CN101898733A - Winch electrohydraulic control system for lowering free falling body - Google Patents
Winch electrohydraulic control system for lowering free falling body Download PDFInfo
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- CN101898733A CN101898733A CN 201010236073 CN201010236073A CN101898733A CN 101898733 A CN101898733 A CN 101898733A CN 201010236073 CN201010236073 CN 201010236073 CN 201010236073 A CN201010236073 A CN 201010236073A CN 101898733 A CN101898733 A CN 101898733A
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Abstract
The invention provides a winch electrohydraulic control system for lowering a free falling body, which comprises three winches, two sets of main control valve banks, a switch valve bank and a controller, wherein the three winches are connected to the switch valve bank, the switch valve bank is respectively connected to the two sets of main control valve banks, and the controller is connected with the two sets of main control valve banks and the switch valve bank to control operation of the whole electrohydraulic control system. The winch electrohydraulic control system for lowering the free falling body of the invention can well realize automatic speed control, automatic height control and manual real-time speed and height regulation during the falling of heavy objects, and can stop lowering the free falling body any time. The electrohydraulic control system has simple structure, convenient operation and wide application range.
Description
Technical field
The present invention relates to a kind of winch control system, especially, relate to the electrohydraulic control system that a kind of winch free-falling body is transferred.
Background technology
Winch is installed on hoisting crane, and it utilizes the tractive force of the steel rope generation that is wrapped on the reel to carry out the retry that rises of weight by rotating drum.Usually,, can realize the several work operating mode simultaneously, the free-falling body winchs that use on the hoisting crane in order to improve the operating efficiency of winch more.In the free-falling body winch, reel is connected by power-transfer clutch with the mouth of reductor.When winch promotes, power is transferred when operation, reel is connected with reductor mouth bonded assembly power-transfer clutch, and reel leans on the power of reductor mouth to carry out transmission work; When the needs winch is transferred operation fast, reel and reductor mouth bonded assembly throw-out-of clutch, reel rotates freely by load is drop-down.Usually, the controllable type power-transfer clutch is the multilayer friction plate structure.
Yet in the prior art, winch can not realize freely transferring functions such as automatic speed control in the process, height of drop automatic guidance, artificial control in real time, overloading automatic protection well; Simultaneously, for the goliath crane that uses a plurality of free-falling body winchs, still can not realize transferring synchronously of free-falling body between the different winchs, and switch the operation of transferring.Thereby the control system that urgent need provides a kind of later-model winch free-falling body to transfer to realize the intellectuality of crane operation, guarantees the safety of hoisting crane construction operation.
Summary of the invention
The electrohydraulic control system that the object of the present invention is to provide a kind of winch free-falling body to transfer, it both can realize that weight freely transferred automatic speed control in the process, height of drop automatic guidance, artificial control in real time, can realize independent control and composite move control between a plurality of winchs again.
To achieve these goals, the electrohydraulic control system that a kind of winch free-falling body of the present invention is transferred, it comprises first winch, second winch, the 3rd winch, the first main control valve group, the second main control valve group, transfer valve group and controller, wherein, described first winch is connected to the first main control valve group by described transfer valve group, second winch and the 3rd winch then are connected to the second main control valve group by described transfer valve group, described controller and the described first main control valve group, the second main control valve group links to each other with the transfer valve group, is used for the operation of whole electrohydraulic control system is controlled.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, described first winch is main lifting winch, and second winch is secondary lifting winch, and the 3rd winch is the pulling scraper winch.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, described each winch all includes power-transfer clutch, reductor and motor, wherein, described motor links to each other with described reductor, and described reductor links to each other with described power-transfer clutch again.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, described transfer valve group comprises first electromagnetic valve, second electromagnetic valve and the 3rd electromagnetic valve, links to each other with described first winch, second winch and the 3rd winch respectively.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred wherein, all is connected a tachogen between described each electromagnetic valve and described each winch.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, the described first main control valve group and the second main control valve group have included by pass valve, external control sequence valve and inverse proportion reducing valve, wherein, described by pass valve is connected to described external control sequence valve, and described external control sequence valve is connected to described inverse proportion reducing valve again.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, described electrohydraulic control system also comprises a fuel oil supply unit, described fuel oil supply unit comprises the safety valve group, flow divider valve and gear type pump, wherein, described safety valve group all links to each other with described flow divider valve with described gear type pump, is used to described two cover main control valve group fuel feeding.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred, wherein, also be provided with a speed detector on each winch, described speed detector comprises inductive disks and near switch, wherein, described inductive disks periphery is a serration, and it is installed in the reel outside of described winch, on the described fixed support that is installed in reductor near switch.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred wherein, also is connected with a limiter of moment on the described controller, be used to detect the quality of lifting weight.
