CN109437019A - Crane hook height control method and device and crane - Google Patents
Crane hook height control method and device and crane Download PDFInfo
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- CN109437019A CN109437019A CN201811506722.9A CN201811506722A CN109437019A CN 109437019 A CN109437019 A CN 109437019A CN 201811506722 A CN201811506722 A CN 201811506722A CN 109437019 A CN109437019 A CN 109437019A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000000725 suspension Substances 0.000 claims abstract description 89
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- 239000002356 single layer Substances 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004804 winding Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 4
- 239000010410 layer Substances 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The embodiment of the invention provides a crane hook height control method and device and a crane, and belongs to the field of engineering machinery. The method comprises the following steps: obtaining the length of the steel wire rope wound on the winding drum according to the diameter of the winding drum, the diameter of the steel wire rope, the number of single-layer rope winding turns of the winding drum and the number of rotation turns of the winding drum; obtaining the length of a steel wire rope between a winding drum and a suspension arm head according to the length of the suspension arm, the amplitude variation angle of the suspension arm and the distance between the winding drum and an amplitude variation pin of the suspension arm; obtaining the height difference between the suspension arm head and the lifting hook according to the length of the steel wire rope wound on the winding drum, the total length of the steel wire rope, the length of the steel wire rope between the winding drum and the suspension arm head and the multiplying power of the steel wire rope; and controlling the absolute value of the difference between the height difference and the height difference set value to be smaller than the set value or calculating the absolute height of the lifting hook, and controlling the absolute value of the difference between the absolute height of the lifting hook and the absolute height set value to be smaller than the set value. The invention can flexibly and accurately control the height of the lifting hook, greatly reduce the labor intensity of operators and improve the operation efficiency.
Description
Technical field
The present invention relates to engineering machinery, more particularly to crane hook height control method, device and crane.
Background technique
With the development of control technology, Crane Automation degree is also higher and higher.Crane hoisting, flexible, luffing control
System, is the main research of crane control system.When carrying out crane state preparation or lifting operation, to height under hook
Control be operator need monitor in real time.During flexible, luffing, the automatic control of elevator suspension hook how is carried out
System, makes suspension hook automatically achieve object height, so that the intelligence of Lifting Control System, safety, high efficiency, become industry research
Heat topic.
Existing control system relies primarily on operator and is matched manually to elevator while carrying out scaling operation
Closing operation.Such as in hoisting arm expansion or luffing landing, while landing operation is carried out to elevator manually, and by way of range estimation,
Suspension hook is set to reach certain height.
This elevator manual engagement mode of operation is complicated for operation, requires operator very high, it is desirable that have abundant
Operating experience；The degree of automation is not high, and operator needs to carry out compounding practice, large labor intensity to elevator manually；Whole operation
Process excessively relies on the subjective judgement of people, is easy to happen maloperation；Operation quality varies with each individual, and makes to the safe handling of crane
At certain influence.
Another kind control program in the prior art is, in hoisting arm expansion or luffing landing, to be set by mode, can be certainly
It is dynamic to carry out elevator folding and unfolding control, to keep height under hook constant with elemental height.This control mode reduces to a certain extent
Manipulation strength.But it is consistent with initial position height in the whole process, to be only able to maintain suspension hook, not can control suspension hook reach appoint
The setting height of meaning, control mode are inflexible.And computation model is not fine enough, causes practical control precision not high, final
There is still a need for operators to manually adjust for height under hook positioning.
This automatic control mode reduces manipulation strength to a certain extent.But in the whole process, only it is able to maintain suspension hook
It is consistent with initial position height, it not can control suspension hook and reach arbitrary setting height, control mode is inflexible.And calculate mould
Type is not fine enough, causes practical control precision not high, and there is still a need for operators to manually adjust for final height under hook positioning.
Summary of the invention
The purpose of the embodiment of the present invention is that a kind of crane hook height control method, device and crane are provided, it should
Crane hook height control method, device and crane flexibly can accurately control height under hook, substantially reduce operator
Member's labor intensity, improves operating efficiency.
