Crane control device, crane, and crane control method

Abstract

The invention discloses a crane control device, a crane and a crane control method.The crane control device comprises a hydraulic pump, an unloading oil way, a multi-way valve and a control valve, the multi-way valve is connected to the hydraulic pump, the multi-way valve is further connected to a variable-amplitude oil cylinder, a telescopic oil cylinder and a winch motor of the crane, and the control valve is arranged on the unloading oil way; the unloading oil way is connected with the oil tank, the variable-amplitude oil cylinder, the telescopic oil cylinder and the winch motor, and the control valve is used for controlling connection and disconnection of the unloading oil way. In the embodiment of the invention, the variable-amplitude oil cylinder, the telescopic oil cylinder and the winch motor can be directly unloaded so as to limit variable amplitude of the variable-amplitude oil cylinder, extension of the telescopic oil cylinder and winding of the steel wire rope, the problems of misoperation and breakage of the steel wire rope are avoided, an operating valve does not need to be arranged, and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting machinery, and in particular to a crane control device, a crane and a crane control method. Background Art

[0002] Truck mounted cranes usually change the aerial working point or lifting working point by extending and retracting the working arm and changing the elevation angle. After the operation of the truck mounted crane is completed, the hook needs to be reliably fixed, and a certain pre-tightening force is applied to the wire rope to tighten the wire rope to prevent the hook from swinging during the vehicle's driving, causing driving hazards and wire rope tangling.

[0003] At present, there are usually two ways to tighten the wire rope: 1. The operator makes judgments based on experience by observing the hook position and the number of winch rotations; 2. Adding an oil circuit and a hook retracting handle to the operating valve. However, judging by the operator's experience is prone to errors, resulting in over-pulling of the wire rope, damage to the wire rope and structural parts. Adding a control valve will increase costs, increase the operating burden, and easily cause misoperation, resulting in accidents. Moreover, when the hook is in the tightened state, if the user mistakenly operates the arm extension and luffing action, the wire rope will be broken. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a crane control device, a crane and a crane control method which are low in cost, avoid misoperation and avoid breaking of wire ropes.

[0005] To achieve the above-mentioned purpose, the present invention provides a crane control device for controlling a crane, the crane control device comprising a hydraulic pump, a unloading oil circuit, a multi-way valve and a control valve, the multi-way valve being connected to the hydraulic pump, the multi-way valve being also connected to the boom cylinder, telescopic cylinder and hoisting motor of the crane, the control valve being arranged on the unloading oil circuit, the unloading oil circuit connecting an oil tank with the boom cylinder, the telescopic cylinder and the hoisting motor, and the control valve being used to control the connection and closing of the unloading oil circuit.

[0006] Optionally, the crane control device further comprises a control module, a hook position detection element and a wire rope tension detection element, wherein when the hook position detection element detects that the hook reaches the starting position, the wire rope tension detection element starts to detect the wire rope tension;

[0007] The control module is used to control the control valve to switch the connection state of the unloading oil circuit according to the detection data of the hook position detection element and the wire rope tension detection element.

[0008] Optionally, the hook position detection element is a height position switch connected to the steel wire rope; or, the steel wire rope tension detection element is a tension sensor connected to the steel wire rope.

[0009] Optionally, the control valve comprises a first control valve and a second control valve, and the first control valve and the second control valve have three states through displacement coordination:

[0010] In the state, the unloading oil circuit is completely closed, and the luffing cylinder, the telescopic cylinder and the hoisting motor all work normally;

[0011] In state 2, the unloading oil circuit is partially connected, the luffing cylinder and the telescopic cylinder are unloaded, and only the hoisting motor can work normally;

[0012] In state three, the unloading oil circuits are all connected, and the boom cylinder, the telescopic cylinder and the winch motor are all unloaded.

[0013] Optionally, the first control valve includes a first oil port, a second oil port, a third oil port and a fourth oil port, the first oil port is connected to the telescopic oil cylinder and to the luffing oil cylinder, the second oil port is connected to the hoisting motor, the third oil port is connected to the oil tank, and the fourth oil port is connected to the oil tank through the second control valve; the first control valve includes a third position and a fourth position, when in the third position, the first oil port is connected to the second oil port, the oil is prohibited from flowing from the first oil port and the second oil port to the third oil port, and the fourth oil port is disconnected from the first oil port, the second oil port and the third oil port; when in the fourth position, the first oil port is connected to the third oil port, and the second oil port is connected to the fourth oil port;

[0014] The second control valve includes a fifth oil port and a sixth oil port, the fifth oil port is connected to the fourth oil port of the first control valve, and the sixth oil port is connected to the oil tank, the second control valve includes a fifth position and a sixth position, when in the fifth position, the fifth oil port and the sixth oil port are connected; when in the sixth position, the fifth oil port and the sixth oil port are connected by prohibiting oil from flowing from the fifth oil port to the sixth oil port.

[0015] Optionally, when in the third position, the first oil port and the third oil port are connected by a fourth one-way valve that only allows oil to flow from the third oil port to the first oil port and the third oil port; when in the sixth position, the fifth oil port and the sixth oil port are connected by a fifth one-way valve that only allows oil to flow from the sixth oil port to the fifth oil port; a sixth one-way valve that only allows oil to flow from the telescopic oil cylinder to the first control valve is provided between the first control valve and the telescopic oil cylinder, a seventh one-way valve that only allows oil to flow from the telescopic oil cylinder to the first control valve is provided between the first control valve and the boom cylinder, and an eighth one-way valve that only allows oil to flow from the hoisting motor to the first control valve is provided between the first control valve and the hoisting motor.

[0016] Optionally, the control valve includes a third control valve and a fourth control valve, the third control valve is used to allow or not allow the oil of the boom cylinder, the telescopic cylinder and the winch motor to flow to the fourth control valve, and the fourth control valve is used to allow or not allow the oil flowing out of the third control valve to flow into the oil tank; the control module is used to control the switching state of the third control valve to allow the oil of the boom cylinder, the telescopic cylinder and the winch motor to flow into the fourth control valve through the third control valve when the hook position detection element detects that the hook is at the starting position, and the control module is also used to control the switching state of the fourth control valve to allow the oil flowing out of the third control valve to flow into the oil tank when the wire rope tension detection element detects that the tension of the wire rope reaches the preset tension.