The electrohydraulic control system that above-mentioned winch free-falling body is transferred wherein, also is connected with automatically controlled ratio pedal on the described controller, be used for manual operation control.
Therefore, the electrohydraulic control system that a kind of winch free-falling body of the present invention is transferred can well realize the automatic speed control in the falling process of heavy, highly automated control, and manual real-time and height can also stop free-falling body at any time simultaneously and transfer.This electrohydraulic control system is simple in structure, and is easy to operate, applied widely.
Description of drawings
The structural representation of the electrohydraulic control system that Fig. 1 transfers for winch free-falling body of the present invention;
The structural representation of the speed detector in the electrohydraulic control system that Fig. 2 transfers for winch free-falling body of the present invention;
Fig. 3 is the local enlarged diagram of the inductive disks in the speed detector;
Fig. 4 is the local enlarged diagram near switch in the speed detector;
Electromagnet logical action table under the different conditions of the electrohydraulic control system that Fig. 5 transfers for winch free-falling body of the present invention.
The specific embodiment
The present invention will be further described in detail below in conjunction with accompanying drawing.
The electrohydraulic control system that winch free-falling body of the present invention is transferred is the control by the transfer valve group mainly, realizes by two cover main control valve groups operations such as the switching of three free-falling body winchs, compound, synchronous whereabouts.
The structural representation of the electrohydraulic control system that Fig. 1 transfers for winch free-falling body of the present invention.As shown in the figure, this electrohydraulic control system comprises the main elevator that promotes, the secondary elevator that promotes, pulling scraper elevator, transfer valve group, two cover main control valve group and controller (not shown)s.Three winchs all are connected to the transfer valve group.Wherein, the main elevator that promotes is connected to main control valve group A by the transfer valve group; Secondary lifting elevator and pulling scraper elevator then are connected to main control valve group B by the transfer valve group.Two cover main control valve group A, B all link to each other with controller with the transfer valve group, and controller is then controlled the operation of whole electrohydraulic control system according to the running state of winch.
Wherein, the main elevator that promotes comprises master winch power-transfer clutch 1, master winch reductor 2 and master winch motor 3; The secondary elevator that promotes comprises secondary elevator power-transfer clutch 4, secondary hoisting speed reducer 5 and secondary hoist motor 6; The pulling scraper elevator comprises pulling scraper elevator power-transfer clutch 8, pulling scraper hoisting speed reducer 9 and pulling scraper hoist motor 10.Structure at above-mentioned three winchs is basic identical, is motor and is connected on the reductor, and reductor is connected on the power-transfer clutch.In addition, between reductor and power-transfer clutch, also be connected with a pressure sensor 12, be used to detect the pressure in oil cylinder chamber, thereby realize the open and close of power-transfer clutch according to the size of this pressure.
After above-mentioned three winchs connect a tachogen 7 separately respectively, be connected on the transfer valve group 11.Transfer valve group 11 comprises three electromagnetic valve QM2, QM3 and QM4, and correspondence is connected to the main elevator that promotes respectively, secondary elevator and the pulling scraper elevator of promoting.Above-mentioned three electromagnetic valves all carry out ground connection by a damping joint 13.This transfer valve group 11 realizes independent control and composite move control to three cover power-transfer clutch different modes by the oil circuit switching controls.
