CN110395665B - Lifting device and method for upright column of tyre type crane - Google Patents

Lifting device and method for upright column of tyre type crane Download PDF

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Publication number
CN110395665B
CN110395665B CN201910713924.9A CN201910713924A CN110395665B CN 110395665 B CN110395665 B CN 110395665B CN 201910713924 A CN201910713924 A CN 201910713924A CN 110395665 B CN110395665 B CN 110395665B
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upright post
lifting
upright
linear
column
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CN110395665A (en
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胡晓兵
吴孟桦
向海
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Sichuan University
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Sichuan University
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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
    • 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
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Computational Mathematics (AREA)
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  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Operations Research (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Algebra (AREA)
  • Jib Cranes (AREA)

Abstract

The invention relates to a lifting device and a lifting method for an upright post of a rubber-tyred crane, and belongs to the technical field of engineering equipment. The device originally comprises a rotary traction assembly, a linear traction assembly, a control unit and an angle sensor. The rotary traction assembly comprises a rotary motor and a connecting piece, two ends of the connecting piece are respectively connected with the rotary motor and the stand column, and the rotary motor is arranged to drive the connecting piece to pull the stand column to rotate. The linear traction assembly comprises a linear module and a connecting rod, and a linear motor for controlling the movement of the sliding block is arranged in the linear module. The angle sensor is arranged on the stand column, the control unit is respectively electrically connected with the rotating motor, the linear motor and the angle sensor, the angle sensor is arranged for collecting inclination angle information of the stand column and transmitting the inclination angle information to the control unit, and the control unit controls the rotating motor and the linear motor according to the inclination angle information. The device has the characteristics of low cost, simple structure and high automation degree. The method employs the device, which has all the features of the device.

