CN102515024A - Ultra-lifting synchronous defection device, control method thereof and crane comprising same - Google Patents
Ultra-lifting synchronous defection device, control method thereof and crane comprising same Download PDFInfo
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- CN102515024A CN102515024A CN2011103329021A CN201110332902A CN102515024A CN 102515024 A CN102515024 A CN 102515024A CN 2011103329021 A CN2011103329021 A CN 2011103329021A CN 201110332902 A CN201110332902 A CN 201110332902A CN 102515024 A CN102515024 A CN 102515024A
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Abstract
The invention discloses an ultra-lifting synchronous defection device, a control method thereof and a crane comprising same; an ultra-lifting variable amplitude winch I and an ultra-lifting variable amplitude winch II coordinate to control the up and down of a main arm; and in a mechanical structure, a synchronous steel wire rope is adopted to connect steel wire ropes which are wound out from the two winches; and two pulley blocks are always maintained balanced in a stressed state. A first set of detection device and control method is adopted under an installation mode of the whole crane; a second set and a third set of detection devices and control methods are integrated under the working mode of the whole winch; and consequently, the use safety, stability and reliability of the winches are improved.
Description
Technical field
The present invention relates to the Synchronous Detection field, relate in particular to a kind of hoisting crane that has surpassed sync detection device and control method and comprised this device.
Background technology
Along with the continuous increase of crawler crane hoisting capacity, the crawler crane of single armed frame can't satisfy user demand gradually.At present; The both arms shelf structure has obtained widespread use in the super-tonnage crawler crane; The application of both arms frame also inevitable requirement left and right sides jib has surpassed double hoisting and can realize synchro control preferably, if asynchronous because surpassed double hoisting, will cause to have surpassed luffing or hung the overbalance that carries used sister block group; Thereby bring side to carry to boom system, cause potential safety hazard.Chinese patent CN 201105950Y discloses a kind of control synchronous device of hoisting crane double hoisting list hook; Comprise left guide pulley and right guide pulley; The guide pulley outside, a left side is fixed with left inductive disks, the corresponding setting of left electro-detection switch with left inductive disks, and the right guide pulley outside is fixed with right inductive disks; The corresponding setting with right inductive disks of right electro-detection switch, left electro-detection switch and right electro-detection switch are electrically connected with autonomous cruise speed system.This technical scheme is mainly used in the situation that promotes same suspension hook through two assembly pulleys, does not relate to the both arms frame, and the input variable that is used to adjust the elevator rotating speed only comprises the difference of rope capacity on two assembly pulleys, and survey precision is low.
Summary of the invention
To the problem of above-mentioned existence, the purpose of this invention is to provide a kind of sync detection device and control method of having surpassed, survey precision is high, and the safety that has guaranteed to have surpassed synchro control makes operation directly perceived more, convenient, reliable.Another object of the present invention provides a kind of hoisting crane that comprises above-mentioned detection device.
The objective of the invention is to realize through following technical proposals:
A kind of sync detection device that surpassed wherein, comprises first detecting device, second detecting device and the 3rd detecting device, wherein:
Said first detecting device is used to detect the rope stretching length difference that each has surpassed elevator;
Said second detecting device is used to detect the departure distance that has surpassed the fag end of restricting synchronously;
Said the 3rd detecting device is positioned at said having surpassed in the middle of the synchronous rope, is used to detect the rotation speed that has surpassed double hoisting;
Also comprise: controller and pump proportion magnetic valve; Said first detecting device, said controller, said pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control, said second detecting device, said controller, said pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control.
The above-mentioned sync detection device that surpassed, wherein, said first detecting device is two and surpassed the elevator coder, saidly surpassed the elevator coder and surpassed that the elevator reel is coaxial to be connected.
The above-mentioned sync detection device that surpassed, wherein, said second detecting device is a displacement pickup.
The above-mentioned sync detection device that surpassed, wherein, said the 3rd detecting device is a vernier.
