CN104118812A - Crane and rope-disorder-preventing controlling device and method for winch of crane - Google Patents
Crane and rope-disorder-preventing controlling device and method for winch of crane Download PDFInfo
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- CN104118812A CN104118812A CN201410364419.5A CN201410364419A CN104118812A CN 104118812 A CN104118812 A CN 104118812A CN 201410364419 A CN201410364419 A CN 201410364419A CN 104118812 A CN104118812 A CN 104118812A
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- rope
- disorder cable
- elevator
- reel
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Abstract
The invention discloses a rope-disorder-preventing controlling device for a winch of a crane. The winch comprises a winding drum, a steel wire rope and a lifting hook. The rope-disorder-preventing controlling device comprises a winding drum detection unit and a controller. The winding drum detection unit is used for obtaining rotating information of the winding drum. The controller is used for obtaining the length L<hoist> of the unwound portion of the steel wire rope of the winch according to the rotating information of the winding drum, obtaining the tensile force T<0> of the position, where the winding drum is located, of the steel wire rope according to the length L<hoist> of the unwound portion of the steel wire rope of the winch, and further judging whether the rope disorder risk exists or not by comparing the T<0> with T<min>, if the T<0> is larger than or equal to the T<min>, the rope disorder risk does not exist, and if the T<0> is smaller than the T<min>, the rope disorder risk exists, wherein the T<min> is the minimum tensile force of the steel wire rope; meanwhile, after it is judged that the rope disorder risk exists, an alarm and prompting message is output, and motions which increase the rope disorder risk are limited. By means of a method, the rope disorder risk of the steel wire rope of the winch of the crane can be remarkably reduced, and therefore the operation progress and the operation safety of the crane are effectively guaranteed. The invention further provides the rope-disorder-preventing controlling method for the winch and the crane with the rope-disorder-preventing controlling device of the winch.
Description
Technical field
The present invention relates to technical field of engineering machinery, be specifically related to the anti-disorder cable control setup of elevator and the method for wheel crane.The invention still further relates to the hoisting crane that is provided with the anti-disorder cable control setup of described elevator.
Background technology
Hoisting system is the lifting mechanism of hoisting crane, it passes through around volume steel rope transferring power, rotatablely moving, become straight-line motion, complete hoisting heavy rising, stop, lower degradation work, conventionally by Hydraulic Pump, HM Hydraulic Motor, retarder, reel, drg, power-transfer clutch, wire rope pulley group and suspension hook etc., formed.
Steel rope is in the multiple wraps of reel, and the tensile force that reel nexine steel rope is good is very important, and tensile force can cause serious damage of steel cable not.The worst situation, steel rope may be stung into lower one deck in promoting operation, when load reduces, steel rope may be successfully from reel around under, and cause that thus laod reversal moves, when non-loaded, steel rope may easier deformation and fasciation.
If tensile force is inadequate during wirerope-winding, the cover wire rope of stretch-draw tension is by the steel wire of internal layer rope of the loose winding of major injury, and loose while causing steel rope inner ring to be wound on reel, out of roundness increases, reduces steel rope and resists outer intensity of force; In the situation that upper strata steel rope pushes mutually, cause lower floor's steel rope silent partners loose, thigh in silent partners extruding, causes interior burst of discontinuity, produces and jumps silk phenomenon.
The generation of above-mentioned phenomenon, gently needs to rearrange hoisting rope, affects job scheduling, heavy damage steel rope, even may cause that lift heavy thing is prominent to be put, and affects hoisting crane stationarity, to crane job, brings potential safety hazard
The solution of prior art reply hoisting rope disorder cable has following two kinds:
The first is that camera is installed on elevator, and the video information of watching camera to transmit by operator, makes the judgement that whether has disorder cable.
The second is the crooked side-play amount that erecting device detects reel place steel rope on elevator, by reflector reflected signal, after receiving, signal is transferred to warning device with infrared pickoff, and this warning device can be reported to the police when crooked side-play amount reaches limit value.
