CN100591608C - Crane moment controlling method and system, and the crane - Google Patents
Crane moment controlling method and system, and the crane Download PDFInfo
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- CN100591608C CN100591608C CN200810002707A CN200810002707A CN100591608C CN 100591608 C CN100591608 C CN 100591608C CN 200810002707 A CN200810002707 A CN 200810002707A CN 200810002707 A CN200810002707 A CN 200810002707A CN 100591608 C CN100591608 C CN 100591608C
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Abstract
The present invention discloses a method of measuring the lifted weight of a crane, comprising that: when the crane lifts a heavy article, the borne-force values of each outrigger of the crane are tested and obtained to be added to obtain the total weight of the crane; the self weight of the crane is subtracted from the tested and obtained total weight of the crane to obtain the lifted weight of the crane. The present invention also discloses a method of measuring the balance weight of the crane which has the same technical characteristic as the method. The present invention also discloses a crane moment control method which adopts the method of measuring the lifted weight and a crane moment control system. Compared with the prior art, the method of measuring the lifted weight of the craneprovided by the present invention has better testing effect.
Description
Technical field
The present invention relates to the hoisting crane technology, especially relate to a kind of hoisting crane Torque Control method, and hoisting crane Torque Control system.The present invention also provides a kind of hoisting crane with above-mentioned hoisting crane Torque Control system.
Background technology
At present, but in order to prevent that safety misadventures such as overload, folding arm from appearring in hoisting crane and other turning engineering machinery, but the great majority turning engineering machinery all is equipped with torque controller.Torque controller can be distributed in the various detection information at each position of construction machinery and equipment by collection, and the mode of operation of hoisting crane is analyzed, and in conjunction with the parameter of hoisting crane self, realizes the safety guard-safeguard to construction machinery and equipment.
The torque controller of prior art is mainly realized two kinds of safety precautions, promptly big arm bending protection and the moment of hoisting crane limited.
Described big arm bending protection, mainly be hoisting crane under certain boom angle and arm extension elongation, calculate or big arm machinery loading strength that experiment obtains.This intensity has determined lift heavy can not surpass certain weight, otherwise big arm has the danger of bending.
Described hoisting crane moment being limited, mainly is to determine hoisting crane under certain boom angle and arm extension elongation, under the normal state that supports of feet, and the unlikely lift heavy that causes that hoisting crane is tumbled.If surpassed this lift heavy, then lift heavy is excessive to the tilting moment that hoisting crane produces, and may cause hoisting crane to tumble.
After considering above-mentioned two factors, the lifting property list of establishment hoisting crane, this table is worked out with arm extension elongation and arm (lifting) angle, corresponding certain arm extension elongation and boom angle scope, determine the corresponding nominal operation load of hoisting crane, the promptly maximum lift heavy that allows at actual lift heavy during less than this lift heavy, thinks that in theory hoisting crane can bending and tumble.
When stating hoisting crane lifting property list in the choice, because the possibility that the counterweight of hoisting crane is tumbled for hoisting crane has a significant impact, therefore, corresponding different crane counterweights needs to use different lifting property lists.
In the actual lifting process of hoisting crane, according to measuring the actual arm extension elongation of hoisting crane, the boom angle that obtains, determine the current nominal operation load of hoisting crane (the promptly maximum lift heavy that allows) according to described lifting property list by torque controller; Torque controller obtains the current actual lift heavy of hoisting crane according to the calculating such as force value of arm extension elongation, boom angle, amplitude oil cylinder again, should actual lift heavy and described nominal operation load compare, acquisition work moment percentum, when work moment percentum reaches the limit of setting, described torque controller output signal, report to the police and stop the motion of hoisting crane, make it can only be to secure side to motion to dangerous direction.
In above-mentioned prior art, the lift heavy method of measurement that it adopts is a kind of indirect method, and this method need adopt theoretical formula, utilizes the crane operating status detected value of directly measuring to calculate the lift heavy of hoisting crane.Because formula itself has approximation, therefore, the lift heavy of Huo Deing is not accurate enough at last.And,, also cause to take too much control resource owing to calculate more complicated.
In the prior art, need import the counterweight of hoisting crane during operation to crane control system.Under the prior art, this counterweight is manually determined the controller of back input hoisting crane according to the number of the clump weight of shelving on hoisting crane.Though this mode is simple,, influenced the automatization level of crane operation owing to need manual intervention.
In the prior art, torque controller for anti-tipping effect unsatisfactory, this be because, the expansion of the feet of hoisting crane often is subjected to the restriction of working environment, especially ground is out-of-level, when causing the work moment percentum of hoisting crane not reach requiring of regulation, the same possibility of toppling that exists of hoisting crane is owing to this reason, under the prior art, some goliaths also are provided with anti-tipping controller when adopting torque controller, tumble to avoid hoisting crane.Its principle of work is directly to detect the supporting leg stressing conditions of hoisting crane, and judges the possibility of tumbling of hoisting crane with hoisting crane supporting leg stressing conditions, and corresponding processing such as report to the police.For example, the license notification number is the Chinese patent of CN1246557C, disclose a kind of " the self-propelled construction machinery and equipment that the stability monitoring is arranged ", the technical scheme of this patent specifically is on the supporting leg of construction machinery and equipment force gauge to be set, detected value according to this force gauge compares with the threshold values of being scheduled to, and judges whether construction machinery and equipment may tumble.Above-mentioned special anti-tipping controller has increased the cost of hoisting crane undoubtedly.
