CN102259799B - Torque control method and device for installing crawler crane and crawler crane - Google Patents
Torque control method and device for installing crawler crane and crawler crane Download PDFInfo
- Publication number
- CN102259799B CN102259799B CN 201110115874 CN201110115874A CN102259799B CN 102259799 B CN102259799 B CN 102259799B CN 201110115874 CN201110115874 CN 201110115874 CN 201110115874 A CN201110115874 A CN 201110115874A CN 102259799 B CN102259799 B CN 102259799B
- Authority
- CN
- China
- Prior art keywords
- crawler crane
- ratio
- moment
- load carrying
- carrying ability
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000052 comparative effect Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a moment control method and device for installing a crawler crane and the crawler crane, wherein the force control method comprises the following steps: acquiring the tipping moment and the suspended load weight of the crawler crane under the installation working condition; and comparing the tipping moment with a preset maximum stable moment, comparing the hoisting weight with a preset maximum hoisting weight, and outputting different prompt information according to the comparison result. The invention has the beneficial effects that: the moment safety during hoisting can be guaranteed, and the purpose of larger safe working range of the mast during light load can be achieved.
Description
Technical field
The present invention relates to a kind of crawler crane installs with moment control method, device and crawler crane.
Background technology
Present stage; The crawler crane that the home and abroad is all; Its limiter of moment all only calculates and limits the moment under the work operating mode, and the moment when it is installed operating mode is not calculated, and is installing under the working condition; Lean on the operator rule of thumb to judge whether not tumble safely fully, careless manipulation then can cause safe overthrow accident during the lifting crawler belt.In view of security needs; The product of indivedual companies is to this existing consideration; Maximum security standpoint place is equipped with the safe limit switch before mast; Guarantee hoisting crane when operating mode is installed, mast can only so just have been sacrificed the underloading lifting amplitude of loading and unloading certainly under the operating mode to a great extent in the security standpoint work under the maximum lift heavy condition of lifting oil cylinder.
But, during to the installation operating mode of above-mentioned proposition, come the problem of implementation and operation not propose the actv. solution as yet by experience fully in the prior art.
Summary of the invention
The invention discloses a kind of crawler crane and install, the problem of tilting moment not being calculated is installed under the working condition in order to solve to exist in the prior art with moment control method, device and crawler crane.
To achieve these goals, according to an aspect of the present invention, provide a kind of crawler crane to install and use the moment control method, and realize through following technical scheme:
A kind of crawler crane is installed and use the moment control method, comprising: the tilting moment when obtaining crawler crane operating mode being installed and hang load carrying ability; And with tilting moment and preset maximum stable torque ratio, and will hang load carrying ability and preset maximum is hung load carrying ability relatively, and according to the different information of comparative result output.
Tilting moment when further, obtaining crawler crane operating mode is installed with hang load carrying ability and comprise: the real-time parameter when gathering crawler crane operating mode being installed; And calculate tilting moment and hang load carrying ability according to real-time parameter.
Further; With tilting moment and preset maximum stable torque ratio; Maybe will hang load carrying ability and preset maximum and hang load carrying ability relatively, and comprise: calculate the ratio of tilting moment and preset maximum stable moment, be called first ratio according to the different information of comparative result output; And calculate and to hang the ratio that load carrying ability and preset maximum are hung load carrying ability, be called second ratio.
Further; With tilting moment and preset maximum stable torque ratio; Maybe will hang load carrying ability and preset maximum and hang load carrying ability relatively; And also comprise: judge first ratio or second ratio whether between preset ratio, and under the situation that is, send alerting signal according to the different information of comparative result output; And whether judge first ratio or second ratio greater than preset maximum ratio, and under the situation that is, send danger signal, stop to increase the action of tilting moment.
Further, be 90%-100% between the preset ratio.
Further, preset maximum ratio is 102%.
Further, after stopping to increase the action of tilting moment, the Torque Control method also comprises: whether judge first ratio and second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of tilting moment.
