CN106115516A - Crane, super lifting device and pretension steel wire rope control method thereof and system - Google Patents

Crane, super lifting device and pretension steel wire rope control method thereof and system Download PDF

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Publication number
CN106115516A
CN106115516A CN201610795150.5A CN201610795150A CN106115516A CN 106115516 A CN106115516 A CN 106115516A CN 201610795150 A CN201610795150 A CN 201610795150A CN 106115516 A CN106115516 A CN 106115516A
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CN
China
Prior art keywords
setting
rope
steel wire
stretching length
pretension
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Application number
CN201610795150.5A
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Chinese (zh)
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CN106115516B (en
Inventor
陈晓敏
闫俊慧
刘海波
米勇
宋帅
帖晓春
Original Assignee
太原重型机械集团工程技术研发有限公司
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Priority to CN201610795150.5A priority Critical patent/CN106115516B/en
Publication of CN106115516A publication Critical patent/CN106115516A/en
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Publication of CN106115516B publication Critical patent/CN106115516B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/72Counterweights or supports for balancing lifting couples
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/16Applications of indicating, registering, or weighing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details

Abstract

The present invention discloses pretension steel wire rope control method and the system of a kind of super lifting device.Wherein, control method includes: 11) the current pulling force of two pretension steel wire ropes (7) of detection crane;12) when current pulling force is more than pretension value, the rope stretching length of two pretension steel wire ropes (7) is detected;13) according to rope stretching length, it is judged that whether the rope stretching length difference of two pretension steel wire ropes (7) is less than the first setting value, and the first setting value is positive number, it is judged that when result is for being, enters step 14);14) control the bigger setting-up elevator (6) corresponding to pretension steel wire rope (7) of rope stretching length and implement serving operation, and serving amount is equal with rope stretching length difference.Such scheme can solve the problem that left and right setting-up support that the power control methods such as crane employing exist is bigger with principal arm unbalance stress and potential safety hazard.Invention additionally discloses a kind of crane and super lifting device.

Description

Crane, super lifting device and pretension steel wire rope control method thereof and system
Technical field
The present invention relates to technical field of crane equipment, particularly relate to a kind of crane, super lifting device and pretension steel wire rope thereof Control method and system.
Background technology
Crane is a kind of relatively conventional heavy duty equipment, is widely used in the lifting works such as building, mining site, harbour Make in more environment.Along with progress and the expanding economy of society, in order to better adapt to different workplaces, crane Kind also get more and more.
It is known that crane operationally its principal arm stretches the longest, when hoisting heavy, amount of deflection is the biggest, and this not only limits The crane capacity of crane, but also potential safety hazard can be brought.In order to reduce amount of deflection during principal arm lifting, improve crane Can, crane would generally install super lifting device additional.
Refer to Fig. 1 and 2, Fig. 1 and 2 and a kind of crane with super lifting device is shown.In crane shown in figure, super Lifting device includes can symmetrical two the setting-up supports 1 being distributed in principal arm 3 both sides.Two setting-up supports 1 are at cocked cylinder 2 Propped on the side surface of principal arm 3 under effect.Meanwhile, the setting-up being all connected with chassis 4 with the free end of setting-up support 1 Stay cord 5 is in tension.The free end of setting-up support 1 is provided with setting-up elevator 6, and the pretension steel wire rope 7 on setting-up elevator 6 is even It is connected on the top of principal arm 3.Before operation, two setting-up supports 1 need to be deployed under the effect launching oil cylinder 8 pre-crane If angle, then need setting-up elevator 6 that pretension steel wire rope 7 is pulled to Pre strained state.After super lifting device is adjusted to duty, Principal arm 3 is regulated its angle of inclination by amplitude oil cylinder 9 again and carries out follow-up slinging work.
At present, the regulation and control result of super lifting device is that the pulling force with the pretension steel wire rope 7 on two setting-up supports 1 is equal and reach It is as the criterion to pretension value.This control methods can referred to as wait power control methods.Two pretensions in left and right are made etc. power control methods Steel wire rope 7 stress in the unloaded state is equal, although can effectively strengthen the lifting performance of principal arm 3, but limited use.We Knowing, the pulling force of the two pretension steel wire ropes 7 in left and right is identical, does not represent both and is in the state being arranged symmetrically in principal arm 3 both sides, It is to say, etc. power control methods principal arm 3, setting-up support 1 cannot be made to be in optimal stress.Owing to crane is in work During work, being stretched affect by the environmental effect such as temperature, sunshine and principal arm 3, principal arm 3 can be further with the deformation of super lifting device Strengthening, and then make the unsymmetry of two setting-up supports 1 more prominent, eventually due to both, during lifting, stress is not All occurring principal arm 3 to bend, situation about even fractureing occurs.Visible, the crane of the power control methods such as employing remains Bigger potential safety hazard.