Technical scheme for adopting camera collection hoisting rope state, needs operator's Real Time Observation, and its major defect has.First, only have disorder cable phenomenon has occurred, operator just can know disorder cable has occurred, and can not make early warning at the eve of steel rope disorder cable appearance.Secondly, by video manual observation elevator, whether disorder cable is judged by people, yet the information that operator need to pay close attention to is more, may not observe in time and judge, controller can not report to the police and process, and forms dangerous; Finally, when operator operates elevator, also need to observe the situations such as suspension hook and scene, can increase so undoubtedly operator's operation easier, increase operator's burden.
For adopting device to detect the technical scheme of the crooked side-play amount of steel rope, depend on the generation of physical construction precognition elevator disorder cable, and require stricter for the setting accuracy of physical construction.Due to the frequent outdoor study of hoisting crane, external environment condition and mechanical vibration etc. easily causes saltus step or the physical construction distortion of crooked side-play amount, thereby reduces accuracy of detection, and reliability is not high.
Therefore, how reducing crane hoisting steel rope disorder cable risk, is those skilled in the art's technical issues that need to address.
Summary of the invention
For above-mentioned defect, the invention provides the anti-disorder cable control setup of a kind of crane hoisting.The method can significantly reduce crane hoisting steel rope disorder cable risk, thereby has effectively guaranteed crane job progress and job safety.
On this basis, the present invention also provides the anti-disorder cable control method of a kind of crane hoisting and the hoisting crane that is provided with described control setup.
The invention provides the anti-disorder cable control setup of a kind of crane hoisting, described elevator comprises reel, steel rope and suspension hook, comprising:
Reel detecting unit, for obtaining reel rotation information;
Controller, for according to described reel rotation information, obtains the long L of rope that elevator has been put steel rope
hoist;
And according to elevator, put the long L of rope of steel rope
hoist, obtain the steel wire tensioning power T of reel place
0;
Also by comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk, wherein T
minfor the minimum tensile force of steel rope;
, in judgement, exist after disorder cable risk, output alarm and prompting message restriction increase the action of disorder cable risk meanwhile.
Preferably, described reel detecting unit is rotary encoder;
Described controller obtains the long L of rope that elevator has been put steel rope in the following manner
hoist:
According to described reel rotation information, with drum diameter, every layer of wirerope-winding number of turns of reel, wirerope diameter, obtain the long L of rope that elevator has been put steel rope
hoist.
Preferably, described controller obtains the steel wire tensioning power T of reel place in the following manner
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom), ρ is steel rope linear density, L
boomfor length of boom, α are boom angle, G is suspension hook weight;
Again according to T
0'=T
0, obtain the steel wire tensioning power T of reel place
0.
Preferably, also comprise man-machine interactive system, for input operation information;
Described controller limits the action that increases disorder cable risk in the following manner:
Time-out luffing rises, elevator is put stretches action with arm;
Input operation information;
Judge that whether described operation information is to continue action, if yes, export control signal, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If NO, export control signal, continue to stop that luffing rises, elevator is put stretches action with arm.
The invention provides the anti-disorder cable control method of a kind of crane hoisting, described elevator comprises reel, steel rope and suspension hook, and described method comprises:
Obtain reel rotation information;
According to described reel rotation information, obtain the long L of rope that elevator has been put steel rope
hoist;
According to elevator, put the long L of rope of steel rope
hoist, obtain the steel wire tensioning power T of reel place
0;
By comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk, wherein T
minfor the minimum tensile force of steel rope;
If judgement exists disorder cable risk, output alarm and prompting message restriction increase the action of disorder cable risk.
Further, the rotary encoder by described reel obtains reel rotation information; And obtain in the following manner the long L of rope that elevator has been put steel rope
hoist:
According to described reel rotation information, with drum diameter, every layer of wirerope-winding number of turns of reel, wirerope diameter, obtain the long L of rope that elevator has been put steel rope
hoist.
Further, obtain in the following manner the steel wire tensioning power T of reel place
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom), ρ is steel rope linear density, L
boomfor length of boom, α are boom angle, G is suspension hook weight;
Again according to T
0'=T
0, obtain the steel wire tensioning power T of reel place
0.
