CN105460789A - Crane rate diagnosis method, system and crane - Google Patents
Crane rate diagnosis method, system and crane Download PDFInfo
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- CN105460789A CN105460789A CN201610017761.7A CN201610017761A CN105460789A CN 105460789 A CN105460789 A CN 105460789A CN 201610017761 A CN201610017761 A CN 201610017761A CN 105460789 A CN105460789 A CN 105460789A
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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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to a crane rate diagnosis method, a crane rate diagnosis system and a crane. The diagnosis method comprises the following steps: respectively calculating first loading parameters and second loading parameters of the crane by utilizing a first calculation model and a second calculation model according to the input rate of a steel wire rope; calculating the difference absolute value of the first loading parameters and the second loading parameters; judging whether the difference absolute value is higher than a first threshold value; if the difference absolute value is not higher the first threshold value, judging that the input rate of the steel wire rope conforms to actual rate of the steel wire rope; and if the difference absolute value is higher the first threshold value, judging that the input rate of the steel wire rope does not conform to actual rate of the steel wire rope. The diagnosis method can diagnose whether the input rate of the steel wire rope conforms to the actual rate of the steel wire rope, so as to perform corresponding protection control according to the diagnosis result and enable the stress of the steel wire rope to be in a reasonable scope, and therefore, the use safety of the steel wire rope is improved, the service life of the steel wire rope is prolonged, and further the safety of the crane in hoisting can be improved.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of hoisting crane multiplying power diagnostic method, system and hoisting crane.
Background technology
Hoisting crane is conventional construction machinery and equipment, and be seen everywhere in occasions such as lifting, transhipments, its topmost function is elevator operation, and the weight that namely plays hoists and falls.Carry out in the process of lifting operation at hoisting crane, steel rope multiplying power is the important parameter of reflection lifting performance, can determine the biggest lifting capacity under some operating mode.
The process of crane operation is, operator selects the operating mode key elements such as the combination of operating mode code, balance weight, semi-girder and steel rope multiplying power for current lifting operation feature (as current weight weight, lifting distance, hoisting height etc.) by human-computer interaction function, the Signal transmissions that operator selects limits device to power, power limit device so that by the performance feedback that calculates to operator.Power limit device can calculate current weight weight in real time according to lifting performance and electric-control system signal input (mainly comprising brachium sensor, luffing oil pressure sensor, change angle sensor) etc., can judge to lift action whether safety according to the contrast of current weight weight and lift heavy performance simultaneously.
Limit the judgement form of device input multiplying power mainly to carry out artificially to steel rope multiplying power and power in prior art, easily cause misoperation and multiplying power selected mistake, even there is artificial high magnification of selecting with the possibility of hoisting performance.
Because under some working condition, steel rope multiplying power determines maximum lift heavy performance, the multiplying power that power limit device performance calculates should be identical with the steel rope multiplying power of reality, such hoisting crane can lift condition with reality and match, thus makes hoisting process accurately safety.If multiplying power selects mal, then a wrong performance calculated factor read by power limit device, maximum lift heavy performance, the in real time calculating of lift heavy amount can be caused inaccurate, continuing lifting even can make safe wire cable and service life be affected, even there is the danger that steel rope has fracture, cause very large loss and product to use hidden danger.
Summary of the invention
The object of the invention is to propose a kind of hoisting crane multiplying power diagnostic method, system and hoisting crane, the diagnosis function to hoisting crane input multiplying power can be realized, thus safety when improving hoisting crane execution lifting operation.
For achieving the above object, first aspect present invention provides a kind of hoisting crane multiplying power diagnostic method, comprising:
According to the steel rope multiplying power of input, the first computation model and the second computation model is utilized to calculate the first load parameter and second load parameter of hoisting crane respectively;
Calculate the absolute difference of described first load parameter and described second load parameter;
Judge whether described absolute difference is greater than first threshold, if described absolute difference is not more than first threshold, then judge the steel rope multiplying power that the steel rope multiplying power of input is realistic; If described absolute difference is greater than first threshold, then judge that the steel rope multiplying power inputted does not meet actual steel rope multiplying power.