Summary of the invention
At above-mentioned defective, the technical matters that the present invention solves is, a kind of hoisting crane Torque Control method and system is provided, and this method and system can use the more actual lift heavy of accurate way calculating hoisting crane, obtains better moment restriction effect; The present invention provides a kind of hoisting crane of using said system simultaneously.The invention provides a kind of hoisting crane Torque Control method, comprising:
According to detecting current crane arm operating angle, the crane arm usable length that obtains, be foundation with hoisting crane lifting property list, determine the cooresponding nominal operation load of hoisting crane work at present state;
When hoisting crane has hung weight, detect the stress value that obtains each supporting leg of hoisting crane, with the stress value and the deadweight that deducts hoisting crane of each supporting leg, obtain the lift heavy of hoisting crane;
Compare with above-mentioned definite hoisting crane nominal operation load with the lift heavy that aforementioned calculation obtains, obtain the work moment percentum of hoisting crane;
Judge that whether above-mentioned work moment percentum is smaller or equal to predetermined moment limit; If, then judge the hoisting crane normal operation, continue to detect the mode of operation of hoisting crane; If not, enter next step;
Carrying out the moment restriction handles.
Preferably, also comprise:
Calculate the stressed of any adjacent legs of hoisting crane and;
Judge that this is stressed and whether more than or equal to the predetermined threshold values of tumbling, if then judge the hoisting crane normal operation, and continue to detect the mode of operation of hoisting crane; If not, then enter described moment restriction treatment step.
Preferably, described lifting property list is relevant with the counterweight of hoisting crane, at different counterweights, selects different lifting property lists for use.
Preferably, described crane counterweight is determined by following step:
After hoisting crane is carried out counterweight, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg, obtain the deadweight of hoisting crane;
The hoisting crane deadweight that above-mentioned detection is obtained deducts the net weight of hoisting crane before the counterweight not, obtains the counterweight of hoisting crane.
Preferably, the net weight of described hoisting crane, for hoisting crane before counterweight, with the stress value addition of each supporting leg of hoisting crane and.
Preferably, also comprise:
After obtaining crane counterweight, compare with the clump weight weight that hoisting crane is adopted obtaining crane counterweight, calculate the clump weight quantity that hoisting crane uses after rounding;
The quantity of crane counterweight piece be multiply by the weight rated value of each crane counterweight piece, obtain to proofread and correct the back crane counterweight.
Preferably, the restriction of described moment is handled and is comprised and send alerting signal, stop a kind of in two kinds of processing modes of dangerous direction motion of hoisting crane or two kinds.
A kind of hoisting crane Torque Control system comprises
Angular transducer is used to detect the operating angle of crane arm;
Linear transducer is used to detect the usable length of crane arm;
Torque controller is used to receive the detected value from each sensor, and carries out Torque Control in view of the above and handle;
Power supply is used for each unit power supply to this Torque Control system;
It is characterized in that, also comprise
Force gauge, this force gauge are installed on each supporting leg of hoisting crane, are used to detect the stress value of respective leg;
Described torque controller adopts following steps to carry out Torque Control:
The current crane arm operating angle, the described linear transducer that obtain according to described angular transducer detection detect the crane arm usable length that obtains, and consult the lifting property list of hoisting crane;
In described lifting property list, determine the cooresponding nominal operation load of hoisting crane work at present state;
The force gauge detected value addition of each supporting leg of hoisting crane that obtains when hoisting crane is hung weight deducts the deadweight of hoisting crane, obtains the lift heavy of hoisting crane;
Compare with above-mentioned definite hoisting crane nominal operation load with the lift heavy that aforementioned calculation obtains, obtain the work moment percentum of hoisting crane;
Whether judgment task moment percentum is smaller or equal to predetermined moment limit; If then continue to detect the mode of operation of hoisting crane, and carry out aforementioned calculation and judgement; If not, then enter next step;
Carrying out the moment restriction handles.
The present invention also provides a kind of hoisting crane Torque Control system, and described torque controller also carries out following processing:
Detect the stressed of each supporting leg of obtaining according to described force gauge, calculate the stressed of any adjacent legs of hoisting crane and;
Judge that this is stressed and whether be lower than the predetermined threshold values of tumbling; If then continue to detect the mode of operation of hoisting crane, and carry out aforementioned calculation and judgement; If not, then enter described moment restriction treatment step.
Preferably, described torque sensor is at first determined the concrete lifting property list that uses according to the counterweight of hoisting crane when consulting described lifting property list.