According to another aspect of the present invention, provide a kind of crawler crane to install and use moment control device, and realize through following two kinds of technical schemes:
Crawler crane is installed and is comprised with moment control device: angular position transducer, be arranged on the principal arm mast of crawler crane, and be used to gather the angle-data of principal arm mast; The hoist rope pulling force sensor is arranged on the top end of the hoist rope of crawler crane, is used to gather the hoist rope pulling force data; And central controller, be connected to angular position transducer and hoist rope pulling force sensor, be used to handle the angle-data and the lineoutofservice signal pull data that receive, the service data when drawing crawler crane installation operating mode.
Crawler crane is installed and is comprised with moment control device: angular position transducer, be arranged on the principal arm mast of crawler crane, and be used to gather the angle-data of principal arm mast; At least one load transducer is arranged on the elevating ram, is used to gather the elevating ram pressure data; And central controller, be connected to angular position transducer and load transducer, be used to handle the angle-data and the pressure data that receive, the service data when drawing crawler crane installation operating mode.
Further, crawler crane is installed and is also comprised with moment control device: second load transducer, be arranged on the luffing steel rope, and be used to gather luffing lineoutofservice signal pull data.
According to a further aspect of the invention, provide a kind of crawler crane to install and use moment control device, and realize through following technical scheme:
A kind of crawler crane comprises above-mentioned arbitrary moment control device.
Compared with prior art; The invention has the beneficial effects as follows: through gathering crawler crane the service data of operating mode is installed, calculates real-time tilting moment, and according to the comparison of tilting moment and maximum stable moment; Judge the safe condition of crawler crane; Make proper operation, moment safety in the time of lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading being reached again.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 installs the diagram of circuit with the moment control method according to a kind of crawler crane in the embodiment of the invention;
Fig. 2 is according to obtaining tilting moment and the diagram of circuit that hangs load carrying ability in the embodiment of the invention;
Fig. 3 is according to the diagram of circuit that obtains operation prompt information in the embodiment of the invention;
Fig. 4 is according to a kind of crawler crane structural representation in the embodiment of the invention;
Fig. 5 is the crawler crane structural representation according to further embodiment of this invention; And
Fig. 6 is another the crawler crane structural representation among the embodiment of Fig. 4 or Fig. 5 according to the present invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
Fig. 1 installs the main diagram of circuit with the moment control method according to a kind of crawler crane in the embodiment of the invention.
Fig. 2 is according to obtaining tilting moment and the diagram of circuit that hangs load carrying ability in the embodiment of the invention.
Fig. 3 is according to the diagram of circuit that obtains operation prompt information in the embodiment of the invention.
Referring to shown in Figure 1, a kind of crawler crane is installed and use the moment control method, comprising: the tilting moment when a. obtains crawler crane operating mode is installed and hang load carrying ability; And b. is with tilting moment and preset maximum stable torque ratio, and will hang load carrying ability and preset maximum is hung relatively preset data of load carrying ability, and according to the different information of comparative result output.
Wherein, to hang load carrying ability be when design, to consider the maxim that safety factor allows later in theory for preset maximum stable moment and preset maximum.The present crawler crane of loading and unloading is certainly being installed under the working condition, leans on the operator rule of thumb to judge whether not tumble safely fully, and careless manipulation then can cause safe overthrow accident during the lifting crawler belt.According to technical scheme of the present invention, when obtaining crawler crane installation operating mode, according to the service data of obtaining, after calculating, the information that obtains operating helps the operator accurately to grasp the operating mode when operating mode is installed, and makes correct operation.
Service data when preferably, obtaining crawler crane operating mode is installed comprises: the tilting moment when a1. gathers crawler crane operating mode is installed with hang load carrying ability; And a2. calculates tilting moment and hangs load carrying ability according to real-time parameter.
Preferably; With tilting moment and preset maximum stable torque ratio; And will hang load carrying ability and preset maximum and hang relatively preset data of load carrying ability, and comprise according to the different information of comparative result output: b1. calculates the ratio of tilting moment and preset maximum stable moment, is called first ratio; And calculate and to hang the ratio that load carrying ability and maximum preset are hung load carrying ability, be called second ratio; B2. judge first ratio or second ratio whether between preset ratio, and under the situation that is, send alerting signal; Whether b3 judges first ratio or second ratio greater than preset maximum ratio, and under the situation that is, stops to increase the action of tilting moment.
