CN101021731A - Crawler crane torque controlling method and apparatus under super lifting working condition - Google Patents

Crawler crane torque controlling method and apparatus under super lifting working condition Download PDF

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Publication number
CN101021731A
CN101021731A CN 200610116107 CN200610116107A CN101021731A CN 101021731 A CN101021731 A CN 101021731A CN 200610116107 CN200610116107 CN 200610116107 CN 200610116107 A CN200610116107 A CN 200610116107A CN 101021731 A CN101021731 A CN 101021731A
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CN
China
Prior art keywords
crane
pulling force
counterweight
controller
working condition
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CN 200610116107
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Chinese (zh)
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CN100465846C (en
Inventor
刘金江
龙刚强
谢军
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上海三一科技有限公司
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Publication of CN101021731A publication Critical patent/CN101021731A/en
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Abstract

A torque control method and device on the condition of superlift of a crawler crane takes the ratio of actual loading pressure and maximum permissible value of the crane main luffing rod as the main luffing percentage A, and the ratio of pull sum for crane superlift counterweight upgrading fuel tank and counterweight as the using percentage B to realize the torque control according to the relation of A and B. It also provides a method of achieving the above device, which includes: buzzers, lights, pull sensors set on the main luffing rod, pressure sensors on the superlift counterweight fuel tank, the controller coupled with the above components and the interface coupled with controller.

Description

The method and apparatus of Torque Control under the crawler crane super lifting working condition

Technical field

The present invention relates to a kind of method and apparatus of Torque Control, the method and apparatus of Torque Control under particularly a kind of crawler crane super lifting working condition.

Background technology

For improving the elevating capacity of crane, goliath is provided with super lifting working condition.Under the super lifting working condition, because the effect of additional bob-weight, when the moment unbalance of front and back, both there had been the possibility of toppling forward in crane, also had the possibility of toppling backward.General limiter of moment can only limit the preceding upsetting moment of crane, the ability of back upsetting moment without limits.

For the solution of crane moment restricted problem under super lifting working condition, beyond example still at present.

Summary of the invention

When the purpose of this invention is to provide a kind of crane band super lifting working condition, can reliably, reasonably prevent to tumble behind the crane and the method and apparatus of preceding Torque Control of tumbling.

In order to realize above-mentioned purpose, the technical solution used in the present invention is: the method for Torque Control under a kind of crawler crane super lifting working condition comprises following steps:

A. adopt central controller (CPU) to calculate the pulling force that crane main amplitude pull bar reality is born;

B. maximum to allow the ratio of value of thrust be main transformer width of cloth pulling force number percent A for the pulling force that is born with the crane main amplitude pull bar reality that obtains among the step a and crane main amplitude pull bar;

C. calculate the pulling force summation of superlift counterweight of crane lift cylinder, calculate counterweight weight;

D. the ratio with the pulling force summation of the superlift counterweight of crane lift cylinder that obtains among the step c and counterweight weight is counterweight utilization factor number percent B;

E. according to calculating the main transformer width of cloth pulling force number percent A of gained and the following relation of counterweight utilization factor number percent B in step b and the steps d, realize control to moment under the crawler crane super lifting working condition:

I. when A<15%, if B>50% is ended the action that all cause the crane loading moment to increase;

Ii. when A<15%, if B>90% is ended all and caused the crane loading moment to increase the action that reduces with loading moment;

Iii. when A>90%, no matter why B is worth, and ends the action that all cause the crane loading moment to increase.

Realize the device of the method for Torque Control under the above-mentioned crawler crane super lifting working condition: comprise hummer and pilot lamp, place the pulling force sensor on the crane main amplitude pull bar, place the pressure transducer on the super-starting balance weight lift cylinder, the man-machine interface that controller that couples with hummer, pilot lamp, pulling force sensor, pressure transducer (for central processing unit) and controller couple.