Description

Lifting device and method for upright column of tyre type crane
Technical Field
The invention relates to the technical field of engineering equipment, in particular to a lifting device and a lifting method for an upright post of a tyre crane.
Background
At present, large cranes at home and abroad generally adopt a plurality of temporary running rails with different gauges laid in the whole course, and the rails are fixed on a foundation or a platform through expansion bolts.
Chinese patent CN201811316442.1 discloses a tire type tunnel track laying crane and a construction method thereof, wherein the crane comprises wheel sets, a portal frame, a workbench and a lifting device, and the wheel sets are respectively arranged around the bottom of the portal frame. The crane can solve the technical problem that in the prior art, only a single section size can be adapted, temporary rails are laid in a tunnel to cause great damage to the pipe sheet, the construction efficiency is low, and the whole-course tire type walking mode is realized. However, the crane has a large volume, and four columns of the crane are fixed without retraction and extension, which will not change the transportation process of the crane, and for a limited indoor environment, for example, the size of a gate of a building is smaller than the height of the columns, the crane cannot enter the building, or the columns need to be disassembled and transported indoors in batches to be assembled by other equipment or manpower, which will increase the construction cost.
Therefore, in order to improve the transportation convenience and adaptability of the rubber-tyred crane, the upright column needs to be designed into a rotary lifting mode, the lifting power of the lifting power at present mainly adopts a hydraulic technology, the automation degree of a hydraulic system is high, the movement of the upright column can be stably controlled in the whole lifting process, but the cost is high, a certain technical difficulty exists in daily maintenance, and the rubber-tyred crane is not practical in large machinery in which the upright column is not lifted frequently, and the design cost is increased on the contrary.
The inventor finds in research that at least the following disadvantages exist in the prior related art:
the construction and design cost of the upright post lifting device of the conventional rubber-tyred crane is high.
Disclosure of Invention
The invention aims to provide a lifting device of a stand column of a tyre crane, which overcomes the defects of the prior art, a control unit acquires inclination angle information of the stand column in real time through an angle sensor, and controls a linear traction assembly and a rotary traction assembly through the inclination angle information to enable the stand column to rotate to a vertical limiting position.
The invention also aims to provide a method for lifting the upright column of the tire crane, which is applied to the upright column lifting device of the tire crane.
The embodiment of the invention is realized by the following steps:
the embodiment of the invention provides a lifting device of an upright post of a tyre type crane, which is used for rotary lifting of the upright post and enabling the upright post to reach a vertical limit position, and comprises:
a rotary traction component, a linear traction component, a control unit and an angle sensor,
the rotary traction assembly comprises a rotary motor and a connecting piece, two ends of the connecting piece are respectively connected with the rotary motor and the upright post, and the rotary motor is used for driving the connecting piece to pull the upright post to rotate;
the linear traction assembly comprises a linear module and a connecting rod, the linear module comprises a guide rail, a sliding block and a linear motor, the sliding block is arranged in the guide rail, the linear motor drives the sliding block to do reciprocating linear motion along the direction of the guide rail, one end of the connecting rod is connected with the sliding block, and the other end of the connecting rod is detachably connected with the upright post;
the angle sensor is arranged on the upright column, the control unit is respectively electrically connected with the rotating motor, the linear motor and the angle sensor, the angle sensor is arranged to collect inclination angle information of the upright column and transmit the inclination angle information to the control unit, and the control unit controls the rotating motor and the linear motor according to the inclination angle information.
Specifically, the control unit of the upright post lifting device of the rubber-tyred crane acquires the inclination angle information of the upright post in real time through the angle sensor, and controls the linear traction assembly and the rotary traction assembly through the inclination angle information to enable the upright post to rotate to a vertical limiting position.
Optionally, the upright post lifting device of the rubber-tyred crane further comprises a lifting platform, and the upright post is arranged on the lifting platform and is rotatably connected with the lifting platform.
Optionally, a rotating matching hole is formed in the stand column, a rotating shaft is arranged on the lifting platform, and the rotating matching hole and the rotating shaft are matched to form a stand column rotating fulcrum.
Optionally, be provided with spacing convex surface on the stand, the last spacing groove that is provided with of lifting platform, spacing convex surface with the spacing groove adaptation works as the stand with when lifting platform mutually perpendicular, spacing convex surface with the mutual joint of spacing groove.
Optionally, the connecting member is a rope.
Optionally, the angle sensor is disposed above the upright, and the connecting member is connected to a lower portion of the upright.
Optionally, the rotating traction assembly further comprises a reduction gearbox, and the rotating motor is connected with the reduction gearbox through a coupler.
The embodiment of the invention also provides a method for lifting the upright post of the tire crane, which is applied to the lifting device of the upright post of the tire crane, wherein the method carries out rotary lifting on the upright post horizontally arranged by the control unit, and the method comprises the following steps:
