A load-sensitive gantry control method and system for electric container stacker

Abstract

The present invention discloses a load-sensitive gantry control method and system for an electric container stacker. A vehicle controller obtains the working states of lifting, lowering, forward tilting and backward tilting of a control handle, and sets corresponding thresholds for lifting, lowering, forward tilting and backward tilting respectively. During the lifting and lowering process, when the current height value #imgabs0# of the spreader does not reach the corresponding threshold, the spreader operates at the lifting speed of the control handle, and when the current height value #imgabs1# of the spreader reaches the corresponding threshold, the lifting speed is reduced until the spreader stops. During the forward and backward tilting process, when the current angle value #imgabs2# of the gantry does not reach the corresponding threshold, the spreader moves at the tilting speed of the control handle, and when the current angle value #imgabs3# of the gantry reaches the corresponding threshold, the tilting speed is reduced until the spreader stops. The present invention automatically realizes buffering of the four processes of lifting, lowering, forward tilting and backward tilting, so as to avoid excessive impact caused by excessive speed when reaching the extreme position, thereby improving the safety performance and driving experience of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of lifting machinery and equipment, and further to a load-sensitive gantry control method and system for an electric container stacker. Background Art

[0002] Port crane forklift is a large container lifting machinery equipment mainly used in ports, terminals, railways and highways. It has high safety requirements for operation, especially stability. Among them, the stability of the gantry control strategy is an important factor affecting the driver's operating safety and comfort.

[0003] The current empty container forklift gantry control strategy mostly adopts a control mode that associates the handle opening with the proportional valve opening. The action current of the forward tilt proportional valve or the backward tilt proportional valve is controlled according to the collected tilt angle data, handle direction, and opening data to control the action of the cylinder used to drive the gantry to lift and tilt forward and backward.

[0004] Due to the large size of the stacker, the high mast and the high center of gravity, the mast control logic of the stacker is currently too dependent on the driver's operation, and the mast lifting and tilting speed are completely controlled by the driver observing the real-time height and tilt angle of the mast container and controlling the opening of the handle. This control method is prone to impact when the heavy-loaded container is lifted to the top, tilted forward and tilted backward to the bottom, causing the mast to shake, and it is easy to cause damage to the ground when it is lowered to the bottom, affecting the operating efficiency and operating experience.

[0005] For technicians in this field, how to improve the safety performance and driving experience of the vehicle is a technical problem that needs to be solved at present. Summary of the invention

[0006] The core of the present invention is to provide a load-sensitive gantry control method for an electric container stacker to avoid excessive speed when the lifting, lowering, forward tilting, and backward tilting working states reach the limit position, prevent excessive impact, and improve the safety performance and driving experience of the vehicle. The specific scheme is as follows:

[0007] A load-sensitive gantry control method for an electric container stacker, comprising:

[0008] The vehicle controller obtains the current height value of the hoist , Lifting buffer position threshold , Downward buffer position threshold , Current angle value of the mast , Mast forward tilt angle threshold , Mast tilt angle threshold ; Obtain the working state of the joystick, which includes lifting, lowering, forward tilting, and backward tilting;

[0009] During lifting, when the current height value of the hoisting device The lifting buffer position threshold has not been reached , lift at the lifting speed of the operating handle; when the current height value of the spreader The lifting buffer position threshold is reached , reduce the lifting speed until it stops;

[0010] When descending, when the current height value of the spreader The drop buffer position threshold is not reached , reduce the descending speed of the operating handle; when the current height value of the spreader Reaching the falling buffer position threshold , reduce the descent speed until it stops;

[0011] When leaning forward, when the current angle value of the mast The mast forward tilt angle threshold is not reached , tilt forward at the forward tilt speed of the joystick; when the current angle value of the mast The mast forward tilt angle threshold is reached , reduce the forward speed until it stops;

[0012] When tilting backward, when the current angle value of the mast The mast tilt angle threshold is not reached , tilt backward at the backward tilt speed of the joystick; when the current angle value of the mast The mast tilt angle threshold is reached , reduce the backward tilt speed until it stops.