Aforesaid structure, the analog quantity input end of pulling force sensor and controller couples, and is installed on the main transformer width of cloth pull bar, detects the pulling force that main transformer width of cloth pull bar is born; The analog quantity input end of pressure transducer and controller couples, and is installed on the super-starting balance weight lift cylinder, detects oil cylinder working-pressure; Controller input end and sensor couple, and the measured data based designing requirement of receiving sensor is calculated; And couple by CAN (controller local area network) bus interface and man-machine interface, the switching value output terminal of controller is to using crane control system of the present invention to provide loading moment to increase the signal that restriction, loading moment reduce to limit; Man-machine interface couples by CAN (controller local area network) bus and controller, is used to set quantity, demonstration pulling force number percent, counterweight utilization factor number percent and the fault alarm information of super-starting balance weight; Hummer, pilot lamp couple with the switching value output terminal of controller respectively, the sound and light alarm when being used for moment and transfiniting.

Principle of work of the present invention is:

Under the super lifting working condition, the pulling force that crawler crane main amplitude pull bar reality is born has reflected that loading moment acts on the situation on crane chassis, the maximal value that this pulling force allowed is to be determined by the structure on chassis itself and weight, and the definition main transformer width of cloth pull bar reality pulling force that is born and the peaked number percent of pulling force that is allowed are A (main transformer width of cloth pulling force number percent); The summation of 2 suffered pulling force of counterweight lift cylinder has reflected the size of the rearward-directed force square that super-starting balance weight provided, and definition counterweight lift cylinder pulling force sum is B (a counterweight utilization factor number percent) with the ratio of counterweight weight; Then A and B have following relationship:

1) when A<15%, if B>50%, all actions that cause the crane loading moment to increase all should be ended, otherwise, may cause super-starting balance weight to lift away from ground suddenly, gib arm of crane frame system is turned forward suddenly;

2) when A<15%, if B>90%, then all cause the crane loading moment to increase the actions that reduce with loading moment all should being ended.If continuing increases loading moment, then may cause super-starting balance weight to lift away from ground suddenly, gib arm of crane frame system is turned forward suddenly; If reduce loading moment, then super-starting balance weight may drop on suddenly on the ground, and boom system will recede suddenly;

3) when A>90%, no matter why B is worth, and all actions that cause the crane loading moment to increase all should be ended.

The present invention has outstanding advantage:

(1) the method novelty of the present invention's employing easily realizes;

(2) the device Based Intelligent Control of the present invention's employing, control is accurate, the reliability height;

(3) principle of the invention is simple, and is simple for structure, and realization and cost are lower easily;

(4) the present invention adopts man-machine interaction, operation easily, and obtain real time data easily, be convenient to monitoring.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the installation site synoptic diagram of sensor in the one embodiment of the invention;

Fig. 3 is the key frame at the man-machine interface of the present invention;

Fig. 4 sets picture for the man-machine interface of the present invention super-starting balance weight;

Fig. 5 is the wiring diagram of the embodiment of the invention.

Embodiment

The structure that further specifies control method of the present invention and realize its square law device below in conjunction with accompanying drawing.

Fig. 1 is the structural representation of apparatus of the present invention, as shown in Figure 1, comprise hummer 5 and pilot lamp 6, place the pulling force sensor 1 on the crane main amplitude pull bar, place the pressure transducer 2 on the super-starting balance weight lift cylinder, the man-machine interface 4 that controller 3 that couples with hummer 5, pilot lamp 6, pulling force sensor 1 and pressure transducer 2 and controller 3 couple.Controller 3 is central processing unit (CPU)

Pulling force sensor 1 is installed on the main transformer width of cloth pull bar, and its signal output part links to each other with the analog quantity input end of controller 3; Pressure transducer 2 is installed on the super-starting balance weight lift cylinder, and the analog quantity input end of its signal output part and controller 3 couples, and detects the super-starting balance weight oil cylinder working-pressure; Controller 3 couples with pulling force sensor 1, pressure transducer 2, man-machine interface 4, is installed in the electrical control cubicles; Man-machine interface 4 couples by CAN (controller local area network) bus and controller 3; Hummer, pilot lamp couple with the switching value output terminal of controller respectively; Man-machine interface 4, hummer 5, pilot lamp 6 all are installed in the cab.

