CN201358142Y - Automatic control system for telescopic crane - Google Patents
Automatic control system for telescopic crane Download PDFInfo
- Publication number
- CN201358142Y CN201358142Y CNU2009200886661U CN200920088666U CN201358142Y CN 201358142 Y CN201358142 Y CN 201358142Y CN U2009200886661 U CNU2009200886661 U CN U2009200886661U CN 200920088666 U CN200920088666 U CN 200920088666U CN 201358142 Y CN201358142 Y CN 201358142Y
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- crane
- control computer
- arm
- acquisition equipment
- outdevice
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- 230000033001 locomotion Effects 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 description 7
- 239000000725 suspension Substances 0.000 description 6
- 230000009017 pursuit movement Effects 0.000 description 4
- 101000860173 Myxococcus xanthus C-factor Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The utility model discloses an automatic control system for a telescopic crane. Positioning acquisition equipment collects the actual spatial position of a jib group; the input end of a control computer is connected with the position acquisition equipment and works out the motion trail of the jib group according to the actual spatial position and the destination and sends an control command to a proportional output device; the proportional output device is connected with the output end of the control computer to receive the control command from the control computer to drive an actuating mechanism to actuate; and the actuating mechanism is connected with the proportional output device. The utility model applies automatic control technology to the telescopic crane; the control computer plans the motion trail of the lifting hook according to the position of the starting point and the destination and then controls the actuating mechanism to track the set motion trail; and the jib group position acquisition equipment measures the error between the current position and the tracked motion trail. In this way, through the automatic control method, the error of the tracked motion trail is ensured not to be bigger than the specified value.
Description
Technical field
The utility model belongs to the hoisting crane automation field, specifically relates to a kind of autonomous cruise speed system that is used for telescopic arm crane.
Background technology
Existing telescopic arm crane all adopts hydraulic-driven, manually control.After pumping plant started, by pulling each degree of freedom action of hydraulic valve handle control telescopic arm crane, control convenience was very simple by operator, and its shortcoming is to hang to turn over journey and influenced by human element, and speed is slow, impact safety misadventure takes place greatly, easily.
Summary of the invention
The purpose of this utility model provides a kind ofly can finish the handling process automatically, fast, steadily, accurately finishes the telescopic arm crane autonomous cruise speed system of hoisting operation.
For achieving the above object, the utility model by the following technical solutions, it comprises:
Station acquisition equipment is gathered the real space position that draws the crane arm group;
Control computer, its input end is connected with station acquisition equipment, according to real space position and target location, draws the path of motion of crane arm group, and sends control command to the ratio outdevice;
The ratio outdevice, it is connected with the mouth of control computer, receives the control command that comes from control computer, drives the actuating unit action;
Actuating unit, it is connected with the ratio outdevice.
Above-mentioned station acquisition equipment comprises rotary encoder, pitching coder, scalable encoder device and elevator coder, wherein rotary encoder is between the pedestal and revoliving arm of crane arm group, the pitching coder is between the revoliving arm and folding arm of crane arm group, the scalable encoder device is positioned at the horizontal metroscope of crane arm group, and the elevator coder is positioned at another horizontal metroscope of crane arm group.
Above-mentioned ratio outdevice comprises revolution apportioning valve, pitching apportioning valve, flexible apportioning valve and elevator apportioning valve.
The input end of above-mentioned control computer is connected with hand-held controlling equipment.
All be connected between above-mentioned station acquisition equipment, ratio outdevice, controlling equipment and the control computer by bus.
Adopt the utility model of technique scheme; automatic control technology is applied to telescopic arm crane; control computer is according to starting point; suspension hook path of motion is cooked up in the final position; the control computer control executing mechanism is followed the tracks of the path of motion of setting then; and implement to measure the error of current location and pursuit movement track by crane arm group station acquisition equipment; the utilization autocontrol method; dynamically adjust and drive size; thereby guarantee that the pursuit movement trajectory error is not more than specified value; like this; control computer has been finished trajectory planning automatically; follow-up control; distortion is proofreaied and correct; indicating fault and interlock protection function, fast; steadily; finish hoisting operation exactly.In addition, in the utility model, control computer also is connected with hand-held controlling equipment, operating personal can carry out manually and automatically switching as required like this, when control computer breaks down, can pass through M/C signal resume hydraulic system working pressure, the handle control crane arm group of controlling on each actuating unit action or the operation ratio outdevice is finished hoisting operation.
