When it enters step S205, if the 100 count period is satisfied, it enters step S206 from step S205;

[0095] The condition of S206 entering S207 is: count = 2 enters S207, count = 3, exits to S201.

[0096] Step S206 and step S207 are both release control, that is, the corresponding message is sent to the transmission controller through TC1. When the count condition is satisfied, it enters step S201 from step S207, the TCI message is prohibited, and the transmission rear power control is released.

[0097] The crane power take-off controller control method provided in the embodiment 2 of the present application performs gearbox rear power take-off logical calculation through the upper controller; the driver's cab wire harness is used to collect the rocker switches in the driver's cab and the gearbox rear power take-off to position switch arranged on the gearbox, and the CAN line is connected with the engine controller and the gearbox controller. The upper controller calculates the gearbox rear power take-off logic and controls the driving and disconnection of the gearbox rear power take-off electromagnetic valve, and the gearbox gear position and clutch control are transmitted through the CAN message, so that the gearbox rear power take-off operation is simply and reliably realized.

[0098] The crane power take-off controller control method provided in the embodiment 1 of the present application can effectively and reliably switch between remote control and driver's cab control through the added power take-off protection switch, remote control enable switch, gearbox rear power take-off remote control enable switch and gearbox rear power take-off remote control disable switch, greatly meeting the safety requirement.

[0099] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements inherently includes the elements. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or equipment including the element. In addition, the above technical solutions provided by the embodiments of the present application are not described in detail, so as not to be too verbose.

[0100] The above describes the specific embodiments of the present application in combination with the accompanying drawings, but is not a limitation on the protection scope of the present application. Based on the above description, those skilled in the art can make other different forms of modifications or changes. Here, it is not necessary and impossible to exhaust all the embodiments. Various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A crane power take-off control system characterized by, The system comprises a superstructure controller (9), an engine controller (7), a gearbox controller (8) and a group of rocker switches in the cab; The output end of the rocker switches is connected with the input end of the superstructure controller (9); the superstructure controller (9) enables the remote control mode or the cab operation mode according to the state of the group of rocker switches; The superstructure controller (9) is in communication connection with the engine controller (7) and the gearbox controller (8) respectively, and is used for judging the working logic of the gearbox power take-off in the remote control mode or the cab operation mode.

2. A hoist power takeoff control system as in claim 1, wherein, The group of rocker switches comprises a remote control enabling switch (3), a gearbox power take-off remote control enabling switch (1), a gearbox power take-off remote control disabling switch (2) and a power take-off protection switch (5) which are additionally arranged in the cab; The power take-off protection switch (5) is used for opening or closing the gearbox power take-off function; The remote control enabling switch (3) is used for distinguishing whether the power take-off is through remote control or manual operation; The gearbox power take-off remote control enabling switch (1) is used for enabling the remote control function; the gearbox power take-off remote control disabling switch (2) is used for disabling the remote control function when it is closed.

3. A crane power take-off control system according to claim 2, characterised in that, The group of rocker switches further comprises a gearbox power take-off switch (4) and a gearbox power take-off in-position switch (6); The gearbox power take-off switch (4) is used for sending a gearbox power take-off command; The gearbox power take-off in-position switch (6) is used for judging whether the gearbox power take-off is in position.

4. A hoist power takeoff control system as in claim 1, wherein, The system further comprises a gearbox power take-off electromagnetic valve (10); The output end of the superstructure controller (9) is connected with the gearbox power take-off electromagnetic valve (10); the gearbox power take-off electromagnetic valve (10) opens or closes the gearbox power take-off according to the output of the superstructure controller (9).

5. A hoist power takeoff control system as in claim 1, wherein, The superstructure controller (9) is in communication connection with the engine controller (7) and the gearbox controller (8) respectively through CAN lines.

6. A hoist power takeoff control system as in claim 1, wherein, The superstructure controller (9) is in communication connection with the engine controller (7) and the gearbox controller (8) respectively through CAN lines, and is used for transmitting the gear position and clutch control of the gearbox.

7. A method for controlling a crane power take-off, implemented on the basis of a crane power take-off control system according to any one of claims 1 to 6, characterized in that The system comprises the following steps: If the power take-off protection switch (5) is off, the gearbox power take-off function is closed; If the power take-off protection switch (5) is on, the state of the remote control enabling switch (3) is judged; If the remote control enabling switch (3) is off, the state of the gearbox power take-off switch (4) is judged, and the gearbox power take-off is executed through manual operation of the gearbox power take-off switch (4); If the remote control enabling switch (3) is on, but the gearbox power take-off remote control disabling switch (2) is on, the gearbox power take-off function is closed; when the remote control enabling switch (3) is on and the rising edge of the gearbox power take-off remote control enabling switch (1) is collected, the remote control function is enabled.

8. A method of controlling a crane power take-off according to claim 7, characterized in that The action executed when the remote control enabling switch (3) is on is realized through an RS flip-flop; when R=0 and S=1 of the RS flip-flop, i.e. when the remote control enabling switch (3) is on and the rising edge of the gearbox power take-off remote control enabling switch (1) is collected, the remote control function is enabled, and the gearbox power take-off switch (4) is disabled.

9. The method of claim 7, wherein, The gearbox rear power take-off remote control inhibition switch (2) and the remote control enable switch (3) are logically calculated and then input to the R end of the RS trigger; the gearbox rear power take-off remote control enable switch (1) is input to the S end of the RS trigger.

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