Preferably, described torque sensor is determined the counterweight of hoisting crane with following step:
After hoisting crane is carried out counterweight, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg, obtain the deadweight of hoisting crane;
The hoisting crane deadweight that above-mentioned detection is obtained deducts the net weight of hoisting crane before the counterweight not, obtains the counterweight of hoisting crane.
Preferably, the net weight of hoisting crane adopts following manner to obtain:
Hoisting crane launch to support the back, as yet do not carry out counterweight and lift heavy before, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg of hoisting crane, this value is the net weight of hoisting crane.
Preferably, this system also comprises alarm unit, and described torque controller produces the warning actuation signal in moment restriction treatment step, and described alarm unit receives this warning actuation signal, produces alarm message in view of the above.
Preferably, described Torque Control system also has telltale, and this telltale is connected with described torque controller, is used to show the relevant information of torque controller output.
Preferably, described torque controller carries out the moment restriction to be handled, and specifically is to export its judged result to the hoisting crane master controller; Described master controller is controlled according to the judged result that receives; If described judged result is that hoisting crane is in the hole, the action of then described controller restriction crane operation device and output electromagnetic valve group makes hoisting crane can not continue motion to dangerous direction.
Preferably, described torque controller carries out the moment restriction to be handled, concrete judged result output control signal corresponding according to former each step; In described judged result is hoisting crane when in the hole, and the action of described control signal restriction crane operation device and output electromagnetic valve group makes hoisting crane can not continue motion to dangerous direction.
The present invention also provides a kind of hoisting crane, and this hoisting crane has above-mentioned hoisting crane Torque Control system.
In the hoisting crane lift heavy method of measurement provided by the invention, directly the stressed testing result that obtains according to force gauge is calculated the lift heavy of hoisting crane, and this method of measurement belongs to direct measuring method.Prior art is then calculated by the pressure and the detected values such as crane arm angle and arm extension elongation of amplitude oil cylinder, these modes belong to indirect mode, itself there is theoretical error in its computing formula, add the measured error in the measurement process, make the testing result precision of its acquisition not high, and since calculation of complex, the resource that takies the hoisting crane control element that also can be too much.Then there is not theoretical error in the method that the embodiment of the invention provides, and the force gauge detecting element that it adopts is also very ripe, the accuracy of detection height; Because computation process is simple, this method can not take the resource of a lot of hoisting crane control elements.Therefore, hoisting crane lift heavy method of measurement provided by the invention compared with prior art has better detection effect.
Crane counterweight method of measurement provided by the invention has realized the self-measuring of crane counterweight, and its preferred implementation can be determined the crane counterweight number of blocks then further based on this automatically, obtains to proofread and correct the back crane counterweight.This method can be exempted the manual input process under the prior art, has increased the degree of automation of hoisting crane.
The present invention is on above-mentioned hoisting crane lift heavy method of measurement and crane counterweight method of measurement basis, hoisting crane Torque Control method has been proposed, this method merges above-mentioned lift heavy method of measurement and crane counterweight method of measurement in the Torque Control method of hoisting crane, has increased the validity and the reliability of hoisting crane Torque Control.
In the preferred implementation of above-mentioned hoisting crane Torque Control method, also according to the stressed of adjacent legs and judge whether hoisting crane exists the possibility of tumbling.This mode can be utilized the hoisting crane supporting leg stress value that obtains in this method abovementioned steps, further improves the reliability that hoisting crane is tumbled and prevented with simple calculating.
Hoisting crane Torque Control provided by the invention system adopts above-mentioned hoisting crane Torque Control method to carry out the hoisting crane Torque Control, realizes the effective torque control of hoisting crane.Equally, in the preferred version of this system, judge according to the stress value sum of adjacent legs whether hoisting crane exists the possibility of tumbling, this mode can realize the anti-tipping control of hoisting crane.Owing to utilized existing detecting element in the system, therefore, this system can not increase cost owing to increasing this anti-tipping control.
Said system is used for hoisting crane, and this hoisting crane can have better safety guard-safeguard effect.
Description of drawings
Fig. 1 is the diagram of circuit of first embodiment of the invention;
Fig. 2 is the diagram of circuit of second embodiment of the invention;
Fig. 3 is the diagram of circuit of third embodiment of the invention;
Fig. 4 is the system element block diagram of fourth embodiment of the invention;
Fig. 5 is the system element block diagram of fifth embodiment of the invention.
The specific embodiment
In the crane loading process, topple or accident such as bending in order to prevent it, need estimate the hoisting weight of hoisting crane.In the prior art, the lift heavy detection mode that hoisting crane adopts is to detect the force value that obtains length of boom, boom angle and amplitude oil cylinder, calculates according to above-mentioned value then and obtains the hoisting crane lift heavy.The problem of above-mentioned lift heavy method of measurement illustrates in background technology, the present invention at first provides a kind of hoisting crane lift heavy method of measurement, this method for after the hoisting crane Torque Control method chatted basic premise is provided and has constituted the major technique feature that it is different from prior art.
Please referring to Fig. 1, this figure is the diagram of circuit of the hoisting crane lift heavy method of measurement that provides of first embodiment of the invention.Below this embodiment is described in detail.
