CN102730592A - Free-fall control method of locking device, controller, control system and crane - Google Patents
Free-fall control method of locking device, controller, control system and crane Download PDFInfo
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- CN102730592A CN102730592A CN2012102142845A CN201210214284A CN102730592A CN 102730592 A CN102730592 A CN 102730592A CN 2012102142845 A CN2012102142845 A CN 2012102142845A CN 201210214284 A CN201210214284 A CN 201210214284A CN 102730592 A CN102730592 A CN 102730592A
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Abstract
The invention discloses a free-fall control method of a locking device of a crane. The control method comprises the following steps of: releasing the locking device on a free-fall height, and detecting a tensile force of a steel wire rope in the process; and when the tensile force is 0, controlling a hoist to brake by an electromagnetic valve. The invention further discloses a controller, a control system and a crane for realizing the method. By the technical scheme, an automatic detecting and controlling method is used to replace the method of judging and controlling the hoist to brake through a manual visual inspection method in the prior art; the brake time can be exactly grasped, and errors can be reduced, so that the potential security risks which possibly occur in free-fall brake can be reduced, and the whole process of the hoist to brake is safe and reliable; and the scheme does not depend on factors such as observation ability, response speed, working experience and operation number degree of an operator, so that the error operation caused by manual factors can be reduced.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of control method of free-falling body of latching device of hoisting crane, and realize the controller of this control method, the control system that comprises this controller and hoisting crane.
Background technology
In field of engineering technology; In some applications; For example need produce under the situation of big momentum; Usually need utilize weight-lifting equipment with the fixing weight load and be promoted to certain altitude of latching device, cancel pulling force fully again so that latching device and weight load free-falling body fall, to produce needed momentum.
For this weight-lifting equipment, common utilization has this latching device band and carries the elevator of free-falling body function.Along with the development of hoisting crane industry, the weight-lifting equipment with this elevator is more and more, to adapt to the more application in multiple-project field.
And, even be not fixed with weight load above the latching device, when transferring latching device, also usually can carry out unloaded free-falling body.
At present; For above-mentioned weight-lifting equipment, the control of the free-falling body of latching device is normally braked through the elevator power-transfer clutch, particularly; Land situation through the artificial visually examine exactly, brake (control the elevator power-transfer clutch through brake pedal when the Parking and brake) with foot pedal.As a rule, the best opportunity of braking is to have finished just that free-falling body lands and the moment of steel rope unloaded (steel rope is bearing load not) at latching device.When braking is carried out too early; The latching device free-falling body does not also land, and promptly rope belt carries braking (the glancing impact steel rope bears latching device and weight load), and it is bigger that brake impulsive force this moment; The jib bounce-back is rocked very big; When tight device band with lock carries even can increase the danger that car load is tumbled, also can make simultaneously the brake strip loss serious, increase and change frequency, in case change the untimely braking failure that causes easily; When braking was carried out too late, latching device landed a period of time through free-falling body, and steel rope continues to emit under effect of inertia or be loose, made elevator disorder cable in row's rope be difficult to neatly arrange, and caused the wearing and tearing or the damage of steel rope and reel.
But this method depends on operator's observation, reaction, working experience and skill level to a great extent, the difficult braking time of holding, and the braking error is bigger.The use of the function of the latching device free-falling body of elevator has certain risk, when how to guarantee that the latching device free-falling body lands, in steel rope timely, the safety and reliable of drag of unloaded moment, always is this area design-calculated difficult point problem.
Summary of the invention
The control method of free-falling body that the purpose of this invention is to provide a kind of latching device of hoisting crane, this control method judges through detecting pull of steel wire whether latching device lands.
To achieve these goals; The present invention provides a kind of control method of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope of elevator, the brake of control elevator, and this steel rope one end is connected on the elevator, and the other end is connected on this latching device; Wherein, this control method comprises
On the free-falling body height, discharge said latching device, in this process, detect said pull of steel wire;
When said pulling force is 0, the said elevator brake of said solenoid control.
Preferably, be connected with weight load on the said latching device.
