CN103754777B - The situation monitoring method and system of counterweight after crawler crane mainframe - Google Patents
The situation monitoring method and system of counterweight after crawler crane mainframe Download PDFInfo
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- CN103754777B CN103754777B CN201310721821.XA CN201310721821A CN103754777B CN 103754777 B CN103754777 B CN 103754777B CN 201310721821 A CN201310721821 A CN 201310721821A CN 103754777 B CN103754777 B CN 103754777B
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- ideal range
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Abstract
The invention discloses a kind of situation monitoring method and system of counterweight after crawler crane mainframe, including：Receive crane current operating conditions；Calculate the ideal range of the rear balance position for determining crawler crane mainframe in real time according to the crane current operating conditions；Judge whether the current location of the rear counterweight of the crawler crane mainframe is located within the ideal range, and when the current location is not located within the ideal range, the position of the rear counterweight of the adjustment crawler crane mainframe is acted until being located within the ideal range by controlling executing agency.The situation monitoring method of counterweight can improve counterweight utilization rate according to balance position after crane current operating conditions real-time adjustment after the crawler crane mainframe that the present invention is provided.
Description
Technical field
The present invention relates to counterweight control technology field, the situation monitoring method of counterweight more particularly to after crawler crane mainframe
And system.
Background technology
Crawler crane is all come balancing load, so as to reach whole machine by rear counterweight or super-starting balance weight both at home and abroad at present
Stabilization, counterweight should make crane be tumbled before will not both occurring, tipping backwards will not occur again.The rear counterweight of current crane both at home and abroad
One or several positions are all integrally fixed at, rear balance position can not change in the crane course of work, and counterweight utilization rate is relatively low.
The content of the invention
In view of this, the present invention proposes a kind of situation monitoring method and system of counterweight after crawler crane mainframe, with reality
Counterweight can improve counterweight utilization rate according to crane current operating conditions with adjustment position after existing main frame.
On the one hand, there is provided a kind of situation monitoring method of counterweight after crawler crane mainframe, including：Receive crane current
Running status；Calculate the reason of the rear balance position for determining crawler crane mainframe in real time according to the crane current operating conditions
Think scope；Judge whether the current location of the rear counterweight of the crawler crane mainframe is located within the ideal range, and
The current location is not located at when within the ideal range, and the adjustment crawler crane main is acted by controlling executing agency
The position of the rear counterweight of machine is until be located within the ideal range.
Further, it is described " to be calculated according to the crane current operating conditions and determine that the rear of crawler crane mainframe is matched somebody with somebody
The step of ideal range of weight position ", includes：Complete machine stability, arm support are calculated in real time according to the crane current operating conditions
At least one of the stability of a system and revolving support ability, and correspondence is according to the complete machine stability, boom system stability
And at least one of revolving support ability determine it is corresponding after balance position ideal range.
Further, it is described " according in the complete machine stability, boom system stability and revolving support ability at least
The step of one ideal range for determining corresponding rear balance position ", includes：Respectively according to the complete machine stability, the arm support
The stability of a system and the revolving support ability will match somebody with somebody to should determine that the ideal range of balance position after three after described three
The common factor of the ideal range of weight position is used as final ideal range.
Further, the crane current operating conditions include：On the angle of inclination of crawler crane, crawler crane
The angle of revolution of car, current crawler crane operating mode configuration information, arm support angle and current information carrying of hanging cease.
Further, also wrapped after the step of current location is not located within the ideal range is judged described
Include：Send the first warning message；And/or, it is located in the current location for judging the rear counterweight of the crawler crane mainframe described
Within ideal range and with the ideal range minimum value distance less than safe clearance or with the ideal range in most
When big value distance is less than safe clearance, the second warning message is sent.
Further, also wrapped after the step of current location is not located within the ideal range is judged described
Include：In the minimum value during the current location is less than the ideal range, the action that limitation force moment of crane reduces；Described
When current location is more than the maximum in the ideal range, the action of limitation force moment of crane increase.
Further, described " determination crawler crane mainframe is calculated in real time according to the crane current operating conditions
Rear balance position ideal range " the step of after also include：Control display show the ideal range and it is described after match somebody with somebody
The current location of weight.
