CN106219410A - A kind of crawler crane and double hook device for controlling differential speed based on opened loop control thereof - Google Patents
A kind of crawler crane and double hook device for controlling differential speed based on opened loop control thereof Download PDFInfo
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- CN106219410A CN106219410A CN201610818168.2A CN201610818168A CN106219410A CN 106219410 A CN106219410 A CN 106219410A CN 201610818168 A CN201610818168 A CN 201610818168A CN 106219410 A CN106219410 A CN 106219410A
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- valve group
- proportioning valve
- major
- hook
- minor
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of crawler crane double hook device for controlling differential speed based on opened loop control, including control module, master winch system and secondary hoisting system；Master winch system includes the proportioning valve group one being sequentially communicated, hydraulic system and master winch, secondary hoisting system includes the proportioning valve group two being sequentially communicated, hydraulic system and secondary elevator, PLC obtains the major-minor hook velocity ratio arranged, carry out coupling with the multiplying power in duty parameter unit and obtain the speed of corresponding major-minor elevator, speed according to elevator and discharge characteristic, obtain proportioning valve group one and the aperture of proportioning valve group two, export corresponding opening amount signal and control proportioning valve group one and the aperture of proportioning valve group two, hydraulic flow needed for the hydraulic system of control major-minor elevator, regulation major-minor elevator rotating speed, and then drive major-minor hook according to the speed arranged than motion.The present invention uses open-loop control method, realizes the control to the work of major-minor hook respectively, has expanded the range of application of crawler crane construction.
Description
Technical field
The present invention relates to a kind of double hook device for controlling differential speed based on opened loop control for crawler crane, further relate to one
Plant the double hook crawler crane with this double hook device for controlling differential speed, belong to technical field of crane control.
Background technology
Currently, domestic and international crawler crane has had tremendous development, extensively at the aspect such as functional, safety, intellectuality
It is applied to all trades and professions.Crawler crane belongs to runabout crane, and it is to be partially contained on caterpillar chassis by hoisting operation,
Rely on the engineering machinery of crawler attachment walking, in being primarily adapted for use in, the lifting operation of heavy construction.Crawler crane has four big machines
Structure: lifting mechanism, jib lubbing mechanism, slew gear and walking mechanism, by the motion that cooperates of these mechanisms, completes different work
The lifting operation of condition.
But for some special operational, such as weight upset, slender rod piece tilt installation etc., and traditional scheme generally uses double
Machine cooperation lifts or unit double hook has operated.Two-shipper compounding practice requires height to operator, and safety is low, and lifting efficiency
The highest；Double hook operates, and i.e. uses major-minor hook to work simultaneously, and single device can realize weight upset, slender rod piece tilts to install
Deng operation.
The crawler crane of double hook lifting is the crawler belt of a kind of energy double hook lifting as disclosed in patent CN201410413541.7
Crane, as depicted in figs. 1 and 2, the arm end of principal arm 1 hangs main hook 3, and the arm end of auxiliary 2 hangs auxiliary hook 4, main hook 3 and auxiliary hook 4
All can individually lift, or, coordinate lifting simultaneously.For the crawler crane of double hook lifting, its lifting mechanism is divided into control
The main hoisting mechanism of main hook and the auxiliary hoisting mechanism controlling auxiliary hook, the most corresponding master winch and secondary elevator, by lifting mechanism band
The rotation of dynamic elevator realizes winding and the releasing of steel wire rope on elevator, thus the suspension hook realizing being connected with steel wire rope hoist or
Decline.Hoisting or lower degradation operating mode currently for double hook operation weight, conventional method is that major-minor hook tangles weight not respectively
Co-located, depending on hanging position is according to the situation of weight, makes major-minor hook steel wire rope keep vertical state as far as possible.Master winch controls main
The hoisting or decline of hook, the hoisting or decline of secondary rolling control auxiliary hook.When major-minor hook hangs weight simultaneously, if weight now need to be made
Thing promotes, and needs to operate respectively master winch and secondary elevator, and first main hook lifting heavy is as it is shown in figure 1, rear auxiliary hook lifting heavy such as Fig. 2
Shown in, make weight two ends alternately increase.Owing to weight shape is limited, the most single hoisting certain altitude, i.e. need to switch another
Elevator works, and makes a certain steel wire rope be in relaxed state to avoid weight significantly to tilt.If lifting altitude is higher, then need repeatedly to cut
Change owner pair elevator, needs frequently to switch operating mode, and process is complicated, and manipulation strength is big, and working performance is low.
