CN109956402A - A kind of crane truck restraint protection system and autocrane - Google Patents
A kind of crane truck restraint protection system and autocrane Download PDFInfo
- Publication number
- CN109956402A CN109956402A CN201711338783.4A CN201711338783A CN109956402A CN 109956402 A CN109956402 A CN 109956402A CN 201711338783 A CN201711338783 A CN 201711338783A CN 109956402 A CN109956402 A CN 109956402A
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- Prior art keywords
- crane
- controller
- control stick
- detection device
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention relates to a kind of crane truck restraint protection system and autocranes, enclose protector etc. including control stick, the ultrasonic sensor of detection control stick movement, controller, power limit device, solenoid valve, main hook height limit switch, auxiliary hook height limit switch, main three circles protector, pair three.When crane hoisting operation encounters the fault conditions such as pulleying, over-discharge, overload, controller is acted by the power loss limitation control stick that obtains of control solenoid valve to dangerous direction.Due to mounting ultrasonic sensor after each control stick, what controller can thoroughly do away with that ultrasonic sensor judges control stick always does direction, when control stick is acted to dangerous direction, each movement solenoid valve respectively electric off-load, therefore crane can only be acted to safe direction.The intelligent deactivation system of restraint protection as described herein is easy to operate, safe and reliable, intelligence degree is high.
Description
Technical field
The present invention relates to a kind of crane truck restraint protection system and autocranes, belong to autocrane and protect safely
Protector for collar domain.
Background technique
Autocrane is installed in a kind of crane on general-utility car chassis or cars chassis, travels driver's cabin
It is provided separately with lifting control cabinl pulpit.Technology reaches its maturity the autocrane of China after decades of development, is meeting tradition
Increasingly develop to intelligent direction while basic function.
When traditional autocrane encounters pulleying, over-discharge, overload and principal arm in lifting operation and excessively turns round, triggering limit
Dynamic protection, off-load solenoid valve, which obtains electro-hydraulic pressure system unloaded, to be made to lift work stopping, to prevent dangerous and accident.Hoisting operation at this time
Operator needs to control the solenoid valves power loss such as off-load, three circle protections, flexible by closure force switch on one side, makes hydraulic system work
Make crane and receive control again, is recovered to home by crane using control stick on one side.Such way Shortcomings
And some potential safety problems, it is necessary first to which two hand coordinating operations to high operation requirements, and are inconvenient；Secondly it needs in this way
Operator has lifting experience abundant, once not off-load is forced in control, operator's maloperation fails that crane is made to be recovered to safety
Operating condition is lifted into more dangerous position again instead, it is possible to the accidents such as overturning occur.For this purpose, needing a kind of novel medium and small ton
The restraint of position autocrane protects system, and crane is encountered in hoisting operation more than the warnings such as pulleying, over-discharge, overload limitation
When being capable of simple, intelligence releasing these danger limitations.
Summary of the invention
It is existing to solve the object of the present invention is to provide a kind of crane truck restraint protection system and autocrane
Autocrane restraint protects intelligence degree low, releases the high operation requirements of restraint protection and there are problems that security risk.
To achieve the above object, the solution of the present invention includes:
A kind of crane truck restraint of the invention protects system, including following system schema:
System schema one, including for detect crane whether pulleying height limit switch, for detecting crane be
Cross prevention switch, controller and the restraint protection mechanism of no over-discharge, the controller connect the height limit switch, described
Cross prevention switch and the restraint protection mechanism further include for detecting the flexible manipulation of the arm of arm retractable joystick direction of action
Bar detection device, the arm retractable joystick detection device are connected with the controller.
Crane truck restraint of the invention protects system, by controller judge main hook or auxiliary hook whether pulleying or mistake
It puts, after receiving pulleying or crossing discharge signal, the operation direction of arm retractable joystick is actively judged, if arm retractable joystick is in hook
Continue to operate to prolonging direction or continue in hook pulleying when over-discharge to direction operation is shortened, then controller control correspondence is unloaded charged
Magnet valve obtains electric off-load, restraint protection intervention；If arm retractable joystick is in hook over-discharge to shortening direction operation or in hook pulleying
It is operated to prolonging direction, then controller controls corresponding off-load solenoid valve power loss, and restraint is prevented to protect intervention.The present invention can rise
When heavy-duty machine reaches the alert locations of pulleying or over-discharge, the further pulleying of crane or over-discharge are prevented, is only capable of crane to pulleying
Or the opposite direction control arm retractable joystick of over-discharge, until warning releases；In the danger side towards further pulleying or over-discharge
Make restraint protection intervention when to control arm retractable joystick, dangerous item station can not be responded by crane, towards release pulleying or
When the directional control arm retractable joystick of over-discharge, restraint is prevented to protect intervention.The present invention improves pulleying or the protection of over-discharge restraint
Intelligence, reduce pulleying or over-discharge restraint protection front and back operation requirement.
