CN202924612U - Linear hoisting device for truck-mounted knuckle boom crane - Google Patents

Abstract

The utility model discloses a linear lifting device for a knuckle-arm type truck-mounted crane, which comprises an operating device, a sensor part, a processor part and an actuator part; the operating device, the sensor part and the actuator part are respectively connected with the processor Partial connection. In the prior art, the crane equipped with hoisting mechanism is easy to swing due to the influence of wind load as the wire rope is lengthened. However, with the device of the utility model, the relative position of the hoisting weight and the hook remains basically unchanged, and the working process More stable and safe. At the same time, the utility model is more space-saving than the method of adding a winch mechanism, and the angle sensor, length sensor and controller used can be used in the crane moment limiter at the same time, without additional installation, which effectively saves equipment costs.

Description

A linear lifting device for a knuckle-arm type truck-mounted crane

technical field

The utility model belongs to the field of cranes, and relates to a linear hoisting device for a crane, in particular to a linear hoisting device for a folding-arm type truck-mounted crane.

Background technique

The truck-mounted lifting transport vehicle has the functions of lifting and transportation at the same time. It is recognized and accepted by more and more users because of its fast, flexible, convenient and combination of loading, unloading and transportation. It is widely used in transportation, civil construction Cargo loading and unloading and long-distance transfer of goods in , electric power and other industries. According to the structure, the truck-mounted cranes can be divided into two types: straight-arm truck-mounted cranes and folding-arm truck-mounted cranes. Since the boom of the straight-arm type truck-mounted crane cannot be folded, the hoisting and lifting of the object must be completed by the hoist driving the hook through the steel cable, and the straight-line lifting of the material is realized. The knuckle boom truck-mounted crane can complete the hoisting of materials through luffing and telescopic, but in the process of lifting and landing, it is necessary to repeatedly adjust two luffing and one telescopic action to align with the landing point, which is inconvenient to operate and reduces the working efficiency; therefore, there are The knuckle-arm type truck-mounted crane that requires straight-line lifting generally also needs to be installed with a hoisting device, but it puts forward additional requirements for the structure and installation space. At the same time, like the straight-arm type truck-mounted If the steel wire rope is long, it is easy to swing due to the influence of wind load, and there are certain potential safety hazards.

Utility model content

The purpose of this utility model is to overcome the above-mentioned shortcomings of the prior art, and provide a linear lifting device for a knuckle-arm type truck-mounted crane. The device transmits the collected information to To the processor module installed on the crane for analysis and judgment, the processor module issues instructions to control the execution device according to the collected data, so as to achieve the purpose of straight-line lifting of the knuckle-arm crane.

The purpose of this utility model is to solve through the following technical solutions:

It includes an operating device, a sensor part, a processor part and an actuator part; the operating device, the sensor part and the actuator part are respectively connected with the processor part.

The above-mentioned processor part includes a programmable controller, an input circuit and an output circuit.

The above-mentioned processor part is installed on the crane support or the crane chassis.

The above-mentioned operating device includes a proportional joystick and a switch installed on a wireless or wired remote controller, and the switch is connected to the processor part through an input circuit.

The sensor part includes: a length sensor used to measure the elongation of the boom, a weight sensor used to collect information on the quality of the hoisted weight, and a first angle sensor and a second angle sensor; the length sensor is installed on the outer arm, and the The weight sensor is installed on the upper end of the hook, the first angle sensor is installed on the outer arm, and the second angle sensor is installed on the inner arm.

The above-mentioned actuator part includes a three-way electromagnetic proportional reversing valve, and a first luffing oil cylinder, a second luffing oil cylinder and a telescopic arm oil cylinder respectively connected with the three-way electromagnetic proportional reversing valve.

Compared with the prior art, the utility model has the following beneficial effects:

(1) In the prior art, the crane equipped with hoisting mechanism is easy to swing due to the influence of wind load as the wire rope is lengthened, but with the device of the utility model, the relative position of the hoisting weight and the hook remains basically unchanged , the operation process is more stable and safe.

(2) The utility model is more space-saving than the method of adding a winch mechanism. The angle sensor, length sensor and controller used can be used in the crane moment limiter at the same time, without additional installation, which effectively saves equipment costs.

