CN102040161B - System and method for preventing gliding during secondary lifting of crane - Google Patents
System and method for preventing gliding during secondary lifting of crane Download PDFInfo
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- CN102040161B CN102040161B CN2010101416266A CN201010141626A CN102040161B CN 102040161 B CN102040161 B CN 102040161B CN 2010101416266 A CN2010101416266 A CN 2010101416266A CN 201010141626 A CN201010141626 A CN 201010141626A CN 102040161 B CN102040161 B CN 102040161B
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- hoisting crane
- hoists
- secondary lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/24—Operating devices
- B66D5/26—Operating devices pneumatic or hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a system for preventing gliding during secondary lifting of a crane. The system comprises a load gravity sensor (23), a driving variable sensor, an electronic control unit (25) and a brake driving device, wherein the load gravity sensor detects the load gravity of the crane; the driving variable sensor detects a driving variable signal; the electronic control unit receives a load gravity signal and a driving variable signal, and calculates the value of a lifting driving force according to the driving variable signal; and when the lifting driving force is equal to the load gravity, the electronic control unit operates the brake driving device to release the braking mode of a brake (3). By detecting the load gravity in real time and continuously calculating the lifting driving force F according to the driving variable which is detected in real time, the system can automatically perform matching control according to different loads and different working conditions to ensure that the gliding phenomenon during the secondary lifting of the crane is eliminated, and the safety is improved. Besides, the invention also provides a method for preventing the gliding during the secondary lifting.
Description
Technical field
The present invention relates to a kind of anti-secondary lifting and sliding system of hoisting crane, more specifically, relate to a kind of operation and prevent that the system of secondary lifting and sliding from appearring in hoisting crane through the control brake device.In addition, the invention still further relates to a kind of anti-secondary lifting and sliding method of hoisting crane.
Background technology
Hoisting crane is the mechanical equipment that is used for object is transferred to from a locus another locus, and in the operating process that hoists of hoisting crane, the problem that the most often occurs is hoisting crane " secondary lifting and sliding " problem.
" secondary lifting and sliding " of so-called hoisting crane is meant when being lifted by crane the skyborne weight second time (or waiting for the third time) of hovering, and weight tends to could normally hoist because of own wt elder generation downslide one segment distance.This " secondary lifting and sliding " may cause serious accident when serious; As when low apart from ground; This downslide phenomenon may cause weight to pound pedestrian or operating personnel, and when especially the propulsive effort that hoists of hoisting crane was pushed the speed slowly, this slip-down state may be aggravated.In addition; Need to prove at this; Above-mentioned " secondary lifting " is the general tems in present technique field; Wherein " secondary " is not limited to " for the second time ", and is meant follow-up the lift operations that carries out after hoisting crane " hoists " for the first time, so those skilled in the art also are called " hoisting " or " follow-up hoisting " etc. with " secondary lifting " again.
Along with the application of hoisting crane, especially hydraulic lift day by day extensively, hoisting weight is increasing, the safety performance of hoisting crane also more and more comes into one's own.Correspondingly, because " secondary lifting and sliding " problem of hoisting crane badly influences the safety of hoisting crane, therefore also receive people's close attention day by day.That is to say, people when buying hoisting crane, with the ability of the anti-secondary lifting and sliding of hoisting crane as an important indicator weighing the hoisting crane performance.
For solving " secondary lifting and sliding " problem of hoisting crane, prior art mainly adopts following two kinds of technical schemes:
One of which; Adopt dedicated hydraulic element (the pressure memory system of promptly forming by energy storage and check valve; Referring to Chinese utility model patent CN2040896U, CN2708022Y) the load gravity of lifting is remembered; When carrying out the secondary lifting operation, only hoist that propulsive effort reaches or the braking mode of brake off device just during greater than load last time gravity, thereby realize preventing the function of secondary lifting and sliding.But; This dedicated hydraulic element can only be applicable to open type hydraulic system; And can't be applicable to that closed fhdraulic system is (because closed fhdraulic system self forms osed top and drives hydraulic circuit; The amount of the driving liquid in its hydraulic circuit is fixed basically, does not therefore have the pressure that driving liquid more than needed keeps the dedicated hydraulic element, remembers said load gravity thereby the dedicated hydraulic element can't be set).In addition, this technical scheme more class-one defect is, after the weight long period of hoisting crane load stops; Because there are leakage inevitably in Hydraulic Elements, so the load gravity of dedicated hydraulic element record can reduce gradually, correspondingly; When hoisting crane carries out secondary lifting; If still the load gravity according to the record of this dedicated hydraulic element applies propulsive effort, then the phenomenon that significantly glides will inevitably appear in the weight of hoisting crane load, when serious even can cause serious accident.As stated; Because existing, said dedicated hydraulic element leaks; And there is not corresponding real-time detecting system this conventional solution in itself, so the load gravity error of Hydraulic Elements record is bigger, can not prevent the problem of hoisting crane secondary lifting and sliding effectively.
They are two years old; Development along with the electromechanical integration control technology; Those skilled in the art begins to come through hydraulic pressure transducer the pressure of detective liquid press pump; And the operation pressure of hydraulic fluid when adopting controller storage hydraulic lift to hoist last time, when hoisting crane carries out the secondary lifting operation, just can pass through switch electromagnetic valve brake off device when having only hydraulic fluid to reach the operation pressure of last stored; Thereby can prevent the secondary lifting and sliding of hoisting crane, the disclosed technical scheme of for example Chinese utility model patent CN200946070Y.This method mainly is applicable to closed fhdraulic system, and (operation pressure in the hydraulic circuit of closed fhdraulic system is more stable; Therefore detect relatively easy), but in this conventional solution, this memory device institute stored pressure is inaccurate; This is to impact because hoisting mechanism can form hydraulic fluid at glancing impact last time; Thereby the build-up of pressure fluctuation, therefore the force value of said memory stores possibly be crest force value or trough force value, if memory stores is the crest force value; Then when secondary lifting begins because the propulsive effort that hoists is crossed the impact that conference causes moment, this can be bigger to the steel rope of hoisting crane and relevant component damage; If memory stores is the trough force value; Then when secondary lifting begins because the propulsive effort that hoists is too small, still the secondary lifting and sliding problem can occur, and more class-one defect is; This prior art in fact only is the operation pressure of the hydraulic fluid during with secondary lifting and hoisted last time that the operation pressure of storage compares when finishing; Rather than compare with the pressure (weight) of load weight, be easy to like this depart from actual load weight, and cause serious secondary lifting and sliding phenomenon.
