Control method and control system for telescopic suspension arm of crane and crane

Abstract

The invention discloses a control method for a telescopic boom of a crane. The control method comprises the following steps: acquiring a handle angle electric signal output by a control handle and a mode signal obtained by a man-machine interaction input module; the method comprises the following steps: determining whether a telescopic boom of the crane extends or retracts on the basis of a handle angle electric signal, controlling a movement mode of the telescopic boom of the crane in the boom extending and retracting actions on the basis of a mode signal, and executing the boom extending or retracting action by the telescopic boom of the crane according to the determined movement mode, the telescopic crane jib at least comprises a first jib group and a second jib group which are driven by different telescopic oil cylinders, the motion modes at least comprise a first mode and a second mode, and the first mode is that the first jib group and the second jib group synchronously execute arm stretching or arm retracting actions at a constant speed; and in the second mode, the first arm group and the second arm group execute arm stretching or arm retracting actions in sequence. The invention further discloses a corresponding control system and a crane, and the operation performance under different working condition scenes can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cranes, in particular to a crane telescopic boom control method, a crane telescopic boom control system and a crane. BACKGROUND

[0002] With the diversification of work scenes such as construction engineering, bridge installation, equipment hoisting, higher requirements are put forward for the telescopic control of crane booms. The traditional crane boom telescoping mostly adopts a single control logic, which is difficult to balance the efficiency, safety and lifting capacity. For example, in the efficient work scene of building material loading and unloading, the boom needs to be quickly and synchronously telescoped to improve work efficiency; when precise installation or hoisting of valuable goods is required, the smoothness of movement and micro-control ability are prioritized to avoid safety accidents caused by shaking or impact; in addition, when hoisting heavy objects, the lifting capacity needs to be improved as much as possible under the same boom length, which puts special requirements on the structure stress of the boom and the control of the hydraulic system. SUMMARY

[0003] In view of the above technical defects of the prior art, the task of the present application is to provide a crane telescopic boom control method, and to provide a crane telescopic boom control system and a crane, to improve the work performance and safety of the crane under different working conditions.

[0004] The technical solution of the present application is as follows: a crane telescopic boom control method, comprising: obtaining a handle angle electric signal output by a control handle and a mode signal obtained by a human-computer interaction input module; determining whether the crane telescopic boom is in an arm extending or arm retracting action based on the handle angle electric signal, controlling the movement mode of the crane telescopic boom during the arm extending and arm retracting action based on the mode signal, and performing the arm extending or arm retracting action by the crane telescopic boom according to the determined movement mode, the crane telescopic boom at least includes a first arm group and a second arm group driven by different telescopic cylinders, the movement mode at least includes a first mode and a second mode, the first mode is that the first arm group and the second arm group synchronously perform the arm extending or arm retracting action at the same speed, and the second mode is that the first arm group and the second arm group perform the arm extending or arm retracting action in a sequential order.

[0005] Further, the second mode includes a first sub-mode, the first sub-mode is that the first arm group extends or retracts the arm before the second arm group, the second arm group extends or retracts the arm after the first arm group extends or retracts the arm to the position, and the cross section of each telescopic arm section of the first arm group is larger than that of each telescopic arm section of the second arm group.

[0006] Further, in the first sub-mode, the acceleration of the extension and retraction of the first arm group and the second arm group is controlled to not exceed an acceleration setting value until the extension and retraction speed of the first arm group and the second arm group reaches a speed setting value, the speed setting value being determined based on the handle angle electric signal.

[0007] Further, the second mode includes a second sub-mode, the second sub-mode being that the second arm group extends or retracts arms first, and the first arm group extends or retracts arms after the second arm group extends or retracts arms to position, and the cross section of each extension and retraction arm section of the first arm group is larger than the cross section of each extension and retraction arm section of the second arm group.

[0008] Further, in the second sub-mode, the pressure fluctuation of the first extension and retraction oil cylinder driving the extension and retraction of the first arm group and the second extension and retraction oil cylinder driving the extension and retraction of the second arm group is controlled to be less than a pressure fluctuation setting value until the extension and retraction speed of the first arm group and the second arm group reaches a speed setting value, the speed setting value being determined based on the handle angle electric signal.

[0009] Further, the human-computer interaction input module also obtains arm length target value data, and the crane extension and retraction boom is controlled to extend or retract arms according to the determined movement mode until the crane extension and retraction boom reaches the arm length target value data.

