PALMROTH, Mikko,LAITINEN, Simo,SILTANEN, Vesa,KÄPPI, Timo
申请号：
FIFI2014/050063
公开号：
WO2014/118430A1
申请日:
2014.01.27
申请国别(地区):
FI
年份:
2014
代理人:
摘要：
The invention relates to a method for controlling the crane (22) of a working machine (10； 44) by using boom tip control, in which method the crane (22) comprises at least two booms (24, 26, 28) connected to the working machine (10； 44) and each other in an articulated manner, which booms are moved in relation to the working machine (10； 44) and to each other by means of actuators (32, 34, 36) controlled by a control system of the working machine (10； 44), and in which method the direction and speed of motion of the head (38) of the crane, controlled by the driver applying controls (50, 52) in the working machine (10； 44), is implemented by applying speeds of the different booms (24, 26, 28) of the crane (22). In the method according to the invention the speeds of different booms (24, 26, 28) of the crane (22) are determined automatically on the basis of at least one of the following factors: positions of the different booms (24, 26, 28) of the crane (22) in relation to the extreme position of their range of motion； the maximum speed of the head (38) of the crane achieved by the crane (22)； maximum force achieved by the crane (22)； location of the head (38) of the crane in relation to the working machine (10； 44)； location of surrounding obstacles in relation to the crane (22). The invention also relates to a system for controlling the head of the crane of a working machine by boom tip control.L'invention concerne un procédé pour commander la grue (22) d'un engin de chantier (10 ； 44) à l'aide d'une commande de tête de flèche, dans lequel la grue (22) comprend au moins deux flèches (24, 26, 28) reliées à l'engin de chantier (10 ； 44) et l'une à l'autre de manière articulée, lesquelles flèches se déplacent par rapport à l'engin de chantier (10 ； 44) et l'une par rapport à l'autre au moyen d'actionneurs (32, 34, 36) commandés par un système de commande de l'engin de chantier (10 ； 44), et dans lequel la direction et la vitesse de mouvement de la tête (38) de la grue,