[0013] Optionally, when lifting, the vehicle controller obtains the opening degree of the handle when lifting according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , obtain the height value of the spreader at the highest point through the instrument , Lifting buffer position threshold , Maximum speed of the pump motor during gantry lifting , then the vehicle controller controls the opening of the lifting proportional valve during lifting for:

[0014]

[0015] Control the target speed value when the pump motor is lifted ; is the height of the spreader at the lowest point, It is the minimum opening value of the proportional valve.

[0016] Optionally, when descending, the vehicle controller obtains the current height value of the spreader , obtain the height value of the spreader at the lowest point through the instrument , gantry no-load descent buffer position threshold , Container height , Maximum speed of the pump motor when the gantry is lowered ;

[0017] The current lock status of the spreader is obtained through the spreader controller. When the spreader is in the unlocked state, the vehicle is not equipped with a container, and the vehicle controller executes the no-load descent control program; when the spreader is in the locked state, the vehicle is equipped with a container, and the vehicle controller executes the container descent control program.

[0018] Optionally, the no-load descent control procedure includes:

[0019] The vehicle controller obtains the opening degree of the handle when it is lowered according to the handle signal ( ), the vehicle controller controls the opening of the descending proportional valve during descent for:

[0020]

[0021] Control the target speed value when the pump motor descends ; is the height of the spreader at the lowest point, is the minimum opening value of the proportional valve, It is the height of the spreader at the highest point;

[0022] The descent control program of the hanging box includes:

[0023] The vehicle controller obtains the opening degree of the handle when it is lowered according to the handle signal ( ), the real-time weight value of the cargo is calculated by the weighing pressure sensor , obtain the vehicle full load value through the instrument , then the vehicle controller controls the opening of the descending proportional valve during descent for:

[0024]

[0025] Control the target speed value when the pump motor descends ; is the height of the spreader at the lowest point, It is the minimum opening value of the proportional valve.

[0026] Optionally, when leaning forward, the vehicle controller obtains the opening degree of the handle when leaning forward according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , the current angle value of the gantry , calculate the real-time weight of the goods through the weighing pressure sensor , obtain the vehicle full load value through the instrument , Mast forward tilt angle threshold And the maximum speed of the pump motor when the gantry is tilted , then the vehicle controller controls the forward tilt proportional valve opening when tilting forward for:

[0027]

[0028] Control the target speed value when the pump motor tilts forward .

[0029] Optionally, when tilting backward, the vehicle controller obtains the opening degree of the handle when tilting backward according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , the current angle value of the gantry , calculate the real-time weight of the goods through the weighing pressure sensor , obtain the vehicle full load value through the instrument , Mast tilt angle threshold And the maximum speed of the pump motor when the gantry is tilted , then the vehicle controller controls the tilt proportional valve opening when tilting for:

[0030]

[0031] Control the target speed value when the pump motor tilts backward .

[0032] Optionally, the minimum opening value of the corresponding proportional valve when lifting / lowering / tilting forward / backward It is 5%-20%.

[0033] Optionally, before lifting and lowering, a signal from a spreader controller is obtained, and if the enable command issued by the spreader controller is 1, lifting or lowering is allowed; if the enable command is 0, lifting or lowering is not allowed;

[0034] It also includes obtaining the real-time weight value of the goods , according to the real-time weight value of the goods Determine the maximum height allowed for lifting by the sling .

[0035] The present invention also provides a load-sensitive gantry control system for an electric container stacker, which is applied to the load-sensitive gantry control method for an electric container stacker described in any one of the above items, comprising a joystick J, a length angle sensor ACQ, a weighing pressure sensor W, a spreader controller S, an interactive bus instrument M, a vehicle controller VCU, a motor controller MCU, a lifting proportional valve Y1, a lowering proportional valve Y2, a forward tilt proportional valve Y3, and a backward tilt proportional valve Y4;

[0036] The vehicle controller obtains the current height value of the hoist , the highest point height of the hoist , Lifting buffer position threshold , the lowest point height of the hoist , Downward buffer position threshold , Current angle value of the mast , Mast forward tilt angle threshold , Mast tilt angle threshold ; Obtain the working state of the joystick, which includes lifting, lowering, forward tilting, and backward tilting;

[0037] During lifting, when the current height value of the hoisting device The lifting buffer position threshold has not been reached , lift at the lifting speed of the operating handle; when the current height value of the spreader The lifting buffer position threshold is reached , reduce the lifting speed until it stops;