The present invention also provides a kind of controller of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope of elevator, the brake of control elevator; This steel rope one end is connected on the elevator, and the other end is connected on this latching device, and this controller comprises bonded assembly load module, processing module and output module successively; Wherein
Said load module is used to receive the signal of pull of steel wire described in the said latching device weight load free-falling body process, and the signal of said pull of steel wire is sent to said processing module;
Said processing module is used to judge that whether the signal of said pull of steel wire is 0 and comparative result is sent to said control module;
It is under 0 the situation, to control said electromagnetic valve said elevator is braked that said control module is used for signal in said pull of steel wire.
Preferably, said controller is the PLC controller.
Preferably, be connected with weight load on the said latching device.
The present invention also provides a kind of control system of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope of elevator, the brake of control elevator, and this steel rope one end is connected on the elevator, and the other end is connected on this latching device; Wherein, This control system comprises controller and the sensor that detects said pull of steel wire, and this controller is a controller of the present invention, and said sensor is electrically connected with the load module of said controller.
Preferably, said sensor is arranged on the top and the said steel rope position contacting of said jib.
Preferably, said control system also comprises pulley mechanism, has at least a pulley to be connected on the said sensor in this pulley mechanism.
Preferably, said pulley mechanism comprises three pulleys.
The present invention also provides a kind of hoisting crane, and this hoisting crane has the function of latching device free-falling body, it is characterized in that, this hoisting crane comprises according to control system of the present invention.
Through technique scheme, detect pull of steel wire and judge whether latching device finishes the movement of falling object and land, thereby through the brake of solenoid control elevator.Technical scheme utilization of the present invention detects and control to have replaced automatically judges the mode of controlling the elevator brake through the mode of artificial range estimation in the prior art; At first can hold braking time exactly; Reduce error; Thereby reduced the contingent potential safety hazard of free-falling body glancing impact, made that the process of whole elevator drag is safe and reliable; And this scheme no longer relies on operator's factors such as observation ability, speed of response, working experience and operation amount degree, has reduced the maloperation that human element causes.
Other features and advantages of the present invention will partly specify in the specific embodiment subsequently.
Description of drawings
Accompanying drawing is to be used to provide further understanding of the present invention, and constitutes the part of specification sheets, is used to explain the present invention with the following specific embodiment, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that steel rope is walked around the scheme drawing of pulley mechanism according to the preferred embodiment of the present invention;
Fig. 2 is a hoisting crane scheme drawing according to the preferred embodiment of the present invention;
Fig. 3 is the diagram of circuit according to control method of the present invention.
Description of reference numerals
1 steel rope
The specific embodiment
Be elaborated below in conjunction with the accompanying drawing specific embodiments of the invention.Should be understood that the specific embodiment described herein only is used for explanation and explains the present invention, is not limited to the present invention.
In the present invention, under the situation of not doing opposite explanation, the noun of locality of use typically refers to upper and lower on the vertical direction like " upper and lower ", also refers to upper and lower shown in the accompanying drawing." latching device " among the present invention refer to hoisting crane suspension hook, dash grab bucket etc. and be used for fixing the device that connects weight load; This device is connected with steel rope; Mainly play the effect of locking weight load, so that discharge or can or transfer the weight load lifting when packing up steel rope.
The present invention provides a kind of control method of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope 1 of elevator, the brake of control elevator, and these steel rope 1 one ends are connected on the elevator, and the other end is connected on this latching device; Wherein, this control method comprises
On the free-falling body height, discharge said latching device, in this process, detect said pull of steel wire;
When said pulling force is 0, the said elevator brake of said solenoid control.
