CN108423552B - A crane frequency conversion control system and control method - Google Patents

Abstract

A kind of crane frequency-changing control system and control method, including hydraulic system and electric-control system, hydraulic system includes PLC automatic control system, changing-breadth system, with main hoisting system, secondary main hoisting system, rotary system, main motor, main pump and hydraulic oil container, and the PLC automatic control system passes through electric proportional pressure-reducing valve group and controls hydraulic control proportional multi-way valve；PLC automatic control system passes through the revolving speed that encoder detects main hoister winch, secondary main hoister winch, span winch and swing mechanism respectively；The electric-control system includes control cabinet, left-handed opening case panel, right switch box panel, driver's cabin transition junction box, hydraulic oil container junction box, boom transition junction box and moment instrument mainframe box, the control cabinet passes through the right lockset motor of third Frequency Converter Control and right dead rope motor by the left lockset motor of the second Frequency Converter Control and left dead rope motor, the control cabinet.

Description

A crane frequency conversion control system and control method

technical field

The invention relates to a crane, in particular to a crane frequency conversion control system and a control method for ship operation.

Background technique

At present, the slewing crane around the pile is usually installed on the legs of various offshore platforms. It is widely used because of its small platform space, compact structure, large lifting capacity, and long lifting radius.

The pile-wound slewing crane mainly includes a base, a slewing platform, a lifting mechanism and a hydraulic system. The slewing platform is rotatably set on the base, and the lifting mechanism is set on the slewing platform. There is enough space for the pile legs to pass through. In small pile-encircling slewing cranes, the slewing platform and base are usually connected by slewing bearings. The space is connected by rollers. Specifically, a slewing support ring is set on the base, and a plurality of positive roller assemblies and a plurality of anti-roller assemblies are set on the slewing platform. Between the rollers of the anti-roller assembly, the positive roller assembly is located above the slewing support ring, and the anti-roller assembly is located below the slewing support ring. Roll on the surface. Existing cranes mainly rely on the hydraulic system for control, and the control precision of the hydraulic system is low, so electronic control operation is required to improve its running precision.

Contents of the invention

The technical problem to be solved by the present invention is to provide a crane frequency conversion control system and control method to improve control accuracy and reliability.

In order to solve the above technical problems, the technical solution of the present invention is: a crane frequency conversion control system, including a hydraulic system and an electric control system, the hydraulic system includes a PLC automatic control system, an emergency manual system, and a luffing system for driving a luffing winch , the main hoisting system for driving the main hoisting winch, the sub-main hoisting system for driving the sub-main hoisting winch, the slewing system for driving the slewing mechanism, the main motor, the main pump and the hydraulic oil tank, the main The motor drives the main pump, and the main pump is connected to the hydraulic oil tank. The main oil supply pipeline formed at the output end of the main pump is respectively supplied to the luffing system, the main hoisting system, and the auxiliary main hoisting system through the hydraulic control proportional multi-way valve. The PLC automatic control system controls the hydraulic control proportional multi-way valve through the electric proportional pressure reducing valve group; the emergency manual system includes an emergency pump group and a hydraulic handle connected to the hydraulic oil tank, and the emergency pump group passes through the hydraulic pressure The handle controls the luffing system, the main hoisting system, the auxiliary main hoisting system and the slewing system;

The slewing system includes two first quantitative motors that drive the slewing platform, a first electric proportional pressure reducing valve and a slewing multi-way valve, the input end of the slewing multi-way valve is connected to the main oil supply pipeline, and the output The output end of the rotary multi-way valve is respectively connected to the two first quantitative motors through the right oil supply pipe, and the first electric proportional decompression The valve controls the rotary multi-way valve to supply oil to the left oil supply pipe or the right oil supply pipe through two first shuttle valves, and a balance oil pressure balance is set between the left oil supply pipe and the right oil supply pipe Valve; the first quantitative motor is equipped with a first quantitative motor brake mechanism, and the brake public oil circuit supplies oil to the first quantitative motor brake mechanism, and the brake public oil circuit is provided with a speed regulating valve and a first hydraulic control reversing valve , a second shuttle valve is provided between the left oil supply pipeline and the right oil supply pipeline, and the second shuttle valve communicates with the first hydraulic control reversing valve;

The main hoisting system includes a first variable motor that drives the main hoisting winch, the main oil supply pipeline supplies oil to the first variable motor, and the first variable motor is connected to the hydraulic oil tank through the main oil return pipeline; the first variable motor Equipped with the brake mechanism of the first variable motor, the oil inlet end of the first variable motor controls the second hydraulic control valve through the third shuttle valve, and the brake common oil circuit passes through the second hydraulic control valve and the first sequence valve to the second hydraulic control valve. A variable motor brake mechanism supplies oil; a first one-way valve is connected in parallel with the first sequence valve, and the oil return of the first variable motor is returned through the first one-way valve, the first normally open ball valve and the first electromagnetic valve;

