CN105060122B - Crane safety control system and method, moment limiter and crane - Google Patents
Crane safety control system and method, moment limiter and crane Download PDFInfo
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- CN105060122B CN105060122B CN201510420444.5A CN201510420444A CN105060122B CN 105060122 B CN105060122 B CN 105060122B CN 201510420444 A CN201510420444 A CN 201510420444A CN 105060122 B CN105060122 B CN 105060122B
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Classifications
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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
- B66C15/00—Safety gear
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Abstract
The invention discloses a crane, a moment limiter, a safety control system and a safety control method. The system comprises: the receiving unit is used for receiving the pressure difference of pressure oil at an inlet and an outlet of a hydraulic motor for lifting and hoisting and the distance between the movable pulley block and the fixed pulley block of the luffing mechanism; and the controller is used for calculating the hoisting weight of the crane according to the pressure difference of pressure oil at the inlet and the outlet of the hydraulic motor, calculating the working amplitude of the crane according to the distance between the movable pulley block and the fixed pulley block of the luffing mechanism, and comparing the calculated hoisting weight of the crane and the working amplitude of the crane with a preset hoisting performance table so as to limit the crane to only carry out hoisting operation in a safe direction under the condition that the hoisting of the crane is determined to be unsafe. The invention calculates the crane hoisting weight by using the pressure difference of pressure oil at the inlet and the outlet of the hydraulic motor, calculates the crane working amplitude by using the distance between the movable pulley block and the fixed pulley block of the luffing mechanism, and has no coupling relation between the hoisting weight calculation and the amplitude calculation, thereby ensuring that the hoisting weight calculation and the amplitude calculation are mutually independent and convenient to calculate.
Description
Technical field
The present invention relates to engineering machinery, in particular it relates to a kind of crane safety control system and method, limiter of moment
And crane.
Background technology
In order to ensure, for example, that the safe operation of the large-scale engineering machinery of crane etc, torque limiting unit is similar work
The indispensable device of journey machinery.In prior art, torque limiting unit generally comprises sensor, display and such as single-chip microcomputer
Controller etc..The signal for collecting can be sent to controller by sensor, in order to analyze crane current work state,
And be compared with the lifting performance table for being pre-stored within torque limiting unit and arm support angle upper and lower limit, determine crane work
Make state whether safely, lifting operation can be proceeded if safety, once find dangerous, it is possible to triggering control
Signal carries out sound and light alarm, and limits crane and only carry out lifting operation to safe direction, to prevent crane accidents from occurring, special
It is not to prevent gross overload accident from occurring.In order to ensure crane safe operation, pressure standard has been put into effect in the world, it is desirable to which crane is pacified
Dress torque limiting unit.
The sensor adopted by the torque limiting unit of existing crawler crane is angular transducer and pulling force sensor,
Which installs pulling force sensor generally in arm support root setting angle sensor at luffing arm-tie, and controller is using measurement in real time
The arm support elevation angle and arm-tie force data calculating the job status informations such as crane work range, lift heavy.Computation model generally will
Whole boom system is considered as rigid body, obtains work range by calculating the projection in the horizontal plane of arm support length, and according to arm
On frame, all load to the torque at arm support root hinge and are that zero relation hangs loading capacity to calculate.However, crane job
When, there is deflection deformation in jib structure under load effect, arm support root angle sensor institute measuring angle is angle after deformation, non-
The real work elevation angle needed for theoretical calculation.Therefore, the rigid model adopted by torque limiting unit is deposited with arm support actual conditions
In difference, cause the computational accuracy of torque limiting unit relatively low.For improving computational accuracy, model is also had to become in view of arm support at present
The impact of shape, introduces the theoretical and latticed members equivalenting inertia torque method of timoshenko beam, and the arm support to crawler crane carries out letter
Change, and the deflection deformation of arm support is calculated, so as to be modified to arm support root angle.Algorithm is drawn with measurement with the angle value that revises
Force value obtains new lift heavy value and work range value as new input.In this technology, craning weight of same is calculated and work width
Degree is intercoupled between calculating, and incidence relation is excessively complicated, higher to controller performance requirements.If additionally, prior art is required to
A dry pulling force sensor, and the measured value of pulling force sensor can carry because of unbalance loading, side, leeward, windward situations such as or itself zero
The installation accuracy of part, assembling deviation etc. cause the luffing plane not exclusively assumed by the left and right arm-tie power for measuring in computation model
Interior, also bring along certain calculation error.
Content of the invention
It is an object of the invention to provide a kind of crane, limiter of moment and safety control system and method, to pass through
The function of torque restriction is realized in less device and simpler computing, and is disturbed by the factor such as wind load and Standard deviation
Little, control accuracy is higher.
