CN106629396B - A kind of crane electro-hydraulic joint speed governing rotary system and control method - Google Patents
A kind of crane electro-hydraulic joint speed governing rotary system and control method Download PDFInfo
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- CN106629396B CN106629396B CN201611205576.7A CN201611205576A CN106629396B CN 106629396 B CN106629396 B CN 106629396B CN 201611205576 A CN201611205576 A CN 201611205576A CN 106629396 B CN106629396 B CN 106629396B
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- pressure
- valve
- damper
- hydraulic
- handle
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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
- B66C13/20—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
- B66C23/00—Cranes 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
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
Abstract
The invention discloses a kind of crane electro-hydraulic joint speed governing rotary systems and control method, including hydraulic control handle, regulator control system, rotary control valve, rotary motor and crane arm, by detecting hydraulic control handle state and comparison hydraulic control handle output pressure and pressure switch setting value the step of regulates and controls revolution operation.The present invention is with obvious effects, convenient and practical, when handle is quickly pressed or resetted, can effectively reduce impact when starting suddenly and stopping, improving operating comfort；It reduces weight when suddenly starting and stopping to rock, improves security；It reduces weight to rock, then reduces load shock, heightened the service life of complete machine.
Description
Technical field
The present invention relates to a kind of rotary systems, belong to engineering machinery field, are specifically a kind of electro-hydraulic joint speed governing of crane
Rotary system and control method.
Background technology
Current medium and small tonnage crane is had generally using all-hydraulic pilot control mode compared with large-tonnage electrically controlled manipulation
The advantages that at low cost, control is simply, reliability and servicing ease are high.But according to marketing users to operation precision and behaviour
The continuous promotion of vertical comfort requirement, also reflects some shortcomings：Since hydraulic control pilot handle manually controls entirely, control mode
More single, controlling curve adjustment is difficult, and control is dumb；It is first for special applications demand and the different occasions for manipulating custom
Leading operating system can not meet.When revolution acts, bit manipulation during handle quickly returns, action stops very fast and vehicle is caused to rock,
It influences to manipulate ride comfort, comfort and security.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of electro-hydraulic joint speed governing rotary system of crane
And control method, with the impact that reduces pressure when revolution acts quick startup and stops, improving crane rotation action start and stop and put down
It is pliable.
To achieve these goals, the technical solution adopted by the present invention is：A kind of crane is turned round with electro-hydraulic joint speed governing
System, including hydraulic control handle, the input terminal of the hydraulic control handle is connected with hydraulic oil container, and the output terminal of hydraulic control handle passes through regulation and control
System is connected with rotary control valve, and the rotary control valve is connected to crane arm by rotary motor；The regulator control system includes
The pressure switch of hydraulic control handle output terminal is connected to, the pressure switch is connected with the defeated of proportional pressure-reducing valve by check valve
Enter end, the proportional pressure-reducing valve is connected to rotary control valve, and the reflux end of the proportional pressure-reducing valve is connected to liquid by damper
Pressure oil case；Oil circuit residing for the check valve is also parallel with damper, and described damper one end is connected to pressure switch, the other end
It is connected to the input terminal of proportional pressure-reducing valve.
Further, the hydraulic control handle includes handle controller I and handle controller II, and the pressure switch includes pressure
Power relay I and pressure switch II, proportional pressure-reducing valve include proportional pressure-reducing valve I and proportional pressure-reducing valve II, and check valve includes single
To valve I and check valve II, damper includes damper I, damper II, damper III and damper IV；The handle controller I
And the input terminal connection hydraulic oil container of handle controller II, output terminal are respectively connected to pressure switch I and pressure switch II；
Pressure switch I is connected to the input terminal of proportional pressure-reducing valve I by check valve I, and I output terminal of proportional pressure-reducing valve is connected to revolution control
The input terminal I of valve processed；Pressure switch II is connected to the input terminal of proportional pressure-reducing valve II, proportional pressure-reducing valve II by check valve II
Output terminal is connected to the input terminal II of rotary control valve.