The auxiliary main hoisting system includes a second variable motor that drives the auxiliary main hoisting winch, a second electric proportional pressure reducing valve and an auxiliary hook multi-way valve. The input end of the auxiliary hook multi-way valve is connected to the main oil supply pipeline, and the auxiliary hook multi-way valve The output end of the hook multi-way valve is respectively connected to the second variable motor through the lifting oil supply pipe, and the output end of the auxiliary hook multi-way valve is respectively connected to the second variable motor through the lowering oil supply pipe. The valve controls the auxiliary hook multi-way valve to supply oil to the lifting oil supply pipe or the lowering oil supply pipe through two fourth shuttle valves; the second variable motor is equipped with a second variable motor brake mechanism, and the oil inlet of the second variable motor The terminal controls the third hydraulic control reversing valve through the fifth shuttle valve, and the brake public oil circuit supplies oil to the second variable motor brake mechanism through the third hydraulic control reversing valve and the second sequence valve; a second one-way valve and The second sequence valve is connected in parallel, and the oil return of the second variable motor returns through the second check valve, the second normally open ball valve and the second solenoid valve;

The luffing system includes a second quantitative motor that drives the luffing winch, the main oil supply pipeline supplies oil to the second quantitative motor through the oil supply pipeline of the second quantitative motor, and the oil supply pipeline of the second quantitative motor is provided with a balance valve; the second quantitative motor is equipped with a quantitative motor brake mechanism, the oil inlet end of the second quantitative motor controls the fourth hydraulic control reversing valve through the sixth shuttle valve, and the brake common oil circuit passes through the fourth hydraulic control reversing valve and The third sequence valve supplies oil to the braking mechanism of the second quantitative motor; a third one-way valve is connected in parallel with the third sequence valve, and the oil return of the second quantitative motor passes through the third one-way valve, the third normally open ball valve and the third Solenoid valve oil return;

The electric control system includes a control box, a left switch box panel, a right switch box panel, a cab transition junction box, a hydraulic oil tank junction box, a boom transition junction box and a torque meter main box; the control box is connected to the left switch box panel, The right switch box panel, the torque meter main box are connected to the transition junction box of the cab, the transition junction box of the cab is connected to the junction box of the hydraulic oil tank, and the junction box of the hydraulic oil tank is connected to the transition junction box of the boom; the control box is connected to the PLC display screen and the cab Lighting, exhaust fan, heating and cooling air conditioner, cab socket power supply; left switch box panel controls front window wiper, roof window wiper and sprinkler; torque meter main box supplies power to sensors; control box supplies encoder through cab transition junction box , limit switch power supply; hydraulic oil tank junction box control, differential pressure switch, electric proportional pressure reducing valve, limit switch and solenoid valve; boom transition junction box uses a ballast to control the lighting on the boom; the control The box controls the hoisting motor through the first frequency converter; the control box controls the left lock motor and the left cable motor through the second frequency converter, and the control box controls the right lock motor and the right cable motor through the third frequency converter;

The PLC automatic control system respectively detects the rotating speeds of the main hoisting winch, the auxiliary main hoisting winch, the luffing winch and the slewing mechanism through encoders.

As an improvement, there are two main hoisting winches on the slewing platform, which are the left main hoisting winch and the right main hoisting winch; Winch and right luffing winch.

As an improvement, the seventh shuttle valve controls the main hook multi-way valve between the hydraulic handle of the main hook and the electric proportional pressure reducing valve, and then supplies oil to the first variable motor; the connection between the hydraulic handle of the auxiliary hook and the electric proportional pressure reducing valve The auxiliary hook multi-way valve is controlled by the eighth shuttle valve, and then oil is supplied to the second variable motor; the variable amplitude multi-way valve is controlled by the ninth shuttle valve between the hydraulic handle of the variable amplitude and the electric proportional pressure reducing valve, and then the second variable variable motor is controlled. Quantitative motor; the rotary multi-way valve is controlled by the tenth shuttle valve between the rotary hydraulic handle and the electric proportional pressure reducing valve, and then the first quantitative motor is controlled.

As an improvement, the auxiliary main hoisting winch includes four second variable motors, the oil inlet pipes of the four second variable motors communicate with each other through the first manifold, and the oil return pipes of the four second variable motors communicate with each other through the second manifold connected.

