CN101450771B - Crane stringer rate acquisition method, system and crane - Google Patents
Crane stringer rate acquisition method, system and crane Download PDFInfo
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- CN101450771B CN101450771B CN2008101770959A CN200810177095A CN101450771B CN 101450771 B CN101450771 B CN 101450771B CN 2008101770959 A CN2008101770959 A CN 2008101770959A CN 200810177095 A CN200810177095 A CN 200810177095A CN 101450771 B CN101450771 B CN 101450771B
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Abstract
The invention discloses a method and a system for acquiring multiplying power of a sling of a crane. The method for acquiring the multiplying power of the sling of the crane comprises: utilizing the principle that a fixed pulley of the crane rotates at specific speed under the action of friction force of the sling, generating corresponding electrical signals according to revolution speed of the fixed pulley, and converting the electrical signals into a revolution speed value; and determining the number of the fixed pulleys rotated by the friction force of the sling by judging whether the revolution speed value is within a specific speed range, and acquiring the multiplying power of the sling according to relation between the number of the rotating fixed pulleys and the multiplying power of the sling to reduce influence of human factors on the multiplying power of the sling, so as to ensure reliability for acquiring the multiplying power of the sling. The system for acquiring the multiplying power of the sling of the crane is used for achieving the method, and has the same technical effect. The method and the system for acquiring the multiplying power of the sling of the crane are suitable for the control on the crane, in particular for safety control on the crane.
Description
Technical field
The present invention relates to the hoisting crane control technology, particularly relate to a kind of hoisting crane stringer rate acquisition method and hoisting crane stringer rate and obtain system, also relate to a kind of hoisting crane that the hoisting crane stringer rate obtains system that has.
Background technology
Stringer rate is an important parameter of elevator machinery, the lifting rope quantity of expression bearing load.Under load unmodified situation, stringer rate is big more, and the lifting rope number of bearing load was many more when hoisting crane hung and carries, and hangs to carry laborsavingly more, but it is slow more to hang the speed of carrying; Stringer rate is more little, and the lifting rope number that hoisting crane hangs bearing load when carrying is few more, and hanging to carry needs bigger propulsive effort, can be fast but hang the speed of carrying.In load hour, need make the stringer rate of hoisting crane smaller, hang the speed of carrying with raising; When load is big, need make the stringer rate of hoisting crane big, to reduce the propulsive effort of hoisting crane, guarantee safe lifting simultaneously.In order to improve the combined efficiency of hoisting crane, the stringer rate of current hoisting crane generally is to change, and in load not simultaneously promptly, hangs with different stringer rates and to carry, and coordinating to hang speed and the propulsive effort that carries, and guarantees safe lifting.
The safety of hoisting crane when carrying in order to guarantee to hang, current hoisting crane also is provided with limiter of moment.Limiter of moment links to each other with sensor on the hoisting crane; Can obtain hoisting crane through sensor and hang the parameters such as actual load, crane arm swinging radius, the residing angle of crane arm and stringer rate of carrying; And confirm the percentum of actual load and rated load according to these parameters; Be the moment percentum, then moment percentum and predetermined critical value compared; When the moment percentum of obtaining less than predetermined critical value, the corresponding indication that limiter of moment can be exported makes operating personal carry out normal lifts; When the moment percentum of obtaining greater than predetermined critical value, the expression crane overload, limiter of moment can send corresponding alarm, alert.Some limiter of moment can stop lifting operation automatically when overload, avoid operating personal maloperation or barbarous operation, causes serious engineering accident.
Stringer rate is the important parameter that limiter of moment is obtained the moment percentum, and has directly relation with the moment percentum.Mistake appears in the stringer rate of input, and the moment percentage error that can cause the hoisting crane limiter of moment to be obtained is bigger.When the stringer rate of the stringer rate of importing greater than reality; When causing moment percentum that limiter of moment obtains less than critical value, and actual moment percentum is during greater than the critical value of limiter of moment, and lifting rope is can be because bearing excessive pulling force impaired or shorten its service life; And limiter of moment can not give the alarm yet; Be difficult to play the effect of safety guard-safeguard, when error is excessive, even can cause serious accident; When the stringer rate of the stringer rate of importing less than reality; When causing moment percentum that limiter of moment obtains greater than critical value; And actual moment percentum is during less than the critical value of limiter of moment, and limiter of moment can flase alarm, influences lifting operation and carries out smoothly.Therefore, the stringer rate of assurance input accurately is the key that guarantees crane safety and normal operation.
At present; The stringer rate of hoisting crane is normally by operating personal range estimation identification; Because the instability of factors such as the experience of operating personal, operating environment or other; Often cause the stringer rate input error, obtain moment percentum accurately, further influence the safety and the normal operation of hoisting crane thereby influence limiter of moment.Therefore, how to obtain stringer rate, reduce artificial labile factor, guarantee that the reliability of input stringer rate is a technical barrier in the current hoisting crane field.
