CN104326383A - Crane and torque self-balancing device and method thereof - Google Patents

Crane and torque self-balancing device and method thereof Download PDF

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Publication number
CN104326383A
CN104326383A CN201410542952.6A CN201410542952A CN104326383A CN 104326383 A CN104326383 A CN 104326383A CN 201410542952 A CN201410542952 A CN 201410542952A CN 104326383 A CN104326383 A CN 104326383A
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CN
China
Prior art keywords
moment
luffing
amplitude
balance weight
balancing device
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Granted
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CN201410542952.6A
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Chinese (zh)
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CN104326383B (en
Inventor
李强
桂海莲
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Taiyuan Heavy Industry Co Ltd
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Taiyuan Heavy Industry Co Ltd
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Priority to CN201410542952.6A priority Critical patent/CN104326383B/en
Publication of CN104326383A publication Critical patent/CN104326383A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/72Counterweights or supports for balancing lifting couples
    • B66C23/74Counterweights or supports for balancing lifting couples separate from jib
    • B66C23/76Counterweights or supports for balancing lifting couples separate from jib and movable to take account of variations of load or of variations of length of jib
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/82Luffing gear

Abstract

The invention discloses a crane and a torque self-balancing device and an amplitude variation method thereof, the torque self-balancing device comprises a walking mechanism, a guide mechanism, and a synchronous mechanism; the walking mechanism is arranged on a counterweight assembly of an amplitude variation crane, the guide mechanism is vertically arranged along a turntable, and provides guidance for longitudinal movement of the center of gravity of the counterweight assembly along the turntable, the synchronous mechanism synchronizes the longitudinal movement of the center of gravity of the counterweight assembly along the turntable and amplitude-variation winding rotary movement, during amplitude variation from small amplitude to large amplitude, the center of gravity of the counterweight assembly moves toward the rear side of the amplitude variation crane, and during amplitude variation from large amplitude to small amplitude, the center of gravity of the counterweight assembly moves toward the front side of the amplitude variation crane. The overall stability and lifting performance of the crane can be improved.