[0010] Another technical solution of the present application is a crane extension and retraction boom control system, comprising: a control handle for outputting a handle angle electric signal; a human-computer interaction input module for outputting a mode signal; a control module for determining that the crane extension and retraction boom extends or retracts arms based on the handle angle electric signal, controlling the movement mode of the crane extension and retraction boom during the extension and retraction of arms based on the mode signal, and controlling the crane extension and retraction boom to extend or retract arms according to the determined movement mode, the crane extension and retraction boom at least includes a first arm group and a second arm group driven by different extension and retraction oil cylinders, the movement mode at least includes a first mode and a second mode, the first mode being that the first arm group and the second arm group synchronously extend or retract arms at equal speed, and the second mode being that the first arm group and the second arm group extend or retract arms in a sequence.

[0011] Further, the control module comprises a first length sensor installed on a first telescopic oil cylinder driving the first arm group to extend and retract, and a second length sensor installed on a second telescopic oil cylinder driving the second arm group to extend and retract, the first length sensor is used to measure the length, speed and acceleration of the first arm group extending and retracting as a first control feedback signal, the second length sensor is used to measure the length, speed and acceleration of the first arm group and the second arm group extending and retracting as a second control feedback signal, and the control module receives the first control feedback signal and the second control feedback signal to control the crane telescopic boom to perform the extension or retraction action according to the determined movement mode.

[0012] Further, the control handle is an electro-hydraulic integrated handle, the control handle outputs a hydraulic signal when swinging in a first direction, the hydraulic signal is used for the winch operation of the crane telescopic boom, and the control handle outputs the handle angle electric signal when swinging in a second direction, the first direction and the second direction are two non-collinear directions. This scheme adopts a control handle that outputs different signal types in two directions, which can meet the control requirements with lower electrical hardware configuration, improves the stability of the telescopic system, and almost does not increase the cost of the electro-hydraulic system.

[0013] Another technical scheme of the present application is a crane comprising the crane telescopic boom control system.

[0014] Compared with the prior art, the technical scheme of the present application has the following advantages: The present application controls the extension and retraction movement of the crane telescopic boom based on the handle angle electric signal output by the handle, and combines the mode signal obtained by the human-computer interaction input module to realize the multi-mode control of the extension and retraction process of the crane telescopic boom, better meet different use conditions and scenes, and achieve better safety and stability. Compared with the traditional control method of outputting a hydraulic signal by a handle, the extension and retraction process of the crane telescopic boom is flexible and variable, complex hydraulic pipelines do not need to be laid, and the cost of the control system is effectively controlled. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the principle block diagram of the crane telescopic boom control system of the present application. DETAILED DESCRIPTION

[0016] The present application will be further described below in conjunction with the embodiments, but not as a limitation to the present application.

[0017] Please combine Figure 1As shown, the embodiment relates to a crane telescopic boom control system, which comprises a control handle, a human-computer interaction input module and a control module. The control handle is used to output a handle angle electric signal and send it to the control module, the human-computer interaction input module is used to output a mode signal and send it to the control module, and the control module determines the crane telescopic boom to be an extension or retraction action based on the handle angle electric signal, controls the movement mode of the crane telescopic boom during the extension and retraction action based on the mode signal, and controls the crane telescopic boom to perform the extension or retraction action according to the determined movement mode.

[0018] As a preferred embodiment, the control handle of the embodiment adopts an electro-hydraulic integrated handle. When the control handle swings in a first direction (generally, the front-back direction), it outputs a hydraulic signal, which is used for the winch operation of the crane telescopic boom. The hydraulic circuit of the control handle is a prior art and will not be described here. A Hall sensor is arranged on the operating rod of the control handle to detect the swing angle of the operating rod, so that when the control handle swings in a second direction (the left-right direction), it outputs a handle angle electric signal. The handle angle electric signal is transmitted to the control module through a CAN line. By using such an electro-hydraulic integrated handle, the problem that the previous pure hydraulic control handle can only output a hydraulic signal and the multi-mode control of the telescopic boom based on the hydraulic signal causes the complexity of the hydraulic pipeline arrangement to increase exponentially and the stability of the boom to be difficult to improve is changed.

[0019] The human-computer interaction input module is a touch screen, which is used for the operator to select a mode according to the current working scene to form a mode signal and send it to the controller. In addition, as a preferred embodiment, the human-computer interaction input module also obtains arm length target value data, which is directly input by the operator. Finally, the data is also sent to the controller for the control of the boom.

[0020] The control module comprises a controller and a length measuring sensor. The length measuring sensor is specifically used to measure the movement parameters of the boom to feed back to the controller for closed-loop control. Taking a crane with five booms as an example, the second and third arms are a first arm group, and the fourth and fifth arms are a second arm group. The cross section of each telescopic arm section of the first arm group is larger than that of each telescopic arm section of the second arm group. The second arm is driven by a first telescopic oil cylinder through a rope arrangement mechanism, and the third, fourth and fifth arms are driven by a second telescopic oil cylinder through a rope arrangement mechanism. A first length measuring sensor is arranged at the fixed position of the piston rod of the first telescopic oil cylinder to detect the telescopic length of the first arm group and further obtain the telescopic speed and telescopic acceleration of the first arm group. A second length measuring sensor is arranged at the head of the basic arm outside the whole set of telescopic booms to detect the total telescopic length of the second, third, fourth and fifth arms. The telescopic length of the second arm group is obtained by subtracting the telescopic length of the first arm group from the total telescopic length, and the telescopic speed and telescopic acceleration of the second arm group are further obtained. These data are fed back to the controller.

