The invention relates to the technical field of engineering machinery, and discloses a control method, a controller and a control device for a crane boom and a crane. The control method comprises the steps of receiving a variable amplitude instruction; under the condition that the amplitude variation instruction is from the horizontal attitude amplitude variation to the operation attitude amplitude variation, the pulling force of the pulling plate is obtained; the main arm is controlled to execute the variable amplitude rising action, the tower type auxiliary arm is controlled to execute the variable amplitude falling action, the arm head of the tower type auxiliary arm is in a ground contact state, and the pulling force of the pulling plate is within a preset change range; acquiring the angle of a main arm; under the condition that the amplitude variation of the main arm reaches a preset safety angle or above, the amplitude variation starting action of the main arm and the amplitude variation falling action of the tower type auxiliary arm are stopped; and controlling the tower-type fly jib to execute the amplitude variation action until the amplitude variation reaches the working posture. Automatic control of the whole arm lifting process is realized on the premise of safety; labor intensity of operators is reduced, safety accidents caused by subjective errors of the operators are avoided, and convenience and safety of operation are improved.
本发明涉及工程机械技术领域,公开了一种用于起重机臂架的控制方法、控制器、控制装置及起重机。控制方法包括:接收变幅指令;在变幅指令为从水平姿态变幅起至作业姿态的情况下,获取拉板的拉力;控制主臂执行变幅起动作,并控制塔式副臂执行变幅落动作,且使得塔式副臂的臂头为触地状态以及拉板的拉力在预设变化范围内;获取主臂的角度;在主臂变幅起至预设安全角度以上的情况下,停止主臂的变幅起动作以及停止塔式副臂的变幅落动作;控制塔式副臂执行变幅起动作直至变幅起至作业姿态。在安全的前提下实现了整个起臂过程的自动控制;降低了操作人员的劳动强度,避免了因操作人员主观失误导致的安全事故,提升操作的便利性和安全性。
Control method, controller and control device for crane boom and crane
用于起重机臂架的控制方法、控制器、控制装置及起重机
2022-12-09
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
Control method, controller and device for crane boom and crane
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