Step S101 when hoisting crane has hung weight, detects the stress value that obtains each supporting leg of hoisting crane.
During hoisting crane work, rely on supporting leg to support fully.Can produce distortion after supporting leg is stressed, detect this distortion, can obtain the stressing conditions of supporting leg.The method of detection supporting leg stressing conditions has multiple, and art technology people can be according to the stressing conditions of existing technique known and later issuable detected in various ways hoisting crane supporting leg.For example, the Granted publication of mentioning in background technology number is in the Chinese patent literature of CN1246557C, provide a kind of adopt resistance strain gage in conjunction with bridge circuit to the stressed method of measuring of supporting leg, this patent also discloses other correlative detail that carries out the stressed measurement of supporting leg, above-mentioned disclosed technology can be used to realize this step.Because it not is focal point of the present invention that concrete which kind of mode of employing detects, therefore, will not describe in detail detecting the stressed concrete mode of supporting leg at this.
Step S102 with the stress value addition of above-mentioned each supporting leg, obtains the total weight of hoisting crane.
During crane loading, the hoisting crane supporting leg need be launched, and rely on supporting leg that crane body is propped.Because the weight of hoisting crane obtains to support by supporting leg, and except supporting leg, there is not other fulcrum in this hoisting crane in vertical direction, in this case, the total weight of hoisting crane must be by the supporting leg effect on the ground, and the corresponding acquisition of supporting leg is stressed.Its stressed sum is all wt of its support, promptly comprises the total weight of hoisting crane deadweight and hoisting crane lift heavy.
Step S103, the hoisting crane total weight that above-mentioned detection is obtained deducts the deadweight of hoisting crane, obtains the lift heavy of hoisting crane.
The deadweight of hoisting crane is a unmodified, can obtain in advance, also can measure acquisition before crane loading, for example, before lifting by crane, when each supporting leg has launched to support, obtains the stressed detected value of each supporting leg, with its addition, promptly obtains the deadweight of hoisting crane.The hoisting crane total weight that abovementioned steps is obtained deducts the deadweight of hoisting crane, can obtain the lift heavy of hoisting crane.
In hoisting crane moment limit procedure, also need to consider the influence that the counterweight of hoisting crane is brought.So-called crane counterweight is that the weight that clump weight obtains is placed at the center of gyration rear portion on the hoisting crane platform for the stability that increases hoisting crane.General these clump weights can rotate along with the rotation of crane arm, push down crane arm, and crane stability is significantly increased.Because crane counterweight can obviously improve its stability, therefore, behind crane counterweight, its lifting characteristic has obvious change, and corresponding different crane counterweights need be selected different lifting property lists for use.For this reason, the invention provides a kind of crane counterweight method of measurement, the difference technical characterictic that this method and the hoisting crane lift heavy method of measurement that first embodiment provides have common relative prior art, and can be adopted by following hoisting crane Torque Control method.
Please referring to Fig. 2, this figure is the diagram of circuit of second embodiment of the invention.This embodiment provides a kind of method of measurement of crane counterweight.Below this embodiment is elaborated.
Step S201 after hoisting crane is carried out counterweight, detects the stress value that obtains each supporting leg of hoisting crane.
Generally after hoisting crane launched to support, clump weight was placed in beginning on hoisting crane.Total weight behind the crane counterweight is that hoisting crane does not carry out the counterweight that the preceding hoisting crane net weight of any counterweight adds hoisting crane.Behind crane counterweight, its supporting leg will support the whole hoisting crane deadweight that comprises hoisting crane net weight and counterweight.Therefore, the stress value sum of each supporting leg is the deadweight of hoisting crane.
Step S202, the stress value addition with above-mentioned each supporting leg promptly obtains the deadweight of hoisting crane.
This step with counterweight after the stress value addition of each supporting leg of hoisting crane, promptly obtain to comprise the hoisting crane deadweight of counterweight weight.
Step S203, the hoisting crane deadweight that above-mentioned detection is obtained deducts the hoisting crane net weight, obtains the counterweight of hoisting crane.
The net weight of hoisting crane is meant and does not comprise that counterweight is at interior hoisting crane own wt, this net weight can obtain according to self parameter of hoisting crane, perhaps after hoisting crane launches to support, before the counterweight, the stress value addition of each supporting leg of hoisting crane is obtained the net weight value of this hoisting crane.
Also need to prove, generally is the clump weight counterweight that adopts fixed weight in the crane counterweight, and its numerical value has very big discreteness and certainty.Suppose that hoisting crane only uses the clump weight of fixed weight, can after obtaining crane counterweight, compare with the clump weight weight that hoisting crane is adopted, calculate the clump weight quantity that hoisting crane uses after rounding obtaining crane counterweight by said method; Again the quantity of crane counterweight piece be multiply by the weight rated value of each crane counterweight piece, obtain the total weight of hoisting crane.Like this, above-mentioned counterweight method of inspection is actually and detects the gear that obtains a counterweight, after this gear is determined, can obtain the counterweight of hoisting crane.It is more accurate that this method can make counterweight measure.In fact, use at hoisting crane under the situation of the clump weight that different stage weight is arranged, also can use said method, but computational complexity has increase slightly, its groundwork is constant.