Can find out by above-mentioned prior art; The secondary lifting and sliding problem majority of existing hoisting crane is to rely on the pressure memory of Hydraulic Elements or the operation pressure of memory stores to solve; This prior art is owing to can not detect the comparison with dynamically hoist propulsive effort and load gravity in real time; And because the reference pressure value of storage such as Hydraulic Elements, memory device or memory is inaccurate, so not only reliability is relatively poor, can't solve the problem of secondary lifting and sliding effectively; And these prior aries generally can only be applicable to a kind of in open type hydraulic system or the closed fhdraulic system, and commonality is relatively poor.With regard to present state of development, hoisting crane both domestic and external, especially hydraulic lift also do not form a kind of solution of blanket anti-secondary lifting and sliding.
Therefore, need a kind of system that can effectively solve hoisting crane secondary lifting and sliding problem, this system not only should have general applicability, and can solve the phenomenon of the secondary lifting and sliding of hoisting crane effectively.
Summary of the invention
Basic fundamental problem to be solved by this invention provides a kind of anti-secondary lifting and sliding system of hoisting crane; Should prevent that the secondary lifting and sliding system can be when said hoisting crane carries out secondary lifting; Whether the detection and the propulsive effort that relatively hoists equate with load gravity in real time, thereby prevent the secondary lifting and sliding phenomenon of said hoisting crane effectively.
The technical matters that the present invention further solves provides a kind of anti-secondary lifting and sliding system of hydraulic lift; Should anti-secondary lifting and sliding system can be more accurately the detection computations size of propulsive effort that hoists in real time, thereby can more effectively prevent the secondary lifting and sliding phenomenon of said hoisting crane.
In addition, the present invention also will provide a kind of anti-secondary lifting and sliding method of hoisting crane.
For solving above-mentioned basic fundamental problem; The present invention provides a kind of anti-secondary lifting and sliding system of hoisting crane; Should anti-secondary lifting and sliding system comprise the load weight sensor, drive rate-of-change sensor, electronic control unit and brake driver gear; Wherein, said load weight sensor detects the load gravity of said hoisting crane, and through load gravitational cue transmission route the load gravitational cue is transferred to said electronic control unit; Said driving rate-of-change sensor detects the driving variable signal relevant with the propulsive effort that hoists of said hoisting crane; And said driving variable signal being transferred to said electronic control unit through driving the variable signal transmission route, said electronic control unit receives the load gravitational cue and drives variable signal, and according to driving the value that variable signal calculates the said propulsive effort that hoists; Said electronic control unit compares the value of the said propulsive effort that hoists and the said load gravitational cue of reception; Hoist during propulsive effort when said load gravity equals said, said electronic control unit is operated said brake driver gear through the drg control path, so that the drg brake off state of said hoisting crane.
For detecting the size of the said propulsive effort that hoists more accurately in real time; More effectively to solve the secondary lifting and sliding problem; At said hoisting crane is under the situation of hydraulic lift; Said driving rate-of-change sensor is a hydraulic pressure transducer; This hydraulic pressure transducer detects the hydraulic pressure that drives liquid when said hoisting crane carries out secondary lifting, and through said driving variable signal transmission route hydraulic pressure signal is transferred to said electronic control unit, and said electronic control unit calculates the said propulsive effort that hoists through following formula:
Wherein, F is the said propulsive effort that hoists; Vg is the discharge capacity of the HM Hydraulic Motor of said hoisting crane; Δ p is the hydraulic pressure of the driving liquid of said hydraulic pressure transducer detection; M is the multiplying power of assembly pulley of the hoisting mechanism of said hoisting crane; η
MhMechanical-hydraulic net effciency for the fluid power system of said hoisting crane; D
0Diameter for the reel of said hoisting mechanism; N is the number of plies of the wirerope of being reeled on the reel of said hoisting mechanism; D is the diameter of said wirerope; η
sMechanical efficiency for single pulley in the said assembly pulley.
In addition; The present invention also provides a kind of anti-secondary lifting and sliding method of hoisting crane; Wherein, this anti-secondary lifting and sliding method comprises the steps: to detect the load gravity of said hoisting crane and the driving variable that hoists, and calculates the propulsive effort that hoists according to this driving variograph that hoists; Said propulsive effort and the said load gravity of hoisting is compared; When the said propulsive effort that hoists equals said load gravity, control the drg brake off state of said hoisting crane.
Anti-secondary lifting and sliding system and method for the present invention is pressed through detecting load in real time, and calculates the propulsive effort that hoists through the driving variograph of real-time detection continuously, through propulsive effort and the load gravity of relatively hoisting; Only when both are equal, the braking mode of brake off device, therefore; The present invention can be mated control according to different loads, different operating mode accurately automatically, makes load carry out secondary lifting reposefully, has prevented the downslide of weight effectively; Make hoisting crane eliminate the secondary lifting and sliding phenomenon fully; Greatly reduce the people for maloperation accidents caused possibility, make simple and reliable that lifting operation becomes, improved safety effectively.Simultaneously, anti-secondary lifting and sliding system and method for the present invention not only can be applicable to the hydraulic lift of open type hydraulic system and closed fhdraulic system type, and can be applicable to the hoisting crane of various driving types, and it has general applicability.