Summary of the invention
To above-mentioned technical barrier, one aspect of the invention provides a kind of hoisting crane stringer rate acquisition method, reduces artificial labile factor, improves the stringer rate reliability that obtains.
Another aspect, the present invention provides a kind of hoisting crane stringer rate to obtain system, to be used to implement said method.
On the basis that provides the hoisting crane stringer rate to obtain system, a kind of hoisting crane that has said system is provided also.
Hoisting crane stringer rate acquisition method provided by the invention comprises:
Produce electric signal according to a plurality of fixed pulley rotating speeds respectively;
Convert each electric signal to tachometer value respectively;
Confirm the fixed pulley number of in the desired speed scope, rotating according to tachometer value;
Obtain stringer rate, said stringer rate is directly proportional with the fixed pulley number of said rotation.
Preferably, said method also comprises: preset pulley factor i, stringer rate factor n, and make i=i0+X, and n=n0, wherein, i0 is the initial value of pulley factor i, and n0 is the initial value of stringer rate factor n, and X increases progressively unit value for the fixed pulley parameter; Also preset fixed pulley parameter i0+X, i0+2X, i0+3X......i0+M, said M increases progressively maxim for the fixed pulley parameter, and equals the number of fixed pulley and the product of X, and X is non-vanishing; Said a plurality of fixed pulley parameter is corresponding one by one with a plurality of tachometer values; Said step according to the definite fixed pulley number of rotating of tachometer value comprises:
Judge whether said i is not more than i0+M, if then get into next step; If, then do not get into the step of the fixed pulley number of obtaining rotation;
Judge the specific rotation speeds value whether in the desired speed scope, if, then make i=i+X, n=n+Y, said Y is the unit value that increases progressively of the pulley number of rotation, and non-vanishing, returns and judges whether said i is not more than i0+M; If not, then make i=i+X, return and judge whether said i is not more than i0+M; Said specific rotation speeds value is the corresponding tachometer value of fixed pulley parameter that equates with i;
Obtain the fixed pulley number of rotation, make the fixed pulley number of rotation equal (n-n0)/Y.
Preferably, described i0=0, n0=0; Said X=1, Y=1.
Preferably, the said step of obtaining the fixed pulley number of rotation also comprises: whether the fixed pulley number of judging rotation equals 0, if then return the step that produces electric signal according to the fixed pulley rotating speed; If, then do not get into the step of obtaining stringer rate.
Preferably, before obtaining stringer rate, also comprise:
Judge whether stringer rate is even multiplying power;
Saidly obtain stringer rate specifically: if stringer rate is even multiplying power, then 2 times of the stringer rate fixed pulley number that equals to rotate; If stringer rate is not even multiplying power, then 2 demultiplications of the stringer rate fixed pulley number that equals to rotate go 1.
Preferably, whether said definite stringer rate is that even multiplying power comprises:
Use near switch sensor to judge between corresponding fixed pulley of hoisting crane and the movable pulley whether have the lifting rope that unrolls, if judge that then stringer rate is even multiplying power; If, do not judge that then stringer rate is not even multiplying power; The said lifting rope that unrolls exists can represent that the lifting rope number of bearing load between hoisting crane fixed pulley group and the running block is an even number.
Preferably, saidly produce electric signal according to the fixed pulley rotating speed and comprise: use near switch sensor and produce electric signal at sensing chip through near the switch sensor induction zone time, said sensing chip is installed on the fixed pulley.
Preferably, before producing electric signal, also comprise according to the fixed pulley rotating speed:
Confirm the scope of rotating speed when fixed pulley rotates because of receiving the effect of lifting rope friction force, and this scope is confirmed as the desired speed scope.
Preferably, before producing electric signal, also comprise: confirm the scope of rotating speed when fixed pulley rotates because of receiving the effect of lifting rope friction force, and this scope is confirmed as the desired speed scope according to the fixed pulley rotating speed;
Saidly produce electric signal according to the fixed pulley rotating speed and comprise: use near switch sensor and produce electric signal at sensing chip through near the switch sensor induction zone time, said sensing chip is installed on the fixed pulley;
Before obtaining stringer rate, also comprise: use near switch sensor to judge between corresponding fixed pulley of hoisting crane and the movable pulley whether have the lifting rope that unrolls, if judge that then stringer rate is even multiplying power; If, do not judge that then stringer rate is not even multiplying power; The said lifting rope that unrolls exists can represent that the lifting rope number of bearing load between hoisting crane fixed pulley group and the running block is an even number;
Saidly obtain stringer rate specifically: if stringer rate is even multiplying power, then 2 times of the stringer rate fixed pulley number that equals to rotate; If stringer rate is not even multiplying power, then 2 demultiplications of the stringer rate fixed pulley number that equals to rotate go 1.
