Single-length arbitrary telescopic control method and system for double-cylinder rope hoist

Abstract

This invention discloses a single-length arbitrary telescopic control method and system for a double-cylinder rope crane. The force limiter identifies the secondary cylinder switching signal and measures the main boom telescopic length. Combining this with a single-length dual-cylinder stroke iterative algorithm, it calculates the extension lengths of the second-section boom, third, fourth, and fifth-section booms, and the overall boom length. Then, by combining this with existing performance tables, it matches the rated lifting performance of any telescopic combination. The force limiter controls the current lifting load to ensure it does not exceed the rated value. The force limiter records the initial values ​​of the total boom length, the second-section boom length, and the third, fourth, and fifth-section boom lengths. It uses the secondary cylinder switching signal to identify subsequent telescopic combinations, and iteratively calculates the change in the total boom length based on the changing telescopic combination sequence. This yields the iterative variable value for either the second-section boom or the third, fourth, and fifth-section booms. Combined with the initial values ​​of the second-section boom length and the third, fourth, and fifth-section boom lengths, it calculates the real-time length of either the second-section boom or the third, fourth, and fifth-section booms, thus obtaining the combined extension length of the second-section boom and the third, fourth, and fifth-section booms. This method saves hardware costs and avoids overload, ensuring lifting safety.

Description

Technical Field

[0001] This invention relates to a single-length arbitrary extension and retraction control method and system for a double-cylinder rope crane, belonging to the field of engineering machinery. Background Technology

[0002] Currently, most cranes on the market, considering the overall cost, only equip themselves with length and angle sensors to detect the total boom length, but do not equip themselves with second boom length sensors to detect the extension and retraction length of the second boom. The crane's second boom is marked with 0%, 50%, and 100% positions. Operators can only extend the second boom to 0%, 50%, or 100% lifting position first, and then extend the third, fourth, or fifth boom to any position within the stroke. At this time, the rated lifting capacity is limited by the 0%, 50%, and 100% positions of the second boom, and the number of selectable Z values ​​is limited, meaning that there are not many lifting conditions that can be performed.

[0003] For cranes equipped only with length and angle sensors, the telescopic position of the second boom determines the number of lifting conditions the crane can handle. To enable the crane to have lifting capabilities at any position within the main boom's stroke, the telescopic length of the second boom must be detected or calculated.

[0004] The system employs a two-section boom telemetry system to detect the extension and retraction length of the second-section boom, and a length-angle sensor to detect the extension and retraction length of the entire main boom. A two-stage cylinder switching rocker switch controls the on / off state of the two-stage cylinder switching valve. When the resistance of the two-stage cylinder switching valve is off, the third, fourth, and fifth boom sections can extend and retract simultaneously and synchronously. When the two-stage cylinder switching valve is energized and connected, the second-section boom can extend and retract. This control system involves numerous hardware components and is expensive. Zeroing the length of the two-section boom telemetry system requires opening the cover, posing a risk of water ingress. Summary of the Invention

[0005] This invention provides a single-length arbitrary telescopic control method and system for a double-cylinder rope crane, which solves the problems disclosed in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A single-length arbitrary extension control method for a double-cylinder rope crane:

[0008] The total length of the telescopic arm is measured using a length and angle sensor.

[0009] The secondary cylinder switching switch controls the primary / secondary cylinder telescopic switching valve and transmits the switching signal to the force limiter for identification.

[0010] The force limiter uses a single-length-measuring, dual-cylinder stroke iterative process to calculate the length of the third, fourth, and fifth boom sections or the length of the second boom section;

[0011] The lifting performance corresponding to the current three-, four-, or five-section boom length or two-section boom length is calculated based on the performance table interpolation. The force limiter allows the crane to perform lifting operations under these performance conditions.