Description of drawings
Describe preferred implementation of the present invention in detail below in conjunction with accompanying drawing, in the accompanying drawings:
Fig. 1 is the connection structure scheme drawing of the anti-secondary lifting and sliding system of the preferred embodiment for the present invention; And
Fig. 2 is the exemplary plot of the drg that adopted of anti-secondary lifting and sliding of the present invention system.
Description of reference numerals:
1 hoisting mechanism, 2 electromagnetic valves
3 drgs, 4 HM Hydraulic Motors
5 hydraulic pressure transducers, 6 wireropes
7 balance cocks, 8 main reversing valves
9 safety valves, 10 Hydraulic Pumps
11 load weights, 12 drg drain line
13 drgs drive pipeline 14 drg inlets
15 drg input duct, 16 seal rings
17 pistons, 18 outside friction discs
19 internal friction sheets, 20 axle drive shafts
21 brake casings 22 drive the liquid case
23 load weight sensors, 24 limiters of moment
25 electronic control units (or controller) 26 drive the variable signal transmission route
27 load gravitational cue transmission routes, 28 fluid motor-driven liquid pipelines
29 HM Hydraulic Motor drain line, 30 drg control paths
The F propulsive effort G load gravity that hoists
The specific embodiment
Followingly preferred implementation of the present invention is described with reference to the accompanying drawing emphasis.Need to prove that at this illustrated in figures 1 and 2 anti-secondary lifting and sliding system is a preferred implementation of the present invention, but the preferred implementation that is not limited to show in the accompanying drawing of the present invention.Therefore, before describing preferred implementation of the present invention, be necessary at first to explain basic technical scheme of the present invention.
Mode of operation from the hoisting crane secondary lifting; The effective way that solves hoisting crane secondary lifting and sliding problem is to set up a kind of anti-secondary lifting and sliding system of real-time detection; This system can dynamically detect load gravity G and hoist propulsive effort F when hoisting crane carries out secondary lifting; And hoist propulsive effort F and the load gravity G that will constantly increase compare; The only just braking of brake off device 3 when the propulsive effort F that hoists equals load gravity G, thus the secondary lifting and sliding problem of hoisting crane solved effectively.
In view of above-mentioned consideration; The basic technical scheme of anti-secondary lifting and sliding of the present invention system is: this anti-secondary lifting and sliding system comprises load weight sensor 23, drives rate-of-change sensor, electronic control unit (or controller) 25 and brake driver gear; Wherein load weight sensor 23 detects load gravity; And the load gravitational cue is transferred to electronic control unit 25 through load gravitational cue transmission route 27; Said driving rate-of-change sensor detects the driving variable signal relevant with the propulsive effort that hoists of said hoisting crane; And said driving variable signal being transferred to electronic control unit 25 through driving variable signal transmission route 26, said electronic control unit 25 receives the load gravitational cues and drives variable signal, and according to driving the value that variable signal calculates the propulsive effort that hoists; Said electronic control unit 25 compares the value of the said propulsive effort that hoists and the said load gravitational cue of reception; When the said propulsive effort that hoists equaled said load gravity, said electronic control unit 25 was through drg control path 30 operational brake actuating devices, so that the drg of hoisting crane 3 brake off states.
In above-mentioned basic technical scheme, load weight sensor 23 general adopts pressure sensors, the testing circuit of promptly forming through strain-gauge detects load weight.Because under the situation that the mode of operation of hoisting crane does not impact, this load gravity is certain in the process of the same object of handling, so the detection of load gravity is relatively easy.Under the situation of adopts pressure sensor, can strain-gauge be arranged on the positions such as suspension hook of hoisting crane, can detect load gravity G exactly.Certainly, load weight sensor 23 is not limited to the form of adopts pressure sensor, also can adopt pulling force sensor, LOAD CELLS etc.After load weight sensor 23 detects load gravity G, can the load gravitational cue be transferred to electronic control unit 25 through load gravitational cue transmission route 27.Generally speaking, the size of the load gravitational cue direct representation load gravity G of this transmission, it does not need electronic control unit 25 to carry out conversion Calculation.
With regard to the propulsive effort F that hoists during with regard to the hoisting crane secondary lifting; Because hoisting crane generally is to drive hoisting mechanism 1 rotation through drive source to rise weight to hang; Therefore the propulsive effort F that hoists can not directly detect through relevant sensor; But need to detect relevant driving variable, and calculate the value of the propulsive effort that hoists according to this driving variograph by electronic control unit 25 through driving rate-of-change sensor.
For helping to understand above-mentioned basic technical scheme of the present invention, see figures.1.and.2 below to describe a kind of preferred implementation of the anti-secondary lifting and sliding system of the present invention.The anti-secondary lifting and sliding system that shows among Fig. 1 and Fig. 2 is applicable to present most widely used hydraulic lift, and should anti-secondary lifting and sliding system adopt a kind of according to driving the peculiar methods that variable accurately calculates the propulsive effort that hoists.
In Fig. 1, the basic composition of hydraulic lift is similar basically with conventional hydraulic lift, and it comprises hoisting mechanism 1, and hoisting mechanism 1 is used for twining or discharging wirerope 6, passes through suspension hook handling weight 11 in the lower end of wirerope 6.Hoisting mechanism 1 is driven by HM Hydraulic Motor 4; In Fig. 1; The hydraulic circuit system that drives HM Hydraulic Motor 4 constitutes open type hydraulic system; Wherein Hydraulic Pump 10 suction from drive liquid case 22 (for example fuel tanks) drives liquid (for example hydraulic oil), drives liquid through driving liquid pipeline 28 and driving HM Hydraulic Motor 4 runnings via main reversing valve 8, balance cock 7, and the driving liquid of from HM Hydraulic Motor 4, discharging flows into again via HM Hydraulic Motor drain line 29 and drives liquid case 22.In addition; Hydraulic lift shown in Figure 1 also comprises drg 3 and safety valve 9; Drg 3 is mainly used in and makes hoisting mechanism 1 stop the rotation, in crane hoisting weight 11 processes, when needs make that weight 11 stops in the space temporarily; This drg 3 also is used for fixing hoisting mechanism 1, prevents that hoisting mechanism 1 from rotating under the action of gravity of weight 11; Safety valve 9 is mainly used in hydraulic pressure and makes when too high a spot of driving liquid return to drive liquid case 22.