[0038] When descending, when the current height value of the spreader The drop buffer position threshold is not reached , reduce the descending speed of the operating handle; when the current height value of the spreader Reaching the falling buffer position threshold , reduce the descent speed until it stops;

[0039] When leaning forward, when the current angle value of the mast The mast forward tilt angle threshold is not reached , tilt forward at the forward tilt speed of the joystick; when the current angle value of the mast The mast forward tilt angle threshold is reached , reduce the forward speed until it stops;

[0040] When tilting backward, when the current angle value of the mast The mast tilt angle threshold is not reached , tilt backward at the backward tilt speed of the joystick; when the current angle value of the mast The mast tilt angle threshold is reached , reduce the backward tilt speed until it stops.

[0041] Optionally, the wire box of the length angle sensor ACQ is horizontally fixed to the wire box bracket body by bolts, and the wire box bracket body is fixed to the inner door frame of the vehicle by bolts; the sensor wire terminal is fixed to the wire terminal bracket body by bolts, and the wire terminal bracket body is fixed to the outer door frame by bolts.

[0042] The present invention provides a load-sensitive gantry control method and system for an electric container stacker. The vehicle controller obtains the working status of the lifting, lowering, forward tilting and backward tilting of the operating handle, and sets corresponding thresholds for lifting, lowering, forward tilting and backward tilting respectively. During the lifting and lowering process, when the current height value of the spreader If the corresponding threshold is not reached, the crane will operate at the lifting speed of the joystick. When the corresponding threshold is reached, the lifting speed is reduced until it stops; during the forward and backward tilting process, when the current angle value of the mast If the corresponding threshold is not reached, the mast will move at the tilt speed of the joystick. When the corresponding threshold is reached, the tilting speed is reduced until it stops; the present invention automatically realizes the buffering of the four processes of lifting, lowering, forward tilting and backward tilting, avoiding excessive impact caused by excessive speed when reaching the extreme position, thereby improving the safety performance of the vehicle and the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a flowchart of a lifting control program of a load-sensitive gantry control method of an electric container stacker of the present invention;

[0045] Figure 2 It is a flowchart of a descending control program of a load-sensitive gantry control method of an electric container stacker of the present invention;

[0046] Figure 3 It is a flowchart of a forward tilt and backward tilt control program of a load-sensitive gantry control method of an electric container stacker according to the present invention;

[0047] Figure 4 It is a signal acquisition block diagram of the load-sensitive gantry control system of the electric container stacker of the present invention;

[0048] Figure 5A structural diagram of a container stacker to which the load-sensitive gantry control system of the electric container stacker of the present invention is applied;

[0049] Figure 6 This is a schematic diagram of the length and angle sensor installation. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solution of the present invention, the load-sensitive gantry control method and system of the electric container stacker of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] The present invention provides a load-sensitive gantry control method for an electric container stacker, which is applied to the gantry movement process of the stacker. The gantry movement includes four forms of movement: lifting, lowering, forward tilting, and backward tilting. The lifting, lowering, forward tilting, and backward tilting are controlled by a joystick, which sends a joystick signal to a vehicle controller, outputs the handle opening, and adjusts the opening value of a proportional valve by the handle opening, thereby adjusting the speed of the corresponding movement process. The control method can prevent excessive impact when the four movement processes of the gantry reach the limit position, play an effective buffering effect, improve work safety, and provide better user experience for personnel.

[0052] The load-sensitive gantry control method of the electric container stacker of the present invention comprises the following steps:

[0053] The sling is installed on the gantry. The sling is used to load cargo. The gantry can drive the sling and cargo to lift, lower, tilt forward or tilt backward. The vehicle controller obtains the current height value of the sling , Lifting buffer position threshold , Downward buffer position threshold , Current angle value of the mast , Mast forward tilt angle threshold , Mast tilt angle threshold The vehicle controller obtains the working status of the joystick, which includes lifting, lowering, forward tilting, and backward tilting. The current height value of the hoist To indicate the current real-time height position of the spreader at the time of acquiring the signal, the lifting buffer position threshold Below the highest position that the spreader can move upward, the lower buffer position threshold Higher than the lowest position that the sling can move downward. The current angle value of the gantry Indicates the current real-time angle of the mast at the time of acquiring the signal. With the vertical plane as the reference, forward tilt is forward tilt, and backward tilt is backward tilt. The mast forward tilt angle threshold Less than the maximum angle of the mast forward tilt, the mast backward tilt angle threshold Less than the maximum angle of the mast tilting backwards. Lifting buffer position threshold , Downward buffer position threshold , Mast forward tilt angle threshold , Mast tilt angle threshold Set it according to the specifications of the mast. , Mast tilt angle threshold It is the angle between the gantry and the vertical plane on which the gantry is located when it is vertical.