Hoisting crane stringer rate provided by the invention obtains system and comprises: controller, output unit and a plurality of sensor; Said a plurality of sensor links to each other with controller respectively; Said controller links to each other with output unit; Said sensor can produce electric signal according to the rotating speed of corresponding fixed pulley, and can send electric signal to controller; Said controller can convert the electric signal that each sensor transmits to a plurality of tachometer values respectively, and can confirm the fixed pulley number of in the desired speed scope, rotating according to tachometer value; Controller can also obtain stringer rate, and stringer rate is exported through output unit, and said stringer rate is directly proportional with the fixed pulley number of rotation.
Whether preferably, this system also comprises check sensor, and said check sensor is installed in whip-gin group relevant position, and can be according to existing the lifting rope that unrolls to produce corresponding electric signal between corresponding fixed pulley and the movable pulley; The said lifting rope that unrolls exists can represent that the lifting rope quantity of bearing load between hoisting crane fixed pulley group and the running block is even number; Said check sensor and can send controller to producing electric signal; Said controller can judge whether stringer rate is even multiplying power according to the electric signal that receives; And can confirm the proportional relationship of the fixed pulley number of stringer rate and rotation according to judged result.
Preferably, this system also comprises sensing chip, and said sensing chip is installed on each fixed pulley, and described a plurality of sensors are near switch sensor; When fixed pulley rotated, said sensing chip can be through the induction zone near switch sensor.
Preferably, described check sensor is near switch sensor; This system also comprises sensing chip; Said sensing chip is installed on the edge of fixed pulley, and described a plurality of sensors are near switch sensor; When fixed pulley rotated, said sensing chip can be through the induction zone near switch sensor.
A kind of hoisting crane provided by the invention comprises: crane arm; Fixed pulley group and running block; Described fixed pulley group rotatably is fixed on the crane arm upper end; Said running block links to each other through lifting rope with running block, comprises that also above-mentioned hoisting crane stringer rate obtains system, and a plurality of sensors that said hoisting crane stringer rate obtains system are corresponding one by one with a plurality of fixed pulleys of hoisting crane.
Compared with prior art; Hoisting crane stringer rate acquisition method provided by the invention; Rotating speed according to each fixed pulley produces corresponding electric signal; Electrical signal conversion is become tachometer value, and confirm the fixed pulley number of in the desired speed scope, rotating, confirm stringer rate according to the fixed pulley number of rotation according to tachometer value.Why fixed pulley can rotate in the desired speed scope is because the lifting rope that twines above that carries out axial motion with predetermined speed; And lifting rope only bears respective loads, when receiving the reel tension, just can move at a predetermined velocity; And according to the pulley principle of work, for the hoisting crane of confirming, the lifting rope of bearing load has definite proportional relationship with the number of the fixed pulley that rotates with desired speed; Therefore can confirm the quantity of the lifting rope of bearing load according to the number of the fixed pulley that rotates, confirm stringer rate.Because method provided by the invention can be judged the fixed pulley number of rotation according to corresponding electric signal, and obtains stringer rate according to corresponding electric signal, can significantly reduce the influence of human element to stringer rate, improve the accuracy of stringer rate.
In further technical scheme, preset pulley factor, stringer rate factor and a plurality of fixed pulley parameter, and a plurality of tachometer values that said fixed pulley parameter and controller are obtained are corresponding one by one; When confirming the fixed pulley number that rotating speed rotates in the desired speed scope; Can feed back according to relevant parameter; The step of the fixed pulley number of obtaining rotation can be circulated carry out, and after obtaining the fixed pulley number of rotation, stop automatically, further improved the efficient of obtaining stringer rate.
In further technical scheme, after confirming the fixed pulley number of rotation, comprise that also whether a checking result is zero step according to tachometer value, can prevent that controller or sensor from makeing mistakes, the reliability of the stringer rate that guarantees to obtain.
In further technical scheme; Before obtaining stringer rate, comprise that also one is judged whether stringer rate is the step of even multiplying power; Make whether method provided by the invention can be the result of even multiplying power according to stringer rate; Confirm the concrete proportional relationship of fixed pulley number of stringer rate and rotation, obtain corresponding stringer rate.The reliability of the stringer rate that this technical scheme can guarantee to obtain on the one hand; Can improve hoisting crane stringer rate acquisition method comformability on the other hand; When the hoisting crane stringer rate can carry out even multiplying power and very multiplying power is changed, method provided by the invention also can be suitable for.
In further technical scheme, on each fixed pulley, sensing chip is installed, use near switch sensor and produce electric signal according to the fixed pulley rotating speed, can reduce the operating cost of this method, simplify embodiment.
In further technical scheme; The scope that before producing electric signal, also comprises rotating speed when a definite fixed pulley rotates because of receiving the effect of lifting rope friction force according to the fixed pulley rotating speed; And this scope confirmed as the desired speed scope; Can make the desired speed scope more accurate, and then guarantee the accuracy of the stringer rate of acquisition.