[0017] Optionally, the third control valve includes a seventh oil port and an eighth oil port, the seventh oil port is connected to the luffing oil cylinder, the telescopic oil cylinder, and the hoisting motor, and the eighth oil port is connected to the fourth control valve; the third control valve includes a seventh position and an eighth position, when in the seventh position, oil is prohibited from flowing from the seventh oil port to the eighth oil port; when in the eighth position, the seventh oil port and the eighth oil port are directly connected;

[0018] The fourth control valve includes a ninth oil port and a tenth oil port, the ninth oil port is connected to the eighth oil port of the third control valve, and the tenth oil port is connected to the oil tank; the fourth control valve includes a ninth position and a tenth position, when in the ninth position, oil is prohibited from flowing from the ninth oil port to the tenth oil port; when in the tenth position, the ninth oil port and the tenth oil port are connected.

[0019] Optionally, when in the seventh position, the seventh oil port and the eighth oil port are connected by a ninth one-way valve that only allows oil to flow from the eighth oil port to the seventh oil port; when in the ninth position, the ninth oil port and the tenth oil port are connected by a tenth one-way valve that only allows oil to flow from the tenth oil port to the ninth oil port; a sixth one-way valve that only allows oil to flow from the telescopic oil cylinder to the third control valve is provided between the third control valve and the telescopic oil cylinder, a seventh one-way valve that only allows oil to flow from the telescopic oil cylinder to the third control valve is provided between the third control valve and the boom cylinder, and an eighth one-way valve that only allows oil to flow from the hoisting motor to the third control valve is provided between the third control valve and the hoisting motor.

[0020] The present application also provides a crane, comprising a lifting device, the lifting device comprising a base frame assembly, a turntable, a boom, a luffing cylinder, a telescopic cylinder, a winch, a hook and a wire rope, the turntable is rotatably connected to the base frame assembly, the boom is rotatably connected to the turntable, the boom is a telescopic arm, the luffing cylinder is used to drive the boom to rotate relative to the turntable to achieve luffing, and the telescopic cylinder is used to drive the boom to extend and retract; the wire rope is connected to the hook and wound around the winch, the winch is driven to rotate by the winch motor, and the crane also includes the above-mentioned crane control device.

[0021] The present application also provides a crane control method for controlling the above crane, the crane control method comprising:

[0022] The position of the hook is detected when the crane is working. When the hook is not lifted to the starting position, the crane is working normally.

[0023] When the hook is lifted to the starting position, the tension on the wire rope is detected, and when the hook is lifted to the starting position and the tension on the wire rope reaches the preset tension, the control valve is controlled to connect the unloading oil circuit with the luffing cylinder, the telescopic cylinder, and the winch motor for unloading;

[0024] When the tension applied to the steel wire rope reaches the preset tension, the control valve is controlled to connect the unloading oil circuit with the winch motor for unloading.

[0025] Optionally, the control valve includes a first control valve and a second control valve, and the crane control method specifically includes:

[0026] The position of the hook is detected when the crane is working. When the hook is not lifted to the starting position, the crane is working normally.

[0027] After the hook is lifted to the starting position, the tension on the wire rope is detected, and the first control valve is controlled to connect the unloading oil circuit with the luffing oil cylinder and the telescopic oil cylinder to unload;

[0028] When the tension applied to the steel wire rope reaches the preset tension, the second control valve is controlled to connect the unloading oil circuit with the winch motor for unloading.

[0029] Optionally, the control valve includes a third control valve and a fourth control valve, and the crane control method specifically includes:

[0030] The position of the hook is detected when the crane is working. When the hook is not lifted to the starting position, the crane is working normally.

[0031] After the hook is lifted to the starting position, the tension of the wire rope is detected, and the third control valve is controlled to connect the fourth control valve with the luffing cylinder, the telescopic cylinder, and the winch motor, and the fourth control valve is controlled to close the unloading oil circuit and the third control valve;

[0032] When the tension exerted on the steel wire rope reaches the preset tension, the fourth control valve is controlled to connect the unloading oil circuit with the boom cylinder, the telescopic cylinder, and the winch motor for unloading.

[0033] In the crane control device, crane and crane control method of the present application, the oil tank can be directly connected to the luffing cylinder, telescopic cylinder and winch motor, so that the luffing cylinder, telescopic cylinder and winch motor can be directly unloaded to limit the luffing of the luffing cylinder, the extension of the telescopic cylinder and the winding wire rope, thereby avoiding misoperation and the problem of breaking the wire rope. There is no need to set a control valve, and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 The figure is a structural diagram of a crane.

[0036] Figure 2 The present invention is a schematic structural diagram of a lifting device controlled by a crane control device provided by an embodiment of the present invention.

[0037] Figure 3 for Figure 2A partial enlarged view of point III in the middle.

[0038] Figure 4 A schematic structural diagram of a crane control device provided in one embodiment of the present invention.

[0039] Figure 5 The figure is a schematic structural diagram of another lifting device controlled by a crane control device provided by an embodiment of the present invention.

[0040] Figure 6 for Figure 5 A local enlarged view of the V region.

[0041] Figure 7 for Figure 4 Schematic diagram of the structure of the control valve of the crane control device shown.

[0042] Figure 8 for Figure 4 The schematic diagram of the crane control device is shown when the hook reaches the starting position.

[0043] Fig. 9 for Figure 4 The crane control device shown is a schematic diagram of the state when the wire rope is stretched to reach a preset tension.

[0044] Fig.10 A schematic structural diagram of a crane control device provided in another embodiment of the present invention.

[0045] Fig.11 for Fig.10 The schematic diagram of the crane control device is shown when the hook reaches the starting position.