To achieve these goals, the invention provides a kind of crane safety control system, the system includes：Receive single
Unit, the pressure differential and jib lubbing mechanism for receiving the hydraulic motor inlet and outlet pressure oil of raising elevator are determined between running block
Distance；Controller, for calculating craning weight of same according to the pressure difference meter of hydraulic motor inlet and outlet pressure oil, and according to institute
State jib lubbing mechanism and determine the distance between running block and crane work range is calculated, and by the calculated craning weight of same
And the crane work range is compared with the lifting performance table for pre-setting, to determine that crane hanging component is dangerous
In the case of limit crane only carry out crane hanging component operation to the direction of safety.
Correspondingly, the invention provides a kind of method of controlling security, the method includes：Receive the hydraulic motor of raising elevator
The distance between running block determined by the pressure differential of inlet and outlet pressure oil and jib lubbing mechanism；Pressure is imported and exported according to the hydraulic motor
The pressure difference meter of power oil calculates craning weight of same, and determines the distance between running block calculating crane according to the jib lubbing mechanism
Work range, and by the calculated craning weight of same and the crane work range and pre-set play principal characteristic
Energy table is compared, to determine under crane hanging component unsafe condition that limiting crane only carries out lifting to the direction of safety
Machine lifting operation.
Correspondingly, the invention provides a kind of limiter of moment, it is characterised in that the limiter of moment includes described peace
Full control system；The limiter of moment also includes：Pressure-detecting device, the hydraulic motor for detecting raising elevator import and export pressure
The pressure differential of power oil；Length/displacement detector, for detecting that jib lubbing mechanism determines the distance between running block.
Correspondingly, the invention provides a kind of crane, the crane includes described system.
The present invention is utilized respectively the pressure difference meter of hydraulic motor inlet and outlet pressure oil and calculates craning weight of same, using described
Jib lubbing mechanism is determined the distance between running block and calculates crane work range, there is no coupling between lift heavy is calculated and amplitude is calculated
Conjunction relation, so that separate between the two, it is easy to calculate.The present invention reduces the number of sensors for using, to controller
The requirement of performance reduces, and so as to more cost-effective, and the measured value of sensor and the calculated value such as lift heavy, amplitude is received
The impact of the factor such as wind load and Standard deviation is little, and computational accuracy is higher.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of specification, with following tool
Body embodiment is used for explaining the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the safety control system structure chart that the present invention is provided；
Fig. 2 is the sensor arrangement location drawing of the crawler crane of present invention offer under different operating modes；
Fig. 3 is that the torque that the present invention is provided limits computing block diagram；
Fig. 4 a is each component geometrical relationship schematic diagram of crawler crane boom system, there is shown with the master of man-like shelf luffing
Arm operating mode；
Fig. 4 b is each component geometrical relationship schematic diagram in crawler crane boom system principal arm arm head local；
Fig. 5 a is each component geometrical relationship schematic diagram of crawler crane boom system, there is shown with the tower arm of mast luffing
Operating mode；
Fig. 5 b is each component geometrical relationship schematic diagram in crawler crane boom system principal arm arm head local, there is shown with mast
The tower arm operating mode of bar luffing；
Fig. 5 c is each component geometrical relationship schematic diagram in crawler crane boom system tower arm arm head local；
Fig. 6 is the security control flow process figure that the present invention is provided；
Fig. 7 is the limiter of moment that the present invention is provided.
Description of reference numerals
1 length/displacement transducer, 2 pressure sensor
100 receiving unit, 200 controller
300 displacement detector, 400 pressure-detecting device
500 display devices
Specific embodiment
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The specific embodiment that states is merely to illustrate and explains the present invention, is not limited to the present invention.
In order to accurately and quickly determine result that torque is limited, and reduce the quantity of sensor, the invention provides
Safety control system as shown in Figure 1.The safety control system includes：Receiving unit 100, for receiving the hydraulic pressure of raising elevator
The distance between running block determined by the pressure differential of motor inlet and outlet pressure oil and jib lubbing mechanism；Controller 200, for according to institute
State hydraulic motor inlet and outlet pressure oil pressure difference meter calculate craning weight of same, and according to the jib lubbing mechanism determine running block it
Between distance calculate crane work range, and by the calculated craning weight of same and the crane work range
Be compared with the lifting performance table for pre-setting, with determine crane hanging component unsafe condition under limit crane only to
The direction of safety carries out crane hanging component operation.
During crane hanging component, the length of the structural member such as arm support, arm-tie, setting-up arm support, strut will not all occur
Change, and jib lubbing mechanism is determined the distance between running block and can be changed.Running block determined by jib lubbing mechanism can be by single fixed
Pulley and movable pulley composition, may also be multiple fixed pulleys and multiple movable pulleys composition.In order that lift heavy is calculated calculating with amplitude
Between there is no coupled relation, can on the one hand by hydraulic motor inlet and outlet pressure oil pressure differential obtain lift heavy, the opposing party
Face is determined the distance between running block according to the jib lubbing mechanism and calculates crane work range, arm support angle.Further, it is also possible to
Compared by the inquiry of lifting performance table set in advance and arm support angle upper and lower limit, it may be determined that current whether in safety
State.Lifting performance table set in advance represents the corresponding relation of crane safety lift heavy scope and work range scope.