Corresponding with the hoisting crane stringer rate acquisition method, hoisting crane stringer rate provided by the invention obtains system and also possesses the corresponding techniques effect.
Hoisting crane stringer rate acquisition method provided by the invention and system are applicable to the control to hoisting crane, are specially adapted to the safety control to hoisting crane.
Description of drawings
Fig. 1 shows hoisting crane stringer rate acquisition method overview flow chart;
Fig. 2 shows in the system of the present invention near switch sensor and sensing chip installation site scheme drawing;
Fig. 3 shows a kind of implementation diagram of circuit of embodiment of the invention hoisting crane stringer rate acquisition method;
Fig. 4 shows in the embodiment of the invention method flow diagram of the fixed pulley number of confirming in the desired speed scope, to rotate according to tachometer value;
Fig. 5 shows the another kind of implementation diagram of circuit of embodiment of the invention hoisting crane stringer rate acquisition method;
Fig. 6 shows hoisting crane stringer rate provided by the invention and obtains system chart.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is carried out detailed description, this part content only is explanatory or exemplary, and unless otherwise specified, concrete descriptive language and description order should not have any restriction to protection scope of the present invention.
Embodiment one provides a kind of hoisting crane stringer rate acquisition method, and the hoisting crane of implementing this method comprises fixed pulley group and 6 near switch sensor, and said fixed pulley group comprises 6 fixed pulleys.As shown in Figure 1, the hoisting crane stringer rate acquisition method that embodiment one provides may further comprise the steps:
S110 produces electric signal according to a plurality of fixed pulley rotating speeds respectively.In this example, on described 6 fixed pulleys sensing chip is installed respectively; 6 corresponding one by one near sensing chip on switch sensor and 6 fixed pulleys, and sensing chip can stretch in the corresponding induction zone near switch sensor.Said is a kind of displacement pickup near switch sensor, and displacement pickup is provided with responsive part, and whether end instr can produce corresponding electric signal according to sensing chip in induction region, thereby realizes the monitoring to respective objects.As shown in Figure 2, sensing chip 10 is installed on each fixed pulley 101 side flanges, and is fixing with crane arm 100 near switch sensor 2; In fixed pulley 101 rotations, when sensing chip 10 passes through near the induction zone of switch sensor 2, can produce corresponding electric signal near switch sensor 2.The installation site that it will be understood by those skilled in the art that sensing chip 10 should not be restricted, when needing only fixed pulley 101 rotations; Sensing chip 10 can be through the induction zone of the switch sensor 2 that furthers; Just can produce corresponding electric signal, optimized technical scheme is that sensing chip 10 is installed on the arbitrary side flanges of fixed pulley; More to stretch near the part in switch sensor 2 induction zones, guarantee reliability near switch sensor generation electric signal.In this example, just can produce corresponding electric signal, and send electric signal to controller according to the difference of fixed pulley rotating speed near switch sensor.It will be appreciated by those skilled in the art that; Use and obtain electric signal near switch sensor and have characteristics simply and easily; Utilize other sensors or other modes also can obtain corresponding electric signal; Such as: corresponding reflective devices can be set on the fixed pulley bead, or other devices that match with light sensor, utilize the photoinduction sensor to obtain corresponding electric signal; Also can be that inductive pickoff, transformer type sensor or eddy current sensor obtain corresponding electric signal.
S120 becomes tachometer value with each electrical signal conversion.In this example, 6 tachometer values are corresponding with 6 fixed pulleys respectively, represent the rotating speed of corresponding fixed pulley.In this example, the electric signal that transmits near switch sensor is handled, will be converted to digital signal near the analog electrical signal that switch sensor transmits, convert the corresponding rotating speeds value to controller.When responding to other analog sensors, controller also can convert corresponding electric signal to tachometer value respectively.It will be understood by those skilled in the art that when sensor can be exported digital signal, must have corresponding transfer device in the sensor,, still belong within the protection domain of the present invention in such cases.
S130 confirms the fixed pulley number N that in the desired speed scope, rotates according to tachometer value.Because fixed pulley only receives the lifting rope friction force and does the time spent and just can therefore, can confirm because of receiving the fixed pulley number that the effect of lifting rope friction force is rotated according to tachometer value with predetermined speed rotation.
In this example, be preset with handler in the controller, controller can be handled a plurality of tachometer values, obtains N.The mode that realizes this step can have multiple choices, and particular content will be described in detail later.
