CN111943047A - Overload prevention control method and system for hoisting machinery and hoisting machinery - Google Patents
Overload prevention control method and system for hoisting machinery and hoisting machinery Download PDFInfo
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- CN111943047A CN111943047A CN202010753558.2A CN202010753558A CN111943047A CN 111943047 A CN111943047 A CN 111943047A CN 202010753558 A CN202010753558 A CN 202010753558A CN 111943047 A CN111943047 A CN 111943047A
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- arm
- load moment
- oil cylinder
- cylinder group
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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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
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
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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
- 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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- 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
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
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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
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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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
- B66C23/88—Safety gear
- B66C23/94—Safety gear for limiting slewing movements
Abstract
The application discloses overload prevention control method and system for hoisting machinery and hoisting machinery, and the method comprises the following steps: calculating an actual load moment; acquiring a preset load moment range; and when the actual load moment is in the load moment range, reducing the upper limit value of the movement speed range of the arm support system driven by the oil cylinder group. The overload prevention control method and system for the hoisting machinery and the hoisting machinery can improve safety.
Description
Technical Field
The present disclosure relates to engineering machinery, and particularly to an overload protection control method and system for a hoisting machine.
Background
The hoisting machine is used for hoisting or hoisting and moving heavy objects through a lifting hook or other fetching devices. The working process of a hoisting machine generally comprises the steps of lifting a heavy object from an object taking place, displacing the heavy object through rotation, amplitude variation, stretching and the like, and lowering the heavy object at a specified place and then returning to the original position.
In the working process of the hoisting machinery, the inclination angle of the arm support for loading overweight cargos or the hoisting machinery is larger, the overturning moment applied to the hoisting machinery is larger, and high-speed operation under the overturning moment can cause the hoisting machinery to topple, cause casualties and cause serious economic loss.
Disclosure of Invention
In view of the above, embodiments of the present disclosure are directed to an overload protection control method and system for a hoisting machine, and a hoisting machine, so as to improve safety.
In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:
an overload prevention control method for a hoisting machine, wherein the hoisting machine comprises a boom system and an oil cylinder group used for driving the boom system to act, and the control method comprises the following steps: calculating an actual load moment; acquiring a preset load moment range; and when the actual load moment is in the load moment range, reducing the upper limit value of the movement speed range of the arm support system driven by the oil cylinder group.
Further, the step of calculating the actual load moment comprises: acquiring a first angle value, wherein the first angle value is an included angle value between a first section of arm of the arm support system and a horizontal plane; acquiring a pressure value, wherein the pressure value is the hydraulic pressure of a first amplitude variation oil cylinder of the oil cylinder group, and the first amplitude variation oil cylinder is used for driving the first arm section to act; and calculating the actual load moment according to the first angle value and the pressure value.
Further, the upper limit value of the movement speed range of the boom system is a target value after being reduced, and the target value is reduced along with the increase of the actual load moment M.
Further, when the actual load moment is within the load moment range, reducing an upper limit value of a movement speed range of the boom system includes: confirming that the actual load moment is within the load moment range; and reducing the upper limit value of the opening range of the valve core of the action control valve so as to reduce the upper limit value of the movement speed range of the arm support system.
Further, the control method includes: acquiring a preset theoretical load moment, wherein the theoretical load moment is larger than the maximum value of the load moment range; confirming the dangerous direction of the oil cylinder group; the movement direction of the oil cylinder group, which enables the actual load moment M to be increased, is a dangerous direction; and when the actual load moment is equal to the theoretical load moment, stopping the action of the oil cylinder group towards the dangerous direction.
Further, the step of confirming the dangerous direction of the cylinder group comprises: confirming an actual force arm; and confirming that the movement direction of the oil cylinder group which enables the actual moment arm to be increased is a dangerous direction.
Further, the step of confirming the dangerous direction of the cylinder group comprises: acquiring a first angle value, a second angle value, a telescopic length value, the length of a first knuckle arm and the length of a second knuckle arm; the first angle value is an included angle value between a first section of arm of the arm support system and a horizontal plane, the second angle value is an included angle value between a second section of arm of the arm support system and the horizontal plane, and the telescopic length value is a total length value between a third section of arm of the arm support system and a fourth section of arm of the arm support system; calculating the position relation between the virtual line segment and a horizontal plane passing through a first origin according to the first angle value, the second angle value, the telescopic length value, the length of the first arm and the length of the second arm; the first origin is a hinge point between a rotary upright of the boom system and the first knuckle arm, and the virtual line segment is a connecting line from the first origin to the tail end of the fourth knuckle arm; when the virtual line segment is positioned on the upper side of a horizontal plane passing through the first origin, confirming that the direction in which the cylinder group drives the first section arm to fold relative to the rotary upright post is a dangerous direction; when the virtual line segment is positioned at the lower side of a horizontal plane passing through the first origin, the direction in which the first arm is driven by the oil cylinder group to expand relative to the rotary upright is determined to be a dangerous direction.
Further, the step of confirming the dangerous direction of the cylinder group comprises: acquiring a second angle value; the second angle value is an included angle value between a second section of arm of the arm support system and the horizontal plane; calculating the position relation between the second arm and a horizontal plane passing through a second origin according to the second angle value; wherein the second origin point is a hinge point of the first knuckle arm and the second knuckle arm; when the second arm is positioned at the upper side of the horizontal plane passing through the second origin, confirming that the direction in which the cylinder group drives the second arm to fold relative to the first arm is a dangerous direction; and when the second-section arm is positioned at the lower side of the horizontal plane passing through the second origin, confirming that the direction in which the second-section arm is driven by the oil cylinder group to be unfolded relative to the first-section arm is a dangerous direction.
Further, the step of confirming the dangerous direction of the cylinder group comprises: and confirming that the third section arm of the arm support system driven by the oil cylinder group extends out relative to the second section arm of the arm support system in a dangerous direction.
Further, the step of confirming the dangerous direction of the cylinder group comprises: and confirming that the direction in which the fourth section of arm of the arm support system is driven by the oil cylinder group relative to the third section of arm of the arm support system extends out is a dangerous direction.
Further, when the actual load moment M is equal to the theoretical load moment M2, the step of stopping the action of the cylinder group in the dangerous direction includes: confirming that the actual load moment M is equal to the theoretical load moment M2; and prohibiting the valve body of the operation control valve from being at an opening position corresponding to the dangerous direction so as to stop the operation of the cylinder group in the dangerous direction.
A control system comprising a memory storing a program of the control method according to any one of claims 1 to 11.
