CN110395665A - A kind of rubber tired crane column jack up unit and method - Google Patents
A kind of rubber tired crane column jack up unit and method Download PDFInfo
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- CN110395665A CN110395665A CN201910713924.9A CN201910713924A CN110395665A CN 110395665 A CN110395665 A CN 110395665A CN 201910713924 A CN201910713924 A CN 201910713924A CN 110395665 A CN110395665 A CN 110395665A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
- B66C23/828—Bracing equipment acting at an inclined angle to vertical and horizontal directions where the angle is adjustable
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- General Engineering & Computer Science (AREA)
- Algebra (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to a kind of rubber tired crane column jack up unit and methods, belong to technical field of engineering equipment.The device sheet includes rotation traction component, linear pulling component, control unit and angular transducer.Rotating traction component includes rotary electric machine and connector, and the both ends of connector are connect with rotary electric machine and column respectively, and rotary electric machine is arranged for band follower link and pulls column rotation.Linear pulling component includes linear mould group and connecting rod, and the linear electric machine of control slide block movement is provided in linear mould group.Angular transducer is set on column, control unit is electrically connected with rotary electric machine, linear electric machine and angular transducer respectively, and angular transducer is arranged for the obliquity information of acquisition column and obliquity information is transmitted to control unit, control unit controls rotary electric machine and linear electric machine according to obliquity information.The device has the characteristics that low in cost, structure is simple, high degree of automation.This method applies the device, has the characteristics that all of the device.
Description
Technical field
The present invention relates to technical field of engineering equipment, in particular to a kind of rubber tired crane column jack up unit
And method.
Background technique
Goliath is generally used the whole track for being laid with the interim traveling of a variety of different gauges both at home and abroad at present, by rail
Road is fixed on ground or platform by expansion bolt, and this type form of construction work can destroy original environment, is required to environment
Project in will be unable to meet construction requirement, while increasing construction cost.
Chinese patent CN201811316442.1 discloses a kind of rubber-tyred tunnel tracklaying crane and construction method, lifting
Machine includes wheel group, door frame, workbench and jack up unit, and wheel group is respectively arranged at door frame bottom surrounding.The crane can solve existing
There is technology only to adapt to be laid with the skill that interim rail causes great damage construction efficiency low section of jurisdiction in single cross dimensions and tunnel
Art problem realizes the walking manner of whole rubber-tyred.But the bulky of the crane, four columns are all fixed, no
With folding and unfolding engineering, this will cause the crane transportational process constant, for the indoor environment of certain restrictions, such as build
The gate size of object is less than stem height, then the crane will be unable to enter building, or must dismantle column, transports in batches
Enter interior to be assembled with other equipment or manpower again, this will will increase construction cost again.
Therefore, it in order to improve convenient transport, the adaptability of rubber tired crane, needs column design to be rotation raising
Mode, the mechanism for lifting of large-scale column is mainly to have hydraulic technique to the power of raising at present, and hydraulic system high degree of automation can
Whole steadily control column movement is proposed, but its is at high cost, maintenance repair has certain technical difficulty, and in column and infrequently
It is then and impracticable in the big machinery of lifting, increase design cost instead.
Inventor has found under study for action, existing at least to have the disadvantage in that in the related technology
The column jack up unit construction of existing rubber tired crane and design cost are higher.
Summary of the invention
The purpose of the present invention is to provide a kind of rubber tired crane column jack up units, improve the deficiencies in the prior art,
Control unit obtains the obliquity information of column by angular transducer in real time, and by obliquity information control linear traction component with
Rotation traction traction component makes column rotate to vertical restraining position, with low in cost, structure is simple, high degree of automation
Feature can be improved the scope of application of rubber tired crane.
Another object of the present invention is to provide a kind of rubber tired crane column lifting methods, are applied to above-mentioned wheel
Tire formula crane column jack up unit.
