CN203159068U - Main hook hoisting device of crawler crane in working condition of tower - Google Patents
Main hook hoisting device of crawler crane in working condition of tower Download PDFInfo
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- CN203159068U CN203159068U CN 201320146049 CN201320146049U CN203159068U CN 203159068 U CN203159068 U CN 203159068U CN 201320146049 CN201320146049 CN 201320146049 CN 201320146049 U CN201320146049 U CN 201320146049U CN 203159068 U CN203159068 U CN 203159068U
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- limiter
- moment
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Abstract
The utility model discloses a main hook hoisting device of a crawler crane in a working condition of a tower. The device comprises a human-computer interface of a moment limiter, a main machine of the moment limiter, a PLC (Programmable Logic Controller), left and right control handles, proportional electromagnetic valves on a hydraulic pump, a main arm tension sensor, a main arm angular sensor, a tower arm tension sensor and a tower arm angular sensor, wherein each sensor is respectively connected with the main machine of the moment limiter; the left and right control handles are coupled with a controller through a CAN (Controller Area Network) bus; each electromagnetic valve is coupled with the output terminal of the PLC; and the sensors respectively input the tension value of the main arm, the tension value of the tower arm, the angle of the cantilever crane of the main arm and the angle of the cantilever crane of the tower arm to the controller through the main machine of the moment limiter, and the moments of the main arm and the tower arm are calculated by a program and are output to the human-computer interface of the moment limiter through the controller to be displayed. According to the device disclosed by the utility model, the limitation that the main hook cannot be used in the tower working condition of the crane, so that the using efficiency of the crane is greatly enhanced; no cost is increased by means of existing device, and the device is simple to realize; the device is connected through the CAN bus, so that the device is safe and reliable; and the device is wide in application range, and can be applied to similar devices.
Description
One, technical field
The utility model belongs to the crawler crane technical field, is specifically related to crawler crane when the operation of tower arm operating mode lift heavy, and changeable one-tenth main hook carries out lift heavy, and main hook lift heavy parameter under the tower arm operating mode is carried out device shown.
Two, background technology
Under the identical situation of crawler crane principal arm brachium, owing to increase the tower arm, be subjected to condition restriction such as operating radius, do not possess the condition of carrying the large-tonnage weight of hanging, and because operating radius is excessive, cause the user under tower operating mode, to want to carry out the large-tonnage lift heavy or the minor radius operation can only be changed operating mode, had a strong impact on the work efficiency of hoisting crane like this.How to realize crawler crane main hook under the tower operating mode can hang loads and to tower arm operating mode under main hook lift heavy correlation parameter show it is the important topic that the operation of crawler crane lift heavy needs to be resolved hurrily.
Three, summary of the invention
The purpose of this utility model is under the prerequisite that does not change the hoisting crane operating mode, realize the function that main hook can hang loads and main hook lift heavy correlation parameter under the tower arm operating mode is shown under the tower operating mode of crawler crane by existing installations such as limiter of moment, controllers, can not hang the drawback that year large-tonnage weight and minor radius are carried out operation under the tower operating mode of solution crawler crane, improve the work efficiency of hoisting crane greatly.
To achieve these goals, the utility model comprises: be positioned at limiter of moment man-machine interface on the driver's cab telltale, be positioned at electrical control cubicles the limiter of moment main frame, be positioned at electrical control cubicles the PLC controller, be positioned at left and right sides bar handle on the operating console, be positioned at proportion magnetic valve on the Hydraulic Pump, be installed on principal arm pulling force sensor on the principal arm arm-tie, be installed on principal arm frame root the principal arm angular transducer, be installed on the tower arm pulling force sensor on the tower arm arm-tie and be installed on the tower arm angle sensor of tower arm roots; Principal arm pulling force sensor, tower arm pulling force sensor, principal arm angular transducer and tower arm angle sensor couple with the limiter of moment main frame respectively; Left and right sides bar handle couples by CAN bus and controller; Principal arm rises electromagnetic valve, tower arm and rises electromagnetic valve, principal arm and fall electromagnetic valve, tower arm and fall electromagnetic valve, master file and rise the output port that electromagnetic valve and secondary volume rise electromagnetic valve and PLC controller and couple; Sensor is imported controller through the limiter of moment main frame respectively with the suffered value of thrust of principal arm, the suffered value of thrust of tower arm, principal arm jib angle and tower arm jib angle, calculate principal arm moment and tower arm strength square through program, output to the limiter of moment man-machine interface by controller and show; Bar handle provides speed and the direction signal of major-minor elevator to the PLC controller, control principal arm, the lifting of tower arm and the lifting of major-minor elevator; The PWM mouth lotus root of proportion magnetic valve and controller connects, and the output port lotus root that is installed on the Hydraulic Pump of major-minor hoisting system and the proportion magnetic valve with PLC connects, and is used for the discharge capacity of control Hydraulic Pump and valve.
Concrete device effect and method of calculating:
⑴ concrete device effect
1. principal arm angular transducer U3: measure principal arm jib angle in real time, in order to calculate the moment of principal arm.
2. principal arm pulling force sensor U5: measure a main transformer suffered power in real time, this power comprises main hook weight and tower arm weight.
3. tower arm angle sensor U4: measure tower arm jib angle in real time, in order to calculate the moment of tower arm.
4. tower arm pulling force sensor U6: measure the suffered power of tower luffing in real time, this power comprises main hook weight and tower hook weight.
⑵ method of calculating
At first calculate the moment that the principal arm arm-tie produces
P0: hinge under the principal arm;
P1: hinge on the main transformer width of cloth arm-tie;
P2: hinge under the tower luffing arm-tie (live mast place);
P0 to the vertical line distance of P1P2: S1=p0_p1p2func (p1x, p1y, p2x, p2y) wherein, (p2x, p2y) according to the principal arm angle calculation, (p1x p1y) is scantling of structure to the P1 coordinate to the P2 coordinate.