A hoisting machine comprising: a body; a main oil pump; the arm support system comprises a rotary upright post, a first section arm, a second section arm, a third section arm and a fourth section arm; the rotary upright column is arranged on the machine body, the first knuckle arm is hinged with the rotary upright column, the second knuckle arm is hinged with the first knuckle arm, the third knuckle arm is sleeved in the second knuckle arm, and the fourth knuckle arm is sleeved in the third knuckle arm;
the oil cylinder group comprises a first amplitude variation oil cylinder, a second amplitude variation oil cylinder, a first telescopic oil cylinder, a second telescopic oil cylinder and a rotary oil cylinder; the first luffing cylinder can drive the first knuckle arm to fold or unfold relative to the rotary upright post; the second luffing cylinder can drive the second knuckle arm to fold or unfold relative to the first knuckle arm; the first telescopic oil cylinder can drive the third knuckle arm to extend or retract relative to the second knuckle arm; the second telescopic oil cylinder can drive the fourth knuckle arm to extend or retract relative to the third knuckle arm; the first angle sensor can detect the included angle value of the first section arm and the horizontal plane; the pressure sensor can detect the pressure of the first luffing oil cylinder; and the control system described above; the first angle sensor is in signal connection with the control system; the pressure sensor is in signal connection with the control system; the control system controls the actions of the main oil pump and the oil cylinder group respectively.
Further, the hoisting machinery comprises a plurality of motion control valves with position sensors; the position sensor can detect the opening degree of a valve core of the corresponding action control valve, and the control system confirms the opening degree of the valve core by receiving a signal of the position sensor; the control system controls the movement of a valve core of the action control valve, and the main oil pump supplies oil to the first luffing oil cylinder, the second luffing oil cylinder, the first telescopic oil cylinder, the second telescopic oil cylinder and the rotary oil cylinder correspondingly through the action control valves.
Further, the hoisting machine comprises a second angle sensor; the second angle sensor can detect the included angle value of the second knuckle arm and the horizontal plane, and the second angle sensor is in signal connection with the control system.
Further, the hoisting machine comprises a length sensor; the length sensor can detect the total length value of the third section arm and the fourth section arm, and the length sensor is in signal connection with the control system.
According to the overload prevention control method and system for the hoisting machinery and the hoisting machinery, the upper limit value of the movement speed range of the oil cylinder group driving arm frame system is reduced by setting the load moment range when the actual load moment is in the load moment range; the boom system is prevented from rotating, changing amplitude, stretching and the like at an excessively high speed, so that the hoisting machinery is prevented from overturning due to inertia caused by excessively large mass of the hoisting machinery under high-speed action, and safety is ensured.
Drawings
Fig. 1 is a flowchart of an overload prevention control method of a hoisting machine according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an overload prevention control method of a hoisting machine according to another embodiment of the present disclosure;
fig. 3 is a flowchart of an overload prevention control method of a hoisting machine according to still another embodiment of the present disclosure;
FIG. 4 is a diagram illustrating an embodiment of the step S500 in FIG. 3;
FIG. 5 is another embodiment of the step S500 in FIG. 3;
FIG. 6 shows a further embodiment of the step S500 in FIG. 3;
FIG. 7 is one embodiment of the step S600 in FIG. 3;
fig. 8 is a schematic structural view of a part of the structure of a hoisting machine according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of the hoisting machine in fig. 8 with the boom system in a different position;
FIG. 10 is a force diagram of a first arm segment according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a hydraulic system of a lifting machine according to an embodiment of the present disclosure;
fig. 12 is a diagram illustrating still another embodiment of the step S500 in fig. 3.
Detailed Description
It should be noted that, in the case of conflict, the technical features in the examples and examples of the present application may be combined with each other, and the detailed description in the specific embodiments should be interpreted as an explanation of the present application and should not be construed as an improper limitation of the present application.
In the description of the embodiments of the present application, the "up", "down", "left", "right", "front", "back" orientation or positional relationship is based on the orientation or positional relationship shown in fig. 8, it is to be understood that these orientation terms are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present application.
As shown in fig. 8, 9, and 11, the hoisting machine at least includes a boom system 3 and an oil cylinder group 4 for driving the boom system 3 to move, the tail end of the boom system 3 is used for hoisting heavy objects, and the oil cylinders in the oil cylinder group 4 correspondingly drive the knuckle arms in the boom system 3 to move correspondingly, such as change the amplitude, swing, and extend and retract. The hoisting machine can be a folding arm crane, a fire truck, a dynamic compactor and the like. In the embodiments of the present application, a hoisting machine is exemplified as a folding arm crane.
As shown in fig. 1 to 11, the control method includes:
and S100, calculating the actual load moment M.
And S200, acquiring a preset load moment range.
It can be understood that the load moment range can be calculated or actually measured by a manufacturer in advance according to the configuration of the hoisting machine, and is input into a control system of the hoisting machine as a preset quantity; the step S200 and the step S100 have no sequential logical relationship.
And S300, when the actual load moment M is in the load moment range, reducing the upper limit value of the movement speed range of the boom system 3 driven by the oil cylinder group 4.
In the prior art, no matter whether the actual load moment M is within the load moment range, the actions performed by the hoisting machine may be various: the two sections of arms of the boom system 3 can be folded or unfolded in a corresponding amplitude manner, such as a revolving upright 35 (mentioned below) and a first section of arm 31 (mentioned below), and the first section of arm 31 and a second section of arm 32 (mentioned below); the two sections of arms of the boom system 3 can be extended or retracted in a corresponding telescopic manner, such as the second section of arm 32 and the third section of arm 33 (mentioned below), and the third section of arm 33 and the fourth section of arm 34 (mentioned below); the boom system 3 rotates forward or backward corresponding to the machine body 1, for example, the rotating column 35 rotates with the machine body 1. Each of the above-mentioned actions corresponds to a range of motion speeds.
It is understood that in the embodiments of the present application, the value corresponding to the movement speed is only a relative scalar, taking the movement speed range of 0-100 as an example, a movement speed of 100 for the boom system 3 means that the boom system 3 is at the maximum achievable movement speed, and similarly, a movement speed of 0 for the boom system 3 means that the boom system 3 is at the minimum achievable movement speed. The magnitude of the numbers has no absolute meaning, but is a concept of relative magnitude, e.g., a moving speed of 80 is necessarily a moving speed of more than 30, and a moving speed of 30 is necessarily a moving speed of more than 0.
Therefore, reducing the upper limit value of the range of the movement speed of the boom system 3 driven by the cylinder group 4 includes: the upper limit value of the range of the rotation speed, the upper limit value of the range of the telescopic speed and the upper limit value of the range of the variable amplitude speed of the arm support system 3 driven by the oil cylinder group 4 are reduced.