As an improvement, both the left luffing winch and the right luffing winch include two second quantitative motors, and the oil inlet pipes of the two second quantitative motors of the left luffing winch are connected through the third manifold, and the left luffing winch The oil return pipes of the two second quantitative motors of the right luffing winch are connected through the fourth manifold; the oil inlet pipes of the two second quantitative motors of the right luffing winch are connected through the fifth manifold, and the two second quantitative motors of the right luffing winch The oil return pipe of the motor communicates through the sixth manifold; a first logic valve is provided between the third manifold and the fifth manifold, and a second logic valve is provided between the fourth manifold and the sixth manifold.

As an improvement, the hydraulic system also includes an emergency stop system and a safety protection system, the emergency stop system monitors the main motor and controls the proportional current output by the PLC automatic control system to the electric proportional pressure reducing valve, and the PLC automatic control system monitors the liquid level of the hydraulic oil tank , temperature and filter.

As an improvement, the electric control handle controls the electric proportional pressure reducing valve group through the PLC automatic control system.

The invention utilizes frequency conversion control, and the PLC automatic control system obtains the rotating speeds of the main hoisting winch, the sub-main hoisting winch, the luffing winch and the slewing mechanism, and uses the electric proportional pressure reducing valve and the hydraulic control proportional multi-way valve to correct the main hoisting The hoisting winch, auxiliary main hoisting winch, luffing winch and the rotating speed of the slewing mechanism; the frequency converter is used to control the speed of the motor to realize multi-level speed regulation of the motor.

The beneficial effect brought by the present invention compared with prior art is:

1. The present invention can not only realize the automatic control of the main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism through the PLC automatic control system, but also can switch to the manual control mode of the hydraulic handle, and the safety of the hydraulic system is higher. High, better reliability;

2. The main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism are all controlled by an independent hydraulic system, which has good independence and high reliability;

3. The set brake mechanism can ensure the safe operation of the crane;

4. The PLC automatic control system detects the speeds of the main hoisting winch, sub-main hoisting winch, luffing winch and slewing mechanism respectively through the encoder, and corrects the main hoisting winch, The rotation speed of auxiliary main hoisting winch, luffing winch and slewing mechanism;

5. The left luffing winch and the second quantitative motor of the right luffing winch are connected through a manifold, and a logic valve is set between the manifolds on both sides, which can adjust the oil pressure of the luffing winches on both sides to maintain Consistent, making the crane more stable when luffing.

Description of drawings

Fig. 1 is a frame diagram of the hydraulic system of the present invention.

Fig. 2 is the pipeline diagram of the hydraulic system of the present invention.

Figure 3 is the piping diagram of the rotary system.

Figure 4 is the piping diagram of the main lifting system.

Figure 5 is a pipeline diagram for automatic and manual switching of the main hoisting winch.

Figure 6 is a pipeline diagram of the auxiliary main hoisting system.

Figure 7 is the piping diagram of the luffing system.

Figure 8 is a pipeline diagram for automatic and manual switching of the luffing winch.

Fig. 9 is a wiring diagram of electronic devices in the electronic control system of the present invention.

Fig. 10 is a wiring diagram of motors in the electric control system of the present invention.

Figure 11 is the wiring diagram of the motor for hanging people.

Fig. 12 is the wiring diagram of the left stable cable motor.

Figure 13 is the wiring diagram of the right cable motor.

Detailed ways

A crane, used for ships, includes a mechanical part and a control part. The mechanical parts are inserted into the legs on the main deck, the slewing mechanism set on the main deck and sleeved on the legs, the herringbone frame on the slewing mechanism, the jib hinged with the gable frame, the arm frame set on the arm The main hook, auxiliary hook, luffing hook under the top of the frame, the main hoisting winch used to drive the main hook, the auxiliary main hoisting winch used to drive the auxiliary hook and the hoisting winch used to drive the luffing hook Luffing winch. The slewing mechanism includes a slewing support device and a slewing platform arranged on the slewing support device; both the slewing support device and the slewing platform are set on the pile legs and do not contact with the pile legs, so the two do not interfere with each other, so that the slewing platform and the pile The legs are perfectly combined, saving the space occupied by the splint. The top of the gable frame is provided with a gable pulley block, and the top of the jib frame is provided with a jib pulley block; the main hoisting winch is wound with a main hoisting wire rope, and the main hoisting wire rope passes through the gable block pulley block and The boom pulley block is connected with the main hook; the auxiliary main hoisting wire rope is wound on the auxiliary main hoisting winch, and the auxiliary main hoisting wire rope is connected with the auxiliary hook after passing through the herringbone pulley block and the boom pulley block; A luffing wire rope is wound on the luffing winch, and the luffing wire rope is connected with the luffing hook after passing through the herringbone pulley block and the jib pulley block. A total of two main hoisting winches are arranged on the slewing platform, which are respectively the left main hoisting winch and the right main hoisting winch. A total of two luffing winches are arranged on the slewing platform, namely the left luffing winch and the right luffing winch.