The structure of two cover main control valve group A and B is identical, all includes by pass valve 141, external control sequence valve 142 and inverse proportion reducing valve 143, and by pass valve 141 is connected to external control sequence valve 142, and external control sequence valve 142 is connected to inverse proportion reducing valve 143 again.Wherein, by pass valve 141 is used to protect power-transfer clutch to avoid high pressure, and can carry out pressure control separately according to different power-transfer clutchs.But inverse proportion reducing valve 143 received current signals according to the size of input electrical signal modulated pressure output signal continuously, thereby are realized control to external control sequence valve 142.142 of external control sequence valves are adjusted the pressure of clutch control mouth as pilot-operated type master control pressure valve according to the control signal of pilot control opening input, thereby realize the control to power-transfer clutch.Thereby two cover main control valve groups are the master element of total system, and it is controlled the control chamber pressure of winch power-transfer clutch by the operation of transfer valve group 11, thereby realize the dynamic brake to three winchs, the control of operation such as stop to fall.
In addition, in the electrohydraulic control system of the present invention, also can comprise a fuel-feed system, it comprises safety valve group 15, flow divider valve 16 and gear type pump 17.Gear type pump 17 and safety valve group 15 all are connected to flow divider valve 16, and gear type pump 17 and safety valve group 15 provide the oil sources of a 8MPa, and this oil sources passes through flow divider valve 16 again, and what be divided into two is respectively two main control valve group fuel feeding.In addition, in native system, provide power oil and wash oil coolant.Wherein, the 0.5MPa oil sources that the system outside provides is a flushing oil, for power-transfer clutch provides power; The 3.3MPa oil sources that the system outside provides is controlled oil for the guide, is used for guide's control of system.
The control of the different operating modes when electrohydraulic control system of the present invention can realize that the winch free-falling body is transferred.Under different operating modes, each parts have different states accordingly, specifically shown in the form among Fig. 5.Wherein, "+" expression electromagnet gets electric, "-" expression electromagnet dead electricity; Electric signal on " U " expression apportioning valve or the sensor, footnote " height ", " low ", " zero " represent that respectively this electric signal is in maxim, intermediate value and null value, wherein, the concrete numerical basis particular case of intermediate value and deciding.
When introducing winch below in detail and being in different operating mode, the operation control of electrohydraulic control system of the present invention:
(1) free off the hook is closed: when winch is not done free off the hook action in the short time, close the pattern of free off the hook function, this moment the QM1 dead electricity, gear type pump 17 off-loads, all electromagnet all must not in the simultaneity factor.
(2) free off the hook is awaited orders: winch may need to do free off the hook action in the short time, at this moment
QM1 gets electric, and free off the hook function enters armed state, QM2, QM3, QM4, QN1 and QN2 dead electricity, safety valve group 15 is closed at this moment, fluid enters transfer valve group 11 through flow divider valve 16, because each electromagnet of transfer valve group 11 all must not be electric, so fluid is through by pass valve 141 overflows of main control valve group A.Master winch power-transfer clutch 1 working oil chamber communicates with fuel tank, and master winch power-transfer clutch 1 is reliably closed.
(3) the free off the hook of main lifting elevator: after entering armed state, QM2 gets, enter fluid in the master winch power-transfer clutch 1, pressure is by pass valve 141 setting pressures in the main control valve group A, master winch reductor 2 pinion carriers are connected disengagement with the sound friction lining of frame, this moment master winch power-transfer clutch 1 standard-sized sheet, reel free fall under the weight effect, simultaneously, pressure sensor SP1 detects the pressure of master winch power-transfer clutch 1, does not arrive setting pressure, promptly during the setting value of by pass valve 141, system reports an error, and carries out fault detection.