It should be noted that the cylinder group 4 is composed of a plurality of cylinders, and the cylinders themselves do not have the above-mentioned rotation, expansion and contraction and amplitude movement, and the essence is the extension and retraction of the piston rods of the different cylinders. Different oil cylinders respectively correspond to different actions of the arm sections of the arm support system 3; wherein, when the upper limit value of the range of the rotation speed of the boom system 3 driven by the lowering cylinder group 4 is the upper limit value of the range of the action speed of the rotation cylinder 45 (mentioned below) in the corresponding lowering cylinder group 4, when the upper limit value of the range of the luffing speed of the boom system 3 driven by the lowering cylinder group 4 is the upper limit value of the range of the action speed of the first luffing cylinder 41 (mentioned below) and/or the second luffing cylinder 42 (mentioned below) in the corresponding lowering cylinder group 4, when the upper limit value of the range of the telescopic speed of the boom system 3 driven by the lowering cylinder group 4 is the upper limit value of the range of the action speed of the first telescopic cylinder 43 (mentioned below) and/or the second telescopic cylinder 44 (mentioned below) in the corresponding lowering cylinder group 4.
The range of the motion speed of the boom system 3 is adjusted from 0-100 to 0-50, and the boom system 3 of the hoisting machine is controlled to perform actions such as rotation, expansion and contraction, amplitude variation and the like through a control device (such as a remote controller, a control panel or a control handle of the hoisting machine) connected with a control system (mentioned below). The whole control process can be simplified into that the control device sends an instruction to the control system, and then the control system controls the arm support system 3 to act.
Specifically, when the control device sends an instruction to the control system, the boom system 3 moves at a movement speed of 30, and the movement speed of 30 is within the range of 0-50 of the adjusted movement speed, and is executed according to the instruction, the control system controls the boom system 3 to perform corresponding rotation, expansion and contraction and amplitude variation actions at the movement speed of 30. When the control device sends an instruction to the control system, the movement speed of the boom system 3 is 80, the movement speed 80 is out of the adjusted movement speed range of 0-50, and the control system controls the boom system 3 to perform corresponding rotation, stretching and amplitude variation actions according to the upper limit value of the adjusted movement speed range, namely, the movement speed is 50 at most, so that the boom system 3 can effectively move in a relatively low speed range. Therefore, when the actual load moment M is in the load moment range, the upper limit value of the movement speed range of the boom system 3 driven by the oil cylinder group 4 is reduced, so that the boom system 3 is prevented from rotating, changing amplitude, stretching and the like at an excessively high speed, further the hoisting machinery is prevented from overturning due to inertia caused by the excessively large mass of the hoisting machinery under high-speed action, and safety is ensured.
In the step S100, there are various ways to calculate the actual load moment M, and it is common to calculate the hydraulic pressure and the moment arm of each cylinder of the cylinder group 4 separately, and then calculate the current actual load moment M.
One possible implementation, as shown in fig. 2, 3, and 8 to 10, the S100 step includes:
and S110, acquiring a first angle value a. The first angle value a is an angle value between the first arm section 31 of the boom system 3 and the horizontal plane.
And S120, acquiring a pressure value. The pressure value is the hydraulic pressure of the first luffing cylinder 41 of the cylinder group 4, and the first luffing cylinder 41 is used for driving the first arm section 31 to act.
And S130, calculating the actual load moment M according to the first angle value a and the pressure value.
The method comprises the following steps of calculating actual load moment M according to a first angle value a and pressure values, wherein an algorithm is provided, a hinge point of a first knuckle arm 31 and a rotary upright post 35 is a first origin point O, the distance from the force application direction of a first luffing cylinder 41 to the point O is a moment arm OA, the tail end of the first luffing cylinder 41 is connected through a connecting rod assembly 41a, the connecting rod assembly 41a is simplified into a BC section and a BH section, the hinge point of the connecting rod assembly 41a on the first knuckle arm 31 and the rotary upright post 35 is H, C points, a four-link mechanism is formed by the three, OC, OH, BH and BC are fixed values, measurement input can be designed in advance, and the moment arm OA can be calculated by combining the actually measured first angle value a and utilizing a trigonometric function; the hydraulic pressure of the first luffing cylinder 41 is P, the cylinder diameter S of the first luffing cylinder 41 is a fixed value, the acting force F is P × S, and finally the actual load moment M ═ G × OD ═ F × OA ═ P × S × OA is obtained; wherein G is the weight of the load, and OD is a vertical projection line of the end of the boom system 3 away from the first knuckle arm 31, that is, an actual moment arm of the load.
In one possible implementation, as shown in fig. 3 and fig. 8 to 10, the step S300 includes:
and S310, confirming that the actual load moment M is in the load moment range.
And S320, reducing the upper limit value of the opening range of the valve core of the motion control valve 6 to reduce the upper limit value of the movement speed range of the arm support system 3.
The motion control valve 6 is an electro proportional valve or an electro servo valve. It can be understood that the range of the movement speed of the boom system 3 corresponds to the range of the opening degree of the spool of the motion control valve 6. The boom system 3 performs any motion, a valve core of the action control valve 6 is controlled within the opening range of 0-100 by the control system, the main oil pump 2 sends hydraulic oil to the oil cylinder corresponding to the oil cylinder group 4 through the action control valve 6, and the flow rate of the hydraulic oil is directly related to the opening degree of the valve core of the action control valve 6; the larger the opening degree of the valve core of the action control valve 6 is, the larger the flow rate of the oil cylinder corresponding to the oil cylinder group 4 is, and the larger the movement speed of the boom system 3 is.
The control system automatically controls the valve core of the corresponding action control valve 6 to move at the position within the corresponding opening range, namely the control system controls the arm support system 3 to act within the movement speed range, the speed is not large or small, and the misoperation risk is avoided.
The motion control valve 6 includes a first motion position and a second motion position. The action control valve 6 is in a first action position, the rod cavity of the oil cylinder corresponding to the action control valve 6 in the oil cylinder group 4 is filled with oil, the action control valve 6 is in a second action position, and the rod cavity of the oil cylinder corresponding to the action control valve 6 in the oil cylinder group 4 is filled with oil. The oil inlet of the rod cavity and the oil inlet of the rodless cavity can respectively correspond to the two sections of arms of the arm support system 3 to be folded or unfolded in variable amplitude motion; the rod cavity oil inlet and the rodless cavity oil inlet can respectively correspond to the extension or retraction of the telescopic motion between the two sections of arms of the arm support system 3; the rod cavity oil inlet and the rodless cavity oil inlet can respectively correspond to forward rotation or reverse rotation of rotary motion between the arm support system 3 and the machine body 1.