To achieve the goals above, the embodiment of the present invention provides a kind of crane hook height control method, the crane
Suspension hook including the connection of boom, the reel containing wirerope and the wirerope, this method comprises: detecting the rotation of the reel
The length of several, described booms of turn-taking and the change angle of the boom；According to the diameter of the reel, the wirerope it is straight
Diameter, the reel single layer the length of steel rope wound on the reel is obtained around the rotating cycle of fake number and the reel
Degree；According to the spacing of the length of the boom, the change angle of the boom and the reel and the luffing pin of the boom
Obtain the rope capacity between the reel and boom head；According to the length of the wirerope wound on the reel, institute
State rope capacity and the wirerope between the total length, the reel and boom head of wirerope multiplying power obtain it is described
The difference in height of boom head and the suspension hook；And it is following one or more: during the crane job, control the height
Degree difference and the absolute value of the difference of difference in height setting value are less than setting value；And change angle, the boom according to the boom
Length, the height of the vehicle frame and the boom head and the height under hook difference obtain the absolute altitude of the suspension hook,
During the crane job, the absolute value of the difference of the absolute altitude and absolute altitude setting value that control the suspension hook, which is less than, to be set
Definite value.
Preferably, described according to the change angle of the boom, the length of the boom, the height of the vehicle frame and institute
It states boom head and absolute altitude that the height under hook difference obtains the suspension hook includes: change angle according to the boom, institute
The height of the length and the vehicle frame of stating boom obtains the absolute altitude of the boom head；And according to the exhausted of the boom head
The absolute altitude of the suspension hook is obtained to height and the boom head and the height under hook difference.
Preferably, the rope capacity between the reel and boom head is obtained by following formula:Wherein, A is the length of the boom, and B is the reel
With the spacing of the luffing pin of the boom, α is the change angle of the boom.
Preferably, the difference in height of the boom head and the suspension hook is obtained by following formula:Wherein, N is the multiplying power of the wirerope, and Ls is the total length of the wirerope, and Lw is institute
State the length of the wirerope wound on reel, rope capacity of the Lb between the reel and boom head.
Preferably, the absolute altitude of the boom head is obtained by following formula: H=A × sin α+h, wherein A is described
The length of boom, α are the change angle of the boom, and h is the height of the vehicle frame.
The embodiment of the present invention also provides a kind of crane hook height controller, which includes boom, contains steel
The reel of cord and the suspension hook of wirerope connection, which includes: detection unit and control unit, wherein described
Detection unit is used to detect the change angle of the rotating cycle of the reel, the length of the boom and the boom；It is described
Control unit is used for: according to the diameter of the reel, the diameter of the wirerope, the reel single layer around fake number and institute
The rotating cycle for stating reel obtains the rope capacity wound on the reel；According to the length of the boom, the boom
The spacing of the luffing pin of change angle and the reel and the boom obtains the wirerope between the reel and boom head
Length；According to the length of the wirerope wound on the reel, the total length of the wirerope, the reel and boom head
Between rope capacity and the multiplying power of the wirerope obtain the difference in height of the boom head and the suspension hook；And it is following
One or more: during the crane job, the absolute value of the difference for controlling the difference in height and difference in height setting value is small
In setting value；And according to the change angle of the boom, the length of the boom, the height of the vehicle frame and the boom
Head obtains the absolute altitude of the suspension hook with the height under hook difference, during the crane job, controls the suspension hook
Absolute altitude and absolute altitude setting value absolute value of the difference be less than setting value.
Preferably, the crane includes the vehicle frame for carrying the boom, the variable phase angle according to the boom
Degree, the length of the boom, the height of the vehicle frame and the boom head and the height under hook difference obtain the suspension hook
Absolute altitude include: obtained according to the height of the change angle of the boom, the length of the boom and the vehicle frame it is described
The absolute altitude of boom head；And it is obtained according to the absolute altitude of the boom head and the boom head with the height under hook difference
The absolute altitude of the suspension hook.
Preferably, the rope capacity between the reel and boom head is obtained by following formula:Wherein, A is the length of the boom, and B is the reel
With the spacing of the luffing pin of the boom, α is the change angle of the boom.