Further, the action of described increase disorder cable risk comprises that luffing rises, elevator is put and stretches action with arm.
Further, the action of restriction increase disorder cable risk in the following manner:
Time-out luffing rises, elevator is put stretches action with arm;
Input operation information;
Judge that whether described operation information is to continue action, if yes, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If NO, continue to stop that luffing rises, elevator is put stretches action with arm.
The invention provides a kind of hoisting crane, comprise hoisting crane body and control system, described control system is provided with the anti-disorder cable control setup of crane hoisting described in above-mentioned any one.
The anti-disorder cable control setup of crane hoisting provided by the invention, when hoisting crane carries out that luffing rises, arm is stretched and puts action with elevator, by reel detecting unit Real-time Obtaining reel rotation information, and according to reel rotation information, obtain the long L of rope that elevator has been put steel rope by controller
hoist, then according to the long L of rope
hoist, obtain the steel wire tensioning power T of reel place
0, finally by comparing T
0with T
minjudge whether to exist disorder cable risk, if there is disorder cable risk, report to the police, limit the action that increases disorder cable risk, have the risk of disorder cable simultaneously at display interfaces reminding user, whether inquiry continues action, for user, selects to confirm.
Owing to being by steel rope force analysis is judged whether there will be disorder cable phenomenon, therefore, compare with the method that detects the state of hoisting rope by artificial or mechanical device, more accurately, efficiently and in time.
And, when judging while there is disorder cable risk, meeting be reported to the police at display interfaces, limit movement, reminding user is confirmed whether to continue action simultaneously, and the selection to operator, realizes different control policies, promoted the interactivity of system, it can carry out pre-alarm before disorder cable phenomenon is about to occur, the time of warning shifts to an earlier date more, can avoid in theory the generation of disorder cable phenomenon completely.
Because above-mentioned anti-disorder cable control setup has above-mentioned technique effect, the anti-disorder cable control method based on same principle and comprise that the hoisting crane of this anti-disorder cable control setup also has identical technique effect.
Accompanying drawing explanation
Fig. 1 is get on the bus arm and elevator basic structure schematic diagram of wheel crane;
Fig. 2 is the control principle drawing of the anti-disorder cable control setup of crane hoisting provided by the present invention;
Fig. 3 is arm head place steel rope force analysis schematic diagram;
Fig. 4 is the control flow chart of the anti-disorder cable control method of crane hoisting provided by the present invention.
The specific embodiment
Core of the present invention is to provide the anti-disorder cable control method of a kind of crane hoisting and device, to reduce crane hoisting steel rope disorder cable risk, guarantees crane job progress and job safety.
First, theoretical basis of the present invention is set forth:
Hoisting rope multiple wraps is on reel time, and the tensile force that reel nexine steel rope is good is very important, and steel rope must be wrapped on the reel of elevator with tensile force in a certain order, and establishing this minimum tensile force is T
min(T
minvalue be traditionally arranged to be the 1%-2% of aggregate breaking force), due to physical property and the operating specification of steel rope, if the tensile force T of reel place hoisting rope
0<T
min, steel rope can not well be wrapped on reel, causes rearranging steel rope or damage steel rope etc.
Steel rope on wheel crane hoisting mechanism is substantially all the mode of multiple wraps.Steel rope multiple wraps makes wheel crane when carrying out semi-girder, elevator, luffing action, has the risk of disorder cable, and there is very little risk or disregard in other actions.When arm is stretched, the steel rope of suspension hook one side shortens, and the steel rope of reel one side is elongated, because hoisting rope exists deadweight, so when the steel rope weight of reel one side approaches the weight of suspension hook one side, the pulling force of suspension hook one side is not enough to pull steel rope, i.e. and T
0<T
min.If now elevator is put rope, the steel rope that may emit is loose, produces disorder cable phenomenon.Same when elevator and luffing move, also can there is similar situation.
Without loss of generality, using wheel crane below as main body, in conjunction with Figure of description, specifically the present invention will be described in detail.
Please refer to Fig. 1, Fig. 2, Fig. 1 is get on the bus arm and elevator basic structure schematic diagram of wheel crane; Fig. 2 is the control principle drawing of the anti-disorder cable control setup of crane hoisting provided by the present invention.