Based on this, two setting-up supports 1 of crane how are made can be more symmetrically arranged at the both sides of principal arm 3, And then reducing the deformation of above-mentioned part, the safe and stable work for crane is significant, but, current etc. Power control methods but cannot meet above-mentioned requirements.
Summary of the invention
The present invention discloses the pretension steel wire rope control method of a kind of super lifting device, to solve the power regulation and control sides such as crane employing The problem that the left and right setting-up support that formula exists is bigger with principal arm unbalance stress and potential safety hazard.
For solving above-mentioned technical problem, the present invention is disclosed directly below technical scheme:
The pretension steel wire rope control method of super lifting device, including:
11) the current pulling force of two described pretension steel wire ropes of detection crane;
12) when described current pulling force is more than pretension value, the rope stretching length of two described pretension steel wire ropes is detected;
13) according to described rope stretching length, it is judged that whether the rope stretching length difference of two described pretension steel wire ropes sets less than first Definite value, described first setting value is positive number, it is judged that when result is for being, enters step 14);
14) control the bigger setting-up elevator corresponding to described pretension steel wire rope of described rope stretching length and implement serving operation, And serving amount is equal with described rope stretching length difference.
Preferably, in said method, also include:
When described rope stretching length difference is more than or equal to the first setting value, report to the police.
Preferably, in said method, step 14) including:
31) the current serving radius of described setting-up elevator is detected;
32) according to the rotational angle of setting-up elevator described in described rope stretching length difference and described current serving radius calculation;
33) control described setting-up elevator to run according to described rotational angle.
The pretension steel wire rope control system of super lifting device, including:
First detector unit, for detecting the current pulling force of two described pretension steel wire ropes of described crane;
First judging unit, is used for judging that whether described current pulling force is more than pretension value;
Second detector unit, for when described current pulling force is more than described pretension value, detecting two described pretension steel wires The rope stretching length of rope;
Second judging unit, for judging that whether the rope stretching length difference of two described pretension steel wire ropes is less than the first setting Value, described setting value is positive number;
Control unit, for when described rope stretching length difference is less than described first setting value, controlling described rope stretching length relatively The big setting-up elevator corresponding to described pretension steel wire rope implements serving operation, and serving amount is equal with described rope stretching length difference.
Preferably, above-mentioned control system also includes alarm unit;Wherein:
Described alarm unit is for being more than or equal to the first setting value alarm at described rope stretching length difference.
Preferably, in above-mentioned control system, described control unit includes:
Detection sub-unit, for detecting the current serving radius of described setting-up elevator;
Computation subunit, for according to setting-up elevator described in described rope stretching length difference and described current serving radius calculation Rotational angle;
Control subelement, be used for controlling described setting-up elevator and run according to described rotational angle.
Super lifting device, including can be symmetrically arranged at crane principal arm both sides two pretension steel wire ropes and for point It is not wound around two setting-up elevators of described pretension steel wire rope;Also include:
Arbitrary described pretension steel wire rope control system.
Preferably, in above-mentioned super lifting device, described setting-up elevator includes lockable mechanism;Described lockable mechanism include ratchet, Tensioning hydro-cylinder and lock pin oil cylinder;Wherein:
Described ratchet is arranged on the reel ends of described setting-up elevator;
The cylinder body of described tensioning hydro-cylinder is hinged with the installing rack of described setting-up elevator, and the piston rod of described tensioning hydro-cylinder can be Stretch out under state that rotation direction is spacing coordinates at the rope of putting of described reel with described ratchet;
The cylinder body of described lock pin oil cylinder is hinged with described installing rack, the piston rod of described lock pin oil cylinder and described tensioning hydro-cylinder Cylinder body hinged, be used for driving described tensioning hydro-cylinder to swing so that it switches between position in operating position and dodging.