Taking the oil inlet of the rod cavity as an example, the opening range of the valve core of the action control valve 6 at the first action position is 0-100, which corresponds to the movement speed range 0-100 of the boom system 3, and the change of the opening range of the valve core from 0-100 does not change the action position of the action control valve, but determines the flow rate of the hydraulic oil injected into the rod cavity of the oil cylinder corresponding to the oil cylinder group 4 by the main oil pump 2 (mentioned below) through the action control valve 6, and the smaller the opening range of the valve core, the smaller the flow rate, the slower the action speed of the oil cylinder corresponding to the oil cylinder group 4, and the slower the movement speed, such as the rotation, amplitude variation or telescopic movement, of the boom system 3 corresponding to the oil cylinder. Similarly, the valve core opening of the motion control valve 6 in the second motion position is 0-100, and the flow rate of the hydraulic oil injected into the rodless cavity is controlled by the valve core opening, which is not described herein again.
For example, the opening range of the valve core of the motion control valve 6 is 0 to 100, and no matter the valve core is located at the first motion position or the second motion position, the control device can control the valve core of the motion control valve 6 to move at the opening position of 0 to 100 through the control system, so that the boom system 3 is correspondingly controlled to move at the motion speed of 0 to 100. Under the action of lower actual load moment, the safety of the hoisting machinery can be ensured at the movement speed of 0-100; under the action of a higher actual load moment, if the opening of the valve core is 100, hydraulic oil with a corresponding flow acts on the oil cylinder corresponding to the oil cylinder group 4, the corresponding movement speed of the boom system 3 is 100, inertia force is caused due to inertia caused by the larger mass of the hoisting machinery under high-speed action, and accordingly rollover is caused under the condition of a higher actual load moment.
In the embodiment, when the actual load moment M is smaller than the minimum value M3 of the load moment range, which means that the load at this time is small, normal operation can be performed, the opening range of the spool of the motion control valve 6 is 0-100, the operation device can control the spool of the motion control valve 6 to move within the opening range of 0-100 through the control system, and accordingly the boom system 3 can be correspondingly controlled to operate within the movement speed range of 0-100.
When the actual load moment M is within the load moment range, meaning that the load at that time is already at a large value, it should be operated in a low range of motion speed to ensure safety. Namely, the upper limit value of the opening range of the valve core of the action control valve 6 is reduced, the opening range of the valve core is adjusted to 0-50 from 0-100, and correspondingly, the movement speed range of the arm support system 3 is adjusted to 0-50 from 0-100.
Thereby, the upper limit value of the opening range of the valve element of the operation control valve 6 is decreased to decrease the upper limit value of the flow rate of the hydraulic oil entering the cylinder group 4; and further, the upper limit value of the movement speed range of the arm support system 3 driven by the oil cylinder group 4 is reduced, and the arm support system 3 is ensured to move in a relatively low speed range, so that the safety of the hoisting machinery is ensured, and the tipping is prevented.
It should be noted that in the embodiments of the present application, the value corresponding to the opening degree of the valve element is only a relative scalar, taking the opening degree range of the valve element as an example of 0 to 100, 100 does not mean an opening degree of 100cm, but means only a theoretical maximum opening degree that the valve element of the operation control valve 6 can reach at the operation position, similarly, 0 means only a theoretical minimum opening degree that the valve element of the operation control valve 6 can reach at the operation position, the size of the number has no absolute meaning, but is only a concept of relative size, for example, the opening degree of 80 is inevitably an opening degree larger than 30, and the opening degree of 30 is inevitably an opening degree larger than 0.
In one possible embodiment, the step S300 includes: the upper limit value of the movement speed range of the boom system 3 driven by the oil cylinder group (4) is reduced by directly adjusting the maximum value of the output flow of the hydraulic oil of the main oil pump 2. The main oil pump 2 is a variable displacement pump, the output flows correspond to the movement speed range of the arm support system 3 driven by the oil cylinder group (4) differently, and the upper limit value of the movement speed range of the arm support system 3 is reduced by reducing the maximum value of the output flows.
In one possible implementation, as shown in fig. 3 and fig. 8 to 10, the step S300 includes: and when the actual load moment M is in the load moment range, reducing the upper limit value of the movement speed range of the arm support system 3 driven by the oil cylinder group 4. The upper limit value of the movement speed range of the boom system 3 is a target value after being reduced, and the target value is reduced along with the increase of the actual load moment M.
Specifically; if the upper limit value of the range of the opening degree of the spool of the motion control valve 6 is reduced to reduce the upper limit value of the range of the movement speed of the boom system 3, the upper limit value of the range of the opening degree of the spool of the motion control valve 6 is gradually reduced correspondingly according to the increase of the actual load moment M. The lower the upper limit value of the opening range of the spool of the motion control valve 6 is set, the lower the upper limit value of the movement speed range of the boom system 3 is set, which means that the working efficiency of the hoisting machine is low. Therefore, when the actual load moment M is within the load moment range, the upper limit value of the opening range of the valve element of the motion control valve 6 gradually decreases as the actual load moment increases; therefore, the working efficiency of the hoisting machine is improved as much as possible on the premise of ensuring the safety of the hoisting machine.
Taking the opening range of the valve core of the action control valve 6 of 0-100 corresponding to the movement speed range of the arm support system 3 of 0-100, and the load moment range of [ 50% M2, 100% M2) as an example;
when M is 50% M2, setting the upper limit value of the opening range of the spool of the motion control valve 6 to 50, and adjusting the movement speed range of the boom system 3 from 0-100 to 0-50, wherein the target value is 50; when M is 60% M2, setting the upper limit value of the opening range of the valve core of the motion control valve 6 to 40, setting the target value to 40, and adjusting the motion speed range of the boom system 3 from 0-100 to 0-40; when M is 70% M2, the upper limit value of the opening range of the spool of the motion control valve 6 is set to 30, the target value is 30, the movement speed range of the boom system 3 is adjusted from 0-100 to 0-30, and so on.
The target value is reduced along with the increase of the actual load moment M, and the boom system 3 can achieve a relatively large movement speed to operate under the condition that the actual load moment M is relatively small, so that the efficiency is improved; with the increase of the actual load moment M, the upper limit value of the movement speed that can be reached by the boom system 3 is lower and lower, so that the boom system 3 is effectively moved in a lower speed range to ensure the safety of the hoisting machinery.
It should be understood that the load moment range is generally a percentage value according to a theoretical load moment M2 (mentioned below) that the hoisting machine can bear, and is usually 50% to 100%, that is, the load moment range is [ 50% M2, 100% M2 ].
In addition, if the maximum value of the output flow rate of the hydraulic oil of the main oil pump 2 is directly adjusted to reduce the upper limit value of the movement speed range of the boom system 3, the same is also true, and details are not repeated here.
One possible implementation, as shown in fig. 3 to 12, the control method further includes:
and S400, acquiring a preset theoretical load moment M2. Wherein the theoretical load moment M2 is greater than the maximum value M1 of the load moment range.