According to the method that above embodiment provides, can obtain a kind of new hoisting crane Torque Control method.Third embodiment of the invention is exactly a kind of new hoisting crane Torque Control method that provides on the basis of the foregoing description.
Step S301 determines the cooresponding nominal operation load of hoisting crane work at present state.
Hoisting crane has the lifting property list, and this lifting property list is determined according to the characteristic of hoisting crane.Comprise that the tilting moment that the mechanical strength of crane arm and hoisting crane lift heavy produce all need consider in the lifting property list.Corresponding different crane arm angle and arm usable length, crane arm mechanical strength and hoisting crane tilting moment all can change.Therefore, in the lifting property list, the different gears of corresponding above-mentioned boom angle and arm usable length have different nominal operation load.This lifting property list is stored in advance as the working parameter of hoisting crane.
Before definite hoisting crane nominal operation load, usually also need to select employed hoisting crane lifting property list, this be because; crane counterweight can obviously change the serviceability of hoisting crane; for same hoisting crane, because the difference of counterweight has different lifting property lists.For this reason, when determining the nominal operation load of work at present state, at first determine its counterweight, determine the lifting property list according to counterweight, according to the lifting property list,, determine the nominal operation load of hoisting crane then in conjunction with measuring arm operating angle and the arm usable length that obtains.
In order to select the lifting property list of hoisting crane, need to determine the counterweight of hoisting crane, can determine crane counterweight according to the method that above-mentioned second embodiment provides.That is, detect the stress value that obtains each supporting leg of hoisting crane; With the stress value addition of above-mentioned each supporting leg, obtain the deadweight of hoisting crane; The hoisting crane deadweight that above-mentioned detection is obtained deducts the net weight of hoisting crane before the counterweight not, obtains the counterweight of hoisting crane.
Step S302 when hoisting crane has hung weight, detects and obtains the stressed of each supporting leg of hoisting crane, with the stressed of each supporting leg and the deadweight that deducts hoisting crane, obtains the lift heavy of hoisting crane.
This step is that present embodiment is different from one of major technique feature of prior art, and its concrete principle illustrates at first embodiment.
Step S303 compares with above-mentioned definite hoisting crane nominal operation load with the lift heavy that aforementioned calculation obtains, and obtains the work moment percentum of hoisting crane.
Above-mentioned steps has been determined the hoisting crane nominal operation load of the lift heavy and the work at present state of hoisting crane.Whether hoisting crane is operated in safe state, and whether the lift heavy that just needs to consider hoisting crane is compared with hoisting crane nominal operation load, be in the safe range.Although in theory, the lift heavy of hoisting crane can equal determined hoisting crane nominal operation load, but, because above-mentioned hoisting crane nominal operation load is to obtain under the normally support situation of hoisting crane, and in the actual lifting operation, the support of hoisting crane may be restricted and launch fully inadequately, for this reason, need a range of safety operation that be lower than determined nominal operation load be set for the hoisting crane lift heavy.Concrete method is, the hoisting crane lift heavy that obtains with above-mentioned measurement is divided by determined hoisting crane nominal operation load, obtain a ratio, this ratio is called hoisting crane work moment percentum, and this hoisting crane work moment percentum can be used for weighing the ratio relation between hoisting crane lift heavy and the hoisting crane nominal operation load
Step S304 judges that whether above-mentioned work moment percentum is smaller or equal to predetermined moment limit, if enter next step; If not, enter step S307.
After obtaining hoisting crane work moment percentum, this work moment percentum and a predetermined moment limit can be compared, described predetermined moment limit be one less than 1 determined value, for example can be 0.9, when described work moment percentum during, illustrate that hoisting crane work meets the requirement of lifting property list smaller or equal to this moment limit.If the work moment percentum of hoisting crane illustrates then that greater than described moment limit there is potential safety hazard in crane operating status, need take appropriate measures.At this moment, enter step S307 and carry out corresponding moment restriction processing.
Step S305, calculate the stressed of any adjacent legs of hoisting crane and.
Although step S304 judges the requirement whether hoisting crane meets hoisting crane lifting property list,, hoisting crane the situation that some nominal operation load that provide according to the lifting property list can't accurately be judged still may occur at work.For example, when ground was uneven, the support of hoisting crane may be also insufficient, at this moment, even satisfied the requirement of above-mentioned lifting property list, may cause that still hoisting crane topples.For fear of above-mentioned situation, in the prior art, many heavy duty cranes are provided with special anti-tipping control setup.In the present embodiment, utilize the stressing conditions of described each supporting leg, take a kind of new determination methods.Below introduce the principle of this method.
There are some supporting legs in hoisting crane, all supporting legs and ground-surface contact point constitute a complete supporting plane, its adjacent legs then forms a support edge, if because the weight distribution of hoisting crane is inhomogeneous, cause hoisting crane to lopsidedness, then the support edge away from this inclined side diminishes to the bearing force that hoisting crane provides, and may tumble if the value of being somebody's turn to do, is just indicating hoisting crane less than certain limit.In view of the above, can take appropriate measures, to the hoisting crane protection of tumbling.
