CN103303832A - Method for controlling expansion and contraction of suspension arm and winding and paying off of winch wire rope, system and crane - Google Patents
Method for controlling expansion and contraction of suspension arm and winding and paying off of winch wire rope, system and crane Download PDFInfo
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- CN103303832A CN103303832A CN 201310279113 CN201310279113A CN103303832A CN 103303832 A CN103303832 A CN 103303832A CN 201310279113 CN201310279113 CN 201310279113 CN 201310279113 A CN201310279113 A CN 201310279113A CN 103303832 A CN103303832 A CN 103303832A
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Abstract
The invention discloses a method for controlling the expansion and contraction of a suspension arm and the winding and paying off of a winch wire rope. The method comprises the following steps: detecting speed parameters of extending or contracting of the suspension arm and winding or paying off of the winch wire rope in a certain operating state; and calculating the extending or contracting speed V1 of the suspension arm and the winding or paying off speed V2 of the winch wire rope according to the speed parameters respectively, judging whether V1 equals to V2 or not, and if not, sending a control instruction for adjusting a power component of the suspension arm or the winch to ensure that V1 equals to V2. The method has the advantages that the expansion or contraction of the suspension arm and the winding or paying off of the winch wire rope can be controlled synchronously, and the moving speeds of the suspension arm and the winch wire rope can be detected in a real time manner, so that the control is more accurate; the degree of automation is higher; complex operation of the suspension arm and the winch wire rope in the prior art is greatly simplified; the operation is simple and reliable; and the working performance of a crane is greatly improved. Moreover, the invention further discloses a control system and the crane adopting the control method.
Description
Technical field
The present invention relates to lift the control technology field, particularly a kind of hoisting arm expansion and hoisting rope are put control method, system and the hoisting crane of receipts.
Background technology
In hoisting crane, finishing of lifting operation needs coordination between the different parts of hoisting crane, take the elongation of crane arm as example, because being provided with the steel rope that connects hoisting mechanism on the arm, so arm is when elongation, also will consider the action of steel rope, prior art generally realizes the elongation of arm and the coordination of the transferring control of hoisting rope by the following method, and is specific as follows described.
Please in conjunction with Fig. 1, Fig. 1 is that a kind of typical hoisting arm expansion and hoisting rope are put the diagram of circuit of the control method of receipts in the prior art.
Generally hoisting rope is at the arm readiness that automatically protracts, the suspension hook steel rope can be reserved the surplus L0 of certain-length, what of length are according to operator's micro-judgment, but because the restriction of operational space, being doomed this surplus can be not long, so just cause the operator in the arm elongation process, along with arm front-extending quantity L increases, the steel rope surplus L0 that reserves on the suspension hook constantly reduces, and when surplus reduced to 0, suspension hook was run into the top weight, weight triggers height limit switch, controller stops arm automatically to protract, and at this moment, needs the rotation of operating personal operation elevator, steel rope drives suspension hook and drops to certain altitude, and then continue to the arm that protracts, so repeatedly, need length until reach fully.
Along with arm amount of recovery L increases, the steel rope surplus L0 that reserves on the suspension hook constantly increases, and the steel rope amount is after increasing: L0+L.May cause that like this suspension hook lands, thereby hoisting rope is not when being subjected to suspension hook weight pulling force, the phenomenon such as disorder cable can occur, slide down, at this moment, need operating personal to stop the arm retraction, the rotation of operation elevator hoists, straight suspension hook is liftoff to certain altitude, and then continue the retraction arm, so repeatedly, need length until be reduced to fully.
In sum, flexible and the hoisting rope of arm puts that to receive be intermittent discontinuous work in the prior art, need operating personal constantly alternately repeatedly to operate the power switch of arm and elevator, just can reach arm flexible and hoisting rope put the coupling of receiving both, operate cumbersomely, cause the work efficiency of hoisting crane lower; And it is very high for the experience requirement of operating personal to be somebody's turn to do operation, and for the operating personal of lacking experience, operation easier is higher, accident easily occurs when serious, causes unnecessary loss.
Therefore, how providing a kind of control method, can realize arm and elevator realization synchronization action, improve the operating efficiency of hoisting crane, is the technical matters that those skilled in that art need to be resolved hurrily.
Summary of the invention
The control method of purpose of the present invention for providing a kind of hoisting arm expansion and hoisting rope to put receipts can realize arm and elevator realization synchronization action, improves the operating efficiency of hoisting crane.In addition, another object of the present invention is for providing a kind of control system and hoisting crane that comprises above-mentioned control method.