The control part includes a hydraulic system. As shown in Figures 1 and 2, the hydraulic control system includes a PLC automatic control system, an emergency manual system, a luffing system for driving a luffing winch, and a luffing system for driving a main hoisting winch. The main hoisting system, the sub-main hoisting system for driving the sub-main hoisting winch, the slewing system for driving the slewing mechanism, the main motor, the main pump and the hydraulic oil tank. In this embodiment, there are four main motors and eight main pumps in total. Each main motor drives two main pumps to form a drive. The formed main oil supply pipeline supplies oil to the luffing system, the main hoisting system, the auxiliary main hoisting system and the slewing system respectively through the hydraulic control proportional multi-way valve. The electric control handle controls the electric proportional pressure reducing valve group through the PLC automatic control system, and then controls the hydraulic control proportional multi-way valve to realize automatic control of the main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism.

As shown in Figure 3, the slewing system includes two first quantitative motors S01 driving the slewing platform, the first electric proportional pressure reducing valve H18/6 and the rotary multi-way valve H17/9, the rotary multi-way valve H17/9 The input end of the rotary multi-way valve H17/9 is connected to the main oil supply pipeline, the output end of the rotary multi-way valve H17/9 is respectively connected to the two first quantitative motors S01 through the left oil supply pipe, and the output end of the rotary multi-way valve H17/9 is connected through the right The oil supply pipes are respectively connected to two first quantitative motors S01, and the first electric proportional pressure reducing valve H18/6 controls the rotary multi-way valve H17/9 through two first shuttle valves H10/26 and H10/27 Oil is supplied to the left oil supply pipe or the right oil supply pipe, and a balance valve S02 for balancing the oil pressure is arranged between the left oil supply pipe and the right oil supply pipe. The first quantitative motor S01 is equipped with a first quantitative motor brake mechanism, and the brake public oil circuit supplies oil to the first quantitative motor brake mechanism, and the brake public oil circuit is provided with a speed regulating valve H22 and a first hydraulic control reversing valve W04/6, a second shuttle valve is provided between the left oil supply pipeline and the right oil supply pipeline, and the second shuttle valve communicates with the first hydraulic control reversing valve W04/6. The working method of the slewing mechanism: When it is necessary to drive the slewing mechanism to turn left or right, use the priority control pipeline PCP and PCT to control the first electric proportional pressure reducing valve H18/6, so that it will flow to the first shuttle valve H10/26 or H10 /27 oil supply, and then change the valve position of the rotary multi-way valve H17/9, and finally supply oil through the left oil supply pipeline or right oil supply pipeline, when the left oil supply pipeline supplies oil, it means the first A certain amount of motor turns left, and when oil is supplied to the oil supply pipeline from the right, it means that the first amount of motor turns right. The second shuttle valve drives the first hydraulic control reversing valve W04/6 to open, and the brake common pipeline BC1 supplies oil to the brake mechanism of the first quantitative motor, and the brake mechanism of the first quantitative motor starts to leave the first quantitative motor S01; In addition, the brake oil pressure can be controlled through the speed regulating valve H22 to change the speed of the first quantitative motor S01. When the first quantitative motor is draining oil, the effect of the balance valve is used to slow down the oil draining speed, thereby producing a buffering effect on the slewing mechanism.

As shown in Figure 4, the main hoisting system supplies oil to the left and right main hoisting winches at the same time. Since the oil supply pipelines on both sides are exactly the same, this embodiment uses the hydraulic system of the left main hoisting winch Note that it includes four first variable motors W01/1~W01/4 that drive the main hoisting winch, and the main oil supply pipelines are respectively supplied to the first variable motors W01/1~W01 through balance valves W02/1~W02/4. /4 oil supply, the first variable motors W01/1~W01/4 are connected to the hydraulic oil tank through the main oil return pipeline. The first variable motors W01/1~W01/4 are equipped with a first variable motor brake mechanism, and the oil inlet ends of the first variable motors W01/1~W01/4 control the second hydraulic control through the third shuttle valve H10/13. Reversing valve W04/1, the brake public oil circuit supplies oil to the first variable motor brake mechanism through the second hydraulic control reversing valve W04/1 and the first sequence valve W05/1; there is a first one-way valve W06/1 Parallel with the first sequence valve W05/1, the return oil of the first variable motor W01/1~W01/4 passes through the first one-way valve W06/1, the first normally open ball valve H23/1 and the first solenoid valve W03/1 Back to the oil. During normal oil supply, the third shuttle valve H10/13 obtains oil pressure from the oil supply pipeline, and supplies oil to the first variable motor brake mechanism through the second hydraulic control reversing valve W04/1 and the first sequence valve W05/1. Make it start and leave the first variable motor; when the first variable motor releases pressure, the hydraulic oil of the first variable motor brake mechanism passes through the first sequence valve W05/1 or the first one-way valve W06/1, and finally passes through the first The normally open ball valve H23/1 and the first solenoid valve W03/1 perform oil return, and at this time the brake mechanism of the first variable motor brakes the first variable motor. If the amount of oil flowing into the first displacement motor is small, the opening of the balance valve becomes smaller, and back pressure will be generated.