Further, described first load parameter is the first lift heavy amount M1 of steel rope, and described second load parameter is the second lift heavy amount M2 of steel rope, and described absolute difference is the absolute value △ M of the difference of the first lift heavy amount M1 and the second lift heavy amount M2.
Further, also comprise: when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, action restriction being carried out to crane arm or reports to the police.
Further, when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, the step of carrying out reporting to the police specifically comprises:
Calculate the ratio of tilting moment and balancing torque;
Judge whether described ratio exceedes Second Threshold, if when described ratio is no more than Second Threshold, only carry out buzzer warning; If when described ratio exceedes Second Threshold, carry out telltale sound and light alarm simultaneously, alarm lamp controls and buzzer warning.
Further, the hoisting system of described hoisting crane comprises: hoist motor 3, reel 4, steel rope 5 and arm head sheave 6, and according to the steel rope multiplying power of input, the step calculating the first lift heavy amount M1 of steel rope specifically comprises:
Obtain the discharge capacity V of described hoist motor 3, the oil inlet and outlet pressure reduction △ P of described hoist motor 3, described hoist motor 3 to these parameters of steel rope multiplying power of the transmitting ratio i of described reel 4, reel radius r and input;
Parameter according to obtaining utilizes described first computation model to calculate described first lift heavy amount M1.
Further, the described steel rope multiplying power according to input, the step calculating the second lift heavy amount M2 of steel rope specifically comprises:
Obtain the steel rope multiplying power of input, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight, principal arm geometric parameter and principal arm location parameter;
Parameter according to obtaining utilizes described second computation model to calculate described second lift heavy amount M2.
Further, described first lift heavy amount M1 is drawn by the pulling force of pulling force sensor measuring steel wire rope.
For achieving the above object, second aspect present invention provides a kind of hoisting crane multiplying power diagnostic system, comprising:
Load parameter computing module 11, for the steel rope multiplying power according to input, utilizes the first computation model and the second computation model to calculate the first load parameter and second load parameter of hoisting crane respectively;
Load parameter comparison module 12, for judging the absolute difference of the first load parameter that load parameter computing module 11 draws and the second load parameter; Whether exceed first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic;
Input multiplying power diagnostic module 13, for comparing the relation of absolute difference that load parameter comparison module 12 draws and first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic.
Further, also comprise:
Action limiting module 14, when the steel rope multiplying power for determining input at input multiplying power diagnostic module 13 does not meet actual steel rope multiplying power, carries out action restriction to crane arm;
Alarm module 15, reports to the police when the steel rope multiplying power for determining input at input multiplying power diagnostic module 13 does not meet actual steel rope multiplying power.
Further, alarm module 15 comprises:
Moment ratio computing module 151, for calculating the ratio of tilting moment and balancing torque;
Alarm mode selects module 152, for the ratio of the tilting moment that calculates according to moment ratio computing module and balancing torque, selects the kind of alarm mode.
Further, load parameter computing module 11, load parameter comparison module 12 and/or input multiplying power diagnostic module 13 limit device or weighing instrument to realize by power.
For achieving the above object, third aspect present invention provides a kind of hoisting crane, comprises the hoisting crane multiplying power diagnostic system of above-described embodiment.
Based on technique scheme, hoisting crane multiplying power diagnostic method of the present invention, can according to the steel rope multiplying power of input, the first computation model and the second computation model is utilized to calculate the first load parameter and second load parameter of hoisting crane respectively, load parameter is the parameter that can reflect craning weight of same amount size, and judge the degree of closeness of these two load parameters, the steel rope multiplying power of input can be diagnosed out whether to conform to actual steel rope multiplying power by this process, thus perform corresponding safety method according to diagnostic result, the stressed of steel rope is made to be within zone of reasonableness, to improve safety in utilization and the life-span of steel rope, and then safety during guarantee craning weight of same.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structure composition schematic diagram by the hoisting system of motor control in hoisting crane;
Fig. 2 is the schematic flow sheet of a hoisting crane multiplying power diagnostic method of the present invention embodiment;
Fig. 3 is the schematic flow sheet of another embodiment of hoisting crane multiplying power diagnostic method of the present invention;
Fig. 4 is the schematic flow sheet carrying out an embodiment of reporting to the police in hoisting crane multiplying power diagnostic method of the present invention when inputting steel rope multiplying power and not meeting actual steel rope multiplying power;
Fig. 5 is the schematic flow sheet of a hoisting crane multiplying power diagnostic method of the present invention specific embodiment;
Fig. 6 is the functional structure composition schematic diagram of an embodiment of hoisting crane multiplying power diagnostic system of the present invention.