[0054] When lifting, when the current height value of the hoist The lifting buffer position threshold has not been reached , lift at the lifting speed of the joystick; when the current height value of the hoist The lifting buffer position threshold is reached , reduce the lifting speed until it stops; the spreader moves from below the lifting buffer position threshold The current height value of When continuing to lift upward, first lift upward at the lifting speed of the joystick. When the spreader reaches the lifting buffer position threshold The lifting speed is reduced until it stops at the limit position; there are at least two movement speeds in the whole lifting process. When the lifting speed controlled by the joystick remains constant, when the spreader drives the cargo to move upward and reaches the lifting buffer position threshold The lifting device automatically reduces the running speed when the lifting device stops at the top position to avoid a large impact caused by excessive speed changes. The current height value of When continuing to lift upward, directly reduce the lifting speed controlled by the joystick to move the spreader upward at a low speed.

[0055] When descending, when the current height value of the spreader The drop buffer position threshold is not reached , reduce the speed of the descent of the control handle; when the current height value of the spreader Reaching the falling buffer position threshold , reduce the descending speed until it stops; the spreader moves from above the descending buffer position threshold The current height value of When continuing to descend downward, first descend at the descending speed of the joystick. When the spreader reaches the descending buffer position threshold The descent speed is reduced until it stops at the limit position; there are at least two movement speeds in the whole descent process. When the descent speed controlled by the joystick remains constant, when the spreader drives the cargo to move downward and reaches the descent buffer position threshold The speed is automatically reduced when the spreader reaches the bottom position to avoid a large impact caused by a large speed change. The current height value of When continuing to descend, directly reduce the descending speed controlled by the joystick to make the spreader move downward at a low speed.

[0056] When leaning forward, when the mast current angle value The mast forward tilt angle threshold is not reached , tilt forward at the forward tilt speed of the joystick; when the mast current angle value The mast forward tilt angle threshold is reached , reduce the forward tilt speed until it stops; the mast is less than the mast forward tilt angle threshold The current angle value of the gantry (At this time, the mast can be in a backward tilt state or a forward tilt state) When tilting forward, first run the forward tilt at the forward tilt speed of the joystick. When the mast reaches the mast forward tilt angle threshold The forward tilting speed of the forward swing is reduced until it stops at the limit position; there are at least two movement speeds in the whole forward tilting process. When the forward tilting speed controlled by the joystick remains constant, the mast tilts forward to the mast tilt angle threshold. Automatically reduce the running speed when the mast reaches the front position to avoid a large impact caused by a large speed change when the mast stops. The current angle value of the gantry When continuing to tilt forward, directly reduce the forward tilt speed controlled by the joystick to make the spreader swing forward at a low speed.

[0057] When tilting backward, when the mast current angle value The mast tilt angle threshold is not reached , tilt backward at the tilt speed of the joystick; when the mast current angle value The mast tilt angle threshold is reached , reduce the backward tilt speed until it stops. It should be noted that the mast forward tilt angle threshold and mast tilt angle threshold They can be equal or not. The mast is less than the mast backward tilt angle threshold The current angle value of the gantry (At this time, the mast can be in forward tilt or backward tilt state) When tilting backward, first swing at the backward tilt speed of the joystick. When the mast reaches the mast backward tilt angle threshold The backward tilting speed of the gantry is reduced until it stops at the limit position; there are at least two movement speeds in the entire backward tilting process. When the backward tilting speed controlled by the joystick remains constant, the mast tilts backward and reaches the mast tilting angle threshold. Automatically reduce the running speed when reaching the final position to avoid a large impact caused by excessive speed change when stopping. The current angle value of the gantry When continuing to tilt backward, directly reduce the tilting speed controlled by the joystick to make the spreader swing backward at a low speed.