A kind of crane control method of electro-hydraulic joint speed governing rotary system, includes the following steps：
A, hydraulic control handle working condition is detected：
When hydraulic control handle is in quick pressure, handle output pressure increases rapidly, enters step B1；
When hydraulic control handle resets, handle output pressure reduces rapidly, and enters step B2；
B1, comparison hydraulic control handle depressed state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle and is less than pressure switch setting value
When, the output pressure of hydraulic control handle continues to increase；
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle and is more than pressure switch setting value
When, the electric current of controller control proportional pressure-reducing valve increases according to constant rate, while the control cavity pressure of rotary control valve is pressed
Increase according to the increase rate of proportional pressure-reducing valve electric current, and then revolution is made slowly to start；
B2, comparison hydraulic control handle reset state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle and is more than pressure switch setting value
When, proportional pressure-reducing valve will pass through damper III and/or damper still in electricity condition, the hydraulic oil of rotary control valve control chamber is obtained
Oil return after IV throttling action limits oil return speed so that rotary control valve control chamber by damper III and/or damper IV
Pressure regulation power decrease speed reduces, so as to reduce the seating velocity of rotary control valve；
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle and is less than pressure switch setting value
When, controller control proportional pressure-reducing valve dead electricity, the hydraulic oil of rotary control valve control chamber will pass through damper I and/or damper
Oil return after II throttling action limits oil return speed so that rotary control valve control chamber by damper I and/or damper II
Pressure regulation power decrease speed reduces, so as to reduce the seating velocity of rotary control valve；
The beneficial effects of the invention are as follows：When handle is quickly pressed or resetted, it can effectively reduce and start suddenly and stop
When impact, improve operating comfort；It reduces weight when suddenly starting and stopping to rock, improves security；It reduces
Weight rocks, and then reduces load shock, has heightened the service life of complete machine.
Description of the drawings
Fig. 1 is the asphalt principle schematic diagram of the prior art；
Fig. 2 is the asphalt principle schematic diagram of the present invention.
In figure：1st, hydraulic control handle, 1.1, handle controller I, 1.2, handle controller II,（2、3）, damper, 2.1, resistance
Buddhist nun's device I, 2.2, damper II, 3.1, damper III, 3.2, damper IV, 4, rotary control valve, 5, rotary motor, 6, lifting
Arm, 7, pressure switch, 7.1, pressure switch I, 7.2, pressure switch II, 8, proportional pressure-reducing valve, 8.1, proportional pressure-reducing valve
I, 8.2, proportional pressure-reducing valve II, 9, check valve, 9.1, check valve I, 9.2, check valve II, 10, hydraulic oil container.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 2, a kind of electro-hydraulic joint speed governing rotary system of crane, including hydraulic control handle 1, the hydraulic control handle
1 input terminal is connected with hydraulic oil container 10, and the output terminal of hydraulic control handle 1 is connected with rotary control valve 4 by regulator control system, described
Rotary control valve 4 is connected to crane arm 6 by rotary motor 5；The regulator control system includes being connected to 1 output terminal of hydraulic control handle
Pressure switch 7, the pressure switch 7 are connected with the input terminal of proportional pressure-reducing valve 8, the ratio decompression by check valve 9
Valve 8 is connected to rotary control valve 4, and the reflux end of the proportional pressure-reducing valve 8 is connected to hydraulic oil container 10 by damper 2；It is described
Oil circuit residing for check valve 9 is also parallel with damper 3, and described 3 one end of damper is connected to pressure switch 7, and the other end is connected to
The input terminal of proportional pressure-reducing valve 8.