For solving the problems of the technologies described above, the invention provides the control method that a kind of hoisting arm expansion and hoisting rope are put receipts, this control method is carried out according to the following steps:
The speed parameter of putting rope or rope closing of steel rope in the speed parameter of arm elongation or retraction and the corresponding state elevator in S1, a certain mode of operation of detection;
S2, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope calculated respectively the elongation of arm or retraction speed V1 and steel rope, and judge whether V1 equals V2, if the determination result is NO, then send the power part of regulating described arm or elevator and make V1 equal the control command of V2, then return step S1; If judged result is yes, then return step S1.
Preferably, the steel rope among the above-mentioned steps S2 put the rope or rope closing speed V2 calculate according to following formula:
V2=ω*（R+2nr），(n≥1)；
Wherein, ω represents the elevator rotational angular velocity, and n represents the number of plies of steel rope on the elevator;
Described elevator rotational angular velocity ω is steady state value, and above-mentioned steps S2 is specially: the power part of regulating described arm makes V1 equal V2.
Preferably, the elongation of described arm or retraction speed V1 obtain by the linear transducer that is arranged on the described arm, and specific formula for calculation is:
Wherein, T represents the hoisting arm expansion time; L represents hoisting arm expansion length in the time period T.
Preferably, put rope during mode of operation when hoisting rope is in, also detect the rope stretching amount parameter of steel rope in the described elevator among the step S1; Before execution in step S2, also increase following steps:
S3, judge according to described rope stretching amount parameter whether steel rope is crossed and put, if so, then send the control command that stops the elevator action, if not, execution in step S2.
Preferably, put rope during mode of operation when hoisting rope is in, also detect the rope stretching amount parameter of steel rope in the described elevator among the step S1; Also increase following steps at execution in step S2 and before returning step S1:
S4, judge according to described rope stretching amount parameter whether steel rope is crossed and put, if so, then send the control command that stops the elevator action, if not, return step S1.
Preferably, described rope stretching amount parameter is the rope stretching length parameter, and particular content is among the step S4: calculate current state rope stretching total length L according to described rope stretching length parameter
Work, and judge the rope stretching total length L
WorkWhether greater than default rope stretching effective length L
Effectively, if so, then send the control command that stops the elevator action, if not, return step S1.
Preferably, L
WorkAnd L
EffectivelyCalculate according to following formula:
Wherein, n represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; R represents elevator radius (non-lay winding wire ropes state); R steel rope radius; X is safe number of turns.
Preferably, described rope stretching amount parameter is the rope stretching time parameter, and step S4 particular content is: calculate rope stretching total time T according to described rope stretching length parameter
Work, and judge rope stretching total time T
The worker DoWhether greater than default rope stretching T effective time
Effectively, if so, then send the control command that stops the elevator action, if not, return step S1.
Preferably, T
WorkAnd T
EffectivelyCalculated by following formula:
Wherein, ω is the cireular frequency that elevator rotates; N represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; X is safe number of turns.
Preferably, when hoisting rope is in the rope closing mode of operation, also detect the lift hook position height parameter among the described step S1, this control method execution in step S2 and return and also increase following steps before the step S1:
S5, judge described suspension hook and weight according to described lift hook position height parameter spacing whether within default safe range, if judge that structure is no, then send the control command that stops the elevator action.
Hoisting arm expansion provided by the present invention and hoisting rope are put and are received control method and can realize that hoisting arm expansion and hoisting rope put the synchro control of receipts, and this mode can realize the real-time detection to the kinematic velocity of arm and hoisting rope, make control more accurately, degree of automation more increases, greatly simplified the loaded down with trivial details property of prior art to both operations, simple to operate, reliable, greatly improved the operating efficiency of hoisting crane.
On the basis of above-mentioned control method, the control system that the present invention also provides a kind of hoisting arm expansion and hoisting rope to put receipts comprises with lower member:
Detecting device is put the receipts speed parameter for detection of steel rope in hoisting arm expansion speed parameter in a certain mode of operation and the corresponding state elevator;
Controller, connect the signal output part section of described detecting device and receive speed parameter according to putting of above-mentioned hoisting arm expansion speed parameter and steel rope and calculate respectively the stretching speed V1 of arm and the receipts speed of the putting V2 of steel rope, then judge whether V1 equals V2, if not, then sending the power part of regulating described arm or elevator makes V1 equal the control command of V2.