Preferably, the difference in height of the boom head and the suspension hook is obtained by following formula:Wherein, N is the multiplying power of the wirerope, and Ls is the total length of the wirerope, and Lw is institute
State the length of the wirerope wound on reel, rope capacity of the Lb between the reel and boom head.
The embodiment of the present invention also provides a kind of crane, which includes crane hook height control described above
Device.
Through the above technical solutions, use crane hook height control method provided in an embodiment of the present invention, device with
And crane, by detecting and being calculated the difference in height of boom head and suspension hook, and during the crane job, control
The absolute value of the difference of difference in height and difference in height setting value is less than setting value, or according to the absolute altitude of suspension hook is obtained, in lifting
During machine operation, the absolute value of the difference of the absolute altitude and absolute altitude setting value that control suspension hook is less than setting value.The present invention
It can be after completing crane job operation, flexibly accurate control height under hook, makes height under hook be controlled automatically at setting value, greatly
It is big to reduce labor intensity of operating staff, improve operating efficiency.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow chart for the crane hook height control method that one embodiment of the invention provides；
Fig. 2 is that the crane hook height that one embodiment of the invention provides calculates structural relation schematic diagram；
Fig. 3 be another embodiment of the present invention provides crane hook height control method flow chart；
Fig. 4 is the structural schematic diagram for the crane hook height controller that one embodiment of the invention provides；
Fig. 5 be another embodiment of the present invention provides crane hook height controller structural schematic diagram；
Fig. 6 is the structural schematic diagram for the crane that one embodiment of the invention provides.
Description of symbols
11 detection unit, 12 control unit
1 elevator encoder, 2 displacement sensor
3 boom, 4 angular transducer
5 wirerope, 6 suspension hook
7 man-machine interface, 8 hoisting crane solenoid valve
Solenoid valve drops in 9 elevators
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the flow chart for the crane hook height control method that one embodiment of the invention provides.As shown in Figure 1, should
Crane includes the suspension hook of boom, the reel containing wirerope and wirerope connection, this method comprises:
Step S11 detects the change angle of the rotating cycle of the reel, the length of the boom and the boom；
Step S12, according to the diameter of the reel, the diameter of the wirerope, the reel single layer around fake number with
And the rotating cycle of the reel obtains the rope capacity wound on the reel；
Step S13, according to the length of the boom, the change angle of the boom and the reel and the boom
The spacing of luffing pin obtains the rope capacity between the reel and boom head；
Step S14, according to the length of the wirerope wound on the reel, the total length, described of the wirerope
The multiplying power of rope capacity and the wirerope between reel and boom head obtains the height of the boom head and the suspension hook
It is poor to spend；
Step S15 controls the absolute of the difference in height and the difference of difference in height setting value during the crane job
Value is less than setting value；
Step S16, according to the change angle of the boom, the length of the boom, the height of the vehicle frame and described
Boom head and the height under hook difference obtain the absolute altitude of the suspension hook；
Step S17 controls the absolute altitude and absolute altitude setting value of the suspension hook during crane job
Absolute value of the difference be less than setting value.
For crane, when being prepared operation or lifting operation, the height condition of suspension hook can in two ways into
Row description, i.e. the absolute altitude Ha of the height difference H d of boom head and suspension hook and suspension hook, the present invention provide two kinds of height under hook controls
Mode is selective, and one is difference in height mode (controlling suspension hook using the height difference H d of boom head and suspension hook), i.e. operator
The difference in height setting value Hds that member's typing needs is carrying out crane job (such as flexible, luffing or key elevator operation) process
In, adjustment Hd and Hds absolute value of the difference be less than setting value, most perfect condition be adjustment boom head and suspension hook height difference H d extremely
Hds (absolute value of the difference of Hd and Hds is 0 at this time).When the absolute value of the difference of Hd and Hds is less than setting value, i.e., entirely stretching
During contracting or luffing operation, remain that arm head and height under hook difference are constant.