Further, the hydraulic control handle 1 includes handle controller I 1.1 and handle controller II 1.2, the pressure relay
Device 7 includes pressure switch I 7.1 and pressure switch II 7.2, and proportional pressure-reducing valve 8 includes proportional pressure-reducing valve I 8.1 and ratio subtracts
Pressure valve II 8.2, check valve 9 include check valve I 9.1 and check valve II 9.2, damper（2、3）Including damper I 2.1, damper
II 2.2, damper III 3.1 and damper IV 3.2；The input terminal of the handle controller I 1.1 and handle controller II 1.2 connects
Hydraulic oil container 10 is connect, output terminal is respectively connected to pressure switch I 7.1 and pressure switch II 7.2；Pressure switch I 7.1 is logical
The input terminal that check valve I 9.1 is connected to proportional pressure-reducing valve I 8.1 is crossed, I 8.1 output terminal of proportional pressure-reducing valve is connected to rotary control valve
4 input terminal I, the reflux end of the proportional pressure-reducing valve I 8.1 is connected to hydraulic oil container 10 by damper I 2.1, described unidirectional
Valve I 9.1 is also parallel with damper III 3.1, and described III 3.1 one end of damper is connected to pressure switch I 7.1, other end connection
To the input terminal of proportional pressure-reducing valve I 8.1；Pressure switch II 7.2 is connected to proportional pressure-reducing valve II 8.2 by check valve II 9.2
Input terminal, II 8.2 output terminal of proportional pressure-reducing valve is connected to the input terminal II of rotary control valve 4, the proportional pressure-reducing valve II 8.2
Reflux end hydraulic oil container 10 is connected to by damper II 2.2, the check valve II 9.2 is also parallel with damper IV 3.2, institute
It states IV 3.2 one end of damper and is connected to pressure switch II 7.2, the other end is connected to the input terminal of proportional pressure-reducing valve II 8.2.
Operation principle of the present invention is：
1）Electro-hydraulic joint speed governing revolution starts control principle
When quickly pressing handle controller I 1.1, handle output pressure can increase rapidly.Handle output pressure reaches pressure
During the setting pressure of power relay I 7.1, the electric current of controller control proportional pressure-reducing valve I 8.1 increases according to constant rate, by
In the depressurization of proportional pressure-reducing valve I 8.1, the control cavity pressure of rotary control valve 4 will not increase rapidly, but according to constant
Rate increases, and then controls the commutating speed of rotary control valve 4, achievees the purpose that revolution gently starts.Handle controller II 2.1
Revolution start control principle be same as above.
2）Electro-hydraulic joint speed governing revolution stops control principle
When I 1.1 Rapid reset of handle controller, the output pressure of handle can be reduced quickly.In the delivery outlet pressure of handle
Power is not dropped to before the setting pressure of pressure switch I 7.1, and proportional pressure-reducing valve I 8.1 is in obtain electricity condition, rotary control valve 4
The hydraulic oil of control chamber will the oil return after the throttling action of damper III 3.1.When the delivery outlet pressure of handle, pressure is dropped to
When below the pressure set points of relay I 7.1, I 8.1 dead electricity of proportional pressure-reducing valve, the hydraulic oil of the control chamber of rotary control valve 4 will
The oil return after the throttling action of damper I 2.1.Under the throttling action of damper I 2.1 and damper III 3.1, oil return speed
It is limited, the pressure decrease speed of the control chamber of rotary control valve 4 is reduced, and then reduces the return of rotary control valve 4
Speed so that revolution stops being buffered.The revolution of handle controller II 2.1 stops control principle and is same as above.