The anti-secondary lifting and sliding system of the preferred embodiment for the present invention promptly is applied on this hydraulic lift.As shown in Figure 1, this selects the anti-secondary lifting and sliding system of embodiment to comprise load weight sensor 23, this load weight sensor 23 adopts pressure sensor in Fig. 1, and it is arranged on the suspension hook position of wirerope 6 lower ends, to detect load gravity (being load weight).Load weight sensor 23 is connected in electronic control unit 25 through load gravitational cue transmission route 27, thereby can the load gravitational cue be transferred to electronic control unit 25.As shown in Figure 1; More preferably; Because operated by rotary motion has limiter of moment 24 on the existing hoisting crane, limiter of moment 24 is a kind of by computer-controlled SOS knownly, and it can detect hoisting crane automatically and hang the quality and the residing angle of crane arm of carrying.That is to say; In the composition member of limiter of moment 24, include the pressure sensor that is used to detect load gravity; Therefore under optimal way; Anti-secondary lifting and sliding of the present invention system need not to be provided with special-purpose pressure sensor, its fully can with the shared pressure sensor 23 of limiter of moment, under this situation; Electronic control unit 25 is directly connected on the main frame of limiter of moment 24 through load gravitational cue transmission route, thereby can from the main frame of limiter of moment, directly read the load gravitational cue.
Should anti-secondary lifting and sliding system also comprise the driving rate-of-change sensor, to detect the driving variable relevant with the secondary lifting propulsive effort.In Fig. 1, this drives rate-of-change sensor and adopts hydraulic pressure transducer 5, and this is one of gordian technique under the preferred embodiment for the present invention.In hydraulic lift; The hydraulic pressure that drives liquid is directly related with the propulsive effort that hoists; And detect relatively easy; In hoisting crane secondary lifting process, the hydraulic pressure that constantly increases can reflect the size of secondary lifting propulsive effort the most intuitively, and can detect the size of the propulsive effort that hoists more accurately, more in time with respect to other method of inspection (seeing the hereinafter explanation for details).But problem is, how the hydraulic pressure that just drives liquid that detects through hydraulic pressure transducer 5 then be comparison difficult technologies problem with the propulsive effort that this hydraulic design converts secondary lifting to.For this reason, the present inventor sums up, derives and calculate through lot of data, and there is following relational expression (1) in the propulsive effort that hoists when obtaining driving hydraulic pressure and the secondary lifting of liquid:
Wherein, F is the propulsive effort that hoists;
Vg is the discharge capacity of HM Hydraulic Motor, and generally speaking, the discharge capacity of the HM Hydraulic Motor of different model each has its fixed value;
The hydraulic pressure (be hydraulic pressure value that hydraulic pressure transducer 5 detect) of Δ p for driving liquid;
M is the multiplying power of the assembly pulley of hoisting mechanism, in the hoisting mechanism of hoisting crane, generally has correspondingly simply connected or duplex assembly pulley, and the multiplying power of assembly pulley is meant assembly pulley labour-saving multiple, and the multiple that promptly slows down is supposed wirerope branches=n.Under the state of not considering to rub, the m value can be confirmed by following formula: the multiplying power of simply connected assembly pulley equals steel rope branches, i.e. m=n; The multiplying power of duplex assembly pulley equals the half the of steel rope branches, i.e. m=n/2;
η
MhMechanical-hydraulic net effciency for the fluid power system of hoisting crane; Promptly in the fluid power system of hoisting crane; Members such as Hydraulic Pump, HM Hydraulic Motor and hoisting mechanism can exist corresponding hydraulic loss (like volumetric loss) and mechanical loss; Therefore have corresponding difference between the useful work that the total work (gross energy that promptly consumes) done of fluid power system and the weight that hoists are done, the ratio of this useful work and total work is the mechanical-hydraulic net effciency;
D
0Diameter for the reel of hoisting mechanism;
N is the number of plies of the wirerope of being reeled on the reel of hoisting mechanism; The number of plies of the wirerope of this coiling can obtain according to the revolution of the previous rotation of reel automatically; As yet not under the situation of brake off state, the wirerope number of plies of this coiling is confirmed at hoisting crane secondary lifting and drg;
D is the diameter of wirerope;
η
sMechanical efficiency for single pulley.
In addition, in the above-mentioned formula calculating of application be, also should be noted that the matching problem of the unit of each parameter, for example the discharge capacity unit at HM Hydraulic Motor adopts revolution m
3The time, the unit of Δ p adopts handkerchief (being N/m2), and correspondingly other diameter parameters also should be converted into m and participate in calculating as unit; The coupling of this unit converts and can expect to those skilled in the art; And except the hydraulic pressure that drives liquid, the value of other parameter can be imported electronic control unit 25 in advance, for example; Preferably, can import pairing a plurality of η under the different liquid temperature
MhValue, the η that carries out under the relevant temperature for electronic control unit 25
MhSelect, certainly, η under different liquid temperature
MhThe value fluctuation ratio more small, even do not carry out this selection, but import a η in advance
MhAviation value, it does not influence the reliability of system of the present invention yet.
Referring to Fig. 1; Hydraulic pressure transducer 5 is arranged on the driving liquid pipeline of HM Hydraulic Motor 4 (promptly being arranged on the pipeline between the input end of mouth and HM Hydraulic Motor 4 of Hydraulic Pump 10); And be connected in electronic control unit 25, thereby can the hydraulic pressure signal that drive liquid be transferred on the electronic control unit (or claiming controller) 25 through driving variable signal transmission route 26.
