CN102515024B - 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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- CN102515024B CN102515024B CN201110332902.1A CN201110332902A CN102515024B CN 102515024 B CN102515024 B CN 102515024B CN 201110332902 A CN201110332902 A CN 201110332902A CN 102515024 B CN102515024 B CN 102515024B
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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 Synchronous Detection field, relate in particular to a kind of control method that has surpassed sync detection device.
Background technology
Along with the continuous increase of crawler crane hoisting capacity, the crawler crane of single arm support cannot meet user demand gradually.At present, both arms shelf structure is widely applied in super-tonnage crawler crane, the application of both arms frame also inevitable requirement left and right jib has surpassed double hoisting and can realize good synchro control, if because it is asynchronous to have surpassed double hoisting, will cause and surpass luffing or hung the overbalance that carries sister block group used, thereby bring side to carry to boom system, cause potential safety hazard.Chinese patent CN201105950Y discloses a kind of control synchronous device of hoisting crane double hoisting list hook, comprise left guide pulley and right guide pulley, left guide pulley outside is fixed with left inductive disks, the setting corresponding to left inductive disks of left electro-detection switch, right guide pulley outside is fixed with right inductive disks, the setting corresponding to 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 by two assembly pulleys, does not relate to both arms frame, and only comprises the difference of rope capacity on two assembly pulleys for adjusting the input variable of elevator rotating speed, and survey precision is low.
Summary of the invention
For the problem of above-mentioned existence, the object of this invention is to provide a kind of control method that has surpassed sync detection device, survey precision is high, has ensured to have surpassed the safety of synchro control, makes operation more directly perceived, convenient, reliable.
The object of the invention is to be achieved through the following technical solutions:
The invention discloses a kind of method of inspection that has surpassed sync detection device, wherein, comprise complete engine set installation detection mode and complete machine operation detection mode, wherein:
Described complete engine set installation detection mode comprises the following steps:
Detect two differences that surpassed luffing elevator rope stretching length by the first detecting device, this difference is designated as △ ε;
This difference △ ε is fed back in controller, carry out logical process by controller, result Ip1 and Ip2 are respectively used to regulate surpass luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2;
Regulate respectively and surpassed luffing I motor rotary speed Nm1 and surpassed luffing II motor rotary speed Nm2 by Lp1 and Lp2;
Regulate respectively and surpassed luffing I elevator rope stretching length L 1 and surpassed the difference between luffing II elevator rope stretching length L 2 by Nm1 and Nm2, reach and surpassed luffing synchro control demand;
Described complete machine operation detection mode comprises the following steps:
Guide the fag end of second detection device and surpassed synchronous rope fag end synchronizing moving by trailer coupling, then detect by second detection device pulling rope length size distance and the direction that synchronization rope end departs from ideal position, and then judgement surpass luffing elevator I and surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L;
This difference △ L is fed back in controller by having surpassed luffing displacement pickup, result Ip1 and Ip2 are respectively used to regulate surpass luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2;
Regulate respectively and surpassed luffing I motor rotary speed Nm1 and surpassed luffing II motor rotary speed Nm2 by Lp1 and Lp2;
Regulate respectively and surpassed luffing I elevator rope stretching length L 1 and surpassed the difference △ L between luffing II elevator rope stretching length L 2 by Nm1 and Nm2, reach and surpassed luffing synchro control demand.
The above-mentioned method of inspection that has surpassed synchronous device, wherein, described the first detecting device is two super lift winch coders, described super lift winch coder is coaxially connected with super lift winch reel.
The above-mentioned method of inspection that has surpassed synchronous device, wherein, described second detection device is displacement pickup.
The above-mentioned method of inspection that has surpassed synchronous device, wherein, described the 3rd detecting device is vernier.
The above-mentioned method of inspection that has surpassed synchronous device, wherein, described vernier is provided with and synchronizes the synchronization-moving vernier pointer of steel rope mid point.
The above-mentioned method of inspection that has surpassed synchronous device, wherein, described controller is PID regulating control.
Compared with the prior art, beneficial effect of the present invention is:
Surpassed luffing I elevator and surpassed luffing II elevator and coordinated control the rising of principal arm and transfer, on physical construction, adopted a synchronous steel rope that the steel rope laying out from two elevators is linked into an integrated entity, two assembly pulleys will remain balance under strained condition.Adopt first set detecting device and control method in complete engine set installation pattern, under complete machine mode of operation, employing second and three cover detecting devices and control method combine, and then have improved safety, stability and reliability that elevator uses.
