CN104326383B - Crane and its moment self balancing device and method - Google Patents

Crane and its moment self balancing device and method Download PDF

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Publication number
CN104326383B
CN104326383B CN201410542952.6A CN201410542952A CN104326383B CN 104326383 B CN104326383 B CN 104326383B CN 201410542952 A CN201410542952 A CN 201410542952A CN 104326383 B CN104326383 B CN 104326383B
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China
Prior art keywords
luffing
moment
crane
balance weight
gravity
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CN104326383A (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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    • 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 kind of crane and its moment self balancing device and luffing method, this moment self balancing device includes:Running mechanism, is arranged at the balance weight assembly of described amplitude variation type crane;Guiding mechanism, longitudinally disposed along described turntable, the center of gravity for described balance weight assembly guides along the longitudinal mobile offer of described turntable;And lazy-tongs, the center of gravity of described balance weight assembly is synchronous with the rotation of the luffing elevator of described amplitude variation type crane along the longitudinal movement of described turntable, wherein, from by a small margin to significantly luffing when, described center of gravity moves to the rear side of described amplitude variation type crane, from significantly to luffing by a small margin when, front side from described center of gravity to described amplitude variation type crane move.The present invention improves stability and the lifting performance of the whole machine of crane.

Description

Crane and its moment self balancing device and method
Technical field
The present invention relates to hoisting machinery, more particularly, to a kind of moment self balancing device for crane, there is above-mentioned power The crane of square self balancing device and a kind of luffing method for crane.
Background technology
China's economic growth is in the important period that investment drives and Urbanization Construction is fast-developing at present, and the whole society is solid Determine assets investment and infrastructure construction scale than larger.And within very long one period in future, rapid growth will be kept The impetus.Therefore, runabout crane market can have larger market potential.
For arm support luffing crane, in order to strengthen the complete machine stability of crane, thus improving the performance of crane, In lifting thing offside, counterweight need to be installed, to balance hoisting moment.For example, Publication No. CN103708364A (hereinafter referred to as document 1), entitled《Balance weight assembly and its hoisting mechanism and crane》Chinese invention patent, that is, disclose one kind and be arranged at lifting The balance weight assembly of machine turntable, it includes counterweight pallet and the balancing weight being arranged on counterweight pallet.It is additionally provided with counterweight pallet Anti-rotation arm-tie.
In addition, in prior art, lifting performance under significantly operating mode for the arm support luffing crane is usually by whole machine Stability determines, if lifting performance to be lifted will increase hoisting moment, hoisting moment is mainly provided by turntable counterweight, Although solving under the long operating mode of large arm to big lifting power if simple increase balance weight or increasing counterweight torque arm length The demand of square, but the accident turned over after whole machine being caused during luffing range of cantilever support to operating mode by a small margin.All say whole machine Hoisting moment and after to turn over stability be two conflicting aspects, prior art can only find a balance between Point, but with the lifting performance of the whole machine of sacrifice as cost.
Accordingly, it would be desirable to develop a kind of moment self balancing device, to solve above-mentioned technical problem.
Content of the invention
For problems of the prior art, it is an object of the invention to provide a kind of be used for arm support luffing crane Moment self balancing device, with solve prior art whole machine hoisting moment and after turn between stability balance-seeking point sacrifice whole The technical problem of machine lifting performance.
Another object of the present invention is to providing a kind of crane with moment self balancing device of the present invention.
The present invention also aims to providing a kind of luffing method for 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 crane, this moment self balancing device includes:Running mechanism, if It is placed in the balance weight assembly of described amplitude variation type crane;Guiding mechanism, longitudinally disposed along described turntable, it is the weight of described balance weight assembly The heart is along the longitudinal mobile offer guiding of described turntable;And lazy-tongs, the center of gravity of described balance weight assembly is indulged along described turntable To movement and described amplitude variation type crane luffing elevator rotation synchronous, wherein, from during by a small margin to significantly luffing, institute State center of gravity to move to the rear side of described amplitude variation type crane, from during significantly to luffing by a small margin, described center of gravity is to described luffing The front side of formula crane is moved.
The crane of the present invention, has the moment self balancing device of the present invention.