step one, the rotating motor rotates according to a preset speed curve to drive the connecting piece to pull the upright post to rotate until the upright post is close to a preset position;
step two, the control unit acquires the inclination angle information in real time through the angle sensor, when the angle of the upright post reaches a preset position, the control unit controls the rotating motor to stop running and enables the upright post to be kept at the preset position, and the connecting rod is connected with the sliding block and the upright post respectively;
and step three, the linear motor drives the sliding block to slide along the direction of the guide rail, the sliding block drives the connecting rod to do compound motion, the connecting rod drives the stand column to rotate according to a preset angular velocity curve, and the control unit completes the closed-loop control of the stand column velocity according to the inclination angle information acquired by the angle sensor in real time to enable the stand column to rotate according to the preset velocity curve until the stand column reaches the vertical limiting position.
Optionally, the method further includes a fourth step of fixing the upright post after the upright post reaches the vertical position.
Optionally, the stand column lifting device of the rubber-tyred crane further comprises a lifting platform, the stand column is arranged on the lifting platform and is rotatably connected with the lifting platform, and the stand column is connected with the lifting platform through a fastening bolt after reaching the vertical limiting position.
Compared with the prior art, the beneficial effects of the embodiment of the invention include, for example:
1) the control unit of the upright post lifting device of the rubber-tyred crane acquires the inclination angle information of the upright post in real time through the angle sensor, and controls the linear traction assembly and the rotary traction assembly through the inclination angle information to enable the upright post to rotate to a vertical limiting position.
2) Because the upright post of the technical scheme is in a horizontal state when not started, the height size of the rubber-tyred crane can be greatly reduced, and the rubber-tyred crane can be transported in a smaller tunnel or building environment to meet different working conditions
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a lifting device of a stand column of a rubber-tyred crane according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of a lifting device of a stand column of a rubber-tyred crane according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a linear tractor assembly according to an embodiment of the invention;
fig. 4 is a flowchart of a method for lifting a column of a rubber-tyred crane according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating an exemplary function of a fifth order polynomial trajectory function provided by an embodiment of the present invention;
fig. 6 is a functional diagram of a predetermined speed curve according to an embodiment of the present invention.
Icon: 100. a tyre crane upright post lifting device; 10. rotating the traction assembly; 101. rotating the motor; 102. a connecting member; 11. a linear traction assembly; 111. a guide rail; 112. a slider; 113. a linear motor; 114. a connecting rod; 12. an angle sensor; 13. lifting the platform; 131. the upright post rotates the fulcrum; 200. and (4) a column.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 6 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Fig. 1 is a schematic structural diagram of a tire-type crane upright lifting device 100 according to an embodiment of the present invention, and referring to fig. 1, a tire-type crane upright lifting device 100 is used for rotating and lifting an upright 200 and enabling the upright 200 to reach a vertical limit position, and includes a rotating traction assembly 10, a linear traction assembly 11, a control unit and an angle sensor 12,
the rotating traction assembly 10 comprises a rotating motor 101 and a connecting piece 102, two ends of the connecting piece 102 are respectively connected with the rotating motor 101 and the upright post 200, and the rotating motor 101 is used for driving the connecting piece 102 to pull the upright post 200 to rotate;
the linear traction assembly 11 comprises a linear module and a connecting rod 114, the linear module comprises a guide rail 111, a sliding block 112 and a linear motor 113, the sliding block 112 is arranged in the guide rail 111, the linear motor 113 drives the sliding block 112 to do reciprocating linear motion along the direction of the guide rail 111, one end of the connecting rod 114 is connected with the sliding block 112, and the other end of the connecting rod 114 is detachably connected with the upright post 200;
the angle sensor 12 is disposed on the upright column 200, the control unit is electrically connected to the rotating motor 101, the linear motor 113 and the angle sensor 12, the angle sensor 12 is disposed to collect the tilt angle information of the upright column 200 and transmit the tilt angle information to the control unit, and the control unit controls the rotating motor 101 and the linear motor 113 according to the tilt angle information.
It should be noted that the control unit of the upright lifting device 100 of the tire crane acquires the inclination angle information of the upright 200 in real time through the angle sensor 12, and controls the linear traction assembly 11 and the rotary traction assembly through the inclination angle information to rotate the upright 200 to the vertical limit position.
It is also worth mentioning that in the present embodiment, the angle sensor 12 uses a north microsensor bw-ah300-485, which is capable of measuring attitude parameters, angular velocity, acceleration information and heading angle of the moving carrier, and has a high level of accuracy and dynamic measurement capability. It is understood that in the present embodiment, the bw-ah300-485 is used as an angle sensor to measure the inclination angle information of the mast 200 in real time and transmit the inclination angle information to the control unit, thereby controlling the operation of the rotary traction assembly 10 and the linear traction assembly 11. Other angle sensors may be used to measure the tilt angle information of the shaft 200 according to the specific implementation environment, and this embodiment is only an illustration of the type of angle sensor, and does not limit the specific type of angle sensor.