[0046] Fig.12 for Fig.10 The crane control device shown is a schematic diagram of the state when the wire rope is stretched to reach a preset tension.

[0047] Fig.13 A schematic flow chart of a crane control method provided in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the description of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0050] The terms "first", "second", "third", etc. are merely used to distinguish values ​​or elements of similar attributes, rather than to indicate or imply relative importance or a particular order.

[0051] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of the elements listed and may also include additional elements not expressly listed.

[0052] The embodiment of the present invention provides a crane control device for controlling a crane, please refer to Figure 1 The crane includes a body 11 and a lifting device 13, and the lifting device 13 is installed on the body 11. Specifically in this embodiment, the crane can be a truck crane, and of course it can also be a truck crane or a crawler crane. When the truck crane is driving, the head of the boom is usually facing backward. Please refer to Figure 2 and Figure 3 The lifting device 13 includes a chassis assembly 131, a turntable 132, a boom 133, a luffing cylinder 135 and a telescopic cylinder 136. The chassis assembly 131 is mounted on the vehicle body 11. The turntable 132 is rotatably connected to the chassis assembly 131. The boom 133 is rotatably connected to the turntable 132 to adjust the pitch angle of the boom 133. The boom 133 is a telescopic arm. The luffing cylinder 135 is used to drive the boom 133 to rotate relative to the turntable 132 to achieve luffing. The telescopic cylinder 136 is used to drive the boom 133 to extend and retract. In the present embodiment, there is one luffing cylinder 135. Of course, the boom 133 can also be connected to the turntable 132 via a connecting arm, wherein the boom 133 can be rotatably connected to the connecting arm, and the connecting arm can be rotatably connected to the turntable 132. The connecting arm and the boom 133 are respectively driven to rotate by one luffing cylinder, that is, there can be two luffing cylinders 135. Of course, there can also be more than two luffing cylinders 135. It can be understood that according to the number of telescopic sections of the boom 133, the number of telescopic cylinders 136 can also be one, two or more than two. The lifting device 13 also includes a winch (not shown), a hook 138 and a wire rope 139. The wire rope 139 is connected to the hook 138 and is wound around the winch to raise and lower the hook 138. The winch is driven by a winch motor 35 (see Figure 4 ) drives the rotation.

[0053] Please refer to Figure 4The crane control device of one embodiment includes a hydraulic pump (not shown), an unloading oil circuit, a multi-way valve 31 and a control valve 33. The multi-way valve 31 is connected to the hydraulic pump. The multi-way valve 31 is also connected to the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35. The multi-way valve 31 is used to guide the pressure oil of the hydraulic pump to the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35 to drive the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35 to work. The multi-way valve 31 is also used to guide the oil of the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35 to the oil tank for oil return. The control valve 33 is arranged on the unloading oil circuit, the unloading oil circuit connects the oil tank with the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35, and the control valve 33 is used to control the connection and closing of the unloading oil circuit.

[0054] In the crane control device of the present embodiment, the oil tank can be directly connected to the luffing cylinder, telescopic cylinder and winch motor through the unloading oil circuit, so that the luffing cylinder, telescopic cylinder and winch motor can be directly unloaded to limit the luffing of the luffing cylinder, the extension of the telescopic cylinder and the retraction of the winch wire rope, thereby avoiding misoperation and the problem of breaking the wire rope. There is no need to set a control valve, and the cost is low.

[0055] In this embodiment, the crane control device further includes a control module, a hook position detection element 37 and a wire rope tension detection element 39. The hook position detection element 37 is used to detect whether the hook 138 is located at the starting position, and the wire rope tension detection element 39 is used to detect the tension of the wire rope 139. When the hook position detection element 37 detects that the hook is located at the starting position, the wire rope tension detection element 39 starts to work and detects the wire rope tension. The control module is used to control the control valve 33 to switch the connection state of the unloading oil circuit according to the detection data of the hook position detection element 37 and the wire rope tension detection element 39. Specifically, the control module is used to sequentially control the control valve 33 to connect the oil tank with the luffing cylinder 135, the telescopic cylinder 136, and the hoisting motor 35 when the hook position detection element 37 detects that the hook 138 is at the starting position and the wire rope tension detection element 39 detects that the tension of the wire rope 139 reaches the preset tension, so as to unload the luffing cylinder 135, the telescopic cylinder 136, and the hoisting motor 35. The starting position of the hook 138 refers to a preset safe position where the hook 138 is located near the highest point, and the hook 138 is located below the starting position during operation.

[0056] For details, please refer again to Figure 3, the hook position detection element 37 may be a height position switch connected to the wire rope 139. When the hook 138 contacts the height position switch, it indicates that the hook 138 is at the starting position. The wire rope tension detection element 39 may be a tension sensor connected to the wire rope 139. Specifically, after the wire rope 139 passes around the hook 138, one end is fixed to the wedge-shaped joint 141 on the boom head 140, and the tension sensor is arranged on the boom head 140. It can be understood that the hook position detection element 37 may also be a laser ranging sensor or an infrared ranging sensor arranged on the boom head 140, which detects whether the hook 138 is at the starting position by measuring the distance between the boom head and the hook 138. It can be understood, please refer to Figure 5 and Figure 6 The wire rope tension detection element 39 can also be a pressure sensor. The wire rope 139 passes through the pressure sensor and is connected to the conversion joint 143. The tension exerted on the wire rope 139 is transmitted to the conversion joint 143, and the pressure sensor generates a pressure corresponding to the tension exerted on the wire rope 139, thereby measuring the tension exerted on the wire rope 139.

[0057] In this embodiment, the multi-way valve 31 includes a first main valve 311, a second main valve 312 and a third main valve 313 respectively connected to the oil outlet of the hydraulic pump, the first main valve 311 is respectively connected to the rod chamber and the rodless chamber of the telescopic cylinder 136 through the first oil circuit 45 and the second oil circuit 46, the second main valve 312 is respectively connected to the luffing cylinder 135 and the rod chamber through the third oil circuit 47 and the fourth oil circuit 48, and the third main valve 313 is respectively connected to the hoisting motor 35 and the second end through the fifth oil circuit 49 and the sixth oil circuit 50. The control valve 33 is respectively connected to the second oil circuit 46, the third oil circuit 47 and the fifth oil circuit 49.