System schema two further includes for detecting hook retractable joystick direction of action on the basis of system schema one
Hook retractable joystick detection device, the hook retractable joystick detection device are connected with the controller.
Present invention increase checking device also after hook retractable joystick equally makes major-minor in pulleying over-discharge alert locations
Hook control stick can not operate then unrestricted towards the direction controlling for aggravating pulleying or over-discharge on the direction for releasing pulleying or over-discharge
System, can also the releasing pulleying of intelligence or the danger of over-discharge while playing restraint protective effect.
System schema three, on the basis of system schema one, including limiting device, institute for detecting the power whether crane overloads
It states power limit device and connects the controller, further include the luffing control stick detection device for detecting luffing control stick direction of action,
The luffing control stick detection device connects the controller.
The present invention is also added into monitoring and control to overload, when making overload warning triggering, is only capable of executing the operation for putting hook,
Maloperation is prevented, while reducing operation and requiring.It is also added into the detection to luffing control stick simultaneously, in the danger for having overload
When, no normal direction increases the direction operation of boom, the dangerous releasing of straight way overload.
System schema four, on the basis of system schema one, including what is whether excessively turned round for detecting crane arm
Slewing limit switch, the slewing limit switch connect the controller, further include for detecting revolution control stick direction of action
Revolution control stick detection device, the revolution control stick detection device connects the controller.
The present invention is also monitored revolution operation, prevents principal arm from turning over revolution restriction site and causing danger, moreover it is possible to from
Dynamic auxiliary is cleared.
System schema five, on the basis of system schema one or system schema two or system schema three or system schema four,
The control stick detection device is ultrasonic sensor.
The present invention uses the corresponding control stick distance change of ultrasonic sensor detection to judge operating lever operation direction, at
This is low, and scheme is simple and reliable.
System schema six, on the basis of system schema one or system schema two or system schema three or system schema four,
The Cross prevention switch is three circle protectors.
System schema seven, on the basis of system schema one or system schema two or system schema three or system schema four,
The restraint protection mechanism includes off-load solenoid valve.
A kind of autocrane of the invention, including following crane scheme:
Crane scheme one, including for controlling crane hoisting arm expansion arm retractable joystick, for detecting crane
Whether pulleying height limit switch, for detect crane whether over-discharge Cross prevention switch, controller and restraint protection
Mechanism, the controller connect the height limit switch, Cross prevention switch and the restraint protection mechanism, further include
For detecting the arm retractable joystick detection device of the arm retractable joystick direction of action, the arm retractable joystick detection dress
It sets and is connected with the controller.
Crane scheme two is stretched on the basis of crane scheme one including the hook for controlling crane hook folding and unfolding
Contracting control stick further includes the hook retractable joystick detection device for detecting the hook retractable joystick direction of action, the hook
Retractable joystick detection device is connected with the controller.
Crane scheme three, on the basis of crane scheme one, including the power limit whether overloaded for detecting crane
Device and luffing control stick for controlling crane arm landing, the power limit device connect the controller, further include for examining
The luffing control stick detection device of the luffing control stick direction of action is surveyed, the luffing control stick detection device connects the control
Device processed.
Crane scheme four, on the basis of crane scheme one, including for detecting whether crane arm excessively returns
The slewing limit switch turned and the revolution control stick for controlling crane arm revolution, the slewing limit switch described in connection
Controller further includes the revolution control stick detection device for detecting the direction of action of the revolution control stick, the revolution behaviour
Vertical pole detection device connects the controller.
Crane scheme five, in crane scheme one or crane scheme two or crane scheme three or crane scheme four
On the basis of, the control stick detection device is ultrasonic sensor.
Crane scheme six, in crane scheme one or crane scheme two or crane scheme three or crane scheme four
On the basis of, the Cross prevention switch is three circle protectors.
Crane scheme seven, in crane scheme one or crane scheme two or crane scheme three or crane scheme four
On the basis of, the restraint protection mechanism includes off-load solenoid valve.
Autocrane of the invention is equipped with the ultrasonic sensor of detection control stick movement on control stick at multi-way valve,
Controller can determine whether out the movement of each control stick according to the signal of ultrasonic sensor, therefore, when detect overload, over-discharge or
When the signals such as pulleying, it is only necessary to which the releasing of failure restraint can be realized by acting control stick, no longer needed to use force switch, made operation so more
Simplicity eliminates the possibility of maloperation, ensure that the safety of hoisting operation.