(4) the main free off the hook Automatic Program of elevator that promotes is braked: when main lifting elevator rotating speed surpasses the maximum falling speed of setting, system reduces the received current of inverse proportion reducing valve 143 automatically, thereby make the delivery pressure of inverse proportion reducing valve 143 increase, the aperture of external control sequence valve 142 increases, the control presssure of master winch power-transfer clutch 1 reduces, friction lining between pinion carrier and frame becomes half Frotteurism, thereby realization braking deceleration, drop to the minimum of setting up to rotating speed after, improve the pressure of master winch power-transfer clutch 1 once more and freely transfer.
(5) realize that by the braking strategy in advance before stopping height of drop is controlled.Supposing the system preestablishes and requires whereabouts L rice to stop, and then must implement braking before no show L rice, does not allow directly to stop after arriving L rice, to avoid impacting, damaging clutch system.(v), " acceleration/accel in the braking procedure " is (a) relevant with " falling speed of beginning glancing impact " for the braking length (s) of this " in advance ".Following relation is promptly arranged:
Draw by above-mentioned two formulas,
Because weight falls in free off the hook operating mode process, then weight receive make a concerted effort be
F=f?-?Mg
Thereby, a=
In conjunction with above-mentioned each relational expression, draw
Wherein, g is a constant, and f is the clutch brake friction force, because hydraulic braking force is constant, so f also is a definite value.If the friction force of each drive disk assembly in the taking into account system not, factors such as viscous force, as long as know the preceding speed v of braking, clutch friction coefficient μ, reel radius r etc. can be obtained f, but this kind method is loaded down with trivial details, and be difficult for learning equivalent friction factor, so do not go direct design factor K value, but adopt several groups of data of on-the-spot test, directly bring following formula into and obtain clutch brake friction force f.
Following formula is charged to this electrohydraulic control system,, learn that the weight weight of being with can obtain stopping distance s according to the real-time falling speed of weight.
(6) safety guard-safeguard of free off the hook braking: in transferring braking procedure, system still detects pressure, the drum speed of master winch power-transfer clutch 1, and feedback data.If rotating speed, pressure do not descend, then program gives slope current signal of QN1 to minimum value, makes the pressure of master winch power-transfer clutch 1 drop to minimum, realizes stopping to transfer protection system; If inverse proportion reducing valve 143 faults, then the input of QN1 control is inoperative, then can't realize the reduction of Pi1.Therefore when changing the QN1 electric current, cut off QM2, make pressure off-load in the master winch power-transfer clutch 1 and then protection system.For fear of too big impact clutch-lining is caused damage, therefore damping joint 13 is set, slow down the time of pressure release, with the protection friction lining in the transfer valve outlet.
(7) the artificial braking deceleration control in freely transferring: operator's compartment is provided with automatically controlled ratio pedal, and it links to each other with controller.Automatically transferring in the process, when weight free fall speed is lower than the maximum permissible value of program setting, the control of manual intervention at any time, push down on the pedal, then controller reduces the input to QN1, realizes brake snub.Do not carry out artificial glancing impact, falling speed increases gradually, and after arriving maximum set value, procedure auto-control realizes slowing down.
(8) free off the hook of secondary volume and the free off the hook of pulling scraper elevator: during independent free off the hook, the same master winch of principle, and pulling scraper elevator and secondary elevator can composite moves, so get final product according to electrical action enforcement.
(9) compound free off the hook and synchronous free off the hook: when master winch and secondary elevator or pulling scraper elevator all needed free off the hook, then two of system cover control mechanisms were all by the demand action, the realization composite move.
(10) the synchronous free off the hook of major-minor elevator: when master winch and secondary volume need synchronous free off the hook, then two of system cover control mechanisms are according to identical input control, since major-minor roll up synchronous when freely transferring by same load tractive, so the synchronism deviation of substantially can resolution system difference bringing; Simultaneously, asynchronous for preventing that bigger system's difference from causing, so detect clutch pressure and drum speed, adjusted the QN incoming signal when existing than big-difference, realize synchronization action.If a certain drum speed occurs and be zero or clutch pressure when being zero, then make the electromagnet dead electricity of transfer valve group 11 promptly to stop protection system.