Referring again to fig. 1, the connecting member 102 is a rope.
Fig. 2 is another schematic structural diagram of a vertical column lifting device 100 of a tire crane according to an embodiment of the present invention.
Referring to fig. 1 and 2, the upright lifting device 100 of the rubber-tyred crane further includes a lifting platform 13, and the upright 200 is disposed on the lifting platform 13 and is rotatably connected to the lifting platform 13.
It should be noted that, in this embodiment, the column 200 is provided with a rotation fitting hole, and the lifting platform 13 is provided with a rotation shaft, and the rotation fitting hole and the rotation shaft cooperate to form the column rotation fulcrum 131. It can be understood that the upright column 200 and the lifting platform 13 can be connected in a rotating manner through the upright column rotating fulcrum 131, so that the upright column 200 can rotate from a horizontal placement position to a vertical limiting position, and the upright column has the characteristics of simple structural form and low cost.
Referring to fig. 1 and 2 again, the upright column 200 is provided with a limiting convex surface, the lifting platform 13 is provided with a limiting groove, the limiting convex surface is matched with the limiting groove, and when the upright column 200 and the lifting platform 13 are perpendicular to each other, the limiting convex surface and the limiting groove are clamped with each other.
It should be noted that, when the upright column 200 and the lifting platform 13 are perpendicular to each other, that is, after the upright column 200 reaches the vertical position, in order to prevent the upright column 200 from continuing to rotate under the inertia effect, the limiting groove and the limiting convex surface which are matched with each other are adopted, so that the upright column 200 can be prevented from excessively rotating, and the stability of the overall structure of the tire crane is ensured. It can be understood that, in this embodiment, the column 200 is limited by the clamping connection of the limiting convex surface and the limiting groove, and according to different specific implementation environments, a vertical limiting plate may be disposed on the lifting platform 13 to limit the column 200.
Referring to fig. 2, the angle sensor 12 is disposed above the upright 200, and the connecting member 102 is connected to a lower portion of the upright 200.
It should be noted that the angle sensor 12 is disposed above the upright 200, so that the angle sensor 12 can detect the inclination information of the upright 200, and the use effect of the angle sensor 12 is improved. It should be noted that, by connecting the connecting member 102 to the lower portion of the upright 200, the size of the power arm can be reduced, and the stable operation of the upright 200 can be ensured.
It is also worth mentioning that the rotating traction assembly 10 further comprises a reduction gearbox, the rotating motor 101 and the reduction gearbox being connected by a coupling. It can be understood that the reduction box can ensure that the rotating speed of the rotating motor 101 is not too fast, which results in too fast rotating speed of the upright post 200, so that the position of the upright post 200 is easy to adjust.
Fig. 3 is a schematic structural diagram of a linear traction assembly 11 according to an embodiment of the present invention.
Referring to fig. 3, the linear traction assembly 11 includes a linear module and a connecting rod 114, the linear module includes a guide rail 111, a slider 112 and a linear motor 113, the slider 112 is disposed in the guide rail 111, the linear motor 113 drives the slider 112 to make a reciprocating linear motion along the direction of the guide rail 111, one end of the connecting rod 114 is connected with the slider 112, and the other end of the connecting rod 114 is detachably connected with the upright post 200;
fig. 4 is a flowchart of a method for lifting a column 200 of a tire crane according to an embodiment of the present invention.
The method for lifting the upright column 200 of the rubber-tyred crane is applied to the upright column lifting device 100 of the rubber-tyred crane, and the method carries out rotary lifting on the upright column 200 which is horizontally arranged through a control unit, and comprises the following steps:
step one, in a stage of providing power by rotating the traction assembly 10, the rotating motor 101 rotates according to a preset speed curve to drive the connecting piece 102 to pull the upright post 200 to rotate the upright post 200 until the upright post 200 approaches a preset position;
secondly, a connecting rod 114 is additionally arranged, the control unit acquires inclination angle information in real time through the angle sensor 12, when the angle of the upright post 200 reaches a preset position, the control unit controls the rotating motor 101 to stop running and enables the upright post 200 to be kept at the preset position, and the connecting rod 114 is respectively connected with the sliding block 112 and the upright post 200;
and step three, in the stage that the linear traction assembly 11 provides power, the linear motor 113 drives the sliding block 112 to slide along the direction of the guide rail 111, the sliding block 112 drives the connecting rod 114 to do compound motion, the connecting rod 114 drives the upright post 200 to rotate according to a preset angular velocity curve, and the control unit completes speed closed-loop control of the upright post 200 according to the inclination angle information acquired by the angle sensor 12 in real time to enable the upright post 200 to rotate according to the preset velocity curve until the upright post 200 reaches a vertical limit position.