Referring to shown in Figure 2, sensor sends signals such as detected angle, lineoutofservice signal pull, length to central controller (CPU), central controller dynamic calculation principal arm mast angle, hangs load carrying ability, tilting moment size; Central controller gets hoisting moment percentum P_A through tilting moment and maximum stable torque ratio; Hang load carrying ability and maximum allow to hang load carrying ability relatively rated load percentum P_B; Wherein, Tilting moment is the negative sense moment of instigating crawler crane to be tumbled, and direction is defined as the load moment direction, by load to the moment that line produced of toppling; Balancing torque is meant the forward moment that prevents that crawler crane from tumbling, by the crawler crane self gravitation to the moment that line produced of toppling.
Wherein, balancing torque calculates through following computing formula: balancing torque M
e=m
1* g*L
1, m wherein
1For load and unload time deadweight quality certainly, g is acceleration due to gravity, L
1For the barycenter of deadweight to the horizontal throw of the line that topples; Tilting moment calculates through following computing formula: tilting moment M
a=m
2* g*L
2, m wherein
2Lift heavy quality when loading and unloading certainly, m
2=(F
1* n*rate), wherein, F
1Be lineoutofservice signal pull, n is the steel rope multiplying power, and rate is that friction force coefficient of correction, g are acceleration due to gravity, L
2Be the barycenter vertical line of lift heavy horizontal throw to the line that topples.
Referring to shown in Figure 3, service data and preset data are compared, and according to the different information of comparative result output.
As (P_A or P_B)>90% and (P_A and P_B) < 100% time, sound and the light warning signal, remind operator's load or moment load big, careful operation is as (P_A or P_B)>102% cut off the dangerous play of tilting moment augment direction.
Preferably, after stopping to increase the action of tilting moment, the Torque Control method also comprises: whether judge first ratio and second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of tilting moment.Have only that < 100% the time, it is normal that the action of the tilting moment augment direction of cut-out just recovers, and prevents to surpass on the safe range point in moment to shake, and causes safety misadventure as (P_A and P_B).
Preferably, the present invention also comprises: man-machine interface and control system, accept operating order, and show work moment situation, hang the situation of carrying, the sound and light alarm prompting.
In the technical scheme of present embodiment; When crawler crane is installed operating mode; Actual the hanging of dynamic calculation crawler crane carried tilting moment; In real time maximum balancing torque with it relatively, and when being necessary to actual hang to carry limit, prevent that crawler crane from causing tumbling installing to overload under the operating mode.
In view of security needs, maximum security standpoint place is equipped with the safe limit switch before mast, guarantees that hoisting crane is when installing operating mode; Mast can only so just sacrificed the underloading lifting amplitude of loading and unloading certainly under the operating mode to a great extent, and the present invention adopt the mode that sensor is set in the security standpoint work under the maximum lift heavy condition of lifting oil cylinder; Accurately gather each association when operating mode is installed; And send central process unit to, and after treater calculates tilting moment and hangs load carrying ability, moment safety in the time of can guaranteeing lift heavy; The purpose of the bigger trouble free service amplitude of mast in the time of reaching underloading has again been excavated the in-use performance of product better.
Fig. 4 is according to a kind of crawler crane structural representation in the embodiment of the invention; Referring to shown in Figure 4, a kind of crawler crane comprises luffing steel rope 2, luffing elevator 3, the hoisting rope 4 that hoists, principal arm mast 5 and suspension hook 8 and moment control device; Wherein, This moment device comprises: angular position transducer 6, be arranged on the principal arm mast 5 of crawler crane, and be used to gather the angle-data of principal arm mast 5; Wherein, angle is the angle between principal arm mast 5 and the horizon; Hoist rope pulling force sensor 7 is arranged on the top end of the hoist rope 4 of crawler crane, is used to gather hoist rope 4 pulling force data; And central controller 1, be connected to angular position transducer 6 and hoist rope pulling force sensor 7, be used to handle the angle-data and the lineoutofservice signal pull data that receive, the service data when drawing crawler crane installation operating mode.
Can find out; Through gathering crawler crane the service data of operating mode is installed, calculates real-time tilting moment, and according to the comparison of tilting moment and maximum stable moment; Judge the safe condition of crawler crane; Make proper operation, moment safety in the time of lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading being reached again.