It can be understood that the theoretical load moment M2 may be calculated or actually measured by a manufacturer in advance according to the configuration of the hoisting machine, and input into the control system of the hoisting machine as a preset quantity; the step S400 has no sequential logic relationship with the steps S100 and S300.
S500, confirming the dangerous direction of the oil cylinder group 4. Wherein the cylinder group 4 makes the direction of movement of the increase of the actual load moment M a dangerous direction. Accordingly, the cylinder group 4 makes the moving direction in which the actual load moment M is reduced a safe direction.
S600, when the actual load moment M is equal to the theoretical load moment M2, stopping the action of the oil cylinder group 4 in the dangerous direction. Thereby preventing the actual load moment M from continuing to increase beyond the theoretical load moment M2 causing a rollover. Accordingly, the cylinder group 4 is allowed to move in the safe direction, thereby reducing the actual load moment M and ensuring safety.
The increase and decrease of the actual load moment M are gradual processes, therefore, the actual load moment M is in the load moment range in the increasing process, and the step S300 is implemented to reduce the upper limit value of the movement speed range of the boom system 3 driven by the cylinder group 4, so that the cylinder group 4 drives the boom system 3 to move in a relatively lower movement speed range.
That is, it can be understood that the present embodiment undergoes a low-speed process before the stop operation; this is essentially different from stopping directly without going through a slow process. The operation of the cylinder group 4 in the dangerous direction is stopped at a low speed, on the one hand, the actual load moment M is prevented from being increased continuously, and on the other hand, the cylinder group 4 is stopped at a low movement speed to drive the boom system 3, so that the speed change rate is small, the inertia influence is small, and the safety of the hoisting machine is further ensured, compared with the case where the cylinder group 4 is stopped at a high movement speed to drive the boom system 3.
Specifically, for example, if the movement speed range of the boom system 3 is adjusted from 0 to 100 to 0 to 50, the movement speed of the boom system 3 may reach 100 at maximum under the operation of the control device without the step S300, and when the actual load moment M is equal to the theoretical load moment M2, the step S600 is started to stop the movement of the cylinder group 4 in the dangerous direction, and further reduce the movement speed of the boom system 3 from 100 to 0 within a very short time, so that the speed change rate is large, and under the influence of the inertia of the crane, there is also a possibility of a rollover.
If the motion speed of the boom system 3 can only reach 50 at maximum under the operation of the control device after the step S300, when the actual load moment M is equal to the theoretical load moment M2, the step S600 is started to stop the movement of the cylinder group 4 in the dangerous direction, and further reduce the motion speed of the boom system 3 from 50 to 0 within a very short time, so that the speed change rate is relatively small, and the probability of rollover is also smaller under the influence of the inertia of the crane, thereby better ensuring the safety.
In one possible implementation, as shown in fig. 3 to 10 and fig. 12, the step S500 includes:
s590a, confirming the actual moment arm OD.
Specifically; the first angle value a, the second angle value b, the telescopic length value L, the length K1 of the first knuckle arm 31 and the length K2 of the second knuckle arm 32 are obtained. The first angle value a is an included angle value between a first section of arm 31 of the boom system 3 and a horizontal plane, the second angle value b is an included angle value between a second section of arm 32 of the boom system 3 and the horizontal plane, and the telescopic length value L is a total length value between a third section of arm 33 of the boom system 3 and a fourth section of arm 34 of the boom system 3.
Calculating to obtain a virtual line segment OE by using geometric space according to the first angle value a, the second angle value b, the stretching length value L, the length K1 of the first knuckle arm 31 and the length K2 of the second knuckle arm 32, and projecting the virtual line segment OE to a horizontal plane passing through the first origin O to confirm the actual moment arm OD; the first origin O is a hinge point between the rotating column 35 of the boom system 3 and the first arm section 31, and the virtual line OE is a connection line from the first origin to the end of the fourth arm section 34.
S590b, confirming that the cylinder group 4 makes the moving direction of the actual moment arm increase as the dangerous direction.
Since the actual load moment M is G × OD, G is the weight of the load, and OD is a vertical projection line of the end of the boom system 3 away from the first arm section 31, that is, an actual moment arm of the load, the actual moment arm OD is directly proportional to the actual load moment without changing G.
On the premise, no matter single knuckle arm moves or a plurality of knuckle arms are linked, the control system only needs to confirm the variation trend of the actual moment arm OD.
In one possible embodiment, in step S500, the cylinder group 4 is actually composed of a plurality of cylinders, and different cylinders correspond to different motions, such as luffing, slewing, telescoping, etc. The determination of the dangerous direction of the cylinder group 4 is based only on an increase or decrease in the actual load moment M, and therefore the determination form has many cases.
As shown in fig. 3, 4, and 8 to 12, taking as an example the first luffing cylinder 41 of the cylinder group 4 for driving the first articulated arm 31 to luffing motion relative to the rotating upright 35, the piston rod of the first luffing cylinder 41 retracts corresponding to the first articulated arm 31 folding relative to the rotating upright 35, and the piston rod of the first luffing cylinder 41 extends corresponding to the first articulated arm 31 unfolding relative to the rotating upright 35.
The step S500 comprises:
s510, obtaining a first angle value a, obtaining a second angle value b, obtaining a telescopic length value L, obtaining the length K1 of the first knuckle arm 31, and obtaining the length K2 of the second knuckle arm 32. The first angle value a is an included angle value between a first section of arm 31 of the boom system 3 and a horizontal plane, the second angle value b is an included angle value between a second section of arm 32 of the boom system 3 and the horizontal plane, and the telescopic length value L is a total length value between a third section of arm 33 of the boom system 3 and a fourth section of arm 34 of the boom system 3.
And S520, calculating the position relation between the virtual line segment OE and the horizontal plane passing through the first origin O according to the first angle value a, the second angle value b, the stretching length value L, the length K1 of the first knuckle arm 31 and the length K2 of the second knuckle arm 32. The first origin O is a hinge point between the rotating column 35 of the boom system 3 and the first arm section 31, and the virtual line OE is a connection line from the first origin to the end of the fourth arm section 34.
It is clear that the closer the virtual line segment OE is to the horizontal plane passing through the first origin O, the longer the moment arm OD.
And S530, when the virtual line segment OE is positioned on the upper side of the horizontal plane passing through the first origin O, confirming that the first luffing cylinder 41 of the cylinder group 4 drives the first knuckle arm 31 to be in a dangerous direction relative to the folding direction of the rotary upright 35. When the virtual line segment OE is located on the lower side of the horizontal plane passing through the first origin O, it is confirmed that the first luffing cylinder 41 of the cylinder group 4 drives the first articulated arm 31 in the dangerous direction with respect to the direction in which the revolving upright 35 is deployed.