The pressure differential of hydraulic motor inlet and outlet pressure oil and jib lubbing mechanism are determined the distance between running block and can be passed through
Sensor detection is obtained.The arrangement of sensor is otherwise varied according to the difference of operating mode.As shown in Fig. 2 for man-like shelf luffing
Principal arm operating mode a, principal arm operating mode b of mast luffing, fixing auxiliary operating mode c, tower arm operating mode d, principal arm super lifting working condition e, fixed joint
Arm super lifting working condition f and tower arm super lifting working condition g, length/displacement transducer 1 are similar with the arrangement of pressure sensor 2, and length/
Displacement transducer is arranged in jib lubbing mechanism to be determined between running block.It should be noted that to tower arm operating mode d, principal arm super lifting working condition
E, fixing auxiliary super lifting working condition f, in place of there are 2 amplitude-variables, to tower arm super lifting working condition g, in place of there are 3 amplitude-variables, therefore
Need to each jib lubbing mechanism determine all arrange a length/displacement transducer 1 between running block.Pressure sensor 2 can be surveyed
The hydraulic motor inlet and outlet pressure of amount lift heavy raising elevator is poor.
After arrangement length/displacement transducer 1 and pressure sensor 2, controller 200 obtains what sensor was measured in real time
Pressure and length/displacement data, it is possible to which the torque according to Fig. 3 limits computing block diagram to calculate craning weight of same, work
Amplitude, arm support angle, lifting altitude etc..Wherein, controller can calculate lift heavy according to formula (1)：
Formula (1)
Wherein M is craning weight of same, AmFor the hydraulic motor operating efficiency of raising elevator, VmHydraulic pressure horse for raising elevator
The discharge capacity for reaching, Δ p are the pressure differential of the hydraulic motor inlet and outlet pressure oil of raising elevator, A1For the efficiency of lifting pulley group, n is
The multiplying power of lifting pulley group, R are the reel radius of raising elevator, and g is acceleration of gravity.Hydraulic motor operating efficiency, hydraulic pressure horse
Discharge capacity, the efficiency of assembly pulley, the multiplying power of pulley, reel radius and the acceleration of gravity for reaching is known quantity, is detecting liquid
Craning weight of same can just be calculated after the pressure differential of pressure motor inlet and outlet pressure oil.
Meanwhile, controller 200 calculates crane work range, arm support angle using the distance that determines between running block of measurement
Degree, lifting altitude.Structural parameters (each component, such as principal arm arm support, arm-tie, strut, auxiliary arm support according to crane arm support system
Deng length and position) geometrical relationship and between component, the meter of work range, arm support angle, lifting altitude etc. can be derived
Calculate formula.
Illustrate by taking principal arm operating mode a of man-like shelf luffing in Fig. 2 as an example, Fig. 4 a gives crane arm support system each structure
Part geometrical relationship schematic diagram.As shown in fig. 4 a, in the level with principal arm root hinge O as the origin of coordinates, in luffing plane forward
Direction is X-axis, and vertical direction upwards sets up global coordinate system XOY, (X for Y-axisA, YA) for crane rotation center A coordinate,
(XB, YB) for hinge B on crane amplitude variation arm-tie coordinate, (XC, YC) for crane man-like shelf hinge C coordinate, (XD, YD) be
The coordinate of main arm of crane summit D, (XZ, YZ) for crane hoisting pulley center Z coordinate.With principal arm summit D as the origin of coordinates
O, the arm support axis direction for pointing to arm support root hinge are vertical with x-axis in x-axis positive direction, luffing plane and build for y-axis upwards
Vertical principal arm local coordinate system xoy, as shown in Figure 4 b, (xB, yB) for hinge B on crane amplitude variation arm-tie in principal arm local coordinate system
Under coordinate, (xZ, yZ) it is coordinate of crane hoisting pulley center Z under principal arm local coordinate system.Lh1Fixed for jib lubbing mechanism
The distance between running block, LlbFor crane amplitude variation arm-tie length, LzbFor main arm of crane length, HAFor in crane rotation
Height of the heart away from ground.Main arm of crane angle, θ can be calculated using following formula.