As shown in the figure, in a kind of specific embodiment, crane hoisting comprises reel 1, steel rope 3 and suspension hook 5, assembly pulley 6 is arranged on the arm head place of crane arm 4, reel detecting unit 2 is arranged on winding reel, hoisting rope 3 one end are wrapped on winding reel 1, and the other end is connected with suspension hook 5 through arm head assembly pulley 6, and arm head assembly pulley 6 is used for changing the multiplying power of hoisting rope.
The anti-disorder cable control setup of crane hoisting comprises reel detecting unit, controller, man-machine interactive system, luffing function unit, arm function unit and rolling control parts.
Wherein, reel detecting unit 2 is for obtaining reel rotation information.Specifically can adopt rotary encoder, this is a kind of sensor being arranged on wheel crane winding reel, and there is the contact for displacement calculating or angle the inside of coder.
Controller is Vehicle Controller, specifically can adopt PLC controller, and it can receive, send data, carries out program download, logic operation, and supports to be conventionally arranged on CAN bus communication in operator's compartment or electric control box.
Controller, according to described reel rotation information N, with drum diameter R, reel every layer of wirerope-winding number of turns n, wirerope diameter r, obtains the long L of rope that elevator has been put steel rope
hoist.
Drum diameter is R, the length l a=π (R+r) of the every circle of innermost layer steel rope on reel, the total length of innermost layer steel rope is n * la, its often revolve turn around the rope capacity that discharges or regain be la, the length l b=π (R+2r) of the every circle of lower one deck steel rope, total length is n * lb, its often revolve turn around the rope capacity that discharges or regain be lb, by that analogy, can obtain the above-mentioned parameter information of every layer of steel rope on reel, in conjunction with reel rotation information N, and the steel rope foundation length of having emitted in advance, just can calculate elevator and put the long L of rope of steel rope
hoist.
For example, if there are at present 4 layers of steel rope on reel, and be wound with 10 circles, the length l d=π (R+4r) of its every circle, the length that reel rotation 1 circle discharges or regains is ld, the length that reel rotation 1.5 circles discharge is 1.5 * ld, after rotation 10 circles, the 4th layer of steel rope discharges complete completely, start to calculate according to the length of compound steel silk rope, by that analogy, by the demarcation to rotary encoder, calculate the residing number of plies of steel rope on head-pulley, the number of turns and put the number of turns of when rope rotation, can calculate elevator and put the long L of rope of steel rope
hoist.
As can be seen from the above analysis, on reel, the cooling diameter of every layer of steel rope is not identical, its cooling diameter is dynamic diameter, to this, the present invention adopts wirerope diameter to revise it, calculate the actual diameter of every layer of wirerope-winding, this diameter has put for calculating elevator the accuracy rate that rope length can improve result of calculation.
After calculating in real time elevator and having put the length of steel rope, just can be further combined with length of boom (arm arm tail is to the length of arm head) and boom angle (angle of arm and horizontal surface), according to the force analysis of steel rope is calculated to the risk that whether has disorder cable.
Please also refer to Fig. 3, Fig. 3 is arm head place steel rope force analysis schematic diagram.
The steel rope of choosing arm head assembly pulley place carries out force analysis, and under shown position, boom angle is α, and suspension hook is heavily G, and length of boom is L
boom, it is L that elevator has been put rope length
hoist, steel rope linear density ρ.
Due to the effect of rope processing device on basic arm, the angle of not considering reel one side steel rope and arm when force analysis is thought L
1≈ L
boom, the factors such as steel rope that negligible friction, assembly pulley are wound around simultaneously.Reel is T to the lineoutofservice signal pull of arm head assembly pulley one side so
1=ρ L
boomsin (α), and suspension hook is T to the lineoutofservice signal pull of arm head assembly pulley one side
2=G+ ρ (L
hoist-L
boom), so T in idealized situation
1+ T
0'=T
2(T
0for reel place steel wire tensioning power, T
0' be arm head place steel wire tensioning power, both are application force and antagonistic force relation).