Fig. 2 is the installation site synoptic diagram of sensor in the one embodiment of the invention, as shown in Figure 2, the 1st, pulling force sensor is installed on the main transformer width of cloth pull bar 21 '; 2 is pressure transducer, is installed on the super-starting balance weight oil cylinder 22 '; As figure, 23 ' is super-starting balance weight, and 24 ' is the chassis, and 25 ' is jib, and 26 ' is load.

Fig. 3 is the key frame at the man-machine interface of the present invention, and in the picture, man-machine interface shows main transformer width of cloth pulling force number percent, the super-starting balance weight utilization factor number percent that controller sends respectively with bar chart form and digital form; When alerting signal occurs, eject warning message, after alerting signal disappeared, warning message was hidden automatically.The function button F3 of man-machine interface is used to enter super-starting balance weight and sets picture, and function button F5 is used for the alarm buzzer noise reduction, when hummer is rung, as presses this button, and then hummer stops to ring.

Fig. 4 sets picture for the man-machine interface of the present invention super-starting balance weight.In pressing key frame, during function button F3, enter super-starting balance weight and set picture.In this picture, with showing the original counterweight quantity of setting, press function button F3, counterweight quantity increases progressively; Press function button F4, counterweight quantity is successively decreased; Press function button F5, the counterweight quantity of change is identified, and sends to controller by man-machine interface.Function button F1 is for returning the key frame button.

Fig. 5 is the wiring diagram of one embodiment of the invention.Among the figure, 7 is fuse, and 3 is controller of the present invention, is installed in the electrical control cubicles; 1 is main transformer width of cloth draw-bar pull sensor, is installed on the main transformer width of cloth pull bar; 2 is pressure transducer, is installed in respectively on the equalizing valve of super-starting balance weight oil cylinder 1 and super-starting balance weight oil cylinder 2; 4 is man-machine interface, is installed in crane cabin seat dead ahead; 5 is hummer, and 6 is alarm lamp, is installed on the indoor guidance panel of hoister.

In the present embodiment, among Fig. 5,7 is fuse, and 8 is the control system controller of crane, is installed in the electrical control cubicles; 9 is control crank, and the elevator that is used for crane is handled, and it is indoor to be installed on hoister, links to each other with control system controller 8; 10 is crane hoisting detent solenoid valve, is installed on the hoist brake; 11 is crane hoisting system liquid press pump proportion magnetic valve, controls the lifting and the decline of elevator respectively, is installed on the hoisting system hydraulic pump, all links to each other with control system controller 8.Two switching value output terminal a, b of the controller 3 in the present embodiment, corresponding with switching value input end a ', the b ' of control system controller 8 respectively, can respectively loading moment increase restricting signal, the loading moment that produces be reduced during connection, restricting signal sends control system controller 8 to.Control system controller 8 is according to the signal that transmits, and the action of control crane hoisting detent solenoid valve 10, crane hoisting system liquid press pump proportion magnetic valve 11 realizes the effect of moment restriction.

Apparatus of the present invention are work like this: the operator at first sets the quantity of super-starting balance weight on man-machine interface, man-machine interface sends to controller by the CAN bus with super-starting balance weight quantity.The work that controller is finished is:

(1) read the super-starting balance weight quantitative value, calculate the weight of super-starting balance weight;

(2) the analog quantity input signal with pulling force sensor carries out D/A switch, calculates value of thrust according to transducer range, and allows value of thrust to calculate main transformer width of cloth pulling force number percent A according to the maximum of setting in the program;

(3) the analog quantity input signal with pressure transducer carries out D/A switch, calculates the oil cylinder pulling force according to oil cylinder cross section, transducer range, and calculates super-starting balance weight utilization factor number percent B according to 2 oil cylinder pulling force sums and super-starting balance weight weight;

(4) carry out logical operation according to value and both relations of A, B, producing loading moment increases signal and the alerting signal that restriction or loading moment reduce to limit, and makes that hummer is rung, alarm lamp is lighted;

(5) main transformer width of cloth pulling force number percent A, super-starting balance weight utilization factor number percent B and alerting signal are sent to man-machine interface.