The present invention judges whether movement correctly avoids manual operation by controller by the signal of ultrasonic sensor
Malfunction, reduces the risk of operation.
Detailed description of the invention
Fig. 1 is crane truck restraint protection system construction drawing of the invention；
Fig. 2 is crane truck restraint protection circuit system schematic diagram of the invention；
Fig. 3 is crane truck restraint protection schematic diagram of the invention.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
A kind of crane truck restraint as shown in Figure 3 protects schematic diagram, including main hook height limit switch 1, power to limit device
2, controller 3, main three circles protector 4, pair three enclose protector 5, revolution control stick 6, arm retractable joystick 7, luffing control stick 8,
Main hook retractable joystick 9, auxiliary hook retractable joystick 10, revolution control stick ultrasonic sensor 11, arm retractable joystick ultrasonic wave
Sensor 12, luffing control stick ultrasonic sensor 13, main hook retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic
Sensor 15, main unloading valve 16, the circle protection of hook telescoping electromagnetic valve 17, three solenoid valve 18, auxiliary hook height limit switch 19 and extremely
Few two slewing limits switch (not shown).Above-mentioned control stick connect with multi-way valve of getting on the bus realize crane rotation, it is flexible,
Flexible four movements of luffing, hook.
As shown in Fig. 2, the main hook height limit switch 1, auxiliary hook height limit switch 19 and tie are in controller 3
One input terminal, the master three encloses protector 4, pair three encloses protector 5 and tie controller 3 an input terminal, it is described
An input terminal of each slewing limit switch in parallel wiring in controller 3, the revolution control stick ultrasonic sensor 11, arm
Retractable joystick ultrasonic sensor 12, luffing control stick ultrasonic sensor 13, main hook retractable joystick ultrasonic sensor
14 are mounted on revolution control stick 6, arm retractable joystick 7, luffing control stick 8, main hook retractable joystick 9, auxiliary hook retractable joystick
After 10, the revolution control stick ultrasonic sensor 11, arm retractable joystick ultrasonic sensor 12, luffing control stick ultrasonic wave
Sensor 13, main hook retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic sensor 15 distinguish wiring in controller 3
Input terminal, power limit device 2 connect by CAN line with controller 3, the main unloading valve 16, the circle of hook telescoping electromagnetic valve 17, three
Solenoid valve 18 is protected to distinguish wiring in 3 output end of controller.
A simultaneously input of the tie in controller 3 of the main hook height limit switch 1, auxiliary hook height limit switch 19
End, to detect wirerope whether pulleying, when wirerope receives certain position, main hook height limit switch 1 or auxiliary hook are high
It spends limit switch 19 to be closed, controller 3 detects an electric signal.
The master three encloses protector 4, three circle protector 5 of pair and tie in an input terminal of controller 3, to detect
The wirerope of main hook or auxiliary hook whether lead three circle protectors 4 when wirerope is put into certain position or pair three enclose protector by over-discharge
5 the inside normally-closed contacts disconnect, and controller 3 detects an electric signal.
The power limit device 2 is connect by CAN line with controller 3, and power, which limits device 2 and transmitted by CAN bus to controller 3, to overload
Equal signals.
One input terminal of slewing limit switch connection controller 3, be arranged in principal arm to the left right-hand rotation when danger
In the critical point of region (such as principal arm is forbidden being transferred to towards in the angular range in 45 degree of vehicle dead astern, otherwise has overturning danger
Danger), to detect whether principal arm excessively turns round, when principal arm is gone in the critical point of danger zone, triggers corresponding slewing limit and open
It closes and closes, controller 3 detects an electric signal.
The revolution control stick ultrasonic sensor 11, arm retractable joystick ultrasonic sensor 12, luffing control stick are super
Sonic sensor 13, main hook auxiliary hook retractable joystick ultrasonic sensor 14 be mounted on revolution control stick 6, arm retractable joystick 7,
After luffing control stick 8, main hook retractable joystick 9, auxiliary hook retractable joystick 10, to detect the direction of action of each control stick.
The revolution control stick ultrasonic sensor 11, arm retractable joystick ultrasonic sensor 12, luffing control stick are super
Wave sensor 13, main hook retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic sensor 15 are distinguished wiring and are being controlled
It is dynamic to calculate each control stick according to current signal to input an analog current signal to controller 3 for the input terminal of device 3
Make distance, controller 3 judges each control stick direction of action according to operating distance.