A kind of luffing method for crane of the present invention, described luffing method includes step:By described lazy-tongs The center of gravity of described balance weight assembly is synchronous with the rotation of described luffing elevator along the longitudinal movement of described turntable;Calculate described counterweight The gravity motion distance of pallet and the amplitude of the arm support of described crane, and then calculate hoisting moment and lift heavy moment;In real time than To described hoisting moment and lift heavy moment, until the position of centre of gravity of described counterweight pallet and described arm support amplitude reach setting position Put.
The beneficial effects of the present invention is, the present invention provides a kind of moment self balancing device for crane, solves Prior art arm support luffing crane hoisting moment under significantly operating mode is not enough and by a small margin under operating mode after to turn over stability inclined Weak problem, improves stability and the lifting performance of the whole machine of crane.
Brief description
Fig. 1 is the schematic diagram in operating mode by a small margin for the crane of the embodiment of the present invention;
Fig. 2 is A direction view in Fig. 1, be the embodiment of the present invention moment self-balancing mechanism in drive mechanism layout drawing;
Fig. 3 be in Fig. 2 B to enlarged drawing, be the embodiment of the present invention moment self-balancing mechanism in Worm Wheel System show It is intended to;
Fig. 4 be in Fig. 2 C to enlarged drawing, be the embodiment of the present invention moment self-balancing mechanism in counterweight pallet and arm-tie Connection diagram;
Fig. 5 is I enlarged drawing of Fig. 2;
Fig. 6 is the schematic diagram in operating mode by a small margin for the crane of the embodiment of the present invention;
Fig. 7 is the D portion enlarged drawing of Fig. 1.
Specific embodiment
Embody feature of present invention will describe in detail in the following description with the exemplary embodiments of advantage.It should be understood that this Invention can have various changes in different embodiments, and it neither departs from the scope of the present invention, and therein explanation and Accompanying drawing is inherently illustrated as being used, and is not used to limit the present invention.
The crane of the embodiment of the present invention, has the moment self balancing device of the embodiment of the present invention;The embodiment of the present invention Luffing method can be used in the crane of the embodiment of the present invention.The crane of the embodiment of the present invention, preferably luffing range of cantilever support Formula 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, the moment self balancing device that the present invention is implemented includes running mechanism, guiding mechanism and synchrodrive Structure.Wherein, running mechanism and guiding mechanism are respectively BOGEY WHEEL 6 and guide rail 3, and lazy-tongs then include worm gear 10, worm screw 11, Leading screw 8 and feed screw nut 13.Hereinafter, it is introduced respectively:
First, running mechanism
BOGEY WHEEL 6, on the balance weight assembly of the crane being arranged on the embodiment of the present invention, provides for described balance weight assembly and props up Support.Balance weight assembly is then arranged on the turntable 19 of crane.As shown in Figure 1 and Figure 4, balance weight assembly includes counterweight pallet 5, counterweight Block 4 and anti-rotation arm-tie 7.
On counterweight pallet 5, it is provided with four pairs of anti-rotation arm-ties 7, the top of anti-rotation arm-tie 7 has for installing BOGEY WHEEL 6 Through hole 70, arranges 1 BOGEY WHEEL 6 between the top of each pair anti-rotation arm-tie 7.
As shown in figure 5, the center of circle of BOGEY WHEEL 6 is installed with bearing pin 14, bearing pin 14 is connected with the top of anti-rotation arm-tie 7, Ye Jixiao Axle 14 passes through the through hole 70 on anti-rotation arm-tie 7 top.Wherein one axle head of bearing pin 14 has been provided with the axle end baffle plate 15 of anti-rotation effect, 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, opens up in bearing pin 14 There is oil groove 140, oil groove 140 is connected with oil nozzle 16, for being lubricated to BOGEY WHEEL 6.
Remove outside BOGEY WHEEL 6, the running mechanism of other modes can also be chosen, in order to balance weight assembly in turntable longitudinally On movement.
2nd, guiding mechanism
Guide rail 3, longitudinally disposed along turntable 19, for balance weight assembly center of gravity along turntable 19 longitudinal direction mobile offer guiding.Lead Rail 3 is arranged on the upper cover plate of turntable 19 afterbody, for example, be welded on upper cover plate.The length of guide rail 3 needs more than or equal to counterweight Assembly is in stroke needed for the maximum that turntable 19 vertically moves.
In this specification, with the side at arm support 1 place as front side, and with the side of setting balance weight assembly as rear side.Therefore, In the longitudinal direction, the shaft axis of luffing elevator 9, positioned at the front side of the front end of guide rail 3, and are used for connecting the pulley of variable amplitude rope 20, as shown in fig. 7, substantially concordant with the back-end location of guide rail 3.
In addition to the wheel-rail match of the present embodiment, the moment self balancing device of the present invention, can be realized with other modes The walking of balance weight assembly and guiding.
3rd, lazy-tongs
The effect of lazy-tongs, says in terms of result, be crane when carrying out luffing, remain hoisting moment and hanging The synchronization change of gravitational moment.And say in terms of process, it is that the center of gravity of balance weight assembly is rolled up along the movement of turntable 19 longitudinal direction with luffing Raise 9 rotation synchronization, its purpose is to hoisting moment and the increase and decrease of lift heavy moment is synchronous.
Wherein, as shown in figures 1 to 6, when the crane of the present embodiment is certainly by a small margin to significantly luffing, balance weight assembly Center of gravity mobile to the rear side (left side in Fig. 1 and Fig. 6) of amplitude variation type crane.Conversely, amplitude variation type crane from significantly to By a small margin during luffing, 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 crane.
In the present embodiment, lazy-tongs are the transmission being arranged between the rotary shaft of luffing elevator 9 and described balance weight assembly Mechanism, the kinetic energy of rotary shaft is passed to balance weight assembly to drive the movement of balance weight assembly.Drive mechanism mainly includes worm gear 10th, worm screw 11, leading screw 8 and feed screw nut 13, namely a worm-and-wheel gear and a nut screw mechanism.
As shown in Figures 2 and 3, the afterbody of the rotary shaft of luffing elevator 9 is connected with worm gear 10, and worm gear 10 is connected with worm screw 11 Connect, the rear end of worm screw 11 is machined with or is connected with leading screw 8, the rear end of leading screw 8 has bearing to support.Worm gear 10 is driven by worm screw 11 Dynamic leading screw 8 rotates.Feed screw nut 11 is fixedly connected on counterweight pallet 5 by connector (such as connecting plate), and is sheathed on leading screw 8.Therefore, leading screw 8 can drive counterweight pallet 5 to pass through BOGEY WHEEL 6 along track 3 by the feed screw nut 13 on counterweight pallet 5 Movable, counterweight pallet 5 is loaded with balancing weight 4.
Correspondingly, luffing elevator 9 then drives mast 2 luffing by variable amplitude rope 17, and mast 2 passes through luffing trombone slide 18 pull arm Frame 1 luffing.
In order to calculate the position of centre of gravity of balance weight assembly, described moment self balancing device also includes being arranged at worm screw 11 front end Encoder 12, encoder 12 is connected with the vehicle-mounted computer of crane.Encoder 12 is able to record that the rotating cycle of worm screw 11, It is able to record that the rotating cycle of leading screw 8, and is formed signal and be sent to vehicle-mounted computer and calculated, calculate balance weight assembly The real time position of center of gravity.Furthermore it is also possible to arrange in the many places such as arm support 1 coxopodite and arm head, mast 2, the motor of luffing elevator 9 pass Sensor, carries out real-time condition during luffing to monitor jib lubbing mechanism.
The moment self balancing device of the present invention, it is possible to use the lazy-tongs of other forms, and do not use drive mechanism, For example, using the lazy-tongs of the drive motor of Synchronization Control luffing elevator 9 and the drive motor of balance weight assembly.
Introduce the luffing method of the embodiment of the present invention, namely the luffing mistake of the crane of the embodiment of the present invention below again Journey.Illustrate first taking by a small margin to significantly luffing as a example.
As shown in figure 1, the amplitude of arm support 1 is M, the amplitude of counterweight pallet 5 is X, amplitude mentioned here, the width of arm support 1 Degree M is the gyroaxis place vertical line G3 of the center of gravity place vertical line G2 of 1 hoisting heavy of arm support to the turntable 19 of amplitude variation type crane Distance;And amplitude X of counterweight pallet 5 is center of gravity place vertical line G1 the returning to the turntable 19 of amplitude variation type crane of balance weight assembly The distance of rotating shaft place vertical line G3.
The weight of hypothesis balance weight assembly is G, and the hoisting moment that now counterweight is provided is G × X.
As shown in figures 1 to 6, by luffing elevator 9 release variable amplitude rope 17, mast 2 luffing upwards, arm support 1 luffing forward, Meanwhile, luffing elevator 9 drives leading screw 8 to rotate also by worm gear 10, worm screw 11, and leading screw 8 passes through the feed screw nut on counterweight pallet 5 13 driving counterweight pallets 5 are moved rearwards by along the track 3 on turntable 19 by BOGEY WHEEL 6 with balancing weight 4, that is, make arm support 1 Amplitude and the amplitude of counterweight pallet 5 synchronously increase.
While luffing, encoder 12 have recorded the rotating cycle of leading screw 8, is calculated by the transmission speed ratio of drive mechanism Go out the displacement △ X of counterweight pallet 5, namely the mobile range having calculated the center of gravity of balance weight assembly.In addition, passing through variable amplitude rope 17 Multiplying power and the length of trombone slide 18, can calculate arm support 1 amplitude of variation △ M.These calculate and all can pass through rising of the embodiment of the present invention The vehicle-mounted computer of heavy-duty machine is carried out.
As shown in fig. 6, by the rotation of luffing elevator 9 so that counterweight pallet 5 and arm support 1 respectively reach significantly Y and H, Now, the hoisting moment that counterweight is provided is G × Y=G × (X+ △ X)=G ×+G × △ X, increases △ M in arm support 1 amplitude In the case of, the hoisting moment that counterweight is provided increased G × △ X, increased hoisting moment significantly under operating mode for the arm support 1.
Similarly, when arm support 1 amplitude reduces it is simply that inverse process above, when the amplitude of arm support 1 reduces, counterweight institute The hoisting moment providing also correspondingly reduces, that is, improve arm support 1 by a small margin under operating mode after turn over stability.
During above-mentioned luffing is carried out, counterweight position of centre of gravity can be calculated by encoder and vehicle-mounted computer, in real time Contrast hoisting moment and lift heavy moment, if both real-time gaps are larger, can stop luffing action, it is to avoid accidents caused Dangerous.Meanwhile, encoder 12 for the monitoring of leading screw 8 it is also possible to when the rotation of leading screw 8 occurs abnormal, stop luffing action, Avoid drive mechanism that bigger fault occurs.
Specifically, the crane of the embodiment of the present invention, compared with prior art, due to employing worm and gear and leading screw Transmission, arm support 1 jib lubbing mechanism is connected so that position of centre of gravity the changing with the amplitude of arm support 1 of balance weight assembly with counterweight pallet 5 Become and make corresponding change, significantly operating mode hoisting moment is not enough and to turn over stability by a small margin afterwards on the weak side to solve prior art Problem.The arm-tie 7 that on turntable 19, the guide rail 3 of setting, BOGEY WHEEL 6 pass through on counterweight pallet 5 carries the weight of whole balance weight assembly Amount, drives the change of BOGEY WHEEL 6 scrolling realization whole counterweight position of centre of gravity on guides 3, thus changing the present invention by leading screw 8 The hoisting moment of embodiment crane car load.
Although with reference to exemplary embodiment describing the application, it is to be understood that, term used be explanation and exemplary, And nonrestrictive term.Because the application can be embodied as the spirit without deviating from invention or essence, institute in a variety of forms With it should be appreciated that above-described embodiment is not limited to any aforesaid details, and the spirit that should be limited in appended claims and model Widely explain in enclosing, therefore fall into the whole changes in claim or its equivalency range and remodeling all should be right of enclosing and wants Ask and covered.

Claims (7)

1. a kind of moment self balancing device, for amplitude variation type crane it is characterised in that this moment self balancing device includes:
Running mechanism, is arranged at the balance weight assembly of described amplitude variation type crane, and provides support for described balance weight assembly;
Guiding mechanism, longitudinally disposed along the turntable of described amplitude variation type crane, it is the center of gravity of described balance weight assembly along described turntable Longitudinal mobile offer guiding;
Lazy-tongs, by the luffing of the movement along described turntable longitudinal direction for the center of gravity of described balance weight assembly and described amplitude variation type crane The rotation of elevator is synchronous, and wherein, from during by a small margin to significantly luffing, described center of gravity is moved to the rear side of described amplitude variation type crane Dynamic, from during significantly to luffing by a small margin, described center of gravity moves to the front side of described amplitude variation type crane;Described lazy-tongs are It is arranged at the drive mechanism between the rotary shaft of described luffing elevator and described balance weight assembly, the kinetic energy of described rotary shaft is passed Pass described balance weight assembly to drive the movement of described balance weight assembly;Described drive mechanism includes being connected to the snail of described rotary shaft Wheel, the leading screw being connected to the worm screw of described worm gear, being connected to or be formed at described worm screw rear end and the silk being connected to described leading screw Thick stick nut, described feed screw nut is fixedly connected on the counterweight pallet of described balance weight assembly;Described worm screw front end is provided with for remembering Record the encoder of described leading screw rotating cycle;
By be arranged on the leading screw of described lazy-tongs the rotating cycle of leading screw described in encoder record calculate described in join The gravity motion distance of weight pallet, by the amplitude of the multiplying power of variable amplitude rope and the length computation arm support of luffing trombone slide, and then calculates Hoisting moment and lift heavy moment;Compare described hoisting moment and lift heavy moment in real time, until the position of centre of gravity of described counterweight pallet Reach setting position with described arm support amplitude;Larger in the real-time gap of described hoisting moment and lift heavy moment, then stop luffing Action.
2. moment self balancing device as claimed in claim 1 is it is characterised in that described guiding mechanism is to be arranged at described turntable The guide rail of afterbody upper cover plate.
3. moment self balancing device as claimed in claim 2 is it is characterised in that described running mechanism is to be arranged at described counterweight The BOGEY WHEEL on the anti-rotation arm-tie top of assembly.
4. moment self balancing device as claimed in claim 3 is it is characterised in that the center of circle of described BOGEY WHEEL is installed with bearing pin, institute The top stating bearing pin with described anti-rotation arm-tie is connected, and an axle head of described bearing pin has been provided with the axle end baffle plate of anti-rotation effect, institute Another axle head stating bearing pin is provided with oil nozzle, offers the oil groove for being lubricated to described BOGEY WHEEL in described bearing pin.
5. it is characterised in that described crane tool is had the right, the arbitrary described moment self-balancing of requirement 1-4 fills a kind of crane Put.
6. a kind of luffing method of the crane described in claim 5 is it is characterised in that described luffing method includes step:
By described lazy-tongs by the center of gravity of described balance weight assembly along the longitudinal movement of described turntable and described luffing elevator Rotate synchronous;
Calculate the gravity motion distance of counterweight pallet of described balance weight assembly and the amplitude of the arm support of described crane, and then calculate Hoisting moment and lift heavy moment;
Compare described hoisting moment and lift heavy moment in real time, until the position of centre of gravity of described counterweight pallet and described arm support amplitude reach To setting position.
7. the luffing method of crane as claimed in claim 6 is it is characterised in that silk by being arranged on described lazy-tongs The gravity motion distance to calculate described counterweight pallet for the rotating cycle of the leading screw described in encoder record on thick stick, by variable amplitude rope Multiplying power and luffing trombone slide arm support described in length computation amplitude.
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 examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9783395B2 (en) * 2015-03-31 2017-10-10 Manitowoc Crane Companies, Llc System and method for crane counterweight positioning
CN104986057B (en) 2015-07-22 2017-06-09 北京交通大学 Track traffic negative voltage backflow DC power-supply system

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Publication number Priority date Publication date Assignee Title
US4524874A (en) * 1983-07-11 1985-06-25 American Pecco Corporation Tower crane with overbooming protection
JP2897983B2 (en) * 1997-08-04 1999-05-31 鹿島建設株式会社 Hoisting crane
CN1562724A (en) * 2004-03-24 2005-01-12 赵元黎 Crane possessing erector arm in changeable amplitude tracked through flexible dragline
CN101357741A (en) * 2008-09-27 2009-02-04 廊坊凯博建设机械科技有限公司 Movable arm variation-amplitude column crane counterweight automatic synchronization travel mechanism
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
CN102826464B (en) * 2012-08-29 2014-11-19 三一重工股份有限公司 Crawler crane mobile counterweight device and crawler crane
CN103708365B (en) * 2013-12-27 2015-12-02 浙江三一装备有限公司 A kind of mobile type post-weight-balance control method for crawler crane

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