CN202864789U - Crane and double-winch synchronous control device thereof - Google Patents
Crane and double-winch synchronous control device thereof Download PDFInfo
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- CN202864789U CN202864789U CN 201220413874 CN201220413874U CN202864789U CN 202864789 U CN202864789 U CN 202864789U CN 201220413874 CN201220413874 CN 201220413874 CN 201220413874 U CN201220413874 U CN 201220413874U CN 202864789 U CN202864789 U CN 202864789U
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Abstract
The utility model discloses a double-winch synchronous control device, wherein a lifting hook is connected with double winches through a lifting hook assembly; the double-winch synchronous control device comprises an angle signal acquisition component and a controller; the angle signal acquisition component is used for acquiring posture angles of the lifting hook assembly; and the controller outputs synchronous control signals to driving mechanisms of one or two of the double winches according to the posture angles of the lifting hook assembly so as to control a lifting hook assembly framework to keep a horizontal posture. The double-winch synchronous control device can ensure that the lifting hook assembly framework keeps the horizontal posture and improves overall operating stability. On the basis of the double-winch synchronous control device, the utility model further provides a crane to which the double-winch synchronous control device is applied to.
Description
Technical field
The utility model relates to a kind of construction machinery and equipment technology, is specifically related to a kind of hoisting crane and double hoisting sync control device thereof.
Background technology
Based on the increasingly variation of construction demand, existing hoisting crane technology is developed rapidly, only uses less than the time in 10 years and has finished great-leap-forward development from hundred tonnes of products to the kiloton product.At present, goliath will adopt two elevators to promote simultaneously a load hook by assembly pulley, with the applying working condition of applicable larger hoisting weight when lifting greater weight load.
Yet, use in the working process of double hoisting lifting at hoisting crane, be subject to the impact of the factors such as external force, hydraulic fluid flow rate inequality, wirerope-winding difference, very easily cause the work of lifting hook pulley group deflection, thereby cause pulley to damage and steel rope accelerated wear test.In addition, the assembly pulley under the deflected condition also can be so that the load of two elevators be unequal, like this, when full and down lift heavy thing, will have an elevator overload job and safety misadventure occurs, and therefore has very serious potential safety hazard.
Be the net synchronization capability of Effective Raise double hoisting, each Famous Construction Machinery Manufacturers has all proposed corresponding control technology.For example, Fig. 1, Fig. 2 and a solution shown in Figure 3.Shown in the figure, elevator 1,2 steel rope be the guide pulley on wheel shaft 93,4 respectively, and left-right symmetric is set around on the hook assembly 5, and suspension hook 10 is arranged on hook assembly 5 belows; And the electro- detection switch 6,7 of induction type is installed respectively at guide pulley 3,4 places, is fixed on the guide pulley outside with the inductive disks 8 of square shaped teeth with detection.In the working process, the square shaped teeth of inductive disks and breach pass through respectively detector switch when pulley rotates, corresponding the sending of switch led to and disconnected signal, and these impulse singlas are carried out stored count, and the real-time accumulated number of pulse namely corresponds to the length value of rope stretching (or rope closing).Control system compares the length difference of two steel ropes, regulate the speed of two elevators according to certain rule by comparative result, make large suitably the underspeeding of rope capacity, make the little suitable raising speed of rope capacity, until the difference of two elevator rope stretching amounts (or rope closing amount) in allowed limits.
Based on aforementioned job analysis as can be known, the core of this technology is to detect elevator by the electro-detection switch to go out (receipts) rope amount, to realize the double hoisting synchro control.But, being subjected to the restriction of its principle of work, there is following shortcoming in this technology:
At first, hang a year front initial level state and only depend on the people to observe, can not guarantee the initial level precision, be not in level if hang the attitude of carrying the front hook assembly framework of operation, even hang elevator in the process of carrying to go out (receipts) rope amount identical, can not guarantee that double hoisting work is synchronous, stressed equal.
The second, go out (receipts) rope amount by what install at the pulley place that the electro-detection switch calculates guide pulley place elevator, there is error in detection and the computation process, control accuracy is not high.