The embodiment of the present invention is achieved in that
The embodiment provides a kind of rubber tired crane column jack up unit, for the rotation raising of column,
And the column is made to reach vertical restraining position comprising:
Traction component, linear pulling component, control unit and angular transducer are rotated,
The rotation traction component includes rotary electric machine and connector, and the both ends of the connector are electric with the rotation respectively
Machine is connected with the column, and the rotary electric machine is arranged for that the connector is driven to pull the column rotation；
The linear pulling component includes linear mould group and connecting rod, and the linear mould group includes guide rail, sliding block and linear electricity
Machine, the sliding block are set in the guide rail, and sliding block described in the linear electric motor does reciprocating linear along the guide rail direction
Movement, one end of the connecting rod are connected with the sliding block, and the other end of the connecting rod and the column are detachably connected；
The angular transducer is set on the column, described control unit respectively with the rotary electric machine, the line
Property motor and the angular transducer be electrically connected, and the angular transducer is arranged for acquiring the inclination angle letter of the column
It ceases and the obliquity information is transmitted to described control unit, described control unit controls the rotation according to the obliquity information
Motor and the linear electric machine.
Specifically, the control unit of the rubber tired crane column jack up unit obtains column by angular transducer in real time
Obliquity information, and linear traction component and rotation traction traction component are controlled by obliquity information, column are made to rotate to vertical limit
Position has the characteristics that low in cost, structure is simple, high degree of automation, can be improved the applicable model of rubber tired crane
It encloses.
Optionally, the rubber tired crane column jack up unit further includes lift bench, and the column is set to described
It is rotatablely connected on lift bench and with the lift bench.
Optionally, it is provided with the hole that is rotatably assorted on the column, rotation axis, the rotation are provided on the lift bench
Matching hole and the rotation axis cooperatively form column rotating fulcrum.
Optionally, it is provided with limit convex surface on the column, is provided with limiting slot, the limit convex on the lift bench
Face and limiting slot adaptation, when the column and the lift bench are mutually perpendicular to, the limit convex surface and the limit
Slot is mutually clamped.
Optionally, the connector is rope.
Optionally, the angular transducer is set to the top of the column, the lower part of the connector and the column
Position connection.
Optionally, the rotation traction component further includes reduction gearbox, and the rotary electric machine and the reduction gearbox pass through shaft coupling
Device connection.
The embodiments of the present invention also provide a kind of rubber tired crane column lifting methods, are applied to mentioned above
Rubber tired crane column jack up unit, the method rotate the horizontally disposed column by described control unit
Raising the described method comprises the following steps:
Step 1, the rotary electric machine are rotated according to pre-set velocity curve, drive the connector to pull described vertical
Column rotates the column, until the column is close to predeterminated position；
Step 2, described control unit obtains the obliquity information by the angular transducer in real time, when the column
Angle when reaching predeterminated position, it is out of service and the column is made to be maintained at institute that described control unit controls the rotary electric machine
Predeterminated position is stated, the connecting rod is connect with the sliding block and the column respectively；
Step 3, sliding block described in the linear electric motor are slided along the guide rail direction, and the sliding block drives the company
Bar does compound motion, and the connecting rod drives the column to rotate according to preset angle rate curve, and described control unit is according to
The obliquity information that angular transducer acquires in real time, completing the column velocity close-loop control makes the column according to described pre-
If rate curve rotates, until the column reaches the vertical restraining position.
Optionally, the method also includes step 4, the step 4 is that the column reaches the vertical restraining position
The column is fixed afterwards.
Optionally, the rubber tired crane column jack up unit further includes lift bench, and the column is set to described
It is rotatablely connected on lift bench and with the lift bench, the column passes through fastening bolt after reaching the vertical restraining position
It is bolted with the lift bench.
Compared with prior art, the beneficial effect of the embodiment of the present invention includes, for example:
1) control unit of the rubber tired crane column jack up unit obtains inclining for column by angular transducer in real time
Angle information, and linear traction component and rotation traction traction component are controlled by obliquity information, so that column is rotated to vertical restraining position,
It has the characteristics that low in cost, structure is simple, high degree of automation.