S140 obtains stringer rate, and said stringer rate is directly proportional with N.After obtaining N, just can obtain stringer rate according to N, its principle is: why the lifting rope that hoisting crane twines can produce friction force to fixed pulley is because lifting rope has born respective loads, receives the reel tension, carries out axial motion at a predetermined velocity.According to the pulley principle of work, when crane type was confirmed, stringer rate and N had definite proportional relationship, can confirm the quantity of the lifting rope of bearing load according to N, confirmed stringer rate, reduced the adverse effect that human element produces the stringer rate that obtains.In this example, when stringer rate was even multiplying power, stringer rate equaled 2 times of N.It will be understood by those skilled in the art that because different hoisting crane lifting rope canoe is different the concrete proportional relationship of N and stringer rate is also inequality, such as; Stringer rate possibly equal 2N-1, or equals 2 (N-1), but according to common hoisting crane lifting rope canoe, stringer rate generally equals 2N.
Above-mentioned hoisting crane stringer rate acquisition method obtains stringer rate automatically through sensor and controller, can reduce the mistake that human element produces, and improves the stringer rate reliability.
It will be understood by those skilled in the art that among the above-mentioned steps S110 that sensor also can transmit other transfer devices with electric signal, such as, can sensor be linked to each other with speed gage, the electric signal that sensor is produced is sent in the corresponding rotating speeds table; In step S120, speed gage can become 6 tachometer values with electrical signal conversion; At step S130, can confirm N by the operating personal in the operator's compartment, and then, obtain stringer rate according to the relation of stringer rate and N.Because sensor and transfer device can show the fixed pulley rotating speed more intuitively in operator's compartment, also can reduce the influence of human element to stringer rate.
In this example, the hoisting crane stringer rate can be selected between 3 multiplying powers, 4 multiplying powers, 7 multiplying powers, 8 multiplying powers, 11 multiplying powers and 12 multiplying powers, and hoisting crane not only comprises the conversion between even multiplying power and even multiplying power, strange multiplying power and the strange multiplying power when carrying out the multiplying power conversion; Also comprise the conversion between even multiplying power and the strange multiplying power.According to the assembly pulley principle, the conversion between even multiplying power and the strange multiplying power is that the lifting rope with two bearing loads between certain fixed pulley and the running block reduces one, and this lifting rope is called the lifting rope that unrolls; The lifting rope that unrolls exists can represent that the lifting rope number of bearing load between hoisting crane fixed pulley group and the running block is an even number, and the lifting rope that unrolls does not exist representes that then the lifting rope number is an odd number.After converting even multiplying power into strange multiplying power, the proportionate relationship between N and the stringer rate also can change, and need confirm stringer rate with another proportional relationship.
After hoisting crane carried out even multiplying power and very multiplying power is changed, controller need be confirmed stringer rate with another proportional relationship.In order to guarantee the reliability of stringer rate, can also before obtain stringer rate, judge whether stringer rate is even multiplying power, and, obtain the relation of stringer rate and N according to judged result.As shown in Figure 3, can may further comprise the steps among the step S140:
S141 judges whether stringer rate is even multiplying power; If then get into S142; If, then do not get into S143;
S142 makes stringer rate equal 2 times of N;
S143,2 demultiplications that make stringer rate equal N go 1.
In this example; Can judge whether stringer rate is even multiplying power with check sensor; Its concrete grammar can comprise: judge between corresponding fixed pulley of hoisting crane and the movable pulley whether have the lifting rope that unrolls through check sensor, if judge that then stringer rate is even multiplying power; If, do not judge that then stringer rate is not even multiplying power.For the hoisting crane of confirming, whether its initial stringer rate is confirmed can exist according to the revolution lifting rope and confirm whether it has carried out even multiplying power and the very conversion of multiplying power.
In this example; Judge that the check sensor that whether has the lifting rope that unrolls between corresponding fixed pulley of hoisting crane and the movable pulley also is near switch sensor; Its groundwork repeats no more at this; It will be understood by those skilled in the art that this place's check sensor also can adopt the sensor of other types to respond to, such as Hall element, opto-electronic pickup or other sensors or the like.
In order to obtain stringer rate more accurately, with reference to figure 1, before producing electric signal, can also comprise step S109 according to the fixed pulley rotating speed, to confirm range of speed predetermined among the step S130, this step specifically comprises:
When the hoisting crane normal operation, confirm the range of speed of fixed pulley, and this range of speed is confirmed as desired speed scope among the step S130 because of rotated by the effect of lifting rope friction force.Above-mentioned mode through experiment is confirmed the desired speed scope of rotating speed, can confirm N more accurately, to guarantee the reliability of stringer rate.It will be appreciated by those skilled in the art that; Structure, radius, material and steel rope through research hoisting crane fixed pulley group, deadweight, friction force etc. also can be determined fixed pulley because of receiving the range of speed that the effect of lifting rope friction force is rotated to the fixed pulley velocity effect.
The step of the fixed pulley number N that confirms according to tachometer value in the desired speed scope, to rotate in the face of controller down is described in detail.