Preferably, described detecting device comprises on the reel that is arranged at described elevator putting the angular encoder of receiving speed parameter and being arranged on the described arm linear transducer for detection of described hoisting arm expansion speed parameter for detection of steel rope.
Preferably, the installation portion of described linear transducer is fixed on one of the principal arm of arm and flexible arm head by support, and its movable part is fixed on the another one.
Preferably, described detecting device also comprises the height limit switch that is arranged on the described arm, and for detection of the position height parameter of suspension hook, described controller can also send the control command that stops according to the speech motion according to described position height parameter.
In addition, the present invention also provides a kind of hoisting crane, comprises arm, elevator and is used for the control hoisting arm expansion and hoisting rope is put the control system of receipts; The control system that described hoisting arm expansion and hoisting rope are put receipts is above-mentioned each described control system
Because this control system and hoisting crane have used the control method with above-mentioned technique effect, therefore this control system also has the above-mentioned technique effect of control method, do not repeat them here.
Description of drawings
Fig. 1 is that a kind of typical hoisting arm expansion and hoisting rope are put the diagram of circuit of the control method of receipts in the prior art;
Fig. 2 is the diagram of circuit in the first specific embodiment of arm provided by the present invention elongation and the hoisting rope control method of putting rope;
Fig. 3 is the diagram of circuit in the second specific embodiment of arm provided by the present invention elongation and the hoisting rope control method of putting rope;
Fig. 4 be arm provided by the present invention shorten and the first specific embodiment of the control method of hoisting rope rope closing in diagram of circuit;
Fig. 5 be arm provided by the present invention shorten and the second specific embodiment of the control method of hoisting rope rope closing in diagram of circuit;
Fig. 6 is the structural representation of a kind of specific embodiment of hoisting crane provided by the present invention;
Fig. 7 is a kind of structural representation of the specific embodiment of the elevator of hoisting crane shown in Figure 6.
Wherein, the one-to-one relationship between Reference numeral and the component names is as follows among Fig. 6 and Fig. 7:
1 suspension hook; 2 steel ropes; 3 weights; 4 height limit switchs; 5 linear transducers; 6 connecting cables; 7 angular encoders; 8 reels.
The specific embodiment
The control method of core of the present invention for providing a kind of hoisting arm expansion and hoisting rope to put receipts can realize arm and elevator realization synchronization action, improves the operating efficiency of hoisting crane.In addition, another core of the present invention is for providing a kind of control system and hoisting crane that comprises above-mentioned control method.
In order to make those skilled in the art understand better technical scheme of the present invention, the present invention is described in further detail below in conjunction with control method, control system, the drawings and specific embodiments.
Please refer to Fig. 2, Fig. 2 is the diagram of circuit in the first specific embodiment of hoisting arm expansion provided by the present invention and the hoisting rope control method of putting receipts.
The invention provides a kind of hoisting arm expansion and hoisting rope and put the control method of receipts, this control method is carried out according to the following steps:
The speed parameter of putting rope or rope closing of steel rope 2 in arm elongation or retraction speed parameter and the corresponding state elevator in S1, a certain mode of operation of detection;
Need to prove, it is corresponding that hoisting arm expansion is received with putting of hoisting rope 2, and namely when arm extended, hoisting rope 2 is in put the rope form attitude; On the contrary, when arm bounced back, hoisting rope 2 was in the rope closing state.
S2, calculate respectively elongation or the speed V1 of retraction and the speed V2 of putting rope or rope closing of steel rope 2 of arm according to the speed parameter of putting rope or rope closing of the speed parameter of the elongation of above-mentioned arm or retraction and steel rope 2, and judge whether V1 equals V2, if the determination result is NO, then send the power part of regulating described arm or elevator and make V1 equal the control command of V2, then return step S1; If judged result is yes, then return step S1.
The power part that can regulate arm in this step makes the kinematic velocity of arm equal the kinematic velocity of hoisting rope 2, and the power part that also can regulate elevator changes the rotating speed of elevator, makes the speed of elevator equal the kinematic velocity of arm.
Take V1 greater than V2 as example, the power part that can regulate arm reduces the elongation of arm or the speed V1 of retraction, the power part that also can regulate elevator increases the speed V2 that elevator is put rope or rope closing.