Preferably, above-mentioned super lifting device also includes the 3rd judging unit;Described 3rd judging unit goes out described in being used for judging Whether rope length difference is more than described second setting value, and described second setting value is less than described first setting value;
Described control unit is connected with described 3rd judging unit;Wherein:
Described control unit is for when described rope stretching length difference is more than described second setting value, controlling described tensioning hydro-cylinder Piston rod bounce back and start the driving motor of described setting-up elevator or hydraulic motor work and make to implement to put rop exercise;
Described control unit, for when described rope stretching length difference is less than or equal to described second setting value, controls described The piston rod of locking oil cylinder stretches out to promote described spool turns rope closing.
Crane, including:
Super lifting device described in above-mentioned any one
The technique effect that the control method of pretension steel wire rope disclosed by the invention has is as follows:
In control method disclosed by the invention, two pretension steel wire ropes at crane are under Pre strained state, by two The rope stretching length adjustment of pretension steel wire rope is equal, and in such cases, two pretension steel wire ropes on setting-up support can be isometric Ground tension is in the both sides of principal arm, and then two pretension steel wire ropes can be made to be symmetrically dispersed in the both sides of principal arm, and this is one etc. Long control strategy, it is possible to make three be in preferable stress, and then make two setting-up supports and the deformation of principal arm Less, certainly, also can preferably resist the environment impact on crane stress.With described in background technology etc. power control methods phase Ratio, control method disclosed by the invention can solve the left and right setting-up support of the power control methods existence such as crane employing and be subject to principal arm The problem that power is uneven and potential safety hazard is bigger.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention or background technology, below will be to embodiment or the back of the body In the description of scape technology, the required accompanying drawing used is briefly described, it should be apparent that, for those of ordinary skill in the art Speech, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of a kind of crane with super lifting device;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the schematic flow sheet of the pretension steel wire rope control method of the super lifting device that the embodiment of the present invention one provides;
Fig. 4 is the schematic flow sheet that the control setting-up elevator that the embodiment of the present invention one provides implements serving operation;
Fig. 5 is the structural representation of the pretension steel wire rope control system of a kind of super lifting device that the embodiment of the present invention two provides Figure;
Fig. 6 is the structural representation of the pretension steel wire rope control system of the another kind of super lifting device that the embodiment of the present invention two provides Figure;
Fig. 7 is a kind of structural representation of the control unit that the embodiment of the present invention two provides;
Fig. 8 is the control structure schematic diagram of the setting-up elevator that the embodiment of the present invention provides.
Description of reference numerals:
1-setting-up support, 2-cocked cylinder, 3-principal arm, 4-chassis, 5-setting-up stay cord, 6-setting-up elevator, 61-reel, 62- Ratchet, 63-tensioning hydro-cylinder, 631-piston rod, 632-cylinder body, 633-pole level sensor, 634-pole level sensor, 64-lock pin oil Cylinder, 641-piston rod, 642-cylinder body, 643-pole level sensor, 644-pole level sensor, 7-pretension steel wire rope, 8-expansion oil cylinder, 9-amplitude oil cylinder, 10-drive oil sources, 11-hydraulic motor, 12-encoder;
100-the first detector unit, 200-the first judging unit, 300-the second detector unit, 400-the second judging unit, 500-control unit, 510-detection sub-unit, 520-computation subunit, 530-control subelement, 600-alarm unit.
Detailed description of the invention
For the technical scheme making those skilled in the art be more fully understood that in the present invention, real below in conjunction with the present invention Execute the accompanying drawing in example, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is general The every other embodiment that logical technical staff is obtained under not making creative work premise, all should belong to the present invention and protect The scope protected.
Embodiment one
Please on the basis of Fig. 1 and Fig. 2, in conjunction with reference to Fig. 3, the embodiment of the present invention discloses the pretension of a kind of super lifting device Steel wire rope control method.Disclosed control method, comprises the steps:
S100, the current pulling force of two pretension steel wire ropes of detection crane.
As stated in the Background Art, two pretension steel wire ropes 7 on two setting-up supports 1 when super lifting device has regulated and controled, Need to be in Pre strained state.Step S100 generally arranges detection device to detect pretension steel wire rope 7 on every pretension steel wire rope 7 Current pulling force.Detection device is usually pulling force sensor.
