Control method and system for preventing collision of front sling and vehicle frame or/and cargo boom

Abstract

The invention discloses a control method and a control system which avoid the face cargo sling from colliding with a frame and / or a lifting arm; the method and the system judge if the cargo sling is in the state of being inclinable to collide with the frame or / and the lifting arm; if the cargo sling is in the state of being inclinable to collide with the frame or the lifting arm, the rotation angle of the cargo sling is detected; the relation of the rotation angle of the cargo sling and the critical angle is monitored; when the rotation angle of the cargo sling is less than the critical angle, the rotation angle of the cargo sling is not limited; when the rotation angle of the cargo sling is not less that the critical angle, the cargo sling is prevented from rotating to the direction apart from the central position, so as to prevent the cargo sling from colliding with the frame and the lifting arm; the critical angle is the minimum rotation angle when the cargo sling collides with the frame or the lifting arm; namely, the critical angle is the maximum allowed rotation angle before the cargo sling collides with the frame or the lifting arm. The control method and the control system provided by the invention is particularly applicable to avoiding the face cargo sling from colliding with the frame or / and lifting arm.

Description

technical field [0001] The present invention relates to an operation method and system of a front stacker, in particular to a control method for preventing a front stacker from colliding with a vehicle frame or / and a boom and a control system for realizing the control method. Background technique [0002] The container reach stacker is an important equipment for container shipping, and it is widely used in the current docks and ports. [0003] The front stacker generally includes several parts such as the frame, the boom, the spreader, the pitching hydraulic cylinder, the telescopic hydraulic cylinder and the hydraulic system. The frame is the mechanical support of the front stacker. , raised or lowered under the action of the pitching hydraulic cylinder to change the lifting angle of the boom, and the telescopic hydraulic cylinder is used to realize the extension and retraction of the boom to change the length of the boom. The tool is connected to the top of the boom and c...

AI Technical Summary

Problems solved by technology

Since the weight of the spreader, especially the spreader with a container, is often relatively large, once it collides with the frame or the boom, it will cause great damage to the front stacker

In addition, because the distance between the spreader of the reach stacker and the cab is relatively far, the rotation angle of the spreader cannot be precisely controlled. The maximum angle that the spreader can rotate is often judged by experience. Therefore, in the actual lifting operation , it is impossible to precisely control the rotation angle of the spreader. Therefore, during the lifting operation, sometimes the container cannot be placed in the corresponding position; cause damage

Therefore, how to avoid the collision between the reachstacker spreader and the vehicle frame or the boom is a problem that cannot be solved by the reachstacker in the prior art.

[0005] In addition, in the lifting operation, due to the inability to accurately control the rotation angle of the spreader, the reliability of the lifting operation of the container reach stacker also needs to be improved. The convenience provided by the job

Images