Man-machine interface is divided into key frame and super-starting balance weight is set picture; Key frame shows main transformer width of cloth pulling force number percent A, super-starting balance weight utilization factor number percent B with the bar chart form; When alerting signal occurs, eject warning message, after alerting signal disappeared, warning message was hidden automatically; It is the interface that the operator has set counterweight quantity that super-starting balance weight is set picture.

Claims (3)

1. the method for Torque Control under the crawler crane super lifting working condition is characterized in that the concrete steps of control method are:
A. adopt central processing unit at first to calculate the pulling force that crane main amplitude pull bar reality is born;
B. maximum to allow the ratio of value of thrust be main transformer width of cloth pulling force number percent A for the pulling force that is born with the crane main amplitude pull bar reality that obtains among the step a and crane main amplitude pull bar;
C. calculate the pulling force summation of superlift counterweight of crane lift cylinder, calculate counterweight weight;
D. the ratio with the pulling force summation of the superlift counterweight of crane lift cylinder that obtains among the step c and counterweight weight is counterweight utilization factor number percent B;
E. according to calculating the main transformer width of cloth pulling force number percent A of gained and the following relation of counterweight utilization factor number percent B in step b and the steps d, realize control to moment under the crawler crane super lifting working condition:
I. when A<15%, if B>50% is ended the action that all cause the crane loading moment to increase;
Ii. when A<15%, if B>90% is ended all and caused the crane loading moment to increase the action that reduces with loading moment;
Iii. when A>90%, no matter why B is worth, and ends the action that all cause the crane loading moment to increase.
2. the device of the method for Torque Control under the crawler crane super lifting working condition according to claim 1, comprise: hummer and pilot lamp, it is characterized in that comprising the pulling force sensor that places on the crane main amplitude pull bar, place the pressure transducer on the super-starting balance weight lift cylinder, the controller that couples with hummer, pilot lamp, pulling force sensor and pressure transducer, and the man-machine interface that couples with controller.
3. the device of the method for Torque Control under the crawler crane super lifting working condition as claimed in claim 2 is characterized in that described controller is a central processing unit.
CNB2006101161078A 2006-09-15 2006-09-15 Crawler crane torque controlling method and apparatus under super lifting working condition CN100465846C (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101891125A (en) * 2010-08-03 2010-11-24 上海三一科技有限公司 Device and method for detecting deviation of superlift counterweight of crane
WO2011091559A1 (en) * 2010-01-26 2011-08-04 上海三一科技有限公司 Stepless luffing mechanism for super-lifting counterweight of crawler crane and operating method thereof
CN102167262A (en) * 2010-02-09 2011-08-31 神钢起重机株式会社 Mobile crane having counterweight
CN102259799A (en) * 2011-05-05 2011-11-30 长沙中联重工科技发展股份有限公司 Crawler crane installation torque control method and device, and crawler crane
CN102275837A (en) * 2011-06-14 2011-12-14 上海三一科技有限公司 Super-lifting counter weight optimization control device and method and crane comprising same
CN102390781A (en) * 2011-11-14 2012-03-28 三一汽车起重机械有限公司 Lateral load protection device and method for crane
WO2012163190A1 (en) * 2011-06-01 2012-12-06 湖南三一智能控制设备有限公司 Device and method for detecting movable counterweight of crane
CN105084233A (en) * 2015-06-29 2015-11-25 北汽福田汽车股份有限公司 Crane and method for establishing super-lifting device on crane
CN107651565A (en) * 2017-08-28 2018-02-02 北汽福田汽车股份有限公司 A kind of method of inspection, device and the limiter of moment of Car Crane Retractable Arms operating mode
US10486945B2 (en) * 2016-12-07 2019-11-26 Liebherr-Werk Ehingen Gmbh Crane having an apparatus for determining the effective counterweight of said crane
CN110673653A (en) * 2019-09-12 2020-01-10 中联重科股份有限公司 Anti-tipping control method and device for engineering machinery and engineering machinery