The main unloading valve 16, the circle protection solenoid valve 18 of hook telescoping electromagnetic valve 17, three are distinguished wiring and are exported in controller 3
End, controller 3 obtain power loss by controlling corresponding solenoid valve to control the corresponding restraint of execution and protect.
A kind of workflow of crane truck restraint protection system of the invention: controller 3 passes through height limit switch
Whether disconnect, whether three circle protectors are closed, whether slewing limit switch is closed and whether power limit device transmits overload signal and obtain
The fault messages such as the pulleying, over-discharge, excessive revolution, the overload that are acted to operation.Controller 3 passes through revolution control stick supersonic sensing
The detection signal of device 11 judges the steering direction of principal arm；Controller 3 judges stretching for cantilever crane by arm retractable joystick sensor
Contracting direction；Controller 3 judges the luffing direction of principal arm by luffing joystick sensor；Controller 3 is manipulated by major-minor hook
Bar ultrasonic sensor judges the telescopic direction of wirerope, and when control stick, which is persistently controlled, to be acted to dangerous direction, controller 3 is controlled
It makes corresponding restraint solenoid valve and obtains electric, the hydraulic system automatic deloading in dangerous play direction is to limit dangerous operation.
When controller 3 obtains pulleying signal, when controller 3 passes through arm retractable joystick ultrasonic sensor 12, main hook
Retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic sensor 15 detect the behaviour that cantilever crane retracts, wirerope recycles
When making, the control hook telescoping electromagnetic valve 17 of controller 3 obtains electric, corresponding hydraulic system off-load automatic limiting swing arm frame retraction and wirerope time
The operation of the exacerbation pulleying of receipts；When the operation of the releasing for detecting cantilever crane stretching, wirerope releasing volume state, controller 3
Disconnect hook telescoping electromagnetic valve 17 power supply, be performed simultaneously cantilever crane stretch out, wirerope release releasing volume state operation.Also
It is that arm retractable joystick 7, main hook retractable joystick 9 and auxiliary hook retractable joystick 10 can only control semi-girder or put wirerope, from
And released volume state；The operation for releasing volume state simultaneously, which also controls, forces not off-load, realizes simple, intelligent releasing
Volume state.
When discharge signal is obtained in controller 3, when controller 3 passes through arm retractable joystick ultrasonic sensor 12, main hook
Retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic sensor 15 detect the behaviour that cantilever crane stretches out, wirerope is released
When making, controller 3 controls three circle protection solenoid valves 18 and obtains electric, corresponding hydraulic system off-load automatic limiting swing arm frame stretching, wirerope
The operation of the exacerbation over-discharge of releasing；When detecting the operation for the releasing over-discharge state that cantilever crane retracts, wirerope recycles, controller
3 disconnect the power supply of three circle protection solenoid valves 18, are performed simultaneously the operation for the releasing over-discharge state that cantilever crane retracts, wirerope recycles.
Namely arm retractable joystick 7, major-minor hook retractable joystick 9 and auxiliary hook retractable joystick 10 can only control contracting arm or receive steel wire
Rope, to release over-discharge state；The operation for releasing over-discharge state simultaneously, which also controls, forces not off-load, realizes simple, intelligent
Release over-discharge state.
When controller 3, which limits device 2 by power, obtains overload signal, when controller 3 passes through luffing control stick supersonic sensing
Device 13, main hook retractable joystick ultrasonic sensor 14, auxiliary hook magnetostrictive ultrasonic sensor 15 detect principal arm raising, wirerope
When the operation of recycling, controller 3 controls main unloading valve 16 must be electric, corresponds to the automatic restraint principal arm raising of hydraulic system off-load, steel wire
Rope recycling continues to hang a liter operation for overload load；As the behaviour for detecting the reduction overload load that principal arm reduces, wirerope is released
When making, controller 3 disconnects the power supply of main unloading valve 16, is performed simultaneously the reduction overload load that principal arm reduces, wirerope is released
Operation.Namely luffing control stick 8, main hook retractable joystick 9 and auxiliary hook retractable joystick 10 can only control principal arm decline or
Wirerope is put, load is landed；Not off-load is also forced in the operation for reducing overload load simultaneously, realizes simple, intelligent releasing
Overload condition.
