CN104760903A - Control method of hydraulic lifting device - Google Patents
Control method of hydraulic lifting device Download PDFInfo
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- CN104760903A CN104760903A CN201510137985.7A CN201510137985A CN104760903A CN 104760903 A CN104760903 A CN 104760903A CN 201510137985 A CN201510137985 A CN 201510137985A CN 104760903 A CN104760903 A CN 104760903A
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- suspension centre
- point
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- load
- hydraulic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
Abstract
The invention discloses a control method of a hydraulic lifting device. The control method comprises the following steps: arranging at least one lifting point on a component, lifting each lifting point by a plurality of hydraulic lifters that is connected with the component; after the component is lifted above the ground, performing the following operations to the same lifting point: setting one hydraulic lifter of each lifting point as a master control point hydraulic lifter, and setting other hydraulic lifters of the same lifting point as slave control point hydraulic lifters; acquiring a displacement difference value between a master control connection point and a slave control connection point in real time as a slave control point displacement difference value corresponding to the slave control connection point; adjusting hydraulic pressures of the slave control point hydraulic lifters corresponding to the slave control connection point based on the slave control point displacement difference value, accordingly allowing the slave control point displacement difference value to be less than or equal to a preset threshold value. The control method of the hydraulic lifting device allows a plurality of hydraulic lifters to work cooperatively.
Description
Technical field
The present invention relates to hydraulic lifting apparatus correlative technology field, particularly a kind of control method of hydraulic lifting apparatus.
Background technology
Hydraulic lifting device is mainly used in lifting member, be connected with component by hydraulic lifting device, increase the load of hydraulic lifting device, ground is left to member lifts, then continue promote and move to above traveling gear, decline component the load being placed on and reducing hydraulic lifting device after on traveling gear, is unloaded on traveling gear by component.
Two kinds of modes are lifted by crawler crane and automobile when hydraulic lifting device for large-scale component (more than 1000t) is main;
But adopt the shortcoming of crawler belt lifting to be dismounting trouble, crane arm can not free-extension, and limitation is too strong; And adopt automobile lifting mode, then limit by landform, single hoisting crane can not complete lifting, and when adopting multiple stage hydraulic lifting device lifting member, and it can not well collaborative work, needs a large amount of manpowers to carry out monitoring adjustment.
Summary of the invention
Based on this, be necessary the technical matters that there is restriction for prior art when adopting hydraulic lifting device to promote large-scale component, a kind of control method of hydraulic lifting apparatus is provided.
A control method for hydraulic lifting apparatus, comprising:
Component arranges at least one suspension centre, and the hydraulic rockshaft that each suspension centre is connected with described component by multiple stage promotes;
To same suspension centre, after described member lifts is left ground, perform following operation:
The hydraulic rockshaft setting each suspension centre is main order point hydraulic rockshaft, other hydraulic rockshafts of same suspension centre are from order point hydraulic rockshaft, the point of connection of described main order point hydraulic rockshaft and described component is main some point of connection that makes, and the described point of connection from order point hydraulic rockshaft and described component is from making some point of connection;
Described in Real-time Obtaining from order point point of connection with described main make the shift differences of some point of connection as with described from make some point of connection corresponding from making some shift differences, according to described from the described oil pressure from order point hydraulic rockshaft from making some point of connection corresponding of order point shift differences adjustment, make described from making some shift differences be less than or equal to predetermined threshold value.