[0058] Specifically, the first main valve 311, the second main valve 312 and the third main valve 313 can all be three-position flow reversing valves. By switching the states of the first main valve 311, the second main valve 312 and the third main valve 313, different states of supplying oil to the telescopic cylinder 136, the rod chamber of the telescopic cylinder 136, the boom cylinder 135, the rod chamber of the boom cylinder 135, the hoisting motor 35, and the second end of the hoisting motor 35 can be realized. It is also possible to realize different states of returning oil by making the oil in the telescopic cylinder 136, the rod chamber of the telescopic cylinder 136, the boom cylinder 135, the rod chamber of the boom cylinder, the hoisting motor 35, and the second end of the hoisting motor 35 flow back to the oil tank. It is also possible to realize a state of not supplying oil to the telescopic cylinder 136, the boom cylinder 135 and the hoisting motor 35.

[0059] Specifically, the second oil circuit 46 is further provided with a first check valve 461 and a first connecting valve 462 in parallel, and the control end of the first connecting valve 462 is connected to the first oil circuit 45. When the first oil circuit 45 passes through the pressure oil, the first connecting valve 462 is opened and switched to a connected state, so that the oil of the telescopic oil cylinder 136 can be returned. When the second oil circuit 46 passes through the pressure oil, the oil in the rod chamber of the telescopic oil cylinder 136 can be returned through the first oil circuit 45, and the first connecting valve 462 is closed and switched to a disconnected state, and the first check valve 461 prevents the oil of the telescopic oil cylinder 136 from flowing back to the first main valve 311. Specifically, the third oil circuit 47 is provided with a second check valve 471 and a second connecting valve 472 in parallel, and the control end of the second connecting valve 472 is connected to the fourth oil circuit 48. The working principles of the second check valve 471 and the second connecting valve 472 are similar to those of the first check valve 461 and the first connecting valve 462, and are not repeated here.

[0060] Specifically, a switching valve 491 is further provided on the fifth oil circuit 49. The switching valve 491 includes a first position connected to the fifth oil circuit 49 through the third one-way valve and a second position directly connected to the fifth oil circuit 49. The control end of the switching valve 491 is connected to the sixth oil circuit 50. When the fifth oil circuit 49 is fed with pressurized oil, the switching valve 491 is in the first position, the third one-way valve only allows oil to flow from the third main valve 313 into the hoisting motor 35, and the oil at the second end of the hoisting motor 35 is returned through the sixth oil circuit 50; when the sixth oil circuit 50 is fed with pressurized oil, the switching valve 491 is switched to the second position, and the oil of the hoisting motor 35 is returned through the fifth oil circuit 49. Specifically in this embodiment, when the hoisting motor 35 is fed with pressurized oil, the hoisting rotates to tighten the wire rope 139, and when the second end of the hoisting motor 35 is fed with pressurized oil, the hoisting rotates in the opposite direction to release the wire rope 139. Specifically, the oil chamber of the winch brake 51 is also connected to the oil outlet of a shuttle valve, and the two oil inlets of the shuttle valve are respectively connected to the fifth oil circuit 49 and the sixth oil circuit 50. In this way, when pressurized oil is introduced into the fifth oil circuit 49 or the sixth oil circuit 50, the oil enters the oil chamber of the winch brake 51 to release the brake, allowing the winch to rotate.

[0061] In this embodiment, please refer to Figure 7 The control valve 33 includes a first control valve 331 and a second control valve 333. The first control valve 331 and the second control valve 333 have three states through displacement coordination:

[0062] In the state, the unloading oil circuit is completely closed, and the luffing cylinder 135, the telescopic cylinder 136 and the winch motor 35 all work normally;

[0063] In state 2, the lower unloading oil circuit is partially connected, the luffing cylinder 135 and the telescopic cylinder 136 are unloaded, and only the hoisting motor 35 can work normally;

[0064] In state three, all the unloading oil circuits are connected, and the luffing cylinder 135, the telescopic cylinder 136 and the hoisting motor 35 are all unloaded.

[0065] Specifically, the first control valve 331 is used to connect or close the unloading oil circuit with the luffing cylinder 135 and the telescopic cylinder 136, and the second control valve 333 is used to connect or close the unloading oil circuit with the hoisting motor 35. The control module is used to control the first control valve 331 to switch state when the hook position detection element 37 detects that the hook 138 is at the starting position to allow the oil of the luffing cylinder 135 and the telescopic cylinder 136 to flow into the oil tank for unloading. The control module is also used to control the second control valve 333 to switch state when the wire rope tension detection element 39 detects that the tension of the wire rope 139 reaches a preset tension to allow the oil of the hoisting motor 35 to flow into the oil tank for unloading.

[0066] Specifically, the first control valve 331 includes a first oil port 3311, a second oil port 3312, a third oil port 3313 and a fourth oil port 3314. The first oil port 3311 is connected to the telescopic cylinder 136 through the second oil circuit 46, and is connected to the boom cylinder 135 through the third oil circuit 47. The second oil port 3312 is connected to the winch motor 35 through the third oil circuit 49. The third oil port 3313 is connected to the oil tank. The fourth oil port 3314 is connected to the oil tank through the second control valve 333. The first control valve 331 includes a third position and a fourth position. In the third position, the first oil port 3311 is connected to the second oil port 3312, the first oil port 3311 and the third oil port 3313 are connected through a fourth one-way valve that only allows oil to flow from the third oil port 3313 to the first oil port 3311 and the third oil port 3313, and the fourth oil port 3314 is disconnected from the first oil port 3311, the second oil port 3312, and the third oil port 3313; in the fourth position, the first oil port 3311 is connected to the third oil port 3313, and the second oil port 3312 is connected to the fourth oil port 3314. It can be understood that in the third position, the third oil port 3313 can also be disconnected from the first oil port 3311 and the second oil port 3312, as long as the oil is prohibited from flowing from the first oil port 3311 and the second oil port 3312 to the third oil port 3313 in the third position.