Electronic control unit 25 is according to above-mentioned formula (1); According to the hydraulic pressure of the driving liquid that receives and other parameter of input in advance; The propulsive effort F that hoists when calculating secondary lifting, and the signal of the load gravity G of the value of this propulsive effort F that hoists and reception compared.It should be noted that; In the secondary lifting process of hydraulic lift, the hydraulic pressure that drives liquid increases gradually, and hydraulic pressure transducer 5 detects the hydraulic pressure that drives liquid continuously in real time for this reason; And electronic control unit 25 calculates the pairing propulsive effort F that hoists under each hydraulic pressure continuously; And press G to compare one by one each hoist propulsive effort F and load, when the value F of the propulsive effort that hoists equaled load gravity G, electronic control unit 25 sent signal through drg control path 30 to brake driver gear; Thereby brake driver gear operational brake 3, so that drg 3 brake off states.Under this situation, because the propulsive effort F that hoists during secondary lifting equals load gravity G, even therefore drg 3 brake off states, load weight 11 the secondary lifting and sliding phenomenon can not occur yet.
In preferred implementation shown in Figure 1, brake driver gear adopts electromagnetic valve 2, and drg 3 is the hydraulically-controlled type drg.Load weight 11 temporary transient stops under the skyborne situation, glide for preventing load weight 11, drg is in braking mode.When hydraulic lift carries out secondary lifting, in case when the propulsive effort F that hoists equaled load gravity G, electromagnetic valve 2 was controlled to be by electronic control unit 25 and connects drg and drive pipeline 13.Referring to Fig. 2, the drg input duct 15 that the driving liquid of drg (for example hydraulic oil) gets in the brake casing 21 through drg inlet 14, and get into plunger shaft.In Fig. 2; Drive liquid and promote piston 17 left; Thereby driving outside friction disc 18 and internal friction sheet 19 (axle drive shaft 20 of this internal friction sheet 19 and HM Hydraulic Motor is captive joint directly or indirectly) separates; With the braking mode of brake off device 3, make hoisting crane successfully realize secondary lifting and the phenomenon that glides can not occur.In addition, seal ring 16 is mainly used in and prevents to drive the liquid seepage in Fig. 2.The particular type of drg 3 is not limited to shown in Figure 2, and it can adopt the various known axle drive shaft drg of hoisting crane.
Can know that by last description the overall work process of the anti-secondary lifting and sliding system of the preferred embodiment for the present invention is: after hoisting crane finished first lifting operation, load weight 11 hovered in the air; Drg 3 is in braking mode, and when hoisting crane carries out secondary (or repeatedly) when hoisting, Hydraulic Pump 10 is given the hydraulic circuit feed flow; Hydraulic oil for example; Hydraulic oil is through the input end of main reversing valve 8 and balance cock 7 arrival HM Hydraulic Motors 4, and the oil pressure in the fluid motor-driven liquid pipeline 28 is set up from zero gradually, and the propulsive effort of 7 pairs of hoisting mechanisms 1 of HM Hydraulic Motor increases from zero gradually; Hydraulic pressure transducer 5 is delivered to real-time detected hydraulic pressure value electronic control unit 25 (being controller) and calculates the propulsive effort F that hoisting mechanism can reach in this process; Limiter of moment also is delivered to electronic control unit 25 with load gravitational cue G simultaneously, and F and G compare in electronic control unit 25, when F=G; Controller sends signal; Thereby opens solenoid valve 2 so that drg 3 unclamps, realizes that the secondary of hoisting crane steadily hoists.
The present invention is applicable to hydraulic lift (hydraulic lift is used the most general) in existing engineering field preferred implementation has more than been described; It is preferred embodiment above-mentioned that but anti-secondary lifting and sliding of the present invention system is not limited to, and it can also have the basic embodiment that generally is suitable for various hoisting cranes (for example hoisting crane adopts electrical motor as propulsion source).
As stated; Basic technical scheme of the present invention is: said anti-secondary lifting and sliding system comprises load weight sensor 23, drives rate-of-change sensor, electronic control unit (or controller) 25 and brake driver gear; Wherein load weight sensor 23 detects load gravity; And the load gravitational cue is transferred to electronic control unit 25 through load gravitational cue transmission route 27; Said driving rate-of-change sensor detects the driving variable signal relevant with the propulsive effort that hoists of said hoisting crane; And said driving variable signal being transferred to electronic control unit 25 through driving variable signal transmission route 26, said electronic control unit 25 receives the load gravitational cues and drives variable signal, and according to driving the value that variable signal calculates the propulsive effort that hoists; Said electronic control unit 25 compares the value of the said propulsive effort that hoists and the said load gravitational cue of reception; Hoist during propulsive effort F when said load gravity G equals said, said electronic control unit 25 is through drg control path 30 operational brake actuating devices, so that the drg of hoisting crane 3 brake off states.
Wherein, load weight sensor 23 can adopt polytype, for example pressure sensor, pulling force sensor, LOAD CELLS etc.More preferably; As shown in Figure 1; Because operated by rotary motion has limiter of moment 24 on the existing hoisting crane, limiter of moment 24 is a kind of by the automatically controlled SOS knownly, and it can detect hoisting crane automatically and hang the quality and the residing angle of crane arm of carrying.That is to say; In the composition member of limiter of moment 24, include the pressure sensor that is used to detect load gravity; Therefore under the optimal way; Anti-secondary lifting and sliding of the present invention system need not to be provided with special-purpose pressure sensor, its fully can with the shared pressure sensor 23 of limiter of moment, under this situation; Electronic control unit 25 is directly connected on the main frame of limiter of moment 24 through load gravitational cue transmission route, thereby can from the main frame of limiter of moment 24, directly read the load gravitational cue.