The 3rd, needing has the inductive disks of responding to tooth at pulley outside mounting strap, complex structure, and Mismachining tolerance directly affects synchronous control accuracy.
In view of this, demanding urgently looking for another way provides a kind of double hoisting of driven in synchronism suspension hook synchronous control technique, on the basis of cargo hook gear smooth working, guarantees that simultaneously double hoisting keeps all carrying mode of operation.
The utility model content
For defects, the technical matters that the utility model solves is, a kind of double hoisting sync control device is provided, and is in horizontal attitude to guarantee its hook assembly, improves the working stability of complete machine.On this basis, the utility model also provides a kind of hoisting crane of this sync control device of application.
The double hoisting sync control device that the utility model provides, suspension hook is connected with described double hoisting by hook assembly; Described sync control device comprises angle signal acquisition component and controller, wherein, described angle signal acquisition component is for the attitude angle of the framework that obtains described hook assembly, described controller is according to the driver train of the attitude angle of described hook assembly framework output synchronous control signal one or both to the described double hoisting, to control the attitude maintenance level of described hook assembly framework.
Preferably, also comprise two tach signal acquisition component, be respectively applied to obtain the rotating speed of described double hoisting; Described controller is configured to: described attitude angle signal is when reporting an error signal, according to the driver train of the rotating speed port redundancy synchronous control signal of described double hoisting one or both to the described double hoisting.
Preferably, described controller comprises memory cell, comparison judgment unit and output unit; Wherein, described memory cell is used for the default attitude angle threshold of storage; Described comparison judgment unit take described attitude angle greater than described attitude angle threshold as condition, to adjust the judged result of attitude; Described output unit is according to described judged result output synchronous control signal.
Preferably, described memory cell also is used for the default speed discrepancy threshold value of storage, when described attitude angle signal when reporting an error signal, described comparison judgment unit take the speed discrepancy of described double hoisting greater than described speed discrepancy threshold value as condition, obtain the redundant judged result of adjusting attitude.
Preferably, described output unit also according to described judged result output alarm signal to Warning light or buzzer phone.
Preferably, described angle signal acquisition component comprises wireless angular transducer and wireless receiver; Wherein, described wireless angular transducer is arranged on the described hook assembly framework, and described wireless receiver receives the attitude angle signal that described wireless angular transducer gathers, and exports described controller to.
Preferably, described driver train is motor or HM Hydraulic Motor.
The double hoisting synchronisation control means that the utility model provides, suspension hook is connected with described double hoisting by hook assembly; Carry out according to following step:
S1. obtain the attitude angle of the framework of described hook assembly;
S2. according to the driver train of the attitude angle of described hook assembly framework output synchronous control signal one or both to the described double hoisting, to control the attitude maintenance level of described hook assembly framework.
Preferably, carry out before the step S2:
S3. judge whether described attitude angle signal is the signal that reports an error; If, then
S4. according to the driver train of the rotating speed port redundancy synchronous control signal of described double hoisting one or both to the described double hoisting.
The hoisting crane that the utility model provides comprises the Lifting device that is articulated in the chassis and is suspended in the suspension hook of the arm head section of described Lifting device, and described suspension hook is connected with double hoisting on being arranged on the chassis by hook assembly; Also comprise foregoing double hoisting sync control device.
Double hoisting sync control device described in the utility model has carried out improving design, this scheme adopts the angle signal acquisition component to obtain the attitude angle of hook assembly framework, and based on the driver train of the attitude angle of hook assembly framework output synchronous control signal one or both to the double hoisting, keep level with the attitude of the rope stretching length control hook assembly framework by two elevators.In the actual use procedure, before hoisting hook carries, at first carry out the synchro control under the initialization state, can guarantee to hang a year front hook assembly framework and be in horizontality, like this, under the rated load state, can evade the one overload in the double hoisting fully; Hang the process of carrying and to regulate in real time the velocity of rotation of two elevators according to the attitude angle of current hook assembly framework, even if the impact of the factors such as the external force of being subject to, hydraulic fluid flow rate inequality, wirerope-winding difference, also can guarantee the double hoisting synchronous working, and then so that the hook assembly framework is in horizontality all the time in hanging the process of carrying.