[0012] Furthermore, the single-length dual-cylinder stroke iteration process is as follows:

[0013] Step 1: The force limiter performs a power-on self-test, with timing value i = 0;

[0014] Step 2: If the force limiter is energized, read the current total telescopic boom length A. i+1 ;

[0015] Step 3: The force limiter checks whether the secondary cylinder switching signal is equal to 1;

[0016] Step 4: If so, determine that it is a telescopic boom with three, four, or five sections. Calculate the change in the length of the boom with three, four, or five sections, and calculate the current length of the boom with three, four, or five sections based on the change in the length of the boom with three, four, or five sections.

[0017] Otherwise, it is determined to be a telescopic two-section boom. The change in the length of the two-section boom is calculated, and the current length of the two-section boom is calculated based on the change in the length of the two-section boom.

[0018] Step 5: Determine if the hoisting end button has been pressed;

[0019] Step 6: If the hoisting end button is pressed, the total boom length, second boom length, and third, fourth, and fifth boom lengths will remain at the current time, and the force limiter will be de-energized.

[0020] Step 7: If the lifting end button is not pressed, calculate the lifting performance corresponding to the current three-, four-, or five-section boom length or two-section boom length based on the performance table interpolation.

[0021] Step 8: Timing value i = i + 1, return to step 2.

[0022] Furthermore, the change in length of the third, fourth, and fifth boom sections is ΔC = A. i+1 -A i The current length C of the third, fourth, and fifth boom sections. i+1 =C i +ΔC;A i Let C be the initial length of the total arm. i The initial lengths of the three, four, and five arm sections.

[0023] Furthermore, the change in the length of the two-section boom is ΔB = A. i+1 -A i Current two-section boom length B i+1 =B i +ΔB;A i B is the initial length of the total arm. i This is the initial length of the two-section arm.

[0024] Accordingly, a single-length arbitrary telescopic control system for a dual-cylinder rope conveyor crane includes:

[0025] Length angle sensor, secondary cylinder switching valve, secondary cylinder switching rocker switch and force limiter;

[0026] The length angle sensor is used to detect the total boom extension length. The secondary cylinder switching rocker switch trigger signal controls the secondary cylinder switching valve. The force limiter calculates the extension length of the second-section boom or the extension length of the third, fourth or fifth-section boom at any position based on the total boom extension length and the secondary cylinder switching rocker switch trigger signal. Then it calculates the boom length combination at any extension position, and then matches the lifting performance under any extension boom length combination according to the performance table.

[0027] Furthermore, the length angle sensor is externally mounted on the main arm.

[0028] Furthermore, the secondary cylinder switching rocker switch is built into the control room.

[0029] Furthermore, the secondary cylinder switching rocker switch is a virtual secondary cylinder switching switch configured on the display.

[0030] The beneficial effects achieved by this invention are as follows:

[0031] 1. The single-length-measuring double-cylinder rope crane is equipped with an arbitrary extension function; this allows the double-cylinder rope crane to identify the entire extension length of the main boom, the extension length of the second boom section, and the switching status of the second-stage cylinder, even when only one length sensor is installed on the main boom. The force limiter then matches the lifting performance based on the identified parameters, the performance table, and any extension combination. This saves on hardware costs.

[0032] 2. The single-length double-cylinder rope crane can perform arbitrary telescopic lifting operations without the need for the sequential telescopic method commonly used in single-length double-cylinder rope cranes (extending the second section of the boom first, then the third, fourth, and fifth sections; retracting the boom first, then the third, fourth, and fifth sections, then the second section). This is because the control system can calculate any telescopic combination under any telescopic condition and then match the lifting performance under any telescopic combination. The force limiter ensures that the current lifting load does not exceed the rated value, and the operator is only allowed to work under the corresponding lifting performance to avoid overloading and safety accidents. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the single-length double-cylinder rope array arbitrary telescopic control system of the present invention;