2) it is horizontality in not enabled due to the technical solution column, rubber tired crane can be greatly reduced
Height dimension, can transport under smaller tunnel or architectural environment makes it meet different operating conditions
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of rubber tired crane column jack up unit provided in an embodiment of the present invention；
Fig. 2 is another structural schematic diagram of rubber tired crane column jack up unit provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of linear pulling component provided in an embodiment of the present invention；
Fig. 4 is the flow chart of rubber tired crane column lifting method provided in an embodiment of the present invention；
Fig. 5 is the representative function figure of quintic algebra curve lopcus function provided in an embodiment of the present invention；
Fig. 6 is the functional arrangement of pre-set velocity curve provided in an embodiment of the present invention.
Icon: 100, rubber tired crane column jack up unit；10, traction component is rotated；101, rotary electric machine；102, even
Fitting；11, linear pulling component；111, guide rail；112, sliding block；113, linear electric machine；114, connecting rod；12, angular transducer；
13, lift bench；131, column rotating fulcrum；200, column.
Specific embodiment
Below with reference to attached drawing 1~6 of the invention, technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment
Fig. 1 is the structural schematic diagram of rubber tired crane column jack up unit 100 provided in an embodiment of the present invention, is please referred to
Fig. 1, a kind of rubber tired crane column jack up unit 100 for the rotation raising of column 200, and reach column 200 vertically
Restraining position comprising rotation traction component 10, linear pulling component 11, control unit and angular transducer 12,
Rotating traction component 10 includes rotary electric machine 101 and connector 102, and the both ends of connector 102 are electric with rotation respectively
Machine 101 and column 200 connect, and rotary electric machine 101 is arranged for band follower link 102 and column 200 is pulled to rotate；
Linear pulling component 11 includes linear mould group and connecting rod 114, and linear mould group includes guide rail 111, sliding block 112 and linear
Motor 113, sliding block 112 are set in guide rail 111, and linear electric machine 113 drives sliding block 112 to do reciprocating linear along 111 direction of guide rail
Movement, one end of connecting rod 114 and sliding block 112 connect, and the other end and column 200 of connecting rod 114 are detachably connected；
Angular transducer 12 is set on column 200, control unit respectively with rotary electric machine 101, linear electric machine 113 and angle
It spends sensor 12 to be electrically connected, and angular transducer 12 is arranged for the obliquity information of acquisition column 200 and by obliquity information
It is transmitted to control unit, control unit controls rotary electric machine 101 and linear electric machine 113 according to obliquity information.
It is worth noting that the control unit of the rubber tired crane column jack up unit 100 passes through angular transducer 12
The obliquity information of column 200 is obtained in real time, and linear traction component 11 and rotation traction traction component are controlled by obliquity information, makes to stand
Column 200 rotates to vertical restraining position, has the characteristics that low in cost, structure is simple, high degree of automation, can be improved wheel
The scope of application of tire formula crane.
Also it is worth noting that, in the present embodiment, angular transducer 12 uses northern microsensor bw-ah300-
485, attitude parameter, angular speed, acceleration information and the course angle of motion carrier, precision water with higher can be measured
Gentle dynamic measurement capability.It is understood that in the present embodiment, use bw-ah300-485 can be with as angular transducer
The obliquity information of column 200 is measured in real time, and the obliquity information is transmitted in control unit, to control rotation traction component
10 and linear pulling component 11 operation.According to specific implementation environment, other angular transducer can also be used to reach measurement
The purpose of 200 obliquity information of column, the present embodiment are only to one kind of angle sensor type for example, not constituting diagonal
Spend the restriction of sensor concrete type.
Referring once again to Fig. 1, connector 102 is rope.
Fig. 2 is another structural schematic diagram of rubber tired crane column jack up unit 100 provided in an embodiment of the present invention.
Referring to Fig.1 and 2, rubber tired crane column jack up unit 100 further includes lift bench 13, column 200 is set
It is placed on lift bench 13 and is rotatablely connected with lift bench 13.