The above-mentioned sync detection device that surpassed, wherein, said vernier is provided with and the synchronous synchronization-moving vernier pointer of steel rope mid point.
The above-mentioned sync detection device that surpassed, wherein, said controller is the PID regulating control.
The present invention discloses a kind of as the above-mentioned method of inspection that has surpassed sync detection device in addition, wherein, comprises complete engine set installation detection mode and complete machine operation detection mode, wherein:
Said complete engine set installation detection mode comprises the following steps:
Detect two differences that surpassed luffing elevator rope stretching length through first detecting device, this difference is designated as △ ε;
This difference △ ε is fed back in the controller, carry out logical process, result Ip1 and Ip2 are respectively applied for to regulate surpass luffing I main pump apportioning valve aperture Kp1 and have surpassed luffing II main pump apportioning valve aperture Kp2 through controller;
Regulate respectively through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2;
Regulate respectively through Lp1 and Lp2 and to have surpassed luffing I motor rotary speed Nm1 and to have surpassed luffing II motor rotary speed Nm2;
Regulate respectively through Nm1 and Nm2 and to have surpassed luffing I elevator rope stretching length L 1 and to have surpassed the difference between the luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand;
Said complete machine operation detection mode comprises the following steps:
Guide the fag end of second detecting device and surpassed the same moved further of rope fag end synchronously through trailer coupling; Detect distance and the direction that synchronous fag end departs from ideal position through the second detecting device pulling rope length size then; And then judge and surpass luffing elevator I and to have surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L;
This difference △ L is fed back in the controller through having surpassed the luffing displacement pickup, result Ip1 and Ip2 are respectively applied for to regulate surpass luffing I main pump apportioning valve aperture Kp1 and have surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2;
Regulate respectively through Lp1 and Lp2 and to have surpassed luffing I motor rotary speed Nm1 and to have surpassed luffing II motor rotary speed Nm2;
Regulate respectively through Nm1 and Nm2 and to have surpassed luffing I elevator rope stretching length L 1 and to have surpassed the difference △ L between the luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand.
The above-mentioned synchronization detecting method that surpassed, wherein, said first detecting device is two and surpassed the elevator coder, saidly surpassed the elevator coder and surpassed that the elevator reel is coaxial to be connected.
The above-mentioned synchronization detecting method that surpassed, wherein, said second detecting device is a displacement pickup.
The above-mentioned synchronization detecting method that surpassed, wherein, said the 3rd detecting device is a vernier.
The above-mentioned synchronization detecting method that surpassed, wherein, said vernier is provided with and the synchronous synchronization-moving vernier pointer of steel rope mid point.
The above-mentioned synchronization detecting method that surpassed, wherein, said controller is the PID regulating control.
The invention also discloses a kind of hoisting crane; Comprise having surpassed elevator, surpassed mast, wherein; Also comprise like above-mentioned any described sync detection device that surpassed; Said first detecting device has surpassed with said that the elevator reel is coaxial to be connected, and said second detecting device is installed in said having surpassed on the mast, and said the 3rd detecting device is positioned at the said following joint arm that has surpassed mast and connects the joint place.
Compared with present technology, beneficial effect of the present invention is:
Surpassed luffing I elevator and surpassed the rising of luffing II elevator co-operative control principal arm and transferred, on the physical construction, adopted a synchronous steel rope to link into an integrated entity from the steel rope that two elevators lay out, two assembly pulleys will remain balance under strained condition.Adopt first cover detecting device and the control method in the complete engine set installation pattern, under the complete machine mode of operation, adopt second and three cover detecting devices and control method to combine, and then improved safety, stability and reliability that elevator uses.
Description of drawings
Fig. 1 is that the present invention has surpassed the corresponding schematic flow sheet that has surpassed synchronisation control means of complete engine set installation detection mode in the synchronization detecting method;
Fig. 2 is that the present invention has surpassed the corresponding schematic flow sheet that has surpassed synchronisation control means of complete machine operation detection mode in the synchronization detecting method;
Fig. 3 is the interface scheme drawing that the present invention has surpassed the vernier in the synchronization detecting method.