[0058] The control method of the present invention automatically realizes buffering of the four processes of lifting, lowering, forward tilting and backward tilting, avoiding excessive impact caused by excessive speed when reaching the extreme position, thereby improving the safety performance and driving experience of the vehicle.

[0059] Based on the above scheme, combined with Figure 1 As shown, when lifting, the vehicle controller obtains the opening degree of the handle when lifting according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , obtain the height value of the spreader at the highest point through the instrument , Lifting buffer position threshold , Maximum speed of the pump motor during gantry lifting , then the vehicle controller controls the opening of the lifting proportional valve during lifting for:

[0060]

[0061] Minimum opening value of proportional valve , control the target speed value when the pump motor is lifted ; is the height of the spreader at the lowest point, is the minimum opening value of the proportional valve. Through this calculation formula, the speed of the lifting device moving upward after deceleration during lifting is quantitatively given.

[0062] It should be noted here that there is no need to distinguish between light loads and heavy loads during the ascent, and the same control method can be used for adjustment whether there is a hoisted cargo or not.

[0063] Combination Figure 2 As shown, when descending, the vehicle controller obtains the current height value of the hoist. , obtain the height value of the spreader at the lowest point through the instrument , gantry no-load descent buffer position threshold , Container height , Maximum speed of the pump motor when the gantry is lowered .

[0064] During the descent process, it is necessary to distinguish between heavy load and light load according to whether the spreader is loaded or not, and control them separately. The current lock status of the spreader is obtained through the spreader controller. When the spreader is in the unlocked state, it means that the vehicle is not equipped with a container, and the vehicle controller executes the empty load descent control program; when the spreader is in the locked state, it means that the vehicle is currently equipped with a container, and the vehicle controller executes the container descent control program.

[0065] Specifically, the no-load descent control procedure includes:

[0066] The vehicle controller obtains the opening degree of the handle when it is lowered according to the handle signal ( ), the vehicle controller controls the opening of the descending proportional valve during descent for:

[0067]

[0068] Control the target speed value when the pump motor descends ; is the height of the spreader at the lowest point, is the minimum opening value of the proportional valve, It is the height of the spreader at the highest point;

[0069] The control procedure of the hanging box descent includes:

[0070] The vehicle controller obtains the opening degree of the handle when it is lowered according to the handle signal ( ), the real-time weight value of the cargo is calculated by the weighing pressure sensor , obtain the vehicle full load value through the instrument , then the vehicle controller controls the opening of the descending proportional valve during descent for:

[0071]

[0072] Control the target speed value when the pump motor descends .

[0073] The empty-load descent control program does not need to consider the weight of the cargo. The hanging box descent control program takes the cargo weight into consideration, and the descent speed is controlled more accurately. The empty-load descent speed is faster, ensuring efficiency and safety.

[0074] Combination Figure 3 As shown, when leaning forward, the vehicle controller obtains the opening degree of the handle when leaning forward according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , the current angle value of the gantry , calculate the real-time weight of the goods through the weighing pressure sensor , obtain the vehicle full load value through the instrument , Mast forward tilt angle threshold And the maximum speed of the pump motor when the gantry is tilted , then the vehicle controller controls the forward tilt proportional valve opening when tilting forward for:

[0075]

[0076] Control the target speed value when the pump motor tilts forward .

[0077] Combination Figure 3 As shown, when leaning back, the vehicle controller obtains the opening degree of the handle when leaning back according to the handle signal ( ), obtain the current height value of the spreader through the ACQ sensor , the current angle value of the gantry , calculate the real-time weight of the goods through the weighing pressure sensor , obtain the vehicle full load value through the instrument , Mast tilt angle threshold And the maximum speed of the pump motor when the gantry is tilted , then the vehicle controller controls the tilt proportional valve opening when tilting for:

[0078]

[0079] Control the target speed value when the pump motor tilts backward .

[0080] Specifically, in the present invention, when lifting / lowering / tilting forward / backward, the corresponding minimum opening value of the proportional valve is 5%-20%, for example, 10%, the minimum opening value of the proportional valve It is used to control the minimum speed of lifting, lowering, forward tilting and backward tilting to avoid excessive oil resistance caused by too small opening of the proportional valve and to avoid the situation where the mast does not lift / lower / tilt forward / backward to the bottom.