As shown in Figure 6, the auxiliary main hoisting system includes four second variable motors W01/9~W01/12 driving the auxiliary main hoisting winches, a second electric proportional pressure reducing valve H18/3 and two auxiliary hooks Multi-way valve H17/5, H17/6, auxiliary hook multi-way valve H17/5 corresponds to the second variable motor W01/9 and W01/10, auxiliary hook multi-way valve H17/6 corresponds to the second variable motor W01/11 and W01 /12. The input ends of auxiliary hook multi-way valves H17/5 and H17/6 are connected to the main oil supply pipeline, and the output ends of auxiliary hook multi-way valves H17/5 and H17/6 are respectively connected to the second variable motor W01 through the lifting oil supply pipe. /9～W01/12 connection, there are balance valves A02/1～A02/4 on the lifting oil supply pipe, each balance valve corresponds to a second variable motor, and the auxiliary hook multi-way valves H17/5, H17/6 The output ends are respectively connected with the second variable motors W01/9-W01/12 through the descending oil supply pipes. The second electric proportional pressure reducing valve H18/3 controls the auxiliary hook multi-way valve to supply oil to the lifting oil supply pipe or the lowering oil supply pipe through two fourth shuttle valves H10/15 and H10/16. The second variable motors W01/9~W01/12 are equipped with second variable motor brake mechanisms, and the oil inlet ports of the second variable motors W01/9~W01/12 control the third fluid through the fifth shuttle valve H10/18. control reversing valve W04/3, and the brake common oil circuit supplies oil to the brake mechanism of the second variable motor through the third hydraulic control reversing valve W04/3 and the second sequence valve W05/3; there is a second one-way valve W06/ 3 is connected in parallel with the second sequence valve W05/3, and the oil return of the second variable motor is returned through the second one-way valve W06/3, the second normally open ball valve H23/3 and the second solenoid valve W03/3. The oil inlet pipes of the two second variable motors on the left and the two second variable motors on the right communicate through the seventh manifold, and the return pipes of the two second variable motors on the left and the two second variable motors on the right The oil pipes communicate through the eighth manifold. During normal oil supply, the fifth shuttle valve H10/18 obtains oil pressure from the oil supply pipeline, and supplies oil to the second variable motor brake mechanism through the third hydraulic control reversing valve W04/3 and the second sequence valve W05/3. Make it start and leave the second variable motor; when the second variable motor releases pressure, the hydraulic oil of the brake mechanism of the second variable motor passes through the second sequence valve W05/3 or the second one-way valve W06/3, and finally passes through the second The normally open ball valve H23/3 and the second electromagnetic valve W03/3 perform oil return, and at this time the brake mechanism of the second variable motor brakes the second variable motor. If the amount of oil flowing into the second variable motor is small, the opening of the balance valve becomes smaller and back pressure is generated.