The specific embodiment
Below in conjunction with schematic diagram and concrete operations embodiment the present invention is described further.
The present invention adopts three cover detecting device and control methods, and then has improved the reliability and stability that surpassed synchro control, and the specific embodiment is following:
Comprise first detecting device; Second detecting device and the 3rd detecting device; Wherein: first detecting device is used to detect the rope stretching length difference that each has surpassed elevator; Second detecting device is used to detect the departure distance that has surpassed the fag end of restricting synchronously, and the 3rd detecting device is positioned at and has surpassed in the middle of the synchronous rope, is used to detect the rotation speed that has surpassed double hoisting.Also comprise: controller and pump proportion magnetic valve; First detecting device, controller, pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control, second detecting device, controller, pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control.
Particularly, first detecting device is two and has surpassed the elevator coder, further is two absolute type encoders, and second detecting device is a displacement pickup, and the 3rd detecting device is a vernier, and vernier is provided with and the synchronous synchronization-moving vernier pointer of steel rope mid point.
Surpass synchronization detecting method and comprised complete engine set installation detection mode and complete machine operation detection mode:
As shown in Figure 1; In the complete engine set installation detection mode, be two absolute type encoders to be installed in surpassed on the elevator reel, and surpassed that the elevator reel is coaxial to be connected; Detect two differences that surpassed luffing elevator rope stretching length through absolute type encoder; This difference is designated as △ ε, and its cooresponding control method is that this difference △ ε is fed back in the controller, and controller is the PID regulating control; Promptly, result Ip1 and the feedback regulation of Ip2 difference have been surpassed luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2 through PID controller (PID regulating control) logical process; Regulate through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2; Indirect regulation has surpassed luffing I motor rotary speed Nm1 and has surpassed luffing II motor rotary speed Nm2 then; The final adjusting surpassed luffing I elevator rope stretching length L 1 and surpassed the difference between the luffing II elevator rope stretching length L 2; Reach and surpassed luffing synchro control demand, this detecting device and control method be cooresponding, and to have surpassed the synchro control constructional drawing as shown in Figure 1.
In the complete machine operation detection mode; Be that a displacement pickup is installed in having surpassed on the mast of hoisting crane; The stay cord fag end of displacement pickup is locked on synchronous fag end, guides the fag end of displacement pickup and has surpassed the same moved further of rope fag end synchronously through trailer coupling, detects distance and the direction that synchronous fag end departs from ideal position through displacement pickup pulling rope length size then; And then judge and surpass luffing elevator I and to have surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L.Cooresponding control method is that this difference △ L is fed back in the PID controller through having surpassed the luffing displacement pickup; Result Ip1 and the feedback regulation of Ip2 difference have been surpassed luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2; Regulate through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2; Indirect regulation has surpassed luffing I motor rotary speed Nm1 and has surpassed luffing II motor rotary speed Nm2 then; The final adjusting surpassed luffing I elevator rope stretching length L 1 and surpassed the difference △ L between the luffing II elevator rope stretching length L 2; Reach and surpassed luffing synchro control demand, this control method is cooresponding, and to have surpassed the synchro control constructional drawing as shown in Figure 2;
The 3rd detecting device is to have worn around locating having surpassed the synchronous steel rope of luffing; The following joint arm that has promptly surpassed mast connects the joint place, installs a vernier and a cover supervisory system additional, has in the vernier and the synchronous synchronization-moving vernier pointer of steel rope mid point; The two ends of vernier scribble red sign A and red sign B; As shown in Figure 3, the zone means surpassing luffing I and surpassing in the synchronous control action of luffing II between the red sign, does not allow vernier pointer to run out of outside two red identified areas.If vernier pointer is run out of outside red sign A, the B, it is asynchronous then to have surpassed luffing, at this moment, must vernier pointer be moved to red sign midway location through operating to have surpassed luffing I or surpassed luffing II, just can proceed to have surpassed luffing synchronous operation; If vernier pointer still moves between redness sign A, B, then think to reach to have surpassed luffing synchro control demand, can ongoing operation surpass the luffing synchronization action.Under the complete machine mode of operation, adopt second and three cover detecting devices and control method to combine, and then improved safety, stability and reliability that elevator uses.