Description

Hoisting crane and moment self balancing device thereof and method
Technical field
The present invention relates to elevator machinery, particularly relate to a kind of moment self balancing device for hoisting crane, there is the hoisting crane of above-mentioned moment self balancing device and a kind of luffing method for hoisting crane.
Background technology
The economic growth of current China is in investment and drives and the important period of Urbanization Construction fast development, country's fixed asset investment and infrastructure construction scale larger.And within very long one period in future, quick growth will be kept.Therefore, runabout crane market can have larger market potential.
For arm support luffing hoisting crane, in order to strengthen the complete machine stability of hoisting crane, thus improving the performance of hoisting crane, counterweight need be installed, to balance hoisting moment at lifting thing offside.Such as, publication number is CN103708364A (hereinafter referred to as document 1), name is called the Chinese invention patent of " balance weight assembly and lift system and hoisting crane " thereof, namely disclose a kind of balance weight assembly being arranged at rotating platform of crane, it comprises counterweight pallet and is arranged at the clump weight on counterweight pallet.Counterweight pallet is also provided with anti-rotation arm-tie.
In addition, in prior art, the lifting performance of arm support luffing hoisting crane under significantly operating mode is generally determined by complete machine stability, if promote lifting performance will increase hoisting moment, hoisting moment is mainly provided by turntable counterweight, if simple increase balance weight or strengthen counterweight forces arm lengths, although the demand to large hoisting moment under solving large arm farm labourer condition, the accident of turning over can cause complete machine in the process of luffing range of cantilever support to operating mode by a small margin after.All say complete machine hoisting moment and after to turn over stability be two conflicting aspects, prior art can only find an equilibrium point between, but is cost with the lifting performance of sacrificing complete machine.
Therefore, need to develop a kind of moment self balancing device, solve above-mentioned technical matters.
Summary of the invention
For problems of the prior art, the object of the present invention is to provide a kind of moment self balancing device for arm support luffing hoisting crane, with solve the complete machine of prior art hoisting moment and after turn over the technical matters that balance-seeking point between stability sacrifices complete machine lifting performance.
Another object of the present invention is to provide a kind of hoisting crane with moment self balancing device of the present invention.
The present invention also aims to provide a kind of luffing method for hoisting crane of the present invention.
The present invention is achieved through the following technical solutions:
A kind of moment self balancing device, for amplitude variation type hoisting crane, this moment self balancing device comprises: running mechanism, is arranged at the balance weight assembly of described amplitude variation type hoisting crane; Guiding mechanism, is longitudinally arranged along described turntable, for the center of gravity of described balance weight assembly provides guiding along the movement of described turntable longitudinal direction; And synchronizer gear, by the rotational synchronization of the center of gravity of described balance weight assembly along the luffing elevator of the movement of described turntable longitudinal direction and described amplitude variation type hoisting crane, wherein, when by a small margin to significantly luffing, described center of gravity moves to the rear side of described amplitude variation type hoisting crane, when significantly to luffing by a small margin, described center of gravity moves to the front side of described amplitude variation type hoisting crane.
Hoisting crane of the present invention, has moment self balancing device of the present invention.
For a luffing method for hoisting crane of the present invention, described luffing method comprises step: by described synchronizer gear by the movement of the center of gravity of described balance weight assembly along described turntable longitudinal direction and the rotational synchronization of described luffing elevator; Calculate the gravity motion distance of described counterweight pallet and the amplitude of the jib of described hoisting crane, and then calculate hoisting moment and lift heavy moment; Hoisting moment described in real-time comparison and lift heavy moment, until the center-of-gravity position of described counterweight pallet and described jib amplitude reach desired location.
Beneficial effect of the present invention is, the invention provides a kind of moment self balancing device for hoisting crane, solve prior art arm support luffing hoisting crane hoisting moment under significantly operating mode not enough and by a small margin under operating mode after turn over stability problem on the weak side, improve stability and the lifting performance of hoisting crane complete machine.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of hoisting crane in operating mode by a small margin of the embodiment of the present invention;
Fig. 2 is A direction view in Fig. 1, is the transmission device arrangement plan in the moment self-balancing mechanism of the embodiment of the present invention;
Fig. 3 is that in Fig. 2, B, to enlarged drawing, is the Worm Wheel System schematic diagram in the moment self-balancing mechanism of the embodiment of the present invention;
Fig. 4 is that in Fig. 2, C, to enlarged drawing, is the connection diagram of counterweight pallet in the moment self-balancing mechanism of the embodiment of the present invention and arm-tie;
Fig. 5 is I enlarged drawing of Fig. 2;
Fig. 6 is the schematic diagram of hoisting crane in operating mode by a small margin of the embodiment of the present invention;