S200, judge that current pulling force is whether more than pretension value.
The step S200 testing result by step S100, it is judged that the current pulling force on every pretension steel wire rope 7 is the biggest In pretension value, only when the current pulling force of pretension steel wire rope 7 is more than pretension value, just can ensure that Pre strained state, follow-up regulation is Meaningful.If when the current pulling force of pretension steel wire rope 7 is less than or equal to pretension value, then the setting-up volume that manipulation is corresponding should be continued Raise 6 servings to make further pretension.
In this step, when judged result is yes, it is, when current pulling force is more than pretension value, just enter step S300.
S300, the rope stretching length of two pretension steel wire ropes of detection.
Step S300 detects the rope stretching length of two pretension steel wire ropes 7 by detection device.So-called rope stretching length refers to Be the reel of setting-up elevator 6 length of putting rope, corresponding with rope stretching length is remaining rope length, is i.e. still wrapped around on reel Pretension steel wire rope 7 length, rope stretching length is the biggest, and remaining rope length then can be the least.
The mode of detection rope stretching length has multiple, can be at the centrally disposed encoder of the end face of reel 61 12, such as Fig. 8 institute Show.Put rotation number of turns during rope by encoder 12 by detection reel 61, and then then can detect rope stretching length.
S400, judge that the rope stretching length difference of two pretension steel wire ropes is whether less than the first setting value.
Two setting-up elevators 6 are during putting rope, and the rope stretching length of two pretension steel wire ropes 7 has difference, step S300 can detect the rope stretching length of each pretension steel wire rope 7, just can according to the rope stretching length of each pretension steel wire rope 7 Calculate the rope stretching length difference of two pretension steel wire ropes 7.
The purpose of this step is: judge whether rope stretching length difference is less than the first setting value, when judged result is for being, then Enter step S500.It should be noted that what the first setting value was those skilled in the art when working according to crane goes out rope form The ultimate value that state determines, the first setting value is positive number.When rope stretching length difference reaches the first setting value, i.e. it is more than or equal to First setting value, then the rope stretching length difference of two pretension steel wire ropes 7 of explanation is excessive, it is believed that pretension steel wire rope 7 is in rope stretching During occur disorder cable.
In order to when there is disorder cable phenomenon, operator implements timely, necessary operation, it is preferred that above-mentioned control method is also May include that when the rope stretching length difference of two pretension steel wire ropes 7 is more than or equal to the first setting value, report to the police.
S500, the enforcement serving of the setting-up elevator corresponding to pretension steel wire rope controlling rope stretching length bigger operate.
When the rope stretching length difference of two pretension steel wire ropes 7 is less than the first setting value, control the pretension that rope stretching length is bigger Setting-up elevator serving corresponding to steel wire rope 7.Now, the serving amount controlling setting-up elevator 6 is equal with rope stretching length difference, and then makes Article two, the rope stretching length of pretension steel wire rope 7 is equal.Meanwhile, the pretension steel wire rope 7 that rope stretching length is longer is strained further, The current pulling force making two pretension steel wire ropes 7 still meets pretension requirement, i.e. more than pretension value.
This step is implemented serving make the rope stretching length of two pretension steel wire ropes 7 equal by being controlled setting-up elevator 6, it is achieved The method of this regulation and control has multiple, refer to Fig. 4, Fig. 4 and illustrates that a kind of setting-up elevator that controls implements the idiographic flow of serving operation, Including:
S110, the current serving radius of detection setting-up elevator.
It is known that carry out along with the withdrawing rope of setting-up elevator 6 operates, the pretension steel wire rope 7 on current setting-up elevator 6 The number of plies is different, and this step to detect current serving radius, namely in order to obtain setting-up elevator 6 winding when implementing serving operation The radius on basis.
S120, according to rope stretching length difference and the rotational angle of current serving radius calculation setting-up elevator.
Owing to step S110 can learn current serving radius, then the serving length that reel is wound around a circle is known.We Knowing, it is 360 ° that reel is wound around the rotational angle corresponding to a circle, therefore, it is possible to be calculated turning corresponding to rope stretching length difference Dynamic angle.
S130, control setting-up elevator run according to rotational angle.
The rotational angle that this step obtains according to step S120, controls setting-up elevator and rotates.When setting-up elevator 6 turns over Can ensure that the serving amount of setting-up elevator 6 is equal with rope stretching length difference after calculated rotational angle.