In this step, at first calculate the stressed of any adjacent legs of hoisting crane and, according to above-mentioned principle, this value can be used as judges whether hoisting crane exists the standard of the possibility of tumbling.
Step S306 judges the stressed of any adjacent legs of described hoisting crane and whether more than or equal to the predetermined threshold values of tumbling, if, return S301, continue to detect the mode of operation of hoisting crane, and calculate and judge; If not, then enter step S307.
In advance according to the experiment or theoretical result calculated obtain corresponding hoisting crane adjacent legs stressed and the threshold values of tumbling, the any adjacent legs that obtains as step S305 stressed and during more than or equal to this threshold values, judge that then there is not the danger of tumbling in hoisting crane, in conjunction with the judgement of above-mentioned hoisting crane work moment percentum, hoisting crane can normal operation.If any adjacent legs that step S305 obtains stressed and less than this threshold values, illustrate that then hoisting crane has the stressed and too small of an adjacent legs, be that enough supporting roles are not played in support edge of hoisting crane, hoisting crane has the possibility of tumbling, and need take measures to this.
Step S307 carries out the moment restriction and handles.
The restriction of described moment is handled, be meant the work of judging hoisting crane be in may tumble or the situation of precarious position such as bending under, the relevant treatment of carrying out.These relevant treatment specifically comprise a kind of of following mode or two kinds: hoisting crane provides alerting signal, reminds the operator to note; The electromagnetic valve group action that restriction is relevant and the input value of limiting control device forbid that hoisting crane continues the direction motion to danger, allow it to the direction motion that can clear.By above-mentioned processing, can guarantee the work safety of hoisting crane, avoid occurring that hoisting crane is tumbled and the situation of bending.
Said method circulates when hoisting crane is worked and carries out, and guarantees that hoisting crane is in all the time to be subjected to monitor state, danger can not occur.
According to above-mentioned moment method for limiting, fourth embodiment of the invention provides a kind of hoisting crane Torque Control system.Please referring to Fig. 4, this figure is the system element block diagram of fourth embodiment of the invention.Below in conjunction with this figure this embodiment is described.
As shown in Figure 4, this Torque Control system comprises first force gauge 1, second force gauge 2, the 3rd force gauge 3, the 4th force gauge 4, angular transducer 5, linear transducer 6, torque controller 7, master controller 8, telltale 9, alarm unit 10, handling device 11, output electromagnetic valve group 12, power supply 13 etc.
Described first force gauge, 1 to the 4th force gauge 4 has four for detecting the stressed sensor of each supporting leg of hoisting crane at this hypothesis hoisting crane supporting leg, when the supporting leg of hoisting crane increases, and the corresponding increase of force gauge number.In addition,, can on each hoisting crane supporting leg, use a plurality of force gauges, mutual its testing result of verification between each force gauge of same supporting leg in order to obtain testing result more accurately.Force gauge can adopt already provided concrete form in the multiple prior art, does not elaborate at this.
Described angular transducer 5 has generally all been equipped this angular transducer for detecting the sensor of crane arm angle on the hoisting crane of prior art, will not describe in detail at this.
Described linear transducer 6 is for detecting the sensor of arm extension elongation, and this linear transducer has generally all adopted in the hoisting crane of prior art, does not elaborate at this.
Described torque controller 7 is used to receive the detection signal that the detecting element that is distributed in each position of hoisting crane provides, and judge whether safety of hoisting crane work at present state according to these detection signals, it is main according to being stored in this torque controller 7 or the lifting property list of the hoisting crane in other memory element, determines that work moment percentum under the current lift heavy is whether in safe level; In the present embodiment, this torque controller 7 also has special anti-tipping module, and this module adopts hoisting crane adjacent legs stressed and judge the possibility of tumbling of hoisting crane.After obtaining above-mentioned judged result, this Torque Control unit 7 is to master controller 8 its judged results of output, and concrete data.If hoisting crane work moment percentum has the possibility of tumbling greater than predetermined moment limit or hoisting crane, also to send the startup alerting signal to alarm unit 10.
Described master controller 8 is centralized control units of hoisting crane, and it is connected with described torque controller 7 by CAN (abbreviation of English ControllerArea Network, Chinese is controller local area network) bus.This master controller 8 receives whether transfiniting and whether hoisting crane exists the possible judged result of tumbling for hoisting crane moment percentum of described torque controller 7 outputs, and the data of relevant result of calculation, and be that hoisting crane is in that moment transfinites or when existing in the precarious positions such as the possibility of tumbling in described judged result, the control operation and the output of hoisting crane is limited.
Described telltale 9 is display equipments of described torque controller 7, and this telltale 9 is by CAN bus coupling torque controller 7.Hoisting crane work information such as the work moment percentum that described torque controller 7 is current with hoisting crane and issuable alarm message etc. send this telltale 9 to and show.