Description of drawings

Fig. 1 is a system configuration diagram of the present utility model.

Fig. 2 is a schematic diagram of the application of the utility model on a truck-mounted crane.

Fig. 3 is the implementation flowchart of the utility model.

Figure 4 is an explanatory diagram of the main parameters.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail:

Referring to Fig. 1 and Fig. 2, this linear lifting device for a knuckle-arm type truck-mounted crane includes an operating device 1, a sensor part 2, a processor part 3 and an actuator part 4; the operating device 1, the sensor part 2 And the actuator part 4 is connected with the processor part 3 respectively. The processor section 3 includes a programmable controller 32 , an input circuit 31 and an output circuit 33 . The processor part 3 is mounted on the crane pedestal or on the crane chassis. The operating device 1 includes a proportional joystick 11 mounted on a wireless or wired remote controller and a switch 12 connected to the processor part 3 through an input circuit 31 . The sensor part 2 includes: a length sensor 21 for measuring the elongation of the boom, a weight sensor 24 for collecting hoisting quality information, and a first angle sensor 22 and a second angle sensor 23; the length sensor 21 is installed On the outer arm, the weight sensor 24 is installed on the upper end of the hook, the first angle sensor 22 is installed on the outer arm, and the second angle sensor 23 is installed on the inner arm. The actuator part 4 includes a three-way electromagnetic proportional reversing valve 13 , and a first luffing oil cylinder, a second luffing oil cylinder and a telescopic arm oil cylinder respectively connected to the three-way electromagnetic proportional reversing valve 13 .

The control method for straight-line hoisting of the knuckle-arm type truck-mounted crane includes the following steps, which are divided into two situations:

1) When the crane is in the unfolded state, switch the operation of the crane to the straight-line hoisting state by switching the switch, at this time the system saves the initial operating range R; during the lifting or lowering process, the operating range deviation ΔR is used as a variable to control the electromagnetic converter Adjust the first luffing cylinder, the second luffing cylinder and the telescopic arm cylinder to the valve group, so as to control the actual operating range within a certain range;

When lifting in a straight line, the first luffing oil cylinder is always extending, and the telescopic speed v ₁ and the offset x coefficient of the proportional joystick are set as a, and the variable |ΔR| coefficient is set as b, and the angle between the inner arm and the horizontal direction |α|coefficient is c, a, b, c are all positive numbers, speed v ₁ =ax-b|ΔR|+c|α|;

2) When the telescopic arm is not stretched out, adjust the working range by controlling the expansion and contraction of the second luffing cylinder. The expansion and contraction of the second luffing cylinder is related to the positive and negative of ΔR; when ΔR<-ε, if θ<0° The second luffing cylinder extends, if θ>0° the second luffing cylinder retracts; when ΔR>ε, if θ<0° the second luffing cylinder retracts, if θ>0° the second luffing cylinder extends Out; the telescopic speed v ₂ and the offset x coefficient of the proportional joystick are set to d, and the variable |ΔR| coefficient is positioned e, and the angle |θ| Positive number, speed v ₂ =dx-e|ΔR|+f|θ|; when the stretching amount of the telescopic arm ΔL>0, the operating range is adjusted by controlling the telescopic arm cylinder; when ΔR<-ε, the telescopic arm The oil cylinder begins to extend, and when ΔR>ε, the telescopic arm cylinder begins to retract, and the determination of the telescopic speed is the same as v ₂ ;

In the process of straight-line lifting, when the angle β between the outer arm and the inner arm is greater than the set angle, stop extending or retracting the second luffing oil cylinder, and adjust the working range through the expansion and contraction of the telescopic arm oil cylinder. same for v ₂ ;

When the luffing angle of the inner arm reaches the set value, the operating range is adjusted by increasing the luffing angle of the outer arm and the stretching of the telescopic arm. When the angle between the outer arm and the inner arm or the stroke of the telescopic arm reaches the set value, the operation stops , can not continue to lift, but allow straight down operation;

In the above steps, R is the initial operating range; ΔR is the deviation of the operating range; v ₁ and v ₂ are the telescopic speed; ε is the limit value of the deviation of the operating range; θ is the luffing angle of the outer arm; horn.