Another mode is absolute altitude mode, can also be according to institute after obtaining the difference in height of boom head and suspension hook
The height for stating the change angle of boom, the length of the boom and the vehicle frame obtains the absolute altitude of suspension hook；And according to
The absolute altitude of the boom head and the boom head and the height under hook difference obtain the absolute altitude Ha of the suspension hook.
The absolute altitude setting value Has that operator's typing needs (is for example related to carrying out crane job in operation process
And hoisting arm expansion, suspension arm variable-amplitude or key elevator operation) during, the absolute value of the difference of adjustment Ha and Has is less than setting value, most
Perfect condition is the absolute altitude Ha to Has for adjusting suspension hook (absolute value of the difference of Ha and Has is 0 at this time).When the difference of Ha and Has
Absolute value when being less than setting value, i.e., during entire flexible or luffing operation, remain that the absolute altitude of suspension hook is constant.
Carry out oneself of crane job (being for example related to hoisting arm expansion, suspension arm variable-amplitude or key elevator operation in operation process)
During suitable solution, in fact it could happen that under forearm length or current amplitude, difference in height setting value Hds or absolute altitude setting value
The case where Has is unable to reach, at this time if excessively promoting or reducing height under hook, it is understood that there may be suspension hook rising transfinites and causes and hang
Arm head pulley crashes；Being also likely to be present suspension hook decline and transfiniting causes suspension hook to pound vehicle frame, people or control cabinl pulpit, causes tight
The safety accident of weight.Therefore, in embodiments of the present invention, also set boom head and height under hook difference transfinites protection, that is, control
Protection that boom head and height under hook difference Hd cannot be greater than difference in height threshold value and suspension hook absolute altitude transfinite, that is, control suspension hook
Absolute altitude Ha cannot be greater than absolute altitude threshold value, so that height under hook be made to remain within safe range.
The present invention uses Closed-loop Control Strategy, and implements speed control to elevator using pid algorithm.It is stretched when completing boom
After contracting, luffing operation and key elevator operation, height under hook is set to be controlled automatically at setting value, to substantially reduce operator
Labor intensity improves operating efficiency.
Fig. 2 is that the crane hook height that one embodiment of the invention provides calculates structural relation schematic diagram.As shown in Fig. 2,
The embodiment of the present invention provides the calculation method of the absolute altitude Ha of the height difference H d and suspension hook of boom head and suspension hook.
The rotating cycle that since reel does not have wirerope, can detect reel first (puts the rotating cycle meter of rope and rope closing
Number subtracts for one-plus-one, such as the rotating cycle that rope closing one is enclosed is to add 1, and the rotating cycle for putting one circle of rope is then to subtract 1), in conjunction with known
Reel the number of plies that is wound on reel around fake number, available current wirerope of single layer, and according to the diameter of reel and
The diameter of wirerope can calculate the length (coiling diameter of every layer of wirerope is different) of every layer of wirerope, then obtain initial
The rope capacity wound in state lower mandrel member, at this point, having the rotating cycle on basis.Then, during crane job,
On the basis of the rotating cycle on basis, rotating cycle is continued to test, can be obtained in the above described manner on the reel of any time
The rope capacity Lw of winding.
Then, it is known that the total length of wirerope is then calculated by the following formula from the rope capacity L that reel is released:
L=Ls-Lw formula (1)
Wherein Ls is the total length of wirerope, and Lw is the length of the wirerope wound on reel.
Then, the change angle α of boom, the length A of boom are detected, the rope capacity Lb between reel and boom head is logical
Following formula is crossed to obtain:
Wherein, A is the length of the boom, and B is the spacing of the luffing pin of reel and boom, and α is the change angle of boom,
The spacing of the luffing pin of reel and boom is determined by structure design size.
Then, the height difference H d of boom head and suspension hook is obtained by following formula:
Wherein, N is the multiplying power of wirerope, and L is the rope capacity released from reel, and Lb is between reel and boom head
Rope capacity, the multiplying power of wirerope is by operator according to actually setting.