In sum, when major-minor hook hangs weight, if need to need to raise through first monovolume to carry to heavy lift or decline simultaneously
Rise (or decline), be then switched to the process of another elevator work.Operator need to be required higher by this operational approach, needs behaviour
Author's spirit keeps the most absorbed, repeated multiple times adjustment master file and the secondary handle angle rolled up, to avoid weight rising (under or
Fall) during deflection too much.When weight lifting altitude is higher, owing to operator visual angle is limited, often cannot ensure that weight is protected
Water holding level state, for the construction operating mode of some accurate lifting, this will have a strong impact on installation effect.
It addition, for some operating mode of constructing, need weight to keep certain angle of inclination to install, now according to existing
Some hanging methods, will be unable to ensure that heavy lift can keep, therefore for this type of to its initial inclination angle during a certain height
Lifting operating mode, existing double hook crawler crane will be unable to realize.
Summary of the invention
It is an object of the invention to overcome deficiency of the prior art, it is provided that a kind of crawler crane is with based on open loop control
The double hook device for controlling differential speed of system, by opened loop control proportioning valve group one and the aperture of proportioning valve group two, regulation major-minor elevator
Rotating speed, and then realize major-minor hook synchronization lifting or constant-speed ratio lifting, it is greatly improved lifting construction efficiency.
To achieve these goals, the technical solution used in the present invention is, a kind of crawler crane is with based on opened loop control
Double hook device for controlling differential speed, it is characterized in that, including control module, master winch system and secondary hoisting system；Master winch system bag
Including proportioning valve group one, hydraulic system and the master winch being sequentially communicated, secondary hoisting system includes proportioning valve group two, the liquid being sequentially communicated
Pressure system and secondary elevator,
Control module includes that PLC, speed ratio arranges unit and duty parameter unit, and speed is than the outfan arranging unit
Connecting PLC, duty parameter unit includes the multiplying power of major-minor hoisting rope, proportioning valve group one under corresponding different operating mode
The outfan of PLC is connected respectively with the end that controls of proportioning valve group two；
PLC Negotiation speed than arrange unit obtain arrange major-minor hook velocity ratio, with in duty parameter unit times
Rate carries out coupling and obtains the speed ratio of corresponding major-minor elevator, according to speed and the discharge characteristic of elevator, it is thus achieved that proportioning valve group one
With the aperture of proportioning valve group two, export corresponding opening amount signal and control proportioning valve group one and the aperture of proportioning valve group two, control main
The hydraulic system necessary flow of secondary elevator, i.e. scalable major-minor elevator rotating speed, and then drive major-minor hook according to the speed ratio arranged
Motion.
Further, also include that mode selecting unit, described mode selecting unit include corresponding double hook regime mode, main hook
Regime mode and the button of auxiliary hook regime mode, the outfan of each button connects PLC for the regime mode that will select
Type output is to PLC, and PLC controls hydraulic work system under corresponding regime mode.
Further, also including operating unit, the outfan of operating unit connects PLC, and PLC is according to behaviour
The operational order making unit controls the start and stop of major-minor hook.
Further, also including display unit, the input of described display unit connects PLC, described display list
Unit is for showing the speed ratio of major-minor double hook.
Further, described proportioning valve group one and proportioning valve group two all include two electrohydraulic proportional control valves, said two
Electrohydraulic proportional control valve controls rising and falling of corresponding elevator respectively.