Fig. 7 is the D portion enlarged drawing of Fig. 1.
Detailed description of the invention
The exemplary embodiments embodying feature & benefits of the present invention will describe in detail in the following description.Be understood that the present invention can have various changes in different embodiments, it neither departs from the scope of the present invention, and explanation wherein and accompanying drawing are the use when explain in itself, and is not used to limit the present invention.
The hoisting crane of the embodiment of the present invention, has the moment self balancing device of the embodiment of the present invention; The luffing method of the embodiment of the present invention can be used in the hoisting crane of the embodiment of the present invention.The hoisting crane of the embodiment of the present invention, preferably arm support luffing hoisting crane.
The moment self balancing device of the embodiment of the present invention is specifically introduced by following elder generation.
As Figure 1-Figure 4, moment self balancing device of the invention process comprises running mechanism, guiding mechanism and synchronizer gear.Wherein, running mechanism and guiding mechanism are respectively BOGEY WHEEL 6 and guide rail 3, and synchronizer gear then comprises worm gear 10, worm screw 11, leading screw 8 and feed screw nut 13.Below, be introduced respectively:
One, running mechanism
BOGEY WHEEL 6, is arranged on the balance weight assembly of the hoisting crane of the embodiment of the present invention, for described balance weight assembly provides support.Balance weight assembly is then arranged on the turntable 19 of hoisting crane.As shown in Figure 1 and Figure 4, balance weight assembly comprises counterweight pallet 5, clump weight 4 and anti-rotation arm-tie 7.
On counterweight pallet 5, be provided with four pairs of anti-rotation arm-ties 7, the top of anti-rotation arm-tie 7 has the through hole 70 for installing BOGEY WHEEL 6, arranges 1 BOGEY WHEEL 6 between the top of often pair of anti-rotation arm-tie 7.
As shown in Figure 5, the center of circle of BOGEY WHEEL 6 is installed with bearing pin 14, and bearing pin 14 is connected with the top of anti-rotation arm-tie 7, and also namely bearing pin 14 passes the through hole 70 on anti-rotation arm-tie 7 top.A wherein axle head of bearing pin 14 has been provided with the axle end baffle plate 15 of anti-rotation effect, and axle end baffle plate 15 is fixedly connected with the top of anti-rotation arm-tie 7.Another axle head of bearing pin 14 is provided with oil nozzle 16, offers oil groove 140 in bearing pin 14, and oil groove 140 is communicated with oil nozzle 16, for lubricating BOGEY WHEEL 6.
Outside removing BOGEY WHEEL 6, the running mechanism of other modes can also be chosen, so that the movement of balance weight assembly on turntable is longitudinal.
Two, guiding mechanism
Guide rail 3, is longitudinally arranged along turntable 19, for the center of gravity of balance weight assembly provides guiding along the movement of turntable 19 longitudinal direction.Guide rail 3 is arranged on the upper cover plate of turntable 19 afterbody, such as, be welded on upper cover plate.The length of guide rail 3 needs to be more than or equal to the maximum required stroke that balance weight assembly vertically moves at turntable 19.
In this specification sheets, with the side at jib 1 place for front side, and with the side arranging balance weight assembly for rear side.Therefore, in the longitudinal direction, the shaft axis of luffing elevator 9, is positioned at the front side of the front end of guide rail 3, and for connecting the pulley 20 of variable amplitude rope, as shown in Figure 7, substantially concordant with the back-end location of guide rail 3.
Except the wheel-rail match of the present embodiment, moment self balancing device of the present invention, other modes can also realize walking and the guiding of balance weight assembly.
Three, synchronizer gear
The effect of synchronizer gear, from result aspect, be hoisting crane when carrying out luffing, remain the synchronous change of hoisting moment and lift heavy moment.And from process aspect, be by the movement of the center of gravity of balance weight assembly along turntable 19 longitudinal direction and the rotational synchronization of luffing elevator 9, its objective is that the increase and decrease in order to hoisting moment and lift heavy moment is synchronous.
Wherein, as shown in figures 1 to 6, at the hoisting crane of the present embodiment when by a small margin to significantly luffing, the center of gravity of balance weight assembly is mobile to the rear side (left side in Fig. 1 and Fig. 6) of amplitude variation type hoisting crane.Otherwise amplitude variation type hoisting crane is when significantly to luffing by a small margin, and the center of gravity of balance weight assembly is mobile to the front side (right side in Fig. 1 and Fig. 6) of amplitude variation type hoisting crane.
In the present embodiment, synchronizer gear is be arranged at the transmission device between the turning cylinder of luffing elevator 9 and described balance weight assembly, the kinetic energy of turning cylinder is passed to balance weight assembly to drive the movement of balance weight assembly.Transmission device mainly comprises worm gear 10, worm screw 11, leading screw 8 and feed screw nut 13, is also a worm-and-wheel gear and a nut screw mechanism.
As shown in Figures 2 and 3, the afterbody of the turning cylinder of luffing elevator 9 is connected with worm gear 10, and worm gear 10 is connected with worm screw 11, and the rear end of worm screw 11 is processed with or is connected with leading screw 8, and the rear end of leading screw 8 has bearing to support.Worm gear 10 drives leading screw 8 to rotate by worm screw 11.Feed screw nut 11 is fixedly connected on counterweight pallet 5 by attaching parts (such as connecting panel), and is sheathed on leading screw 8.Therefore, leading screw 8 can drive counterweight pallet 5 to be moved forward and backward along track 3 by BOGEY WHEEL 6 by the feed screw nut 13 on counterweight pallet 5, counterweight pallet 5 is loaded with clump weight 4.