A total of two luffing winches are arranged on the slewing platform, namely the left luffing winch and the right luffing winch. As shown in Figure 7, the luffing system includes four second quantitative motors B01/1~B01/4 that drive the luffing winch, the second quantitative motors B01/1~B01/2 correspond to the left luffing winch, and the second quantitative Motors B01/3~B01/4 correspond to the right luffing winch, and the hydraulic systems of the left and right luffing winches are the same. The oil supply pipeline of the second quantitative motor supplies oil to the second quantitative motor B01/1～B01/2, and the oil supply pipeline of the second quantitative motor B01/1～B01/2 is equipped with balance valves W02/9 and W02/10; The second quantitative motors B01/1~B01/2 are equipped with second quantitative motor brake mechanisms, and the oil inlet ports of the second quantitative motors B01/1~B01/2 control the fourth hydraulic control through the sixth shuttle valve H10/24. Reversing valve W04/4, the brake public oil circuit supplies oil to the brake mechanism of the second quantitative motor through the fourth hydraulic control reversing valve W04/4 and the third sequence valve W05/4; there is a third one-way valve W06/4 Parallel with the third sequence valve W05/4, the return oil of the second quantitative motor B01/1~B01/2 passes through the third one-way valve W06/4, the third normally open ball valve H23/3 and the third solenoid valve W03/4 Back to the oil. The oil inlet pipes of the two second quantitative motors of the left luffing winch are connected through the third manifold FL2/7, and the oil return pipes of the two second quantitative motors of the left luffing winch are connected through the fourth manifold FL2/8; The oil inlet pipes of the two second quantitative motors of the right luffing winch are connected through the fifth manifold FL2/9, and the oil return pipes of the two second quantitative motors of the right luffing winch are connected through the sixth manifold FL2/10; The first logic valve B03/2 is set between the third manifold FL2/7 and the fifth manifold FL2/9, and the second logic valve is set between the fourth manifold FL2/8 and the sixth manifold FL2/10 B03/1. The left luffing winch and the second quantitative motor of the right luffing winch are connected through a manifold, and a logic valve is set between the manifolds on both sides, and the logic valve can automatically adjust the oil pressure of the luffing winches on both sides to keep the same , to make the crane more stable when luffing; if the left and right luffing winches cannot be automatically balanced, turn off the logic valve and use the hydraulic handle to force both sides to balance. When the pressure of the second quantitative motor is released, the hydraulic oil of the brake mechanism of the second quantitative motor passes through the third sequence valve W05/4 or the third one-way valve W06/4, and finally passes through the third normally open ball valve H23/3 and the third solenoid The valve W03/4 performs oil return, and at this moment, the braking mechanism of the second quantitative motor brakes the second quantitative motor.

As shown in Figure 1, the main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism are equipped with encoders, and the PLC automatic control system detects the main hoisting winches, auxiliary main hoisting The speed of winch, luffing winch and slewing mechanism, the PLC automatic control system obtains the speed of the main hoisting winch, sub-main hoisting winch, luffing winch and slewing mechanism, through the electric proportional pressure reducing valve and hydraulic control proportional multi-channel The valve corrects the speed of the main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism. Under normal conditions, the electric control handle controls the electric proportional pressure reducing valve group through the PLC automatic control system to realize the overall control of the crane.

The emergency manual system includes an emergency pump set connected to a hydraulic oil tank and a hydraulic handle, and the emergency pump set controls the luffing system, the main hoisting system, the auxiliary main hoisting system and the slewing system through the hydraulic handle. As shown in Figures 5 and 8, the seventh shuttle valve controls the main hook multi-way valve between the hydraulic handle of the main hook and the electric proportional pressure reducing valve, and then supplies oil to the first variable motor; the hydraulic handle of the auxiliary hook and the electric proportional pressure reducing valve The eighth shuttle valve controls the auxiliary hook multi-way valve between the pressure reducing valves, and then supplies oil to the second variable motor; the variable amplitude hydraulic handle and the electric proportional pressure reducing valve control the variable amplitude multi-way valve through the ninth shuttle valve , and then control the second quantitative motor; between the rotary hydraulic handle and the electric proportional pressure reducing valve, the rotary multi-way valve is controlled by the tenth shuttle valve, and then the first quantitative motor is controlled.

As shown in Figure 1, the hydraulic system also includes an emergency stop system and a safety protection system. The emergency stop system monitors the main motor and controls the proportional current output by the PLC automatic control system to the electric proportional pressure reducing valve, and the PLC automatic control system monitors the hydraulic oil tank. levels, temperatures and filters. When the emergency stop system and the safety protection system detect an abnormality, the signal to the proportional pressure reducing valve group of the PLC automatic control system is cut off. At this time, the hydraulic control proportional multi-way valve can be controlled by the hydraulic handle to control the crane.

As shown in Figure 1, the cooling system is connected to the hydraulic oil tank. The oil drain of the main pump, the oil return of the multi-way valve, the oil drain of the oil motor, and the oil return of the control valve all carry heat. The cooling system can transfer the heat of the hydraulic oil tank Oil cooling ensures the long-term stability of the hydraulic system.

As shown in Figures 9 to 13, the crane also includes an electric control system, which includes a control box, a left switch box panel, a right switch box panel, a cab transition junction box, a hydraulic oil tank junction box, a boom transition Junction box and torque meter main box; the control box is connected to the left switch box panel, right switch box panel, torque meter main box and cab transition junction box respectively, the cab transition junction box is connected to the hydraulic oil tank junction box, and the hydraulic oil tank junction box Connect with the boom transition junction box; the control box supplies power to the PLC display, cab lighting, exhaust fan, heating and cooling air conditioner, and cab socket; the left switch box panel controls the front window wiper, roof window wiper and sprinkler; torque meter The main box supplies power to the sensor; the control box supplies power to the encoder and limit switch through the cab transition junction box; the hydraulic oil tank junction box controls, differential pressure switch, electric proportional pressure reducing valve, limit switch and solenoid valve; boom transition wiring The box uses a ballast to control the lights on the boom. The control box controls the hoisting motor through the first frequency converter; the control box controls the left lock motor and the left cable motor through the second frequency converter, and the control box controls the right lock motor and the right cable motor through the third frequency converter motor.