Compared with prior art, this programme can guarantee to hang year Startup time and hang the double hoisting that carries whole process synchronous, and effective leveling of hook assembly framework, can not produce skewness owing to use the hook assembly of this sync control device, therefore can not cause the problem of pulley damage and the abnormal wearing and tearing of steel rope; In addition, actv. leveling hook assembly framework provides reliable guarantee for the synchronous requirement of all carrying of two elevators, guarantees that winding plant and driver train thereof are in safe and reliable mode of operation, has greatly improved the safe reliability of complete machine operation.
Preferred version of the present utility model further has additional redundant synchronization control function, adopt the tach signal acquisition component to obtain respectively the rotating speed of double hoisting, when the angle signal acquisition component breaks down, then according to the driver train of the rotating speed port redundancy synchronous control signal of double hoisting one or both to the double hoisting.For the angle signal acquisition component, the tach signal acquisition component is as the redundancy protecting means, and is synchronous according to the rotating speed control double hoisting of two elevators that obtain, and can further improve the safe reliability of synchro control.
Description of drawings
Fig. 1 is that existing double hoisting list hook block carries the integral structure scheme drawing;
Fig. 2 is the inductive disks scheme drawing of synchronous device shown in Fig. 1;
Fig. 3 is the local enlarged diagram at the guide pulley place of synchronous device shown in Fig. 1;
Fig. 4 is the integral structure scheme drawing of the described hoisting crane of the specific embodiment;
Fig. 5 is the assembly relation scheme drawing that the described double hoisting of the specific embodiment drives suspension hook;
Fig. 6 is the block scheme of the described double hoisting sync control device of the first embodiment;
Fig. 7 shows the integral structure scheme drawing of wireless angular transducer;
Fig. 8 shows the functional block diagram of two volume sync control devices shown in Figure 6;
Fig. 9 is the block scheme of the described double hoisting sync control device of the second embodiment;
Figure 10 shows the functional block diagram of two volume sync control devices shown in Figure 9;
Figure 11 shows a kind of assembly relation scheme drawing of tachogen described in the second embodiment.
Among Fig. 4-Figure 11:
Angle signal acquisition component 10, wireless angular transducer 11, wireless receiver 12, hook assembly 20, controller 30, memory cell 31, comparison judgment unit 32, output unit 33, telltale 40, the first tach signal acquisition component 51, the second tach signal acquisition component 52, the first elevator driver train 61, the second elevator driver train 62, HM Hydraulic Motor 70.
The specific embodiment
Core of the present utility model is to be optimized for the double hoisting synchronous control technique, keeps on the basis of horizontal attitude at reliable its hook assembly of control, and effectively having evaded unbalance loading affects complete machine stability.Specify present embodiment below in conjunction with Figure of description.
Be without loss of generality, present embodiment describes in detail as main body with wheel crane.
See also Fig. 4, this figure is the integral structure scheme drawing of the described wheel crane of present embodiment.
As shown in the figure, this hoisting crane comprises wheel undercarriage, be arranged on the turntable of getting on the bus on the wheel undercarriage, be articulated in the turntable front portion of getting on the bus Lifting device, provide the winding plant of weight lifting propulsive effort, and main function components such as counter weight device that are positioned at the turntable rear portion of getting on the bus.
Need to prove that the described aforementioned functional parts of present embodiment can adopt existing techniques in realizing, so this paper specifically repeating no more for building blocks of functions such as chassis, the turntable of getting on the bus, Lifting devices.
This wheel crane has double hoisting list hook block and carries operating mode, and suspension hook is connected with double hoisting by hook assembly, to be applicable to lift by crane the operating mode of heavier load.Concrete connection structure can be same as the prior art, please in the lump referring to Fig. 5, the figure shows the assembly relation scheme drawing that double hoisting drives suspension hook.Be to describe the application's inventive point in detail, please further referring to the block scheme of double hoisting sync control device shown in Figure 6.