When the free-falling body height fell, the pulling force of 1 pair of latching device of steel rope was cancelled theoretically at latching device, and this moment, latching device only received the effect of gravity.But this moment, steel rope 1 suffered power was not theoretic 0; Not only receive the pulling force of latching device, and owing to steel rope 1 is wrapped on the reel of elevator, when latching device hauls steel rope 1 whereabouts; Steel rope 1 need discharge from reel; Receive corresponding drag effect this moment, add the gravity of steel rope 1 itself, so the pulling force of steel rope 1 is not 0.After latching device lands; Latching device does not exist the pulling force of steel rope 1, and steel rope 1 also stops to discharge, and the pulling force of steel rope 1 will be reduced to 0 rapidly (this pulling force possibly be the very little value near 0 this moment; But can ignore, this sentences 0 value and is as the criterion).
Technical scheme of the present invention can think that through detecting the pulling force of steel rope 1 this latching device finishes the movement of falling object and lands when this pulling force is 0, and this moment is through the brake of solenoid control elevator, to realize the automatic guidance to the movement of falling object.
Wherein, several different methods can be arranged, can utilize the pulling force of the direct measuring steel wire rope 1 of pulling force sensor the detection of the pulling force of steel rope 1, also can through measure the suffered pulling force of other objects that are connected with steel rope 1 come indirect measuring steel wire restrict 1 stressed.Type of sensor and installation site can correspondingly be provided with according to actual needs, repeat no more here.
The brake of elevator is controlled through the brake of automobile usually.In preferred implementation of the present invention, when the pulling force of steel rope 1 was not 0, electromagnetic valve kept "on" position, when the pulling force that detects steel rope 1 is 0, and the electromagnetic valve outage, thus the control brake device produces braking force and controls the elevator braking.
Technical scheme utilization of the present invention detects and control to have replaced automatically judges the mode of controlling the elevator brake through the mode of artificial range estimation in the prior art; At first can hold braking time exactly; Reduce error; Thereby reduced the contingent potential safety hazard of free-falling body glancing impact, made that the process of whole elevator drag is safe and reliable; And this scheme no longer relies on operator's factors such as observation ability, speed of response, working experience and operation amount degree, has reduced the maloperation that human element causes.
Preferably, be connected with weight load on the said latching device.
In practical application, may comprise that unloaded free-falling body and band carry two kinds of situation of free-falling body.Unloaded free-falling body refers to not connect weight load on the latching device and carries out free-falling body; This moment, the weight of latching device self was lighter; If therefore brake can not cause too big harm to hoisting crane yet in advance; Brake also can cause situation that winding displacement is disarrayed if lag behind, so this control method also has effect to unloaded free-falling body situation.A band year free-falling body refers to be fixed with weight load on the latching device and carries out free-falling body; This moment, the weight sum of latching device and weight load may be bigger; If in advance the brake could cause bigger harm to the safety of hoisting crane; And because whole inertia is bigger, the influence that the voice band of the brake that lags behind comes will be bigger also.Therefore, control method of the present invention goes under two kinds of operating modes of unloaded free-falling body and band year free-falling body.
The present invention also provides a kind of controller of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope 1 of elevator, the brake of control elevator; These steel rope 1 one ends are connected on the elevator, and the other end is connected on this latching device, and this controller comprises bonded assembly load module, processing module and output module successively; It is characterized in that
Said load module is used to receive the signal of the pulling force of steel rope 1 described in the said latching device free-falling body process, and the signal of the pulling force of said steel rope 1 is sent to said processing module;
Said processing module is used to judge that whether the signal of the pulling force of said steel rope 1 is 0 and comparative result is sent to said control module;
It is under 0 the situation, to control said electromagnetic valve said elevator is braked that said control module is used for signal at the pulling force of said steel rope 1.
When the free-falling body height fell, the pulling force of 1 pair of latching device of steel rope was cancelled theoretically at latching device, and this moment, latching device only received the effect of gravity.But this moment, steel rope 1 suffered power was not theoretic 0; Not only receive the pulling force of latching device, and owing to steel rope 1 is wrapped on the reel of elevator, when latching device hauls steel rope 1 whereabouts; Steel rope 1 need discharge from reel; Receive corresponding drag effect this moment, add the gravity of steel rope 1 itself, so the pulling force of steel rope 1 is not 0.After latching device lands; Latching device does not exist the pulling force of steel rope 1, and steel rope 1 also stops to discharge, and the pulling force of steel rope 1 will be reduced to 0 rapidly (this pulling force possibly be the very little value near 0 this moment; But can ignore, this sentences 0 value and is as the criterion).