Described alarm unit 10 is used to receive the startup alerting signal that described torque controller 7 provides, and produces corresponding the warning according to this signal, and prompting operation person notes.Alarm unit specifically can be the audio frequency sound-producing device, also can be devices such as warning indicator lamp.
Described handling device 11 is used for providing control signal to described master controller 8, and this control signal produces the control corresponding instruction after described master controller 8 is understood, control other power element of described output electromagnetic valve group 12 and hoisting crane.In addition, described master controller 8 is when receiving the judgement in the hole of hoisting crane that described torque controller 7 sends, according to concrete data, the control signal of described handling device 11 is limited, make it can only produce control signal to the direction motion of clearing.
Described output electromagnetic valve group 12 is main power elements of hoisting crane, is used to control lifting and action such as stretching out of crane arm, and the hand of rotation of the electrical motor on the control hoisting crane etc.The control command control that this output electromagnetic valve group 12 is provided by described master controller 8, when described master controller 8 obtains hoisting cranes judgement in the hole, it limits control command, stops the direction motion of output electromagnetic valve group 12 control hoisting cranes to danger.
In addition, this system also comprises power supply 13, and this power supply 13 is used for providing the power supply supply to each unit of this Torque Control system.
In the above-mentioned Torque Control system, the moment of the method restriction hoisting crane that provides among the 3rd embodiment is provided described torque controller.Certainly, also can only adopt the wherein part of restraint of labour moment percentum.
In addition; the division of labor that described torque controller 7 and described master controller 8 are carried out in hoisting crane being carried out the process of work protection can with present embodiment difference to some extent; for example; 7 of described torque controllers calculate the data from sensor, and hoisting crane whether undertaken by described master controller 8 by judgement in the hole.The change of above-mentioned work division can not change essence of the present invention.
Please referring to Fig. 5, this illustrates the system element block diagram of fifth embodiment of the invention.This embodiment provides a kind of hoisting crane Torque Control system equally, and part identical with above-mentioned the 4th embodiment among Fig. 5 adopts identical label.Compare with above-mentioned the 4th embodiment, the characteristics of the Torque Control system that this embodiment provides are that its torque controller 7 directly limits handling device 11 and output electromagnetic valve group valve group 12, need not to control through described master controller 8.The others and the fourth embodiment of the invention of this system are identical, do not repeat them here.
Use above-mentioned Torque Control system applies on hoisting crane, can obtain to have the hoisting crane of better safety guard-safeguard effect, the other parts of this hoisting crane make corresponding changes.Because the art technology people need not creative work and can know the hoisting crane of how to realize having this Torque Control system after the content of understanding the foregoing description disclosure, therefore, no longer lifts the specific embodiment explanation at this.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (17)
1, a kind of hoisting crane Torque Control method is characterized in that, comprising:
According to detecting current crane arm operating angle, the crane arm usable length that obtains, be foundation with hoisting crane lifting property list, determine the cooresponding nominal operation load of hoisting crane work at present state;
When hoisting crane has hung weight, detect the stress value that obtains each supporting leg of hoisting crane, with the stress value and the deadweight that deducts hoisting crane of each supporting leg, obtain the lift heavy of hoisting crane;
Compare with above-mentioned definite hoisting crane nominal operation load with the lift heavy that aforementioned calculation obtains, obtain the work moment percentum of hoisting crane;
Judge that whether above-mentioned work moment percentum is smaller or equal to predetermined moment limit; If, then judge the hoisting crane normal operation, continue to detect the mode of operation of hoisting crane; If not, enter next step;
Carrying out the moment restriction handles.
2, require 1 described hoisting crane Torque Control method according to claim, it is characterized in that, also comprise:
Calculate the stressed of any adjacent legs of hoisting crane and;
Judge that this is stressed and whether more than or equal to the predetermined threshold values of tumbling, if then judge the hoisting crane normal operation, and continue to detect the mode of operation of hoisting crane; If not, then enter described moment restriction treatment step.
3, according to claim 1 or 2 described hoisting moment control methods, it is characterized in that described lifting property list is relevant with the counterweight of hoisting crane,, select different lifting property lists for use at different counterweights.
4, hoisting moment control method according to claim 3 is characterized in that, described crane counterweight is determined by following step:
After hoisting crane is carried out counterweight, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg, obtain the deadweight of hoisting crane;
The hoisting crane deadweight that above-mentioned detection is obtained deducts the net weight of hoisting crane before the counterweight not, obtains the counterweight of hoisting crane.
5, crane counterweight method of calculating according to claim 4 is characterized in that, the net weight of described hoisting crane, for hoisting crane before counterweight, with the stress value addition of each supporting leg of hoisting crane and.
6, crane counterweight method of measurement according to claim 4 is characterized in that, also comprises:
After obtaining crane counterweight, compare with the clump weight weight that hoisting crane is adopted obtaining crane counterweight, calculate the clump weight quantity that hoisting crane uses after rounding;
The quantity of crane counterweight piece be multiply by the weight rated value of each crane counterweight piece, obtain to proofread and correct the back crane counterweight.