Formula (2)
Overall coordinate (the X of hinge B wherein on luffing arm-tieB, YB) can be determined by following manner：With man-like shelf hinge C
For the center of circle, the distance of hinge B on man-like shelf hinge C to luffing arm-tieMake circle 1 ' for radius；With principal arm root hinge O as circle
The heart, the distance of principal arm root hinge O to hinge B on luffing arm-tieMake circle 2 ' for radius, the intersection point of two round first quartiles is sat
Mark is the overall coordinate (X of hinge B on luffing arm-tieB, YB).Computing formula is：
Formula (3)
Meanwhile, it is calculated crane work range R further and is respectively with lifting altitude H：
R=Lzb·cosθ-xz·cosθ-yz·sinθ-XAFormula (4)
H=Lzb·sinθ-xz·sinθ+yz·cosθ-YA+HAFormula (5)
Illustrate by taking tower arm operating mode d of Fig. 2 middle mast luffing as an example again, Fig. 5 a gives the operating mode crane arm support system
Unite each component geometrical relationship schematic diagram.With principal arm root hinge O as the origin of coordinates, the horizontal direction in luffing plane forward is X
Axle, vertical direction upwards set up global coordinate system XOY, (X for Y-axisC, YC) for crane mast summit C coordinate, (XC1,
YC1) for main arm of crane luffing fixed pulley group center C1 coordinate, (XC2, YC2) for mast foot hinge C2 coordinate, (XE, YE)
Connect the coordinate of hinge E, (X for principal arm, tower armF, YF) for hinge F under arm-tie after tower arm coordinate, (XG1, YG1) it is tower arm back brace
The coordinate of masthead portion hinge G1, (XG2, YG2) for tower arm front strut top hinge G2 coordinate, (XH, YH) on arm-tie before tower arm
The coordinate of hinge H, (XD1, YD1) for crane tower arm summit D1 coordinate, (XZ, YZ) for crane hook pulley center Z seat
Mark.With principal arm summit D as origin of coordinates o, the arm support axis direction for pointing to principal arm root hinge is x-axis positive direction, luffing plane
Interior vertical with x-axis and set up principal arm local coordinate system xoy, as shown in Figure 5 b, (x for y-axis upwardsE, yE) connect for principal arm, tower arm
Coordinate of the hinge E under principal arm local coordinate system, (xF, yF) for seat of the hinge F under principal arm local coordinate system under arm-tie after tower arm
Mark.With tower arm summit D1 as origin of coordinates o ', the arm support axis direction for pointing to tower arm root hinge is x ' axle positive direction, and luffing is put down
Vertical with x ' axle and set up tower arm local coordinate system x ' o ' y ' for y ' axle upwards in face, as shown in figure 5, (xH, yH) for drawing before tower arm
Coordinate of the hinge H under tower arm local coordinate system, (x on plateZ, yZ) for crane hook pulley center Z in tower arm local coordinate system
Under coordinate.Lh1The distance between running block, L is determined for main arm amplitude-changing mechanismh2Determine between running block for tower arm jib lubbing mechanism
Distance, LtbFor crane tower arm lengths, LwgFor mast length, LZBlbFor principal arm luffing arm-tie length, LQlbFor arm-tie before tower arm
Length, LHlbFor arm-tie length, L after tower armQcgFor tower arm front strut length, LHcgFor tower arm back brace pole length, LtbFor crane tower
Arm lengths.The meaning that other symbols represent is identical with the principal arm operating mode example of aforementioned man-like shelf luffing.Can be calculated using following formula
Main arm of crane angle, θzbWith tower arm angle, θtb.
Formula (6)
Formula (7)
Meanwhile, it is calculated crane work range R further and is respectively with lifting altitude H：
R=XE+Ltb·cos(θtb)-x′Z·cos(θtb)-y′Z·sin(θtb)-XAFormula (8)
H=YE+Ltb·sin(θtb)-y′z·sin(θtb)+x′Z·cos(θtb)-YA+HAFormula (9)
In above-mentioned formula (6)-formula (9), XB、YB、XE、YE、XH、YHUnknown quantity is, their solution procedure is as follows：
Step 1：Calculate the overall coordinate (X of crane mast summit CC, YC)
(XC, YC) can be determined by following manner：With principal arm luffing fixed pulley group center C1 as the center of circle, C1 is to mast top
The distance of point CMake circle 1 ' for radius；With mast foot hinge C2 as the center of circle, the distance of C2 to mast summit CFor half
Circle 2 ' is made in footpath, and the intersecting point coordinate of two the second quadrants of circle is the overall coordinate (X of mast summit CC, YC).Computing formula is：
Formula (10)
Step 2：Calculate the overall coordinate (X of hinge B on luffing arm-tieB, YB)
(XB, YB) can be determined by following manner：With man-like shelf hinge C as the center of circle, on C to luffing arm-tie hinge B away from
FromMake circle 3 ' for radius；With principal arm root hinge O as the center of circle, the distance of hinge B on O to luffing arm-tieMake for radius
Circle 4 ', the intersecting point coordinate of two round first quartiles are the overall coordinate (X of hinge B on luffing arm-tieB, YB).Computing formula is：
Formula (11)
Step 3：Calculate the overall coordinate (X of principal arm summit DD, YD)
Principal arm angle, θ is calculated first with formula (6)zb, then (XD, YD) can be determined by following manner：
Formula (12)
Step 4：Calculate the overall coordinate (X that principal arm, tower arm connect hinge EE, YE), after tower arm under arm-tie hinge F entirety
Coordinate (XF, YF)
Formula (13)
Formula (14)
Step 5：Calculate the coordinate (X of tower arm rear pole top hinge G1G1, YG1)
(XG1, YG1) can be determined by following manner：With after tower arm under arm-tie hinge F as the center of circle, F is to tower arm rear pole
The distance of top hinge G1Make circle 5 ' for radius；With principal arm, tower arm connection hinge E as the center of circle, E is to tower arm rear pole top