It is worth noting that in the present embodiment, the hole that is rotatably assorted being provided on column 200, is arranged on lift bench 13
There is rotation axis, is rotatably assorted hole and rotation axis cooperatively forms column rotating fulcrum 131.It is understood that being turned by the column
The rotation connection of column 200 and lift bench 13 may be implemented in activity supporting point 131, enables column 200 from horizontal laying position
Vertical restraining position is rotated to, structure type is simple, has the characteristics that low in cost.
Referring once again to Fig. 1 and Fig. 2, it is provided with limit convex surface on column 200, is provided with limiting slot on lift bench 13,
Convex surface and limiting slot adaptation are limited, when column 200 and lift bench 13 are mutually perpendicular to, convex surface are limited and limiting slot mutually blocks
It connects.
It is worth noting that is, column 200 reaches vertical limit position when column 200 and lift bench 13 are mutually perpendicular to
It postpones, column 200 continues to rotate under effect of inertia in order to prevent, can be with using mutually matched limiting slot and limit convex surface
Column 200 is avoided excessively to rotate, to ensure that the integrally-built stability of rubber tired crane.It is understood that this reality
It applies example to be limited using the clamping form column 200 on limit convex surface and limiting slot, not according to specific implementation environment
Together, vertical limit plate can also be set on lift bench 13 and carry out the purpose that column 200 plays limit, the present embodiment is only
It is that limit convex surface and limiting slot are illustrated, the specific location and type on limit convex surface and limiting slot is not limited
It is fixed.
Referring to figure 2., angular transducer 12 is set to the top of column 200, the lower portion of connector 102 and column 200
Set connection.
It is detected it is worth noting that the top that angular transducer 12 is set to column 200 is conducive to angular transducer 12
The obliquity information of column 200 improves the using effect of angular transducer 12.Also it is worth noting that, connector 102 is connected to
The lower position of column 200 can reduce power arm size, guarantee 200 stable operation of column.
Also it is worth noting that, rotation traction component 10 further includes reduction gearbox, and rotary electric machine 101 and reduction gearbox pass through shaft coupling
Device connection.It is understood that can guarantee that the revolving speed of rotary electric machine 101 will not be too fast thus to column is caused using reduction gearbox
200 rotation speeds are too fast, so that the phenomenon that 200 position of column can easily be accommodated.
Fig. 3 is the structural schematic diagram of linear pulling component 11 provided in an embodiment of the present invention.
Referring to figure 3., linear pulling component 11 includes linear mould group and connecting rod 114, and linear mould group includes guide rail 111, slides
Block 112 and linear electric machine 113, sliding block 112 are set in guide rail 111, and linear electric machine 113 drives sliding block 112 along 111 direction of guide rail
Linear reciprocating motion is done, one end of connecting rod 114 and sliding block 112 connect, and the other end and column 200 of connecting rod 114 are detachably connected；
Fig. 4 is the flow chart of 200 lifting method of rubber tired crane column provided in an embodiment of the present invention.
200 lifting method of rubber tired crane column is applied to above-mentioned rubber tired crane column jack up unit 100,
This method carries out rotation raising to horizontally disposed column 200 by control unit, method the following steps are included:
Step 1, rotation traction component 10 provide power phase, and rotary electric machine 101 is turned according to pre-set velocity curve
Dynamic, band follower link 102 pulls column 200 to rotate column 200, until column 200 is close to predeterminated position；
Step 2 installs connecting rod 114 additional, and control unit obtains obliquity information by angular transducer 12 in real time, when column 200
Angle when reaching predeterminated position, control unit control rotary electric machine 101 is out of service and column 200 is made to be maintained at default position
It sets, connecting rod 114 is connect with sliding block 112 and column 200 respectively；
Step 3, linear pulling component 11 provide power phase, and linear electric machine 113 drives sliding block 112 along 111 direction of guide rail
Sliding, sliding block 112 drive connecting rod 114 to do compound motion, and connecting rod 114 drives column 200 to rotate according to preset angle rate curve, control
The obliquity information that unit processed acquires in real time according to angular transducer 12, complete 200 velocity close-loop control of column make column 200 according to
Pre-set velocity curve rotation, until column 200 reaches vertical restraining position.