Therefore, controller can obtain the steel wire tensioning power T of reel place in the following manner
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom).
Again according to T
0'=T
0, can obtain the steel wire tensioning power T of reel place
0, also can be directly by T
0' be considered as T
0.
Arm is stretched, luffing rises or hoisting mechanism is put rope and all can be made T
1become large, T
2substantially constant or diminish, cause reel one side steel rope can pull the steel rope of suspension hook one side, make T
0be almost 0, can not meet T
0>=T
mincondition, now will disorder cable.
Therefore, controller is by comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk.
It should be noted that, when carrying out force analysis, can consider that the friction force of steel rope and arm head assembly pulley etc., the grease that ambient temperature causes such as solidify at the parameters such as steel rope that are wound around on the factor of increasing wirerope-winding resistance, assembly pulley, and by the above-mentioned computing formula of its substitution, to improve the accuracy of force analysis.
Once controller judgement exists disorder cable risk, just output alarm and prompting message be to telltale, and restriction increases the action of disorder cable risk, avoided occurring the phenomenon of disorder cable.
Specifically can limit in the following manner the action that increases disorder cable risk:
Time-out luffing rises, elevator is put stretches action with arm;
By telltale demand operating person, whether continue action, if operator selects to continue action, export control signal, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If operator selects to stop action, export control signal, continue to stop that luffing rises, elevator is put stretches action with arm.
Vehicle Controller of the present invention obtains necessary parameter by the rotary encoder on winding reel, CAN bus and data space, relate to parameter and include but are not limited to winding reel diameter, every layer of lay winding wire ropes number of turns of reel, hoisting rope diameter, steel rope linear density, suspension hook weight, rotary encoder through signals (using after processing), length of boom and angle.First calculating real-time elevator, to have put the rope of rope long, then calculate the rope capacity of suspension hook to arm head assembly pulley and reel to two sections, arm head assembly pulley, finally by suspension hook weight, steel rope linear density, boom angle, Calculation and Analysis of Force according to steel rope goes out the risk that whether has disorder cable, and reports to the police with other about operation at display interfaces.
Owing to being by steel rope force analysis is judged whether there will be disorder cable phenomenon, therefore, compare with the method that detects the state of hoisting rope by artificial or mechanical device, more accurately, efficiently and in time.
And, when judging while there is disorder cable risk, meeting be reported to the police at display interfaces, limit movement, reminding user is confirmed whether to continue action simultaneously, and the selection to operator, realizes different control policies, promoted the interactivity of system, it can carry out pre-alarm before disorder cable phenomenon is about to occur, the time of warning shifts to an earlier date more, can avoid in theory the generation of disorder cable phenomenon completely.
Except the anti-disorder cable control setup of elevator, the present embodiment also provides a kind of elevator anti-disorder cable control method on this basis.
The method is by judging that to arm head assembly pulley place hoisting rope force analysis whether the steel wire tensioning power at reel place is less than certain limit value, detects elevator disorder cable risk with this.When elevator exists the risk of disorder cable, display interfaces carries out early warning, suspends current action and reminds operator to be confirmed whether to continue action, and can, according to operator's selection, carry out different control policies.
Please refer to Fig. 4, Fig. 4 is the control flow chart of the anti-disorder cable control method of crane hoisting provided by the present invention.
In a kind of specific embodiment, crane hoisting comprises reel, steel rope and suspension hook, said method comprising the steps of:
S1. obtain reel rotation information.
Specifically the rotary encoder by reel obtains reel rotation information.
S2. according to described reel rotation information, obtain the long L of rope that elevator has been put steel rope
hoist.
Specifically, according to reel rotation information, with drum diameter, every layer of wirerope-winding number of turns of reel, wirerope diameter, according to reel, discharge, reclaim the length calculation method of steel rope, obtain the long L of rope that elevator has been put steel rope
hoist.
S3. according to elevator, put the long L of rope of steel rope
hoist, obtain in the following manner the steel wire tensioning power T of reel place
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom), ρ is steel rope linear density, L
boomfor length of boom, α are boom angle, G is suspension hook weight;
Again according to T
0'=T
0, obtain the steel wire tensioning power T of reel place
0.