In the present technique scheme; Load module receives the pulling force signal of steel rope 1; Processing module is to think that this latching device finished movement of falling object and lands at 0 o'clock at this pulling force, and this moment, control module was through the brake of solenoid control elevator, to realize the automatic guidance to the movement of falling object.
Wherein, several different methods can be arranged, can utilize the pulling force of the direct measuring steel wire rope 1 of pulling force sensor the detection of the pulling force of steel rope 1, also can through measure the suffered pulling force of other objects that are connected with steel rope 1 come indirect measuring steel wire restrict 1 stressed.Type of sensor and installation site can correspondingly be provided with according to actual needs, repeat no more here.
Technical scheme utilization of the present invention detects and control to have replaced automatically judges the mode of controlling the elevator brake through the mode of artificial range estimation in the prior art; At first can hold braking time exactly; Reduce error; Thereby reduced the contingent potential safety hazard of free-falling body glancing impact, made that the process of whole elevator drag is safe and reliable; And this scheme no longer relies on operator's factors such as observation ability, speed of response, working experience and operation amount degree, has reduced the maloperation that human element causes.
Preferably, said controller is the PLC controller.
This controller can adopt multiple suitable embodiment, in this preferred implementation, adopts the PLC controller.Technology maturation not only, cost is lower, and is convenient to receive signal and produces control signal.
Preferably, be connected with weight load on the said latching device.
In practical application, may comprise that unloaded free-falling body and band carry two kinds of situation of free-falling body.Unloaded free-falling body refers to not connect weight load on the latching device and carries out free-falling body; This moment, the weight of latching device self was lighter; If therefore brake can not cause too big harm to hoisting crane yet in advance; Brake also can cause situation that winding displacement is disarrayed if lag behind, so this control method also has effect to unloaded free-falling body situation.A band year free-falling body refers to be fixed with weight load on the latching device and carries out free-falling body; This moment, the weight sum of latching device and weight load may be bigger; If in advance the brake could cause bigger harm to the safety of hoisting crane; And because whole inertia is bigger, the influence that the voice band of the brake that lags behind comes will be bigger also.Therefore, control method of the present invention goes under two kinds of operating modes of unloaded free-falling body and band year free-falling body.
The present invention also provides a kind of control system of free-falling body of latching device of hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope 1 of elevator, the brake of control elevator, and these steel rope 1 one ends are connected on the elevator, and the other end is connected on this latching device; Wherein, This control system comprises the sensor of controller and the pulling force that detects said steel rope 1, and this controller is a controller of the present invention, and said sensor is electrically connected with the load module of said controller.
When the free-falling body height fell, the pulling force of 1 pair of latching device of steel rope was cancelled theoretically at latching device, and this moment, latching device only received the effect of gravity.But this moment, steel rope 1 suffered power was not theoretic 0; Not only receive the pulling force of latching device, and owing to steel rope 1 is wrapped on the reel of elevator, when latching device hauls steel rope 1 whereabouts; Steel rope 1 need discharge from reel; Receive corresponding drag effect this moment, add the gravity of steel rope 1 itself, so the pulling force of steel rope 1 is not 0.After latching device lands; Latching device does not exist the pulling force of steel rope 1, and steel rope 1 also stops to discharge, and the pulling force of steel rope 1 will be reduced to 0 rapidly (this pulling force possibly be the very little value near 0 this moment; But can ignore, this sentences 0 value and is as the criterion).
In the present technique scheme; The pulling force of sensor steel rope 1 also passes the signal to load module; Load module is sent to processing module with the signal that receives; This processing module is to think that this latching device finished movement of falling object and lands at 0 o'clock at this pulling force, and this moment, control module was through the brake of solenoid control elevator, to realize the automatic guidance to the movement of falling object.