Accordingly, the crawler crane of a kind of double hook lifting of the present invention, including above-mentioned double hook based on opened loop control
Device for controlling differential speed.
Compared with prior art, the present invention is reached to provide the benefit that:
1) present invention only need to operate an operating unit, can realize rising or falling of weight, easy to operate and safe, both reduced
The manipulation strength of operator and difficulty, also improve safety and the lifting efficiency of construction；
2) present invention can allow major-minor double hook keep certain speed ratio to rise or fall, it is to avoid constantly cuts during hoisting
Change owner pair elevator, switching operating mode and the frequent height problem adjusting double hook；
3) present invention uses open-loop control method, realizes the control to the work of major-minor hook respectively, it is not necessary to increase related sensor shape
Become feedback system, simple in construction, expand the range of application of crawler crane construction.
Accompanying drawing explanation
The schematic diagram that when Fig. 1 is crawler crane double hook lifting in prior art, main hook rises；
The schematic diagram that when Fig. 2 is crawler crane double hook lifting in prior art, auxiliary hook rises；
Fig. 3 is the principle assumption diagram of double hook device for controlling differential speed one embodiment of the present invention；
The schematic diagram that when Fig. 4 is double hook of the present invention lifting, double hook rises；
The schematic diagram that when Fig. 5 is double hook of the present invention lifting, double hook declines.
In figure: 1, principal arm；2, auxiliary；3, main hook；4, auxiliary hook.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
As it is shown on figure 3, a kind of crawler crane of the present invention is with double hook device for controlling differential speed based on opened loop control, it is special
Levy and be, including control module, master winch system and secondary hoisting system；Proportioning valve group one that master winch system includes being sequentially communicated,
Hydraulic system and master winch, secondary hoisting system includes proportioning valve group two, hydraulic system and the secondary elevator being sequentially communicated,
Control module includes that PLC, speed ratio arranges unit and duty parameter unit, and speed is than the outfan arranging unit
Connecting PLC, duty parameter unit includes the multiplying power of major-minor hoisting rope, proportioning valve group one under corresponding different operating mode
The outfan of PLC is connected respectively with the end that controls of proportioning valve group two；
PLC Negotiation speed than arrange unit obtain arrange major-minor hook velocity ratio, with in duty parameter unit times
Rate carries out coupling and obtains the speed ratio of corresponding major-minor elevator, according to speed and the discharge characteristic of elevator, it is thus achieved that proportioning valve group one
With the aperture of proportioning valve group two, and by empirical value, aperture is modified, exports corresponding opening amount signal and control proportioning valve group
One and the aperture of proportioning valve group two, control hydraulic flow needed for the hydraulic system of major-minor elevator, regulate major-minor elevator rotating speed, and then
Drive major-minor hook according to the speed arranged than motion.
In the present embodiment, hydraulic system provides two-way hydraulic path, and a road connection master winch, master winch is by steel wire rope even
Connect main hook；The secondary elevator of another road connection, secondary elevator connects auxiliary hook by steel wire rope.Proportioning valve group one and proportioning valve group two are by control
Hydraulic system processed flows to major-minor elevator hydraulic flow to control the rotating speed of major-minor elevator, and then drives major-minor to hook.