Description of drawings
Fig. 1 is a functional block diagram of the present utility model;
Fig. 2 is a constructional drawing of the present utility model;
Fig. 3 is the mounting structure figure of telescopic arm crane in the utility model;
Fig. 4 is a circuit diagram automatic in the utility model, manual switchover.
The specific embodiment
As shown in Figure 1, the utility model is applied to telescopic arm crane with automatic control technology, and total system is made up of crane arm group station acquisition equipment, control computer, ratio outdevice and actuating unit.Above-mentioned station acquisition equipment comprises four photoelectric encoders, that is: rotary encoder, pitching coder, scalable encoder device and elevator coder, they measure angle of revolution, pitch angle, collapsing length and the elevator length of crane arm group respectively, thereby can gather the real space position that draws the crane arm group.The input end of control computer is connected with station acquisition equipment, and it draws the path of motion of crane arm group according to real space position and target location, and sends control command to the ratio outdevice.Above-mentioned ratio outdevice is connected with the mouth of control computer, receives the control command that comes from control computer, drives the actuating unit action, makes corresponding actions by actuating unit at last, and impelling controlled object is that the crane arm group is finished hoisting operation.
As shown in Figure 3, four above-mentioned photoelectric encoders are installed on the crane arm group of telescopic boom.The crane arm group is made up of revoliving arm 1, telescopic boom 4, fixed pulley 6, suspension hook 7.Revoliving arm 1 rotates around vertical axes under rotary fluid motor 12 drives, and they all are connected with pedestal 13.Telescopic boom 4 horizontal rotational shaft on the wraparound pivoted arm 1 under pitching oil cylinder 10 drives is done luffing, and telescopic boom 4 is made fore and aft motion under telescopic oil cylinder 5 drives, and suspension hook 7 is done the elevator motion under winch 8 drives.Because the structure of above-mentioned crane arm group, rotary encoder 11 is used for measuring the degreeof turn of revoliving arm 1 relative pedestal 13 between the pedestal 13 and revoliving arm 1 of crane arm group; Pitching coder 2 is used for measuring telescopic boom 4 luffing angles between the revoliving arm 1 and folding arm 3 of crane arm group; The scalable encoder device is positioned at the horizontal metroscope 9 of crane arm group, is used for measuring telescopic boom 4 extension elongations; The elevator coder is positioned at another horizontal metroscope of crane arm group, is used for measuring suspension hook 7 extension elongations, need to prove, two horizontal metroscopes are in symmetrical position.
As shown in Figure 2, rotary encoder, pitching coder, scalable encoder device and elevator coder constitute crane arm group station acquisition equipment, revolution apportioning valve, pitching apportioning valve, flexible apportioning valve and elevator apportioning valve composition outdevice, central controller and load module thereof, output module constitute control computer, wherein, all be connected between station acquisition equipment, ratio outdevice, controlling equipment and the control computer by bus.Above-mentioned ratio outdevice comprises four apportioning valves, and wherein, revolution apportioning valve driving rotational arm 1 is made gyroscopic movement; The pitching apportioning valve drives telescopic boom 4 and does luffing; Flexible apportioning valve drives telescopic boom 4 and makes fore and aft motion; Elevator apportioning valve driving hydraulic wireline winch is made gyroscopic movement drive suspension hook 7 and is moved up and down.
Principle of work of the present utility model is:
The locus that crane arm group station acquisition equipment obtains telescopic boom top fixed pulley 7, ratio outdevice drive the actuating unit action, and control computer is finished trajectory planning, follow-up control, distortion correction, indicating fault and the interlock protection function of handling process.The ratio outdevice comprises four apportioning valves, drives four degree of freedom hydraulic actuators and makes follow-up motion.Equipment all links to each other with central controller by communication bus.Operating personal is by load module input instruction or position coordinate; just can be with the weight handling to the target location; control computer is finished trajectory planning, follow-up control, distortion correction, indicating fault and interlock protection function automatically in the handling process, finishes hoisting operation fast, steadily, accurately.
Behind the operating personal input instruction, control computer is cooked up suspension hook path of motion according to starting point, final position, the control computer control executing mechanism is followed the tracks of the path of motion of setting then, and measure the error of current location and pursuit movement track in real time by crane arm group station acquisition equipment, the utilization autocontrol method, dynamically adjust the size that drives, thereby guarantee that the pursuit movement trajectory error is not more than specified value.