A kind of crane control method of electro-hydraulic joint speed governing rotary system, includes the following steps：
A, hydraulic control handle working condition is detected：
When hydraulic control handle is in quick pressure, handle output pressure increases rapidly, enters step B1；
When hydraulic control handle resets, handle output pressure reduces rapidly, and enters step B2；
B1, comparison hydraulic control handle depressed state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle and is less than pressure switch setting value
When, the output pressure of hydraulic control handle continues to increase；
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle and is more than pressure switch setting value
When, the electric current of controller control proportional pressure-reducing valve increases according to constant rate, while the control cavity pressure of rotary control valve is pressed
Increase according to the increase rate of proportional pressure-reducing valve electric current, and then revolution is made slowly to start；
B2, comparison hydraulic control handle reset state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle and is more than pressure switch setting value
When, proportional pressure-reducing valve will pass through damper III and/or damper still in electricity condition, the hydraulic oil of rotary control valve control chamber is obtained
Oil return after IV throttling action limits oil return speed so that rotary control valve control chamber by damper III and/or damper IV
Pressure regulation power decrease speed reduces, so as to reduce the seating velocity of rotary control valve；
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle and is less than pressure switch setting value
When, controller control proportional pressure-reducing valve dead electricity, the hydraulic oil of rotary control valve control chamber will pass through damper I and/or damper
Oil return after II throttling action limits oil return speed so that rotary control valve control chamber by damper I and/or damper II
Pressure regulation power decrease speed reduces, so as to reduce the seating velocity of rotary control valve.
In conclusion the present invention is with obvious effects, and it is convenient and practical, when handle is quickly pressed or resetted, can effectively reduce
Impact when starting and stop suddenly, improves operating comfort；It reduces weight when suddenly starting and stopping to rock, improve
Security；It reduces weight to rock, then reduces load shock, heightened the service life of complete machine.
Claims (3)
1. a kind of electro-hydraulic joint speed governing rotary system of crane, including hydraulic control handle（1）, the hydraulic control handle（1）Input
End is connected with hydraulic oil container（10）, hydraulic control handle（1）Output terminal rotary control valve is connected with by regulator control system（4）, it is described
Rotary control valve（4）Pass through rotary motor（5）It is connected to crane arm（6）；It is characterized in that, the regulator control system includes being connected to
Hydraulic control handle（1）The pressure switch of output terminal（7）, the pressure switch（7）Pass through check valve（9）Connect proportional decompression
Valve（8）Input terminal, the proportional pressure-reducing valve（8）It is connected to rotary control valve（4）, the proportional pressure-reducing valve（8）Reflux end
Pass through damper（2）It is connected to hydraulic oil container（10）；The check valve（9）Residing oil circuit is also parallel with damper（3）, the resistance
Buddhist nun's device（3）One end is connected to pressure switch（7）, the other end is connected to proportional pressure-reducing valve（8）Input terminal.
A kind of 2. electro-hydraulic joint speed governing rotary system of crane according to claim 1, which is characterized in that the hydraulic control
Handle（1）Including handle controller I（1.1）And handle controller II（1.2）, the pressure switch（7）Including pressure relay
Device I（7.1）And pressure switch II（7.2）, proportional pressure-reducing valve（8）Including proportional pressure-reducing valve I（8.1）And proportional pressure-reducing valve II
（8.2）, check valve（9）Including check valve I（9.1）And check valve II（9.2）, damper（2、3）Including damper I（2.1）, resistance
Buddhist nun's device II（2.2）, damper III（3.1）And damper IV（3.2）；The handle controller I（1.1）And handle controller II
（1.2）Input terminal connection hydraulic oil container（10）, output terminal is respectively connected to pressure switch I（7.1）And pressure switch II
（7.2）；Pressure switch I（7. 1）Pass through check valve I（9.1）It is connected to proportional pressure-reducing valve I（8.1）Input terminal, ratio subtracts
Pressure valve I（8.1）Output terminal is connected to rotary control valve（4）Input terminal I, the proportional pressure-reducing valve I（8.1）Reflux end pass through
Damper I（2.1）It is connected to hydraulic oil container（10）, the check valve I（9.1）Also it is parallel with damper III（3.1）, the damping
Device III（3.1）One end is connected to pressure switch I（7.1）, the other end is connected to proportional pressure-reducing valve I（8.1）Input terminal；Pressure
Relay II（7.2）Pass through check valve II（9.2）It is connected to proportional pressure-reducing valve II（8.2）Input terminal, proportional pressure-reducing valve II
（8.2）Output terminal is connected to rotary control valve（4）Input terminal II, the proportional pressure-reducing valve II（8.2）Reflux end pass through resistance
Buddhist nun's device II（2.2）It is connected to hydraulic oil container（10）, the check valve II（9.2）Also it is parallel with damper IV（3.2）, the damping
Device IV（3.2）One end is connected to pressure switch II（7.2）, the other end is connected to proportional pressure-reducing valve II（8.2）Input terminal.