When controller 3 switchs to obtain principal arm by slewing limit goes to danger zone, when controller 3 passes through revolution manipulation
Bar ultrasonic sensor 11 detect principal arm continue turn to danger zone when, controller 3 control corresponding solenoid valve restraint principal arm after
The continuous operation for turning to danger zone；When detecting opposite direction and producing the operation of danger zone, controller 3 disconnects corresponding solenoid valve
Power supply, be performed simultaneously and reversely produce the operation of danger zone.Namely revolution control stick 6 can only control principal arm and turn to opposite direction
It is dynamic, the danger zone far from principal arm；The operation for producing danger zone simultaneously, which also controls, forces not off-load, realizes simple, intelligence
The state excessively turned round of releasing principal arm.
In conclusion controller 3 passes through control when user job encounters pulleying, over-discharge, the excessively failures such as revolution, overload
It makes corresponding solenoid valve and obtains electric off-load to limit the dangerous play direction of each control stick respectively, that is, user can only pass through behaviour
Vertical pole controls crane to safe direction operation, restraint as described herein protect intelligent deactivation system it is easy to operate, it is safe and reliable,
Intelligence degree is high.
Claims (10)
1. a kind of crane truck restraint protects system, including for detect crane whether pulleying height limit switch, use
In detection crane, whether the Cross prevention of over-discharge is switched, controller and restraint protection mechanism, the controller connect the height
Spend limit switch, Cross prevention switch and the restraint protection mechanism, which is characterized in that further include flexible for detecting arm
The arm retractable joystick detection device of control stick direction of action, the arm retractable joystick detection device and the controller phase
Even.
2. a kind of crane truck restraint according to claim 1 protects system, which is characterized in that further include for detecting
The hook retractable joystick detection device of hook retractable joystick direction of action, the hook retractable joystick detection device and the control
Device is connected.
3. a kind of crane truck restraint according to claim 1 protects system, including for detect crane whether mistake
The power of load limits device, and the power limit device connects the controller, which is characterized in that further includes for detecting luffing control stick movement side
To luffing control stick detection device, the luffing control stick detection device connects the controller.
4. a kind of crane truck restraint according to claim 1 protects system, including is for detecting crane arm
The no slewing limit switch excessively turned round, the slewing limit switch connect the controller, which is characterized in that further include being used for
The revolution control stick detection device of detection revolution control stick direction of action, the revolution control stick detection device connect the control
Device.
5. a kind of crane truck restraint according to claim 1,2,3 or 4 protects system, which is characterized in that the behaviour
Vertical pole detection device is ultrasonic sensor.
6. a kind of crane truck restraint according to claim 1,2,3 or 4 protects system, which is characterized in that the mistake
Putting protective switch is three circle protectors.
7. a kind of crane truck restraint according to claim 1,2,3 or 4 protects system, which is characterized in that the limit
Dynamic protection mechanism includes off-load solenoid valve.
8. a kind of autocrane, including for controlling crane hoisting arm expansion arm retractable joystick, for detecting crane
Whether pulleying height limit switch, for detect crane whether over-discharge Cross prevention switch, controller and restraint protection
Mechanism, the controller connect the height limit switch, Cross prevention switch and the restraint protection mechanism, feature
It is, further includes the arm retractable joystick detection device for detecting the arm retractable joystick direction of action, the arm is flexible
Control stick detection device is connected with the controller.
9. a kind of autocrane according to claim 8, including the flexible behaviour of hook for controlling crane hook folding and unfolding
Vertical pole, which is characterized in that it further include the hook retractable joystick detection device for detecting the hook retractable joystick direction of action,
The hook retractable joystick detection device is connected with the controller.
10. a kind of autocrane according to claim 8, including for detect power limit device that whether crane overloads and
For controlling the luffing control stick of crane arm landing, the power limit device connects the controller, which is characterized in that further includes
For detecting the luffing control stick detection device of the luffing control stick direction of action, the luffing control stick detection device connection
The controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338783.4A CN109956402A (en) | 2017-12-14 | 2017-12-14 | A kind of crane truck restraint protection system and autocrane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338783.4A CN109956402A (en) | 2017-12-14 | 2017-12-14 | A kind of crane truck restraint protection system and autocrane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109956402A true CN109956402A (en) | 2019-07-02 |
Family
ID=67017929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338783.4A Pending CN109956402A (en) | 2017-12-14 | 2017-12-14 | A kind of crane truck restraint protection system and autocrane |
Country Status (1)
| Country | Link |
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| CN (1) | CN109956402A (en) |
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| CN207608232U (en) * | 2017-12-14 | 2018-07-13 | 河南森源重工有限公司 | Crane truck restraint protects system and autocrane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR930023259A (en) * | 1992-05-30 | 1993-12-18 | 김연수 | Heavy Equipment Safety Device |
| CN2695426Y (en) * | 2004-04-07 | 2005-04-27 | 徐州重型机械厂 | Safety direction detecting device |
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