Hoisting arm expansion provided by the present invention and hoisting rope 2 are put and are received control method and can realize that hoisting arm expansion and hoisting rope 2 put the synchro control of receipts, and this mode can realize the real-time detection to the kinematic velocity of arm and hoisting rope 2, make control more accurately, degree of automation more increases, greatly simplified the loaded down with trivial details property of prior art to both operations, simple to operate, reliable, greatly improved the operating efficiency of hoisting crane.
Particularly, the steel rope 2 among the above-mentioned steps S2 put the rope or rope closing speed V2 calculate according to following formula: V2=ω * (R+2nr), (n 〉=1); Wherein, ω represents the elevator rotational angular velocity, and n represents the number of plies of steel rope 2 on the elevator; Elevator rotational angular velocity ω is steady state value, and above-mentioned steps S2 is specially: the power part of regulating described arm makes V1 equal V2.
Elevator can remain the Constant Angular Velocity rotation among this embodiment, can be found out by above-mentioned formula, hoisting rope 2 is identical at the kinematic velocity of the identical number of plies, only needs the stretching speed of control arm to make its kinematic velocity with elevator equivalent layer steel rope 2 identical, and mode is fairly simple.
In the various embodiments described above, steel rope 2 put rope or rope closing speed V2 can detect by the angular encoder 7 by on the reel 8 that is arranged at elevator.
In the concrete embodiment of another kind, the elongation of the arm among the above-mentioned steps S2 or retraction speed V1 are steady state value, are specially among the above-mentioned steps S2: the power part of regulating described elevator makes V2 equal V1.
Can realize that steel rope 2 folding and unfolding speed equate with hoisting arm expansion speed by the rotational angular velocity of regulating constantly elevator in this embodiment.
In the respective embodiments described above, detecting device also comprises and is arranged on the reel 8 detection part that detects the rope stretching amount parameter of steel rope in the described elevator, this detection part can be angular encoder, and controller also sends the control command that stops the elevator action according to described rope stretching amount parameter.Put rope during mode of operation when hoisting rope 2 is in, also detect the rope stretching amount parameter of steel rope 2 in the elevator among the step S1; Further comprising the steps of in this control method:
S3, judge according to described rope stretching amount parameter whether steel rope 2 is crossed and put, if so, then send the control command that stops the elevator action, if not, return step S1.
This mode has further considered the danger that steel rope 2 is crossed the factor of putting, and is conducive to the compound integrated control of control system, simplifies control module.
A kind of preferred embodiment in, above-mentioned rope stretching amount parameter is the rope stretching length parameter, particular content is among the step S3: calculate current state rope stretching total length L according to described rope stretching length parameter
Work, and judge the rope stretching total length L
WorkWhether at default rope stretching effective length L
EffectivelyIn the scope, if so, then send the control command that stops the elevator action, if not, return step S1; L
WorkAnd L
EffectivelyCan calculate according to following formula:
Wherein, n represents the number of plies of steel rope 2 on the elevator; M represents that every layer is arranged steel rope 2 columns; R represents elevator radius (non-lay winding wire ropes 2 states); R steel rope 2 radiuses; X is safe number of turns.
Generally speaking, the numerical value that can select x is 3, and namely when steel rope 2 on the reel 8 was put to residue 3 circle, controller control elevator power part stopped to transfer steel rope 2.
In another preferred embodiment, above-mentioned rope stretching amount parameter can also be the rope stretching time parameter, and step S3 particular content is: calculate rope stretching total time T according to described rope stretching length parameter
Work, and judge rope stretching total time T
WorkWhether at default rope stretching T effective time
EffectivelyIn the scope, if so, then send the control command that stops the elevator action, if not, return step S1.
Wherein, ω is the cireular frequency that elevator rotates; N represents the number of plies of steel rope 2 on the elevator; M represents that every layer is arranged steel rope 2 columns; X is safe number of turns.
Step S3 can be positioned at before the step S2, also can be positioned at after the step S2, this paper has provided respectively and has been positioned at after the step S2 and the diagram of circuit of two kinds of embodiments before, please refer to Fig. 2, Fig. 2 be put judge that the speed that is positioned at is judged after, Fig. 2 is the diagram of circuit in the first specific embodiment of arm elongation provided by the present invention and the hoisting rope control method of putting rope; Concrete control flow is:
The speed parameter of putting rope, the rope stretching amount parameter of steel rope 2 in S11, the speed parameter that detects arm elongation in a certain mode of operation and the corresponding state elevator;
S12, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope 2 calculated respectively the elongation of arm or retraction speed V1 and steel rope 2, and judge whether V1 equals V2, if the determination result is NO, then enter step S13; If judged result is yes, enter step S14;
The power part of S13, the described arm of adjusting or elevator makes V1 equal V2, execution in step S14;
S14, calculate current state rope stretching total length L according to described rope stretching length parameter
WorkOr T
The worker Do, judge whether L
Work〉=L
EffectivelyOr T
Work〉=T
Effectively, if so, then enter step S15; If not, return step S11;
S15, send the control command that stops elevator action.