Wherein, multiplying power between major-minor elevator and major-minor hook under the different operating modes in duty parameter unit, is to be existed by crane
Under different operating modes, the canoe of steel wire rope determines.Proportioning valve group one and proportioning valve group two all include two electric-hydraulic proportion controls
Valve processed, two electrohydraulic proportional control valves in proportioning valve group one, one of them electrohydraulic proportional control valve is used for controlling master winch band
The motion that hoists of dynamic main hook, another electrohydraulic proportional control valve is used for controlling master winch drive main hook descending motion, accordingly, than
Two electrohydraulic proportional control valves in example valve group two are for controlling hoisting and declining of auxiliary hook respectively.Electrohydraulic proportional control valve is to be situated between
A kind of hydraulic control valve between hydraulic valve and electrohydraulic servo valve, the control signal outside control end reception of proportioning valve, root
Regulate spool displacement according to this control signal, make valve opening change proportional to the power of control signal, to connecting this proportioning valve
Hydraulic system effectively regulate, at present frequently with pwm signal as the control signal of proportioning valve, proportioning valve is according to pwm signal
Dutycycle proportionally regulates spool displacement, makes valve opening change proportional to the dutycycle of pwm signal.Or use invention
The control method of a kind of proportioning valve disclosed in patent CN200810214005.9 and control system, by generating analogue signal and pre-
Put the pulse signal of frequency and dutycycle, choose pulse signal high level or analogue signal corresponding to low level period, will choose
Pulse signal be sent to proportioning valve, control proportioning valve action.I.e. proportioning valve group one and proportioning valve group two can be according to PLC controls
Device output opening amount signal be adjusted control major-minor elevator hydraulic system needed for hydraulic flow, regulate major-minor elevator rotating speed,
And then regulate corresponding main hook and the speed of auxiliary hook.PLC can use PLC single-chip microcomputer in prior art.
Certainly speed can also be set in advance in PLC than with velocity amplitude parameter, and PLC is according to different works
The speed prestored under condition controls double hook work than with velocity amplitude.When carrying out the situation such as weight upset, slender rod piece inclination installation,
Need main hook different from the speed of auxiliary hook, under needing without special operation condition, the speed ratio of main hook with auxiliary hook can be set to 1:
1, i.e. double hook synchronous working, double hook synchronizes to rise schematic diagram as shown in Figure 4, and double hook synchronizes to decline schematic diagram as shown in Figure 5.
The present invention uses open-loop control method to realize the control to double hook work, it is not necessary to increases related sensor and forms feedback
System, simple in construction, expand the range of application of crawler crane construction.And the speed ratio that double hook holding can be allowed certain is upper
Rise or decline, it is to avoid during hoisting, constantly switch operating mode and frequently adjust the height of double hook.
In the preferred embodiments of the present invention, also include that mode selecting unit, described mode selecting unit include corresponding double hook
Regime mode, main hook regime mode and the button of auxiliary hook regime mode, the outfan of each button connects PLC for selecting
The regime mode type output selected is to PLC, and PLC controls hydraulic work system under corresponding regime mode.
Mode selecting unit can use button of the prior art to arrange, it would however also be possible to employ touch screen.Described double hook regime mode is
Main hook carries out with auxiliary hook lifting work simultaneously, is the major-minor hook described in this application holding certain speed mould than work
Formula, main hook regime mode carries out lifting work for only main hook, and auxiliary hook regime mode carries out lifting work for only auxiliary hook.Can pass through
In mode selecting unit, select different regime mode types, and then PLC controls hydraulic system and allows crawler crane
It is operated in the regime mode of selection.
Further, also including display unit, the input of described display unit connects controller, and described display unit is used
Speed ratio in display major-minor double hook.Display unit can be display screen or touch screen, shows the speed ratio of main hook and auxiliary hook, just
Watch in operator.
Further, also including operating unit, the outfan of operating unit connects PLC, and PLC is according to behaviour
The operational order making unit controls the start and stop of major-minor hook.Operating unit can use operation handle of the prior art, or opens
Closing button, operator press shift knob, and PLC controls double hook according to the speed prestored than with velocity amplitude according to operating mode
Work.
