CN109019338B - Control method of torque limiter of double-winch crane - Google Patents

Abstract

The invention discloses a control method of a torque limiter of a double-winch crane, wherein if the wind speed is greater than a set value 1, the torque limiter gives an alarm to prompt and removes dangerous direction actions. And detecting whether the tension of the main winch is greater than a set value 2, if so, giving an alarm for prompting, and removing the action of the dangerous direction. And detecting whether the tension of the auxiliary winch is greater than a set value 3, if so, giving an alarm for prompting, and removing the action in the dangerous direction. And detecting whether the absolute value of the difference between the main hoisting tension and the auxiliary hoisting tension is greater than a set value 4, if so, giving an alarm to prompt, and simultaneously removing the dangerous direction action. And detecting whether the absolute value of the sum of the main hoisting tension and the auxiliary hoisting tension is greater than a set value 5, if so, giving an alarm to prompt, and simultaneously removing the dangerous direction action. The invention can improve the control precision.

Description

Control method of torque limiter of double-winch crane

Technical Field

The invention relates to the field of crane control, in particular to a control method of a torque limiter of a double-winch crane.

Background

The crane is an engineering machine with more dangerous factors and higher accident occurrence probability, and a great amount of equipment damage and even personal casualty accidents caused by crane operation occur at home and abroad every year. Any crane has the maximum safe load limit, and if the maximum safe load limit is exceeded, equipment parts are damaged if the maximum safe load limit is exceeded, and the serious accident that the whole crane overturns occurs if the maximum safe load limit is exceeded. Therefore, the crane must be controlled to operate within a safe limit to prevent accidents such as tipping and arm folding of the crane due to improper operation and excessive lifting moment. Under such conditions, a crane torque limiter with load and torque limiting functions is produced. The moment limiter of the crane mainly takes the moment of the crane as the core of monitoring. The crane moment limiter is an important crane overload protection device and is mainly equipped on large cranes such as truck cranes and the like. The key working parameters of the crane are detected in real time through a sensor in the system, the result is obtained through analysis, calculation and data processing, and judgment is carried out by combining the current working condition of the crane. When the actual load is close to the unsafe working range of the crane, the system gives an alarm in advance; when the working range exceeds the unsafe working range, the system gives an alarm and automatically carries out safety protection control, and the crane is forbidden to move towards the dangerous direction.

With the continuous development of society, the technology is continuously perfected, the safety consciousness is improved, and the requirement on the moment limiter of the crane in China is also continuously improved. The torque limiter in the prior art only uses a pressure sensor or a tension sensor for torque detection. When the tension sensor is used independently, high requirements are placed on the installation mode of the tension sensor, and meanwhile, the tension data bounce is severe, so that the accuracy of the torque data is seriously influenced. And the exclusive use pressure sensor carries out moment and detects, need rely on original papers such as length angle sensor simultaneously, and when pressure was forgotten simultaneously, moment data had obvious jump scheduling problem. Has great influence on the safety control of the crane.

The moment limiter of the domestic crane mainly and independently takes a tension sensor or a pressure sensor as a core, the tension sensor and the pressure sensor cannot be comprehensively considered, and meanwhile, no relevant research is provided for controlling the moment limiter of the double-winch crane.

Disclosure of Invention

The invention aims to solve the technical problem of providing a control method of a torque limiter of a double-winch crane aiming at the defects of the prior art.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a control method of a torque limiter of a double-winch crane comprises the following steps:

1) judging whether the absolute value of the difference between the main hoisting tension and the auxiliary hoisting tension is greater than a first set value or not, if so, giving an alarm by a torque limiter and prompting, and removing the dangerous direction action; otherwise, entering step 2);

2) judging whether the sum of the main hoisting tension and the auxiliary hoisting tension is greater than a second set value, if so, giving an alarm by a torque limiter, removing the dangerous direction action, and judging whether an operation table or a remote control handle forced switch is pressed down for operation; otherwise, judging whether the absolute value of the difference between the combined moment of the main and auxiliary winding pulling forces and the pressure moment of the moment limiter is greater than a third set value;

in step 2), if the sum of the main hoisting tension and the auxiliary hoisting tension is less than or equal to a second set value, further performing the following operations: and judging whether the absolute value of the difference between the combined moment of the main winch and the auxiliary winch and the pressure moment of the moment limiter is greater than a third set value or not, and if so, giving an alarm by the moment limiter.

Before the step 1), the following operations are also carried out: judging whether the main hoisting tension is greater than a fourth set value, if so, giving an alarm by a torque limiter and removing the dangerous direction action; otherwise, judging whether the auxiliary winch pulling force is larger than a fifth set value or not, if so, giving an alarm prompt by the moment limiter, and removing the dangerous direction action.

Before judging whether the main hoisting tension is greater than a fourth set value, the following operations are also carried out: starting the whole vehicle, and judging whether the wind speed is greater than a sixth set value; if so, the moment limiter gives an alarm to prompt and removes the dangerous direction action.

And when the absolute value of the difference between the pull force resultant moment of the main winch and the auxiliary winch and the pressure moment of the moment limiter is smaller than or equal to a third set value, judging whether the main winch and the auxiliary winch are over-released, and if so, giving an alarm by the moment limiter to prompt and removing the dangerous direction action.