The distance of hinge G1Make circle 6 ' for radius, the intersecting point coordinate of two the second quadrants of circle or third quadrant is tower arm rear pole
Overall coordinate (the X of top hinge G1G1, YG1).Computing formula is：
Formula (15)
Step 6：Calculate the coordinate (X of tower arm front strut top hinge G2G2, YG2)
(XG2, YG2) can be determined by following manner：With tower arm rear pole top hinge G1 as the center of circle, before G1 to tower arm
The distance of strut top hinge G2Make circle 7 ' for radius；With principal arm, tower arm connection hinge E as the center of circle, support before E to tower arm
The distance of masthead portion hinge G2Make circle 8 ' for radius, the intersecting point coordinate of two circles first or the second quadrant is supportted before being tower arm
Overall coordinate (the X of masthead portion hinge G2G2, YG2).Computing formula is：
Formula (16)
Step 7：Calculate the coordinate (X of hinge H on arm-tie before tower armH, YH)
(XH, YH) can be determined by following manner：With tower arm front strut top hinge G2 as the center of circle, draw before G2 to tower arm
The distance of hinge H on plateMake circle 9 ' for radius；With principal arm, tower arm connection hinge E as the center of circle, cut with scissors on arm-tie before E to tower arm
The distance of point HMake circle 10 ' for radius, before the intersecting point coordinate of two round first quartiles as tower arm on arm-tie hinge H entirety
Coordinate (XH, YH).Computing formula is：
Formula (17)
When the coordinate position of B, C, G1, G2, H point is sought, above-mentioned calculating uses the method for seeking two circle intersection points, can also adopt
Solved with the cosine law.
Because crawler crane arm support combining form is more, the calculating no longer to crane work range under different operating modes is public
Formula is illustrated that those skilled in the art all can be closed according to the geometry between crane arm support system structural parameters and each component one by one
System derives and obtains.
After the physical quantitys such as the lift heavy of the crane, work range, arm support angle are calculated, can also calculate further
Other derivative physical quantitys.Such as the hoisting moment of crane is obtained using the product of craning weight of same and work range.Obtaining
After craning weight of same, work range and arm support angle, lifting performance table and arm support angle upper and lower limit can be inquired about, so as to sentence
Safely whether disconnected craning weight of same operation.The corresponding crane safety of the lift heavy can be obtained according to calculated craning weight of same
The work range scope of operation, if calculated crane work range exceeds the scope, or arm support angle is beyond default
Arm support angle upper and lower limit, illustrate that crane hanging component operation is dangerous；Or obtained according to calculated crane work range
The lift heavy scope of the corresponding crane safe operation of the work range is obtained, if calculated craning weight of same exceeds the model
Enclose, or arm support angle exceeds default arm support angle upper and lower limit, illustrates that crane hanging component operation is dangerous.In unsafe feelings
Under condition, controller can carry out sound and light alarm with Trig control signal, while limiting lifting mechanism, jib lubbing mechanism only towards safety
Direction carry out lifting operation.
Correspondingly, the invention provides a kind of method of controlling security, as shown in fig. 6, including：Detection hydraulic motor is imported and exported
The distance (step 503) between running block determined by the pressure differential (step 501) of pressure oil and jib lubbing mechanism, then can be according to liquid
The pressure differential of pressure motor inlet and outlet pressure oil, in conjunction with the reel radius of parameters of hydraulic motor, lifting pulley group parameter and raising elevator, profit
Craning weight of same (step 505) is calculated with formula (1).The distance between running block is determined by displacement sensor luffing, knot
Structural parameters (component length and position) and the geometrical relationship between each component of boom system is closed, crane can be calculated current
Work range, arm support angle etc., such as can calculate the master under the principal arm operating mode of man-like shelf luffing respectively using formula (2), (4)
Arm angle and work range (step 507).Subsequently can be according to calculated craning weight of same, work range and arm support angle
Determine crane hanging component whether safely (step 509).If safety, normal lifting operation (step 511) can be carried out,
If dangerous, sound and light alarm (step 513) is carried out, and crane hanging component is limited only to the direction operation (step of safety
515).When determining whether crane hanging component is safe, can inquire about in default lifting performance table according to lift heavy is calculated, so as to
The work range scope for obtaining corresponding crane safe operation (or is inquired in lifting performance table according to evaluation work amplitude
The lift heavy scope of crane safe operation)；While judging the arm support angle for calculating whether between default upper and lower limit.If
Calculated work range not in the range of the work range (or calculated lift heavy is not in the range of described lift heavy),
Or be calculated arm support angle and exceeded default upper and lower limit, illustrate that operation is dangerous.