Said driving rate-of-change sensor is not limited to adopt the hydraulic pressure transducer 5 under the above-mentioned hydraulic lift situation, more generally is suitable for ground, and this driving rate-of-change sensor can adopt torque sensor (not showing in the accompanying drawing).Adopting under the situation of torque sensor, anti-secondary lifting and sliding of the present invention system can be used for various types of hoisting cranes (as adopting electrical motor as the hoisting crane of propulsion source, pneumatic type hoisting crane etc.), also comprises hydraulic lift certainly.But; Need to prove, owing to adopt torque sensor as driving the layout that rate-of-change sensor relates to strain-gauge, and come the sensing torque directly accurate not as the hydraulic pressure of above-mentioned hydraulic pressure transducer 5 sensings through the distortion of strain-gauge; Therefore; Under the situation of hydraulic lift, though adopt torque sensor as driving the application requirements that rate-of-change sensor can satisfy secondary lifting and sliding of the present invention system, more preferably; Should adopt hydraulic pressure transducer 5 to detect the hydraulic pressure that drives liquid and calculate the propulsive effort F that hoists through above-mentioned formula (1); This can obtain the value of propulsive effort F that hoists more accurately under the situation of hydraulic lift, thereby relatively hoists propulsive effort F and load gravity G more accurately, makes the problem of hoisting crane secondary lifting and sliding be resolved more accurately.
Under the situation that adopts torque sensor as the driving rate-of-change sensor, the strain-gauge of torque sensor can be arranged in drg 3 and drive on the axle drive shaft 20 contacted positions (for example outside friction disc 18) of reel.Need to prove at this; Said reel is the reel of hoisting mechanism 1; The axle drive shaft 20 that drives reel refers to the axle drive shaft of propulsion source (for example electrical motor, HM Hydraulic Motor), and this axle drive shaft 20 is connected on the reel after generally slowing down through the retarder (not shown), increases the purpose of turning round thereby play to slow down.Certainly; The position of strain-gauge is not limited thereto, also can strain-gauge directly be arranged on the axle drive shaft 20, but under this situation; Strain-gauge should be that armature contact (promptly can separate according to situation with the connecting terminal of signal transmission line; And when the test moment of torsion, engage), if adopt conventional captive joint contact, then, axle drive shaft can interfere when being rotated with signal transmission line.When adopting torque sensor, the torque signal that torque sensor records is imported electronic control units 25 through driving variable signal transmission route 26, and calculates the propulsive effort F that hoists by electronic control unit 25 through following formula (2):
Wherein, F is the propulsive effort that hoists;
Q is the moment of torsion on the measured axle drive shaft of said torque sensor 20;
D
0Diameter for the reel of hoisting mechanism;
N is the number of plies of the wirerope of being reeled on the reel of hoisting mechanism;
D is the diameter of wirerope;
I is the reduction ratio that is connected in the retarder between said reel and the axle drive shaft 20;
In this formula (2); What adopt is through the hoist method of propulsive effort of torque arithmetic; It has only considered the lamination thickness of (n-1) layer wirerope, and this mainly is to consider that the moment of torsion that detects through torque sensor is often less than normal than actual value, therefore need on denominator, carry out correspondingly coefficient adjustment.Above-mentioned formula (2) calculates through a large amount of actual measurement, proves the secondary lifting and sliding problem that can effectively solve hoisting crane.
In addition; Drive the sensor that rate-of-change sensor can also adopt other type; To detect the driving variable relevant, for example can also adopt piezoelectric transducer, through making piezoelectric patches contact with axle drive shaft 20 with the propulsive effort F that hoists; Corresponding torsional deflection can take place in axle drive shaft 20 in the process that driving torque constantly increases; Thereby extruding piezoelectric patches, so piezoelectric transducer can produce the different electric current of intensity, the value of this electric current is corresponding to the propulsive effort F that hoists of different sizes (can the store electricity flow valuve in the electronic control unit 25 and the corresponding relation data sheet between the propulsive effort of hoisting).For another example, can also adopt opto-electronic pickup to detect the elastic distortion deformation displacement of axle drive shaft 20, thereby calculate and the corresponding propulsive effort F that hoists of this deformation displacement degree.
Electronic control unit 25 receives the signal of load gravity G; And will hoist propulsive effort F and load gravity G compare; When load gravity G equated with the propulsive effort F that hoists, electronic control unit 25 transmitted control signal to brake driver gear through drg control path 30, so that brake driver gear operational brake 3; Thereby the braking mode of brake off device 3 is to realize the secondary lifting of hoisting crane reposefully.
Said brake driver gear is not limited to adopt the electromagnetic valve 2 under the above-mentioned preferred implementation; For example it can also be the electric expansion device; This electric expansion utensil has telescopic shaft, and telescopic shaft can stretch when energising, with the piston 17 (for example Fig. 2) of direct drive drg 3; In addition, this brake driver gear can also the relay switch valve etc.
In addition; Though drg 3 only is the operand of the anti-secondary lifting and sliding system of the present invention; It belongs to the conventional components of hoisting crane, but its specific constructive form that is not limited to show among Fig. 2, but can adopt the various types of drgs that adopt usually on the hoisting crane; For example, drg 3 can also adopt pneumatic type air-operated apparatus, shoe brake etc.
The anti-secondary lifting and sliding method of hoisting crane of the present invention is below described.
The method of said anti-secondary lifting and sliding comprises the steps: that the load gravity G and the secondary lifting that detect hoisting crane drive variable, and calculates the propulsive effort F that hoists according to this secondary lifting driving variograph; To hoist propulsive effort F and load gravity G compares, when the propulsive effort F that hoists equals load gravity G, and the drg 3 brake off states of control hoisting crane.