Please refer to Fig. 3, Fig. 3 be put judge that the speed that is positioned at is judged before, Fig. 4 is the diagram of circuit in the second specific embodiment of arm elongation provided by the present invention and the hoisting rope control method of putting rope; Concrete control flow is:
The speed parameter of putting rope, the rope stretching amount parameter of steel rope 2 in S31, the speed parameter that detects arm elongation in a certain mode of operation and the corresponding state elevator;
S32, calculate current state rope stretching total length L according to described rope stretching length parameter
WorkOr T
Work, judge whether L
Work〉=L
EffectivelyOr T
Work〉=T
Effectively, if so, then enter step S35; If not, return step S33;
S33, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope 2 calculated respectively the elongation of arm or retraction speed V1 and steel rope 2, and judge whether V1 equals V2, if the determination result is NO, then enter step S34; If judged result is yes, return step S31;
The power part of S34, the described arm of adjusting or elevator makes V1 equal V2, returns step S31;
S35, send the control command that stops elevator action.
In the above-described embodiments, when hoisting rope 2 was in the rope closing mode of operation, detecting device also detected suspension hook 1 position height parameter, and this control method is further comprising the steps of:
S5, judge described suspension hook 1 and weight 3 according to described suspension hook 1 position height parameter spacing whether within default safe range, if judge that structure is no, then send the control command that stops suspension hook 1 motion.
Described detecting device also comprises the height limit switch that is arranged on the described arm, position height parameter for detection of suspension hook, described controller can also send the control command that stops the elevator motion according to described position height parameter, suspension hook 1 can be by height limit switch 4 controls that are installed on the arm with the spacing of weight 3, when suspension hook 1 touches height limit switch 4, controller will send the elevator stop motion or accelerate the control command of arm retraction; This mode has further increased the safety of suspension hook 1 rope closing work.
Please refer to Fig. 4, Fig. 4 be arm provided by the present invention shorten and the first specific embodiment of the control method of hoisting rope rope closing in diagram of circuit; Concrete steps are as follows:
Speed parameter, the suspension hook 1 position height parameter of the rope closing of steel rope 2 in S21, the speed parameter that detects arm shortening in a certain mode of operation and the corresponding state elevator;
S22, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope 2 calculated respectively the elongation of arm or retraction speed V1 and steel rope 2, and judge whether V1 equals V2, if the determination result is NO, then enter step S23; If judged result is yes, enter step S24;
The power part of S23, the described arm of adjusting or elevator makes V1 equal V2, execution in step S24;
S24, judge described suspension hook 1 and weight 3 according to described suspension hook 1 position height parameter spacing whether within default safe range, if judge that structure is no, execution in step S25 then; If so, return step S21;
S25, send the control command that stops suspension hook 1 motion.
The judgement that has provided suspension hook 1 and weight 3 among Fig. 5 is positioned at the second specific embodiment that speed is judged control method before, and is specific as follows:
Speed parameter, the suspension hook 1 position height parameter of the rope closing of steel rope 2 in S41, the speed parameter that detects arm shortening in a certain mode of operation and the corresponding state elevator;
S42, judge described suspension hook 1 and weight 3 according to described suspension hook 1 position height parameter spacing whether within default safe range, if judge that structure is no, execution in step S43 then; If so, return step S45;
S43, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope 2 calculated respectively the elongation of arm or retraction speed V1 and steel rope 2, and judge whether V1 equals V2, if the determination result is NO, then enter step S44; If judged result is yes, enter step S41;
The power part of S44, the described arm of adjusting or elevator makes V1 equal V2, returns step S41;
S45, send the control command that stops elevator action.
Certainly, in the various embodiments described above, before the step S1, can also increase step S0, prejudge the mode of operation of arm: arm elongation mode of operation or arm shortens mode of operation, then choose suitable control method according to mode of operation.