Description of reference numerals
1-first pressure sensor; 2-second pressure sensor; 3-hoist motor; 4-reel; 5-steel rope; 6-arm head sheave; 7-wiring; 8-running block; 9-suspension hook; 10-weight.
Detailed description of the invention
Below describe the present invention in detail.In the following paragraphs, the different aspect of embodiment is defined in more detail.The each side of restriction like this can combine with any other one aspect or many aspects, not may be combined with unless explicitly stated otherwise.Especially, be considered to preferred or favourable any feature and one or morely can be considered to preferred or favourable Feature Combination with other.
Terms such as " first ", " second " that occur in the present invention is only for convenience of description, to distinguish the different constituent elementss with same names, does not represent successively or primary-slave relation.
The elevator function of hoisting crane is realized by running block and steel rope cooperation, and actual lift heavy amount is stressed to single-strand rope relevant with multiplying power that is assembly pulley, multiplying power choose the lifting performance that can affect hoisting crane, if steel rope multiplying power selects mistake, steel rope time serious, can be caused stressed unreasonable and damage.The present invention is within rational field of load to make steel rope, for diagnosing the steel rope multiplying power of input.
For this reason, the invention provides a kind of hoisting crane multiplying power diagnostic method, in one embodiment, schematic flow sheet as shown in Figure 2, comprises the steps:
Step 101, according to input steel rope multiplying power, utilize the first computation model to calculate the first lift heavy amount M1 of steel rope; The steel rope multiplying power of input refers to the steel rope multiplying power that operator selects.
Step 102, according to input steel rope multiplying power, utilize the second computation model to calculate the second lift heavy amount M2 of steel rope.
Step 103, calculate the absolute difference △ M of the first lift heavy amount M1 and the second lift heavy amount M2.
Step 104, judge whether absolute difference is greater than first threshold, if absolute difference is not more than first threshold, then perform step 105; If absolute difference is greater than first threshold, then perform step 106.That is, by steel rope multiplying power that whether degree of closeness of the first lift heavy amount M1 and the second lift heavy amount M2 diagnoses the steel rope multiplying power of input realistic.
The steel rope multiplying power that the steel rope multiplying power that step 105, judgement input is realistic.
The steel rope multiplying power of step 106, judgement input does not meet actual steel rope multiplying power.
Wherein, step 102 also can perform before step 101, or these two steps perform simultaneously.
The hoisting crane multiplying power diagnostic method of this embodiment; the steel rope multiplying power of input can be diagnosed out whether to conform to actual steel rope multiplying power; thus take corresponding protecting control measure according to diagnostic result; be within zone of reasonableness to make the stressed of steel rope; thus improve safety in utilization and the life-span of steel rope, and then safety during guarantee craning weight of same.Can be avoided due to misoperation by multiplying power input error by multiplying power diagnosis as far as possible, even artificially select high magnification with the phenomenon of hoisting performance, thus greatly reduce risk and the hidden danger that fracture occurs steel rope.
The present invention is except realizing the diagnosis of input multiplying power according in a upper embodiment by the lift heavy amount of steel rope, can also according to same principle and thinking, the parameters such as comparison hydraulic pressure value and lineoutofservice signal pull value realize the diagnosis of input multiplying power, such as: hydraulic pressure value is the force value that the hoist motor 3 recorded by pressure sensor is exported, and lineoutofservice signal pull value is directly measured by pulling force sensor.The common ground of this three classes parameter is the load parameter being hoisting crane, can reflect the lift heavy amount size of hoisting crane directly or indirectly, and just the lift heavy amount of steel rope the most directly can provide load.