Correspondingly, present invention also offers a kind of limiter of moment, the system includes receiving unit 100 and controller
200；The system also includes：Length/displacement detector 300, for detecting that jib lubbing mechanism determines the distance between running block；Pressure
Force checking device 400, for detecting the pressure differential of hydraulic motor inlet and outlet pressure oil.Length/displacement detector can be as
Length/displacement transducer 1 shown in Fig. 2, length or displacement detector can be linear transducers, be moved for direct measurement surely
The distance between assembly pulley, or displacement detector, such as stay wire displacement sensor, which combines determines between running block
Initial distance determine the distance between running block to measure indirectly.Pressure-detecting device can be passed for pressure as shown in Figure 2
Sensor 2.Additionally, for the ease of operating personnel's real-time monitored crane job state, system also includes display device 500, is used for
Show the job state of crane in real time, including information such as lift heavy, work range, arm support angle, lifting altitudes.When controller is sentenced
Break crane job dangerous when, controller can limit lifting mechanism and luffing by Trig control signal to external device (ED)
Mechanism carries out lifting operation only towards the direction of safety, and acoustic-optic alarm can also be made to carry out sound and light alarm.
Correspondingly, present invention also offers a kind of crane, the crane includes described system.Preferably, described
Heavy-duty machine is crawler crane.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, multiple letters can be carried out to technical scheme
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to various can
The combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of embodiments of the present invention, as long as which is without prejudice to this
The thought of invention, its should equally be considered as content disclosed in this invention.
Claims (15)
1. a kind of crane safety control system, it is characterised in that the system includes：
Receiving unit, the pressure differential and jib lubbing mechanism for receiving the hydraulic motor inlet and outlet pressure oil of raising elevator are moved surely and are slided
The distance between wheel group；
Controller, for calculating craning weight of same according to the pressure difference meter of hydraulic motor inlet and outlet pressure oil, and according to institute
State jib lubbing mechanism and determine the distance between running block and crane work range is calculated, and by the calculated craning weight of same
And the crane work range is compared with the lifting performance table for pre-setting, to determine that crane hanging component is dangerous
In the case of limit crane only carry out crane hanging component operation to the direction of safety.
2. system according to claim 1, it is characterised in that controller, is additionally operable to be moved according to the jib lubbing mechanism surely and slides
The distance between wheel group calculates crane arm support angle, and in the calculated crane arm support angle beyond pre-setting
Arm support angular range in the case of limit crane only carry out crane hanging component operation to the direction of safety.
3. system according to claim 1, it is characterised in that by the calculated craning weight of same and crane
Work range and the lifting performance table for pre-setting be compared including：
Calculated described is obtained according to the calculated craning weight of same and the lifting performance table for pre-setting
The work range scope of the corresponding crane safe operation of heavy-duty machine lift heavy；Or according to the calculated crane work width
Degree and the lifting performance table for pre-setting obtain the corresponding crane safety of the calculated crane work range and make
The lift heavy scope of industry；
When situation of the calculated crane work range in the range of the work range of the crane safe operation
Lower confirmation crane hanging component safety, and exceed the crane safe operation in the calculated crane work range
Work range scope in the case of, confirm crane hanging component dangerous；Or when the calculated craning weight of same exists
Crane hanging component safety is confirmed in the case of in the range of the lift heavy of the crane safe operation, in the calculated lifting
Confirm that crane hanging component is dangerous in the case of lift heavy scope of the machine lift heavy beyond the crane safe operation.
4. the system according to claim 1-3 any one, it is characterised in that craning weight of same is calculated according to following formula：
Wherein M is craning weight of same, AmFor the operating efficiency of the hydraulic motor of raising elevator, VmHydraulic motor for raising elevator
Discharge capacity, Δ P be the hydraulic motor inlet and outlet pressure oil pressure differential, A1For the efficiency of lifting pulley group, n is lifting pulley
The multiplying power of group, R are reel radius, and g is acceleration of gravity.
5. the system according to claim 1-3 any one, it is characterised in that have man-like shelf luffing in the crane tool
Principal arm operating mode in the case of, according to following formula calculate main arm of crane angle, θ：
In the case that the crane tool has the principal arm operating mode of man-like shelf luffing, main arm of crane angle, θ is calculated according to following formula：
In the case that the crane tool has the principal arm operating mode of man-like shelf luffing, crane work range R is calculated according to following formula：
R=Lzb·cosθ-xz·cosθ-yz·sinθ-XA；
Wherein, with principal arm root hinge O as the origin of coordinates, the horizontal direction in luffing plane forward is X-axis, vertical side upwards
Global coordinate system XOY, X are set up to for Y-axisAFor the X-axis coordinate of crane rotation center A, (XB, YB) it is crane amplitude variation arm-tie
The coordinate of upper hinge B；With main arm of crane summit D as origin of coordinates o, the arm support axis of main arm of crane root hinge is pointed to
Direction is vertical with x-axis in x-axis positive direction, luffing plane and sets up principal arm local coordinate system xoy, (x for y-axis upwardsB, yB) be
Local coordinate of the hinge B under principal arm local coordinate system, (x on crane amplitude variation arm-tieZ, yZ) in crane hoisting assembly pulley
Local coordinate of the heart Z under principal arm local coordinate system, LzbFor main arm of crane length.