Preferably, under the situation of hydraulic lift, detect the hydraulic pressure Δ p that drives liquid through hydraulic pressure transducer 5, and calculate the propulsive effort F that hoists according to above-mentioned formula (1):
Preferably, detect the driving torque Q of hoisting crane, and calculate the propulsive effort F that hoists according to above-mentioned formula (2) through torque sensor:
Can find out that through top description anti-secondary lifting and sliding system and method for the present invention is through detecting load gravity G in real time, and calculate the propulsive effort F that hoists through the driving variograph of real-time detection continuously; Through propulsive effort F and the load gravity G of relatively hoisting; Only when both are equal, the braking mode of brake off device 3, thus can mate control automatically according to different loads, different operating mode accurately; Make hoisting mechanism 1 eliminate the secondary lifting and sliding phenomenon fully; Greatly reduce the people for maloperation accidents caused possibility, make simple and reliable that lifting operation becomes, improved safety effectively.Simultaneously, anti-secondary lifting and sliding system and method for the present invention not only can be applicable to the hydraulic lift of open type hydraulic system and closed fhdraulic system type, and can be applicable to the hoisting crane of various driving types, and it has general applicability.
More than illustrate and describe the specific embodiment of the present invention; The concrete structure of describing during but the present invention is not limited to above-mentioned accompanying drawing and explains; In technical conceive scope of the present invention, can also carry out various modification, for example electronic control unit (ECU) can comprise programmable control module etc.; These obvious variant all belong to protection scope of the present invention, and protection scope of the present invention is defined by the claims.
Claims (10)
1. the anti-secondary lifting and sliding system of a hoisting crane; Comprise load weight sensor (23), drive rate-of-change sensor, electronic control unit (25) and brake driver gear; Wherein, Said load weight sensor (23) detects the load gravity (G) of said hoisting crane, and the load gravitational cue is transferred to said electronic control unit (25), and said driving rate-of-change sensor detects the driving variable signal relevant with the propulsive effort that hoists (F) of said hoisting crane; And said driving variable signal is transferred to said electronic control unit (25); Said electronic control unit (25) is according to driving the value that variable signal calculates the said propulsive effort that hoists (F), and the value and said load gravity (G) signal of the said propulsive effort that hoists (F) compared, when the said propulsive effort that hoists (F) equals said load gravity (G); Said electronic control unit (25) is controlled said brake driver gear, so that the drg of said hoisting crane (3) brake off state.
2. the anti-secondary lifting and sliding system of hoisting crane according to claim 1; Wherein, Said hoisting crane is a hydraulic lift, and said driving rate-of-change sensor is hydraulic pressure transducer (5), and this hydraulic pressure transducer (5) detects the hydraulic pressure that drives liquid when said hoisting crane carries out secondary lifting; And hydraulic pressure signal is transferred to said electronic control unit (25) through said driving variable signal transmission route (26), said electronic control unit (25) calculates the said propulsive effort that hoists through following formula:
Wherein, F is the said propulsive effort that hoists; Vg is the discharge capacity of the HM Hydraulic Motor of said hoisting crane; Δ p is the hydraulic pressure of the driving liquid of said hydraulic pressure transducer detection; M is the multiplying power of assembly pulley of the hoisting mechanism of said hoisting crane; η
MhMechanical-hydraulic net effciency for the fluid power system of said hoisting crane; D
0Diameter for the reel of said hoisting mechanism; N is the number of plies of the wirerope of being reeled on the reel of said hoisting mechanism; D is the diameter of said wirerope; η
sMechanical efficiency for the single pulley in the said assembly pulley.
3. the anti-secondary lifting and sliding system of hoisting crane according to claim 1; Wherein, Said driving rate-of-change sensor is a torque sensor; This torque sensor detects the moment of torsion of the axle drive shaft (20) that is used to drive reel when said hoisting crane carries out secondary lifting, and through said driving variable signal transmission route (26) torque signal is transferred to said electronic control unit (25), and said electronic control unit (25) calculates the said propulsive effort that hoists through following formula:
Wherein, F is the said propulsive effort that hoists; Q is the moment of torsion on the measured said axle drive shaft of said torque sensor; D
0Diameter for the reel of the hoisting mechanism of said hoisting crane; N is the number of plies of the wirerope of being reeled on the reel of said hoisting mechanism; D is the diameter of said wirerope; I is the reduction ratio that is connected in the retarder between said reel and the said axle drive shaft.
4. the anti-secondary lifting and sliding system of hoisting crane according to claim 1; Wherein, Said driving rate-of-change sensor is a piezoelectric transducer; The piezoelectric patches of this piezoelectric transducer contacts with the axle drive shaft of reel (20); The elastic distortion distortion takes place and pushes said piezoelectric patches because of driving torque constantly increases in said hoisting crane secondary lifting process in said axle drive shaft (20), thereby makes said piezoelectric transducer produce the different electric current of intensity, and the value of this electric current is corresponding to the value of the corresponding said propulsive effort that hoists.
5. the anti-secondary lifting and sliding system of hoisting crane according to claim 1, wherein, said brake driver gear is electromagnetic valve (2) or relay switch valve.
6. according to the anti-secondary lifting and sliding system of each described hoisting crane in the claim 1 to 5, wherein, said load weight sensor (23) is pressure sensor, pulling force sensor or LOAD CELLS.
7. according to the anti-secondary lifting and sliding system of each described hoisting crane in the claim 1 to 5; Wherein, Said load weight sensor (23) is the pressure sensor in the limiter of moment (24) of said hoisting crane, and said electronic control unit (25) reads said load gravitational cue through said load gravitational cue transmission route (27) from the main frame of said limiter of moment (24).
8. the anti-secondary lifting and sliding method of a hoisting crane, wherein, this anti-secondary lifting and sliding method comprises the steps:
Detect the load gravity of said hoisting crane and the driving variable that hoists, and calculate the propulsive effort that hoists according to this driving variograph that hoists;
Said propulsive effort and the said load gravity of hoisting is compared;
When the said propulsive effort that hoists equals said load gravity, control drg (3) the brake off state of said hoisting crane.