Claims (8)

1. A frequency conversion control system for a crane, characterized in that: it includes a hydraulic system and an electric control system, and the hydraulic system includes a PLC automatic control system, an emergency manual system, a luffing system for driving a luffing winch, and a luffing system for driving a main hoist The main hoisting system of the winch, the sub-main hoisting system for driving the sub-main hoisting winch, the slewing system for driving the slewing mechanism, the main motor, the main pump and the hydraulic oil tank, the main motor drives the main pump, the The main pump is connected to the hydraulic oil tank, and the main oil supply pipeline formed at the output end of the main pump supplies oil to the luffing system, the main hoisting system, the sub-main hoisting system and the slewing system respectively through the hydraulic control proportional multi-way valve. The PLC automatic control system controls the hydraulic control proportional multi-way valve through the electric proportional pressure reducing valve group; the emergency manual system includes the emergency pump group and the hydraulic handle connected with the hydraulic oil tank, and the emergency pump group controls the luffing system, the main Hoisting system, auxiliary main hoisting system and slewing system; The slewing system includes two first quantitative motors that drive the slewing platform, a first electric proportional pressure reducing valve and a slewing multi-way valve, the input end of the slewing multi-way valve is connected to the main oil supply pipeline, and the output The output end of the rotary multi-way valve is respectively connected to the two first quantitative motors through the right oil supply pipe, and the first electric proportional decompression The valve controls the rotary multi-way valve to supply oil to the left oil supply pipe or the right oil supply pipe through two first shuttle valves, and a balance oil pressure balance is set between the left oil supply pipe and the right oil supply pipe Valve; the first quantitative motor is equipped with a first quantitative motor brake mechanism, and the brake public oil circuit supplies oil to the first quantitative motor brake mechanism, and the brake public oil circuit is provided with a speed regulating valve and a first hydraulic control reversing valve , a second shuttle valve is provided between the left oil supply pipeline and the right oil supply pipeline, and the second shuttle valve communicates with the first hydraulic control reversing valve; The main hoisting system includes a first variable motor that drives the main hoisting winch, the main oil supply pipeline supplies oil to the first variable motor, and the first variable motor is connected to the hydraulic oil tank through the main oil return pipeline; the first variable motor Equipped with the brake mechanism of the first variable motor, the oil inlet end of the first variable motor controls the second hydraulic control valve through the third shuttle valve, and the brake common oil circuit passes through the second hydraulic control valve and the first sequence valve to the second hydraulic control valve. A variable motor brake mechanism supplies oil; a first one-way valve is connected in parallel with the first sequence valve, and the oil return of the first variable motor is returned through the first one-way valve, the first normally open ball valve and the first solenoid valve; The auxiliary main hoisting system includes a second variable motor that drives the auxiliary main hoisting winch, a second electric proportional pressure reducing valve and an auxiliary hook multi-way valve. The input end of the auxiliary hook multi-way valve is connected to the main oil supply pipeline, and the auxiliary hook multi-way valve The output end of the hook multi-way valve is respectively connected to the second variable motor through the lifting oil supply pipe, and the output end of the auxiliary hook multi-way valve is respectively connected to the second variable motor through the lowering oil supply pipe. The valve controls the auxiliary hook multi-way valve to supply oil to the lifting oil supply pipe or the lowering oil supply pipe through two fourth shuttle valves; the second variable motor is equipped with a second variable motor brake mechanism, and the oil inlet of the second variable motor The terminal controls the third hydraulic control reversing valve through the fifth shuttle valve, and the brake public oil circuit supplies oil to the second variable motor brake mechanism through the third hydraulic control reversing valve and the second sequence valve; a second one-way valve and The second sequence valve is connected in parallel, and the oil return of the second variable motor returns through the second check valve, the second normally open ball valve and the second solenoid valve; The luffing system includes a second quantitative motor that drives the luffing winch, the main oil supply pipeline supplies oil to the second quantitative motor through the oil supply pipeline of the second quantitative motor, and the oil supply pipeline of the second quantitative motor is provided with a balance valve; the second quantitative motor is equipped with a quantitative motor brake mechanism, the oil inlet end of the second quantitative motor controls the fourth hydraulic control reversing valve through the sixth shuttle valve, and the brake common oil circuit passes through the fourth hydraulic control reversing valve and The third sequence valve supplies oil to the braking mechanism of the second quantitative motor; a third one-way valve is connected in parallel with the third sequence valve, and the oil return of the second quantitative motor passes