As shown in Figure 6, this sync control device comprises angle signal acquisition component 10, is used for obtaining the attitude angle of hook assembly 20 frameworks, and converts this attitude angle to usable output signal; After controller 30 receives this signal, driver train according to the attitude angle of hook assembly 20 frameworks output synchronous control signal one or both to the double hoisting, that is, the first elevator driver train 61 and the second elevator driver train 62 are with the attitude maintenance level of control hook assembly 20 frameworks.Herein, the hook assembly framework comprises that the pulley group frame of hook assembly reaches the connecting panel that is used for suspension hook.Should be appreciated that based on the powerdriven general design of complete machine the driver train of elevator can be motor or HM Hydraulic Motor.
That is to say, rope stretching length control hook assembly 20 frameworks by two elevators are in horizontality all the time, as shown in Figure 5, if hook assembly 20 frameworks tilt to cause its left side to move down, then export reduction of speed control signal to the left side elevator and/or output raising speed control signal to the right side elevator, that is, left side elevator rope stretching length reduces relatively, and right side elevator rope stretching length increases relatively; If hook assembly 20 frameworks tilt and to cause its right side to move down, export then that raising speed controls signal to the left side elevator and/or the output reduction of speed controls signal to the right side elevator, that is, left side elevator rope stretching length increases relatively, and right side elevator rope stretching length reduces relatively.In the actual use procedure, before hoisting hook carries, at first carry out the leveling control under the initialization state, can guarantee to hang a year front hook assembly and be in horizontality, like this, under the rated load state, can evade the one overload in the double hoisting fully; Hang the process of carrying and to regulate in real time the velocity of rotation of two elevators according to the attitude angle of current hook assembly framework, even if the impact of the factors such as the external force of being subject to, hydraulic fluid flow rate inequality, wirerope-winding difference, also can guarantee the double hoisting synchronous working, and then so that hook assembly is in horizontality all the time in hanging the process of carrying.
In this programme, angle signal acquisition component 10 can adopt contact type angle sensor or non-contact angle sensor, all can as long as satisfy the function needs of angle signal collection.Because hook assembly 20 frameworks and suspension hook are with respect to the control position real-time change of Lifting device, thus the angle signal acquisition component 10 preferred angular transducers that adopt wireless signal transmission, concrete wireless angular transducer 11 and wireless receiver 12 as shown in Figure 7.
Wireless angular transducer 11 is arranged on hook assembly 20 frameworks, moves up and down with hook assembly 20 during lift heavy; As long as should be appreciated that can Real-time Obtaining attitude angle signal all can, shown in the figure, wireless angular transducer 11 is at the connecting panel place of suspension hook and hook assembly 20 frameworks, simple in structure being easy to realized comparatively speaking.Wireless receiver 12 receives the attitude angle signal that wireless angular transducer 11 gathers, and its mouth links to each other with controller 30, exports analog signals or bus signals to controller 30.The wireless senser survey precision can reach ± and 0.1 °, control accuracy is high.
Particularly, can adopt Logic Circuit Design to realize as the main controller of device that makes, control startup, speed governing, the braking of motor according to resistance value in predefined procedure change circuit connection and the circuit, perhaps control the operation such as startup, hydraulic fluid flow rate, braking of HM Hydraulic Motor, namely realize the function of instruction fully by hardware.Certainly, also can adopt the PLC controller to realize corresponding command function, realize the automatic control of system by internal processes, to overcome the existing complex structure of decision circuit controller, the defective that can not revise again or expand after design is finished, please in the lump referring to Fig. 8, the figure shows the functional block diagram of two volume sync control devices.
As shown in Figure 6, this controller 30 comprises memory cell 31, comparison judgment unit 32 and output unit 33.Wherein, memory cell 31 is used for the default attitude angle threshold of storage; Comparison judgment unit 32 take described attitude angle greater than described attitude angle threshold as condition, to adjust the judged result of attitude; Output unit 33 is according to described judged result output synchronous control signal.Take driver train as example as HM Hydraulic Motor, the mouth of PLC (output unit 33) links to each other with the signal receiving end of corresponding control electromagnetic valve.