[0034] Figure 2 This is a schematic diagram of the iterative calculation process for the single-length dual-cylinder stroke in this invention. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0036] like Figure 1 As shown, the single-length arbitrary telescopic control system for the dual-cylinder rope crane of the present invention consists of a length angle sensor, a secondary cylinder switching valve, a secondary cylinder switching rocker switch, and a force limiter. The length angle sensor detects the total boom telescopic length and the trigger signal of the secondary cylinder switching rocker switch, controlling the telescopic switching of the primary / secondary cylinders and transmitting the switching signal to the force limiter for identification. The force limiter uses a single-length dual-cylinder stroke iterative process to calculate the length of the third, fourth, and fifth boom sections or the length of the second boom section, and then matches it to determine the lifting performance under arbitrary boom telescopic combinations, allowing the crane to perform lifting operations under multiple working conditions and arbitrary telescopic conditions. The force limiter calculates the telescopic length of the second boom section at any position based on the total boom telescopic length and the trigger signal of the secondary cylinder switching rocker switch, then calculates the boom length combination at any telescopic position, and finally matches the lifting performance under any telescopic boom length combination according to a performance table. This control system has a simple hardware composition, mainly relying on the force limiter algorithm to calculate arbitrary telescopic boom length combinations.

[0037] like Figure 2 As shown, the single-length arbitrary telescopic control method for the double-cylinder rope crane of the present invention, after the long angle and boom length are calibrated, the force limiter identifies the initial telescopic state, that is, the initial extension length of the second boom and the third, fourth and fifth boom sections. The subsequent telescopic combination is identified by the switching signal of the second-stage cylinder, and the change in the total boom length is iteratively calculated according to the changing telescopic combination sequence. Then, the iterative variable values ​​of the second boom and the third, fourth and fifth boom sections are calculated. Combined with the initial extension length of the second boom and the third, fourth and fifth boom sections, the real-time extension length of the second boom and the third, fourth and fifth boom sections is calculated.

[0038] The iteration process for a single-length dual-cylinder stroke is as follows:

[0039] Step 1: The force limiter performs a power-on self-test, with timing value i = 0;

[0040] Step 2: If the force limiter is energized, read the current total telescopic boom length A. i+1 ;

[0041] Step 3: The force limiter checks whether the secondary cylinder switching signal is equal to 1;

[0042] Step 4: If so, determine that it is a telescopic boom with three, four, or five sections. Calculate the change in the length of the boom with three, four, or five sections, and calculate the current length of the boom with three, four, or five sections based on the change in the length of the boom with three, four, or five sections.

[0043] Otherwise, it is determined to be a telescopic two-section boom. The change in the length of the two-section boom is calculated, and the current length of the two-section boom is calculated based on the change in the length of the two-section boom.

[0044] Step 5: Determine if the hoisting end button has been pressed;

[0045] Step 6: If the hoisting end button is pressed, the total boom length, second boom length, and third, fourth, and fifth boom lengths will remain at the current time, and the force limiter will be de-energized.

[0046] Step 7: If the lifting end button is not pressed, calculate the lifting performance corresponding to the current three-, four-, or five-section boom length or two-section boom length based on the performance table interpolation.

[0047] Step 8: Timing value i = i + 1, return to step 2.

[0048] Among them, the change in length of the third, fourth, and fifth arm sections ΔC = A i+1 -A i The current length C of the third, fourth, and fifth boom sections. i+1 =C i +ΔC;A i Let C be the initial length of the total arm. i The initial length of the three, four, and five arm sections;

[0049] The change in the length of the two-section boom is ΔB = A. i+1 -A i Current two-section boom length B i+1 =B i +ΔB;A i B is the initial length of the total arm. i This is the initial length of the two-section arm.

[0050]

[0051]

[0052] The table above shows an example of the lifting performance of a crane, where D... i Z represents the boom angle value of the crane (measured by a length angle sensor), with the multiplier being the number of wire rope strands attached to the boom head. i Let the total boom length of the crane be A i The amplitude angle is D i The telescopic length of the two-section boom is B. i The telescopic length of the three, four, and five-section boom is C. i The multiplier is N i The rated lifting capacity under certain conditions, where the number of Z values ​​indicates the number of lifting conditions. i represents the quantity value 0, 1, 2, 3, ...