After obtaining the difference in height of boom head and suspension hook, it can also continue to be calculated by the following formula the absolute of boom head
Height H:
H=A × sin α+h formula (4)
Wherein, A is the length of boom, and α is the change angle of boom, and h is the height of vehicle frame, and the height of vehicle frame is by operator
Member is according to actually being set.
Then, the absolute altitude Ha of suspension hook can be obtained by following formula:
Ha=H-Hd formula (5)
Wherein, H is the absolute altitude of boom head, and Hd is the difference in height of boom head and suspension hook.
Fig. 3 be another embodiment of the present invention provides 6 height control method of crane hook flow chart.As shown in figure 3,
Firstly, carrying out flexible boom 3,3 luffing operation of boom and key volume in the case where 6 self adaptive control of suspension hook allows progress
Operation is raised, boom 3 and the height difference H d of the suspension hook 6 and absolute altitude Ha of suspension hook 6, entry altitude differential mode formula or exhausted are then calculated
To height mode.In entry altitude differential mode formula, difference in height setting value Hds, computed altitude difference and difference in height setting value are read in
Difference △ Hd；When into absolute altitude mode, absolute altitude setting value Has is read in, calculates 6 absolute altitude of suspension hook and absolutely height
Spend the difference △ Ha of setting value.Then judge whether the absolute value of △ Hd or △ Ha are less than setting value, utilized if being not less than
Pid algorithm calculates rolling control electric current and judges elevator direction, carries out rolling control, adjusts 5 length of wirerope, makes △ Hd or △
The absolute value of Ha is less than setting value.
Fig. 4 is the structural schematic diagram for 6 height controller of crane hook that one embodiment of the invention provides.Such as Fig. 4 institute
Show, which includes the suspension hook 6 that boom 3, the reel containing wirerope 5 and the wirerope 5 connect, which includes:
Detection unit 11 and control unit 12, wherein the detection unit 11 is used to detect the rotating cycle of the reel, described hangs
The change angle of the length of arm 3 and the boom 3；Described control unit 12 is used for: according to the diameter of the reel, the steel
The diameter of cord 5, the reel single layer around the rotating cycle of fake number and the reel obtain winding on the reel
5 length of wirerope；According to the length of the boom 3, the change angle of the boom 3 and the reel and the boom 3
The spacing of luffing pin obtains 5 length of wirerope between the reel and boom 3；According to the steel wound on the reel
5 length of wirerope and the steel between the length of cord 5, the total length of the wirerope 5, the reel and boom 3
The multiplying power of cord 5 obtains the difference in height of the boom 3 with the suspension hook 6；And it is following one or more: in the crane
In operation process, the absolute value of the difference for controlling the difference in height and difference in height setting value is less than setting value；And it is hung according to described
The change angle of arm 3, the length of the boom 3, the height of the vehicle frame and the boom 3 and 6 difference in height of suspension hook
Obtain the absolute altitude of the suspension hook 6, during the crane job, control the suspension hook 6 absolute altitude and absolutely
The absolute value of the difference of height set is less than setting value.
Preferably, the crane includes the vehicle frame for carrying the boom 3, the luffing according to the boom 3
Angle, the length of the boom 3, the height of the vehicle frame and the boom 3 obtain described hang with 6 difference in height of suspension hook
The absolute altitude of hook 6 includes: to be obtained according to the height of the change angle of the boom 3, the length of the boom 3 and the vehicle frame
To 3 absolute altitude of the boom；And according to the boom 3 absolute altitude and the boom 3 and the suspension hook 6
Difference in height obtains the absolute altitude of the suspension hook 6.
Preferably, 5 length of wirerope between the reel and boom 3 is obtained by following formula:Wherein, A is the length of the boom 3, and B is the volume
The spacing of cylinder and the luffing pin of the boom 3, α are the change angle of the boom 3.
Preferably, the boom 3 and the difference in height of the suspension hook 6 are obtained by following formula:Wherein, N is the multiplying power of the wirerope 5, and Ls is the total length of the wirerope 5, and Lw is
The length of the wirerope 5 wound on the reel, wirerope 5 length of the Lb between the reel and boom 3.