S4. by comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk, wherein T
minfor the minimum tensile force of steel rope.
If S5. judgement exists disorder cable risk, output alarm and prompting message restriction increase the action of disorder cable risk.
In step S5, the action that increases disorder cable risk comprises that luffing rises, elevator is put and stretches action with arm, and restriction increases the action of disorder cable risk in the following manner:
Time-out luffing rises, elevator is put stretches action with arm;
Whether demand operating person continues action, if select to continue action, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If select, stop action, to continue to stop that luffing rises, elevator is put stretches action with arm.
Particularly, when controller is judged while there is disorder cable risk:
First suspend current action, and by telltale, this risk is carried out to pre-alarm and prompting, after 10s, report to the police and automatically cancel, in 10 minutes, do not do secondary and report to the police and remind.
Secondly, to increasing the action of risk, limit, for other actions, do not limit.
Finally, operator, after display interfaces is reminded, can select whether to continue action.If operator selects " confirming to continue action ", to report to the police and remind immediate cancel, it is TRUE that now system setting " continues action sign ".
In order to continue to remind, every subsystem power on or " continuing action sign " for TRUE is after two hours, this indicates Self-resetting; If operator selects " stopping action ", to report to the police and remind immediate cancel, it is FALSE that system setting " continues action sign ", user can suitably process and avoid disorder cable risk.
If telltale confirms that interface is without input in 10s, default action person selects " stopping action ", and alarm timer, to automatically cancelling, reminds interface not disappear.
Above-mentioned rotary encoder, controller, telltale etc. all can make full use of hoisting crane existing device, namely do not increasing under the prerequisite of hardware, can on the original hardware foundation of hoisting crane, by computer program instructions related hardware, realize, the program code of realizing control function can compile in controller, can not increase cost of product.
Because anti-disorder cable control method provided by the present invention is corresponding to anti-disorder cable control setup mentioned above, the associated description that the specific implementation process of above each step can reference unit, repeats no more here.
Certainly, above-described embodiment is only preferred version of the present invention, is specifically not limited to this, can make according to actual needs pointed adjustment on this basis, thereby obtains different embodiments.For example, force analysis may be selected to be reel place steel rope or other points, or directly adopts the pulling force sensor measuring and calculating hoisting rope tensile force T of reel place such as three pulley brackets
0, or to reporting to the police and reminding strategy to adjust etc.Because mode in the cards is more, casehistory no longer one by one just here.
Except the anti-disorder cable control setup of above-mentioned elevator and method, the present invention also provides a kind of hoisting crane, comprises hoisting crane body and control system, and described control system is provided with the anti-disorder cable control setup of crane hoisting mentioned above, all the other structures please refer to prior art, repeat no more herein.
Above hoisting crane provided by the present invention and the anti-disorder cable control setup of elevator thereof and method are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand core concept of the present invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles 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 the claims in the present invention.
Claims (10)
1. the anti-disorder cable control setup of crane hoisting, described elevator comprises reel, steel rope and suspension hook, it is characterized in that, comprising:
Reel detecting unit, for obtaining reel rotation information;
Controller, for according to described reel rotation information, obtains the long L of rope that elevator has been put steel rope
hoist;
And according to elevator, put the long L of rope of steel rope
hoist, obtain the steel wire tensioning power T of reel place
0;
Also by comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk, wherein T
minfor the minimum tensile force of steel rope;
, in judgement, exist after disorder cable risk, output alarm and prompting message restriction increase the action of disorder cable risk meanwhile.
2. the anti-disorder cable control setup of crane hoisting according to claim 1, is characterized in that, described reel detecting unit is rotary encoder;
Described controller obtains the long L of rope that elevator has been put steel rope in the following manner
hoist:
According to described reel rotation information, with drum diameter, every layer of wirerope-winding number of turns of reel, wirerope diameter, obtain the long L of rope that elevator has been put steel rope
hoist.