At first, preset pulley factor i, stringer rate factor n in the controller, and make i=1, n=0; Also preset fixed pulley parameter 1,2,3,4,5,6.And make fixed pulley parameter 1,2,3,4,5 corresponding one by one with 6 tachometer values.
As shown in Figure 4, said step S130 can comprise:
S131 judges whether pulley factor i is not more than 6, if then get into S132; If, then do not get into S135.
S132 judges that the specific rotation speeds value is whether in the desired speed scope, if get into S133; If, then do not get into S134; Said specific rotation speeds value is the corresponding tachometer value of fixed pulley parameter that equates with i.
S133 makes i=i+1, and n=n+1 returns S131.
S134 makes i=i+1, returns S131.
S135 makes N=n.
Adopt above-mentioned step to obtain stringer rate, controller can feed back according to pulley factor i, and after obtaining N, stops automatically, has further improved the efficient of obtaining the hoisting crane stringer rate.
In order to guarantee the reliability of stringer rate, avoid controller to make mistakes, in S135, can also comprise step S135-1, judge whether N equals 0, if, explain that then sensor makes mistakes, should return S110, obtain electric signal again, to correct the mistake of sensor; If it is not, then get into step S141, and finally obtain stringer rate, shown in Figure 5 like flow process.It will be understood by those skilled in the art that judging that N equals at 0 o'clock, also can the parameter reset in the controller be got among the step S131 again, to correct the controller operation mistake.
It will be understood by those skilled in the art that when obtaining N, can also on parameter, carry out multiple variation with aforesaid way.Such as: can in controller, preset pulley factor i, stringer rate factor n, and make i=i0+X, n=n0, wherein, i0 is the initial value of pulley factor i, and n0 is the initial value of stringer rate factor n, and X increases progressively unit value for the fixed pulley parameter; Preset a plurality of fixed pulley parameter i0+X, i0+2X, i0+3X......i0+M simultaneously, said M increases progressively maxim for the fixed pulley parameter, and equals the number of fixed pulley and the product of X, and X is non-vanishing; Said fixed pulley parameter is corresponding one by one with a plurality of tachometer values; In S131, can judge whether said i is not more than i0+M; In S132 to S134, after judging that the specific rotation speeds value is whether in the desired speed scope, if, can make i=i+X, n=n+Y, said Y is the unit value that increases progressively of the pulley number N of rotation, and non-vanishing; If, then do not make i=i+X.
Those skilled in the art it is also understood that; According to above-mentioned enlightenment, can also obtain N with other modes, such as: can in controller, establish and a plurality of one to one fixed pulley parameters of a plurality of tachometer values; And the fixed pulley parameter value is predisposed to 0; Order judges that tachometer value is whether in the desired speed scope, if be 1 with corresponding fixed pulley parameter change then then; After judgement finishes, make N equal the summation of each fixed pulley parameter.According to above-mentioned enlightenment, those skilled in the art can also carry out the more improvement or variation more.
In yet another aspect, a kind of hoisting crane stringer rate that the present invention also provides obtains system, to implement said method.As shown in Figure 6, this system comprises controller 1, output unit 4 and a plurality of sensor 2, and said sensor 2 is corresponding one by one mutually with fixed pulley on the hoisting crane; Said a plurality of sensor links to each other with controller 1 respectively; Controller 1 links to each other with output unit 4.The electric signal that sensor 2 produces can be sent to controller 1; Controller 1 can be handled electric signal according to above-mentioned method, obtains N, is that the basis obtains stringer rate again with N; With stringer rate output, its detailed treating process repeats no more controller 1 through output unit 4 then.It will be understood by those skilled in the art that owing to the digital signal that is that transmits between controller 1 and the output unit 4, therefore, can communicate with the CAN bus between controller 1 and the output unit, to improve the controller performance of system.
Sensor can be near switch sensor, and this hoisting crane stringer rate obtains system and comprises and the sensing chip that matches near switch sensor simultaneously, near cooperating of switch sensor and sensing chip producing corresponding electric signal.In addition, also can adopt the other types sensor to obtain corresponding electric signal according to the rotating speed of fixed pulley, detailed content please refer to the description to method.
It will be appreciated by those skilled in the art that; If the limiter of moment on the hoisting crane is provided with the interface with controller 1 coupling; Also can directly the stringer rate that obtains be input to limiter of moment; So that limiter of moment carries out the moment percentage calculation, further improve the automatic performance that crane safety detects.
In order to judge whether stringer rate is even multiplying power; The system of said hoisting crane stringer rate can also comprise check sensor, to detect whether stringer rate is even multiplying power, makes whether controller can be even multiplying power according to stringer rate; Carry out different processing; The reliability of the stringer rate that has guaranteed on the one hand to obtain has also improved hoisting crane stringer rate acquisition method comformability on the other hand, can carry out at stringer rate on the hoisting crane of odd even multiplying power conversion; System provided by the invention also can use, and detailed principle of work and working process please refer to above-mentioned description to method.Check sensor can be near switch sensor, also can be other sensors, and its principle of work and process repeat no more.