Wherein, several different methods can be arranged, can utilize the pulling force of the direct measuring steel wire rope 1 of pulling force sensor the detection of the pulling force of steel rope 1, also can through measure the suffered pulling force of other objects that are connected with steel rope 1 come indirect measuring steel wire restrict 1 stressed.In preferred implementation as shown in Figure 1, between the pulley and jib in the middle of this sensor is connected, act on the power on the pulley through the stressed steel rope that detects that detects pulley.Type of sensor and installation site can correspondingly be provided with according to actual needs, repeat no more here.
Technical scheme utilization of the present invention detects and control to have replaced automatically judges the mode of controlling the elevator brake through the mode of artificial range estimation in the prior art; At first can hold braking time exactly; Reduce error; Thereby reduced the contingent potential safety hazard of free-falling body glancing impact, made that the process of whole elevator drag is safe and reliable; And this scheme no longer relies on operator's factors such as observation ability, speed of response, working experience and operation amount degree, has reduced the maloperation that human element causes.
Preferably, said sensor is arranged on the top and said steel rope 1 position contacting of said jib.
In this preferred implementation, preferably through measuring the pulling force that the suffered power of object that contacts with steel rope 1 reflects steel rope 1 indirectly.Because an end of steel rope 1 is connected on the elevator, the other end is connected with latching device, and elevator is installed on the getting on the bus of hoisting crane, so the top that steel rope 1 need be crossed crane arm support to be to hang down, like this steel rope 1 will with jib in the joint, top.Like this, through detecting the pulling force that power that this point receives can calculate steel rope 1 indirectly.
Preferably, said control system also comprises pulley mechanism, has at least a pulley to be connected on the said sensor in this pulley mechanism.
Because pulley mechanism relatively is convenient to the winding of steel rope 1, and the direction of this pulley mechanism with control steel rope 1 can be set as required.Because it is stressed everywhere all equal on the steel rope 1; For this and sensor bonded assembly pulley; Sensor can detect the suffered size of making a concerted effort of this pulley, and this is made a concerted effort to be steel rope 1 and acts on the power on the pulley, because the application force of 1 pair of this pulley of steel rope can only be a pulling force; Two sections pull of steel wire that are connected with this pulley equate; And the angle between two sections steel ropes is known, can calculate the pulling force on every section steel rope 1 according to mechanics principle, just the pulling force of steel rope 1.
Preferably, said pulley mechanism comprises three pulleys.
In preferred implementation as shown in the figure, this pulley mechanism preferably includes three pulleys, and these three pulleys all are fixed pulleys; Mainly be used for changing the direction of power; Can lead to steel rope 1 better like this, wherein middle pulley is connected with sensor, and in order to make sensor can detect value of thrust better; This pulley can be big or small and mobile in certain scope according to the pulling force of steel rope 1, makes testing result more reliable and more stable.
Need to prove, only provided here a kind of preferred embodiment as an example, in practical application, the structure of this pulley mechanism can be provided with arbitrarily as required, and is not limited to above-mentioned true mode.
The present invention also provides a kind of hoisting crane, and this hoisting crane has the function of latching device free-falling body, and wherein, this hoisting crane comprises according to control system of the present invention.
Through above-mentioned control system, the control of can braking automatically to the free-falling body of latching device of this hoisting crane.
More than combine accompanying drawing to describe preferred implementation of the present invention in detail; But; The present invention is not limited to the detail in the above-mentioned embodiment; In technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove in addition; Each concrete technical characterictic described in the above-mentioned specific embodiment under reconcilable situation, can make up through any suitable manner; For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be regarded as the disclosed content of the present invention equally.
Claims (10)
1. the control method of the free-falling body of the latching device of a hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope (1) of elevator, the brake of control elevator, and this steel rope (1) one end is connected on the elevator, and the other end is connected on this latching device; It is characterized in that this control method comprises
On the free-falling body height, discharge said latching device, in this process, detect said pull of steel wire;
When said pulling force is 0, the said elevator brake of said solenoid control.
2. control method according to claim 1 is characterized in that, is connected with weight load on the said latching device.