The invention also discloses a kind of above-mentioned hoisting crane that has surpassed detecting device that comprises; Other parts are not drawn; Since in this hoisting crane surpassed detecting device and there is difference in prior art; Those skilled in the art can combine prior art to grasp and comprise above-mentioned other part-structures that surpassed the hoisting crane of detecting device, do not repeat them here.
To sum up, the present invention has surpassed sync detection device and control method and has comprised that the hoisting crane of this device has improved safety, stability and reliability that elevator uses, makes operation directly perceived more, convenient, reliable.
More than specific embodiment of the present invention is described in detail, but the present invention is not restricted to the specific embodiment of above description, it is just as example.To those skilled in the art, any equivalent modifications that the present invention is carried out with substitute also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of having done under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (13)
1. one kind has surpassed sync detection device, it is characterized in that, comprises first detecting device, second detecting device and the 3rd detecting device, wherein:
Said first detecting device is used to detect the rope stretching length difference that each has surpassed elevator;
Said second detecting device is used to detect the departure distance that has surpassed the fag end of restricting synchronously;
Said the 3rd detecting device is positioned at said having surpassed in the middle of the synchronous rope, is used to detect the rotation speed that has surpassed double hoisting;
Also comprise: controller and pump proportion magnetic valve; Said first detecting device, said controller, said pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control, said second detecting device, said controller, said pump proportion magnetic valve, surpassed the luffing main pump, surpassed the luffing motor, surpassed the luffing elevator and be in turn connected to form closed loop control.
2. the sync detection device that surpassed according to claim 1 is characterized in that, said first detecting device is two and surpassed the elevator coder, has saidly surpassed the elevator coder and has surpassed that the elevator reel is coaxial to be connected.
3. the sync detection device that surpassed according to claim 1 is characterized in that said second detecting device is a displacement pickup.
4. the sync detection device that surpassed according to claim 1 is characterized in that said the 3rd detecting device is a vernier.
5. the sync detection device that surpassed according to claim 4 is characterized in that, said vernier is provided with and the synchronous synchronization-moving vernier pointer of steel rope mid point.
6. according to any described sync detection device that surpassed in the claim 1 to 5, it is characterized in that said controller is the PID regulating control.
7. one kind like any described method of inspection that has surpassed sync detection device in the claim 1 to 6, it is characterized in that, comprises complete engine set installation detection mode and complete machine operation detection mode, wherein:
Said complete engine set installation detection mode comprises the following steps:
Detect two differences that surpassed luffing elevator rope stretching length through first detecting device, this difference is designated as △ ε;
This difference △ ε is fed back in the controller, carry out logical process, result Ip1 and Ip2 are respectively applied for to regulate surpass luffing I main pump apportioning valve aperture Kp1 and have surpassed luffing II main pump apportioning valve aperture Kp2 through controller;
Regulate respectively through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2;
Regulate respectively through Lp1 and Lp2 and to have surpassed luffing I motor rotary speed Nm1 and to have surpassed luffing II motor rotary speed Nm2;
Regulate respectively through Nm1 and Nm2 and to have surpassed luffing I elevator rope stretching length L 1 and to have surpassed the difference between the luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand;
Said complete machine operation detection mode comprises the following steps:
Guide the fag end of second detecting device and surpassed the same moved further of rope fag end synchronously through trailer coupling; Detect distance and the direction that synchronous fag end departs from ideal position through the second detecting device pulling rope length size then; And then judge and surpass luffing elevator I and to have surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L;
This difference △ L is fed back in the controller through having surpassed the luffing displacement pickup, result Ip1 and Ip2 are respectively applied for to regulate surpass luffing I main pump apportioning valve aperture Kp1 and have surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively through Kp1 and Kp2 and to have surpassed luffing I main pump discharge capacity Lp1 and to have surpassed luffing II main pump discharge capacity Lp2;
Regulate respectively through Lp1 and Lp2 and to have surpassed luffing I motor rotary speed Nm1 and to have surpassed luffing II motor rotary speed Nm2;
Regulate respectively through Nm1 and Nm2 and to have surpassed luffing I elevator rope stretching length L 1 and to have surpassed the difference △ L between the luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand.