6. the system according to claim 1-3 any one, it is characterised in that there is mast luffing in the crane
In the case of tower arm operating mode, main arm of crane angle, θ is calculated according to following formulazbWith tower arm angle, θtb：
In the case that the crane has the tower arm operating mode of mast luffing, crane work range R is calculated according to following formula：
R=XE+Ltb·cos(θtb)-x′Z·cos(θtb)-y′Z·sin(θtb)-XA；
Wherein, with principal arm root hinge O as the origin of coordinates, the horizontal direction in luffing plane forward is X-axis, vertical side upwards
Global coordinate system XOY, X are set up to for Y-axisAFor the X-axis coordinate of crane rotation center A, (XB, YB) it is crane amplitude variation arm-tie
The coordinate of upper hinge B, (XE, YE) for main arm of crane and crane tower arm connecting hinge point E coordinate, (XH, YH) it is crane tower
Before arm on arm-tie hinge H coordinate；With main arm of crane summit D as origin of coordinates o, the arm of main arm of crane root hinge is pointed to
Frame axis direction is x-axis positive direction, and luffing plane is interior vertical with x-axis and sets up principal arm local coordinate system xoy for y-axis upwards,
(xB, yB) it is local coordinate of the hinge B under principal arm local coordinate system on crane amplitude variation arm-tie；With crane tower arm summit D1
For origin of coordinates o ', the arm support axis direction for pointing to crane tower arm roots hinge is in x ' axle positive direction, luffing plane and x '
Axle is vertical and sets up tower arm local coordinate system x ' o ' y ', (x ' for y ' axle upwardsH, y 'H) for hinge H on arm-tie before crane tower arm
Coordinate under tower arm local coordinate system, (x 'Z, y 'Z) it is seat of crane hook pulley center Z under tower arm local coordinate system
Mark；LzbFor main arm of crane length；LtbFor crane tower arm lengths.
7. a kind of crane safety control method, it is characterised in that the method includes：
Receive raising elevator hydraulic motor inlet and outlet pressure oil pressure differential and jib lubbing mechanism determine between running block away from
From；
Pressure difference meter according to hydraulic motor inlet and outlet pressure oil calculates craning weight of same, and fixed according to the jib lubbing mechanism
The distance between running block calculates crane work range, and by the calculated craning weight of same and the lifting
Machine work range is compared with the lifting performance table for pre-setting, to determine restriction under crane hanging component unsafe condition
Crane only carries out crane hanging component operation to the direction of safety.
8. method according to claim 7, it is characterised in that the method also includes to determine movable pulley according to the jib lubbing mechanism
The distance between group calculates crane arm support angle, and in the calculated crane arm support angle beyond pre-setting
Limiting crane in the case of arm support angular range only carries out crane hanging component operation to the direction of safety.
9. method according to claim 7, it is characterised in that by the calculated craning weight of same and crane
Work range and the lifting performance table for pre-setting be compared including：
Calculated described is obtained according to the calculated craning weight of same and the lifting performance table for pre-setting
The work range scope of the corresponding crane safe operation of heavy-duty machine lift heavy；Or according to the calculated crane work width
Degree and the lifting performance table for pre-setting obtain the corresponding crane safety of the calculated crane work range and make
The lift heavy scope of industry；
When situation of the calculated crane work range in the range of the work range of the crane safe operation
Lower confirmation crane hanging component safety, and exceed the crane safe operation in the calculated crane work range
Work range scope in the case of, confirm crane hanging component dangerous；Or when the calculated craning weight of same exists
Crane hanging component safety is confirmed in the case of in the range of the lift heavy of the crane safe operation, in the calculated lifting
Confirm that crane hanging component is dangerous in the case of lift heavy scope of the machine lift heavy beyond the crane safe operation.
10. the method according to claim 7-9 any one, it is characterised in that the method also includes to be calculated according to following formula
Craning weight of same：
Wherein M is craning weight of same, AmFor the operating efficiency of the hydraulic motor of raising elevator, VmHydraulic motor for raising elevator
Discharge capacity, Δ P be the hydraulic motor inlet and outlet pressure oil pressure differential, A1For the efficiency of lifting pulley group, n is lifting pulley
The multiplying power of group, R are reel radius, and g is acceleration of gravity.
11. methods according to claim 7-9 any one, it is characterised in that have man-like shelf to become in the crane tool
In the case of the principal arm operating mode of width, main arm of crane angle, θ is calculated according to following formula：
In the case that the crane tool has the principal arm operating mode of man-like shelf luffing, main arm of crane angle, θ is calculated according to following formula：
In the case that the crane tool has the principal arm operating mode of man-like shelf luffing, crane work range is calculated according to following formula
R：
R=Lzb·cosθ-xz·cosθ-yz·sinθ-XA；
Wherein, with principal arm root hinge O as the origin of coordinates, the horizontal direction in luffing plane forward is X-axis, vertical side upwards
Global coordinate system XOY, X are set up to for Y-axisAFor the X-axis coordinate of crane rotation center A, (XB, YB) it is crane amplitude variation arm-tie
The coordinate of upper hinge B；With main arm of crane summit D as origin of coordinates o, the arm support axis of main arm of crane root hinge is pointed to
Direction is vertical with x-axis in x-axis positive direction, luffing plane and sets up principal arm local coordinate system xoy, (x for y-axis upwardsB, yB) be
Local coordinate of the hinge B under principal arm local coordinate system, (x on crane amplitude variation arm-tieZ, yZ) in crane hoisting assembly pulley
Local coordinate of the heart Z under principal arm local coordinate system, LzbFor main arm of crane length.