Correspondingly, luffing elevator 9 drives mast 2 luffing by variable amplitude rope 17, and mast 2 pulls jib 1 luffing by luffing trombone slide 18.
In order to calculate the center-of-gravity position of balance weight assembly, described moment self balancing device also comprises the coder 12 being arranged at worm screw 11 front end, and coder 12 is connected with the vehicle-mounted computer of hoisting crane.Coder 12 can record the rotating cycle of worm screw 11, also namely can record the rotating cycle of leading screw 8, and is formed signal and send to vehicle-mounted computer to calculate, and calculates the real time position of balance weight assembly center of gravity.In addition, sensor can also be set in many places such as the motors of jib 1 coxopodite and arm head, mast 2, luffing elevator 9, to monitor real-time condition when luffing mechanism carries out luffing.
Moment self balancing device of the present invention, also can use the synchronizer gear of other form, and not use transmission device, such as, uses the synchronizer gear of the CD-ROM drive motor of synchro control luffing elevator 9 and the CD-ROM drive motor of balance weight assembly.
Introducing the luffing method of the embodiment of the present invention below again, is also the amplitude changing process of the hoisting crane of the embodiment of the present invention.First to be described to significantly luffing by a small margin.
As shown in Figure 1, the amplitude of jib 1 is M, and the amplitude of counterweight pallet 5 is X, amplitude mentioned here, and the amplitude M of jib 1 is the distance of center of gravity place vertical line G2 to the axis of revolution place vertical line G3 of the turntable 19 of amplitude variation type hoisting crane of jib 1 hoisting heavy; And the amplitude X of counterweight pallet 5 is center of gravity place vertical line G1 distances to the axis of revolution place vertical line G3 of the turntable 19 of amplitude variation type hoisting crane of balance weight assembly.
Suppose that the weight of balance weight assembly is G, the hoisting moment that now counterweight provides is G × X.
As shown in figures 1 to 6, variable amplitude rope 17 is discharged by luffing elevator 9, mast 2 upwards luffing, jib 1 luffing forward, simultaneously, luffing elevator 9 also drives leading screw 8 to rotate by worm gear 10, worm screw 11, and leading screw 8 drives counterweight pallet 5 to be moved backward along the track 3 on turntable 19 by BOGEY WHEEL 6 with clump weight 4 by the feed screw nut 13 on counterweight pallet 5, namely makes the amplitude of the amplitude of jib 1 and counterweight pallet 5 synchronously increase.
While luffing, coder 12 have recorded the rotating cycle of leading screw 8, is calculated the miles of relative movement △ X of counterweight pallet 5, also namely calculated the mobile range of the center of gravity of balance weight assembly by the transmission speed ratio of transmission device.In addition, by the length of variable amplitude rope 17 multiplying power and trombone slide 18, jib 1 changes in amplitude △ M can be calculated.These calculating are all undertaken by the vehicle-mounted computer of the hoisting crane of the embodiment of the present invention.
As shown in Figure 6, by the rotation of luffing elevator 9, counterweight pallet 5 and jib 1 is made to reach significantly Y and H respectively, now, the hoisting moment that counterweight provides is G × Y=G × (X+ △ X)=G ×+G × △ X, namely when jib 1 amplitude increases △ M, the hoisting moment that counterweight provides adds G × △ X, adds the hoisting moment of jib 1 significantly under operating mode.
Similarly, when jib 1 amplitude reduces, the inverse process above being exactly, when the amplitude of jib 1 reduces, the hoisting moment that counterweight provides also correspondingly reduces, namely improve jib 1 by a small margin under operating mode after turn over stability.
In the process that above-mentioned luffing carries out, counterweight center-of-gravity position can be calculated by coder and vehicle-mounted computer, real time contrast's hoisting moment and lift heavy moment, if both real-time gaps are comparatively large, then can stop luffing action, avoid accidents caused danger.Meanwhile, coder 12, for the monitoring of leading screw 8, also when the rotation of leading screw 8 occurs abnormal, can stop luffing action, avoid transmission device that larger fault occurs.
Specifically, the hoisting crane of the embodiment of the present invention, compared with prior art, owing to have employed worm and gear and lead screw transmission, jib 1 luffing mechanism is connected with counterweight pallet 5, make the center-of-gravity position of balance weight assembly make corresponding change along with the change of the amplitude of jib 1, significantly operating mode hoisting moment is not enough and turn over stability problem on the weak side by a small margin afterwards to solve prior art.The guide rail 3 that turntable 19 is arranged, BOGEY WHEEL 6 carry the weight of whole balance weight assembly by the arm-tie 7 on counterweight pallet 5, driven the change of the BOGEY WHEEL 6 whole counterweight center-of-gravity position of scrolling realization on guides 3 by leading screw 8, thus change the hoisting moment of embodiment of the present invention hoisting crane car load.
Although with reference to exemplary embodiment describing the application, should be appreciated that term used illustrates and exemplary and nonrestrictive term.Spirit or the essence of invention is not departed from because the application can specifically implement in a variety of forms, so be to be understood that, above-described embodiment is not limited to any aforesaid details, and explain widely in the spirit and scope that should limit in claim of enclosing, therefore fall into whole change in claim or its equivalency range and remodeling and all should be claim of enclosing and contained.