Please refer to Fig. 6 and Fig. 7, Fig. 6 is the structural representation of a kind of specific embodiment of hoisting crane provided by the present invention; Fig. 7 is a kind of structural representation of the specific embodiment of the elevator of hoisting crane shown in Figure 6.
On the basis of above-mentioned control method, the present invention also provides a kind of hoisting arm expansion and hoisting rope 2 to put the receipts control system, mainly comprises with lower member:
Detecting device is put the receipts speed parameter for detection of steel rope 2 in hoisting arm expansion speed parameter in a certain mode of operation and the corresponding state elevator;
Controller, connect the signal output part section of described detecting device and receive speed parameter according to putting of above-mentioned hoisting arm expansion speed parameter and steel rope 2 and calculate respectively the stretching speed V1 of arm and the receipts speed of the putting V2 of steel rope 2, then judge whether V1 equals V2, if not, then sending the power part of regulating described arm or elevator makes V1 equal the control command of V2.
The transmission of signal mainly realizes by connecting cable 6 between controller and the detecting device.
Particularly, described detecting device comprises on the reel 8 that is arranged at described elevator putting the angular encoder 7 of receiving speed parameter and being arranged on the described arm linear transducer 5 for detection of described hoisting arm expansion speed parameter for detection of steel rope 2.
Particularly, the installation portion of linear transducer 5 is fixed on one of the principal arm of arm and flexible arm head by support, and its movable part is fixed on the another one
Obtain the mode of steel rope 2 folding and unfolding speed parameters and hoisting arm expansion speed parameter in this embodiment by angular encoder 7 and linear transducer 5, relatively simple for structure, easily realize.
In addition, the present invention also provides a kind of hoisting crane, comprises arm, elevator and is used for the control hoisting arm expansion and hoisting rope 2 is put the control system of receipts; The control system that described hoisting arm expansion and hoisting rope 2 are put receipts is above-mentioned each described control system
Because this control system and hoisting crane have used the control method with above-mentioned technique effect, therefore this control system also has the above-mentioned technique effect of control method, do not repeat them here.
Above control method, system and the hoisting crane that a kind of hoisting arm expansion provided by the present invention and hoisting rope are put receipts is described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (21)
1. a hoisting arm expansion and hoisting rope are put the control method of receipts, it is characterized in that, this control method is carried out according to the following steps:
The speed parameter of putting rope or rope closing of steel rope in the speed parameter of arm elongation or retraction and the corresponding state elevator in S1, a certain mode of operation of detection;
S2, put rope or rope closing speed V2 according to what the speed parameter of the speed parameter of above-mentioned arm and steel rope calculated respectively the elongation of arm or retraction speed V1 and steel rope, and judge whether V1 equals V2, if the determination result is NO, then send the power part of regulating described arm or elevator and make V1 equal the control command of V2, then return step S1; If judged result is yes, then return step S1.
2. control method as claimed in claim 1 is characterized in that, the steel rope among the above-mentioned steps S2 put the rope or rope closing speed V2 calculate according to following formula:
V2=ω * (R+2nr), (n 〉=1); Wherein, ω represents the elevator rotational angular velocity, and n represents the number of plies of steel rope on the elevator;
Described elevator rotational angular velocity ω is steady state value, and above-mentioned steps S2 middle controller sends the power part of regulating described arm makes V1 equal the control command of V2.
3. control method as claimed in claim 2 is characterized in that, the elongation of described arm or retraction speed V1 obtain by the linear transducer that is arranged on the described arm, and specific formula for calculation is:
Wherein, T represents the hoisting arm expansion time; L represents hoisting arm expansion length in the time period T.
4. such as each described control method of claims 1 to 3, it is characterized in that, put rope during mode of operation when hoisting rope is in, also detect the rope stretching amount parameter of steel rope in the described elevator among the step S1; Before execution in step S2, also increase following steps:
S3a, judge according to described rope stretching amount parameter whether steel rope is crossed and put, if so, then send the control command that stops the elevator action, if not, execution in step S2.
5. such as each described control method of claims 1 to 3, it is characterized in that, put rope during mode of operation when hoisting rope is in, also detect the rope stretching amount parameter of steel rope in the described elevator among the step S1; Also increase following steps at execution in step S2 and before returning step S1:
S4, judge according to described rope stretching amount parameter whether steel rope is crossed and put, if so, then send the control command that stops the elevator action, if not, return step S1.