Fig. 5 is a crawler crane structural representation according to another embodiment of the present invention.
Referring to shown in Figure 5; A kind of crawler crane comprises luffing steel rope 2, luffing elevator 3 and moment control device, and this moment device comprises: angular position transducer 6; Be arranged on the principal arm mast 5 of crawler crane; Be used to gather the angle-data of principal arm mast 5, wherein, angle is the angle of mast plane and horizontal surface; Load transducer 9; And load transducer is at least 1; This load transducer 9 is arranged on the rodless cavity of elevating ram 8, adopts 2 in the present embodiment, is arranged on the rodless cavity that elevating ram 8 and the rod chamber place of crawler crane; Be used to detect the pressure of oil cylinder, hang the weight of carrying thereby calculate; And central controller 1, be connected to angular position transducer 6 and load transducer 9, be used to handle the angle-data and pressure data, load data that receive, the service data when drawing crawler crane installation operating mode.
Can find out; Through gathering crawler crane the service data of operating mode is installed, calculates the real-time load carrying ability that hangs, and according to hanging load carrying ability and maximum comparison of hanging load carrying ability; Judge the safe condition of crawler crane; Make proper operation, moment safety in the time of lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading being reached again.
Referring to shown in Figure 6, in Fig. 4, embodiment shown in Figure 5, during calculation stability moment, can also take another kind of mode, second load transducer 10 promptly is installed, the information calculations balancing torque that obtains according to second load transducer 10 on luffing steel rope 2.Concrete computing formula belongs to prior art, repeats no more.
More than be merely the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a crawler crane is installed and is used the moment control method, it is characterized in that, comprising:
Tilting moment when obtaining said crawler crane operating mode being installed with hang load carrying ability; And
With said tilting moment and preset maximum stable torque ratio, and hang load carrying ability and preset maximum is hung load carrying ability relatively with said, and according to the different information of said comparative result output.
2. Torque Control method according to claim 1 is characterized in that, said tilting moment when obtaining said crawler crane operating mode being installed with hang load carrying ability and comprise:
Real-time parameter when gathering said crawler crane operating mode being installed; And
Calculate said tilting moment and the said load carrying ability that hangs according to said real-time parameter.
3. Torque Control method according to claim 1; It is characterized in that; Saidly with said tilting moment and preset maximum stable torque ratio or hang load carrying ability and preset maximum is hung load carrying ability relatively, and comprise according to the different information of said comparative result output with said:
Calculate the ratio of said tilting moment and said preset maximum stable moment, as first ratio, and calculate the said ratio that load carrying ability and said preset maximum are hung load carrying ability that hangs, as second ratio.
4. Torque Control method according to claim 3; It is characterized in that; Saidly with said tilting moment and preset maximum stable torque ratio or hang load carrying ability and preset maximum is hung load carrying ability relatively, and also comprise according to the different information of said comparative result output with said:
Judge said first ratio or said second ratio whether between preset ratio, and under the situation that is, send alerting signal; And
Whether judge said first ratio or said second ratio greater than preset maximum ratio, and under the situation that is, send danger signal, stop to increase the action of said tilting moment.
5. Torque Control method according to claim 4 is characterized in that, is 90%-100% between the said preset ratio.
6. Torque Control method according to claim 5 is characterized in that, said preset maximum ratio is 102%.
7. Torque Control method according to claim 4 is characterized in that, said stop to increase the action of said tilting moment after, said Torque Control method also comprises:
Whether judge said first ratio and said second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of said tilting moment.
8. a crawler crane is installed and is used moment control device, it is characterized in that, comprising:
Angular position transducer is arranged on the principal arm mast of said crawler crane, is used to gather the angle-data of said principal arm mast;
The hoist rope pulling force sensor is arranged on the top end of the hoist rope of said crawler crane, is used to gather said hoist rope pulling force data; And
Central controller is connected to said angular position transducer and said hoist rope pulling force sensor, is used to handle the said angle-data and the said lineoutofservice signal pull data that receive, the service data when drawing said crawler crane operating mode being installed.