[0081] Before lifting and lowering, obtain the signal of the spreader controller. If the enable command issued by the spreader controller is 1, lifting or lowering is allowed; if the enable command is 0, lifting or lowering is not allowed. Make sure that the spreader is locked before lifting or lowering, and make sure that the cargo is effectively locked before performing the action.

[0082] The control method also includes obtaining the real-time weight value of the cargo by the vehicle controller , according to the real-time weight value of the goods Determine the maximum height allowed for lifting by the sling The maximum height allowed varies with the weight of the cargo to avoid tipping. Accordingly, the maximum tilt angles of forward and backward tilting can also be changed according to the weight of the cargo. When the maximum value changes, the corresponding thresholds also change accordingly.

[0083] Combination Figure 4 , Figure 5 As shown, the present invention also provides a load-sensitive gantry control system for an electric container stacker, which is applied to the load-sensitive gantry control method of the above-mentioned electric container stacker. The control system includes a joystick J, a length angle sensor ACQ, a weighing pressure sensor W, a sling controller S, an interactive bus instrument M, a vehicle controller VCU, a motor controller MCU, a lifting proportional valve Y1, a lowering proportional valve Y2, a forward tilt proportional valve Y3 and a backward tilt proportional valve Y4.

[0084] The vehicle controller obtains the current height value of the hoist , the highest point height of the hoist , Lifting buffer position threshold , the lowest point height of the hoist , Downward buffer position threshold , Current angle value of the mast , Mast forward tilt angle threshold , Mast tilt angle threshold ; Get the working status of the joystick, including lifting, lowering, forward tilting, and backward tilting;

[0085] When lifting, when the current height value of the hoist The lifting buffer position threshold has not been reached , lift at the lifting speed of the joystick; when the current height value of the hoist The lifting buffer position threshold is reached , reduce the lifting speed until it stops;

[0086] When descending, when the current height value of the spreader The drop buffer position threshold is not reached , reduce the speed of the descent of the control handle; when the current height value of the spreader Reaching the falling buffer position threshold , reduce the descent speed until it stops;

[0087] When leaning forward, when the mast current angle value The mast forward tilt angle threshold is not reached , tilt forward at the forward tilt speed of the joystick; when the mast current angle value The mast forward tilt angle threshold is reached , reduce the forward speed until it stops;

[0088] When tilting backward, when the mast current angle value The mast tilt angle threshold is not reached , tilt backward at the tilt speed of the joystick; when the mast current angle value The mast tilt angle threshold is reached , reduce the backward tilt speed until it stops.

[0089] The parameters introduced mainly include the height of the spreader at the highest point , the height of the sling at the lowest point , mast lifting buffer position threshold , gantry no-load descent buffer threshold , Container height , Mast forward tilt angle threshold , Mast tilt angle threshold 、Vehicle full load value , the weight of the cargo currently loaded on the vehicle , Minimum opening value of proportional valve , the current height of the spreader , The current angle value of the gantry , opening data of handle lifting / lowering / forward / backward , Lifting / Lowering / Forward / Backward Proportional Valve Opening , Maximum speed of the pump motor when the gantry is raised / lowered , Maximum speed of the pump motor in forward / backward tilt , the current speed value of the pump motor when the gantry is lifting / lowering / tilting forward / backward .

[0090] The vehicle controller controls the opening of the proportional valve and the speed of the motor by comprehensively analyzing the lifting and lowering enable and lock opening and closing status data of the sensor, handle and spreader controller, combined with the parameters set by the instrument, to achieve the stability and safety of the gantry control; the bus instrument, vehicle controller, spreader controller and motor controller exchange information through the CAN bus; the administrator can input the height value of the spreader at the highest point through the instrument , the height of the sling at the lowest point , mast lifting buffer position threshold , gantry no-load descent buffer threshold , Container height , Mast forward tilt angle threshold , Mast tilt angle threshold 、Vehicle full load value , Minimum opening value of proportional valve , Maximum speed of the pump motor when the gantry is raised / lowered The maximum speed of the pump motor in forward / backward tilt Twelve adjustable parameters adjust the stability of system operation. The specific operation implementation process can refer to the corresponding process of the load-sensitive gantry control method of the electric container stacker mentioned above.