It should be noted that, in this embodiment, when the upright 200 is at the initial position, the center of gravity is located on the right side of the fulcrum, the cable pulling point is located on the left side of the fulcrum of the upright 200, and the cable pulls the upright 200 to work against the moment caused by gravity, and when the upright 200 is close to the vertical state, the center of gravity will be shifted to the left side of the fulcrum, and the cable pulling point is still located on the left side, and at this time, the moment caused by gravity will be in the same direction as the moment caused by the traction force, and the cable can only provide a pulling force and cannot provide a pushing force, so the speed of the upright 200 in this state cannot be controlled by the cable, so when the horizontal coordinate of the center of gravity of the upright 200 is close to the fulcrum of the upright 200.
It can be understood that in the present embodiment, the slider 112, the connecting rod 114 and the upright post 200 together form a crank slider 112 mechanism, and since the mechanism is only activated when the upright post 200 is close to the vertical state, the transmission angle between the connecting rod 114 and the upright post 200 is large enough, so that the mechanism can be prevented from generating dead points, and the operation reliability can be ensured.
After the crank-slider 112 mechanism is started, the rotation speed of the upright post 200 is controlled by the translation speed of the slider 112, the upright post 200 is close to the vertical state, the rotation speed of the upright post 200 can be regarded as linear correlation with the moving speed of the slider 112, and in order to avoid the mechanism from being damaged by impact when the upright post 200 is contacted with a limiting surface, the method enables the function of the displacement of the set slider 112 relative to time to be shifted to satisfy a fifth-order polynomial, and the current angle is fed back by the angle sensor 12 on the upright post 200 to complete closed-loop control, so that the running track of the upright post.
Since the components of the crank-slider 112 mechanism mentioned in this embodiment are all rigid bodies, if the acceleration, velocity and displacement during the motion are not constrained, the mechanism may be unstable to operate, or the mechanism may be damaged by impact. Therefore, if the displacement of the slider 112 is to satisfy the motion with respect to time, a fifth-order polynomial is satisfied, where y is a5t5+a4t4+a3t3+a2t2+a1t + a, derived to obtain the angular velocity function y of 5a5t4+4a4t3+3a3t2+2a2t+a1Further derivation to obtain the angular acceleration function y of 20a5t3+12a4t2+6a3t+2a2Because the position has 6 unknowns, 6 groups of data are introduced to solve, and the 6 groups of data are the initial position y0Initial velocity v0Initial acceleration a0And time t displacement ytVelocity v at time ttAcceleration at time tatWherein the time t is the time of the end of the acceleration phase, and a is required to ensure the motion stability0＝at0. A typical functional diagram is shown in fig. 5.
It should be further noted that the preset speed curve of the linear traction assembly 11 in this embodiment uses a cubic polynomial acceleration curve, and the constant speed is maintained after the preset speed is reached, and because the rope is a non-rigid body and has a certain elasticity, the impact is small in the process that the rotating motor 101 pulls the rope to drive the upright post 200 to accelerate and lift, and the acceleration interval only needs to satisfy the speed continuity, that is, the cubic polynomial acceleration curve, that is, the rotation angle of the upright post 200 satisfies the cubic function with respect to time: a is3t3+a2t2+a1the derivative of t + a is the angular velocity equation: y is 3a3t2+2a2t1+a1By bringing into the initial position y0Initial velocity v0Constant velocity vtThe angle y rotated when reaching the set speedtAnd the time t taken by the acceleration interval can be solved to obtain a functional expression. Similarly, a function formula of the deceleration section can be obtained, and the graph is shown in FIG. 6
It should be further noted that the method further includes a fourth step of fixing the upright post 200 after the upright post 200 reaches the vertical position. In this embodiment, the upright lifting device 100 of the tire crane further includes a lifting platform 13, the upright 200 is disposed on the lifting platform 13 and rotatably connected to the lifting platform 13, and the upright 200 is bolted to the lifting platform 13 through a fastening bolt after reaching the vertical position.
In summary, the present invention provides a tyre crane column lifting apparatus 100 and method, the apparatus comprising a rotary traction assembly 10, a linear traction assembly 11, a control unit and an angle sensor 12. The rotating traction assembly 10 comprises a rotating motor 101 and a connecting piece 102, two ends of the connecting piece 102 are respectively connected with the rotating motor 101 and the upright post 200, and the rotating motor 101 is arranged to drive the connecting piece 102 to pull the upright post 200 to rotate. The linear traction assembly 11 comprises a linear module and a connecting rod 114, the linear module comprises a guide rail 111, a sliding block 112 and a linear motor 113, the sliding block 112 is arranged in the guide rail 111, the linear motor 113 drives the sliding block 112 to do reciprocating linear motion along the direction of the guide rail 111, one end of the connecting rod 114 is connected with the sliding block 112, and the other end of the connecting rod 114 is detachably connected with the upright post 200. The angle sensor 12 is disposed on the upright column 200, the control unit is electrically connected to the rotating motor 101, the linear motor 113 and the angle sensor 12, the angle sensor 12 is disposed to collect the tilt angle information of the upright column 200 and transmit the tilt angle information to the control unit, and the control unit controls the rotating motor 101 and the linear motor 113 according to the tilt angle information. The control unit of the upright post lifting device 100 of the tire type crane acquires the inclination angle information of the upright post 200 in real time through the angle sensor 12, and controls the linear traction assembly 11 and the rotary traction assembly through the inclination angle information, so that the upright post 200 rotates to a vertical limiting position.
In the description of the present invention, it is to be understood that the terms "counterclockwise", "clockwise", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used for convenience of description only, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting.