The utility model is used for a linear lifting device of a knuckle-arm type truck-mounted crane, and comprises an operating device 1 , a sensor part 2 , a processor part 3 and an actuator part 4 . The operating device 1 , the sensor part 2 and the actuator part 4 are respectively connected to the processor part 3 .

The operating device should include a proportional joystick 11. The proportional joystick 11 is generally located on the wired or wireless remote controller of the truck-mounted crane. In order to reduce the number of proportional joysticks on the remote controller, a toggle switch is generally set on the remote controller. , the function of a certain joystick can be switched between operating a certain action and operating straight-line lifting by switching the switch.

The sensor part 2 includes: a length sensor 21 for measuring the elongation of the boom, a weight sensor 24 for collecting hoisting quality information, and a first angle sensor 22 and a second angle sensor 23; the length sensor 21 is installed On the outer arm, the weight sensor 24 is installed on the upper end of the suspension hook, the first angle sensor 22 is installed on the outer arm, and the second angle sensor 23 is installed on the inner arm.

The processor section 3 includes a programmable controller 32 , an input circuit 31 and an output circuit 33 . The programmable controller 32 is connected to the sensor part 2 through the input circuit 31 and connected to the actuator part 4 through the output circuit 33 .

The actuator part 4 includes a three-way electromagnetic proportional reversing valve 13, the three-way electromagnetic proportional reversing valve 13 is respectively connected with the first luffing oil cylinder, the second luffing oil cylinder and the three-way electromagnetic proportional reversing valve 13. Telescopic arm cylinder. The actuator 4 is generally installed on both sides of the crane to facilitate manipulation.

Fig. 3 is an implementation flow chart of the utility model, in which the first luffing cylinder, the second luffing cylinder and the telescopic arm cylinder are referred to as cylinder 1, cylinder 2 and cylinder 3 for short, and Fig. 4 is an explanatory diagram of main parameters. Set forth the control idea of the present utility model according to the accompanying drawings below.

First, the main parameters involved in the control process are described.

ΔL: the elongation of the telescopic arm, measured by the length sensor;

ΔLmax: the maximum elongation of the telescopic arm, the inherent parameters of the crane, known quantities;

α: inner arm luffing angle, which can be measured by the angle sensor;

α ₁ : The minimum luffing angle of the inner arm set by the system is a known quantity;

α ₂ : The maximum luffing angle of the inner arm set by the system is related to the structure of the crane and is a known quantity;

θ: The luffing angle of the outer arm, which can be measured by the angle sensor;

β: The angle between the outer arm and the inner arm, β=π+θ-α, can be calculated from the measured value;

β ₁ : The system sets the maximum angle between the outer arm and the inner arm, which is related to the structure of the crane and is a known quantity;

β ₂ : The system sets the minimum angle between the outer arm and the inner arm, which is a known quantity;

R: initial operating range, calculated from the measured values α, θ, ΔL and the size of the crane;

R’: Actual operating range, calculated from the measured values α, θ, ΔL and the size of the crane;

ΔR: operating range deviation, ΔR=R’-R, can be calculated;

ε: operating range deviation limit value, a system setting parameter, which is a positive value;

i, j: Auxiliary variables, mainly used for operation judgment after the solenoid valve is cut off or turned on in the control process.

The main control idea of straight-line hoisting is to determine several variables as parameters to control the first and second luffing cylinders and telescopic cylinders. The coefficients of the parameters are determined by the importance of the parameters. The specific coefficients are for cranes of different structural sizes. Experimental adjustments are required.

As shown in the flowchart, the first luffing oil cylinder is always in the extended state when the set value is not reached when the straight line rises, and the second luffing oil cylinder and the telescopic arm oil cylinder expand or contract according to the state they are in. When the set value is not reached, the inner arm oil cylinder is always in the shrinking state, and the second luffing oil cylinder and the telescopic arm oil cylinder are stretched or shrunk according to the state they are in.