As shown in fig. 3, 5, and 8 to 11, taking as an example the second luffing cylinder 42 of the cylinder group 4 that actuates the second articulated arm 32 in luffing motion relative to the first articulated arm 31, the piston rod of the second luffing cylinder 42 is retracted corresponding to the second articulated arm 32 being folded relative to the first articulated arm 31, and the piston rod of the second luffing cylinder 42 is extended corresponding to the second articulated arm 32 being unfolded relative to the first articulated arm 31.
The step S500 comprises:
and S540, acquiring a second angle value b. The second angle value is an included angle value between the second arm section 32 of the boom system 3 and the horizontal plane.
And S550, calculating the position relation between the second arm 32 and the horizontal plane passing through the second origin according to the second angle value b. Wherein the second origin is a hinge point of the first knuckle arm 31 and the second knuckle arm 32.
It is clear that the smaller the absolute value of the second angle value b, the closer the second knuckle arm 32 is to a horizontal plane passing through the second origin, the longer the moment arm OD.
And S560, when the second arm joint 32 is positioned at the upper side of the horizontal plane passing through the second origin, confirming that the second luffing cylinder 42 of the cylinder group 4 drives the second arm joint 32 to be in a dangerous direction relative to the folding direction of the first arm joint 31. When the second articulated arm 32 is on the lower side of the horizontal plane passing through the second origin, it is confirmed that the second luffing cylinder 42 of the cylinder group 4 drives the second articulated arm 32 in a dangerous direction with respect to the direction in which the first articulated arm 31 is deployed.
As shown in fig. 3 and fig. 6 to 11, taking the first telescopic cylinder 43 and the second telescopic cylinder 44 in the cylinder group 4 as an example, the retraction of the piston rod of the first telescopic cylinder 43 corresponds to the retraction of the third joint arm 33 with respect to the second joint arm 32, and the extension of the piston rod of the first telescopic cylinder 43 corresponds to the extension of the third joint arm 33 with respect to the second joint arm 32; the piston rod of the second telescopic cylinder 44 is retracted corresponding to the fourth joint arm 34 being retracted relative to the third joint arm 33, and the piston rod of the second telescopic cylinder 44 is extended corresponding to the fourth joint arm 34 being extended relative to the third joint arm 33.
Obviously, the fourth arm 34, the third arm 33 and the second arm 32 are on the same axis, and the extension and retraction of the fourth arm, the third arm and the second arm change from one another by an overall length K1+ K2+ L, and the longer the length K1+ K2+ L, the longer the arm OD.
The step S500 comprises:
and S570, confirming that the first telescopic oil cylinder 43 of the oil cylinder group 4 drives the third section arm 33 of the boom system 3 to be in a dangerous direction relative to the extending direction of the second section arm 32 of the boom system 3.
And S580, confirming that the second telescopic oil cylinder 44 of the oil cylinder group 4 drives the fourth section arm 34 of the boom system 3 to extend out relative to the third section arm 33 of the boom system 3 to be a dangerous direction.
It will be appreciated that in each of the above embodiments for determining a direction of risk, the direction of each cylinder of the cylinder group 4 is related by its corresponding effect.
Specifically, the third knuckle arm 33 extends relative to the second knuckle arm 32 of the boom system 3 due to the rodless cavity oil feeding of the first telescopic cylinder 43 to cause the force arm OD to extend, a second action position of the action control valve 6 corresponds to the rodless cavity oil feeding of the first telescopic cylinder 43, and the second action position of the action control valve 6 moves towards the movement direction which increases the actual load moment M corresponding to the boom system 3.
When the virtual line segment OE is located at the lower side of the horizontal plane passing through the first origin O, the rodless cavity oil inlet of the first luffing cylinder 41 expands the first pitch arm 31 relative to the rotary upright 35 to cause the moment arm OD to extend, the rodless cavity oil inlet of the first luffing cylinder 41 corresponds to a second action position of the action control valve 6, and the second action position of the action control valve 6 moves in the movement direction of increasing the actual load moment M corresponding to the boom system 3.
When the virtual line segment OE is located on the upper side of the horizontal plane passing through the first origin O, the rod-containing cavity of the first luffing cylinder 41 is filled with oil so that the first arm section 31 is folded relative to the rotary upright column 35 to cause the moment arm OD to extend, and the rod-containing cavity of the first luffing cylinder 41 corresponds to the first action position of the action control valve 6; the first actuation position of the actuation control valve 6 corresponds to a movement of the boom system 3 in a movement direction which increases the actual load moment M. By analogy, it is not repeated herein.
In one possible implementation, as shown in fig. 3 and fig. 7 to 11, the step S600 includes:
and S610, confirming that the actual load moment M is equal to the theoretical load moment M2.
S620, the valve body of the operation prohibition control valve 6 is set at the opening position corresponding to the dangerous direction to stop the operation of the cylinder group 4 in the dangerous direction. The valve element of the operation control valve 6 is allowed to be at an opening position corresponding to the safe direction to realize the slow operation of the cylinder group 4 in the safe direction.
One of the action positions of the action control valve 6 corresponds to a dangerous direction, the opening degree of the valve core is 0-100 at the action position, and the condition that the valve core is at any opening degree position of 0-100 means that the boom system 3 acts towards the dangerous direction in which the actual load moment M is increased. Therefore, the valve body of the motion prohibition control valve 6 being in the opening position corresponding to the dangerous direction can be understood as the motion prohibition control valve 6 being in the motion position corresponding to the dangerous direction.
The operation position of the operation prohibition control valve 6 in the corresponding dangerous direction here means: if the action control valve 6 is already at the action position, the control system controls automatic switching; if the motion control valve 6 is not in the motion position, but the operator operates the switch to the motion position, the control system controls the switch to be invalid. By automatically controlling the action control valve 6, the boom system 3 of the hoisting machine is ensured not to act towards the dangerous direction of increasing the actual load moment M under the condition of full load, and the safety is ensured.
It is understood that the operation control valves 6 include a first operation position and a second operation position, and under the condition that the cylinder groups 4 have different cylinders and the danger direction is determined, the operation position of one operation control valve 6 corresponding to the danger direction may be the first operation position or the second operation position, and in the same hydraulic system, the operation positions of a plurality of operation control valves 6 corresponding to the danger direction may be different from each other. Whether the current operation position corresponds to the dangerous direction or the safe direction can be determined by confirming the opening position of the spool of the operation control valve 6.
A control system comprises a memory, and the memory stores the program of the control method.
As shown in fig. 8 to 11, a hoisting machine includes: the hydraulic control system comprises a machine body 1, a main oil pump 2, a boom system 3, an oil cylinder group 4, a first angle sensor 51, a pressure sensor 52 and a control system.