Certainly, during implementing, it is also possible to determine the angle of rotation of step S130 by detecting current serving diameter Degree, principle is identical, again repeats no more.
By foregoing description, in control method disclosed in the embodiment of the present invention, at two pretension steel of crane Cord 7 is under Pre strained state, is equal by the rope stretching length adjustment of two pretension steel wire ropes 7, in such cases, and setting-up support Two pretension steel wire ropes 7 on 1 can be strained in the both sides of principal arm 3 isometricly, and then two pretension steel wire ropes 7 can be made symmetrical Be distributed in the both sides of principal arm 3, this is a kind of isometric control strategy, it is possible to makes three be in preferable stress, enters And make the deformation of two setting-up supports 1 and principal arm 3 less, certainly, also can preferably resist the environment shadow to crane stress Ring.With described in background technology etc. compared with power control methods, control method disclosed in the embodiment of the present invention can solve crane and adopt With etc. the left and right setting-up support 1 that exists of the power control methods problem bigger with principal arm 3 unbalance stress and potential safety hazard.
Embodiment two
Based on control method disclosed in the embodiment of the present invention, the embodiment of the present invention is also disclosed the pretension steel of a kind of super lifting device Cord control system.Refer to Fig. 5, disclosed control system includes:
First detector unit 100, for detecting the current pulling force of two pretension steel wire ropes 7 of crane.
As stated in the Background Art, two pretension steel wire ropes 7 on two setting-up supports 1 when super lifting device has regulated and controled, Need to be in Pre strained state.First detector unit 100 is generally arranged on every pretension steel wire rope 7 and detects current pulling force.The One detection device is usually pulling force sensor.
First judging unit 200, is used for judging that whether current pulling force is more than pretension value.
First judging unit 200 testing result by the first detector unit 100, it is judged that on every pretension steel wire rope 7 Current pulling force, whether more than pretension value, only when the current pulling force of pretension steel wire rope 7 is more than pretension value, just can ensure that pretension shape State, follow-up regulation is the most meaningful.If when the current pulling force of pretension steel wire rope 7 is less than or equal to pretension value, then should continue Setting-up elevator 6 serving of manipulation correspondence is to make further pretension.
When judged result is yes, it is, when current pulling force is more than pretension value, just start the second detector unit 300.
Second detector unit 300, for the rope stretching length of two pretension steel wire ropes 7 of detection.
The reel that so-called rope stretching length refers to setting-up elevator 6 puts the length of rope, and corresponding with rope stretching length is remaining Rope length, pretension steel wire rope 7 length being i.e. still wrapped around on reel, rope stretching length is the biggest, and remaining rope length then can be the least.
Second detector unit 300 can be at the centrally disposed encoder of the end face of reel 61 12, as shown in Figure 8.By coding Device 12 puts rotation number of turns during rope by detection reel 61, and then then can detect rope stretching length.
Second judging unit 400, for judging that whether the rope stretching length difference of two pretension steel wire ropes 7 is less than the first setting Value.
Two setting-up elevators 6 are during putting rope, and the rope stretching length of two pretension steel wire ropes 7 has difference, the second inspection Survey unit 300 and can detect the rope stretching length of each pretension steel wire rope 7, according to the rope stretching length of each pretension steel wire rope 7 Just can calculate the rope stretching length difference of two pretension steel wire ropes 7.
The effect of the second judging unit 400 is to judge that rope length difference, whether less than the first setting value, works as judged result During for being, then start control unit 500.It should be noted that the first setting value is that those skilled in the art are according to crane operator The ultimate value that rope stretching state when making determines, the first setting value is positive number.When rope stretching length difference reaches the first setting value, I.e. more than or equal to the first setting value, then the rope stretching length difference of two pretension steel wire ropes 7 of explanation is excessive, it is believed that pretension steel wire Disorder cable is there is in rope 7 during rope stretching.
In order to when there is disorder cable phenomenon, operator implements timely, necessary operation, it is preferred that above-mentioned control system is also Alarm unit 600 can be included, as shown in Figure 6.When the rope stretching length difference of two pretension steel wire ropes 7 is more than or equal to the first setting During value, alarm unit 600 is reported to the police.Concrete, alarm unit can be voice guard, it is also possible to be visual alarm.