6. control method as claimed in claim 5 is characterized in that, described rope stretching amount parameter is the rope stretching length parameter, and particular content is among the step S4: calculate current state rope stretching total length L according to described rope stretching length parameter
Work, and judge the rope stretching total length L
WorkWhether greater than default rope stretching effective length L
Effectively, if so, then send the control command that stops the elevator action, if not, return step S1.
7. control method as claimed in claim 6 is characterized in that, L
WorkAnd L
EffectivelyCalculate according to following formula:
Wherein, n represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; R represents elevator radius (non-lay winding wire ropes state); R steel rope radius; X is safe number of turns.
8. control method as claimed in claim 7 is characterized in that, described rope stretching amount parameter is the rope stretching time parameter, and step S4 particular content is: calculate rope stretching total time T according to described rope stretching length parameter
Work, and judge rope stretching total time T
WorkWhether greater than default rope stretching T effective time
Effectively, if so, then send the control command that stops the elevator action, if not, return step S1.
9. control method as claimed in claim 8 is characterized in that, T
WorkAnd T
EffectivelyCalculated by following formula:
Wherein, ω is the cireular frequency that elevator rotates; N represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; X is safe number of turns.
10. control method as claimed in claim 5 is characterized in that, when hoisting rope is in the rope closing mode of operation, also detects the lift hook position height parameter among the described step S1, this control method execution in step S2 and return and also increase following steps before the step S1:
S5, judge described suspension hook and weight according to described lift hook position height parameter spacing whether within default safe range, if judge that structure is no, then send the control command that stops the elevator action.
11. a hoisting arm expansion and hoisting rope are put the control system of receipts, it is characterized in that, comprise with lower member:
Detecting device is put the receipts speed parameter for detection of steel rope in hoisting arm expansion speed parameter in a certain mode of operation and the corresponding state elevator;
Controller, receive speed parameter according to putting of above-mentioned hoisting arm expansion speed parameter and steel rope and calculate respectively the stretching speed V1 of arm and the receipts speed of the putting V2 of steel rope, then judge whether V1 equals V2, if not, then sending the power part of regulating described arm or elevator makes V1 equal the control command of V2.
12. control system as claimed in claim 11 is characterized in that, described detecting device comprises on the reel that is arranged at described elevator the angular encoder of receiving speed parameter of putting for detection of steel rope; Steel rope put the rope or rope closing speed V2 calculate according to following formula:
V2=ω * (R+2nr), (n 〉=1); Wherein, ω represents the elevator rotational angular velocity, and n represents the number of plies of steel rope on the elevator;
Described elevator rotational angular velocity ω is steady state value, and above-mentioned steps S2 middle controller sends the power part of regulating described arm makes V1 equal the control command of V2.
13. control system as claimed in claim 12 is characterized in that, the elongation of described arm or retraction speed V1 obtain by the linear transducer that is arranged on the described arm, and specific formula for calculation is:
Wherein, T represents the hoisting arm expansion time; L represents hoisting arm expansion length in the time period T.
14. control system as claimed in claim 13 is characterized in that, the installation portion of described linear transducer is fixed on one of the principal arm of arm and flexible arm head by support, and its movable part is fixed on the another one.
15. such as each described control system of claim 11 to 14, it is characterized in that, described detecting device comprises and is arranged on the described reel detection part that detects the rope stretching amount parameter of steel rope in the described elevator; Described controller also judges that according to described rope stretching amount parameter whether steel rope is put excessively, if so, then sends the control command that stops the elevator action.
16. control system as claimed in claim 15 is characterized in that, described rope stretching amount parameter is the rope stretching length parameter, and described controller calculates current state rope stretching total length L according to described rope stretching length parameter
Work, and judge the rope stretching total length L
WorkWhether greater than default rope stretching effective length L
Effectively, if so, then send the control command that stops the elevator action.
17. control system as claimed in claim 16 is characterized in that, L
WorkAnd L
EffectivelyCalculate according to following formula:
Wherein, n represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; R represents elevator radius (non-lay winding wire ropes state); R steel rope radius; X is safe number of turns.
18. control system as claimed in claim 15 is characterized in that, calculates rope stretching total time T according to described rope stretching length parameter
Work, and judge rope stretching total time T
WorkWhether greater than default rope stretching T effective time
Effectively, if so, then send the control command that stops the elevator action.
19. control system as claimed in claim 18 is characterized in that, T
WorkAnd T
EffectivelyCalculated by following formula:
Wherein, ω is the cireular frequency that elevator rotates; N represents the number of plies of steel rope on the elevator; M represents that every layer is arranged the steel rope columns; X is safe number of turns.