Accordingly, the crawler crane of a kind of double hook lifting of the present invention, including above-mentioned double hook based on opened loop control
Device for controlling differential speed.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (6)
1. crawler crane is with a double hook device for controlling differential speed based on opened loop control, it is characterized in that, including control module, master
Hoisting system and secondary hoisting system；Master winch system includes proportioning valve group one, hydraulic system and the master winch being sequentially communicated, secondary volume
The system of raising includes proportioning valve group two, hydraulic system and the secondary elevator being sequentially communicated；
Control module includes that PLC, speed ratio arranges unit and duty parameter unit, and speed is than the outfan arranging unit
Connecting PLC, duty parameter unit includes major-minor hoisting rope multiplying power under corresponding different operating mode, proportioning valve group one He
The end that controls of proportioning valve group two connects the outfan of PLC respectively；
PLC Negotiation speed than arrange unit obtain arrange major-minor hook velocity ratio, with in duty parameter unit times
Rate carries out coupling and obtains the speed ratio of corresponding major-minor elevator, according to speed and the discharge characteristic of elevator, it is thus achieved that proportioning valve group one
With the aperture of proportioning valve group two, export corresponding opening amount signal and control proportioning valve group one and the aperture of proportioning valve group two, to control
Hydraulic flow needed for the hydraulic system of major-minor elevator, regulates major-minor elevator rotating speed, and then drives major-minor hook according to the speed arranged
Than motion.
A kind of crawler crane the most according to claim 1 is with double hook device for controlling differential speed based on opened loop control, and it is special
Levy and be, also include that mode selecting unit, described mode selecting unit include corresponding double hook regime mode, main hook regime mode and pair
The button of hook regime mode, the outfan of each button connects PLC and exports to PLC for the regime mode type that will select
Controller, PLC controls hydraulic work system under corresponding regime mode.
A kind of crawler crane the most according to claim 1 is with double hook device for controlling differential speed based on opened loop control, and it is special
Levying and be, also include operating unit, the outfan of operating unit connects PLC, and PLC is according to the operation of operating unit
Order controls the start and stop of major-minor hook.
A kind of crawler crane the most according to claim 1 is with double hook device for controlling differential speed based on opened loop control, and it is special
Levying and be, also include display unit, the input of described display unit connects PLC, and described display unit is used for showing master
The speed ratio of secondary double hook.
A kind of crawler crane the most according to claim 1 is with double hook device for controlling differential speed based on opened loop control, and it is special
Levying and be, described proportioning valve group one and proportioning valve group two all include two electrohydraulic proportional control valves, said two electrical-liquid control
Valve controls rising and falling of corresponding elevator respectively.
6. a crawler crane for double hook lifting, including the double hook based on opened loop control described in any one of claim 1-5
Device for controlling differential speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818168.2A CN106219410B (en) | 2016-09-12 | 2016-09-12 | A kind of crawler crane and its double hook device for controlling differential speed based on opened loop control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610818168.2A CN106219410B (en) | 2016-09-12 | 2016-09-12 | A kind of crawler crane and its double hook device for controlling differential speed based on opened loop control |
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| CN106219410A true CN106219410A (en) | 2016-12-14 |
| CN106219410B CN106219410B (en) | 2018-02-27 |
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| CN105217503A (en) * | 2015-10-21 | 2016-01-06 | 三一汽车起重机械有限公司 | Double hook operation-control system and method and hang people's jacking system |
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2016
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| JPS61277591A (en) * | 1985-05-31 | 1986-12-08 | 株式会社島津製作所 | Crane driving system |
| JP2000203794A (en) * | 1999-01-13 | 2000-07-25 | Hitachi Constr Mach Co Ltd | Synchronization control device for hydraulic actuator |
| JP2000240605A (en) * | 1999-02-22 | 2000-09-05 | Yutani Heavy Ind Ltd | Synchronization controller for hydraulic actuator |
| CN200946069Y (en) * | 2006-08-18 | 2007-09-12 | 上海三一科技有限公司 | Pedrail crane master-auxiliary hoister synchronous control device |
| CN201801313U (en) * | 2009-11-30 | 2011-04-20 | 徐州重型机械有限公司 | Crane and controller for compound action of crane |
| CN103640981A (en) * | 2013-12-11 | 2014-03-19 | 徐工集团工程机械股份有限公司 | Crane and device and method for correcting inclination angle of lifting hook of double-winch system of crane |
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