9. the anti-secondary lifting and sliding method of hoisting crane according to claim 8 wherein, is under the situation of hydraulic lift at said hoisting crane, detects the hydraulic pressure that drives liquid through hydraulic pressure transducer (5), and calculates the said propulsive effort that hoists according to following formula:
Wherein, F is the said propulsive effort that hoists; Vg is the discharge capacity of the HM Hydraulic Motor of said hoisting crane; Δ p is the hydraulic pressure of the driving liquid of said hydraulic pressure transducer detection; M is the multiplying power of assembly pulley of the hoisting mechanism of said hoisting crane; η
MhMechanical-hydraulic net effciency for the fluid power system of said hoisting crane; D
0Diameter for the reel of said hoisting mechanism; N is the number of plies of the wirerope of being reeled on the reel of said hoisting mechanism; D is the diameter of said wirerope; η
sMechanical efficiency for the single pulley of said assembly pulley.
10. the anti-secondary lifting and sliding method of hoisting crane according to claim 8 wherein, detects the moment of torsion of the axle drive shaft (20) that is used to drive reel through torque sensor, and calculates the said propulsive effort that hoists according to following formula:
Wherein, F is the said propulsive effort that hoists; Q is the moment of torsion on the measured said axle drive shaft of said torque sensor; D
0Diameter for the reel of the hoisting mechanism of said hoisting crane; N is the number of plies of the wirerope of being reeled on the reel of said hoisting mechanism; D is the diameter of said wirerope; I is the reduction ratio that is connected in the retarder between said reel and the said axle drive shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101416266A CN102040161B (en) | 2010-04-01 | 2010-04-01 | System and method for preventing gliding during secondary lifting of crane |
| PCT/CN2011/072049 WO2011120393A1 (en) | 2010-04-01 | 2011-03-22 | System and method for preventing sliding during secondary lifting of crane |
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| CN2010101416266A CN102040161B (en) | 2010-04-01 | 2010-04-01 | System and method for preventing gliding during secondary lifting of crane |
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| CN102040161B true CN102040161B (en) | 2012-01-11 |
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| WO2013053105A1 (en) * | 2011-10-11 | 2013-04-18 | 中联重科股份有限公司 | Method and device for controlling secondary hoisting of crane winch |
| CN102502443B (en) * | 2011-10-11 | 2014-12-24 | 中联重科股份有限公司 | Method and device for controlling secondary hoisting of crane winch |
| CN102616694A (en) * | 2012-03-29 | 2012-08-01 | 中联重科股份有限公司 | Hydraulic control loop of winding mechanism |
| CN102910535B (en) * | 2012-10-23 | 2014-11-26 | 上海中联重科桩工机械有限公司 | Rotary drilling rig and hoisting mechanism, controller and control method thereof |
| ITMI20122081A1 (en) * | 2012-12-05 | 2014-06-06 | Tesmec Spa | SAFETY SYSTEM FOR A CABLE-BORING MACHINE, ITS PROCEDURE AND A BORING MACHINE ADAPTING THIS SYSTEM |
| CN103508353B (en) * | 2013-09-29 | 2015-09-16 | 徐州重型机械有限公司 | The anti-fall control system of elevator secondary lifting and method |
| JP6325801B2 (en) | 2013-11-20 | 2018-05-16 | 株式会社神戸製鋼所 | Electric winch device |
| CN104692254B (en) * | 2013-12-04 | 2017-01-11 | 北汽福田汽车股份有限公司 | Crane secondary ascension downslide prevention system |
| CN103803443B (en) * | 2014-03-12 | 2016-06-29 | 徐州重型机械有限公司 | Crane and elevator braking control system thereof |
| CN104713786B (en) * | 2015-03-17 | 2017-09-01 | 项俊俊 | Diamond disk intensity detecting device |
| CN104944288B (en) * | 2015-05-13 | 2017-02-22 | 徐州重型机械有限公司 | Crane winch motor pressure memory control system and method |
| CN105486238B (en) * | 2015-12-25 | 2020-05-19 | 北京起重运输机械设计研究院有限公司 | Method and system for measuring braking glide quantity of hoisting mechanism |
| DE102017001238A1 (en) * | 2017-02-09 | 2018-08-09 | Liebherr-Components Biberach Gmbh | Hoist and method for starting the hoist of such a hoist |
| CN108178086B (en) * | 2017-11-13 | 2019-10-08 | 武汉船用机械有限责任公司 | A kind of brake controls method and device |
| US11414309B2 (en) * | 2018-12-12 | 2022-08-16 | Caterpillar Inc. | System for controlling the operation of an electric winch |
| CN110847148A (en) * | 2019-11-12 | 2020-02-28 | 湖南博邦重工有限公司 | Dynamic compactor rammer start-stop control system |
| CN113071989B (en) * | 2021-03-25 | 2022-03-11 | 安徽工程大学 | Motor control method of crane |
| CN113309751B (en) * | 2021-06-01 | 2023-02-21 | 徐州重型机械有限公司 | Integrated control valve, hydraulic system, winding device and engineering machinery |
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| CN101780930B (en) * | 2009-01-20 | 2012-07-11 | 徐州重型机械有限公司 | Crane and lifting automatic control system thereof |
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| CN102040161A (en) | 2011-05-04 |
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Address after: 410013 No. 361 South silver basin, Hunan, Changsha Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 410013 No. 361 South silver basin, Hunan, Changsha Patentee before: Chang Sha Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
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Application publication date: 20110504 Assignee: Hunan ZOOMLION Crawler Crane Co., Ltd. Assignor: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Contract record no.: 2013990000373 Denomination of invention: System and method for preventing gliding during secondary lifting of crane Granted publication date: 20120111 License type: Exclusive License Record date: 20130703 |
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