Control unit 500, implements volume for controlling the bigger setting-up elevator 6 corresponding to pretension steel wire rope 7 of rope stretching length Rop exercise is made.
When the rope stretching length difference of two pretension steel wire ropes 7 is less than the first setting value, control the pretension that rope stretching length is bigger Setting-up elevator 6 serving corresponding to steel wire rope 7.Now, the serving amount controlling setting-up elevator 6 is equal with rope stretching length difference, and then makes The rope stretching length obtaining two pretension steel wire ropes 7 is equal.Meanwhile, the pretension steel wire rope 7 that rope stretching length is longer is drawn further Tightly so that the current pulling force of two pretension steel wire ropes 7 still meets pretension requirement, i.e. more than pretension value.
Control unit 500 is implemented serving by control setting-up elevator 6 and is made the rope stretching length phase of two pretension steel wire ropes 7 Deng, it is achieved the device of this regulation and control has multiple, refer to Fig. 7, Fig. 7 and illustrates the concrete structure of a kind of control unit, including:
Detection sub-unit 510, for detecting the current serving radius of setting-up elevator 6.
It is known that carry out along with the withdrawing rope of setting-up elevator 6 operates, the pretension steel wire rope 7 on current setting-up elevator 6 The number of plies is different, and detection sub-unit to detect current serving radius, namely in order to obtain setting-up elevator 6 when implementing serving operation It is wound around the radius on basis.
Computation subunit 520, for according to rope stretching length difference and the angle of rotation of current serving radius calculation setting-up elevator 6 Degree.
Owing to detection sub-unit 510 can learn current serving radius, then the serving length that reel is wound around a circle is known. It is known that it is 360 ° that reel is wound around the rotational angle corresponding to a circle, therefore, it is possible to be calculated corresponding to rope stretching length difference Rotational angle.
Control subelement 530, be used for controlling setting-up elevator 6 and run according to rotational angle.
Control the rotational angle that subelement 530 obtains according to computation subunit 520, control setting-up elevator 6 and rotate.When Setting-up elevator 6 turn over can ensure serving amount and the rope stretching length difference phase of setting-up elevator 6 after calculated rotational angle Deng.
Certainly, during implementing, it is also possible to determine rotational angle, principle phase by detecting current serving diameter With, again repeat no more.
Corresponding with the control method that embodiment one provides, the concrete useful effect of control system that the present embodiment two provides Really, refer to the description of appropriate section in embodiment one, again repeat no more.
Embodiment three
Based on the control system disclosed in the embodiment of the present invention two, the open a kind of super lifting device of the embodiment of the present invention three, institute Disclosed super lifting device includes the control system described in embodiment two.
Super lifting device disclosed in the embodiment of the present invention three includes being symmetrically arranged at the two of principal arm 3 both sides of crane Bar pretension steel wire rope 7 and two setting-up elevators 6 for winding pretension steel wire rope 7 respectively.Setting-up elevator 6 includes lockable mechanism. As shown in Figure 8, the device of rotation driving of setting-up elevator 6 can be hydraulic motor 11, and hydraulic motor 11 is connected with driving oil sources 10, By driving oil sources 10 to realize fuel feeding.Certainly, the device of rotation driving of setting-up elevator 6 can also is that driving motor.
Refer to Fig. 8, disclosed lockable mechanism can include ratchet 62, lock pin oil cylinder 64 and swing locking member.Ratchet 62 reel 61 ends being arranged on setting-up elevator 6, swing locking member one end hinged with the installing rack of setting-up elevator 6, other end energy Enough restrict that rotation direction is spacing to be coordinated putting of reel 61 with ratchet 62.
The cylinder body 642 of lock pin oil cylinder 64 is hinged with the installing rack of setting-up elevator 6, the piston rod 641 of lock pin oil cylinder 64 and pendulum Dynamic locking member is hinged, is used for driving swing locking member to swing so that it in operating position and dodges switching between position.Specifically Work process in, when swinging locking member and being in operating position can putting rope, rotation direction is spacing coordinates with ratchet 62, reach Purpose to locked setting-up elevator 6 unwrapping wire.When swing locking member is in and dodges position, then reach not interfere setting-up elevator 6 to move The purpose made.