9. a crawler crane is installed and is used moment control device, it is characterized in that, comprising:
Angular position transducer is arranged on the principal arm mast of said crawler crane, is used to gather the angle-data of said principal arm mast;
At least one load transducer is arranged on the elevating ram, is used to gather the elevating ram pressure data; And
Central controller is connected to said angular position transducer and said load transducer, is used to handle the said angle-data and the said pressure data that receive, the service data when drawing said crawler crane operating mode being installed.
10. according to Claim 8 or 9 described moment control devices, it is characterized in that, also comprise:
Second load transducer is arranged on the luffing steel rope of said crawler crane, is used to gather said luffing lineoutofservice signal pull data.
11. a crawler crane is characterized in that, comprises claim 8,9 or 10 described moment control devices.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110115874 CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
| PCT/CN2011/078270 WO2012149704A1 (en) | 2011-05-05 | 2011-08-11 | Torque control method for crawler crane installation, device therefor and crawler crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110115874 CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102259799A CN102259799A (en) | 2011-11-30 |
| CN102259799B true CN102259799B (en) | 2012-12-05 |
Family
ID=45006677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110115874 Active CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102259799B (en) |
| WO (1) | WO2012149704A1 (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104370224A (en) * | 2014-10-27 | 2015-02-25 | 苏州阔地网络科技有限公司 | Alarm method and system |
| CN105984811B (en) * | 2015-02-03 | 2018-10-02 | 徐州重型机械有限公司 | A kind of control method of anti-overload crane shake |
| CN104961061B (en) * | 2015-06-30 | 2017-01-04 | 中国一冶集团有限公司 | Moment limiter for crawler crane and control method thereof |
| DE102015118434A1 (en) * | 2015-10-28 | 2017-05-04 | Terex MHPS IP Management GmbH | Method for operating at least two hoists in a group operation and arrangement with at least two hoists |
| CN107190643A (en) * | 2016-03-15 | 2017-09-22 | 徐工集团工程机械有限公司 | Bridge detection vehicle operation STABILITY MONITORING device, method and bridge inspection vehicle |
| CN106115490B (en) * | 2016-08-29 | 2018-08-31 | 徐工集团工程机械股份有限公司 | Altitude operation vehicle time-varying amplitude safe operation range calculates and control method |
| CN106760542B (en) * | 2016-12-12 | 2019-09-17 | 三一汽车制造有限公司 | Arm support control method, cantilever crane control device and concrete mixer |
| CN108313893B (en) * | 2018-02-17 | 2019-10-08 | 上海超富建筑机械设备安装有限公司 | A kind of fool proof crane of tool |
| CN108750946B (en) * | 2018-05-23 | 2024-04-09 | 四川庞源机械工程有限公司 | Crane load identification, measurement and adjustment control method |
| JP7119674B2 (en) * | 2018-07-11 | 2022-08-17 | 株式会社タダノ | crane |
| GB2577899B (en) * | 2018-10-09 | 2023-03-29 | Bamford Excavators Ltd | A machine, controller, and control method |
| EP4223687A3 (en) * | 2019-10-17 | 2023-08-23 | Terex Australia Pty Ltd | Mobile crane operation control |
| CN111112982B (en) * | 2020-01-13 | 2024-05-14 | 中机中联工程有限公司 | Automatic assembling equipment and method for excavator crawler belt |
| CN111532986B (en) * | 2020-05-18 | 2022-07-05 | 浙江三一装备有限公司 | Crane moment control method and device and electronic equipment |
| CN112723169A (en) * | 2020-12-22 | 2021-04-30 | 中联重科股份有限公司 | Crawler crane self-loading and unloading control method and system and crawler crane |
| CN112875515A (en) * | 2021-01-29 | 2021-06-01 | 中国一冶集团有限公司 | System for monitoring state of steel wire rope in lifting process of hydraulic elevator |
| CN112836299A (en) * | 2021-02-05 | 2021-05-25 | 山重建机有限公司 | Method for optimizing overall stability of excavator |
| CN113548588A (en) * | 2021-08-09 | 2021-10-26 | 浙江三一装备有限公司 | Rollover risk prediction method, device and system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07125987A (en) * | 1993-11-08 | 1995-05-16 | Komatsu Mec Corp | Suspension load/overturning moment detecting device for mobile crane |