It is worth noting that in the present embodiment, center of gravity is on the right side of fulcrum in initial position for column 200, cable traction
For point on the left of 200 fulcrum of column, rope pulls column 200 that torque caused by gravity is overcome to do manual work, when column 200 is close to vertical shape
When state, center of gravity is transferred on the left of fulcrum, and cable traction point is still in left side, at this time torque caused by gravity will and tractive force
The torque of manufacture is in the same direction, and rope can only provide pulling force can not provide thrust so, the column 200 of this state is by rope by nothing
Method controls its speed, so rotary electric machine 101 stops operating, and cuts when 200 center of gravity abscissa of column is close to 200 fulcrum of column
It is changed to linear mould group external member and power is provided, control the rotational travel of 200 entire residual of column.
It is understood that sliding block 112, connecting rod 114,200 three of column collectively form crank block in the present embodiment
112 mechanisms, since said mechanism only can just be enabled when column 200 is close to vertical state, so connecting rod 114 and column at this time
Drive line angle is sufficiently large between 200, dead point can occurs to avoid said mechanism, guarantee its reliability of operation.
After above-mentioned 112 mechanism of crank block enables, the rotation speed of column 200 is controlled by the translational velocity of sliding block 112,
And column 200 can regard linear correlation as close to vertical state, velocity of rotation and 112 movement speed of sliding block, to avoid column
200 move the displacement for setting sliding block 112 about the function of time full with generation impact injury mechanism when limit face contact, this method
Sufficient quintic algebra curve, and current angular is fed back by the angular transducer 12 on column 200 and completes closed-loop control, make column 200
Running track follows setting track.
Because the component of 112 mechanism of crank block mentioned by the present embodiment is all rigid body, if when not constraining its movement
Acceleration, speed, displacement then may be to making mechanism fluctuation of service, or causes impact failure mechanism.Therefore sliding block 112 is displaced palpus
Quintic algebra curve, functional expression y=a must be met when meeting the movement about the time5t5+a4t4+a3t3+a2t2+a1T+a, derivation
Its angular speed function y=5a is obtained later5t4+4a4t3+3a3t2+2a2t+a1Derivation can obtain its angular acceleration function y=20a again5t3+
12a4t2+6a3t+2a2Because it has 6 unknown numbers, bringing 6 groups of data into can be solved, and 6 groups of data are initial position y0, initial velocity
v0, initial acceleration a0, t moment be displaced yt, t moment speed vt, t moment acceleration atWherein t moment is what boost phase terminated
Time must allow a to guarantee robust motion0=at=0.Its representative function figure is as shown in Figure 5.
Also it is worth noting that, the pre-set velocity curve of the linear pulling component 11 in the present embodiment uses more three times
Item formula acceleration curve reaches setting speed and remains a constant speed later, because rope is non-rigid, has centainly elasticity, so rotating electricity
Machine 101 pulls rope that column 200 is driven to accelerate to impact during raising smaller, and it is continuous that acceleration area only needs to meet speed,
I.e. cubic polynomial acceleration curve, that is, column 200 rotates cubic function of the angle satisfaction about the time: y=a3t3+a2t2+a1t+a
Its derivation is angular speed equation are as follows: y=3a3t2+2a2t1+a1By bringing initial position y into0, initial velocity v0, at the uniform velocity speed per hour
Spend vtReach setting speed when institute gyration ytIt can solve to obtain functional expression with time t used in acceleration area.Deceleration can similarly be acquired
Interval function formula, figure are as shown in Figure 6
Also it is worth noting that, this method further includes step 4, and it is right after vertical restraining position that step 4 is that column 200 reaches
Column 200 is fixed.In the present embodiment, rubber tired crane column jack up unit 100 further includes lift bench 13, column
200 are set on lift bench 13 and are rotatablely connected with lift bench 13, and column 200 passes through fastening after reaching vertical restraining position
Bolt and lift bench 13 are bolted.