The telescopic arm crane autonomous cruise speed system is provided with manual function, when automatic control circuit breaks down, can finish the lifting task by the M/C telescopic boom, as shown in Figure 4.K is that automatically controlled output relay, SA are that manual select switch, SB are that hand push button, YV are the electromagnetic valve of control executing mechanism among the figure.
The input end of control computer is connected with hand-held controlling equipment, hand-held control convenience is made up of button, telltale and micro controller system, as man machine interface, mix the mode that adopts a button of an action distribution at the keypress function branch, the operation of Jian Shaoing is to greatest extent finally exported the M/C signal by the output module of control computer
Be auto state when SA places shown position, the electromagnetic valve YV in the control cock is subjected to central controller controls, automatically work; Be manual state when SA turns to manual position, at this moment electromagnetic valve YV is not subjected to central controller controls, and hand push button is pressed rear electromagnetic valve YV action.When central controller broke down, the handle control crane arm group of can set up hydraulic system working pressure by the M/C signal, controlling on each actuating unit action or the operation apportioning valve was finished hoisting operation like this.
When level is hung commentaries on classics, adopt to keep the fixed pulley height constant the trajectory planning strategy of elevator channels track standing height.
Claims (5)
1, a kind of telescopic arm crane autonomous cruise speed system is characterized in that it comprises:
Station acquisition equipment is gathered the real space position that draws the crane arm group;
Control computer, its input end is connected with station acquisition equipment, according to real space position and target location, draws the path of motion of crane arm group, and sends control command to the ratio outdevice;
The ratio outdevice, it is connected with the mouth of control computer, receives the control command that comes from control computer, drives the actuating unit action;
Actuating unit, it is connected with the ratio outdevice.
2, telescopic arm crane autonomous cruise speed system according to claim 1, it is characterized in that: described station acquisition equipment comprises rotary encoder, pitching coder, scalable encoder device and elevator coder, wherein rotary encoder is between the pedestal and revoliving arm of crane arm group, the pitching coder is between the revoliving arm and folding arm of crane arm group, the scalable encoder device is positioned at the horizontal metroscope of crane arm group, and the elevator coder is positioned at another horizontal metroscope of crane arm group.
3, telescopic arm crane autonomous cruise speed system according to claim 1 is characterized in that: described ratio outdevice comprises revolution apportioning valve, pitching apportioning valve, flexible apportioning valve and elevator apportioning valve.
4, telescopic arm crane autonomous cruise speed system according to claim 1 is characterized in that: the input end of described control computer is connected with hand-held controlling equipment.
5, telescopic arm crane autonomous cruise speed system according to claim 4 is characterized in that: all be connected by bus between described station acquisition equipment, ratio outdevice, controlling equipment and the control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200886661U CN201358142Y (en) | 2009-02-25 | 2009-02-25 | Automatic control system for telescopic crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009200886661U CN201358142Y (en) | 2009-02-25 | 2009-02-25 | Automatic control system for telescopic crane |
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| CN201358142Y true CN201358142Y (en) | 2009-12-09 |
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| CNU2009200886661U Expired - Fee Related CN201358142Y (en) | 2009-02-25 | 2009-02-25 | Automatic control system for telescopic crane |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101893900A (en) * | 2010-06-29 | 2010-11-24 | 三一重工股份有限公司 | Engineering plant and arm support control system thereof |
| CN102001587A (en) * | 2010-11-17 | 2011-04-06 | 武汉船用机械有限责任公司 | Ship rotary crane jib laying automatic control method and control device |