[0021] The crane telescopic boom control method based on the crane telescopic boom control system is as follows: The control handle outputs a handle angle electric signal to the controller, and the man-machine interactive input module outputs a mode signal to the controller, and the man-machine interactive input module also outputs an arm length target value data to the controller.

[0022] The controller controls the extension or contraction according to the handle angle electric signal, for example, the control handle is defined as extending when the operating rod is turned left and contracting when the operating rod is turned right, and the handle angle electric signal can be set as a positive signal when turned left and a negative signal when turned right, and the controller determines the extension or contraction according to the positive or negative of the handle angle electric signal, and the size of the handle angle electric signal represents the set value of the extension or contraction speed.

[0023] The controller controls the movement mode of the crane telescopic boom during the extension or contraction according to the mode signal, and the crane telescopic boom performs the extension or contraction according to the determined movement mode. The movement mode includes a first mode and a second mode, and the second mode includes a first sub-mode and a second sub-mode, so the first mode is defined as mode A, the first sub-mode is defined as mode B, and the second sub-mode is defined as mode C. In mode A, the first arm group and the second arm group perform the extension or contraction simultaneously at the same speed, and in mode B and mode C, the first arm group and the second arm group perform the extension or contraction in sequence. Specifically as follows: Mode A: After selecting a certain arm length target value data on the touch screen, when extending, the second, third, fourth and fifth arms are automatically extended synchronously (the tail of the basic arm is fixed on the rotary table and does not move), and when contracting, the second, third, fourth and fifth arms are synchronously retracted.

[0024] This mode has high extension and contraction efficiency and stable movement. Since the second telescopic oil cylinder corresponding to the third, fourth and fifth arms bears a large load, the starting / stop acceleration of the second telescopic oil cylinder is smaller than that of the first telescopic oil cylinder controlling the second arm, in order to make the second, third, fourth and fifth arms synchronously extend to the end point or retract to the end point, the controller automatically compensates the control parameters of the multi-way valve and the oil pump based on the movement parameters obtained by the first length sensor and the second length sensor, and adjusts the extension and contraction speed in real time (generally reduces the speed of the first telescopic oil cylinder).

[0025] Mode B: After selecting a certain arm length target value data on the touch screen, when extending, the third, fourth and fifth arms are extended first, and after being completely extended, the second arm is extended; when contracting, the second arm is contracted first, and after being completely retracted, the third, fourth and fifth arms are contracted.

[0026] The mode has high telescopic safety, the controller controls the telescopic acceleration of the first arm group and the second arm group to be less than the acceleration setting value based on the movement parameters obtained by the first length measuring sensor and the second length measuring sensor to reduce the speed fluctuation, automatically compensates the multi-way valve and the oil pump control parameters, increases the telescopic speed as much as possible, and makes the telescopic speed reach the telescopic speed setting value.

[0027] The mode solves the problems of arm frame shaking and inaccurate positioning caused by speed fluctuation in precise operation through telescopic sequence and speed stability control, and significantly improves operation safety and control accuracy.

[0028] C mode: In the touch screen, after selecting certain arm length target value data: when extending the arm, the second arm is extended by default, and after the second arm is completely extended, the third, fourth and fifth arms are switched to be extended; when retracting the arm, the third, fourth and fifth arms are retracted by default, and after the third, fourth and fifth arms are completely retracted, the second arm is switched to be retracted.

[0029] The mode can lift a larger weight under the condition of the same total arm length, but the reliability of the telescopic oil cylinder is reduced, the controller collects the pressures of the first telescopic oil cylinder and the second telescopic oil cylinder in real time, and in the telescopic process, the controller automatically compensates the multi-way valve and the oil pump control parameters to make the pressure fluctuation of the first telescopic oil cylinder and the second telescopic oil cylinder less than the pressure fluctuation setting value, and the telescopic speed reaches the telescopic speed setting value.

[0030] The mode optimizes telescopic sequence and load response control, solves the problems of uneven stress on the lifting arm and reduced reliability of the hydraulic system under heavy load working conditions, and improves the lifting capacity on the premise of ensuring structural safety.