In another embodiment of the present invention, after step 106, also can take appropriate measures according to diagnostic result, schematic flow sheet as shown in Figure 3, specifically comprises the steps:
Step 107, when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, action restriction being carried out to crane arm or reports to the police.If the steel rope multiplying power of input does not obviously meet actual steel rope multiplying power, and is enough to cause danger to the lifting operation of hoisting crane, at this moment action restriction can be carried out to arm, fundamentally to ensure the safety of hoisting crane.If the steel rope multiplying power of input makes the stressed within the scope of overload of steel rope with the degree that do not meet of actual steel rope multiplying power, also only can report to the police, remind operator to re-enter correct multiplying power.
In yet another embodiment of the present invention, when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, as shown in Figure 4, the step of carrying out in step 107 reporting to the police specifically comprises:
The ratio of step 201, calculating tilting moment and balancing torque, also can be described as moment percentum;
Step 202, judge whether described ratio exceedes Second Threshold, if when described ratio is no more than Second Threshold, perform step 203; If when described ratio exceedes Second Threshold, perform step 204.
Step 203, only carry out buzzer warning;
Step 204, simultaneously carry out telltale sound and light alarm, alarm lamp control and buzzer warning.
Actual hoisting crane is generally equipped with buzzer siren, alarm lamp and man-machine interaction telltale, and this telltale has alarm display and alarm buzzer is equipped with, and the mode realizing reporting to the police is not unique, can increase and decrease according to hoisting crane configuration.When the steel rope multiplying power determining input is different with actual steel rope multiplying power, alarm level can be divided according to the ratio calculated in step 201, such as, Second Threshold is set to 90%.When multiplying power input is abnormal and ratio is no more than 90%, then perform step 203; When multiplying power selects abnormal and ratio more than 90%, then perform step 204.
Moment percentum refers to the ratio of tilting moment and balancing torque, relevant with actual lift heavy amount.This value generally all provides on existing crane products, and be a general variable, can represent the safety factor of actual hoisting crane, ratio is higher, more dangerous.90% does not have special implication, but less than 90% is commonly considered as safety condition, and more than 90% has then thought near dangerous border.More than 90% can continue lift heavy, but may arrive the in-use performance border of steel rope under some operating mode, even more than 90% lifts, such as, can stop lift heavy for security consideration so be not preferably allowed to condition at 100%.
Current crane products adopting mostly the structure of fluid motor-driven hoisting system, in order to describe the multiplying power diagnostic method based on this specific type hoisting system in detail, first the structure composition of this kind of hoisting system being described.As shown in Figure 1, (can be fixed displacement motor or variable-dis-placement motor by hoist motor, and discharge capacity can be surveyed) rotating drive reel 4 rotate, reel 4 is by fixed drive ratio or can obtain the steel rope 5 that transmitting ratio carries out driving in hoisting system, steel rope 5 carries out transmission of power by arm head sheave 6, running block 8 and suspension hook 9 pairs of weights 10 again, realizes different multiplying powers between arm head sheave 6, running block 8 by the number of share of stock of pulley combination and wiring 7.
For the structure of the employing fluid motor-driven hoisting system shown in Fig. 1, the present invention provides a specific embodiment and is described hoisting crane multiplying power diagnostic method.As shown in Figure 5, in multiplying power diagnostic method of the present invention, step 101 is according to the steel rope multiplying power of input, and the first lift heavy amount M1 calculating steel rope specifically can comprise:
Step 101a, obtain the discharge capacity V of hoist motor 3, the oil inlet and outlet pressure reduction △ P of hoist motor 3, hoist motor 3 to these parameters of steel rope multiplying power of the transmitting ratio i of reel 4, reel radius r and input;
Step 101b, according to obtain parameter utilize the first computation model to calculate the first lift heavy amount M1.
Wherein, in step 101a, the oil inlet and outlet pressure reduction △ P of hoist motor 3 is drawn by the first pressure sensor 1 of arranging respectively on the import and export oil circuit of hoist motor 3 and the second pressure sensor 2; The steel rope multiplying power of input after operator performs input action, can limit device or other controller real-time calling input value by power.Power limit device is the controller possessing moment limitation function that hoisting crane is equipped with, and follow-uply will introduce in detail.
In step 101b, the first lift heavy amount M1 can limit device or first computation model of other controller according to following formula (1) to obtain by power:
M1＝△P*V*i*n/(g*r)(1)
In formula: △ P-hoist motor 3 inlet and outlet pressure is poor; The discharge capacity of V-hoist motor 3; I-hoist motor 3 is to the transmitting ratio of reel 4; The steel rope multiplying power of n-input; G-acceleration due to gravity; R-reel radius.