In conclusion the present invention provides a kind of rubber tired crane column jack up unit 100 and method, which includes turning
Dynamic traction component 10, linear pulling component 11, control unit and angular transducer 12.Rotating traction component 10 includes rotary electric machine
101 and connector 102, the both ends of connector 102 connect respectively with rotary electric machine 101 and column 200, rotary electric machine 101 is set
It sets and pulls column 200 to rotate for band follower link 102.Linear pulling component 11 includes linear mould group and connecting rod 114, linear mould
Group includes guide rail 111, sliding block 112 and linear electric machine 113, and sliding block 112 is set in guide rail 111, and linear electric machine 113 drives sliding block
112 do linear reciprocating motion along 111 direction of guide rail, and one end of connecting rod 114 and sliding block 112 connect, the other end of connecting rod 114 and vertical
Column 200 is detachably connected.Angular transducer 12 is set on column 200, control unit respectively with rotary electric machine 101, linear electricity
Machine 113 and angular transducer 12 are electrically connected, and angular transducer 12 is arranged for the obliquity information of acquisition column 200 and incites somebody to action
Obliquity information is transmitted to control unit, and control unit controls rotary electric machine 101 and linear electric machine 113 according to obliquity information.The wheel
The control unit of tire formula crane column jack up unit 100 obtains the obliquity information of column 200 by angular transducer 12 in real time,
And linear traction component 11 and rotation traction traction component are controlled by obliquity information, so that column 200 is rotated to vertical restraining position,
Have the characteristics that low in cost, structure is simple, high degree of automation, can be improved the scope of application of rubber tired crane.
In the description of the present invention, it is to be understood that, term " counterclockwise ", " clockwise " " longitudinal direction ", " transverse direction ",
The orientation of the instructions such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention, rather than is indicated or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
Claims (10)
1. a kind of rubber tired crane column jack up unit, is used for the rotation raising of column (200), and makes the column (200)
Reach vertical restraining position, which is characterized in that including rotation traction component (10), linear pulling component (11), control unit and
Angular transducer (12),
The rotation traction component (10) includes rotary electric machine (101) and connector (102), the both ends of the connector (102)
It is connect respectively with the rotary electric machine (101) and the column (200), the rotary electric machine (101) is arranged for driving institute
It states connector (102) and pulls column (200) rotation；
The linear pulling component (11) includes linear mould group and connecting rod (114), and the linear mould group includes guide rail (111), slides
Block (112) and linear electric machine (113), the sliding block (112) are set in the guide rail (111), and the linear electric machine (113) is driven
It moves the sliding block (112) and does linear reciprocating motion, one end of the connecting rod (114) and the cunning along the guide rail (111) direction
Block (112) connection, the other end and the column (200) of the connecting rod (114) are detachably connected；
The angular transducer (12) is set on the column (200), described control unit respectively with the rotary electric machine
(101), the linear electric machine (113) and the angular transducer (12) are electrically connected, and the angular transducer (12) is set
It sets the obliquity information for acquiring the column (200) and the obliquity information is transmitted to described control unit, the control
Unit controls the rotary electric machine (101) and the linear electric machine (113) according to the obliquity information.
2. rubber tired crane column jack up unit according to claim 1, which is characterized in that the rubber tired crane
Column jack up unit further includes lift bench (13), the column (200) be set on the lift bench (13) and with it is described
Lift bench (13) rotation connection.
3. rubber tired crane column jack up unit according to claim 2, which is characterized in that on the column (200)
It is provided with the hole that is rotatably assorted, is provided with rotation axis on the lift bench (13), it is described to be rotatably assorted hole and the rotation axis is matched
Conjunction forms column rotating fulcrum (131).
4. rubber tired crane column jack up unit according to claim 2, which is characterized in that on the column (200)
It is provided with limit convex surface, limiting slot, the limit convex surface and limiting slot adaptation are provided on the lift bench (13), when
When the column (200) and the lift bench (13) are mutually perpendicular to, the limit convex surface and the limiting slot are mutually clamped.
5. rubber tired crane column jack up unit according to claim 1, which is characterized in that the connector (102)
For rope.