| WO2012028032A1 (en) * | 2010-08-30 | 2012-03-08 | 长沙中联重工科技发展股份有限公司 | Method for controlling movement track of crane hook |
| CN102718147A (en) * | 2012-06-29 | 2012-10-10 | 三一重工股份有限公司 | Hook motion control mechanism and tower crane |
| CN102897696A (en) * | 2012-10-18 | 2013-01-30 | 三一重工股份有限公司 | Elevating fire truck boom control system, elevating fire truck boom control method and elevating fire truck |
| WO2013044520A1 (en) * | 2011-09-30 | 2013-04-04 | 长沙中联重工科技发展股份有限公司 | Oil cylinder luffing jib, linear speed control method and apparatus therefor |
| CN103727936A (en) * | 2013-11-19 | 2014-04-16 | 徐州重型机械有限公司 | Positioning and navigation device of working platform of elevating platform fire truck, fire truck and method |
| CN104800995A (en) * | 2015-03-04 | 2015-07-29 | 徐州重型机械有限公司 | Boom positioning equipment, firefighting truck and method |
| CN106061885A (en) * | 2014-01-31 | 2016-10-26 | 帕尔菲格股份有限公司 | Crane controller |
| CN106082043A (en) * | 2016-06-07 | 2016-11-09 | 国机重工集团常林有限公司 | A kind of self-walking aerial working vehicle control |
| CN106185740A (en) * | 2016-07-12 | 2016-12-07 | 徐工消防安全装备有限公司 | A kind of work platforms automatic vertical elevating movement device and control method thereof |
| CN106476012A (en) * | 2016-10-18 | 2017-03-08 | 国网山东省电力公司电力科学研究院 | A kind of new auxiliary mechanical arm control system and its control method |
| EP3257805A1 (en) * | 2016-06-13 | 2017-12-20 | Cargotec Patenter AB | Hydraulic crane |
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| CN108996409A (en) * | 2018-08-07 | 2018-12-14 | 湖南中联重科智能技术有限公司 | Control the method and device of crane hoisting arm expansion |
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| CN114162726A (en) * | 2021-03-30 | 2022-03-11 | 贵州航天天马机电科技有限公司 | A jib crane control system |
| CN114955866A (en) * | 2021-02-26 | 2022-08-30 | 三菱重工机械系统株式会社 | Deck crane system, control device of deck crane and control method of deck crane |
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2009
- 2009-02-25 CN CNU2009200886661U patent/CN201358142Y/en not_active Expired - Fee Related
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| CN101893900A (en) * | 2010-06-29 | 2010-11-24 | 三一重工股份有限公司 | Engineering plant and arm support control system thereof |
| CN101893900B (en) * | 2010-06-29 | 2012-07-04 | 三一重工股份有限公司 | Engineering plant and arm support control system thereof |
| WO2012028032A1 (en) * | 2010-08-30 | 2012-03-08 | 长沙中联重工科技发展股份有限公司 | Method for controlling movement track of crane hook |
| CN102001587A (en) * | 2010-11-17 | 2011-04-06 | 武汉船用机械有限责任公司 | Ship rotary crane jib laying automatic control method and control device |
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| CN108996409A (en) * | 2018-08-07 | 2018-12-14 | 湖南中联重科智能技术有限公司 | Control the method and device of crane hoisting arm expansion |
| CN109353972B (en) * | 2018-09-25 | 2019-12-31 | 中联重科股份有限公司 | High-altitude operation equipment navigation positioning device, positioning method and high-altitude operation equipment |
| CN109353972A (en) * | 2018-09-25 | 2019-02-19 | 中联重科股份有限公司 | high-altitude operation equipment navigation positioning device, positioning method and high-altitude operation equipment |
| CN109179214A (en) * | 2018-11-07 | 2019-01-11 | 三汽车起重机械有限公司 | A kind of method for controlling trajectory, device and crane |
| CN111689395A (en) * | 2020-05-14 | 2020-09-22 | 河北雷萨重型工程机械有限责任公司 | Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle |
| CN112919329A (en) * | 2021-02-01 | 2021-06-08 | 台州台普数控设备制造有限公司 | Control system for balance crane |
| CN114955866A (en) * | 2021-02-26 | 2022-08-30 | 三菱重工机械系统株式会社 | Deck crane system, control device of deck crane and control method of deck crane |
| CN114162726A (en) * | 2021-03-30 | 2022-03-11 | 贵州航天天马机电科技有限公司 | A jib crane control system |
| US12448256B2 (en) | 2022-05-13 | 2025-10-21 | Palfinger Ag | Method for moving a lifting device |
| AU2023266399B2 (en) * | 2022-05-13 | 2026-01-08 | Palfinger Ag | Method for moving a lifting device |
| CN115291527A (en) * | 2022-09-30 | 2022-11-04 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
| CN115291527B (en) * | 2022-09-30 | 2022-12-20 | 成都航天万欣科技有限公司 | Follow-up control method, system, equipment and storage medium |
| CN119660583A (en) * | 2024-12-27 | 2025-03-21 | 徐州重型机械有限公司 | Crane action control method and system |
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