Claims (9)

1. A method for lifting an upright post of a tire type crane is applied to an upright post lifting device of the tire type crane, the device is used for rotating and lifting the upright post (200) and enabling the upright post (200) to reach a vertical limit position, and comprises a rotating traction assembly (10), a linear traction assembly (11), a control unit and an angle sensor (12), wherein the rotating traction assembly (10) comprises a rotating motor (101) and a connecting piece (102), two ends of the connecting piece (102) are respectively connected with the rotating motor (101) and the upright post (200), and the rotating motor (101) is used for driving the connecting piece (102) to pull the upright post (200) to rotate;
the linear traction assembly (11) comprises a linear module and a connecting rod (114), the linear module comprises a guide rail (111), a sliding block (112) and a linear motor (113), the sliding block (112) is arranged in the guide rail (111), the linear motor (113) drives the sliding block (112) to do reciprocating linear motion along the direction of the guide rail (111), one end of the connecting rod (114) is connected with the sliding block (112), and the other end of the connecting rod (114) is detachably connected with the upright post (200);
the angle sensor (12) is arranged on the upright post (200), the control unit is respectively electrically connected with the rotating motor (101), the linear motor (113) and the angle sensor (12), the angle sensor (12) is arranged for collecting inclination angle information of the upright post (200) and transmitting the inclination angle information to the control unit, and the control unit controls the rotating motor (101) and the linear motor (113) according to the inclination angle information;
the method performs rotary lifting on the upright (200) which is horizontally arranged through the control unit, and comprises the following steps:
step one, the rotating motor (101) rotates according to a preset speed curve to drive the connecting piece (102) to pull the upright post (200) to enable the upright post (200) to rotate until the upright post (200) is close to a preset position;
step two, the control unit acquires the inclination angle information in real time through the angle sensor (12), when the angle of the upright post (200) reaches the preset position, the control unit controls the rotating motor (101) to stop running and enables the upright post (200) to be kept at the preset position, and the connecting rod (114) is respectively connected with the sliding block (112) and the upright post (200);
and step three, the linear motor (113) drives the sliding block (112) to slide along the direction of the guide rail (111), the sliding block (112) drives the connecting rod (114) to do compound motion, the connecting rod (114) drives the upright post (200) to rotate according to a preset angular velocity curve, and the control unit completes speed closed-loop control of the upright post (200) to enable the upright post (200) to rotate according to the preset velocity curve according to the inclination angle information acquired by the angle sensor (12) in real time until the upright post (200) reaches the vertical limiting position.
2. Method for lifting a column of a tyre crane according to claim 1, characterised in that it further comprises a fourth step of fixing the column (200) after the column (200) has reached the vertical position.
3. The method for lifting the stand column of the tire type crane according to claim 2, wherein the lifting device of the stand column of the tire type crane further comprises a lifting platform (13), the stand column (200) is arranged on the lifting platform (13) and is rotatably connected with the lifting platform (13), and the stand column (200) is bolted with the lifting platform (13) through a fastening bolt after reaching the vertical position.
4. A method of lifting a tyre crane upright according to claim 1, wherein the lifting device of the tyre crane upright further comprises a lifting platform (13), and the upright (200) is arranged on the lifting platform (13) and is rotatably connected with the lifting platform (13).
5. The method for lifting an upright of a tyre crane according to claim 4, wherein the upright (200) is provided with a rotation matching hole, the lifting platform (13) is provided with a rotation shaft, and the rotation matching hole and the rotation shaft are matched to form an upright rotation fulcrum (131).
6. The method for lifting an upright post of a rubber-tyred crane according to claim 4, wherein the upright post (200) is provided with a limiting convex surface, the lifting platform (13) is provided with a limiting groove, and the limiting convex surface is adapted to the limiting groove, and when the upright post (200) and the lifting platform (13) are perpendicular to each other, the limiting convex surface and the limiting groove are clamped with each other.
7. Method for lifting a column of a tyre crane according to claim 1, characterized in that the connecting element (102) is a rope.
8. Method for lifting a column of a tyre crane according to claim 1, wherein the angle sensor (12) is arranged above the column (200) and the connecting member (102) is connected to a lower portion of the column (200).
9. The method for lifting a column of a wheeled crane according to claim 1, wherein the rotating traction assembly (10) further comprises a reduction gearbox, and the rotating motor (101) and the reduction gearbox are connected by a coupling.
CN201910713924.9A 2019-08-02 2019-08-02 Lifting device and method for upright column of tyre type crane Active CN110395665B (en)

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CN116871802B (en) * 2023-09-08 2023-11-24 惠生（南通）重工有限公司 Multifunctional special-shaped assembly welding platform

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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
CN108238551A (en) * 2018-03-23 2018-07-03 唐志赏 A kind of crane with double drive structure
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

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
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
CN108238551A (en) * 2018-03-23 2018-07-03 唐志赏 A kind of crane with double drive structure

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