Need to prove that the attitude angle threshold is the angle of inclination permissible value of hook assembly 20 frameworks, this threshold value can be set according to different automobile types.As everyone knows, the angle of inclination permissible value of hook assembly 20 frameworks is directly related with the parameters such as distance between the elevator with pulley room distance, flute size, steel rope footpath and hook assembly 20, specifically can set accordingly according to security requirement.For example, attitude angle Threshold is ± 1 °, if the attitude angle of current hook assembly 20 frameworks that angle signal acquisition component 10 is obtained greater than 1 °, the driver train of output unit 33 output synchronous control signals one or both to the double hoisting then.
Certainly, can also preset an attitude angle secure threshold, in the synchro control process, the attitude angle that affected by external factor to cause hook assembly 20 frameworks is during greater than this attitude angle secure threshold, then controller 30 can be made the judgement of dangerous working condition, and the out-of-work pressure control signal of output elevator, to avoid risky operation.In addition, can provide human-computer interaction interface by telltale 40, with mode of operations such as real-time demonstration hook assembly angles of inclination; In addition, also can according to the judged result output alarm signal to Warning light or buzzer phone (not shown), to pay close attention to from audiovisual two aspect prompting operation persons and periphery ancillary staff, avoid the appearance of dangerous working condition.
Except two volume sync control devices, present embodiment also provides a kind of synchronisation control means on this basis, carries out according to following step:
S1. obtain the attitude angle of described hook assembly;
S2. according to the driver train of the attitude angle output synchronous control signal of the framework of described hook assembly one or both to the described double hoisting, to control the attitude maintenance level of described hook assembly framework.
Aforementioned the first embodiment carries out synchronously automatically control based on the attitude angle of hook assembly framework, can effectively control synchronous control accuracy.But, when the angle signal acquisition component breaks down in hanging the process of carrying, then need the lift heavy thing is put down safely.
Based on the problems referred to above, the utility model provides the second embodiment of double hoisting control setup, and please in the lump referring to Fig. 9 and Figure 10, wherein, Fig. 9 is the block scheme of the described double hoisting sync control device of the second embodiment; Figure 10 shows the functional block diagram of two volume sync control devices shown in Figure 9.
The difference of present embodiment and the first embodiment is the function of incremental redundancy synchro control.As shown in the figure, also comprise two tach signal acquisition component: the first tach signal acquisition component 51 and the second tach signal acquisition component 52 are respectively applied to obtain the rotating speed of described double hoisting.Wherein, this tach signal acquisition component can adopt the tachogen of machinery, electric, magnetic, light and the form such as hybrid equally, and can be installed in any position that can detect lifting-speed, for example, be arranged on the outer hull of HM Hydraulic Motor shown in Figure 11 70.Wherein, controller 30 is configured to: described attitude angle signal is when reporting an error signal, according to the driver train of the rotating speed port redundancy synchronous control signal of double hoisting one or both to the double hoisting.Other compositions and matching relationship and the first embodiment are identical.
In this programme, memory cell 31 also is used for the default speed discrepancy threshold value of storage, when the attitude angle signal when reporting an error signal, comparison judgment unit 32 take the speed discrepancy of double hoisting greater than the speed discrepancy threshold value as condition, obtain the judged result of redundant adjustment attitude.For the angle signal acquisition component, the tach signal acquisition component is as the redundancy protecting means, and is synchronous according to the rotating speed control double hoisting of two elevators that obtain, and can further improve the safe reliability of synchro control.Thereby, when wireless senser breaks down, adopt tachogen control double hoisting synchronous.
Obviously, based on the described two volume sync control devices of present embodiment, on the basis of the described synchronisation control means of the first embodiment, its synchronisation control means need to be carried out before step S2:
S3. judge whether described attitude angle signal is the signal that reports an error; If, then
S4. according to the driver train of the rotating speed port redundancy synchronous control signal of described double hoisting one or both to the described double hoisting.
Special version be; double hoisting sync control device and synchronisation control means that present embodiment provides are not only applicable to wheel crane; can also be applicable to the construction machinery and equipment that crawler crane and other application double hoistings drive suspension hook, any type of application the application's core design is all in the scope that the application asks for protection.