[0091] Combination Figure 5 , Figure 6 The cable box 5 of the length angle sensor ACQ is horizontally fixed to the cable box bracket body 51 by bolts, and the cable box bracket body 51 is fixed to the inner mast 2 of the vehicle by bolts; the sensor cable terminal is fixed to the cable terminal bracket body 52 by bolts, and the cable terminal bracket body 52 is fixed to the outer mast 1 by bolts. The mast is driven to tilt forward and backward by the tilt cylinder 4, and the forward and backward tilt angles and lifting height of the mast are detected by the length angle sensor ACQ.

[0092] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A load-sensitive gantry control method for an electric container stacker, characterized in that: include: The vehicle controller obtains the current height value h of the hoist and the lifting buffer position threshold h lf , Downward buffer position threshold h lo , the current angle value of the mast α, the threshold value of the mast forward tilt angle a q , Mast tilt angle threshold α h ; Obtain the working state of the joystick, which includes lifting, lowering, forward tilting, and backward tilting; During lifting, when the current height value h of the sling does not reach the lifting buffer position threshold h lf , lift at the lifting speed of the operating handle; when the current height value h of the spreader reaches the lifting buffer position threshold h lf , reduce the lifting speed until it stops; When descending, when the current height value h of the spreader does not reach the descending buffer position threshold h lo , lowered by the descending speed of the joystick; When the current height value h of the spreader reaches the descending buffer position threshold h lo , reduce the descent speed until it stops; When the mast tilts forward, when the mast current angle value α does not reach the mast tilt angle threshold value a q , tilt forward at the tilt speed of the joystick; when the current angle value α of the mast reaches the mast tilt angle threshold value a q , reduce the forward speed until it stops; When the mast is tilted backward, when the mast current angle value α does not reach the mast tilt angle threshold α h , tilt backward at the tilt speed of the joystick; when the current angle value α of the mast reaches the mast tilt angle threshold α h , reduce the backward tilt speed until it stops; When descending, the vehicle controller obtains the current height value h of the spreader and obtains the height value h of the spreader at the lowest point through the instrument. min 、Gantry empty load descending buffer position threshold h loe 、Container height h l , the maximum speed value of the pump motor when the gantry is lowered r ldm ; The current lock status of the spreader is obtained through the spreader controller. When the spreader is in the unlocked state, the vehicle has no container mounted, and the vehicle controller executes the no-load descent control program; When the spreader is in the locked state, the vehicle is carrying a container, and the vehicle controller executes the container lowering control program; The no-load descent control procedure includes: The vehicle controller obtains the opening x when the handle is lowered according to the handle signal ld (x ld ∈(0, 100%), the vehicle controller controls the opening of the descending proportional valve w during the descent ld for: Control the target speed value r when the pump motor descends ld =w ld × ldm ;h min is the height of the spreader at the lowest point, w min is the minimum opening value of the proportional valve, h max It is the height of the spreader at the highest point; The descent control program of the hanging box includes: The vehicle controller obtains the opening x when the handle is lowered according to the handle signal ld (x ld ∈(0, 100%)), the real-time weight value wt of the cargo is calculated by the weighing pressure sensor, and the full load value wt of the vehicle is obtained by the instrument m , then the vehicle controller controls the opening of the descending proportional valve w ld for: Control the target speed value r when the pump motor descends ld =w ld × ldm ;h min is the height of the spreader at the lowest point, w min It is the minimum opening value of the proportional valve.

2. The load-sensitive gantry control method of an electric container stacker according to claim 1, characterized in that: When lifting, the vehicle controller obtains the opening degree x of the handle when lifting according to the handle signal lf (x lf ∈(0, 100%)), obtain the current height value h of the spreader through the ACQ sensor, and obtain the height value h of the spreader at the highest point through the instrument max , Lifting buffer position threshold h lf , the maximum speed value of the pump motor when the gantry is lifted r lfm , then the vehicle controller controls the lifting proportional valve opening w during lifting lf for: Control the target speed value r when the pump motor is lifted 1f =w 1f × 1fm ;h min is the height of the spreader at the lowest point, w min It is the minimum opening value of the proportional valve.