20. control system as claimed in claim 15, it is characterized in that, described detecting device also comprises the height limit switch that is arranged on the described arm, and for detection of the position height parameter of suspension hook, described controller also sends the control command that stops the elevator motion according to described position height parameter.
21. a hoisting crane comprises arm, elevator and is used for the control hoisting arm expansion and hoisting rope is put the control system of receipts; It is characterized in that, the control system that described hoisting arm expansion and hoisting rope are put receipts is each described control system of claim 11 to 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310279113 CN103303832A (en) | 2013-07-03 | 2013-07-03 | Method for controlling expansion and contraction of suspension arm and winding and paying off of winch wire rope, system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310279113 CN103303832A (en) | 2013-07-03 | 2013-07-03 | Method for controlling expansion and contraction of suspension arm and winding and paying off of winch wire rope, system and crane |
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| Publication Number | Publication Date |
|---|---|
| CN103303832A true CN103303832A (en) | 2013-09-18 |
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ID=49129604
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310279113 Pending CN103303832A (en) | 2013-07-03 | 2013-07-03 | Method for controlling expansion and contraction of suspension arm and winding and paying off of winch wire rope, system and crane |
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| CN (1) | CN103303832A (en) |
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| CN103552946A (en) * | 2013-11-08 | 2014-02-05 | 徐工集团工程机械股份有限公司 | Control method and control system for safely releasing winding steel wire rope |
| CN103663153B (en) * | 2013-12-10 | 2015-09-02 | 中联重科股份有限公司 | Crane hoisting control method, device, system and hoisting crane |
| CN106115515A (en) * | 2016-08-31 | 2016-11-16 | 润邦卡哥特科工业有限公司 | A kind of sea work folding-jib crane released rope detecting device |
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| CN108249319A (en) * | 2017-12-12 | 2018-07-06 | 湖南百特随车起重机有限公司 | A kind of automatic discharge device of suspension hook for crane and its method is released automatically |
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| CN103552946B (en) * | 2013-11-08 | 2015-12-02 | 徐工集团工程机械股份有限公司 | Hoisting rope puts safely rope control method |
| CN103552946A (en) * | 2013-11-08 | 2014-02-05 | 徐工集团工程机械股份有限公司 | Control method and control system for safely releasing winding steel wire rope |
| CN103663153B (en) * | 2013-12-10 | 2015-09-02 | 中联重科股份有限公司 | Crane hoisting control method, device, system and hoisting crane |
| CN106458542B (en) * | 2014-05-19 | 2019-01-15 | 株式会社多田野 | The boom automatic extending-contracting apparatus of Work machine |
| CN106458542A (en) * | 2014-05-19 | 2017-02-22 | 株式会社多田野 | Automatic boom extension/contraction device for work machine |
| US9868617B2 (en) | 2014-05-19 | 2018-01-16 | Tadano Ltd. | Automatic boom telescopic motion apparatus for working machine |
| CN106115515A (en) * | 2016-08-31 | 2016-11-16 | 润邦卡哥特科工业有限公司 | A kind of sea work folding-jib crane released rope detecting device |
| CN108249319A (en) * | 2017-12-12 | 2018-07-06 | 湖南百特随车起重机有限公司 | A kind of automatic discharge device of suspension hook for crane and its method is released automatically |
| CN109250634A (en) * | 2018-09-30 | 2019-01-22 | 珠海云洲智能科技有限公司 | A kind of winch gear |
| CN109437019A (en) * | 2018-12-10 | 2019-03-08 | 中联重科股份有限公司 | Crane hook height control method, device and crane |
| CN110240072A (en) * | 2019-06-17 | 2019-09-17 | 辽宁机电职业技术学院 | A kind of control method for telescopic crane boom |
| CN110240072B (en) * | 2019-06-17 | 2020-05-15 | 辽宁机电职业技术学院 | Control method for telescopic arm of crane |
| CN113207645A (en) * | 2021-05-06 | 2021-08-06 | 江苏德源制泵有限公司 | Sprinkling irrigation pipe recovery speed adjusting device, adjusting method using sprinkling irrigation pipe recovery speed adjusting device and sprinkling irrigation machine |
| CN114380223A (en) * | 2021-12-17 | 2022-04-22 | 三一汽车起重机械有限公司 | Crane hoisting rope follow-up control method and device and crane |
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Application publication date: 20130918 |