The following describes the control process through the linear lifting process:

When the crane is in the unfolded state, turn the switch to switch the operation of the crane to the straight-line lifting state. At this time, the system saves the initial operating range R; during the lifting or lowering process, the operating range deviation ΔR is used as a variable to control the electromagnetic reversing valve Group adjustment of the first luffing cylinder, the second luffing cylinder and the telescopic arm cylinder, so as to control the actual operating range within a certain range;

When lifting in a straight line, the first luffing oil cylinder is always extending, and the telescopic speed v ₁ and the offset x coefficient of the proportional joystick are set as a, and the variable |ΔR| coefficient is set as b, and the angle between the inner arm and the horizontal direction |α|coefficient is c, a, b, c are all positive numbers, speed v ₁ =ax-b|ΔR|+c|α|;

When the telescopic arm is not stretched out, the operating range is adjusted by controlling the expansion and contraction of the second luffing cylinder. The expansion and contraction of the second luffing cylinder is related to the positive or negative of ΔR; when ΔR<-ε, if θ<0° the second variable Extend the luffing cylinder, if θ>0° the second luffing cylinder retracts; when ΔR>ε, if θ<0° the second luffing cylinder retracts, if θ>0° the second luffing cylinder extends; The telescopic speed v ₂ and the offset x coefficient of the proportional joystick are set to d, and the variable |ΔR| coefficient is positioned at e, and the angle |θ| between the outer arm and the horizontal direction is f, and d, e, and f are all positive numbers , speed v ₂ =dx-e|ΔR|+f|θ|; when the extension of the telescopic arm ΔL>0, the operating range is adjusted by controlling the telescopic arm cylinder; when ΔR<-ε, the telescopic arm cylinder starts Stretch out, when ΔR>ε, the telescopic arm cylinder starts to retract, and the determination of the telescopic speed is the same as v ₂ ;

In the process of straight-line lifting, when the angle β between the outer arm and the inner arm is greater than the set angle, stop extending or retracting the second luffing oil cylinder, and adjust the working range through the expansion and contraction of the telescopic arm oil cylinder. same for v ₂ ;

When the luffing angle of the inner arm reaches the set value, the operating range is adjusted by increasing the luffing angle of the outer arm and the stretching of the telescopic arm. When the angle between the outer arm and the inner arm or the stroke of the telescopic arm reaches the set value, the operation stops , can not continue to lift, but allow straight down operation;

The control of straight down and straight up is similar.

In actual operation, the parameters measured by the weight sensor can be considered, and the actual operation range can be corrected to a certain extent according to the operation range and the quality of the measured heavy object, so as to improve the accuracy of straight-line lifting.

When the switch is switched to normal operation, straight-line hoisting will fail, and the proportional joystick can only operate the specified oil cylinder.

Claims (6)

1. A linear lifting device for a knuckle-arm type truck-mounted crane, characterized in that it includes an operating device (1), a sensor part (2), a processor part (3) and an actuator part (4); the The operating device (1), the sensor part (2) and the actuator part (4) are respectively connected with the processor part (3). the 2. The linear lifting device for knuckle-arm type truck-mounted crane according to claim 1, characterized in that: the processor part (3) includes a programmable controller (32), an input circuit (31) and an output circuit (33). the 3. The linear lifting device for a knuckle-arm truck-mounted crane according to claim 1 or 2, characterized in that: the processor part (3) is installed on the crane support or the crane chassis. the 4. The linear lifting device for a knuckle-arm type truck-mounted crane according to claim 1, characterized in that: the operating device (1) includes a proportional joystick (11) installed on a wireless or wired remote controller and A switch (12), the switch is connected to the processor part (3) through an input circuit (31). the 5. The linear lifting device for a knuckle-arm type truck-mounted crane according to claim 1, characterized in that: the sensor part (2) includes: a length sensor (21) for measuring the elongation of the boom , the weight sensor (24) used to collect the quality information of the hoist, and the first angle sensor (22) and the second angle sensor (23); the length sensor (21) is installed on the outer arm, and the weight sensor (24 ) is installed on the upper end of the hook, the first angle sensor (22) is installed on the outer arm, and the second angle sensor (23) is installed on the inner arm. the 6. The linear lifting device for the knuckle-arm type truck-mounted crane according to claim 1, characterized in that: the actuator part (4) includes a three-way electromagnetic proportional reversing valve, and is connected with the three-way electromagnetic proportional reversing valve respectively. The first luffing oil cylinder, the second luffing oil cylinder and the telescopic arm oil cylinder connected by the reversing valve. the

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