The present invention adopts multiple hydraulic rockshaft to same suspension centre, and multiple hydraulic rockshaft is divided into main order point and follow main order point from making a little, make multiple hydraulic rockshaft can collaborative work, operating personal can carry out the observation of hydraulic pressure lift process and related data and the issue of control command at centralized control room by hydraulic synchronization computer control system man-machine interface, and carries out coordinate synchronization work without the need to scene.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of the control method of a kind of hydraulic lifting apparatus of the present invention;
Fig. 2 is the workflow diagram of preferred embodiment.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
A control method for hydraulic lifting apparatus, comprising:
Step S101, component arranges at least one suspension centre, and the hydraulic rockshaft that each suspension centre is connected with described component by multiple stage promotes;
To same suspension centre, after described member lifts is left ground, perform following operation:
Step S102, the hydraulic rockshaft setting each suspension centre is main order point hydraulic rockshaft, other hydraulic rockshafts of same suspension centre are from order point hydraulic rockshaft, the point of connection of described main order point hydraulic rockshaft and described component is main some point of connection that makes, and the described point of connection from order point hydraulic rockshaft and described component is from making some point of connection;
Step S103, described in Real-time Obtaining from order point point of connection with described main make the shift differences of some point of connection as with described from make some point of connection corresponding from making some shift differences, according to described from the described oil pressure from order point hydraulic rockshaft from making some point of connection corresponding of order point shift differences adjustment, make described from making some shift differences be less than or equal to predetermined threshold value.
Hydraulic pressure lift synchro control should meet following requirement: ensure each the even stand under load of hydraulic rockshaft as far as possible; Ensure the synchronism (± 10mm) that each suspension centre keeps certain in lifting process.According to above requirement, by optimizing, this invention takes and control innovative strategy as follows: the multiple stage hydraulic rockshaft at each suspension centre place is set as respectively main order point A and puts a B from order; The displacement of main order point A place hydraulic rockshaft is set as standard value, as the benchmark in Strategy For Synchronization Control; Dynamically follow the tracks of the main order point A of comparison from order point B with displacement under control of the computer, ensure that each lifting suspension centre remains synchronous in tower tower body Integral type hydraulic lifting process.
Wherein in an embodiment, also comprising load load operation, leaving in face of ground by described member lifts, every Preset Time, classification load being increased, until described member lifts is left ground to the hydraulic rockshaft of same suspension centre.
Preferably, classification load with the theory load of component for foundation, the hydraulic lifting device at each suspension centre place carries out hierarchical loading, be followed successively by 20% of the theory load of component, 30%, 40%, 50%, 60%, 70%, 80%, in the N/R situation of confirmation each several part, can continue to be loaded into 90%, 95%, 100%, until component is all liftoff (bracing frame).
Wherein in an embodiment, described suspension centre is multiple, and described method also comprises:
With the main order point hydraulic rockshaft of one of them suspension centre for the main order point hydraulic rockshaft of main suspension centre, the main order point hydraulic rockshaft of other suspension centres is from the main order point hydraulic rockshaft of suspension centre, the point of connection of the main order point hydraulic rockshaft of described main suspension centre and described component is main suspension centre point of connection, and the described point of connection from the main order point hydraulic rockshaft of suspension centre and described component is from suspension centre point of connection;
The main reference position that initialization associates with described main suspension centre point of connection is the liftoff position that described member lifts leaves described main suspension centre point of connection in face of ground, and initialization is with described what associate from suspension centre point of connection is that described member lifts to leave in face of ground the described liftoff position from suspension centre point of connection from reference position;
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
The real-time monitoring status of a sovereign is moved and the difference from displacement, makes to follow main suspension centre point of connection from suspension centre point of connection, controls the synchronism of whole lifting process.
Wherein in an embodiment, also comprise:
After described member lifts being left ground to default first height, suspend the hydraulic rockshaft of each suspension centre;
Measuring instrument is used to measure the ground clearance of each suspension centre, calculate the relative relief actual value of each suspension centre, and compare with precalculated relative relief theoretical value, start the hydraulic rockshaft of each suspension centre, after being less than or equal to predetermined threshold value with the difference of the relative relief actual value of the height Zhi each suspension centre that adjust each suspension centre and described relative relief theoretical value, suspend the hydraulic rockshaft of each suspension centre;
Start the hydraulic rockshaft of each suspension centre, under the attitude keeping described component, described member lifts is extremely preset the second height.