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CN102718160B (en) * 2012-07-03 2014-07-23 徐工集团工程机械股份有限公司 Crane

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CN2232430Y (en) * 1995-01-20 1996-08-07 吕东明 Intelligent liquid-crystal moment limiter for crane
CN1079078C (en) * 1999-06-30 2002-02-13 西安建筑科技大学 High-safety protecting system and method for monitoring running state of tower crane
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EP2530046A1 (en) * 2010-01-26 2012-12-05 Shanghai Sany Technology Co. Ltd. Stepless luffing mechanism for super-lifting counterweight of crawler crane and operating method thereof
WO2011091559A1 (en) * 2010-01-26 2011-08-04 上海三一科技有限公司 Stepless luffing mechanism for super-lifting counterweight of crawler crane and operating method thereof
EP2530046A4 (en) * 2010-01-26 2013-06-12 Shanghai Sany Technology Co Stepless luffing mechanism for super-lifting counterweight of crawler crane and operating method thereof
CN102167262A (en) * 2010-02-09 2011-08-31 神钢起重机株式会社 Mobile crane having counterweight
CN102167262B (en) * 2010-02-09 2014-06-25 神钢起重机株式会社 Mobile crane
US8528755B2 (en) 2010-02-09 2013-09-10 Kobelco Cranes Co., Ltd. Mobile crane having counterweight
CN101891125B (en) * 2010-08-03 2012-07-11 上海三一科技有限公司 Device and method for detecting deviation of superlift counterweight of crane
CN101891125A (en) * 2010-08-03 2010-11-24 上海三一科技有限公司 Device and method for detecting deviation of superlift counterweight of crane
CN102259799A (en) * 2011-05-05 2011-11-30 长沙中联重工科技发展股份有限公司 Crawler crane installation torque control method and device, and crawler crane
WO2012163190A1 (en) * 2011-06-01 2012-12-06 湖南三一智能控制设备有限公司 Device and method for detecting movable counterweight of crane
CN102275837A (en) * 2011-06-14 2011-12-14 上海三一科技有限公司 Super-lifting counter weight optimization control device and method and crane comprising same
CN102275837B (en) * 2011-06-14 2015-03-18 上海三一科技有限公司 Super-lifting counter weight optimization control device and method and crane comprising same
CN102390781A (en) * 2011-11-14 2012-03-28 三一汽车起重机械有限公司 Lateral load protection device and method for crane
CN102390781B (en) * 2011-11-14 2014-07-09 三一汽车起重机械有限公司 Lateral load protection device and method for crane
CN105084233A (en) * 2015-06-29 2015-11-25 北汽福田汽车股份有限公司 Crane and method for establishing super-lifting device on crane
US10486945B2 (en) * 2016-12-07 2019-11-26 Liebherr-Werk Ehingen Gmbh Crane having an apparatus for determining the effective counterweight of said crane
CN107651565A (en) * 2017-08-28 2018-02-02 北汽福田汽车股份有限公司 A kind of method of inspection, device and the limiter of moment of Car Crane Retractable Arms operating mode
CN107651565B (en) * 2017-08-28 2019-07-19 北汽福田汽车股份有限公司 A kind of method of inspection, device and the limiter of moment of Car Crane Retractable Arms operating condition
CN110673653A (en) * 2019-09-12 2020-01-10 中联重科股份有限公司 Anti-tipping control method and device for engineering machinery and engineering machinery

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