The arm support system 3 comprises a rotary upright post 35, a first knuckle arm 31, a second knuckle arm 32, a third knuckle arm 33 and a fourth knuckle arm 34; the rotating upright column 35 is arranged on the machine body 1, the first knuckle arm 31 is hinged with the rotating upright column 35, the second knuckle arm 32 is hinged with the first knuckle arm 31, the third knuckle arm 33 is sleeved in the second knuckle arm 32, and the fourth knuckle arm 34 is sleeved in the third knuckle arm 33.
The oil cylinder group 4 comprises a first luffing oil cylinder 41, a second luffing oil cylinder 42, a first telescopic oil cylinder 43, a second telescopic oil cylinder 44 and a rotary oil cylinder 45; the first luffing cylinder 41 can drive the first knuckle boom 31 to fold or unfold relative to the rotary upright 35; the second luffing cylinder 42 can drive the second knuckle arm 32 to fold or unfold relative to the first knuckle arm 31; the first telescopic cylinder 43 can drive the third knuckle arm 33 to extend or retract relative to the second knuckle arm 32; the second telescopic cylinder 44 can drive the fourth link arm 34 to extend or retract relative to the third link arm 33.
The first angle sensor 51 may be disposed on the first joint arm 31, and the first angle sensor 51 may be capable of detecting an angle value of the first joint arm 31 with respect to a horizontal plane.
A pressure sensor 52 is provided on the rodless chamber or the rodless chamber of the first luffing cylinder 41, and the pressure sensor 52 is capable of detecting the pressure of the first luffing cylinder 41.
The first angle sensor 51 is in signal connection with the control system to feed back a first angle value; the pressure sensor 52 is in signal connection with the control system to feed back the pressure value; the control system controls the operation of the main oil pump 2 and the operation of the cylinder group 4.
By the device and the control method, when the actual load moment M is in the load moment range, the upper limit value of the opening range of the valve core of the action control valve 6 is reduced to reduce the upper limit value of the flow of the hydraulic oil entering the oil cylinder group 4 to realize speed reduction, so that the upper limit value of the movement speed range of the boom system 3 is reduced, and the boom system 3 moves in a relatively lower movement speed range; when the actual load moment M is equal to the theoretical load moment M2, the spool of the motion-prohibiting control valve 6 is at the opening position corresponding to the dangerous direction; therefore, the safety of the automatic operation action control 6 is effectively ensured, the tipping of the hoisting machine caused by over-high speed and over-high actual load moment M is prevented, and the safety of the operation of the hoisting machine is improved.
In one possible embodiment, as shown in fig. 8-11, the hoist machinery includes a plurality of motion control valves 6 with position sensors. The position sensor can detect the opening degree of the valve element of the corresponding operation control valve 6, and the control system receives a signal from the position sensor to confirm the opening degree of the valve element, thereby realizing the control method.
The control system controls the movement of the spool of the operation control valve 6, and the main oil pump 2 supplies oil to the first luffing cylinder 41, the second luffing cylinder 42, the first telescopic cylinder 43, the second telescopic cylinder 44, and the rotary cylinder 45 through the plurality of operation control valves 6, respectively.
The motion control valve 6 comprises an electromagnetic mechanism (not shown) for driving the valve core to move, and the control system is connected with the electromagnetic mechanism to control the movement of the valve core of the motion control valve 6; when the actual load moment M is equal to the theoretical load moment M2. The control system controls the current magnitude and direction of the electromagnetic mechanism to realize the action position for forbidding the action control valve 6 to be in the corresponding dangerous direction.
In one possible embodiment, as shown in fig. 8 to 11, the hoisting machine comprises a second angle sensor 53. Second angle sensor 53 may be disposed on second jointed arm 32. The second angle sensor 53 is capable of detecting a value of the included angle of the second knuckle arm 32 with the horizontal plane, and the second angle sensor 53 is in signal connection with the control system to feed back the second angle value.
In one possible embodiment, the lifting mechanism includes a length sensor (not shown). The length sensor may be provided on the third knuckle arm 33 and/or the fourth knuckle arm 34. The length sensor can detect the total length value of the third arm section 33 and the fourth arm section 34, and the length sensor is in signal connection with the control system to feed back the stretching length value.
The various embodiments/implementations provided herein may be combined with each other without contradiction.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (16)
1. An overload prevention control method for a hoisting machine is characterized in that the hoisting machine comprises a boom system (3) and a cylinder group (4) for driving the boom system (3) to act, and the control method comprises the following steps:
calculating an actual load moment;
acquiring a preset load moment range;
and when the actual load moment is in the load moment range, reducing the upper limit value of the movement speed range of the arm frame system (3) driven by the oil cylinder group (4).
2. The control method according to claim 1, wherein the step of calculating the actual load moment includes:
acquiring a first angle value, wherein the first angle value is an included angle value between a first arm section (31) of the arm support system (3) and a horizontal plane;
acquiring a pressure value, wherein the pressure value is the hydraulic pressure of a first amplitude variation oil cylinder (41) of the oil cylinder group (4), and the first amplitude variation oil cylinder (41) is used for driving the first arm section (31) to act;
and calculating the actual load moment according to the first angle value and the pressure value.
3. The control method according to claim 1, characterized in that the upper limit value of the range of the movement speed of the boom system (3) is reduced to a target value, which decreases with increasing actual load moment M.
4. A control method according to claim 1 or 3, characterized in that said reducing the upper limit value of the range of movement speeds of the boom system (3) when the actual load moment is within the load moment range comprises:
confirming that the actual load moment is within the load moment range;
and reducing the upper limit value of the opening range of the valve core of the action control valve (6) so as to reduce the upper limit value of the movement speed range of the arm support system (3).
5. The control method according to claim 1, characterized by comprising:
acquiring a preset theoretical load moment, wherein the theoretical load moment is larger than the maximum value of the load moment range;
confirming the dangerous direction of the oil cylinder group (4); wherein the movement direction of the oil cylinder group (4) for increasing the actual load moment M is a dangerous direction;
and when the actual load moment is equal to the theoretical load moment, stopping the action of the oil cylinder group (4) towards the dangerous direction.
6. The control method according to claim 5, characterized in that the step of confirming the dangerous direction of the cylinder group (4) comprises:
confirming an actual force arm;
and confirming that the movement direction of the oil cylinder group (4) which enables the actual moment arm to be increased is a dangerous direction.