3. the controller of the free-falling body of the latching device of a hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope (1) of elevator, the brake of control elevator; This steel rope (1) one end is connected on the elevator, and the other end is connected on this latching device, and this controller comprises bonded assembly load module, processing module and output module successively; It is characterized in that
Said load module is used to receive the signal of the pulling force of steel rope (1) described in the said latching device free-falling body process, and the signal of the pulling force of said steel rope (1) is sent to said processing module;
Said processing module is used to judge that whether the signal of the pulling force of said steel rope (1) is 0 and comparative result is sent to said control module;
It is under 0 the situation, to control said electromagnetic valve said elevator is braked that said control module is used for signal at the pulling force of said steel rope (1).
4. controller according to claim 3 is characterized in that, said controller is the PLC controller.
5. controller according to claim 3 is characterized in that, is connected with weight load on the said latching device.
6. the control system of the free-falling body of the latching device of a hoisting crane; This hoisting crane comprises the electromagnetic valve and the steel rope (1) of elevator, the brake of control elevator, and this steel rope (1) one end is connected on the elevator, and the other end is connected on this latching device; It is characterized in that; This control system comprises the sensor of controller and the pulling force that detects said steel rope (1), and this controller is according to the described controller of claim 3-5, and said sensor is electrically connected with the load module of said controller.
7. control system according to claim 6 is characterized in that, said sensor is arranged on the top and said steel rope (1) position contacting of said jib.
8. control system according to claim 7 is characterized in that said control system also comprises pulley mechanism, has at least a pulley to be connected on the said sensor in this pulley mechanism.
9. control system according to claim 8 is characterized in that, said pulley mechanism comprises three pulleys.
10. hoisting crane, this hoisting crane has the function of latching device free-falling body, it is characterized in that, and this hoisting crane comprises according to any described control system among the claim 6-9.
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| CN2012102142845A CN102730592A (en) | 2012-06-27 | 2012-06-27 | Free-fall control method of locking device, controller, control system and crane |
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| CN2012102142845A CN102730592A (en) | 2012-06-27 | 2012-06-27 | Free-fall control method of locking device, controller, control system and crane |
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| CN103010972A (en) * | 2012-12-10 | 2013-04-03 | 三一重工股份有限公司 | Fly jib and crane comprising same |
| CN103612986A (en) * | 2013-11-25 | 2014-03-05 | 中联重科股份有限公司 | Crane, and method, device and system for controlling free fall hook thereof |
| CN104401874A (en) * | 2014-10-11 | 2015-03-11 | 太原科技大学 | Assessment method of whole-course real-time service life of lifting steel wire rope of crane |
| CN105157749A (en) * | 2015-08-05 | 2015-12-16 | 南通力威机械有限公司 | Dedicated sensor device for friction winches |
| CN108313915A (en) * | 2018-02-13 | 2018-07-24 | 湖南博邦重工有限公司 | A kind of elevator autobrake system |
| CN110422782A (en) * | 2019-08-01 | 2019-11-08 | 上海振华重工(集团)股份有限公司 | Roll device and its braking method and winch |
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| CN103010972A (en) * | 2012-12-10 | 2013-04-03 | 三一重工股份有限公司 | Fly jib and crane comprising same |
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| CN104401874B (en) * | 2014-10-11 | 2016-02-03 | 太原科技大学 | The appraisal procedure in crane hoisting wire rope omnidistance life-span in real time |
| CN105157749A (en) * | 2015-08-05 | 2015-12-16 | 南通力威机械有限公司 | Dedicated sensor device for friction winches |
| CN108313915A (en) * | 2018-02-13 | 2018-07-24 | 湖南博邦重工有限公司 | A kind of elevator autobrake system |
| WO2019157771A1 (en) * | 2018-02-13 | 2019-08-22 | 湖南博邦重工有限公司 | Automatic winch braking system |
| CN108313915B (en) * | 2018-02-13 | 2024-03-15 | 湖南九虎智能科技有限公司 | Winch automatic braking system |
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Application publication date: 20121017 |