Brief description of the 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 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 synchronization detecting method;
Fig. 3 is the interface schematic diagram that the present invention has surpassed the vernier in synchronization detecting method.
Detailed description of the invention
Below in conjunction with schematic diagram and concrete operations embodiment, the invention will be further described.
The present invention adopts three cover detecting device and control methods, and then has improved the reliability and stability that surpassed synchro control, and detailed description of the invention is as follows:
Comprise the first detecting device, second detection device and the 3rd detecting device, wherein: the first detecting device is for detection of the rope stretching length difference of each super lift winch, second detection device is for detection of the departure distance that has surpassed synchronous rope fag end, the 3rd detecting device is positioned at and has surpassed in the middle of synchronous rope, for detection of the rotation speed that has surpassed double hoisting.Also comprise: controller and pump proportion magnetic valve, the first detecting device, controller, pump proportion magnetic valve, surpass luffing main pump, surpassed luffing motor, surpassed luffing elevator and be in turn connected to form closed loop control, second detection device, controller, pump proportion magnetic valve, surpassed luffing main pump, surpassed luffing motor, surpassed luffing elevator and be in turn connected to form closed loop control.
Particularly, the first detecting device is two super lift winch coders, is further two absolute type encoders, and second detection device is displacement pickup, and the 3rd detecting device is vernier, and vernier is provided with and synchronizes the 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 complete engine set installation detection mode, that two absolute type encoders are arranged on super lift winch reel, coaxially be connected with super lift winch reel, detect two differences that surpassed luffing elevator rope stretching length by absolute type encoder, this difference is designated as △ ε, its corresponding control method is that this difference △ ε is fed back in controller, controller is PID regulating control, by PID controller (PID regulating control) logical process, result Ip1 and the feedback regulation of Ip2 difference have been surpassed to luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2, regulate and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2, then indirect regulation has surpassed luffing I motor rotary speed Nm1 and has surpassed luffing II motor rotary speed Nm2, final adjusting surpassed luffing I elevator rope stretching length L 1 and surpassed the difference between luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand, what this detecting device and control method were corresponding has surpassed synchronous control structure figure as shown in Figure 1.
In complete machine operation detection mode, that a displacement pickup is arranged on to having surpassed on mast of hoisting crane, the stay cord fag end of displacement pickup is locked on synchronization rope end, guide the fag end of displacement pickup and surpassed synchronous rope fag end synchronizing moving by trailer coupling, then detect by displacement pickup pulling rope length size distance and the direction that synchronization rope end departs from ideal position, and then judgement surpass luffing elevator I and surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L.Corresponding control method is that this difference △ L is fed back in PID controller by having surpassed luffing displacement pickup, result Ip1 and the feedback regulation of Ip2 difference have been surpassed to luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2, regulate and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2, then indirect regulation has surpassed luffing I motor rotary speed Nm1 and has surpassed luffing II motor rotary speed Nm2, final adjusting surpassed luffing I elevator rope stretching length L 1 and surpassed the difference △ L between luffing II elevator rope stretching length L 2, reach and surpassed luffing synchro control demand, what this control method was corresponding has surpassed synchronous control structure figure as shown in Figure 2,
The 3rd detecting device is to have worn around locating having surpassed the synchronous steel rope of luffing, surpassed the lower joint arm connecting joint place of mast, install a vernier and a set of supervisory system additional, in vernier, have and synchronize the synchronization-moving vernier pointer of steel rope mid point, the two ends of vernier scribble red mark A and red mark B, as shown in Figure 3, between red mark, region means having surpassed luffing I and having surpassed in the action of luffing II synchronous manipulation, does not allow vernier pointer to run out of outside two red identified areas.If vernier pointer is run out of outside red mark A, B, surpass luffing asynchronous, now, must vernier pointer be moved to red mark midway location by 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 mark A, B, think to reach to have surpassed luffing synchro control demand, can ongoing operation surpass luffing synchronization action.Under complete machine mode of operation, employing second and three cover detecting devices and control method combine, and then have 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, due in this hoisting crane surpassed detecting device and there is difference in prior art, those skilled in the art can grasp other part-structures that comprise the above-mentioned hoisting crane that has surpassed detecting device in conjunction with prior art, 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 more directly perceived, convenient, reliable.