Claims (10)

1. a moment self balancing device, for amplitude variation type hoisting crane, is characterized in that, this moment self balancing device comprises:
Running mechanism, is arranged at the balance weight assembly of described amplitude variation type hoisting crane, and provides support for described balance weight assembly;
Guiding mechanism, is longitudinally arranged along described turntable, for the center of gravity of described balance weight assembly provides guiding along the movement of described turntable longitudinal direction;
Synchronizer gear, by the rotational synchronization of the center of gravity of described balance weight assembly along the luffing elevator of the movement of described turntable longitudinal direction and described amplitude variation type hoisting crane, wherein, when by a small margin to significantly luffing, described center of gravity moves to the rear side of described amplitude variation type hoisting crane, when significantly to luffing by a small margin, described center of gravity moves to the front side of described amplitude variation type hoisting crane.
2. moment self balancing device as claimed in claim 1, it is characterized in that, described synchronizer gear is be arranged at the transmission device between the turning cylinder of described luffing elevator and described balance weight assembly, the kinetic energy of described turning cylinder is passed to described balance weight assembly to drive the movement of described balance weight assembly.
3. moment self balancing device as claimed in claim 2, it is characterized in that, described transmission device comprises the worm gear being connected to described turning cylinder, the worm screw being connected to described worm gear, is connected to or is formed at the leading screw of described worm screw rear end and be connected to the feed screw nut of described leading screw, and described feed screw nut is fixedly connected on the counterweight pallet of described balance weight assembly.
4. moment self balancing device as claimed in claim 3, it is characterized in that, described moment self balancing device also comprises the coder for recording described leading screw rotating cycle being arranged at described worm screw front end.
5. moment self balancing device as claimed in claim 3, it is characterized in that, described guiding mechanism is the guide rail being arranged at described turntable afterbody upper cover plate.
6. moment self balancing device as claimed in claim 5, it is characterized in that, described traveling gear is the BOGEY WHEEL on the anti-rotation arm-tie top being arranged at described balance weight assembly.
7. moment self balancing device as claimed in claim 5, it is characterized in that, the center of circle of described BOGEY WHEEL is installed with bearing pin, described bearing pin is connected with the top of described anti-rotation arm-tie, one axle head of described bearing pin has been provided with the axle end baffle plate of anti-rotation effect, another axle head of described bearing pin is provided with oil nozzle, offers the oil groove for lubricating described BOGEY WHEEL in described bearing pin.
8. a hoisting crane, is characterized in that, described crane tool is had the right the arbitrary described moment self balancing device of requirement 1-7.
9. a luffing method for hoisting crane according to claim 8, is characterized in that, described luffing method comprises step:
By described synchronizer gear by the movement of the center of gravity of described balance weight assembly along described turntable longitudinal direction and the rotational synchronization of described luffing elevator;
Calculate the gravity motion distance of described counterweight pallet and the amplitude of the jib of described hoisting crane, and then calculate hoisting moment and lift heavy moment;
Hoisting moment described in real-time comparison and lift heavy moment, until the center-of-gravity position of described counterweight pallet and described jib amplitude reach desired location.
10. luffing method as claimed in claim 9, it is characterized in that, the gravity motion distance of described counterweight pallet is calculated, by the amplitude of jib described in the multiplying power of variable amplitude rope and the length computation of luffing trombone slide by the rotating cycle being arranged on leading screw described in the coder record on the leading screw of described synchronizer gear.
CN201410542952.6A 2014-10-14 2014-10-14 Crane and its moment self balancing device and method Active CN104326383B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106044591A (en) * 2015-03-31 2016-10-26 马尼托瓦克起重机有限责任公司 System and method for crane counterweight positioning
US10744880B2 (en) 2015-07-22 2020-08-18 Beijing Efficiengine Technology Llc Negative voltage backflow direct current supply system for rail transport

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JPH1149484A (en) * 1997-08-04 1999-02-23 Kajima Corp Derricking crane
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CN102826464A (en) * 2012-08-29 2012-12-19 三一重工股份有限公司 Crawler crane mobile counterweight device and crawler crane
CN202729663U (en) * 2012-07-03 2013-02-13 徐工集团工程机械股份有限公司 Superlift counterweight luffing system and crane
CN103708365A (en) * 2013-12-27 2014-04-09 浙江三一装备有限公司 Mobile type post-weight-balance control method for crawler crane

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US4524874A (en) * 1983-07-11 1985-06-25 American Pecco Corporation Tower crane with overbooming protection
JPH1149484A (en) * 1997-08-04 1999-02-23 Kajima Corp Derricking crane
CN1562724A (en) * 2004-03-24 2005-01-12 赵元黎 Crane possessing erector arm in changeable amplitude tracked through flexible dragline
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106044591A (en) * 2015-03-31 2016-10-26 马尼托瓦克起重机有限责任公司 System and method for crane counterweight positioning
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US10744880B2 (en) 2015-07-22 2020-08-18 Beijing Efficiengine Technology Llc Negative voltage backflow direct current supply system for rail transport

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