6. rubber tired crane column jack up unit according to claim 1, which is characterized in that the angular transducer
(12) it is set to the top of the column (200), the connector (102) connects with the lower position of the column (200).
7. rubber tired crane column jack up unit according to claim 1, which is characterized in that the rotation traction component
It (10) further include reduction gearbox, the rotary electric machine (101) is connected with the reduction gearbox by shaft coupling.
8. a kind of rubber tired crane column lifting method, which is characterized in that the method is applied to any one of claim 1-7
The rubber tired crane column jack up unit, the method is by described control unit to the horizontally disposed column
(200) rotation raising is carried out, the described method comprises the following steps:
Step 1, the rotary electric machine (101) are rotated according to pre-set velocity curve, and the connector (102) is driven to pull
The column (200) rotates the column (200), until the column (200) are close to predeterminated position；
Step 2, described control unit obtains the obliquity information by the angular transducer (12) in real time, when the column
(200) when angle reaches the predeterminated position, the described control unit control rotary electric machine (101) is out of service and makes institute
State column (200) and be maintained at the predeterminated position, the connecting rod (114) respectively with the sliding block (112) and the column (200)
Connection；
Step 3, the linear electric machine (113) drive the sliding block (112) to slide along the guide rail (111) direction, the sliding block
(112) connecting rod (114) is driven to do compound motion, the connecting rod (114) drives the column (200) according to default angular speed
Curve rotation, the obliquity information that described control unit acquires in real time according to the angular transducer (12) are completed described vertical
Column (200) velocity close-loop control rotates the column (200) according to the pre-set velocity curve, until the column (200)
Reach the vertical restraining position.
9. rubber tired crane column lifting method according to claim 8, which is characterized in that the method also includes steps
Rapid four, the step 4 is that the column (200) is fixed after the column (200) reach the vertical restraining position.
10. rubber tired crane column lifting method according to claim 9, which is characterized in that the rubber-tyred lifting
Machine column jack up unit further includes lift bench (13), and the column (200) is set on the lift bench (13) and and institute
State lift bench (13) rotation connection, the column (200) reaches after the vertical restraining position through fastening bolt and described
Lift bench (13) is bolted.
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| CN201910713924.9A CN110395665B (en) | 2019-08-02 | 2019-08-02 | Lifting device and method for upright column of tyre type crane |
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| CN201910713924.9A CN110395665B (en) | 2019-08-02 | 2019-08-02 | Lifting device and method for upright column of tyre type crane |
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| CN110395665A true CN110395665A (en) | 2019-11-01 |
| CN110395665B CN110395665B (en) | 2020-04-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116871802A (en) * | 2023-09-08 | 2023-10-13 | 惠生（南通）重工有限公司 | Multifunctional special-shaped assembly welding platform |
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| CN105621265A (en) * | 2016-03-29 | 2016-06-01 | 邹志勇 | Lifting machine |
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| CN108238551A (en) * | 2018-03-23 | 2018-07-03 | 唐志赏 | A kind of crane with double drive structure |
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| JPS5621719B2 (en) * | 1976-09-10 | 1981-05-21 | ||
| US4892201A (en) * | 1987-07-08 | 1990-01-09 | Veb Schwermaschinenbaukombinat Takraf | Jib system for cranes, especially mobile cranes |
| CN105621265A (en) * | 2016-03-29 | 2016-06-01 | 邹志勇 | Lifting machine |
| CN205855849U (en) * | 2016-08-05 | 2017-01-04 | 国网山东省电力公司龙口市供电公司 | A kind of power equipment elevator |
| CN108609499A (en) * | 2018-02-28 | 2018-10-02 | 太原重工股份有限公司 | Mast automatic lifting control method and crane in this way |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116871802A (en) * | 2023-09-08 | 2023-10-13 | 惠生（南通）重工有限公司 | Multifunctional special-shaped assembly welding platform |
| CN116871802B (en) * | 2023-09-08 | 2023-11-24 | 惠生（南通）重工有限公司 | Multifunctional special-shaped assembly welding platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110395665B (en) | 2020-04-21 |
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