Above specific embodiments of the invention be have been described in detail, but the present invention is not restricted to specific embodiment described above, it is just as example.To those skilled in the art, any equivalent modifications that the present invention is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the amendment done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (6)
1. surpassed a method of inspection for sync detection device, the described sync detection device that surpassed comprises the first detecting device, second detection device and the 3rd detecting device, it is characterized in that, comprises complete engine set installation detection mode and complete machine operation detection mode, wherein:
Described complete engine set installation detection mode comprises the following steps:
Detect two differences that surpassed luffing elevator rope stretching length by the first detecting device, this difference is designated as △ ε;
This difference △ ε is fed back in controller, carry out logical process by controller, result Ip1 and Ip2 are respectively used to regulate surpass luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2;
Regulate respectively and surpassed luffing I motor rotary speed Nm1 and surpassed luffing II motor rotary speed Nm2 by Lp1 and Lp2;
Regulate respectively and surpassed luffing I elevator rope stretching length L 1 and surpassed the difference between luffing II elevator rope stretching length L 2 by Nm1 and Nm2, reach and surpassed luffing synchro control demand;
Described complete machine operation detection mode comprises the following steps:
Guide the fag end of second detection device and surpassed synchronous rope fag end synchronizing moving by trailer coupling, then detect by second detection device pulling rope length size distance and the direction that synchronization rope end departs from ideal position, and then judgement surpass luffing elevator I and surpassed luffing elevator II elevator rope stretching length difference, be designated as △ L;
This difference △ L is fed back in controller by having surpassed luffing displacement pickup, result Ip1 and Ip2 are respectively used to regulate surpass luffing I main pump apportioning valve aperture Kp1 and surpassed luffing II main pump apportioning valve aperture Kp2;
Regulate respectively and surpassed luffing I discharge of main pump Lp1 and surpassed luffing II discharge of main pump Lp2 by Kp1 and Kp2;
Regulate respectively and surpassed luffing I motor rotary speed Nm1 and surpassed luffing II motor rotary speed Nm2 by Lp1 and Lp2;
Regulate respectively and surpassed luffing I elevator rope stretching length L 1 and surpassed the difference △ L between luffing II elevator rope stretching length L 2 by Nm1 and Nm2, reach and surpassed luffing synchro control demand.
2. the method for inspection that has surpassed sync detection device according to claim 1, is characterized in that, described the first detecting device is two super lift winch coders, and described super lift winch coder is coaxially connected with super lift winch reel.
3. the method for inspection that has surpassed sync detection device according to claim 1, is characterized in that, described second detection device is displacement pickup.
4. the method for inspection that has surpassed sync detection device according to claim 1, is characterized in that, described the 3rd detecting device is vernier.
5. the method for inspection that has surpassed sync detection device according to claim 4, is characterized in that, described vernier is provided with and synchronizes the synchronization-moving vernier pointer of steel rope mid point.
6. the method for inspection that has surpassed sync detection device according to claim 1, is characterized in that, described controller is PID regulating control.
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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 CN102515024A (en) | 2012-06-27 |
| CN102515024B true CN102515024B (en) | 2014-07-23 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104609311B (en) * | 2015-02-03 | 2016-09-14 | 徐工集团工程机械股份有限公司 | A kind of double hoisting synchronous control system for crane and method |
| 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 |
| CN114104978B (en) * | 2021-10-26 | 2023-05-23 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, working machine, equipment and medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200946069Y (en) * | 2006-08-18 | 2007-09-12 | 上海三一科技有限公司 | Pedrail crane master-auxiliary hoister synchronous control device |
| CN101746675A (en) * | 2009-12-31 | 2010-06-23 | 三一汽车制造有限公司 | Crane super lifting device, control system and control method thereof |
| CN201980875U (en) * | 2010-12-28 | 2011-09-21 | 徐州重型机械有限公司 | Crane and lifting control device thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10120377A (en) * | 1996-10-25 | 1998-05-12 | Sumitomo Constr Mach Co Ltd | Winch control device |
| DE602005026013D1 (en) * | 2004-08-02 | 2011-03-03 | Terex Demag Gmbh | HORIZONTAL DRIVE WITH ONLY SINGLE FLOOR BOTTLE AND TWO WINCHES |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200946069Y (en) * | 2006-08-18 | 2007-09-12 | 上海三一科技有限公司 | Pedrail crane master-auxiliary hoister synchronous control device |
| CN101746675A (en) * | 2009-12-31 | 2010-06-23 | 三一汽车制造有限公司 | Crane super lifting device, control system and control method thereof |
| 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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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. |