Can be found out according to the first lift heavy amount M1 of the calculation of pressure of hoist motor 3 to be increasing functions of input steel rope multiplying power by formula (1), namely multiplying power increases actual lift heavy amount and should increase.
In other embodiments, the first lift heavy amount M1 also can be drawn by the pulling force of pulling force sensor measuring steel wire rope.First lift heavy amount M1 be the single steel wire rope tension recorded be multiplied by input multiplying power obtain.Above by pulling force that the method for the calculation of pressure first lift heavy amount M1 of hoist motor 3 is also to obtain single-strand rope.
Further, step 102 is according to the steel rope multiplying power of input, and the first lift heavy amount M2 calculating steel rope specifically comprises:
Step 102a, the steel rope multiplying power obtaining input, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight, principal arm geometric parameter and principal arm location parameter;
Step 102b, according to obtain parameter utilize the second computation model to calculate the second lift heavy amount M2.
In step 102a, amplitude oil cylinder pressure obtains by arranging pressure sensor in the epitrochoidal chamber of oil cylinder, and other parameter is all the intrinsic parameter of hoisting crane or arm, can obtain design value or be obtained by measurement.
In step 101b, going out the second lift heavy amount M2 according to the calculation of parameter obtained can limit device or other controller to obtain according to following formula (2) by power, and formula (2) is that the form of calculation of the second computation model embodies:
M2={ (amplitude oil cylinder pressure * amplitude oil cylinder piston area) * (the amplitude oil cylinder bearing force arm of force)-(principal arm weight) * [(principal arm center of gravity X-coordinate) * cos (principal arm angle)-(principal arm center of gravity Y-coordinate) * sin (principal arm angle)] }/{ [principal arm length * cos (principal arm angle)+(lifting pulley coordinate) * sin (principal arm angle)]-(the steel rope multiplying power of the hoist rope arm of force/input) } (2)
As can be seen from formula (2), under the particular pose and lift heavy amount of hoisting crane, molecular moiety is fixed numbers, and denominator part is the function of multiplying power.Denominator part forms by two, the minus sign left side is fixed numbers, for following the subtraction function of the steel rope multiplying power change of input on the right of minus sign, then denominator part is the increasing function of multiplying power change under the specific attitude of hoisting crane, and whole lift heavy amount M2 inputs the subtraction function of steel rope multiplying power, i.e. actual lift heavy amount corresponding to (or artificially selecting to increase) multiplying power increase should reduce.
Wherein, step 102a and step 102b also can perform before step 101a and step 101b, or these two groups of steps perform simultaneously.
By contrast, formula (1) is by the maximum lift heavy amount of the calculation of pressure of hoist motor 3, and formula (2) is the calculation of pressure lift heavy amount by amplitude oil cylinder, and the inside considers organization establishes.The lift heavy amount one drawn by the two cover algorithms that formula (1) and formula (2) are corresponding is increasing function, one is subtraction function, and when multiplying power is equal, the lift heavy amount obtained by two kinds of algorithms is comparatively close, if during multiplying power change, the result finally obtained is more obvious by difference.The present invention make use of the input multiplying power of this principle to hoisting crane just and diagnoses.
In addition, hoisting system drives except adopting hoist motor 3, and motor also can be used to drive, and for this embodiment, can be diagnosed the steel rope multiplying power of input, will not launch explanation here by the parameter contrasting frequency converter.
Step in the diagnostic method of the various embodiments described above can be performed by controller, and can realize signal-obtaining, relevant parameter calculates and logic performs, controller can optional equipment or utilize existing controller in hoisting crane.In general, comparatively hoister in large tonnage is all provided with Vehicle Controller, power limit device and telltale, and minor crane also must be equipped with and limit device effectively, and Vehicle Controller and telltale can not be equipped with.Power limit device is the parts calculating actual lifting performance, can by calculating the parameters such as actual lift heavy amount to some sensing datas, also can reflect that operator selects operating mode code and steel rope multiplying power, power limit device can export maximum lift heavy performance and real-time lift heavy amount according to existing structural behaviour parameter and Sensor monitoring data (as telescopic boom length detection, amplitude oil cylinder pressure detection, change angle detection etc.), operator can also be fed back to whether transship, can according to product demand limit movement at some product.