On the basis that provides the hoisting crane stringer rate to obtain system; A kind of hoisting crane that has this system also is provided; Hoisting crane is provided with fixed sliding group and running block, and the fixed pulley group comprises a plurality of fixed pulleys, and a plurality of sensors that said hoisting crane stringer rate obtains system are corresponding one by one with a plurality of fixed pulleys; Can be according to the rotating speed of fixed pulley, produce and export corresponding electric signal to controller.Because the hoisting crane stringer rate obtains system and can produce above-mentioned technique effect, the hoisting crane that has this system also possesses the corresponding techniques effect.
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 improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (14)
1. hoisting crane stringer rate acquisition method, described hoisting crane comprises a plurality of fixed pulleys, it is characterized in that, described method comprises:
Produce electric signal according to a plurality of fixed pulley rotating speeds respectively;
Convert each electric signal to tachometer value respectively;
Confirm the fixed pulley number of in the desired speed scope, rotating according to tachometer value;
Obtain stringer rate, said stringer rate is directly proportional with the fixed pulley number of said rotation.
2. hoisting crane stringer rate acquisition method according to claim 1 is characterized in that,
Said method also comprises: presets pulley factor i, stringer rate factor n, and makes i=i0+X, and n=n0, wherein, i0 is the initial value of pulley factor i, and n0 is the initial value of stringer rate factor n, and X increases progressively unit value for the fixed pulley parameter; Also preset fixed pulley parameter i0+X, i0+2X, i0+3X......i0+M, said M increases progressively maxim for the fixed pulley parameter, and equals the number of fixed pulley and the product of X, and X is non-vanishing; Said a plurality of fixed pulley parameter is corresponding one by one with a plurality of tachometer values;
Said step according to the definite fixed pulley number of rotating of tachometer value comprises:
Judge whether said i is not more than i0+M, if then get into next step; If, then do not get into the step of the fixed pulley number of obtaining rotation;
Judge the specific rotation speeds value whether in the desired speed scope, if, then make i=i+X, n=n+Y, said Y is the unit value that increases progressively of the pulley number of rotation, and non-vanishing, returns and judges whether said i is not more than i0+M; If not, then make i=i+X, return and judge whether said i is not more than i0+M; Said specific rotation speeds value is the corresponding tachometer value of fixed pulley parameter that equates with i;
Obtain the fixed pulley number of rotation, make the fixed pulley number of rotation equal (n-n0)/Y.
3. hoisting crane stringer rate acquisition method according to claim 2 is characterized in that,
Described i0=0, n0=0; Said X=1, Y=1.
4. according to claim 2 or 3 described hoisting crane stringer rate acquisition methods, it is characterized in that the said step of obtaining the fixed pulley number of rotation also comprises:
Whether the fixed pulley number of judging rotation equals 0, if then return the step that produces electric signal according to the fixed pulley rotating speed; If, then do not get into the step of obtaining stringer rate.
5. according to each described hoisting crane stringer rate acquisition method of claim 1-3, it is characterized in that, before obtaining stringer rate, also comprise: judge whether stringer rate is even multiplying power;
Saidly obtain stringer rate specifically:
If stringer rate is even multiplying power, then 2 times of the stringer rate fixed pulley number that equals to rotate; If stringer rate is not even multiplying power, then 2 demultiplications of the stringer rate fixed pulley number that equals to rotate go 1.
6. hoisting crane stringer rate acquisition method according to claim 5 is characterized in that, whether said definite stringer rate is that even multiplying power comprises:
Use near switch sensor to judge between corresponding fixed pulley of hoisting crane and the movable pulley whether have the lifting rope that unrolls, if judge that then stringer rate is even multiplying power; If, do not judge that then stringer rate is not even multiplying power; The said lifting rope that unrolls exists can represent that the lifting rope number of bearing load between hoisting crane fixed pulley group and the running block is an even number.
7. according to each described hoisting crane stringer rate acquisition method of claim 1-3; It is characterized in that; Saidly produce electric signal according to the fixed pulley rotating speed and comprise: use near switch sensor and produce electric signal at sensing chip through near the switch sensor induction zone time, said sensing chip is installed on the fixed pulley.
8. according to each described hoisting crane stringer rate acquisition method of claim 1-3, it is characterized in that, before producing electric signal, also comprise according to the fixed pulley rotating speed:
Confirm the scope of rotating speed when fixed pulley rotates because of receiving the effect of lifting rope friction force, and this scope is confirmed as the desired speed scope.