After being promoted to the first height, will above-mentioned attitude detection adjustment be carried out, and after carrying out attitude detection adjustment, continue to be promoted to the second height.Wherein the first height and second highly all can adopt the ground clearance of a certain suspension centre to calculate.
Preferably, the hydraulic rockshaft of each suspension centre of described startup, under the attitude keeping described component, described member lifts is extremely preset the second height, specifically comprise:
Main reference position is updated to the liftoff position of now described main suspension centre point of connection, by each from reference position be updated to now corresponding described in from the liftoff position of suspension centre point of connection;
Start the hydraulic rockshaft of each suspension centre, by described member lifts to presetting the second height, during this period:
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
Upgrade main reference position and after reference position, make synchronously to follow main suspension centre point of connection from suspension centre point of connection after carrying out attitude detection adjustment.
Wherein in an embodiment, also comprise:
Main reference position is updated to the liftoff position of described main suspension centre point of connection before declining, by each from reference position be updated to decline before corresponding described in from the liftoff position of suspension centre point of connection;
Start the hydraulic rockshaft of each suspension centre, described component is dropped to and earth surface, during this period:
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
Synchronous with from suspension centre point of connection of main suspension centre point of connection when the present embodiment ensures to decline.
Wherein in an embodiment, described component drop to earth surface after, perform following load unloading operation:
Load obtaining step before unloading, obtains the load of each suspension centre before unloading as load before the unloading associated with each suspension centre;
Load reduces step, obtains the real-time load of each suspension centre, if there is the real-time load not reaching predetermined threshold value, then the load of the hydraulic rockshaft of corresponding suspension centre is reduced default classification load simultaneously, performs load monitoring step, otherwise terminates;
Load monitoring step, obtain the real-time load of each suspension centre, if wherein there is real-time load comparatively fail to reach with the front load ratio of unloading the requirement reducing and preset classification load, then the suspension centre that this real-time load is corresponding is suspension centre to be adjusted, perform load set-up procedure, otherwise perform load minimizing step;
Load set-up procedure, before the load reducing hydraulic rockshaft corresponding to described suspension centre to be adjusted to real-time load and the unloading of described suspension centre to be adjusted, load ratio comparatively reaches the requirement reducing and preset classification load, performs load minimizing step.
Classification load in the present embodiment can be the percentum of load before unloading, such as 10%.
Wherein in an embodiment, identical from the oil pressure that applies of order point hydraulic rockshaft to same suspension centre.
Apply identical oil pressure, make to implement constant loading force from order point hydraulic rockshaft.
Aforesaid predetermined threshold value, be preferably 0 or one less on the occasion of, specifically according to the tolerance design that reality allows.
As most preferred embodiment of the present invention, as shown in Figure 2, workflow comprises:
Step S201, synchronous suspension centre is arranged: arrange 2 Synchronous lifting suspension centres altogether.Each suspension centre place respectively arranges a set of displacement synchronous sensor.
Step S202, promotes hierarchical loading: with agent structure theory load for foundation, and each lifting means promoting suspension centre place carries out hierarchical loading, be followed successively by 20%, 30%, 40%, 50%, 60%, 70%, 80%, in the N/R situation of confirmation each several part, can continue to be loaded into 90%, 95%, 100%, until component (tower) is all liftoff (bracing frame).
Step S203, Synchronous lifting: the displacement detection signal of the two cover sensors of computer control system set by this step S201 and difference thereof, form " sensor-computing machine-pumping source apportioning valve-hydraulic rockshaft-tower structure " closed loop system, control the synchronism of whole lifting process.For each suspension centre, be provided with 8 hydraulic rockshafts, be set to a main order point and seven and promote from order point, main order point and from the logic of order point as described in step S121 and S122.Wherein, the hydraulic rockshaft at each suspension centre place is in parallel, and impose all permanent oil pressure to each hydraulic rockshaft of each lifting suspension centre, these suspension centres upwards promote with constant loading force.