On the other hand, there is provided the situation monitoring system of counterweight after a kind of crawler crane mainframe, including：Controller, its bag
Include：Receiving unit, for receiving crane current operating conditions；Position range determining unit, for being worked as according to the crane
Preceding running status calculates the ideal range of the rear balance position for determining crawler crane mainframe in real time；Processing unit, for judging
Whether the current location of the rear counterweight of the crawler crane mainframe is located within the ideal range, and is judging described current
Position is not located at when within the ideal range, is matched somebody with somebody by controlling executing agency to act adjustment the rear of crawler crane mainframe
The position of weight is until be located within the ideal range.
Further, the situation monitoring system of counterweight also includes after the crawler crane mainframe：Risen for sensing crawler belt
The level meter at heavy-duty machine angle of inclination, the encoder for sensing crawler crane upper-part rotation angle, for providing current crawler belt
The limiter of moment of crane operating mode configuration information, the length of the current location of rear counterweight for sensing crawler crane mainframe
At least one in sensor.
Further, the situation monitoring system of counterweight also includes after the crawler crane mainframe：First warning device, uses
The first warning message is sent after being not located within the ideal range in the processing unit judgement current location；Second
Warning device, for judging that the current location of rear counterweight of the crawler crane mainframe is located at the reason in the processing unit
It is within the scope of thinking and less than safe clearance or maximum with the ideal range with minimum value distance in the ideal range
When value distance is less than safe clearance, the second warning message is sent；And/or；Display, for showing the ideal range and described
The current location of counterweight afterwards.
The situation monitoring method and system of counterweight are by entirely worked in crane after crawler crane mainframe of the present invention
The ideal range of balance position after being calculated in real time in journey, and by controlling executing agency（Oil cylinder etc.）Counterweight is positioned at the reason after control
In the range of thinking, counterweight utilization rate can be improved according to balance position after crane current operating conditions real-time adjustment.
Brief description of the drawings
The accompanying drawing for constituting a part of the invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate, for explaining the present invention, not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the situation monitoring method flow diagram of counterweight after crawler crane mainframe provided in an embodiment of the present invention；
Fig. 2 is the structural representation of the situation monitoring system of counterweight after crawler crane mainframe provided in an embodiment of the present invention
Figure, understands also show for the executing agency of balance position after adjustment and for limiter of moment provides letter in Fig. 2 for convenience
The angular transducer and force snesor of breath；
Fig. 3 is the display content schematic diagram of display in Fig. 2.
Specific embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the flow chart of the situation monitoring method of counterweight after crawler crane mainframe provided in an embodiment of the present invention；Such as
Shown in Fig. 1, the situation monitoring method of counterweight includes after the crawler crane mainframe：
Step 11：Receive crane current operating conditions；During concrete operations, crane current operating conditions can include with
Under one or more in each information：Angle of revolution, current crawler belt that the angle of inclination of crawler crane, crawler crane are got on the bus
Crane operating mode configuration information（Such as operating mode, brachium, balance weight, suspension hook weight）, arm support angle and current hang information carrying breath etc..
Step 12：Calculate the rear balance position of determination crawler crane mainframe in real time according to crane current operating conditions
Ideal range；
During concrete operations, complete machine stability, boom system stability can be in real time calculated according to crane current operating conditions
At least one of and revolving support ability, and correspondence is according to complete machine stability, boom system stability and revolving support ability
At least one of determine it is corresponding after balance position ideal range；
It is specific such as, respectively according to complete machine stability, boom system stability and revolving support ability to should determine that three after
The ideal range of balance position, and using the common factor of the ideal range of balance position after three as final ideal range；Wherein,
Can ensure that whole machine neither leans forward nor hypsokinesis with the rear balance position in the range of this according to the ideal range that complete machine stability determines
It is defined, can guarantee that arm support not hypsokinesis is with the rear balance position in the range of this according to the ideal range that boom system stability determines
Standard, should ensure that revolving support carries feelings according to the ideal range that revolving support ability determines with the rear balance position in the range of this
Condition is below the endurance curves of revolving support.
Step 13：Judge whether the current location of the rear counterweight of crawler crane mainframe is located within above-mentioned ideal range；
During concrete operations, the physical location of the counterweight before and after can be measured by linear transducer or angular transducer, certainly, after this
The current location of counterweight can obtain by other means, such as be obtained by laser range sensor.
Step 14：When judging that current location is not located within ideal range, by controlling executing agency（Oil cylinder etc.）It is dynamic
The position of the rear counterweight of crawler crane mainframe is adjusted until being located within ideal range.