through the third one-way valve, the third normally open ball valve and the third Solenoid valve oil return; The electric control system includes a control box, a left switch box panel, a right switch box panel, a cab transition junction box, a hydraulic oil tank junction box, a boom transition junction box and a torque meter main box; the control box is connected to the left switch box panel, The right switch box panel, the torque meter main box are connected to the transition junction box of the cab, the transition junction box of the cab is connected to the junction box of the hydraulic oil tank, and the junction box of the hydraulic oil tank is connected to the transition junction box of the boom; the control box is connected to the PLC display screen and the cab Lighting, exhaust fan, heating and cooling air conditioner, cab socket power supply; left switch box panel controls front window wiper, roof window wiper and sprinkler; torque meter main box supplies power to sensors; control box supplies encoder through cab transition junction box , limit switch power supply; hydraulic oil tank junction box control, differential pressure switch, electric proportional pressure reducing valve, limit switch and solenoid valve; boom transition junction box uses a ballast to control the lighting on the boom; the control The box controls the hoisting motor through the first frequency converter; the control box controls the left lock motor and the left cable motor through the second frequency converter, and the control box controls the right lock motor and the right cable motor through the third frequency converter; The PLC automatic control system respectively detects the rotating speeds of the main hoisting winch, the auxiliary main hoisting winch, the luffing winch and the slewing mechanism through encoders. 2. A crane frequency conversion control system according to claim 1, characterized in that: two main hoisting winches are arranged on the slewing platform, which are respectively the left main hoisting winch and the right main hoisting winch; There are two luffing winches on the platform, namely the left luffing winch and the right luffing winch. 3. A crane frequency conversion control system according to claim 1, characterized in that: between the hydraulic handle of the main hook and the electric proportional pressure reducing valve, the seventh shuttle valve controls the main hook multi-way valve, and then to the first variable The motor supplies oil; the eighth shuttle valve controls the auxiliary hook multi-way valve between the hydraulic handle of the auxiliary hook and the electric proportional pressure reducing valve, and then supplies oil to the second variable motor; the hydraulic handle of the variable amplitude and the electric proportional pressure reducing valve The variable-amplitude multi-way valve is controlled by the ninth shuttle valve, and then the second quantitative motor is controlled; the rotary multi-way valve is controlled by the tenth shuttle valve between the rotary hydraulic handle and the electric proportional pressure reducing valve, and then the first quantitative motor is controlled. . 4. A crane frequency conversion control system according to claim 1, characterized in that: the auxiliary main hoisting winch includes four second variable motors, and the oil inlet pipes of the four second variable motors are connected to each other through the first manifold. The oil return pipes of the four second variable motors communicate with each other through the second manifold. 5. A crane frequency conversion control system according to claim 2, characterized in that: the left luffing winch and the right luffing winch both include two second quantitative motors, and the two second motors of the left luffing winch The oil inlet pipe of the quantitative motor is connected through the third manifold, the oil return pipes of the two second quantitative motors of the left luffing winch are connected through the fourth manifold; the oil inlet pipes of the two second quantitative motors of the right luffing winch are connected through The fifth manifold is connected, and the oil return pipes of the two second quantitative motors of the right luffing winch are connected through the sixth manifold; the first logic valve is arranged between the third manifold and the fifth manifold, and the fourth manifold A second logic valve is provided between the sixth manifold and the sixth manifold. 6. A crane frequency conversion control system according to claim 1, characterized in that: the hydraulic system also includes an emergency stop system and a safety protection system, the emergency stop system monitors the main motor and controls the PLC automatic control system to reduce the electric proportional The proportional current output by the pressure valve, the PLC automatic control system monitors the liquid level, temperature and filter of the hydraulic oil tank. 7. A crane frequency conversion control system according to claim 1, characterized in that the electric control handle controls the electric proportional pressure reducing valve group through the PLC automatic control system. 8. a kind of control method of crane frequency conversion control system as claimed in claim 1, is characterized in that: after the PLC automatic control system obtains the rotating speed of main hoisting winch, secondary main hoisting winch, luffing winch and slewing mechanism, Use the electric proportional pressure reducing valve and the hydraulic control proportional multi-way valve to correct the speed of the main hoisting winch, auxiliary main hoisting winch, luffing winch and slewing mechanism; use the frequency converter to control the speed of the motor to realize multi-level speed regulation of the motor .