Step S204, attitude detection adjusts: after liftoff 200 meters of component (tower), carry out attitude detection adjustment, measuring instrument is used to measure the ground clearance of each suspension centre, calculate each suspension centre relative relief, and compare with theoretical value, lifting means adjusts each suspension centre height to be made it close to theoretical value, carries out Integral synchronous lifting after adjustment.
Step S205, Integral synchronous promotes: be new reference position with each suspension centre height after adjusting, reset synchronization sensor.In component (tower) Integral synchronous lifting process, keep this attitude until rise to predetermined altitude.
Step S206, Integral synchronous declines: each suspension centre height before declining is set to new reference position, reset synchronization sensor.This attitude is kept until close to bottom section in component (tower) Integral synchronous decline process.
Step S207, load shedding is in place: with the suspension centre load before unloading for benchmark, and all suspension centres decline unloading 10% simultaneously.May occur load transfer phenomenon in the process, namely discharge rate is put faster by load transfer on the slower point of discharge rate, so that indivedual some overload even may cause Local Members unstability.Computer control system is monitored and is stoped the generation of above-mentioned situation, adjusts each suspension centre discharge rate, makes fast slowing down, slow quickening.Just in case some suspension centre load exceedes 10% of the front load of unloading, then stop other some unloading immediately, and unload separately these points.And so forth, until steel strand thoroughly loosen, treat that component (tower) is transferred on traveling gear completely from heavy lift, hydraulic pressure lift operation is complete.
The fine setting of above-mentioned lifting process: tower, in lifting and decline process, needs to carry out height fine adjusting function because aerial statue detects adjustment.Before fine setting starts, computer synchronous control system is switched to manual mode by automatic mode.As required, synchronous fine motion (rise or decline) is carried out to 8 hydraulic rockshafts of whole elevator system, or fine motion adjustment is carried out to separate unit hydraulic rockshaft.Fine motion and crawl Adjustment precision can reach grade, can meet the precision needs that tower structure is installed completely.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. a control method for hydraulic lifting apparatus, is characterized in that, comprising:
Component arranges at least one suspension centre, and the hydraulic rockshaft that each suspension centre is connected with described component by multiple stage promotes;
To same suspension centre, after described member lifts is left ground, perform following operation:
The hydraulic rockshaft setting each suspension centre is main order point hydraulic rockshaft, other hydraulic rockshafts of same suspension centre are from order point hydraulic rockshaft, the point of connection of described main order point hydraulic rockshaft and described component is main some point of connection that makes, and the described point of connection from order point hydraulic rockshaft and described component is from making some point of connection;
Described in Real-time Obtaining from order point point of connection with described main make the shift differences of some point of connection as with described from make some point of connection corresponding from making some shift differences, according to described from the described oil pressure from order point hydraulic rockshaft from making some point of connection corresponding of order point shift differences adjustment, make described from making some shift differences be less than or equal to predetermined threshold value.
2. the control method of hydraulic lifting apparatus according to claim 1, is characterized in that, also comprises load load operation, described member lifts is being left in face of ground, every Preset Time, classification load is increased, until described member lifts is left ground to the hydraulic rockshaft of same suspension centre.
3. the control method of hydraulic lifting apparatus according to claim 1, is characterized in that, described suspension centre is multiple, and described method also comprises:
With the main order point hydraulic rockshaft of one of them suspension centre for the main order point hydraulic rockshaft of main suspension centre, the main order point hydraulic rockshaft of other suspension centres is from the main order point hydraulic rockshaft of suspension centre, the point of connection of the main order point hydraulic rockshaft of described main suspension centre and described component is main suspension centre point of connection, and the described point of connection from the main order point hydraulic rockshaft of suspension centre and described component is from suspension centre point of connection;
The main reference position that initialization associates with described main suspension centre point of connection is the liftoff position that described member lifts leaves described main suspension centre point of connection in face of ground, and initialization is with described what associate from suspension centre point of connection is that described member lifts to leave in face of ground the described liftoff position from suspension centre point of connection from reference position;
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
4. the control method of hydraulic lifting apparatus according to claim 3, is characterized in that, also comprises:
After described member lifts being left ground to default first height, suspend the hydraulic rockshaft of each suspension centre;
Measuring instrument is used to measure the ground clearance of each suspension centre, calculate the relative relief actual value of each suspension centre, and compare with precalculated relative relief theoretical value, start the hydraulic rockshaft of each suspension centre, after being less than or equal to predetermined threshold value with the difference of the relative relief actual value of the height Zhi each suspension centre that adjust each suspension centre and described relative relief theoretical value, suspend the hydraulic rockshaft of each suspension centre;
Start the hydraulic rockshaft of each suspension centre, under the attitude keeping described component, described member lifts is extremely preset the second height.