Step 15：Judging to send the first warning message after current location is not located within ideal range；Can such as control
Blinking red lamp, and have continuous alarm sound, i.e. the first warning message embodies in the form of audible alarm and light alarm are combined, specific behaviour
When making, first warning message can also have other forms.Crawler crane is limited when necessary to be moved to dangerous direction
Step 16：Crane can be limited after judgement current location is not located within ideal range to be transported to dangerous direction
It is dynamic, specifically include：
In the minimum value during the current location is less than the ideal range, the action that limitation force moment of crane reduces；
In the maximum during the current location is more than the ideal range, the action of limitation force moment of crane increase.
Step 17：It is located within ideal range and non-position in the current location for judging the rear counterweight of crawler crane mainframe
When in safe range（It is i.e. less than default safe clearance or maximum with ideal range with minimum value distance in ideal range
When value distance is less than the safe clearance）, the second warning message is sent, second warning message can be amber light flicker, while having
Interval alarm, to remind manipulator to note safe operation.Certainly, second warning message can also have other forms.
Step 18：The current location of control display display ideal range and rear counterweight；Specifically, can be in drivers' cab
In scale bar mode on display（As shown in Figure 3）The maximum of balance position after allowing（Such as region in Fig. 3 scale bars
3 low order end）And minimum value（Such as the high order end in region 1 in Fig. 3 scale bars）, the current location of rear counterweight should at the two it
Between；In view of being extreme position in maximum and minimum value, in practical operation, safe clearance can be pre-set, in minimum
Value+safe clearance<Counterweight physical location afterwards<During maximum-safe clearance, can be referred to as to be located at institute in safety zone, i.e. Fig. 3
Show region 2, during display, the region can show green；In minimum value≤rear counterweight physical location≤minimum value+safe clearance or
During maximum-safe clearance≤rear counterweight physical location≤maximum, region 1 and 3（Can be understood as warning region）Can show
Show yellow；In rear counterweight physical location<Minimum value or maximum<Afterwards during counterweight physical location, can be with correspondence in Set scale bar
Region（Fig. 3 is not shown）Display is red.
It should be noted that the ideal range of balance position is with complete machine stability, boom system after being calculated in the present embodiment
Explained as a example by stability, three kinds of restrictive conditions of revolving support ability, three of the above is not limited only in practical operation
Restrictive condition（It is the amount doesn't matter）, corresponding crane current operating conditions can select according to actual needs.Above-mentioned steps 14,15
And 16 be judge current location be not located within ideal range after operation, can select one is carried out, it is also possible to according to default
Sequentially（It is not limited to the order of step numbers in the present embodiment）Carry out, can also carry out simultaneously；Step 17 is to judge crawler belt
The current location of the rear counterweight of heavy-duty machine main frame is located within ideal range and is not located at operation when in safe range, mainly
Serve as warning, being can selection operation；Step 18 be conducive to operator intuitively to consult after counterweight current location etc., be preferred side
Case.
The angle of inclination that the present embodiment passes through the level meter real-time monitoring crawler crane on lifting machine platform, leads to
The angle of revolution that the encoder real-time monitoring crawler crane crossed on crawler crane revolving support is got on the bus, by torque
Limiter obtains current crawler crane operating mode configuration information, arm support angle, currently hangs the parameters such as load, in summary information control
Device can in real time calculate the maximum that complete machine stability, boom system stability, three restrictive conditions of revolving support ability are allowed
With balance position after minimum；And after real-time control balance position be located between the minimum value and maximum, i.e., after with Beijing South Maxpower Technology Co. Ltd according to
Crane current operating conditions（Such as load or machine gravity）Real-time adjustment position, when loading moment increases, makes rear counterweight
Moved behind position, when loading moment reduces, rear balance position is moved forward, improve counterweight utilization rate, in the case of identical rear counterweight, this
What method can lift crawler crane hangs loading capability, such as improves load-carrying ability of the crane in the case of large radius；Ensureing to match somebody with somebody
On the premise of weight effect, balance weight after can effectively mitigating.