Preferably, each step in above-mentioned diagnostic method all can be limit device to perform by power, can make full use of the upper existing apparatus of hoisting crane like this, and whole diagnostic method is by introducing corresponding algorithm realization in power limit device inside, can not increase any hardware cost, realizability is better.
In other embodiments, each step in above-mentioned diagnostic method also realizes by weighing instrument, weighing instrument has the function calculating actual lift heavy amount, it is similar that its principle and power limit device calculate actual lift heavy amount, only need to obtain final lift heavy amount, then utilize method provided by the invention to carry out contrasting, controlling functions is preferably realized by Vehicle Controller.
Secondly, present invention also offers a kind of hoisting crane multiplying power diagnostic system, in one embodiment, as shown in Figure 6, comprise: load parameter computing module 11, for the steel rope multiplying power according to input, the first computation model and the second computation model is utilized to calculate the first load parameter and second load parameter of hoisting crane respectively; Load parameter comparison module 12, for judging the absolute difference of the first load parameter that load parameter computing module 11 draws and the second load parameter; Whether exceed first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic; Input multiplying power diagnostic module 13, for comparing the relation of absolute difference that load parameter comparison module 12 draws and first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic.Wherein, load parameter computing module 11 also by two independently computing module calculate the first load parameter and the second load parameter respectively.
Preferably, load parameter computing module 11, load parameter comparison module 12 and/or input multiplying power diagnostic module 13 limit device or weighing instrument to realize by power.
The hoisting crane multiplying power diagnostic system of the embodiment of the present invention; the load parameter that two kinds of different models can be utilized to calculate according to the input multiplying power of steel rope compares; the steel rope multiplying power of input is diagnosed out whether to conform to actual steel rope multiplying power; thus take corresponding protecting control measure according to diagnostic result; be within zone of reasonableness to make the stressed of steel rope; thus improve safety in utilization and the life-span of steel rope, and then safety during guarantee craning weight of same.
Further, during in order to not meet actual steel rope multiplying power in the steel rope multiplying power determining input, operator can be reminded or carry out action protection, in another embodiment, hoisting crane multiplying power diagnostic system of the present invention also comprises: action limiting module 14, when steel rope multiplying power for determining input at input multiplying power diagnostic module 13 does not meet actual steel rope multiplying power, action restriction is carried out to crane arm; Alarm module 15, reports to the police when the steel rope multiplying power for determining input at input multiplying power diagnostic module 13 does not meet actual steel rope multiplying power.
In a specific embodiment, alarm module 15 comprises: moment ratio computing module 151, for calculating the ratio of tilting moment and balancing torque; Alarm mode selects module 152, for the ratio of the tilting moment that calculates according to moment ratio computing module and balancing torque, selects the kind of alarm mode.
In addition, present invention also offers a kind of hoisting crane, comprise the hoisting crane multiplying power diagnostic system of above-described embodiment.Because multiplying power diagnostic system of the present invention can be diagnosed the multiplying power of operator's input, just can remind operator when inputting abnormal according to diagnostic result or take restriction, can avoid multiplying power input error due to misoperation as far as possible, even artificially select high magnification with the phenomenon of hoisting performance, thus greatly reduce risk and the hidden danger that fracture occurs steel rope, and then improve the safety that hoisting crane performs lifting operation.
Be described in detail a kind of hoisting crane multiplying power diagnostic method provided by the present invention, system and hoisting crane above, the correlated characteristic mentioned in above-mentioned three themes and beneficial effect can be used for reference mutually.Apply specific embodiment herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (12)
1. a hoisting crane multiplying power diagnostic method, is characterized in that, comprising:
According to the steel rope multiplying power of input, the first computation model and the second computation model is utilized to calculate the first load parameter and second load parameter of hoisting crane respectively;
Calculate the absolute difference of described first load parameter and described second load parameter;
Judge whether described absolute difference is greater than first threshold, if described absolute difference is not more than first threshold, then judge the steel rope multiplying power that the steel rope multiplying power of input is realistic; If described absolute difference is greater than first threshold, then judge that the steel rope multiplying power inputted does not meet actual steel rope multiplying power.