7, hoisting moment control method according to claim 1 is characterized in that, the restriction of described moment is handled and comprised and send alerting signal, stop a kind of in two kinds of processing modes of dangerous direction motion of hoisting crane or two kinds.
8, a kind of hoisting crane Torque Control system comprises
Angular transducer is used to detect the operating angle of crane arm;
Linear transducer is used to detect the usable length of crane arm;
Torque controller is used to receive the detected value from each sensor, and carries out Torque Control in view of the above and handle;
Power supply is used for each unit power supply to this Torque Control system;
It is characterized in that, also comprise
Force gauge, this force gauge are installed on each supporting leg of hoisting crane, are used to detect the stress value of respective leg;
Described torque controller adopts following steps to carry out Torque Control:
The current crane arm operating angle, the described linear transducer that obtain according to described angular transducer detection detect the crane arm usable length that obtains, and consult the lifting property list of hoisting crane;
In described lifting property list, determine the cooresponding nominal operation load of hoisting crane work at present state;
The force gauge detected value addition of each supporting leg of hoisting crane that obtains when hoisting crane is hung weight deducts the deadweight of hoisting crane, obtains the lift heavy of hoisting crane;
Compare with above-mentioned definite hoisting crane nominal operation load with the lift heavy that aforementioned calculation obtains, obtain the work moment percentum of hoisting crane;
Whether judgment task moment percentum is smaller or equal to predetermined moment limit; If then continue to detect the mode of operation of hoisting crane, and carry out aforementioned calculation and judgement; If not, then enter next step;
Carrying out the moment restriction handles.
9, hoisting crane Torque Control according to claim 8 system is characterized in that described torque controller also carries out following processing:
Detect the stressed of each supporting leg of obtaining according to described force gauge, calculate the stressed of any adjacent legs of hoisting crane and;
Judge that this is stressed and whether be lower than the predetermined threshold values of tumbling; If then continue to detect the mode of operation of hoisting crane, and carry out aforementioned calculation and judgement; If not, then enter described moment restriction treatment step.
10, according to Claim 8 or 9 described hoisting crane Torque Control systems, it is characterized in that described torque sensor is at first determined the concrete lifting property list that uses according to the counterweight of hoisting crane when consulting described lifting property list.
11, hoisting crane Torque Control according to claim 10 system is characterized in that described torque sensor is determined the counterweight of hoisting crane with following step:
After hoisting crane is carried out counterweight, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg, obtain the deadweight of hoisting crane;
The hoisting crane deadweight that above-mentioned detection is obtained deducts the net weight of hoisting crane before the counterweight not, obtains the counterweight of hoisting crane.
12, hoisting crane Torque Control according to claim 11 system is characterized in that, the net weight of hoisting crane adopts following manner to obtain:
Hoisting crane launch to support the back, as yet do not carry out counterweight and lift heavy before, detect the stress value that obtains each supporting leg of hoisting crane;
With the stress value addition of above-mentioned each supporting leg of hoisting crane, this value is the net weight of hoisting crane.
13, hoisting crane Torque Control according to claim 10 system, it is characterized in that this system also comprises alarm unit, described torque controller produces the warning actuation signal in moment restriction treatment step, described alarm unit receives this warning actuation signal, produces alarm message in view of the above.
14, hoisting crane Torque Control according to claim 13 system is characterized in that, described Torque Control system also has telltale, and this telltale is connected with described torque controller, is used to show the relevant information of torque controller output.
15, hoisting crane Torque Control according to claim 14 system is characterized in that, described torque controller carries out the moment restriction to be handled, and specifically is to export its judged result to the hoisting crane master controller; Described master controller is controlled according to the judged result that receives; If described judged result is that hoisting crane is in the hole, the action of then described controller restriction crane operation device and output electromagnetic valve group makes hoisting crane can not continue motion to dangerous direction.
16, hoisting crane Torque Control according to claim 14 system is characterized in that, described torque controller carries out the moment restriction to be handled, and is concrete according to the judged result output control signal corresponding of each step in the past; In described judged result is hoisting crane when in the hole, and the action of described control signal restriction crane operation device and output electromagnetic valve group makes hoisting crane can not continue motion to dangerous direction.
17, a kind of hoisting crane is characterized in that, has claim 8 to each described hoisting crane Torque Control system of claim 16.
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| CN200810002707A CN100591608C (en) | 2008-01-09 | 2008-01-09 | Crane moment controlling method and system, and the crane |
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| CN200810002707A CN100591608C (en) | 2008-01-09 | 2008-01-09 | Crane moment controlling method and system, and the crane |
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| CN100591608C true CN100591608C (en) | 2010-02-24 |
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| CN103738853A (en) * | 2014-01-24 | 2014-04-23 | 徐工集团工程机械股份有限公司 | Crane motion control method and crane motion control system |
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2008
- 2008-01-09 CN CN200810002707A patent/CN100591608C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738853A (en) * | 2014-01-24 | 2014-04-23 | 徐工集团工程机械股份有限公司 | Crane motion control method and crane motion control system |
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