3. the crane control method of electro-hydraulic joint speed governing rotary system, which is characterized in that described in usage right requirement 2
A kind of crane with electro-hydraulic joint speed governing rotary system, and comprise the following steps：
A, hydraulic control handle working condition is detected：
When hydraulic control handle is in quick pressure, handle output pressure increases rapidly, enters step B1；
When hydraulic control handle resets, handle output pressure reduces rapidly, and enters step B2；
B1, comparison hydraulic control handle depressed state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle less than pressure switch setting value, liquid
The output pressure of control handle continues to increase；
When detecting that hydraulic control handle is in the output pressure of depressed state and hydraulic control handle more than pressure switch setting value, control
The electric current of device control proportional pressure-reducing valve processed increases according to constant rate, while the control cavity pressure of rotary control valve is proportionally
The increase rate increase of pressure reducing valve electric current, and then revolution is made slowly to start；
B2, comparison hydraulic control handle reset state output pressure and pressure switch setting value：
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle more than pressure switch setting value, than
Example pressure reducing valve still in electricity condition, the hydraulic oil of rotary control valve control chamber will pass through damper III and/or damper IV
Oil return after throttling action limits oil return speed so that rotary control valve control chamber pressure regulation by damper III and/or damper IV
Power decrease speed reduces, so as to reduce the seating velocity of rotary control valve；
When detecting that hydraulic control handle is in the output pressure of reset state and hydraulic control handle less than pressure switch setting value, control
Device processed controls proportional pressure-reducing valve dead electricity, and the hydraulic oil of rotary control valve control chamber will pass through the section of damper I and/or damper II
Oil return after stream effect limits oil return speed so that rotary control valve control chamber pressure regulation power by damper I and/or damper II
Decrease speed reduces, so as to reduce the seating velocity of rotary control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611205576.7A CN106629396B (en) | 2016-12-23 | 2016-12-23 | A kind of crane electro-hydraulic joint speed governing rotary system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611205576.7A CN106629396B (en) | 2016-12-23 | 2016-12-23 | A kind of crane electro-hydraulic joint speed governing rotary system and control method |
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| Publication Number | Publication Date |
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| CN106629396A CN106629396A (en) | 2017-05-10 |
| CN106629396B true CN106629396B (en) | 2018-05-18 |
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| CN103640975A (en) * | 2013-12-03 | 2014-03-19 | 中联重科股份有限公司 | Hydraulic control handle system |
| CN104709834A (en) * | 2013-12-11 | 2015-06-17 | 北汽福田汽车股份有限公司 | Revolution speed regulation control system and crane |
| KR101625681B1 (en) * | 2009-12-23 | 2016-05-30 | 두산인프라코어 주식회사 | Sudden Turning Prevention System for Construction Machinery |
| CN105805064A (en) * | 2016-04-25 | 2016-07-27 | 北汽福田汽车股份有限公司 | Engineering machine and rotation mechanism hydraulic system thereof |
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2016
- 2016-12-23 CN CN201611205576.7A patent/CN106629396B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704480A (en) * | 2009-11-05 | 2010-05-12 | 卢宇 | Mounting electrically and hydraulically operated rotation control valve for hydraulically-controlled crane |
| KR101625681B1 (en) * | 2009-12-23 | 2016-05-30 | 두산인프라코어 주식회사 | Sudden Turning Prevention System for Construction Machinery |
| CN103010980A (en) * | 2012-12-10 | 2013-04-03 | 徐州重型机械有限公司 | Rotary control hydraulic system and crane |
| CN103112792A (en) * | 2013-03-01 | 2013-05-22 | 中国海洋石油总公司 | Integrated control valve of logging winch and logging winch system |
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| CN106629396A (en) | 2017-05-10 |
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