[0031] It should be noted that in the above A, B and C modes, the lifting arm is not necessarily extended or retracted to the target length, but stops when the target arm length is reached. During the process, the controller can use various existing control methods such as PID to control each target.

[0032] The embodiment relates to a crane which has the crane telescopic lifting arm control system of the foregoing embodiment and performs telescopic control of the lifting arm by the crane telescopic lifting arm control method of the foregoing embodiment, and can significantly improve the performance of the crane in different operation scenarios.

Claims

1. A method for controlling the telescopic boom of a crane, characterized in that, include: Acquire the handle angle electrical signal output by the control handle and the mode signal obtained by the human-machine interaction input module; Based on the handle angle electrical signal, the crane telescopic boom is determined to be extending or retracting. Based on the mode signal, the movement mode of the crane telescopic boom during the extension and retraction movements is controlled, and the crane telescopic boom performs the extension or retraction movements according to the determined movement mode. The crane telescopic boom includes at least a first boom group and a second boom group driven by different telescopic cylinders. The movement mode includes at least a first mode and a second mode. In the first mode, the first boom group and the second boom group perform the boom extension or retraction action synchronously at the same speed. In the second mode, the first boom group and the second boom group perform the boom extension or retraction action sequentially.

2. The crane telescopic boom control method according to claim 1, characterized in that, The second mode includes a first sub-mode, in which the first arm group extends or retracts before the second arm group, and the second arm group extends or retracts after the first arm group has extended or retracted to its position. The cross-section of each telescopic arm segment of the first arm group is larger than the cross-section of each telescopic arm segment of the second arm group.

3. The crane telescopic boom control method according to claim 2, characterized in that, In the first sub-mode, the extension and retraction acceleration of the first arm group and the second arm group is controlled not to exceed the acceleration set value until the extension and retraction speed of the first arm group and the second arm group reaches the speed set value, which is determined based on the handle angle electrical signal.

4. The crane telescopic boom control method according to claim 1, characterized in that, The second mode includes a second sub-mode in which the second arm group extends or retracts before the first arm group, and the first arm group extends or retracts after the second arm group has extended or retracted to its position. The cross-section of each telescopic arm segment of the first arm group is larger than the cross-section of each telescopic arm segment of the second arm group.

5. The crane telescopic boom control method according to claim 4, characterized in that, In the second sub-mode, the pressure fluctuation of the first telescopic cylinder that controls the extension and retraction of the first arm group and the second telescopic cylinder that controls the extension and retraction of the second arm group is less than the pressure fluctuation setting until the extension and retraction speed of the first arm group and the second arm group reaches the speed setting value, which is determined based on the handle angle electrical signal.

6. The crane telescopic boom control method according to claim 1, characterized in that, The human-computer interaction input module also obtains the target value data of the boom length. When the crane telescopic boom performs the boom extension or retraction action according to the determined motion mode, it continues until the crane telescopic boom reaches the target value data of the boom length.

7. A crane telescopic boom control system, characterized in that, include: Control handle, used to output electrical signals for handle angle; Human-computer interaction input module, used to output mode signals; The control module is used to determine whether the crane telescopic boom is extending or retracting based on the handle angle electrical signal, control the movement mode of the crane telescopic boom during the extension and retraction movements based on the mode signal, and control the crane telescopic boom to perform the extension or retraction movements according to the determined movement mode. The crane telescopic boom includes at least a first boom group and a second boom group driven by different telescopic cylinders. The movement mode includes at least a first mode and a second mode. In the first mode, the first boom group and the second boom group perform the boom extension or retraction action synchronously at the same speed. In the second mode, the first boom group and the second boom group perform the boom extension or retraction action sequentially.

8. The crane telescopic boom control system according to claim 7, characterized in that, The control module includes a first length measuring sensor installed on the first telescopic cylinder that drives the first boom to extend and retract, and a second length measuring sensor installed on the second telescopic cylinder that drives the second boom to extend and retract. The first length measuring sensor is used to measure the length, speed, and acceleration of the first boom's extension and retraction and serves as a first control feedback signal. The second length measuring sensor is used to measure the length, speed, and acceleration of both the first and second booms' extension and retraction and serves as a second control feedback signal. The control module receives the first and second control feedback signals to control the crane's telescopic boom to perform extension or retraction actions according to the determined motion mode.

9. The crane telescopic boom control system according to claim 7, characterized in that, The control handle is an electro-hydraulic integrated handle. When the control handle swings in the first direction, it outputs a hydraulic signal. The hydraulic signal is used for the hoisting operation of the crane's telescopic boom. When the control handle swings in the second direction, it outputs an electrical signal indicating the handle angle. The first direction and the second direction are two non-collinear directions.

10. A crane, characterized in that, The crane telescopic boom control system includes any one of claims 7 to 9.

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