The invention relates to the technical field of mechanical control, and provides a cantilever crane withdrawing method, a cantilever crane system and an operation machine. According to the arm support withdrawing method, a coordinate reference is formed by establishing a coordinate system, and for each section of arm support which is not withdrawn, the relative relation between the tail end coordinate and the head end coordinate of the section of arm support is detected in real time, and the head end height of the section of arm support is compared with the sum of the length of the arm support and the safety margin; and whether the arm support collides with the plane of the vehicle body after rotating can be judged. And for any section of arm support, when the rotation condition is not met, the previous section of arm is lifted, then judgment is continued, and the arm support is automatically retracted until the rotation condition is met. By means of the method, the multiple sections of arm frames can be controlled to be automatically retracted at the same time, high working efficiency is achieved, meanwhile, collision between the arm frames or collision between the arm frames and the plane of a vehicle body can be avoided, and safety and reliability are achieved.

    本发明涉及机械控制技术领域,提供一种臂架收回方法、臂架系统及作业机械。该臂架收回方法,通过建立坐标系,形成了一个坐标基准,对于每一节未收回的臂架,通过实时检测该节臂架末端坐标与首端坐标之间的相对关系,以及比较该节臂架首端高度与臂架长度和安全余量之和的大小,可以判断该臂架转动后是否会与车体平面发生碰撞。对于任意一节臂架,在不具备转动条件时,抬高前一节臂后再继续判断,直到具备转动条件后,自动收回臂架。通过这种方法可以控制多节臂架同时自动收回,具有较高的工作效率,同时也能够避免臂架之间或者臂架与车体平面发生碰撞,安全可靠。


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    Title :

    Cantilever crane withdrawing method, cantilever crane system and operation machine


    Additional title:

    臂架收回方法、臂架系统及作业机械


    Contributors:
    PAN HAO (author) / WANG GUANGLEI (author) / ZHANG CHAOMIN (author)

    Publication date :

    2023-05-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / A62C FIRE-FIGHTING , Feuerbekämpfung




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