Installation practice of the present invention is similar with the embodiment of method as discussed above, and details are not described herein.
Fig. 5 be another embodiment of the present invention provides 6 height controller of crane hook structural schematic diagram.Such as Fig. 5
Shown, control unit 12 monitors all input signals in real time, and carries out logical operation process, exports to solenoid valve
Control；Detection unit 11 may include elevator encoder 1, displacement sensor 2 and angular transducer 4, and elevator encoder 1 will be adopted
The roll position signal of collection is sent to control unit 12 by CAN bus, and system is according to drum diameter, cable diameter, reel list
Layer is calculated around fake number when 5 length of wirerope wound on head-pulley.Displacement sensor 2 is used to detect the flexible length of boom 3
Degree, and control unit 12 is sent to by CAN bus.Angular transducer 4 is used to detect the angle of 3 raising of boom.Suspension hook 6 passes through
Pulley blocks are attached with wirerope 5, and wirerope 5 can be arranged to single multiplying power or a variety of multiplying powers.Hoisting crane solenoid valve 8, volume
Raising and decline that drop solenoid valve 9 controls elevator respectively are raised, control electric current is bigger, and corresponding speed is faster.Man-machine interface 7 passes through
CAN bus is communicated with control unit 12, is shown to all kinds of status signals that control unit 12 sends over.
The embodiment of the present invention also provides a kind of crane, which includes that crane hook 6 described above is highly controlled
Device processed.
Fig. 6 is the structural schematic diagram for the crane that one embodiment of the invention provides.As shown in fig. 6, illustrating cantilever crane, steel wire
The structural relation of rope 5 and suspension hook 6, meanwhile, elevator encoder 1 is mounted on the reel of elevator, elevator encoder by shaft coupling
1 with reel Concentric rotation, displacement sensor 2 and angular transducer 4 are mounted on boom 3.
Through the above technical solutions, use crane hook height control method provided in an embodiment of the present invention, device with
And crane, by detecting and being calculated the difference in height of boom head and suspension hook, and during the crane job, control
The absolute value of the difference of difference in height and difference in height setting value is less than setting value, or according to the absolute altitude of suspension hook is obtained, in lifting
During machine operation, the absolute value of the difference of the absolute altitude and absolute altitude setting value that control suspension hook is less than setting value.The present invention
It can be after completing crane job operation, flexibly accurate control height under hook, makes height under hook be controlled automatically at setting value, greatly
It is big to reduce labor intensity of operating staff, improve operating efficiency.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of crane hook height control method, which includes boom, the reel containing wirerope and the steel
The suspension hook of cord connection, which is characterized in that this method comprises:
Detect the change angle of the rotating cycle of the reel, the length of the boom and the boom；
According to the diameter of the reel, the diameter of the wirerope, the reel single layer around fake number and the reel
Rotating cycle obtains the rope capacity wound on the reel；
According to the spacing of the length of the boom, the change angle of the boom and the reel and the luffing pin of the boom
Obtain the rope capacity between the reel and boom head；
According to the length of the wirerope wound on the reel, the total length of the wirerope, the reel and boom head
Between rope capacity and the multiplying power of the wirerope obtain the difference in height of the boom head and the suspension hook；And
Below one or more:
During the crane job, the absolute value of the difference for controlling the difference in height and difference in height setting value is less than setting
Value；And
According to the change angle of the boom, the length of the boom, the height of the vehicle frame and the boom head with it is described
Height under hook difference obtains the absolute altitude of the suspension hook, during the crane job, controls the absolute height of the suspension hook
Degree and the absolute value of the difference of absolute altitude setting value are less than setting value.
2. crane hook height control method according to claim 1, the crane includes for carrying described hang
The vehicle frame of arm, which is characterized in that described according to the change angle of the boom, the length of the boom, the height of the vehicle frame
And the absolute altitude that the boom head obtains the suspension hook with the height under hook difference includes:
The exhausted of the boom head is obtained according to the height of the change angle of the boom, the length of the boom and the vehicle frame
To height；And
The absolute height of the suspension hook is obtained according to the absolute altitude of the boom head and the boom head and the height under hook difference
Degree.