9. hoisting crane stringer rate acquisition method according to claim 4 is characterized in that,
Before producing electric signal, also comprise: confirm the scope of rotating speed when fixed pulley rotates because of receiving the effect of lifting rope friction force, and this scope is confirmed as the desired speed scope according to the fixed pulley rotating speed;
Saidly produce electric signal according to the fixed pulley rotating speed and comprise: use near switch sensor and produce electric signal at sensing chip through near the switch sensor induction zone time, said sensing chip is installed on the fixed pulley;
Before obtaining stringer rate, also comprise: use near switch sensor to judge between corresponding fixed pulley of hoisting crane and the movable pulley whether have the lifting rope that unrolls, if judge that then stringer rate is even multiplying power; If, do not judge that then stringer rate is not even multiplying power; The said lifting rope that unrolls exists can represent that the lifting rope number of bearing load between hoisting crane fixed pulley group and the running block is an even number;
Saidly obtain stringer rate specifically: if stringer rate is even multiplying power, then 2 times of the stringer rate fixed pulley number that equals to rotate; If stringer rate is not even multiplying power, then 2 demultiplications of the stringer rate fixed pulley number that equals to rotate go 1.
10. a hoisting crane stringer rate obtains system, it is characterized in that, comprises controller, output unit and a plurality of sensor; Said a plurality of sensor links to each other with controller respectively; Said controller links to each other with output unit; Said sensor can produce electric signal according to the rotating speed of corresponding fixed pulley, and can send electric signal to controller; Said controller can convert the electric signal that each sensor transmits to a plurality of tachometer values respectively, and can confirm the fixed pulley number of in the desired speed scope, rotating according to tachometer value; Controller can also obtain stringer rate, and stringer rate is exported through output unit, and said stringer rate is directly proportional with the fixed pulley number of rotation.
11. hoisting crane stringer rate according to claim 10 obtains system; It is characterized in that; Also comprise check sensor; Whether said check sensor is installed in whip-gin group relevant position, and can be according to existing the lifting rope that unrolls to produce corresponding electric signal between corresponding fixed pulley and the movable pulley; The said lifting rope that unrolls exists can represent that the lifting rope quantity of bearing load between hoisting crane fixed pulley group and the running block is even number; Said check sensor and can send controller to producing electric signal;
Said controller can judge whether stringer rate is even multiplying power according to the electric signal that receives; And can confirm the proportional relationship of the fixed pulley number of stringer rate and rotation according to judged result.
12. obtain system according to claim 10 or 11 described hoisting crane stringer rates, it is characterized in that also comprise sensing chip, said sensing chip is installed on each fixed pulley, described a plurality of sensors are near switch sensor; When fixed pulley rotated, said sensing chip can be through the induction zone near switch sensor.
13. hoisting crane stringer rate according to claim 11 obtains system, it is characterized in that,
Described check sensor is near switch sensor;
This system also comprises sensing chip; Said sensing chip is installed on the edge of fixed pulley, and described a plurality of sensors are near switch sensor; When fixed pulley rotated, said sensing chip can be through the induction zone near switch sensor.
14. hoisting crane; Comprise crane arm, fixed pulley group and running block, described fixed pulley group rotatably is fixed on the crane arm upper end; Said running block links to each other through lifting rope with running block; It is characterized in that comprise that also each described hoisting crane stringer rate of claim 10-13 obtains system, a plurality of sensors that said hoisting crane stringer rate obtains system are corresponding one by one with a plurality of fixed pulleys of hoisting crane.
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| CN2008101770959A CN101450771B (en) | 2008-11-21 | 2008-11-21 | Crane stringer rate acquisition method, system and crane |
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| CN103303833B (en) * | 2013-07-09 | 2016-06-08 | 中联重科股份有限公司 | Multireel is raised elevator synchronisation control means and the control device of single hook formula erecting equipment |
| CN103935896B (en) * | 2014-03-28 | 2016-07-06 | 广西柳工机械股份有限公司 | Hoisting machinery steel wire rope multiplying power automatic identification equipment and recognition methods |
| 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 |
| CN104986665B (en) * | 2015-07-09 | 2016-11-30 | 湖南中联重科智能技术有限公司 | A kind of hanging device and stringer rate detection device, system, method |
| CN105217477B (en) * | 2015-11-05 | 2017-09-19 | 徐州重型机械有限公司 | Crane hoisting multiplying power automatic recognition control method and control system |
| CN105460789B (en) * | 2016-01-12 | 2018-10-02 | 徐州重型机械有限公司 | Crane multiplying power diagnostic method, system and crane |
| US10836612B1 (en) * | 2017-12-18 | 2020-11-17 | Tadano Ltd. | Crane |
| CN108706468B (en) * | 2018-06-21 | 2023-09-05 | 莱芜钢铁集团有限公司 | Skip overwinding protection device |
| CN109516388B (en) * | 2018-12-08 | 2024-01-30 | 安徽柳工起重机有限公司 | Automatic recognition system for multiplying power of crane |
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