The above only is preferred implementation of the present utility model; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. double hoisting sync control device, suspension hook is connected with described double hoisting by hook assembly; It is characterized in that described sync control device comprises:
The angle signal acquisition component is for the attitude angle of the framework that obtains described hook assembly; With
Controller is according to the driver train of the attitude angle of described hook assembly framework output synchronous control signal one or both to the described double hoisting, to control the attitude maintenance level of described hook assembly framework.
2. double hoisting sync control device according to claim 1 is characterized in that, also comprises two tach signal acquisition component, is respectively applied to obtain the rotating speed of described double hoisting; Described controller is configured to: described attitude angle signal is when reporting an error signal, according to the driver train of the rotating speed port redundancy synchronous control signal of described double hoisting one or both to the described double hoisting.
3. double hoisting sync control device according to claim 2 is characterized in that, described controller comprises:
Memory cell is used for the default attitude angle threshold of storage;
Comparison judgment unit, take described attitude angle greater than described attitude angle threshold as condition, to adjust the judged result of attitude; With
Output unit is according to described judged result output synchronous control signal.
4. double hoisting sync control device according to claim 3, it is characterized in that, described memory cell also is used for the default speed discrepancy threshold value of storage, when described attitude angle signal when reporting an error signal, described comparison judgment unit take the speed discrepancy of described double hoisting greater than described speed discrepancy threshold value as condition, obtain the redundant judged result of adjusting attitude.
5. double hoisting sync control device according to claim 4 is characterized in that, described output unit also according to described judged result output alarm signal to Warning light or buzzer phone.
6. each described double hoisting sync control device in 5 according to claim 1 is characterized in that described angle signal acquisition component comprises:
Wireless angular transducer is arranged on the framework of described hook assembly; With
Wireless receiver receives the attitude angle signal that described wireless angular transducer gathers, and exports described controller to.
7. double hoisting sync control device according to claim 1 is characterized in that, described driver train is motor or HM Hydraulic Motor.
8. hoisting crane comprises the Lifting device that is articulated in the chassis and is suspended in the suspension hook of the arm head section of described Lifting device, and described suspension hook is connected with double hoisting on being arranged on the chassis by hook assembly; It is characterized in that, also comprise such as each described double hoisting sync control device in the claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220413874 CN202864789U (en) | 2012-08-20 | 2012-08-20 | Crane and double-winch synchronous control device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220413874 CN202864789U (en) | 2012-08-20 | 2012-08-20 | Crane and double-winch synchronous control device thereof |
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| CN202864789U true CN202864789U (en) | 2013-04-10 |
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| CN 201220413874 Withdrawn - After Issue CN202864789U (en) | 2012-08-20 | 2012-08-20 | Crane and double-winch synchronous control device thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807170A (en) * | 2012-08-20 | 2012-12-05 | 徐州重型机械有限公司 | Crane and synchronous control device and method of double winches |
| CN110683474A (en) * | 2019-08-28 | 2020-01-14 | 南京理工大学 | Synchronous control method and device for double-winch hoisting system of crane |
| CN116750649A (en) * | 2023-08-18 | 2023-09-15 | 太原重工股份有限公司 | Compensating device and control method for crane steel wire rope winding system |
-
2012
- 2012-08-20 CN CN 201220413874 patent/CN202864789U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102807170A (en) * | 2012-08-20 | 2012-12-05 | 徐州重型机械有限公司 | Crane and synchronous control device and method of double winches |
| CN102807170B (en) * | 2012-08-20 | 2015-08-19 | 徐州重型机械有限公司 | Hoisting crane and double hoisting sync control device, control method |
| CN110683474A (en) * | 2019-08-28 | 2020-01-14 | 南京理工大学 | Synchronous control method and device for double-winch hoisting system of crane |
| CN110683474B (en) * | 2019-08-28 | 2021-04-06 | 南京理工大学 | Synchronous control method and device for double-winch hoisting system of crane |
| CN116750649A (en) * | 2023-08-18 | 2023-09-15 | 太原重工股份有限公司 | Compensating device and control method for crane steel wire rope winding system |
| CN116750649B (en) * | 2023-08-18 | 2023-11-07 | 太原重工股份有限公司 | Compensating device and control method for crane steel wire rope winding system |
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