3. the anti-disorder cable control setup of crane hoisting according to claim 1, is characterized in that, described controller obtains the steel wire tensioning power T of reel place in the following manner
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom), ρ is steel rope linear density, L
boomfor length of boom, α are boom angle, G is suspension hook weight;
Again according to T
0'=T
0, obtain the steel wire tensioning power T of reel place
0.
4. the anti-disorder cable control setup of crane hoisting according to claim 1, is characterized in that, also comprises man-machine interactive system, for input operation information;
Described controller limits the action that increases disorder cable risk in the following manner:
Time-out luffing rises, elevator is put stretches action with arm;
Input operation information;
Judge that whether described operation information is to continue action, if yes, export control signal, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If NO, export control signal, continue to stop that luffing rises, elevator is put stretches action with arm.
5. the anti-disorder cable control method of crane hoisting, described elevator comprises reel, steel rope and suspension hook, described method comprises:
Obtain reel rotation information;
According to described reel rotation information, obtain the long L of rope that elevator has been put steel rope
hoist;
According to elevator, put the long L of rope of steel rope
hoist, obtain the steel wire tensioning power T of reel place
0;
By comparing T
0with T
minjudge whether to exist disorder cable risk, if T
0>=T
min, there is not disorder cable risk, if T
0< T
min, there is disorder cable risk, wherein T
minfor the minimum tensile force of steel rope;
If judgement exists disorder cable risk, output alarm and prompting message restriction increase the action of disorder cable risk.
6. the anti-disorder cable control method of crane hoisting according to claim 5, is characterized in that, the rotary encoder by described reel obtains reel rotation information; And obtain in the following manner the long L of rope that elevator has been put steel rope
hoist:
According to described reel rotation information, with drum diameter, every layer of wirerope-winding number of turns of reel, wirerope diameter, obtain the long L of rope that elevator has been put steel rope
hoist.
7. the anti-disorder cable control method of crane hoisting according to claim 5, is characterized in that, obtains in the following manner the steel wire tensioning power T of reel place
0:
According to formula T
1+ T
0'=T
2, obtain the steel wire tensioning power T of arm head place
0', wherein, T
1=ρ L
boomsin (α), T
2=G+ ρ (L
hoist-L
boom), ρ is steel rope linear density, L
boomfor length of boom, α are boom angle, G is suspension hook weight;
Again according to T
0'=T
0, obtain the steel wire tensioning power T of reel place
0.
8. the anti-disorder cable control method of crane hoisting according to claim 5, is characterized in that, the action of described increase disorder cable risk comprises that luffing rises, elevator is put and stretches action with arm.
9. the anti-disorder cable control method of crane hoisting according to claim 5, is characterized in that, restriction increases the action of disorder cable risk in the following manner:
Time-out luffing rises, elevator is put stretches action with arm;
Input operation information;
Judge that whether described operation information is to continue action, if yes, cancel to luffing rise, elevator is put stretches the restriction of action with arm; If NO, continue to stop that luffing rises, elevator is put stretches action with arm.
10. a hoisting crane, comprises hoisting crane body and control system, and described control system is provided with the anti-disorder cable control setup of crane hoisting described in the claims 1 to 4 any one.
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| CN201410364419.5A CN104118812B (en) | 2014-07-28 | 2014-07-28 | A kind of crane and the anti-disorder cable of elevator thereof control apparatus and method |
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| CN105438983A (en) * | 2014-07-28 | 2016-03-30 | 徐州重型机械有限公司 | Engineering machinery and engineering machinery winding disorder cable monitoring device and method |
| CN106586865A (en) * | 2016-12-19 | 2017-04-26 | 四川宏华电气有限责任公司 | Control method and system for preventing line disorder on drawworks |
| CN111532990A (en) * | 2020-05-13 | 2020-08-14 | 三一汽车起重机械有限公司 | Crane winch rope disorder prevention control system and method and crane |
| CN114057106A (en) * | 2021-10-28 | 2022-02-18 | 湖南三一中型起重机械有限公司 | Double-winch rope disorder identification method and device and computer readable storage medium |
| CN115019596A (en) * | 2022-06-17 | 2022-09-06 | 北京航空航天大学 | Multi-degree-of-freedom motion simulation platform |
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