8. the synchronization detecting method that surpassed according to claim 7 is characterized in that, said first detecting device is two and surpassed the elevator coder, has saidly surpassed the elevator coder and has surpassed that the elevator reel is coaxial to be connected.
9. the synchronization detecting method that surpassed according to claim 7 is characterized in that said second detecting device is a displacement pickup.
10. the synchronization detecting method that surpassed according to claim 7 is characterized in that said the 3rd detecting device is a vernier.
11. the synchronization detecting method that surpassed according to claim 10 is characterized in that, said vernier is provided with and the synchronous synchronization-moving vernier pointer of steel rope mid point.
12. the synchronization detecting method that surpassed according to claim 7 is characterized in that, said controller is the PID regulating control.
13. hoisting crane; Comprise having surpassed elevator, surpassed mast, it is characterized in that; Also comprise like any described sync detection device that surpassed in the above-mentioned claim 1 to 6; Said first detecting device has surpassed with said that the elevator reel is coaxial to be connected, and said second detecting device is installed in said having surpassed on the mast, and said the 3rd detecting device is positioned at the said following joint arm that has surpassed mast and connects the joint place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110332902.1A CN102515024B (en) | 2011-10-28 | 2011-10-28 | Ultra-lifting synchronous defection device, control method thereof and crane comprising same |
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| CN201110332902.1A CN102515024B (en) | 2011-10-28 | 2011-10-28 | Ultra-lifting synchronous defection device, control method thereof and crane comprising same |
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| CN102515024A true CN102515024A (en) | 2012-06-27 |
| CN102515024B CN102515024B (en) | 2014-07-23 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104609311A (en) * | 2015-02-03 | 2015-05-13 | 徐工集团工程机械股份有限公司 | Dual-winding synchronous control system and dual-winding synchronous control method for crane |
| CN108217429A (en) * | 2017-12-15 | 2018-06-29 | 上海建工七建集团有限公司 | A kind of assemble type hanger and hanging method |
| CN114104978A (en) * | 2021-10-26 | 2022-03-01 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, operation machine, equipment and medium |
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| CN201980875U (en) * | 2010-12-28 | 2011-09-21 | 徐州重型机械有限公司 | Crane and lifting control device thereof |
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| JPH10120377A (en) * | 1996-10-25 | 1998-05-12 | Sumitomo Constr Mach Co Ltd | Winch control device |
| US20070290182A1 (en) * | 2004-08-02 | 2007-12-20 | Ingo Noeske | Hoisting-Cable Drive Comprising a Single Bottom-Hook Block and Two Winches |
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| CN108217429A (en) * | 2017-12-15 | 2018-06-29 | 上海建工七建集团有限公司 | A kind of assemble type hanger and hanging method |
| CN114104978A (en) * | 2021-10-26 | 2022-03-01 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, operation machine, equipment and medium |
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| CN102515024B (en) | 2014-07-23 |
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Effective date of registration: 20160107 Address after: Eight in the 313028 Zhejiang city of Huzhou province Cao Zhen Village daily standard factory Auxiliary Building No. 2 Patentee after: Zhejiang Sany Equipment Co., Ltd. Address before: 201202, room 6999, 205 Chuansha Road, Shanghai, Pudong New Area Patentee before: Shanghai Sany Technology Co., Ltd. |