Specific operation process is as follows: when needs control setting-up elevator 6 serving, the piston rod 641 of lock pin oil cylinder 64 stretches out, Make to swing locking member by jack-up, and then be in the position of dodging separated with setting-up elevator 6, the driving electricity of final setting-up elevator 6 Machine or hydraulic motor 11 are opened and are implemented serving operation.When needs control setting-up elevator 6 serving, the piston rod of lock pin oil cylinder 64 641 retractions so that swinging locking member and dragged down, and then be in the operating position spacing with setting-up elevator 6, final locked setting-up is rolled up Raise 6, it is to avoid the automatic unwrapping wire of setting-up elevator 6.
Referring again to Fig. 8, in a kind of preferably scheme: swinging locking member can be tensioning hydro-cylinder 63.Tensioning hydro-cylinder 63 Cylinder body 632 hinged with the installing rack of setting-up elevator 6, the piston rod 631 of tensioning hydro-cylinder 63 can extend out to ratchet 62 at reel The position putting the rope spacing cooperation of rotation direction of 61.During work, the flexible change tensioning hydro-cylinder 63 of lock pin oil cylinder 64 Angle, and then tensioning hydro-cylinder 63 can be made to be in favourable restraining position.The piston rod 631 of tensioning hydro-cylinder 63 stretches out and then real Now putting rope, rotation direction is spacing coordinates with ratchet 62, piston rod 631 energy of retraction of tensioning hydro-cylinder 63 realize with ratchet 62 point From.Meanwhile, the piston rod 631 of tensioning hydro-cylinder 63 stretches further and reel 61 can be promoted in certain scope to rotate, and enters And serving can be implemented by adjustment setting-up elevator 6 in trace ground.
Cylinder body 632 two ends of tensioning hydro-cylinder 63 can arrange pole level sensor 633 and pole level sensor 634, and passes through phase The control equipment answered is the most flexible to limit piston rod 631.In like manner, the two ends of the cylinder body 642 of lock pin oil cylinder 64 can arrange pole Level sensor 643 and pole level sensor 644, and limit the most flexible of piston rod 641 by corresponding control equipment.
Based on this, disclosed in the embodiment of the present invention three, super lifting device can also include the 3rd judging unit.3rd judges list Unit is used for judging whether rope stretching length difference is more than the second setting value, and the second setting value is less than the first setting value.Certainly, second set Value is also the empirical value that those skilled in the art set according to the kind of concrete working environment or crane, and the application does not limits Make its concrete numerical value.
Wherein, control unit 500 is connected with described 3rd judging unit;Rope stretching length difference more than the second setting value (when So, less than the first setting value) time, then explanation serving amount is relatively big, and in such cases, control unit 500 is used for controlling tensioning hydro-cylinder The piston rod 631 of 63 bounces back and starts that the driving of setting-up elevator 6 is electronic or hydraulic motor 11 is made to implement to put rop exercise.When rope stretching is long When degree difference is less than or equal to the second setting value, then it is believed that serving amount is less, in order to reduce bigger driving motor, hydraulic pressure The startup of motor 11, control unit 500 is stretched out to promote reel 61 to rotate for the piston rod 631 controlling tensioning hydro-cylinder 63 and is received Rope.Above two mode makes super lifting device can select more suitably regulation driving side according to rope stretching length extent Formula, not only can improve efficiency, but also can improve degree of regulation.
Based on super lifting device disclosed in the embodiment of the present invention, the embodiment of the present invention is also disclosed a kind of crane.Disclosed Crane includes the super lifting device as described in any one in foregoing embodiments.
Herein, what each preferred version only emphasis described is different from other scheme, if each preferred version Do not conflict, can combination in any, the embodiment formed after combination is also within category disclosed in this specification, it is contemplated that Text is succinct, and the embodiment with regard to no longer being formed combination individually describes herein.
The above is only the detailed description of the invention of the present invention, makes to skilled artisans appreciate that or realize this Bright.Multiple amendment to these embodiments will be apparent to one skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (10)

1. the pretension steel wire rope control method of super lifting device, it is characterised in that including:
11) the current pulling force of two described pretension steel wire ropes (7) of detection crane;
12) when described current pulling force is more than pretension value, the rope stretching length of two described pretension steel wire ropes (7) is detected;
13) according to described rope stretching length, it is judged that whether the rope stretching length difference of two described pretension steel wire ropes (7) is less than the first setting Value, described first setting value is positive number, it is judged that when result is for being, enters step 14);
14) control the bigger setting-up elevator (6) corresponding to described pretension steel wire rope (7) of described rope stretching length and implement serving behaviour Make, and serving amount is equal with described rope stretching length difference.