| JP2004001987A (en) * | 2002-03-25 | 2004-01-08 | Hitachi Constr Mach Co Ltd | Operation support device |
| JP2004043087A (en) * | 2002-07-10 | 2004-02-12 | Sumitomo Heavy Industries Construction Crane Co Ltd | Safety device for crawler crane |
| GB2390595B (en) * | 2002-07-12 | 2005-08-24 | Bamford Excavators Ltd | Control system for a machine |
| CN2592616Y (en) * | 2002-12-31 | 2003-12-17 | 三一重工股份有限公司 | Towercrane operation monitoring apparatus |
| DE502004011669D1 (en) * | 2004-12-03 | 2010-10-28 | Manitowoc Crane Group Germany | mobile crane |
| CN100465846C (en) * | 2006-09-15 | 2009-03-04 | 上海三一科技有限公司 | Crawler crane torque controlling method and apparatus under super lifting working condition |
| CN100591608C (en) * | 2008-01-09 | 2010-02-24 | 湖南三一起重机械有限公司 | Crane moment controlling method and system, and the crane |
| CN101348216B (en) * | 2008-09-05 | 2010-06-02 | 湖南三一起重机械有限公司 | Crane security protection system and crane thereof |
| CN201614243U (en) * | 2010-01-07 | 2010-10-27 | 上海三一科技有限公司 | Moment limiting system of caterpillar crane |
| CN101780926B (en) * | 2010-01-07 | 2012-05-09 | 上海三一科技有限公司 | Crawler crane moment limiting system |
-
2011
- 2011-05-05 CN CN 201110115874 patent/CN102259799B/en active Active
- 2011-08-11 WO PCT/CN2011/078270 patent/WO2012149704A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012149704A1 (en) | 2012-11-08 |
| CN102259799A (en) | 2011-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102259799B (en) | Torque control method and device for installing crawler crane and crawler crane | |
| CN101659379B (en) | Method, system and device for controlling deviation of hanging hook | |
| CN205527332U (en) | Rise to put bearing in a position and take off lifting hook from locking -type antiskid | |
| US10850953B2 (en) | Lifting device, in particular a mobile crane or a cable-operated excavator, having an apparatus for monitoring the raising and lowering procedures of a boom system and corresponding method | |
| CN108706481A (en) | Suspension hook Hovering control method, apparatus and frequency converter | |
| CN101580208A (en) | A safety device for cable-lifting apparatus | |
| CN202808230U (en) | Hoisting mechanism anti-top-collision system for crane and crane | |
| CN105731273A (en) | Crawler crane with double hooks for hoisting and load limiter safety protection control method and device | |
| CN101343023B (en) | Comprehensive protector for safety of tower crane | |
| CN111747328A (en) | Tilting prevention system for lifting arm of movable arm tower crane | |
| CN103879881B (en) | Crane hook safe operation control method, device and system and crane | |
| CN106586835B (en) | Tower crane control method, equipment, system and derrick crane | |
| CN201890732U (en) | Jib type lifting torque limiter | |
| CN201971576U (en) | Moment limiting device and tower crane with same | |
| CN109850777A (en) | A kind of safety monitoring device for preventing cantilever crane loop wheel machine from toppling | |
| CN102556865B (en) | Crane moment limit control device, method and system and engineering mechanical equipment | |
| CN109573838A (en) | Method and device for monitoring jacking state of tower crane and tower crane | |
| CN205312897U (en) | Load lifting limiter in advance slows down | |
| CN206580475U (en) | The anti-error overload protecting system of derrick crane and derrick crane | |
| CN112607596A (en) | Method and device for inhibiting swinging of lifting hook of automobile crane | |
| CN105110186B (en) | Crane and its major-minor hook work compound protection system and method | |
| CN202089705U (en) | Counterweight adjustable caterpillar crane | |
| CN212669036U (en) | Tilting prevention system for lifting arm of movable arm tower crane | |
| CN103663225B (en) | Protection system and hoist of stopper inefficacy | |
| CN101844727A (en) | Intelligent clamp and clamp attention device for hoisting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 410013 No. 361 South silver basin, Hunan, Changsha Applicant after: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Address before: 410013 No. 361 South silver basin, Hunan, Changsha Applicant before: CHANGSHA ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |