CN104495671B - Method, device and system for controlling super-lifting winch and crane - Google Patents

Method, device and system for controlling super-lifting winch and crane Download PDF

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Publication number
CN104495671B
CN104495671B CN201410735223.2A CN201410735223A CN104495671B CN 104495671 B CN104495671 B CN 104495671B CN 201410735223 A CN201410735223 A CN 201410735223A CN 104495671 B CN104495671 B CN 104495671B
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CN
China
Prior art keywords
setting
elevator
actual
information
locking
Prior art date
Application number
CN201410735223.2A
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Chinese (zh)
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CN104495671A (en
Inventor
方杰平
郭纪梅
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中联重科股份有限公司
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Priority to CN201410735223.2A priority Critical patent/CN104495671B/en
Publication of CN104495671A publication Critical patent/CN104495671A/en
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Publication of CN104495671B publication Critical patent/CN104495671B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00Safety gear
    • B66C15/06Arrangements or use of warning devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28Other constructional details
    • B66D1/40Control devices
    • B66D1/48Control devices automatic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54Safety gear

Abstract

The invention discloses a method, a device and a system for controlling a super-lifting winch and a crane. By adopting the method, the device and the system, the teeth falling accuracy of the super-lifting winch is improved, the steel wire rope length control accuracy is improved and the use safety of the crane is improved. The control method comprises the following steps: receiving actual amplitude-changing angle information of a telescopic boom amplitude-changing cylinder of the crane, the actual tension information of the steel wire rope and the actual revolution information of the super-lifting winch under the current working condition; controlling a locking device in the crane to release the super-lifting winch when the actual amplitude-changing angle information is greater than a predetermined amplitude-changing angle; the predetermined target revolutions and the actual revolution information matched with the current working condition are subtracted; the super-lifting winch is controlled to rotate according to the obtained difference value; when the actual tension information is smaller than the predetermined tension value, and the difference value between the target revolutions and the actual revolution information is smaller than the predetermined revolution differential value, the locking device is controlled to lock the super-lifting winch for the first time.

Description

The control method of setting-up elevator, device, system and crane
Technical field
The present invention relates to technical field of engineering machinery, more particularly to a kind of control method of setting-up elevator, device, system and Crane.
Background technology
With the development of the industries such as wind-powered electricity generation, nuclear power, chemical industry, parts increasingly modularization and maximization, to large-tonnage lifting The demand of machine is increasing, it is desirable to which lifting height of crane and lifted load increase, therefore conventional telescopic arm crane just court Maximization direction to develop.But high lifting altitude and weight lifted load will cause the component on principal arm shear direction larger, So that amount of deflection of the telescopic arm in luffing plane is larger, and the telescopic arm less stable of plane of rotation, even if being stretched by increase The thinkings such as contracting arm lengths, optimization telescopic arm shape, increase telescopic arm sectional dimension, the raising telescopic arm strength of materials also cannot be solved The problems referred to above, therefore principal arm lifting altitude and lifting capacity need to be lifted by improving arm force-bearing situation by servicing unit, To meet requirement of the market to hoister in large tonnage, so as to the crane with super lifting device that has been born.
As shown in figure 1, Fig. 1 is the crane in prior art with super lifting device, the structure of crane as shown in figure 1, Crane mainly includes:(compensation mechanism can be can receiving with carrying for such as oil cylinder, spring etc for steel wire rope 01, compensation mechanism 02 The flexible member of contracting), rope press device 03, rear take-up device 04, telescopic arm 05, turntable 06, amplitude oil cylinder 07, setting-up elevator 08, Locking device 09, assembly pulley 010 and setting-up mast 011.Wherein compensation mechanism 02, setting-up mast 011, locking device 09, pressure Rope device 03 and setting-up elevator 08 are collectively referred to as super lifting device, and the steel wire rope 01 drawn from setting-up elevator 08 passes through the cunning for arranging Wheel group 010 leads back setting-up mast 011, and is connected with compensation mechanism 02.One end of amplitude oil cylinder 07 is connected with telescopic arm 05, luffing The other end of oil cylinder 07 is connected with setting-up mast 011.Setting-up mast 011 and telescopic arm 05 can be substantially in level by amplitude oil cylinder 7 State starts luffing to telescopic arm 05 in vertical state.Assembly pulley 010 is connected with the telescopic end of telescopic arm 05, rear take-up device 04 one end is connected with the front portion of setting-up mast 011, the other end or turntable 06 of the other end connection telescopic arm of rear take-up device 04. Rope press device 03 compresses can steel wire rope 01 cannot move, and locking device 09 can lock setting-up elevator 08.It is in steel wire rope Pulling force can be applied between the movable end of telescopic arm 05 and setting-up mast 011 during tension, in the appropriate feelings of rope capacity Under condition, the pulling force can improve the amount of deflection of telescopic arm 05, improve the stress of telescopic arm 05, and then can improve telescopic arm The performances such as length, lifting altitude and a liter weight.
In prior art, in order to obtain appropriate pulling force, corresponding setting-up volume can all be arranged in different operating modes to crane The target low water latched position raised, that is, the target number of turns for setting and the number of teeth, and then realize the control of the extension elongation to steel wire rope. But in practical operation, due to there is error, easily there is the actual low water latched position and mesh set in advance of setting-up elevator Village groove latched position is different, causes the length of steel wire rope long or too short, affects the service behaviour of crane.
The content of the invention
The invention provides a kind of control method of setting-up elevator, device, system and crane, to improve setting-up elevator The tooth precision that falls, and then improve rope capacity control accuracy, improve crane safety in utilization.
To reach above-mentioned purpose, the present invention provides following technical scheme.
The invention provides a kind of control method of setting-up elevator, in being applied to crane, including:
Receive actual change angle information, the actual drawing of steel wire rope of the telescopic arm amplitude oil cylinder of crane under current working The actual lap information that force information and setting-up elevator are turned over;
When the actual change angle information is more than change angle set in advance, the locking in the crane is controlled Device unclamps the setting-up elevator, and the target number of turns that set in advance and current working is matched is made with the actual lap information Difference, and the setting-up elevator rotation is controlled according to the difference for obtaining, until the actual pulling force information is less than drawing set in advance When force value and the target number of turns are less than number of turns difference set in advance with the difference of the actual lap information, control is described Locking device locks the setting-up elevator for the first time.
The control method of the setting-up elevator that the present invention is provided, by the telescopic arm luffing oil of crane under detection current working The actual lap information that the actual change angle information of cylinder, the actual pulling force information of steel wire rope and setting-up elevator are turned over, and will These information for detecting are contrasted with corresponding value set in advance, and control elevator running according to comparing result, that is, consider Impact of the factor such as pulling force to steel wire rope physical length suffered by telescopic arm change angle, steel wire rope, by the locking for controlling elevator Position is improving the control accuracy of steel wire length.
So, the control method of the setting-up elevator that the present invention is provided improves the tooth precision that falls of setting-up elevator, and then improves The control accuracy of rope capacity.
In some optional embodiments, the control method of above-mentioned setting-up elevator also includes:When the actual variable phase angle Degree information produces the first alarm signal and/or adjusts change angle signal when being less than change angle set in advance.
In some optional embodiments, the control method of above-mentioned setting-up elevator also includes:When the actual pulling force is believed The second alarm signal is produced when breath is more than value of thrust set in advance.
In some optional embodiments, the control method of above-mentioned setting-up elevator also includes:
Receive after the setting-up elevator locked for the first time, the number of actual teeth information that the setting-up elevator has turned through;
When the number of actual teeth information is not equal to the target number of teeth information of set in advance and current working matching, control The locking device unclamps the setting-up elevator, and the target number of teeth is poor with the number of actual teeth information, and according to obtaining Difference control the setting-up elevator and rotate, until the difference of the target number of teeth and the number of actual teeth information is less than setting in advance During fixed number of teeth difference, control the locking device and lock the setting-up elevator for the second time.
Present invention also offers a kind of control device of setting-up elevator, in being applied to crane, including:
First receiver module, for receiving current working under crane telescopic arm amplitude oil cylinder actual change angle letter The actual lap information that breath, the actual pulling force information of steel wire rope and setting-up elevator are turned over;
First processing module, for when the actual change angle information is more than change angle set in advance, controlling Locking device in the crane unclamps the setting-up elevator, by the target number of turns of set in advance and current working matching and The actual lap information is poor, and controls the setting-up elevator rotation according to the difference for obtaining, until the actual pulling force letter Breath is less than value of thrust set in advance and the target number of turns is less than circle set in advance with the difference of the actual lap information During number difference, control the locking device and lock the setting-up elevator for the first time.
In some optional embodiments, the first processing module is additionally operable to when the actual change angle information is little The first alarm signal is produced when change angle set in advance and/or change angle signal is adjusted.
In some optional embodiments, the first processing module is additionally operable to be set in advance when the actual pulling force is more than The second alarm signal is produced during fixed pulling force value information.
In some optional embodiments, the control device of above-mentioned setting-up elevator also includes:
Second receiver module, for receiving after the setting-up elevator locked for the first time, what the setting-up elevator had turned through Number of actual teeth information;
Second processing module, for being not equal to the mesh of set in advance and current working matching when the number of actual teeth information During mark number of teeth information, control the locking device and unclamp the setting-up elevator, the target number of teeth and the number of actual teeth are believed Breath is poor, and controls the setting-up elevator rotation according to the difference for obtaining, until the target number of teeth is believed with the number of actual teeth When the difference of breath is less than number of teeth difference set in advance, controls the locking device and lock the setting-up elevator for the second time.
Present invention also offers a kind of control dress system of setting-up elevator, in being applied to crane, including:
Angle acquisition device, for gathering current working under crane telescopic arm amplitude oil cylinder actual change angle letter Breath;
Pulling force harvester, for gathering the actual pulling force information of the steel wire rope;
Number of turns harvester, for gathering the actual lap information that the setting-up elevator is turned over;
It is connected with the angle acquisition device, the pulling force harvester and the number of turns harvester signal respectively Controller, the controller is used to receive the actual change angle information that the angle acquisition device is collected;It is additionally operable to receive Actual pulling force information and the actual lap information of number of turns harvester collection that the pulling force harvester is collected;Also For when the actual change angle information is more than change angle set in advance, controlling the locking device in the crane The setting-up elevator is unclamped, the target number of turns that set in advance and current working is matched is poor with the actual lap information, And the setting-up elevator rotation is controlled according to the difference for obtaining, until the actual pulling force information is less than pulling force set in advance When the difference of value and the target number of turns and the actual lap information is less than number of turns difference set in advance, the lock is controlled Tight device locks the setting-up elevator for the first time.
In some optional embodiments, the control system of above-mentioned setting-up elevator also includes:
The first warning device being connected with the controller signals, the controller is according to the actual change angle information The first alarm signal is produced during less than change angle set in advance and/or change angle signal is adjusted, described first reports to the police fills Put for receiving the first alarm signal that the controller is produced, and according to first alarm signal alarm for receiving.
In some optional embodiments, the control system of above-mentioned setting-up elevator also includes:
The second warning device being connected with the controller signals, the controller is more than according to the actual pulling force information Produce the second alarm signal during value of thrust set in advance, second warning device is used to receiving that the controller to produce the Two alarm signals, and according to second alarm signal alarm for receiving.
In some optional embodiments, the control system of above-mentioned setting-up elevator also includes:
The number of teeth harvester being connected with the controller signals, is locked for the first time for gathering the setting-up elevator Afterwards, the number of actual teeth information that the setting-up elevator has turned through;
The controller is additionally operable to receive the number of actual teeth information that the number of teeth harvester is collected, when the actual tooth When number information is not equal to the target number of teeth information of set in advance and current working matching, controls the locking device and unclamp described Setting-up elevator, the target number of teeth is poor with the number of actual teeth information, and the setting-up volume is controlled according to the difference for obtaining Rotation is raised, until when the target number of teeth is less than number of teeth difference set in advance with the difference of the number of actual teeth information, control The locking device locks for the second time the setting-up elevator.
Present invention also offers a kind of crane, including the control system of the setting-up elevator described in any of the above-described.Due to The control system of above-mentioned setting-up elevator, can improve the tooth precision that falls of setting-up elevator, and then improve the control essence of rope capacity Degree, so, the crane that the present invention is provided, with higher safety in utilization.
Description of the drawings
Fig. 1 is the crane in prior art with super lifting device;
Fig. 2 is the control method flow chart of setting-up elevator provided in an embodiment of the present invention;
Fig. 3 is the control device structural representation of setting-up elevator provided in an embodiment of the present invention;
Fig. 4 is the control system architecture schematic diagram of setting-up elevator provided in an embodiment of the present invention;
Fig. 5 is that the workflow of the specific embodiment of control system one of setting-up elevator provided in an embodiment of the present invention is illustrated Figure.
Reference:
01- steel wire rope 02- compensation mechanisms
Take-up device after 03- rope press device 04-
05- telescopic arm 06- turntables
07- amplitude oil cylinder 08- setting-up elevators
09- locking device 010- assembly pulleys
011- setting-up mast the first receiver modules of 1-
The receiver module of 2- first processing modules 3- second
4- Second processing module 5- output modules
6- angle acquisition device 7- pulling force harvesters
8- number of turns harvester 9- controllers
10- the first warning device the second warning devices of 11-
12- number of teeth harvester 13- display terminals
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of patent protection of the present invention.
In order to improve the tooth precision that falls of setting-up elevator, and then the control accuracy of raising rope capacity, as shown in Fig. 2 Fig. 2 For the control method flow chart of setting-up elevator provided in an embodiment of the present invention, the invention provides a kind of controlling party of setting-up elevator Method, in being applied to crane, including:
Step S201:Receive actual change angle information, the steel wire of the telescopic arm amplitude oil cylinder of crane under current working The actual lap information that the actual pulling force information and setting-up elevator of rope is turned over;
Step S202:When actual change angle information is more than change angle set in advance, the lock in crane is controlled Tight device unclamps setting-up elevator, and the target number of turns that set in advance and current working is matched is poor with actual lap information, and Difference control setting-up elevator according to obtaining is rotated, until actual pulling force information is less than value of thrust set in advance and aiming circle When number is less than number of turns difference set in advance with the difference of actual lap information, control locking device first time locking setting-up volume Raise.
The control method of the setting-up elevator that the present invention is provided, by the telescopic arm luffing oil of crane under detection current working The actual lap information that the actual change angle information of cylinder, the actual pulling force information of steel wire rope and setting-up elevator are turned over, and will These information for detecting are contrasted with corresponding value set in advance, and control elevator running according to comparing result, that is, consider Impact of the factor such as pulling force to steel wire rope physical length suffered by telescopic arm change angle, steel wire rope, by the locking for controlling elevator Position is improving the control accuracy of steel wire length.
So, the control method of the setting-up elevator that the present invention is provided improves the tooth precision that falls of setting-up elevator, and then improves The control accuracy of rope capacity.
It should be noted that:The above-mentioned target number of turns, the change angle of setting, the value of thrust of setting and hereinafter mention The target number of teeth, those skilled in the art can rule of thumb set.
For the first time locking setting-up elevator is specifically included above-mentioned control locking device:Elevator locking device falls, and by setting Whether speeds control setting-up elevator action, the proximity switch detection setting-up elevator in setting-up elevator falls into the locking slot of locking device Interior, if proximity switch detects setting-up, elevator falls into, and locking device will pin setting-up elevator;If proximity switch is not detected by Setting-up elevator, will continue to press setting speed control setting-up elevator action, until proximity switch detects setting-up elevator, locking device Setting-up elevator will be pinned.
During regulation, the actual change angle of collection and actual pulling force information are being continually changing, therefore further , the control method of above-mentioned setting-up elevator also includes:Produce when actual change angle information is less than change angle set in advance Raw first alarm signal and/or regulation change angle signal.In the control method of above-mentioned setting-up elevator, when actual change angle letter When breath is less than change angle set in advance, the first alarm signal can be produced, to remind operating personnel's control telescopic arm luffing oil Cylinder continues luffing;Or while the first alarm signal is produced, also produce and adjust change angle signal;Also report or is not produced Alert signal directly produces regulation change angle signal.
When the pulling force that steel wire rope is subject to is excessive, the intensity and physical length of steel wire rope all will be affected, and then will The number of actual teeth and the number of turns of elevator are affected, in order to improve the tooth precision that falls of setting-up elevator, the control method of above-mentioned setting-up elevator is also Including:The second alarm signal is produced when actual pulling force information is more than value of thrust set in advance.I.e. when producing the second alarm signal Number when, the pulling force that the now steel wire rope of indication is subject to is excessive, need by setting-up elevator wind steel wire rope put down.
In order to further improve the tooth precision that falls of setting-up elevator, the control method of above-mentioned setting-up elevator also includes:
After reception setting-up elevator is locked for the first time, the number of actual teeth information that setting-up elevator has turned through;
When number of actual teeth information is not equal to the target number of teeth information of set in advance and current working matching, control locking Device unclamps setting-up elevator, and the target number of teeth is poor with number of actual teeth information, and is turned according to the difference control setting-up elevator for obtaining It is dynamic, until when the target number of teeth is less than number of teeth difference set in advance with the difference of number of actual teeth information, controlling locking device second Secondary locking setting-up elevator.I.e. through first time after the number of turns adjusts setting-up elevator locked position, if the actual tooth of setting-up elevator Number information is identical with the target number of teeth, then need not again carry out control locking device described above and lock setting-up elevator second; If through for the first time, after the number of turns adjusts setting-up elevator locked position, the number of actual teeth information of setting-up elevator is with the target number of teeth not It is identical, then need to adjust the locking for carrying out further precise control setting-up elevator through second number of teeth (adjusting finer than the number of turns) again Position.
It is of course also possible to directly carry out number of teeth regulation and adjust without the number of turns, but the speed of this regulation is slower.
It is identical with the method that first time locks setting-up elevator that above-mentioned control locking device locks setting-up elevator second, specifically Including:Elevator locking device falls, and controls setting-up elevator action by setting speed, and the proximity switch detection in setting-up elevator is super Whether lift winch is fallen in the locking slot of locking device, if proximity switch detects setting-up, elevator falls into, and locking device will be Setting-up elevator is pinned;If proximity switch is not detected by setting-up elevator, will continue to press setting speed control setting-up elevator action, until Proximity switch detects setting-up elevator, and locking device will pin setting-up elevator.
In a kind of specific embodiment, the control method of above-mentioned setting-up elevator also includes:
Change angle, the target number of turns and the target number of teeth that output sets.
Based on the identical inventive concept of above-mentioned control method, a kind of control device corresponding with said method can be built, such as The embodiment of the present invention shown in Fig. 3 additionally provides a kind of control device of setting-up elevator, in being applied to crane, including:
First receiver module 1, for receiving current working under crane telescopic arm amplitude oil cylinder actual change angle The actual lap information that information, the actual pulling force information of steel wire rope and setting-up elevator are turned over;
First processing module 2, for when actual change angle information is more than change angle set in advance, controlling lifting Locking device in machine unclamps setting-up elevator, by the target number of turns and actual lap information of the matching of set in advance and current working Differ from, and rotated according to the difference control setting-up elevator for obtaining, until actual pulling force information be less than value of thrust set in advance and When the target number of turns is less than number of turns difference set in advance with the difference of actual lap information, control locking device is locked for the first time super Lift winch.
Further, above-mentioned first processing module 2 is additionally operable to when actual change angle information is less than luffing set in advance The first alarm signal is produced during angle and/or change angle signal is adjusted.
In a kind of specific embodiment, above-mentioned first processing module 2 is additionally operable to be set in advance when actual pulling force information is more than The second alarm signal is produced during fixed value of thrust.
In another kind of specific embodiment, the control device of above-mentioned setting-up elevator also includes:
Second receiver module 3, for receiving after setting-up elevator locked for the first time, the number of actual teeth that setting-up elevator has turned through Information;
Second processing module 4, for being not equal to the target of set in advance and current working matching when number of actual teeth information During number of teeth information, control locking device unclamps setting-up elevator, and the target number of teeth is poor with number of actual teeth information, and according to obtaining Difference control setting-up elevator is rotated, until the target number of teeth is less than number of teeth difference set in advance with the difference of number of actual teeth information When, control locking device locks setting-up elevator second.
The control device of above-mentioned setting-up elevator also includes:
Output module 5, for the change angle of output setting, the target number of turns and the target number of teeth.
Based on the identical inventive concept of above-mentioned control method, a kind of control system of setting-up elevator, the control system can be built System is applied to above-mentioned control method, as shown in figure 4, Fig. 4 is the Control system architecture of setting-up elevator provided in an embodiment of the present invention Schematic diagram, present invention also offers a kind of control dress system of setting-up elevator, in being applied to crane, including:
Angle acquisition device 6, for gathering current working under crane telescopic arm amplitude oil cylinder actual change angle Information;
Pulling force harvester 7, for gathering the actual pulling force information of steel wire rope;
Number of turns harvester 8, for gathering the actual lap information that setting-up elevator is turned over;
The controller 9 being connected with angle acquisition device 6, pulling force harvester 7 and the signal of number of turns harvester 8 respectively, Controller 9 is used for the actual change angle information that receiving angle harvester 6 is collected;It is additionally operable to receive pulling force harvester 7 The actual pulling force information for collecting and the actual lap information of the collection of number of turns harvester 8;It is additionally operable to when actual change angle When information is more than change angle set in advance, the locking device controlled in crane unclamps setting-up elevator, will be set in advance It is poor with actual lap information with the target number of turns of current working matching, and rotated according to the difference control setting-up elevator for obtaining, Until actual pulling force information is less than value of thrust set in advance and the target number of turns is less than with the difference of actual lap information and sets in advance During fixed number of turns difference, control locking device locking setting-up elevator for the first time.
The present invention provide setting-up elevator control system when in use, by angle acquisition device 6, pulling force harvester 7 and number of turns harvester 8 detect respectively the actual change angle information of the telescopic arm amplitude oil cylinder of crane under current working, The actual lap information that the actual pulling force information of steel wire rope and setting-up elevator are turned over, controller receives the letter that these are detected Breath, and these information for detecting are contrasted with corresponding value set in advance, and elevator running is controlled according to comparing result, i.e., In view of impact of the factor such as pulling force to steel wire rope physical length suffered by telescopic arm change angle, steel wire rope, by controlling elevator Locked position improving the control accuracy of steel wire length.
So, the control system of the setting-up elevator that the present invention is provided improves the tooth precision that falls of setting-up elevator, and then improves The control accuracy of rope capacity.
The concrete structure of above-mentioned angle acquisition device, pulling force harvester and number of turns harvester can have various, can Choosing, above-mentioned angle acquisition device can be rotary encoder, and pulling force harvester can be pulling force sensor.
Further, the control system of above-mentioned setting-up elevator also includes:
The first warning device 10 being connected with the signal of controller 9, controller 9 is according to actual change angle information less than advance The first alarm signal is produced during the change angle of setting and/or change angle signal is adjusted, the first warning device 10 is used to receive The first alarm signal that controller is produced, and according to the first alarm signal alarm for receiving.
When the pulling force that steel wire rope is subject to is excessive, the intensity and physical length of steel wire rope all will be affected, and then will The number of actual teeth and the number of turns of elevator are affected, in order to improve the tooth precision that falls of setting-up elevator, further, above-mentioned setting-up elevator Control system also includes:
The second warning device 11 being connected with the signal of controller 9, controller 9 is according to actual pulling force information more than presetting Value of thrust when produce the second alarm signal, the second warning device 11 is used to receive the second alarm signal of controller generation, and According to the second alarm signal alarm for receiving.
In order to further improve the tooth precision that falls of setting-up elevator, the control system of above-mentioned setting-up elevator also includes:
The number of teeth harvester 12 being connected with the signal of controller 9, for gathering after setting-up elevator locked for the first time, setting-up The number of actual teeth information that elevator has turned through;
Controller 9 is additionally operable to receive the number of actual teeth information that number of teeth harvester 12 is collected, when number of actual teeth information not Equal to the matching of set in advance and current working the target number of teeth information when, control locking device unclamps setting-up elevator, by target The number of teeth is poor with number of actual teeth information, and is rotated according to the difference control setting-up elevator for obtaining, until the target number of teeth and actual tooth When the difference of number information is less than number of teeth difference set in advance, control locking device locks setting-up elevator second.I.e. through Once adjusted after setting-up elevator locked position by the number of turns, if the number of actual teeth letter of the setting-up elevator that collects of number of teeth harvester Breath is identical with the target number of teeth, then need not again carry out control locking device described above and lock setting-up elevator second;If Jing Cross for the first time by number of turns regulation setting-up elevator locked position after, the number of actual teeth information of setting-up elevator and the target number of teeth not phase Together, then need to adjust the locking position for carrying out further precise control setting-up elevator through second number of teeth (adjusting finer than the number of turns) again Put.
Certainly it is above-mentioned lock tight setting-up elevator for the second time during, it is also possible to consider the pulling force information that steel wire rope is received Whether value of thrust set in advance is more than.
The concrete acquisition principle of above-mentioned number of turns harvester can have various, can in a kind of optional embodiment:Super Be designed with representing on each tooth of lift winch arrange on the tooth of the identification information of the tooth, i.e., first for the first identification information, the Arrange on two teeth for the second identification information, the like, above-mentioned identification information can specifically have various, such as bar code etc., In rotation process, scan module constantly gathers the identification information on each tooth to setting-up winding plant, and processing module is according to collection The actual number of teeth for turning over of setting-up elevator can be calculated to identical identification information number of times and last identification information.
Optionally, above-mentioned first warning device is signal lamp or buzzer;Second warning device is signal lamp or buzzer.
In a kind of specific embodiment, the control system of above-mentioned setting-up elevator also includes:
The display terminal 13 being connected with controller signals, display terminal is used to show change angle, the target number of turns of setting And the target number of teeth.The change angle of setting, the target number of turns and the target number of teeth can be conveyed to display terminal by bus.
Below in conjunction with accompanying drawing 5, the control system of the setting-up elevator for being provided the present invention with a specific embodiment It is described in detail, wherein:Fig. 5 is the work of the specific embodiment of control system one of setting-up elevator provided in an embodiment of the present invention Make schematic flow sheet.
The workflow of the specific embodiment of control system one of setting-up elevator provided in an embodiment of the present invention is specifically included:
Step S501:Start the super lifting device of crane, press control button corresponding with operating mode is needed;
Step S502:According to the super lifting working condition pattern for selecting, the corresponding target number of turns of Auto-matching and the number of teeth;
Step S503:Whether detection telescopic arm completes by current working is flexible, if so, execution step S504, if it is not, performing Step S502;
Step S504:The actual change angle information of the telescopic arm amplitude oil cylinder of crane under current working is received, and is sentenced Whether actual change angle information of breaking is more than change angle set in advance, if so, execution step S505, if it is not, execution step S506 and/or step S507;
Step S505:The actual lap information that setting-up elevator is turned under reception current working, elevator lock-off, and according to setting-up The elevator target number of turns and the deviation of actual lap information, control setting-up elevator according to deviation action;
Step S506:Produce the first alarm signal;
Step S507:Produce and adjust change angle signal;
Step S508:The actual pulling force information of steel wire rope under detection current working, and judge whether actual pulling force information is big In value of thrust set in advance, if so, then execution step S509, if it is not, then execution step S510;
Step S509:Produce the second alarm signal;
Step S510:The actual lap information that setting-up elevator is turned under detection current working, and judge actual lap information The number of turns difference of setting whether is less than with the difference of the target number of turns, if so, execution step S511;If it is not, execution step S505;
Step S511:Elevator locking device falls, and controls setting-up elevator action according to setting speed;
Step S512:Judge whether in place setting-up elevator low water locksIf so, execution step S513, if it is not, execution step S511;
Step S513:Locking device locks for the first time setting-up elevator;
Step S514:After setting-up elevator is locked for the first time, the number of actual teeth information that setting-up elevator has turned through is detected;
Step S515:Judge whether number of actual teeth is equal with the target number of teethIf so, execution step S516, if it is not, performing step Rapid S517;
Step S516:Terminate the control of setting-up elevator locked position;
Step S517:Setting-up elevator lock-off, according to the deviation control setting-up elevator action of number of actual teeth and the target number of teeth;
Step S518:Judge whether the target number of teeth is less than number of teeth difference set in advance with the difference of number of actual teeth information, If so, execution step S519;If it is not, execution step S517;
Step S519:Elevator locking device falls, and controls setting-up elevator action according to setting speed;
Step S520:Judge whether in place setting-up elevator low water locksIf so, execution step S521, if it is not, execution step S519, step S515 and step S516.
Step S521:Locking device locks setting-up elevator second.
Also include between above-mentioned steps S517 and step S518:Step:The actual pulling force of steel wire rope under detection current working Information, and judge that actual pulling force information, whether more than value of thrust set in advance, is if so, then performed and produces the second alarm signal step Suddenly, if it is not, then execution step S518;
Based on the advantage of the control system of above-mentioned setting-up elevator, present invention also offers a kind of crane, including above-mentioned The control system of the setting-up elevator of.Due to the control system of above-mentioned setting-up elevator, the tooth essence that falls of setting-up elevator can be improved Degree, and then the control accuracy of rope capacity is improved, so, the crane that the present invention is provided, with higher safety in utilization.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising these changes and modification.

Claims (13)

1. a kind of control method of setting-up elevator, in being applied to crane, it is characterised in that include:
Receive the actual pulling force letter of the actual change angle information of the telescopic arm amplitude oil cylinder of crane under current working, steel wire rope The actual lap information that breath and setting-up elevator are turned over;
When the actual change angle information is more than change angle set in advance, the locking device in the crane is controlled The setting-up elevator is unclamped, the target number of turns that set in advance and current working is matched is poor with the actual lap information, And the setting-up elevator rotation is controlled according to the difference for obtaining, until the actual pulling force information is less than pulling force set in advance When the difference of value and the target number of turns and the actual lap information is less than number of turns difference set in advance, the lock is controlled Tight device locks the setting-up elevator for the first time, wherein the first time locks the setting-up elevator including:The locking device Fall, and setting-up elevator action is controlled by setting speed, whether the proximity switch detection setting-up elevator in setting-up elevator falls into institute State in the locking slot of locking device, if proximity switch detects setting-up, elevator falls into, the locking device will be setting-up elevator Pin;If proximity switch is not detected by setting-up elevator, will continue to press setting speed control setting-up elevator action, until proximity switch Setting-up elevator is detected, the locking device will pin setting-up elevator.
2. the control method of setting-up elevator as claimed in claim 1, it is characterised in that also include:
The first alarm signal is produced when the actual change angle information is less than change angle set in advance and/or is adjusted and become Width angle signal.
3. the control method of setting-up elevator as claimed in claim 1, it is characterised in that also include:
The second alarm signal is produced when the actual pulling force information is more than value of thrust set in advance.
4. the control method of the setting-up elevator as described in any one of claims 1 to 3, it is characterised in that also include:
Receive after the setting-up elevator locked for the first time, the number of actual teeth information that the setting-up elevator has turned through;
When the number of actual teeth information is not equal to the target number of teeth information of set in advance and current working matching, control is described Locking device unclamps the setting-up elevator, and the target number of teeth is poor with the number of actual teeth information, and according to the difference for obtaining The value control setting-up elevator is rotated, until the target number of teeth with the difference of the number of actual teeth information less than set in advance During number of teeth difference, control the locking device and lock the setting-up elevator for the second time, wherein described lock for the second time the setting-up Elevator includes:The locking device falls, and controls setting-up elevator action by setting speed, the proximity switch inspection in setting-up elevator Survey whether setting-up elevator is fallen in the locking slot of the locking device, elevator falls into if proximity switch detects setting-up, described Locking device will pin setting-up elevator;If proximity switch is not detected by setting-up elevator, will continue to press setting speed control setting-up Elevator action, until proximity switch detects setting-up elevator, the locking device will pin setting-up elevator.
5. a kind of control device of setting-up elevator, in being applied to crane, it is characterised in that include:
First receiver module, for receiving current working under crane telescopic arm amplitude oil cylinder actual change angle information, The actual lap information that the actual pulling force information of steel wire rope and setting-up elevator are turned over;
First processing module, for when the actual change angle information is more than change angle set in advance, control to be described Locking device in crane unclamps the setting-up elevator, by the target number of turns of set in advance and current working matching with it is described Actual lap information is poor, and controls the setting-up elevator rotation according to the difference for obtaining, until the actual pulling force information is little In value of thrust set in advance and the target number of turns and the difference of the actual lap information are poor less than the number of turns set in advance During value, control the locking device and lock the setting-up elevator for the first time;Wherein described first time locks the setting-up elevator bag Include:The locking device falls, and controls setting-up elevator action by setting speed, the proximity switch detection setting-up in setting-up elevator Whether elevator is fallen in the locking slot of the locking device, if proximity switch detects setting-up, elevator falls into, the locking dress Putting will pin setting-up elevator;If proximity switch is not detected by setting-up elevator, will continue to be moved by setting speed control setting-up elevator Make, until proximity switch detects setting-up elevator, the locking device will pin setting-up elevator.
6. the control device of setting-up elevator as claimed in claim 5, it is characterised in that the first processing module is additionally operable to work as The actual change angle information produces the first alarm signal and/or adjusts change angle when being less than change angle set in advance Signal.
7. the control device of setting-up elevator as claimed in claim 5, it is characterised in that the first processing module is additionally operable to work as The actual pulling force information produces the second alarm signal when being more than value of thrust set in advance.
8. the control device of the setting-up elevator as described in any one of claim 5~7, it is characterised in that also include:
Second receiver module, for receiving after the setting-up elevator locked for the first time, the reality that the setting-up elevator has turned through Number of teeth information;
Second processing module, for being not equal to the target teeth of set in advance and current working matching when the number of actual teeth information During number information, control the locking device and unclamp the setting-up elevator, the target number of teeth is made with the number of actual teeth information Difference, and the setting-up elevator rotation is controlled according to the difference for obtaining, until the target number of teeth and the number of actual teeth information When difference is less than number of teeth difference set in advance, controls the locking device and lock the setting-up elevator for the second time, wherein described Locking the setting-up elevator for the second time includes:The locking device falls, and controls setting-up elevator action, setting-up by setting speed In elevator proximity switch detection setting-up elevator whether fall in the locking slot of the locking device, if proximity switch detect it is super Lift winch falls into, then the locking device will pin setting-up elevator;If proximity switch is not detected by setting-up elevator, will continue to press Setting speed controls setting-up elevator action, until proximity switch detects setting-up elevator, the locking device will be setting-up elevator Pin.
9. a kind of control system of setting-up elevator, in being applied to crane, it is characterised in that include:
Angle acquisition device, for gathering current working under crane telescopic arm amplitude oil cylinder actual change angle information;
Pulling force harvester, for gathering the actual pulling force information of steel wire rope;
Number of turns harvester, for gathering the actual lap information that setting-up elevator is turned over;
The control being connected with the angle acquisition device, the pulling force harvester and the number of turns harvester signal respectively Device, the controller is used to receive the actual change angle information that the angle acquisition device is collected;It is additionally operable to receive described Actual pulling force information and the actual lap information of number of turns harvester collection that pulling force harvester is collected;It is additionally operable to When the actual change angle information is more than change angle set in advance, the locking device controlled in the crane unclamps The setting-up elevator, the target number of turns that set in advance and current working is matched is poor with the actual lap information, and root Control the setting-up elevator according to the difference that obtains to rotate, until the actual pulling force information less than value of thrust set in advance and When the target number of turns is less than number of turns difference set in advance with the difference of the actual lap information, the locking device is controlled Lock the setting-up elevator for the first time;Wherein described first time locks the setting-up elevator to be included:The locking device falls, and Setting-up elevator action is controlled by setting speed, whether the proximity switch detection setting-up elevator in setting-up elevator falls into the locking dress In the locking slot put, if proximity switch detects setting-up, elevator falls into, and the locking device will pin setting-up elevator;If connecing Nearly switch is not detected by setting-up elevator, will continue press setting speed controlling setting-up elevator action, until proximity switch detect it is super Lift winch, the locking device will pin setting-up elevator.
10. the control system of setting-up elevator as claimed in claim 9, it is characterised in that also include:
The first warning device being connected with the controller signals, the controller is less than according to the actual change angle information The first alarm signal is produced during change angle set in advance and/or change angle signal is adjusted, first warning device is used In the first alarm signal for receiving the controller generation, and according to first alarm signal alarm for receiving.
The control system of 11. setting-up elevators as claimed in claim 9, it is characterised in that also include:
The second warning device being connected with the controller signals, the controller is according to the actual pulling force information more than advance The second alarm signal is produced during the value of thrust of setting, second warning device is used to receive the second report that the controller is produced Alert signal, and according to second alarm signal alarm for receiving.
The control system of the 12. setting-up elevators as described in any one of claim 9~11, it is characterised in that also include:
The number of teeth harvester being connected with the controller signals, for gathering after the setting-up elevator locked for the first time, institute State the number of actual teeth information that setting-up elevator has turned through;
The controller is additionally operable to receive the number of actual teeth information that the number of teeth harvester is collected, when number of actual teeth letter When breath is not equal to the target number of teeth information of set in advance and current working matching, controls the locking device and unclamp the setting-up Elevator, the target number of teeth is poor with the number of actual teeth information, and the setting-up elevator turn is controlled according to the difference for obtaining It is dynamic, until when the target number of teeth is less than number of teeth difference set in advance with the difference of the number of actual teeth information, control is described Locking device locks for the second time the setting-up elevator;It is wherein described to lock the setting-up elevator for the second time and include:The locking dress Put and fall, and setting-up elevator action is controlled by setting speed, whether the proximity switch detection setting-up elevator in setting-up elevator falls into In the locking slot of the locking device, if proximity switch detects setting-up, elevator falls into, and the locking device will roll up setting-up Raise pinning;If proximity switch is not detected by setting-up elevator, will continue to press setting speed control setting-up elevator action, until be close to opening Pass detects setting-up elevator, and the locking device will pin setting-up elevator.
13. a kind of cranes, it is characterised in that include the control system of the setting-up elevator as described in any one of claim 9~12 System.
CN201410735223.2A 2014-12-04 2014-12-04 Method, device and system for controlling super-lifting winch and crane CN104495671B (en)

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CN106115516B (en) * 2016-08-31 2018-01-12 太原重型机械集团工程技术研发有限公司 Crane, super lifting device and its pretension steel wire rope control method and system

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CN103395695A (en) * 2013-08-06 2013-11-20 徐州重型机械有限公司 Super-lifting winch control method and system for crane
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CN203903873U (en) * 2013-11-06 2014-10-29 徐州重型机械有限公司 Electrical control system for rope arrangements of crane super-lifting winch

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CN102431899A (en) * 2011-11-24 2012-05-02 徐州重型机械有限公司 Super-lift winch control system and crane using the same
CN103395695A (en) * 2013-08-06 2013-11-20 徐州重型机械有限公司 Super-lifting winch control method and system for crane
CN203486776U (en) * 2013-08-06 2014-03-19 徐州重型机械有限公司 Superlift winch control system of crane
CN203903873U (en) * 2013-11-06 2014-10-29 徐州重型机械有限公司 Electrical control system for rope arrangements of crane super-lifting winch
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