[0067] Specifically, the second control valve 333 includes a fifth oil port 3331 and a sixth oil port 3332. The fifth oil port 3331 is connected to the fourth oil port 3314 of the first control valve 331, and the sixth oil port 3332 is connected to the oil tank. The second control valve 333 includes a fifth position and a sixth position. When in the fifth position, the fifth oil port 3331 and the sixth oil port 3332 are connected; when in the sixth position, the fifth oil port 3331 and the sixth oil port 3332 are connected through a fifth one-way valve that only allows oil to flow from the sixth oil port 3332 to the fifth oil port 3331. It can be understood that when in the sixth position, the fifth oil port 3331 and the sixth oil port 3332 can also be disconnected, as long as the oil is prohibited from flowing from the fifth oil port 3331 to the sixth oil port 3332 when in the sixth position.

[0068] Specifically, both the first control valve 331 and the second control valve 333 can be electromagnetic reversing valves, and the control module controls whether to energize the electromagnets of the first control valve 331 and the second control valve 333, thereby controlling the reversal of the first control valve 331 and the second control valve 333. It can be understood that the first control valve 331 and the second control valve 333 can also be hydraulically controlled valves, which can control the reversal of the first control valve 331 and the second control valve 333 according to the situation.

[0069] Specifically, a sixth one-way valve 335 is provided between the first control valve 331 and the telescopic cylinder 136, which only allows oil to flow from the telescopic cylinder 136 to the first control valve 331; a seventh one-way valve 336 is provided between the first control valve 331 and the luffing cylinder 135, which only allows oil to flow from the luffing cylinder 135 to the first control valve 331; and an eighth one-way valve 337 is provided between the first control valve 331 and the hoisting motor 35, which only allows oil to flow from the hoisting motor 35 to the first control valve 331. The sixth one-way valve 335, the seventh one-way valve 336, and the eighth one-way valve 337 can prevent oil from flowing back.

[0070] Please refer to Figure 4 When the lifting device is normally hoisting, the first control valve 331 is in the third position, the second control valve 333 is in the sixth position, the unloading oil circuit is in a closed state, the first control valve 331 does not allow the oil of the boom cylinder 135 and the telescopic cylinder 136 to flow into the oil tank through the control valve 33 for unloading, and the first control valve 331 and the second control valve 333 do not allow the oil of the winch motor 35 to flow into the oil tank for unloading.

[0071] Please refer to Figure 8When the lifting device completes the lifting work and retracts the vehicle, the boom 133 is first retracted and the amplitude is changed to the horizontal level, and then the winch is operated to collect the rope, and the hook 138 performs the rising action. During the rising process of the hook 138, when the hook position detection element 37 detects that the hook 138 is at the starting position (in this embodiment, the hook 138 contacts the height limit switch), the first control valve 331 is controlled to switch to the fourth position. At this time, the telescopic cylinder 136 and the amplitude-changing cylinder 135 are both connected to the oil tank for unloading. The telescopic cylinder 136 cannot be extended, and the amplitude-changing cylinder 135 cannot be changed. At this time, the second control valve 333 is still in the sixth position. After the oil of the winch motor 35 reaches the first control valve 331, it cannot pass through the second control valve 333. The winch motor 35 is not unloaded, and the winch can perform the lifting action normally.

[0072] Please refer to Fig. 9 ,exist Figure 8 The winch continues to lift and the wire rope 139 begins to increase the pre-tightening force continuously. When the wire rope tension detection element 39 detects that the tension on the wire rope 139 reaches the preset tension, the second control valve 333 is controlled to switch to the fifth position, so that the winch motor 35 is connected to the oil tank for unloading. At this time, the winch lifting action is restricted to realize the automatic tightening of the hook 138.

[0073] When the crane is in the moving state, the hook 138 is retracted to the bottom. As long as the hook 138 is in the starting position, the first control valve 331 is in the fourth position. At this time, even if the operator extends the arm or lies down on the arm, the arm will not move. The hook 138 must be lowered below the starting position to release the restriction. This prevents accidents such as the hook hitting the top and breaking the wire rope due to user misoperation.

[0074] Please refer to Fig.10 In another embodiment, the control valve 33 includes a third control valve 338 and a fourth control valve 339. The third control valve 338 and the fourth control valve 339 have two states through displacement coordination:

[0075] Once the unloading oil circuit is closed, the luffing cylinder 135, telescopic cylinder 136 and winch motor 35 all work normally.

[0076] In the second state, all the unloading oil circuits are connected, and the boom cylinder 135, the telescopic cylinder 136 and the hoisting motor 35 are all unloaded.

[0077] Specifically, the third control valve 338 is used to connect or close the fourth control valve 339 with the luffing cylinder 135, the telescopic cylinder 136, and the hoisting motor 35, and the fourth control valve 339 connects or closes the third control valve 338 with the oil tank. The control module is used to control the switching state of the third control valve 338 to allow the oil of the luffing cylinder 135, the telescopic cylinder 136, and the hoisting motor 35 to flow into the fourth control valve 339 when the hook position detection element 37 detects that the hook 138 is at the starting position. The control module is also used to control the switching state of the fourth control valve 339 to allow the oil flowing out of the third control valve 338 to flow into the oil tank when the wire rope tension detection element 39 detects that the tension of the wire rope 139 reaches a preset tension. It can be understood that the third control valve 338 and the fourth control valve 339 can be switched simultaneously or one after another. The state switching of the third control valve 338 is determined by whether the hook 138 is in the starting position, and the state switching of the fourth control valve 339 is determined by whether the tension on the wire rope 139 reaches the preset tension.

[0078] Specifically, the third control valve 338 includes a seventh oil port 3381 and an eighth oil port 3382. The seventh oil port 3381 is connected to the boom cylinder 135, the telescopic oil cylinder 136, and the hoisting motor 35, and the eighth oil port 3382 is connected to the fourth control valve 339. The third control valve 338 includes a seventh position and an eighth position. When in the seventh position, the seventh oil port 3381 and the eighth oil port 3382 are connected through a ninth one-way valve that only allows oil to flow from the eighth oil port 3382 to the seventh oil port 3381; when in the eighth position, the seventh oil port 3381 and the eighth oil port 3382 are directly connected. It can be understood that when in the seventh position, the seventh oil port 3381 and the eighth oil port 3382 can also be disconnected, as long as the oil is prohibited from flowing from the seventh oil port 3381 to the eighth oil port 3382 when in the seventh position.

[0079] Specifically, the fourth control valve 339 includes a ninth oil port 3391 and a tenth oil port 3392. The ninth oil port 3391 is connected to the eighth oil port 3382 of the third control valve 338, and the tenth oil port 3392 is connected to the oil tank. The fourth control valve 339 includes a ninth position and a tenth position. When in the ninth position, the ninth oil port 3391 and the tenth oil port 3392 are connected through a tenth one-way valve that only allows oil to flow from the tenth oil port 3392 to the ninth oil port 3391; when in the tenth position, the ninth oil port 3391 and the tenth oil port 3392 are connected. It can be understood that when in the ninth position, the ninth oil port 3391 and the tenth oil port 3392 can also be disconnected, as long as the oil is prohibited from flowing from the ninth oil port 3391 to the tenth oil port 3392 when in the ninth position.

[0080] Specifically, the third control valve 338 and the fourth control valve 339 can both be electromagnetic reversing valves.

[0081] Specifically, a sixth one-way valve 335 is provided between the third control valve 338 and the telescopic cylinder 136, which only allows oil to flow from the telescopic cylinder 136 to the third control valve 338; a seventh one-way valve 336 is provided between the third control valve 338 and the luffing cylinder 135, which only allows oil to flow from the luffing cylinder 135 to the third control valve 338; and an eighth one-way valve 337 is provided between the third control valve 338 and the hoisting motor 35, which only allows oil to flow from the hoisting motor 35 to the third control valve 338. The sixth one-way valve 335, the seventh one-way valve 336, and the eighth one-way valve 337 can prevent oil from flowing back.

[0082] Please refer to Fig.10 When the lifting device is normally hoisting, the third control valve 338 is in the seventh position, the fourth control valve 339 is in the ninth position, the unloading oil circuit is in a closed state, and the third control valve 338 does not allow the oil of the boom cylinder 135, the telescopic cylinder 136, and the winch motor 35 to flow into the oil tank through the control valve 33 for unloading.

[0083] Please refer to Fig.11 When the lifting device is finished lifting and the vehicle is retracted, the boom 133 is retracted first and the boom is adjusted to the horizontal level, and then the winch is operated to collect the rope, and the hook 138 is raised. During the rising process of the hook 138, when the hook position detection element 37 detects that the hook 138 is at the starting position (in this embodiment, the hook 138 contacts the height limit switch), the third control valve 338 is controlled to switch to the eighth position, and the fourth control valve 339 is still in the ninth position, so that the oil of the boom cylinder 135, the telescopic cylinder 136, and the winch motor 35 cannot pass through the fourth control valve 339, and thus cannot be unloaded.

[0084] Please refer to Fig.12 , the winch continues to lift, and the wire rope 139 begins to continuously increase the preload. When the wire rope tension detection element 39 detects that the tension on the wire rope 139 reaches the preset tension, the fourth control valve 339 is controlled to switch to the tenth position, so that the oil in the boom cylinder 135, the telescopic cylinder 136, and the winch motor 35 is connected to the oil tank through the third control valve 338 and the fourth control valve 339 for unloading. At this time, the telescopic cylinder 136 and the boom cylinder 135 are both connected to the oil tank for unloading, the telescopic cylinder 136 cannot be extended, the boom cylinder 135 cannot be luffed, and the winch lifting action is restricted, thereby realizing the automatic tightening of the hook 138.

[0085] The present application also provides a crane, including a lifting device 13 and the above-mentioned crane control device. The lifting device 13 includes a base assembly 131, a turntable 132, a boom 133, a boom cylinder 135, a telescopic cylinder 136, a winch, a hook 138 and a wire rope 139. The base assembly 131 is installed on the vehicle body 11. The turntable 132 is rotatably connected to the base assembly 131. The boom 133 is rotatably connected to the turntable 132 to adjust the pitch angle of the boom 133. The boom 133 is a telescopic boom. The boom cylinder 135 is used to drive the boom 133 to rotate relative to the turntable 132 to achieve the boom length change. The telescopic cylinder 136 is used to drive the boom 133 to extend and retract. The wire rope 139 is connected to the hook 138 and is wound around the winch. The winch is driven by the winch motor 35 (see Figure 4 ) drives the rotation.

[0086] The present application also provides a crane control method for controlling the above crane, please refer to Fig.13 , the crane control method comprises the following steps:

[0087] S11, detecting the position of the hook 138 when the crane is working. When the hook 138 is not lifted to the starting position, the crane is working normally.

[0088] S13, when the hook 138 is lifted to the starting position, the tension on the wire rope 139 is detected, and when the hook 138 is lifted to the starting position and the tension on the wire rope 139 reaches the preset tension, the control valve 33 is controlled to switch the state to connect the unloading oil circuit with the boom cylinder 135, the telescopic cylinder 136, and the winch motor 35 for unloading.

[0089] In the crane control method of the present embodiment, the oil tank can be directly connected with the luffing cylinder, telescopic cylinder and winch motor, so that the luffing cylinder, telescopic cylinder and winch motor can be directly unloaded to limit the luffing of the luffing cylinder, the extension of the telescopic cylinder and the retraction of the winch wire rope, thereby avoiding misoperation and the problem of breaking the wire rope. There is no need to set a control valve, and the cost is low.

[0090] In this embodiment, when the control valve 33 includes a first control valve 331 and a second control valve 333, the crane control method specifically includes:

[0091] The position of the hook 138 is detected when the crane is working. When the hook 138 is not lifted to the starting position, the crane is working normally;

[0092] When the hook 138 is lifted to the starting position, the tension on the wire rope 139 is detected, and the first control valve 331 is controlled to connect the unloading oil circuit with the luffing cylinder 135 and the telescopic cylinder 136 to unload;

[0093] When the tension on the wire rope 139 reaches the preset tension, the second control valve 333 is controlled to connect the unloading oil circuit with the hoisting motor 35 for unloading.

[0094] In another embodiment, when the control valve 33 includes a third control valve 338 and a fourth control valve 339, the crane control method specifically includes:

[0095] The position of the hook 138 is detected when the crane is working. When the hook 138 is not lifted to the starting position, the crane is working normally;

[0096] After the hook 138 is lifted to the starting position, the tension of the wire rope 139 is detected, and the third control valve 338 is controlled to connect the fourth control valve 339 with the luffing cylinder 135, the telescopic cylinder 136, and the winch motor 35, and the fourth control valve 339 is controlled to close the unloading oil circuit and the third control valve 338;

[0097] When the tension on the wire rope 139 reaches the preset tension, the fourth control valve 339 is controlled to connect the unloading oil circuit with the boom cylinder 135 , the telescopic cylinder 136 , and the winch motor 35 for unloading.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A crane control device for controlling a crane, characterized in that: The crane control device comprises a hydraulic pump, a load-releasing oil circuit, a multi-way valve (31) and a control valve (33). The multi-way valve (31) is connected to the hydraulic pump. The multi-way valve (31) is also connected to a boom cylinder (135), a telescopic cylinder (136) and a hoisting motor (35) of the crane. The control valve (33) is arranged on the load-releasing oil circuit. The load-releasing oil circuit connects an oil tank with the boom cylinder (135), the telescopic cylinder (136) and the hoisting motor (35). The control valve (33) is used to control the connection and closing of the load-releasing oil circuit.

2. The crane control device according to claim 1, characterized in that: The crane control device further comprises a control module, a hook position detection element (37) and a wire rope tension detection element (39), wherein when the hook position detection element (37) detects that the hook has reached the starting position, the wire rope tension detection element (39) starts to detect the wire rope tension; The control module is used to control the control valve (33) to switch the connection state of the unloading oil circuit according to the detection data of the hook position detection element (37) and the wire rope tension detection element (39).

3. The crane control device according to claim 2, characterized in that: The hook position detection element (37) is a height position switch connected to the steel wire rope (139); and the steel wire rope tension detection element (39) is a tension sensor connected to the steel wire rope (139).

4. The crane control device according to claim 2, characterized in that: The control valve (33) comprises a first control valve (331) and a second control valve (333), and the first control valve (331) and the second control valve (333) have three states through displacement coordination: In the state, the unloading oil circuit is completely closed, and the luffing oil cylinder (135), the telescopic oil cylinder (136) and the hoisting motor (35) all work normally; In state 2, the unloading oil circuit is partially connected, the luffing oil cylinder (135) and the telescopic oil cylinder (136) are unloaded, and only the hoisting motor (35) can work normally; In state three, the unloading oil circuits are all connected, and the luffing cylinder (135), the telescopic cylinder (136) and the hoisting motor (35) are all unloaded.

5. The crane control device according to claim 4, characterized in that: The first control valve (331) comprises a first oil port (3311), a second oil port (3312), a third oil port (3313) and a fourth oil port (3314); the first oil port (3311) is connected to the telescopic oil cylinder (136) and the luffing oil cylinder (135); the second oil port (3312) is connected to the hoisting motor (35); the third oil port (3313) is directly connected to the oil tank; the fourth oil port (3314) is connected to the oil tank through the second control valve (333); the first control valve (331) comprises a third position and a fourth position, When in the third position, the first oil port (3311) and the second oil port (3312) are connected, and oil is prohibited from flowing from the first oil port (3311) and the second oil port (3312) to the third oil port (3313), and the fourth oil port (3314) is disconnected from the first oil port (3311), the second oil port (3312), and the third oil port (3313); when in the fourth position, the first oil port (3311) and the third oil port (3313) are connected, and the second oil port (3312) and the fourth oil port (3314) are connected; The second control valve (333) includes a fifth oil port (3331) and a sixth oil port (3332), wherein the fifth oil port (3331) is connected to the fourth oil port (3314) of the first control valve (331), and the sixth oil port (3332) is connected to the oil tank. The second control valve (333) includes a fifth position and a sixth position. When in the fifth position, the fifth oil port (3331) and the sixth oil port (3332) are connected; when in the sixth position, the fifth oil port (3331) and the sixth oil port (3332) prohibit oil from flowing from the fifth oil port (3331) to the sixth oil port (3332).

6. The crane control device according to claim 5, characterized in that: When in the third position, the first oil port (3311) and the third oil port (3313) are connected via a fourth one-way valve that only allows oil to flow from the third oil port (3313) to the first oil port (3311); when in the sixth position, the fifth oil port (3331) and the sixth oil port (3332) are connected via a fifth one-way valve that only allows oil to flow from the sixth oil port (3332) to the fifth oil port (3331); a one-way valve that only allows oil to flow from the sixth oil port (3332) to the fifth oil port (3331) is provided between the first control valve (331) and the telescopic oil cylinder (136). A sixth one-way valve (335) is provided between the first control valve (331) and the boom cylinder (135) for allowing oil to flow from the telescopic cylinder (136) to the first control valve (331); a seventh one-way valve (336) is provided between the first control valve (331) and the boom cylinder (135) for only allowing oil to flow from the boom cylinder (135) to the first control valve (331); and an eighth one-way valve (337) is provided between the first control valve (331) and the hoisting motor (35) for only allowing oil to flow from the hoisting motor (35) to the first control valve (331).

7. The crane control device according to claim 2, characterized in that: The control valve (33) comprises a third control valve (338) and a fourth control valve (339), wherein the third control valve (338) is used to allow or not allow the oil of the boom cylinder (135), the telescopic cylinder (136) and the hoisting motor (35) to flow to the fourth control valve (339), and the fourth control valve (339) is used to allow or not allow the oil flowing out of the third control valve (338) to flow into the oil tank; the control module is used to detect that the hook (138) is in the position when the hook position detection element (37) detects that the hook (138) is in the position When in the starting position, the third control valve (338) is controlled to switch to allow the oil of the boom cylinder (135), the telescopic cylinder (136) and the winch motor (35) to flow into the fourth control valve (339) through the third control valve (338). The control module is also used to control the fourth control valve (339) to switch to allow the oil flowing out of the third control valve (338) to flow into the oil tank when the wire rope tension detection element (39) detects that the tension of the wire rope (139) reaches the preset tension.

8. The crane control device according to claim 7, characterized in that: The third control valve (338) comprises a seventh oil port (3351) and an eighth oil port (3352), wherein the seventh oil port (3351) is connected to the boom cylinder (135), the telescopic cylinder (136), and the hoisting motor (35), and the eighth oil port (3352) is connected to the fourth control valve (339); the third control valve (338) comprises a seventh position and an eighth position, wherein when the seventh position is selected, oil is prohibited from flowing from the seventh oil port (3351) to the eighth oil port (3352); when the eighth position is selected, the seventh oil port (3351) and the eighth oil port (3352) are directly connected; The fourth control valve (339) includes a ninth oil port (3371) and a tenth oil port (3372), wherein the ninth oil port (3371) is connected to the eighth oil port (3352) of the third control valve (338), and the tenth oil port (3372) is connected to the oil tank; the fourth control valve (339) includes a ninth position and a tenth position, wherein when in the ninth position, oil is prohibited from flowing from the ninth oil port (3371) to the tenth oil port (3372); when in the tenth position, the ninth oil port (3371) and the tenth oil port (3372) are connected.

9. The crane control device according to claim 8, characterized in that: When in the seventh position, the seventh oil port (3351) and the eighth oil port (3352) are connected via a ninth one-way valve that only allows oil to flow from the eighth oil port (3352) to the seventh oil port (3351); when in the ninth position, the ninth oil port (3371) and the tenth oil port (3372) are connected via a tenth one-way valve that only allows oil to flow from the tenth oil port (3372) to the ninth oil port (3371); a one-way valve that only allows oil to flow from the tenth oil port (3372) to the ninth oil port (3371) is provided between the third control valve (338) and the telescopic oil cylinder (136). A sixth one-way valve (335) is provided between the third control valve (338) and the boom cylinder (135) for allowing oil to flow from the telescopic cylinder (136) to the third control valve (338); a seventh one-way valve (336) is provided between the third control valve (338) and the boom cylinder (135) for only allowing oil to flow from the boom cylinder (135) to the third control valve (338); and an eighth one-way valve (337) is provided between the third control valve (338) and the hoisting motor (35) for only allowing oil to flow from the hoisting motor (35) to the third control valve (338).

10. A crane, comprising a lifting device (13), wherein the lifting device (13) comprises a base frame assembly (131), a turntable (132), a boom (133), a luffing cylinder (135), a telescopic cylinder (136), a winch, a hook (138) and a wire rope (139), wherein the turntable (132) is rotatably connected to the base frame assembly (131), the boom (133) is rotatably connected to the turntable (132), the boom (133) is a telescopic boom, the luffing cylinder (135) is used to drive the boom (133) to rotate relative to the turntable (132) to achieve luffing, and the telescopic cylinder (136) is used to drive the boom (133) to extend and retract; the wire rope (139) is connected to the hook (138) and is wound around the winch, and the winch is driven to rotate by the winch motor (35), characterized in that: The crane further comprises a crane control device as claimed in any one of claims 1 to 3.

11. A crane control method, used to control the crane according to claim 10, characterized in that: The crane control method comprises: The position of the hook (138) is detected when the crane is working, and when the hook (138) is not lifted to the starting position, the crane is working normally; When the hook (138) is lifted to the starting position, the tension on the steel wire rope (139) is detected, and when the hook (138) is lifted to the starting position and the tension on the steel wire rope (139) reaches the preset tension, the control valve (33) is controlled to connect the unloading oil circuit with the boom cylinder (135), the telescopic cylinder (136), and the hoisting motor (35) to perform unloading; When the tension applied to the steel wire rope (139) reaches the preset tension, the control valve (33) is controlled to connect the unloading oil circuit with the hoisting motor (35) for unloading.

12. The crane control method according to claim 11, characterized in that: The control valve (33) includes a first control valve (331) and a second control valve (333); the crane control method specifically includes: The position of the hook (138) is detected when the crane is working, and when the hook (138) is not lifted to the starting position, the crane is working normally; After the hook (138) is lifted to the starting position, the tension on the steel wire rope (139) is detected, and the first control valve (331) is controlled to connect the unloading oil circuit with the boom cylinder (135) and the telescopic cylinder (136) to perform unloading; When the tension applied to the steel wire rope (139) reaches the preset tension, the second control valve (333) is controlled to connect the unloading oil circuit with the hoisting motor (35) to perform unloading.

13. The crane control method according to claim 11, characterized in that: The control valve (33) includes a third control valve (338) and a fourth control valve (339), and the crane control method specifically includes: The position of the hook (138) is detected when the crane is working, and when the hook (138) is not lifted to the starting position, the crane is working normally; After the hook (138) is lifted to the starting position, the tension on the wire rope (139) is detected, and the third control valve (338) is controlled to connect the fourth control valve (339) with the boom cylinder (135), the telescopic cylinder (136), and the winch motor (35), and the fourth control valve (339) is controlled to remain in the state of closing the unloading oil circuit and the third control valve (338); When the tension applied to the steel wire rope (139) reaches the preset tension, the fourth control valve (339) is controlled to connect the unloading oil circuit with the boom cylinder (135), the telescopic cylinder (136), and the hoisting motor (35) to perform unloading.

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