5. the control method of hydraulic lifting apparatus according to claim 4, is characterized in that, the hydraulic rockshaft of each suspension centre of described startup, under the attitude keeping described component, described member lifts is extremely preset the second height, specifically comprises:
Main reference position is updated to the liftoff position of now described main suspension centre point of connection, by each from reference position be updated to now corresponding described in from the liftoff position of suspension centre point of connection;
Start the hydraulic rockshaft of each suspension centre, by described member lifts to presetting the second height, during this period:
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
6. the control method of hydraulic lifting apparatus according to claim 1, is characterized in that, also comprises:
Main reference position is updated to the liftoff position of described main suspension centre point of connection before declining, by each from reference position be updated to decline before corresponding described in from the liftoff position of suspension centre point of connection;
Start the hydraulic rockshaft of each suspension centre, described component is dropped to and earth surface, during this period:
Move as the status of a sovereign using the real-time liftoff position of described main suspension centre point of connection with the difference of corresponding main reference position, using each described real-time liftoff position from suspension centre point of connection and the corresponding difference from reference position as described in each from suspension centre corresponding from displacement, described in Real-time Obtaining with each described difference of from displacement and the status of a sovereign moving corresponding from suspension centre as with described from suspension centre point of connection corresponding from suspension centre shift differences, according to described from the described oil pressure from suspension centre main order point hydraulic rockshaft corresponding from suspension centre point of connection of suspension centre shift differences adjustment, predetermined threshold value is less than or equal to from suspension centre shift differences described in making.
7. the control method of hydraulic lifting apparatus according to claim 6, is characterized in that, described component drop to earth surface after, perform following load unloading operation:
Load obtaining step before unloading, obtains the load of each suspension centre before unloading as load before the unloading associated with each suspension centre;
Load reduces step, obtains the real-time load of each suspension centre, if there is the real-time load not reaching predetermined threshold value, then the load of the hydraulic rockshaft of corresponding suspension centre is reduced default classification load simultaneously, performs load monitoring step, otherwise terminates;
Load monitoring step, obtain the real-time load of each suspension centre, if wherein there is real-time load comparatively fail to reach with the front load ratio of unloading the requirement reducing and preset classification load, then the suspension centre that this real-time load is corresponding is suspension centre to be adjusted, perform load set-up procedure, otherwise perform load minimizing step;
Load set-up procedure, before the load reducing hydraulic rockshaft corresponding to described suspension centre to be adjusted to real-time load and the unloading of described suspension centre to be adjusted, load ratio comparatively reaches the requirement reducing and preset classification load, performs load minimizing step.
8. the control method of hydraulic lifting apparatus according to claim 1, is characterized in that, identical from the oil pressure that applies of order point hydraulic rockshaft to same suspension centre.
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| CN201510137985.7A CN104760903B (en) | 2015-03-26 | 2015-03-26 | A kind of control method of hydraulic lifting apparatus |
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| CN201510137985.7A CN104760903B (en) | 2015-03-26 | 2015-03-26 | A kind of control method of hydraulic lifting apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112360134A (en) * | 2020-10-27 | 2021-02-12 | 广东博智林机器人有限公司 | Method, system and device for controlling crawling speed of electric climbing frame and storage medium |
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