[0053] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0054] A computer-readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by a computing device, cause the computing device to perform a single-length arbitrary telescopic control method for a twin-cylinder rope crane.

[0055] A computing device includes one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more processors, and the one or more programs include instructions for executing a single-length arbitrary telescopic control method for a twin-cylinder rope crane.

[0056] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0057] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0058] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0059] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0060] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A single-length arbitrary telescopic control method for a double-cylinder rope crane, characterized in that: The total length of the telescopic arm is measured using a length and angle sensor. The secondary cylinder switching switch controls the primary / secondary cylinder telescopic switching valve and transmits the switching signal to the force limiter for identification. The force limiter uses a single-length-measuring, dual-cylinder stroke iterative process to calculate the length of the third, fourth, and fifth boom sections or the length of the second boom section; Based on the performance table interpolation, the lifting performance corresponding to the current three-, four-, or five-section boom length, or two-section boom length, is calculated. The force limiter allows the crane to perform lifting operations under these performance conditions. The single-length dual-cylinder stroke iteration process is as follows: Step 1: The force limiter performs a power-on self-test, with timing value i=0; Step 2: If the force limiter is energized, read the current total telescopic boom length. ; Step 3: The force limiter checks whether the secondary cylinder switching signal is equal to 1; Step 4: If so, determine that it is a telescopic boom with three, four, or five sections. Calculate the change in the length of the boom with three, four, or five sections, and calculate the current length of the boom with three, four, or five sections based on the change in the length of the boom with three, four, or five sections. Otherwise, it is determined to be a telescopic two-section boom. The change in the length of the two-section boom is calculated, and the current length of the two-section boom is calculated based on the change in the length of the two-section boom. Step 5: Check if the hoisting end button has been pressed; Step 6: If the hoisting end button is pressed, the total boom length, second boom length, and third, fourth, and fifth boom lengths will remain at the current time, and the force limiter will be de-energized. Step 7: If the lifting end button is not pressed, calculate the lifting performance corresponding to the current three-, four-, or five-section boom length or two-section boom length based on the performance table interpolation. Step 8: Set the timing value i = i + 1, and return to step 2.

2. The single-length arbitrary telescopic control method for a double-cylinder rope crane according to claim 1, characterized in that, Changes in the length of the third, fourth, and fifth arm sections = - The current length of the three, four, and five boom sections. = + ; The initial length of the total arm. The initial lengths of the three, four, and five arm sections.

3. The single-length arbitrary telescopic control method for a double-cylinder rope crane according to claim 1, characterized in that, Change in the length of the two-section boom = - Current length of the two-section boom = + ; The initial length of the total arm. This is the initial length of the two-section arm.

4. A single-length arbitrary telescopic control system for a double-cylinder rope crane, characterized in that, The control system is used to execute the single-length arbitrary extension and retraction control method for a double-cylinder rope crane as described in claim 1, including: Length angle sensor, secondary cylinder switching valve, secondary cylinder switching rocker switch and force limiter; The length angle sensor is used to detect the total boom extension length. The secondary cylinder switching rocker switch trigger signal controls the secondary cylinder switching valve. The force limiter calculates the extension length of the second-section boom or the extension length of the third, fourth or fifth-section boom at any position based on the total boom extension length and the secondary cylinder switching rocker switch trigger signal. Then it calculates the boom length combination at any extension position, and then matches the lifting performance under any extension boom length combination according to the performance table.

5. The single-length arbitrary telescopic control system for a double-cylinder rope crane according to claim 4, characterized in that, The length and angle sensor is externally mounted on the main arm.

6. The single-length arbitrary telescopic control system for a double-cylinder rope crane according to claim 4, characterized in that, The secondary cylinder switching rocker switch is built into the control room.

7. The single-length arbitrary telescopic control system for a double-cylinder rope crane according to claim 4, characterized in that, The secondary cylinder switching rocker switch is a virtual secondary cylinder switching switch configured on the display.

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