2. hoisting crane multiplying power diagnostic method according to claim 1, it is characterized in that, described first load parameter is the first lift heavy amount M1 of steel rope, described second load parameter is the second lift heavy amount M2 of steel rope, and described absolute difference is the absolute value △ M of the difference of the first lift heavy amount M1 and the second lift heavy amount M2.
3. hoisting crane multiplying power diagnostic method according to claim 1, is characterized in that, also comprise: when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, carrying out action restriction or report to the police to crane arm.
4. hoisting crane multiplying power diagnostic method according to claim 3, is characterized in that, when judging that the steel rope multiplying power of input does not meet actual steel rope multiplying power, the step of carrying out reporting to the police specifically comprises:
Calculate the ratio of tilting moment and balancing torque;
Judge whether described ratio exceedes Second Threshold, if when described ratio is no more than Second Threshold, only carry out buzzer warning; If when described ratio exceedes Second Threshold, carry out telltale sound and light alarm simultaneously, alarm lamp controls and buzzer warning.
5. hoisting crane multiplying power diagnostic method according to claim 2, it is characterized in that, the hoisting system of described hoisting crane comprises: hoist motor (3), reel (4), steel rope (5) and arm head sheave (6), according to the steel rope multiplying power of input, the step calculating the first lift heavy amount M1 of steel rope specifically comprises:
Obtain the discharge capacity V of described hoist motor (3), the oil inlet and outlet pressure reduction △ P of described hoist motor (3), described hoist motor (3) to these parameters of steel rope multiplying power of the transmitting ratio i of described reel (4), reel radius r and input;
Parameter according to obtaining utilizes described first computation model to calculate described first lift heavy amount M1.
6. hoisting crane multiplying power diagnostic method according to claim 2, is characterized in that, the described steel rope multiplying power according to input, and the step calculating the second lift heavy amount M2 of steel rope specifically comprises:
Obtain the steel rope multiplying power of input, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight, principal arm geometric parameter and principal arm location parameter;
Parameter according to obtaining utilizes described second computation model to calculate described second lift heavy amount M2.
7. hoisting crane multiplying power diagnostic method according to claim 2, is characterized in that, described first lift heavy amount M1 is drawn by the pulling force of pulling force sensor measuring steel wire rope.
8. a hoisting crane multiplying power diagnostic system, is characterized in that, comprising:
Load parameter computing module (11), for the steel rope multiplying power according to input, utilizes the first computation model and the second computation model to calculate the first load parameter and second load parameter of hoisting crane respectively;
Load parameter comparison module (12), for judging the absolute difference of described first load parameter that described load parameter computing module (11) draws and described second load parameter; Whether exceed first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic;
Input multiplying power diagnostic module (13), the described absolute difference drawn for more described load parameter comparison module (12) and the relation of first threshold, to judge the steel rope multiplying power whether the steel rope multiplying power of input is realistic.
9. hoisting crane multiplying power diagnostic system according to claim 8, is characterized in that, also comprise:
Action limiting module (14), when the steel rope multiplying power for determining input described input multiplying power diagnostic module (13) does not meet actual steel rope multiplying power, carries out action restriction to crane arm;
Alarm module (15), reports to the police when the steel rope multiplying power for determining input described input multiplying power diagnostic module (13) does not meet actual steel rope multiplying power.
10. hoisting crane multiplying power diagnostic system according to claim 9, is characterized in that, described alarm module (15) comprising:
Moment ratio computing module (151), for calculating the ratio of tilting moment and balancing torque;
Alarm mode selects module (152), for according to the described tilting moment of moment ratio computing module calculating and the ratio of balancing torque, selects the kind of alarm mode.
11. hoisting crane multiplying power diagnostic systems according to claim 8, it is characterized in that, described load parameter computing module (11), described load parameter comparison module (12) and/or input multiplying power diagnostic module (13) limit device or weighing instrument to realize by power.
12. 1 kinds of hoisting cranes, is characterized in that, comprise the arbitrary described hoisting crane multiplying power diagnostic system of claim 8 ~ 11.
Priority Applications (1)
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