Fig. 2 is the flow chart of the situation monitoring system of counterweight after crawler crane mainframe provided in an embodiment of the present invention, Fig. 1
The explanation of shown method can apply to the present embodiment；As shown in Fig. 2 the position of counterweight is adjusted after the crawler crane mainframe
Control system includes：Controller 201, its（Concrete structure Fig. 2 is not shown）Including：Receiving unit, currently transports for receiving crane
Row state；Position range determining unit, for calculating determination crawler crane mainframe in real time according to crane current operating conditions
Rear balance position ideal range；Processing unit, for judge crawler crane mainframe rear counterweight current location whether
Within ideal range, and when judging that current location is not located within ideal range, adjusted by controlling executing agency to act
The position of the rear counterweight of whole crawler crane mainframe is until be located within ideal range.
It is understood that each unit of controller noted above 201 is division functionally, each unit can with whole installation,
Can also be separately provided.
Specifically, the situation monitoring system of counterweight also includes after above-mentioned crawler crane mainframe：For sensing crawler belt lifting
It is the level meter 203 at machine angle of inclination, the encoder 204 for sensing crawler crane upper-part rotation angle, current for providing
The limiter of moment 205 of crawler crane operating mode configuration information（There can be multiple）, for sensing crawler crane mainframe after
At least one in the linear transducer 202 of the current location of counterweight, to provide crane current operating conditions as needed
Various information.
Preferably, the situation monitoring system of counterweight also includes after crawler crane mainframe（It is not shown）：First alarm dress
Put, for sending the first warning message after processing unit judges that current location is not located within ideal range；Second alarm dress
Put, for processing unit judge crawler crane mainframe rear counterweight current location be located at ideal range within and with reason
Think in scope minimum value distance less than safe clearance or with maximum distance is less than safe clearance in ideal range when, send the
Two warning messages.Above-mentioned first warning device and the second warning device are provided separately, red light and Huang such as in Fig. 1 explanations
Lamp, can also be certainly same warning device, such as be voice guard, and its first warning message for sending and second is alarmed
The frequency of information is different.
Preferably, the situation monitoring system of counterweight also includes display 206 after crawler crane mainframe, for showing ideal
The current location of scope and rear counterweight.The ideal range of the balance position after method calculates crawler crane in real time of controller 201
And show over the display（Detailed process refers to the explanation in Fig. 1）, such as scale bar（See Fig. 3）Two ends show institute with numerical value
The rear balance position for allowing（That is ideal range）Maximum and minimum value, arrow in Fig. 3（Can also be the shapes such as black triangle
Formula）Meaning is the current physical location of rear counterweight.
It should be noted that controller, display can be the existing controller of crawler crane, display in the present embodiment
The correlation function of controller and display in device, i.e. the present embodiment is integrated in the existing controller of crawler crane and display
In；The situation monitoring system of counterweight can be defaulted as Automatic Control after crawler crane mainframe, can switch at any time as needed
It is control manually；Counterweight scope shown on driver's door displays can not be strip, it is also possible to individually with figure or
Numerical value shows.
By balance position after the calculating in real time in crane whole work process in the present embodiment, and by controlling to perform
Mechanism（Oil cylinder etc.）Counterweight is servo-actuated after control, can improve counterweight utilization rate according to balance position after loading condition real-time adjustment；And
The rational position of counterweight after showing in real time, rear counterweight physical location has crane to have sound and light alarm to carry when approaching limiting value
Show, improve security.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (8)
1. after a kind of crawler crane mainframe counterweight situation monitoring method, it is characterised in that including：
Receive crane current operating conditions；
Calculate the preferable model of the rear balance position for determining crawler crane mainframe in real time according to the crane current operating conditions
Enclose, wherein, complete machine stability, boom system stability and revolving support are calculated in real time according to the crane current operating conditions
Ability, respectively according to the complete machine stability, the boom system stability and the revolving support ability to should determine that three
The ideal range of balance position afterwards；
Judge whether the current location of the rear counterweight of the crawler crane mainframe is located within the ideal range, and described
Current location is not located at when within the ideal range, and the adjustment crawler crane mainframe is acted by controlling executing agency
The position of counterweight is until be located within the ideal range, and the common factor of the ideal range of counterweight after described three is made after three
It is final ideal range.
2. according to claim 1 after crawler crane mainframe counterweight situation monitoring method, it is characterised in that described
Heavy-duty machine current operating conditions include：Angle of revolution, current crawler belt that the angle of inclination of crawler crane, crawler crane are got on the bus
Heavy-duty machine operating mode configuration information, arm support angle and current information carrying of hanging cease.