3. The load-sensitive gantry control method of an electric container stacker according to claim 1, characterized in that: When leaning forward, the vehicle controller obtains the opening degree x of the handle when leaning forward according to the handle signal lq (x lq ∈(0, 100%)), obtain the current height value h of the spreader and the current angle value α of the gantry through the ACQ sensor, obtain the real-time weight value wt of the cargo through the weighing pressure sensor, and obtain the full load value wt of the vehicle through the instrument m , Mast forward tilt angle threshold a q and the maximum speed of the pump motor when the gantry is tilted r lqm , then the vehicle controller controls the forward tilt proportional valve opening w when tilting forward lq for: Control the target speed value r when the pump motor tilts forward lq =w lq × lqm .

4. The load-sensitive gantry control method of an electric container stacker according to claim 1, characterized in that: When leaning back, the vehicle controller obtains the opening degree x of the handle when leaning back according to the handle signal lh (x lh ∈(0, 100%)), obtain the current height value h of the spreader and the current angle value α of the gantry through the ACQ sensor, obtain the real-time weight value wt of the cargo through the weighing pressure sensor, and obtain the full load value wt of the vehicle through the instrument m , Mast tilt angle threshold α h and the maximum speed of the pump motor when the gantry is tilted r lqm , then the vehicle controller controls the tilt proportional valve opening w when tilting backward 1h for: Control the target speed value r when the pump motor tilts backward 1h =w 1h × 1hm .

5. The load-sensitive gantry control method of an electric container stacker according to any one of claims 2 to 4, characterized in that: When lifting / lowering / forward / backward, the corresponding minimum opening value of the proportional valve is w min It is 5%-20%.

6. The load-sensitive gantry control method of an electric container stacker according to claim 1 or 2, characterized in that: Before lifting and lowering, obtain the signal of the spreader controller. If the enable command issued by the spreader controller is 1, lifting or lowering is allowed; if the enable command is 0, lifting or lowering is not allowed; The method also includes obtaining the real-time weight value wt of the cargo, and determining the maximum height h allowed for lifting by the sling according to the real-time weight value wt of the cargo. max .

7. A load-sensitive gantry control system for an electric container stacker, characterized in that: A load-sensitive gantry control method for an electric container stacker according to any one of claims 1 to 6, comprising a joystick J, a length angle sensor ACQ, a weighing pressure sensor W, a spreader controller S, an interactive bus instrument M, a vehicle controller VCU, a motor controller MCU, a lifting proportional valve Y1, a lowering proportional valve Y2, a forward tilt proportional valve Y3, and a backward tilt proportional valve Y4; The vehicle controller obtains the current height value h of the spreader and the height value h of the highest point of the spreader max , Lifting buffer position threshold h lf , the lowest point height of the sling h min , Downward buffer position threshold h lo , the current angle value of the mast α, the threshold value of the mast forward tilt angle a q , Mast tilt angle threshold α h ; Obtain the working state of the joystick, which includes lifting, lowering, forward tilting, and backward tilting; During lifting, when the current height value h of the sling does not reach the lifting buffer position threshold h lf , lift at the lifting speed of the operating handle; when the current height value h of the spreader reaches the lifting buffer position threshold h lf , reduce the lifting speed until it stops; When descending, when the current height value h of the spreader does not reach the descending buffer position threshold h lo , lowered by the descending speed of the joystick; When the current height value h of the spreader reaches the descending buffer position threshold h lo , reduce the descent speed until it stops; When the mast tilts forward, when the mast current angle value α does not reach the mast tilt angle threshold value a q , tilt forward at the tilt speed of the joystick; when the current angle value α of the mast reaches the mast tilt angle threshold value a q , reduce the forward speed until it stops; When the mast is tilted backward, when the mast current angle value α does not reach the mast tilt angle threshold α h , tilt backward at the tilt speed of the joystick; when the current angle value α of the mast reaches the mast tilt angle threshold α h , reduce the backward tilt speed until it stops.

8. The load-sensitive gantry control system of the electric container stacker according to claim 7, characterized in that: The wire box of the length angle sensor ACQ is horizontally fixed to the wire box bracket body by bolts, and the wire box bracket body is fixed to the inner door frame of the vehicle by bolts; the sensor wire terminal is fixed to the wire terminal bracket body by bolts, and the wire terminal bracket body is fixed to the outer door frame by bolts.

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