When the dangerous direction action is removed or the moment limiter gives an alarm for prompting, whether the operation table or the remote control handle forced switch is pressed down or not is judged, and if yes, the moment displayer prompts the dangerous direction action to continue the operation.

Compared with the prior art, the invention has the beneficial effects that: the invention provides a control strategy of a torque limiter of a double-winch crane, which adopts a control strategy taking a tension sensor and a pressure sensor as cores and improves the control precision and the reliability of torque control.

Drawings

FIG. 1 is a flow chart of the method of the present invention.

Detailed Description

The moment limiter disclosed by the invention has the main functions of realizing the safety monitoring and the like of the hoisting moment of the crane. Meanwhile, a control method of mutual redundancy and mutual matching of a tension sensor system, a pressure sensor system and a torque limiter is added, the tension sensor is arranged at the head of the suspension arm, the pressure sensor is arranged at the amplitude variation oil cylinder, and therefore reliability and safety of the torque limiter are improved, and a safety linkage control strategy is shown in figure 1.

After the whole vehicle is started, the PLC detects signals of the anemoscope to acquire wind speed information, and if the wind speed is larger than a set value 1, the moment limiter gives an alarm to prompt and removes dangerous direction actions. And if the wind speed is stable, operating or operating a handle of the remote controller, and correspondingly performing main and auxiliary winches or corresponding amplitude variation actions. And detecting whether the tension of the main winch is greater than a set value 2, if so, giving an alarm by a torque limiter, and simultaneously removing the action of the dangerous direction. And detecting whether the tension of the auxiliary winch is greater than a set value 3, if so, giving an alarm by a torque limiter, and simultaneously removing the action in the dangerous direction. And detecting whether the absolute value of the difference between the main hoisting tension and the auxiliary hoisting tension is greater than a set value 4, if so, alarming and prompting by a torque limiter, and simultaneously removing the action of the dangerous direction. And detecting whether the absolute value of the sum of the main hoisting tension and the auxiliary hoisting tension is greater than a set value 5, if so, alarming and prompting by a torque limiter, and simultaneously removing the action of the dangerous direction. And detecting whether the absolute value of the difference between the main hoisting moment and the auxiliary hoisting moment and the pressure moment of the moment limiter is greater than a set value 6, if so, alarming and prompting by the moment limiter, and simultaneously removing the action in the dangerous direction. And detecting whether the main winch and the auxiliary winch are over-released, and if the main winch and the auxiliary winch are over-released, alarming and prompting the moment limiter and removing dangerous direction actions. Whether the forced switch is pressed or not is detected, if the forced switch is pressed, the moment limiter prompts, and meanwhile, the dangerous action direction can be operated.

Examples of design values of the present invention: the set value is 113.8 m/s; setting a value of 26T; a set value of 36T; a set value of 42T; a set value of 55T; setting value 60.6T.

Claims (1)

1. A control method of a torque limiter of a double-winch crane is characterized in that a tension sensor is arranged at the head of a suspension arm, a pressure sensor is arranged at a variable amplitude oil cylinder, and a tension sensor system, the pressure sensor system and the torque limiter can be controlled in a mutual redundancy and mutual matching manner, and the control method is characterized by comprising the following steps:

1) judging whether the absolute value of the difference between the main hoisting tension and the auxiliary hoisting tension is greater than a first set value or not, if so, giving an alarm by a torque limiter and prompting, and removing the dangerous direction action; otherwise, entering step 2);

2) judging whether the sum of the main hoisting tension and the auxiliary hoisting tension is greater than a second set value, if so, giving an alarm by a torque limiter, removing the dangerous direction action, and judging whether an operation table or a remote control handle forced switch is pressed down for operation; otherwise, judging whether the absolute value of the difference between the combined moment of the main winch tension and the auxiliary winch tension and the pressure moment of the moment limiter is greater than a third set value or not, and if so, giving an alarm by the moment limiter;

before the step 1), the following operations are also carried out: judging whether the main hoisting tension is greater than a fourth set value, if so, giving an alarm by a torque limiter and removing the dangerous direction action; otherwise, judging whether the tension of the auxiliary winch is greater than a fifth set value, if so, giving an alarm by a torque limiter to prompt, and removing the dangerous direction action;

before judging whether the main hoisting tension is greater than a fourth set value, the following operations are also carried out: starting the whole vehicle, and judging whether the wind speed is greater than a sixth set value; if so, the moment limiter gives an alarm to prompt and removes the action of the dangerous direction;

when the absolute value of the difference between the pull force resultant moment of the main winch and the auxiliary winch and the pressure moment of the moment limiter is smaller than or equal to a third set value, judging whether the main winch and the auxiliary winch are over-released, if so, giving an alarm by the moment limiter, and removing the action in the dangerous direction;

when the dangerous direction action is removed or the moment limiter gives an alarm for prompting, whether the operation table or the remote control handle forced switch is pressed down or not is judged, and if yes, the moment displayer prompts the dangerous direction action to continue the operation.

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