In above-mentioned operating mode, need detect the degree of weight decline and the quality of weight in real time.Thereby, in this electrohydraulic control system, also can comprise a speed detector and a limiter of moment.Wherein, limiter of moment links to each other with controller, sends detected weight quality to controller, to carry out control corresponding.Speed detector then is installed on each winch, and its structure as shown in Figure 2.This speed detector comprises that mainly an inductive disks 22 and is near switch 24.Inductive disks 22 is installed on lifting drum 21 outsides, and it is a loop configuration, and periphery is a serration.Fig. 3 is the local structure scheme drawing of inductive disks 22.The sawtooth of inductive disks 22 peripheries is a five equilibrium.In a preferred embodiment of the present invention, each sawtooth calibration is 3.6 degree, then is divided into 100 parts week entirely.Inductive disks 22 is rotation synchronously along with the rotation of reel 21.Simultaneously, on the fixed support 23 of reductor near switch mount pad 25 on, be equipped with near switch 24, as shown in Figure 4.Can detect the serrated portion at inductive disks 22 edges near switch 24.When reel 21 rotations, revolution 3.6 degree, near switch 24 once with regard to break-make.By to counting near the sawtooth number that switch 24 break-make number of times and inductive disks 22 turn over, can calculate the rotating speed of reel 21.Just can calculate the rope speed of the steel rope that twines on the reel again by the diameter of reel 21, just the speed of weight whereabouts.
More than specific embodiments of the invention are described in detail, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any electrohydraulic control system that this winch free-falling body is transferred equivalent modifications of carrying out and substituting also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of having done under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (10)
1. electrohydraulic control system that the winch free-falling body is transferred, it is characterized in that, comprise first winch, second winch, the 3rd winch, the first main control valve group, the second main control valve group, transfer valve group and controller, wherein, described first winch is connected to the first main control valve group by described transfer valve group, second winch and the 3rd winch then are connected to the second main control valve group by described transfer valve group, described controller links to each other with the transfer valve group with the described first main control valve group, the second main control valve group, is used for the operation of whole electrohydraulic control system is controlled.
2. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred is characterized in that, described first winch is main lifting winch, and second winch is secondary lifting winch, and the 3rd winch is the pulling scraper winch.
3. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred is characterized in that, described each winch all includes power-transfer clutch, reductor and motor, wherein, described motor links to each other with described reductor, and described reductor links to each other with described power-transfer clutch again.
4. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred, it is characterized in that, described transfer valve group comprises first electromagnetic valve, second electromagnetic valve and the 3rd electromagnetic valve, links to each other with described first winch, second winch and the 3rd winch respectively.
5. the electrohydraulic control system that winch free-falling body according to claim 4 is transferred is characterized in that, all is connected a tachogen between described each electromagnetic valve and described each winch.
6. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred, it is characterized in that, the described first main control valve group and the second main control valve group have included by pass valve, external control sequence valve and inverse proportion reducing valve, wherein, described by pass valve is connected to described external control sequence valve, and described external control sequence valve is connected to described inverse proportion reducing valve again.
7. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred, it is characterized in that, described electrohydraulic control system also comprises a fuel oil supply unit, described fuel oil supply unit comprises the safety valve group, flow divider valve and gear type pump, wherein, described safety valve group all links to each other with described flow divider valve with described gear type pump, is used to described two cover main control valve group fuel feeding.
8. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred, it is characterized in that, also be provided with a speed detector on each winch, described speed detector comprises inductive disks and near switch, wherein, described inductive disks periphery is a serration, and it is installed in the reel outside of described winch, on the described fixed support that is installed in reductor near switch.
9. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred is characterized in that, also is connected with a limiter of moment on the described controller, is used to detect the quality of lifting weight.