12. methods according to claim 7-9 any one, it is characterised in that there is mast luffing in the crane
Tower arm operating mode in the case of, according to following formula calculate main arm of crane angle, θzbWith tower arm angle, θtb：
In the case that the crane has the tower arm operating mode of mast luffing, crane work range R is calculated according to following formula：
R=XE+Ltb·cos(θtb)-x′Z·cos(θtb)-y′Z·sin(θtb)-XA；
Wherein, with principal arm root hinge O as the origin of coordinates, the horizontal direction in luffing plane forward is X-axis, vertical side upwards
Global coordinate system XOY, X are set up to for Y-axisAFor the X-axis coordinate of crane rotation center A, (XB, YB) it is crane amplitude variation arm-tie
The coordinate of upper hinge B, (XE, YE) for main arm of crane and crane tower arm connecting hinge point E coordinate, (XH, YH) it is crane tower
Before arm on arm-tie hinge H coordinate；With main arm of crane summit D as origin of coordinates o, the arm of main arm of crane root hinge is pointed to
Frame axis direction is x-axis positive direction, and luffing plane is interior vertical with x-axis and sets up principal arm local coordinate system xoy for y-axis upwards,
(xB, yB) it is local coordinate of the hinge B under principal arm local coordinate system on crane amplitude variation arm-tie；With crane tower arm summit D1
For origin of coordinates o ', the arm support axis direction for pointing to crane tower arm roots hinge is in x ' axle positive direction, luffing plane and x '
Axle is vertical and sets up tower arm local coordinate system x ' o ' y ', (x ' for y ' axle upwardsH, y 'H) for hinge H on arm-tie before crane tower arm
Coordinate under tower arm local coordinate system, (x 'Z, y 'Z) it is seat of crane hook pulley center Z under tower arm local coordinate system
Mark；LzbFor main arm of crane length；LtbFor crane tower arm lengths.
13. a kind of limiters of moment, it is characterised in that the limiter of moment is included according to claim 1-6 any one
Crane safety control system；The limiter of moment also includes：
Pressure-detecting device, for detecting the pressure differential of the hydraulic motor inlet and outlet pressure oil of raising elevator；
Length/displacement detector, for detecting that jib lubbing mechanism determines the distance between running block.
14. limiters of moment according to claim 13, it is characterised in that the length/displacement detector is arranged on
Jib lubbing mechanism is determined between running block.
15. a kind of cranes, it is characterised in that the crane includes the limiter of moment according to claim 13 or 14.
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| CN105460789B (en) * | 2016-01-12 | 2018-10-02 | 徐州重型机械有限公司 | Crane multiplying power diagnostic method, system and crane |
| CN113620191B (en) * | 2020-05-09 | 2024-08-16 | 徐州重型机械有限公司 | Crane operation protection method, device and system and crane |
| CN112520584A (en) * | 2020-11-13 | 2021-03-19 | 南京中船绿洲机器有限公司 | Application method of PROFINET encoder on marine folding arm crane |
| CN112357766B (en) * | 2020-11-20 | 2022-06-10 | 中船华南船舶机械有限公司 | Compensating method for moment instrument of platform crane |
| CN112919348A (en) * | 2021-04-02 | 2021-06-08 | 中国电建集团重庆工程有限公司 | Tower crane safety monitoring system and method |
| CN113135512B (en) * | 2021-04-29 | 2024-02-13 | 徐州重型机械有限公司 | Crane boom monitoring method, device and system and crane |
| CN115353006A (en) * | 2022-06-30 | 2022-11-18 | 湖南中联重科履带起重机有限公司 | Safety control method for crawler-type mechanical equipment and crawler-type mechanical equipment |
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| CN102464270B (en) * | 2010-11-11 | 2014-05-14 | 徐州重型机械有限公司 | Overturning-preventing torque limiter and movable crane |
| CN202201639U (en) * | 2011-08-12 | 2012-04-25 | 三一汽车起重机械有限公司 | Crane and device for measuring craning weight of same |
| CN102556865B (en) * | 2012-02-01 | 2013-03-13 | 中联重科股份有限公司 | Crane moment limit control device, method and system and engineering mechanical equipment |
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| CN103407890B (en) * | 2013-07-24 | 2016-06-08 | 徐州赫思曼电子有限公司 | A kind of excavator hangs thing Weighing method |
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