3. after the crawler crane mainframe according to claim 1 to 2 any one counterweight situation monitoring method, its feature exists
In,
Also include after the step of current location is not located within the ideal range is judged described：Send the first report
Alert information；And/or,
The current location for judging the rear counterweight of the crawler crane mainframe be located within the ideal range and with it is described
In ideal range minimum value distance less than safe clearance or with the ideal range maximum distance less than safe clearance when,
Send the second warning message.
4. according to claim 3 after crawler crane mainframe counterweight situation monitoring method, it is characterised in that it is described
Judge also to include after the step of current location is not located within the ideal range：
In the minimum value during the current location is less than the ideal range, the action that limitation force moment of crane reduces；
In the maximum during the current location is more than the ideal range, the action of limitation force moment of crane increase.
5. according to claim 1 after crawler crane mainframe counterweight situation monitoring method, it is characterised in that described
" calculating the ideal range of the rear balance position for determining crawler crane mainframe in real time according to the crane current operating conditions "
The step of after also include：
Control display shows the current location of the ideal range and the rear counterweight.
6. after a kind of crawler crane mainframe counterweight situation monitoring system, it is characterised in that including controller, it includes：
Receiving unit, for receiving crane current operating conditions；
Position range determining unit, for calculating determination crawler crane mainframe in real time according to the crane current operating conditions
Rear balance position ideal range, wherein, calculate complete machine stability, arm support in real time according to the crane current operating conditions
The stability of a system and revolving support ability, respectively according to the complete machine stability, the boom system stability and the revolution
Enabling capabilities are to should determine that the ideal range of balance position after three；
Processing unit, for judging whether the current location of rear counterweight of the crawler crane mainframe is located at the ideal range
Within, and when judging that the current location is not located within the ideal range, adjustment institute is acted by controlling executing agency
The position of counterweight after three of crawler crane mainframe is stated until being located within the ideal range, and by counterweight after described three
Ideal range common factor as final ideal range.
7. according to claim 6 after crawler crane mainframe counterweight situation monitoring system, it is characterised in that also include：
Level meter, the encoder for sensing crawler crane upper-part rotation angle, use for sensing crawler crane angle of inclination
In providing the limiter of moment of current crawler crane operating mode configuration information, rear counterweight for sensing crawler crane mainframe
At least one in the linear transducer of current location.
8. after the crawler crane mainframe according to claim 6 or 7 counterweight situation monitoring system, it is characterised in that also wrap
Include：
First warning device, for the hair after the processing unit judges that the current location is not located within the ideal range
Go out the first warning message；
Second warning device, the present bit set of the rear counterweight for judging the crawler crane mainframe in the processing unit
Within the ideal range and with the ideal range minimum value distance less than safe clearance or with the preferable model
When enclosing middle maximum distance less than safe clearance, the second warning message is sent；
And/or；
Display, the current location for showing the ideal range and the rear counterweight.
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| CN201310721821.XA CN103754777B (en) | 2013-12-24 | 2013-12-24 | The situation monitoring method and system of counterweight after crawler crane mainframe |
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| CN201310721821.XA CN103754777B (en) | 2013-12-24 | 2013-12-24 | The situation monitoring method and system of counterweight after crawler crane mainframe |
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| JP2549579B2 (en) * | 1990-09-20 | 1996-10-30 | ヤマトボーリング株式会社 | Method and device for operating power shovel for soft ground construction |
| CN201087088Y (en) * | 2007-08-21 | 2008-07-16 | 李海青 | Counterbalance weight self-adaptive control device of luffing jib type tower crane |
| CN102275837B (en) * | 2011-06-14 | 2015-03-18 | 上海三一科技有限公司 | Super-lifting counter weight optimization control device and method and crane comprising same |
| CN102562941A (en) * | 2012-02-21 | 2012-07-11 | 中联重科股份有限公司 | Engineering machinery and weight regulating device thereof |
| CN102718159B (en) * | 2012-06-29 | 2014-08-27 | 徐工集团工程机械股份有限公司 | Folding-arm-type super lifting counter weight amplitude variation device for crawler crane |
| CN103046606B (en) * | 2012-12-21 | 2014-12-24 | 中联重科股份有限公司 | Engineering mechanical equipment, movable counterweight system and control method |
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