10. the electrohydraulic control system that winch free-falling body according to claim 1 is transferred is characterized in that, also is connected with automatically controlled ratio pedal on the described controller, is used for manual operation control.
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Cited By (11)
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| CN102108698A (en) * | 2010-12-20 | 2011-06-29 | 上海三一科技有限公司 | Automatic detection control device for heavy rammer |
| CN102602839A (en) * | 2012-03-02 | 2012-07-25 | 中联重科股份有限公司 | Control system, hoisting system and crane |
| CN102943618A (en) * | 2012-12-10 | 2013-02-27 | 上海中联重科桩工机械有限公司 | Rotary drilling rig |
| CN106545001A (en) * | 2017-01-18 | 2017-03-29 | 刘夫贵 | Full intelligent and high-efficiency dynamic compaction machinery |
| CN106762877A (en) * | 2016-12-08 | 2017-05-31 | 徐州重型机械有限公司 | A kind of crane Hydraulic guide control system, control method and its crane |
| CN106836178A (en) * | 2017-02-14 | 2017-06-13 | 杭州杭重工程机械有限公司 | A kind of dynamic compaction machinery and its control method |
| CN110482408A (en) * | 2019-08-06 | 2019-11-22 | 郑州郑宇重工有限公司 | A kind of electro-hydraulic automatic control device of grab type crawler crane |
| CN113023612A (en) * | 2021-04-01 | 2021-06-25 | 中联重科股份有限公司 | Equipment parking method and device, crane, electronic equipment and readable medium |
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| CN115258948A (en) * | 2022-08-08 | 2022-11-01 | 燕山大学 | Flexible control method and device for free hook falling device of crawler crane |
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| CN102108698B (en) * | 2010-12-20 | 2012-07-11 | 上海三一科技有限公司 | Automatic detection control device for heavy rammer |
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| CN102943618A (en) * | 2012-12-10 | 2013-02-27 | 上海中联重科桩工机械有限公司 | Rotary drilling rig |
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| CN106762877B (en) * | 2016-12-08 | 2018-10-30 | 徐州重型机械有限公司 | A kind of crane Hydraulic guide control system, control method and its crane |
| CN106762877A (en) * | 2016-12-08 | 2017-05-31 | 徐州重型机械有限公司 | A kind of crane Hydraulic guide control system, control method and its crane |
| CN106545001A (en) * | 2017-01-18 | 2017-03-29 | 刘夫贵 | Full intelligent and high-efficiency dynamic compaction machinery |
| CN106836178A (en) * | 2017-02-14 | 2017-06-13 | 杭州杭重工程机械有限公司 | A kind of dynamic compaction machinery and its control method |
| CN110482408A (en) * | 2019-08-06 | 2019-11-22 | 郑州郑宇重工有限公司 | A kind of electro-hydraulic automatic control device of grab type crawler crane |
| CN113023612A (en) * | 2021-04-01 | 2021-06-25 | 中联重科股份有限公司 | Equipment parking method and device, crane, electronic equipment and readable medium |
| CN113753783A (en) * | 2021-09-10 | 2021-12-07 | 北京三一智造科技有限公司 | Winch follow-up control method and device and double-wheel slot milling machine |
| CN115258948A (en) * | 2022-08-08 | 2022-11-01 | 燕山大学 | Flexible control method and device for free hook falling device of crawler crane |
| CN115258948B (en) * | 2022-08-08 | 2024-09-17 | 燕山大学 | Flexible control method and device for free falling hook device of crawler crane |
| CN115947233A (en) * | 2023-03-10 | 2023-04-11 | 中国华西企业股份有限公司 | Hoisting type winch lifting device suitable for partition wall main body structure |
| CN115947233B (en) * | 2023-03-10 | 2023-06-20 | 中国华西企业股份有限公司 | Lifting type hoisting device suitable for partition wall main body structure |
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Application publication date: 20101201 |