Method the most according to claim 1, it is characterised in that also include:
When described rope stretching length difference is more than or equal to the first setting value, report to the police.
Method the most according to claim 1 and 2, it is characterised in that step 14) including:
31) the current serving radius of described setting-up elevator (6) is detected;
32) according to the rotational angle of setting-up elevator (6) described in described rope stretching length difference and described current serving radius calculation;
33) control described setting-up elevator (6) to run according to described rotational angle.
4. the pretension steel wire rope control system of super lifting device, it is characterised in that including:
First detector unit (100), for detecting the current pulling force of two described pretension steel wire ropes (7) of described crane;
First judging unit (200), is used for judging that whether described current pulling force is more than pretension value;
Second detector unit (300), for when described current pulling force is more than described pretension value, detecting two described pretension steel wires The rope stretching length of rope (7);
Second judging unit (400), for judging whether the rope stretching length difference of two described pretension steel wire ropes (7) sets less than first Definite value, described setting value is positive number;
Control unit (500), for when described rope stretching length difference is less than described first setting value, controlling described rope stretching length relatively The big setting-up elevator (6) corresponding to described pretension steel wire rope (7) implements serving operation, and serving amount and described rope stretching length difference Equal.
Control system the most according to claim 4, it is characterised in that also include alarm unit;Wherein:
Described alarm unit (600) is for being more than or equal to the first setting value alarm at described rope stretching length difference.
6. according to the control system described in claim 4 or 5, it is characterised in that described control unit (500) including:
Detection sub-unit (510), is used for detecting the current serving radius of described setting-up elevator (6);
Computation subunit (520), for according to setting-up elevator described in described rope stretching length difference and described current serving radius calculation (6) rotational angle;
Control subelement (530), be used for controlling described setting-up elevator (6) and run according to described rotational angle.
7. super lifting device, including can be symmetrically arranged at crane principal arm (3) both sides two pretension steel wire ropes (7) and use In two the setting-up elevators (6) being wound around described pretension steel wire rope (7) respectively;It is characterized in that, also include:
Pretension steel wire rope control system as described in arbitrary in claim 4-6.
Super lifting device the most according to claim 7, it is characterised in that described setting-up elevator (6) includes lockable mechanism;Described Lockable mechanism includes ratchet (62), tensioning hydro-cylinder (63) and lock pin oil cylinder (64);Wherein:
Described ratchet (62) is arranged on reel (61) end of described setting-up elevator (6);
The cylinder body (632) of described tensioning hydro-cylinder (63) is hinged with the installing rack of described setting-up elevator (6), described tensioning hydro-cylinder (63) Piston rod (631) can at the rope of putting of described reel (61), rotation direction be spacing joins with described ratchet (62) under the state of stretching out Close;
The cylinder body (642) of described lock pin oil cylinder (64) is hinged with described installing rack, the piston rod (641) of described lock pin oil cylinder (64) Hinged with the cylinder body of described tensioning hydro-cylinder (63), be used for driving described tensioning hydro-cylinder (63) to swing so that its operating position with keep away Allow and switch between position.
Super lifting device the most according to claim 8, it is characterised in that also include the 3rd judging unit;Described 3rd judges Unit is used for judging whether described rope stretching length difference is more than described second setting value, and described second setting value sets less than described first Definite value;
Described control unit (500) is connected with described 3rd judging unit;Wherein:
Described control unit (500), for when described rope stretching length difference is more than described second setting value, controls described tensioning oil The piston rod (631) of cylinder (63) bounces back and starts the driving motor of described setting-up elevator (6) or hydraulic motor (11) works with reality Discharge rop exercise to make;
Described control unit (500), for when described rope stretching length difference is less than or equal to described second setting value, controls described The piston rod (631) of tensioning hydro-cylinder (63) stretches out to promote described reel (61) to rotate rope closing.
10. crane, it is characterised in that including:
Super lifting device described in any one in claim 7-9.
CN201610795150.5A 2016-08-31 2016-08-31 Crane, super lifting device and its pretension steel wire rope control method and system CN106115516B (en)

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