3. crane hook height control method according to claim 1, which is characterized in that the reel and boom head it
Between rope capacity obtained by following formula:
Wherein, A is the length of the boom, and B is described
The spacing of the luffing pin of reel and the boom, α are the change angle of the boom.
4. crane hook height control method according to claim 1, which is characterized in that the boom head is hung with described
The difference in height of hook is obtained by following formula:
Wherein, N is the multiplying power of the wirerope, and Ls is the total length of the wirerope, Lw
Length for the wirerope wound on the reel, rope capacity of the Lb between the reel and boom head.
5. crane hook height control method according to claim 2, which is characterized in that the absolute height of the boom head
Degree is obtained by following formula:
H=A × sin α+h, wherein A is the length of the boom, and α is the change angle of the boom, and h is the height of the vehicle frame
Degree.
6. a kind of crane hook height controller, which includes boom, the reel containing wirerope and the steel
The suspension hook of cord connection, which is characterized in that the device includes:
Detection unit and control unit, wherein
The detection unit is used to detect the variable phase angle of the rotating cycle of the reel, the length of the boom and the boom
Degree；
Described control unit is used for:
According to the diameter of the reel, the diameter of the wirerope, the reel single layer around fake number and the reel
Rotating cycle obtains the rope capacity wound on the reel；
According to the spacing of the length of the boom, the change angle of the boom and the reel and the luffing pin of the boom
Obtain the rope capacity between the reel and boom head；
According to the length of the wirerope wound on the reel, the total length of the wirerope, the reel and boom head
Between rope capacity and the multiplying power of the wirerope obtain the difference in height of the boom head and the suspension hook；And
Below one or more:
During the crane job, the absolute value of the difference for controlling the difference in height and difference in height setting value is less than setting
Value；And
According to the change angle of the boom, the length of the boom, the height of the vehicle frame and the boom head with it is described
Height under hook difference obtains the absolute altitude of the suspension hook, during the crane job, controls the absolute height of the suspension hook
Degree and the absolute value of the difference of absolute altitude setting value are less than setting value.
7. crane hook height controller according to claim 6, the crane includes for carrying described hang
The vehicle frame of arm, which is characterized in that described according to the change angle of the boom, the length of the boom, the height of the vehicle frame
And the absolute altitude that the boom head obtains the suspension hook with the height under hook difference includes:
The exhausted of the boom head is obtained according to the height of the change angle of the boom, the length of the boom and the vehicle frame
To height；And
The absolute height of the suspension hook is obtained according to the absolute altitude of the boom head and the boom head and the height under hook difference
Degree.
8. crane hook height controller according to claim 6, which is characterized in that the reel and boom head it
Between rope capacity obtained by following formula:
Wherein, A is the length of the boom, and B is described
The spacing of the luffing pin of reel and the boom, α are the change angle of the boom.
9. crane hook height controller according to claim 6, which is characterized in that the boom head is hung with described
The difference in height of hook is obtained by following formula:
Wherein, N is the multiplying power of the wirerope, and Ls is the total length of the wirerope, Lw
Length for the wirerope wound on the reel, rope capacity of the Lb between the reel and boom head.
10. a kind of crane, which is characterized in that the crane includes described in any one of claim 6-9 claim
Crane hook height controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811506722.9A CN109437019A (en) | 2018-12-10 | 2018-12-10 | Crane hook height control method and device and crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811506722.9A CN109437019A (en) | 2018-12-10 | 2018-12-10 | Crane hook height control method and device and crane |
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| CN109437019A true CN109437019A (en) | 2019-03-08 |
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ID=65557171
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| CN201811506722.9A Pending CN109437019A (en) | 2018-12-10 | 2018-12-10 | Crane hook height control method and device and crane |
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Cited By (1)
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| CN112623948A (en) * | 2020-12-25 | 2021-04-09 | 湖南湘瑞智能工控设备有限公司 | Crane and self-adaption method of crane arm length and steel wire rope length |
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