7. The control method according to claim 5, characterized in that the step of confirming the dangerous direction of the cylinder group (4) comprises:
acquiring a first angle value, a second angle value, a telescopic length value, the length of a first knuckle arm (31) and the length of a second knuckle arm (32); the first angle value is an included angle value between a first section of arm (31) of the boom system (3) and a horizontal plane, the second angle value is an included angle value between a second section of arm (32) of the boom system (3) and the horizontal plane, and the telescopic length value is a total length value between a third section of arm (33) of the boom system (3) and a fourth section of arm (34) of the boom system (3);
calculating the position relation between a virtual line segment and a horizontal plane passing through a first origin according to the first angle value, the second angle value, the stretching length value, the length of the first knuckle arm (31) and the length of the second knuckle arm (32); the first origin is a hinge point between a rotary upright post (35) of the boom system (3) and the first section arm (31), and the virtual line segment is a connecting line from the first origin to the tail end of the fourth section arm (34);
when the virtual line segment is positioned at the upper side of a horizontal plane passing through the first origin, confirming that the direction in which the first arm section (31) is driven by the oil cylinder group (4) to be folded relative to the rotary upright post (35) is a dangerous direction;
when the virtual line segment is at the lower side of a horizontal plane passing through the first origin, the direction in which the cylinder group (4) drives the first arm section (31) to be unfolded relative to the rotary upright (35) is confirmed to be a dangerous direction.
8. The control method according to claim 5, characterized in that the step of confirming the dangerous direction of the cylinder group (4) comprises:
acquiring a second angle value; the second angle value is an included angle value between a second arm (32) of the arm support system (3) and a horizontal plane;
calculating the positional relationship of the second arm (32) to a horizontal plane passing through a second origin point based on the second angle value; wherein the second origin point is a hinge point of the first knuckle arm (31) and the second knuckle arm (32);
when the second arm (32) is at the upper side of the horizontal plane passing through the second origin, confirming that the direction in which the cylinder group (4) drives the second arm (32) to fold relative to the first arm (31) is a dangerous direction;
when the second arm (32) is at the lower side of the horizontal plane passing through the second origin, it is confirmed that the direction in which the cylinder group (4) drives the second arm (32) to be unfolded with respect to the first arm (31) is a dangerous direction.
9. The control method according to claim 5, characterized in that the step of confirming the dangerous direction of the cylinder group (4) comprises:
and confirming that the direction in which the third section arm (33) of the arm frame system (3) is driven by the oil cylinder group (4) to extend relative to the second section arm (32) of the arm frame system (3) is a dangerous direction.
10. The control method according to claim 5, characterized in that the step of confirming the dangerous direction of the cylinder group (4) comprises:
confirming that the direction in which the fourth section of arm (34) of the arm support system (3) is driven by the oil cylinder group (4) relative to the extending direction of the third section of arm (33) of the arm support system (3) is a dangerous direction.
11. A control method according to claim 5, characterized in that said step of stopping the action of the cylinder group (4) in the dangerous direction when the actual load moment M is equal to the theoretical load moment M2 comprises:
confirming that the actual load moment M is equal to the theoretical load moment M2;
the valve body of the motion prohibiting control valve (6) is positioned at an opening position corresponding to the dangerous direction to stop the motion of the cylinder group (4) in the dangerous direction.
12. A control system characterized by comprising a memory storing a program of the control method according to any one of claims 1 to 11.
13. A hoisting machine, comprising:
a body (1);
a main oil pump (2);
the arm support system (3), the arm support system (3) comprises a rotary upright post (35), a first section arm (31), a second section arm (32), a third section arm (33) and a fourth section arm (34); the rotary upright post (35) is arranged on the machine body (1), the first knuckle arm (31) is hinged to the rotary upright post (35), the second knuckle arm (32) is hinged to the first knuckle arm (31), the third knuckle arm (33) is sleeved in the second knuckle arm (32), and the fourth knuckle arm (34) is sleeved in the third knuckle arm (33);
the oil cylinder group (4) comprises a first amplitude variation oil cylinder (41), a second amplitude variation oil cylinder (42), a first telescopic oil cylinder (43), a second telescopic oil cylinder (44) and a rotary oil cylinder (45); the first luffing cylinder (41) can drive the first knuckle arm (31) to fold or unfold relative to the rotary upright (35); the second luffing cylinder (42) can drive the second knuckle arm (32) to fold or unfold relative to the first knuckle arm (31); the first telescopic oil cylinder (43) can drive the third knuckle arm (33) to extend or retract relative to the second knuckle arm (32); the second telescopic oil cylinder (44) can drive the fourth arm (34) to extend or retract relative to the third arm (33);
a first angle sensor (51), wherein the first angle sensor (51) can detect the included angle value of the first arm section (31) and the horizontal plane;
a pressure sensor (52), the pressure sensor (52) being capable of detecting the pressure of the first luffing cylinder (41);
and a control system as claimed in claim 12; the first angle sensor (51) is in signal connection with the control system; the pressure sensor (52) is in signal connection with the control system; the control system controls the actions of the main oil pump (2) and the oil cylinder group (4) respectively.
14. Hoisting machine as claimed in claim 13, characterized in that the hoisting machine comprises a plurality of motion control valves (6) with position sensors;
the position sensor can detect the opening degree of a valve core of the corresponding action control valve (6), and the control system confirms the opening degree of the valve core by receiving the signal of the position sensor;
the control system controls the movement of a valve core of the action control valve (6), and the main oil pump (2) supplies oil to the first luffing oil cylinder (41), the second luffing oil cylinder (42), the first telescopic oil cylinder (43), the second telescopic oil cylinder (44) and the rotary oil cylinder (45) through the plurality of action control valves (6) correspondingly.
15. Hoisting machine as claimed in claim 13, characterized in that the hoisting machine comprises a second angle sensor (53); the second angle sensor (53) can detect the included angle value of the second knuckle arm (32) and the horizontal plane, and the second angle sensor (53) is in signal connection with the control system.
16. The hoisting machine of claim 13, wherein the hoisting machine includes a length sensor; the length sensor can detect the total length value of the third arm (33) and the fourth arm (34), and is in signal connection with the control system.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN115259040A (en) * | 2022-08-24 | 2022-11-01 | 湖南星邦智能装备股份有限公司 | Telescopic amplitude control method and system for aerial work platform |
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| CN113511590A (en) * | 2021-06-04 | 2021-10-19 | 北京自动化控制设备研究所 | Control method for heavy-load zero-speed starting of electric hoisting device |
| CN113511590B (en) * | 2021-06-04 | 2023-07-11 | 北京自动化控制设备研究所 | Heavy-load zero-speed starting control method for electric hoisting device |
| CN115259040A (en) * | 2022-08-24 | 2022-11-01 | 湖南星邦智能装备股份有限公司 | Telescopic amplitude control method and system for aerial work platform |
| CN115259040B (en) * | 2022-08-24 | 2023-12-22 | 湖南星邦智能装备股份有限公司 | Telescopic amplitude control method and system for aerial working platform |
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