P0_p1p2func (p2x p2y) is calculated as follows for p1x, p1y:
p1p2a=p2y-p1y
p1p2b=p1x-p2x
p1p2c=(p2x-p1x)*p1y+(p1y-p2y)*p1x
p0_p1p2func(p1x,p1y,p2x,p2y)=ABS(p1p2c)/sqr(p1p2a
2+p1p2b
2)
The resultant couple that principal arm produces is: M1=S1* principal arm arm-tie power F1(is drawn by the principal arm pulling force sensor)
Next calculates the moment that tower arm arm-tie produces
P28: hinge under the tower arm;
P36: hinge on the tower luffing arm-tie;
P30: hinge under the tower luffing arm-tie; (support place on the tower arm)
P28 is to the vertical line distance of P30P36:
S2=p28_p30p36func (p30x, p30y, p36x, p36y) wherein, (p30x, p30y) according to tower arm angle calculation, (p36x p36y) is scantling of structure to the P36 coordinate to the P30 coordinate.
P28_p30p36func (p36x p36y) is calculated as follows for p30x, p30y:
p30p36a=p36y-p30y
p30p36b=p30x-p36x
p30p36c=(p36x-p30x)*p30y+(p30y-p36y)*p30x
p28_p30p36func(p30x,p30y,p36x,p36y)=abs(p30p36c)/sqr(p30p36a
2+p30p36b
2)
The resultant couple that the tower arm produces is: M2=S2* tower arm arm-tie power F2(is drawn by tower arm pulling force sensor)
Calculate the moment that jib produces again
The moment that principal arm produces: M3=S1* principal arm weight G1;
The moment that the tower arm produces: M4=S2* tower arm weight G2;
Determine the arm of force again
The principal arm arm of force: S3=COS principal arm angle A 1* principal arm length L 1(definite value)+P0 is to center of gyration distance L (definite value)
Tower arm strength arm: S4=S3+COS tower arm angle A 2* tower arm lengths L2(definite value)
Therefore the representation of major-minor hook block is shown:
Fm=（M1-M2-M3）/S3
Fj?=（M2-M4）/S4。
The working process concrete steps are as follows:
1, under tower arm major-minor hook block heavy industry condition, by the limiter of moment man-machine interface major-minor hook block reselection procedure is switched.Before selecting the main hook lift heavy, it is spacing earlier auxiliary hook to be promoted to the auxiliary hook height, after selection main hook lift heavy is finished, if the fixed angle of tower arm and principal arm does not reach required angle, the continuous sound and light alarm of limiter of moment, simultaneously, send the restraint signal on the CAN bus, limit major and minor hook action, reach required angle up to tower arm and principal arm fixed angle, the limiter of moment sound and light alarm is removed, and the main hook action is normal, the auxiliary hook akinesia.After the limiter of moment main frame reads main hook lift heavy selection useful signal simultaneously, again by reading parameters such as principal arm pulling force sensor numerical value, principal arm angular transducer numerical value, tower arm angle sensor numerical value, calculate the information such as load moment of the main hook lift heavy under current tower arm operating mode and send to the limiter of moment man-machine interface and show.
2, under tower arm major-minor hook block heavy industry condition, by the limiter of moment man-machine interface major-minor hook block reselection procedure is switched.Before selecting the auxiliary hook lift heavy, it is spacing earlier main hook to be promoted to the main hook height, select the auxiliary hook lift heavy to finish after, be normal tower arm operating mode, the auxiliary hook action is normal, the main hook akinesia.After the limiter of moment main frame reads auxiliary hook lift heavy selection useful signal simultaneously, again by reading parameters such as tower arm pulling force sensor numerical value, tower arm angle sensor numerical value, calculate the information such as load moment of the auxiliary hook lift heavy under current tower arm operating mode and send to the limiter of moment man-machine interface and show.
The utlity model has following beneficial effect:
1, changes the limitation that hoisting crane tower operating mode can not be used main hook, promoted the service efficiency of hoisting crane greatly.
2, utilize existing P LC controller and limiter of moment device, do not increase any cost, realize simple; Connect by the CAN bus, safe and reliable.
3, range of use is wide, can be applicable on the similar equipment.
Four, description of drawings
Fig. 1 is structured flowchart of the present utility model;
Fig. 2 is schematic circuit diagram of the present utility model;
Fig. 3 is display interface scheme drawing of the present utility model.
Five, the specific embodiment
The utility model comprises principal arm pulling force sensor U5, tower arm pulling force sensor U6, principal arm angular transducer U3, tower arm angle sensor U4, left bar handle U8, right bar handle U9, limiter of moment main frame U7, limiter of moment man-machine interface U2, proportion magnetic valve U10, U11, U12, U13, U14, U15 and controller U1.The principal arm pulling force sensor U5 that is installed on the principal arm arm-tie connects with the limiter of moment main frame U7 lotus root that is positioned at electrical control cubicles, is used for measuring current principal arm jib, tower arm jib, main hook lift heavy and the suffered value of thrust of auxiliary hook lift heavy; The tower arm pulling force sensor U6 and the limiter of moment main frame U7 lotus root that are installed on the tower arm arm-tie connect, and are used for measuring current tower arm jib and the suffered value of thrust of auxiliary hook lift heavy; The principal arm angular transducer U3 and the limiter of moment main frame U7 lotus root that are installed on principal arm frame root connect, and are used for measuring principal arm jib angle; The tower arm angle sensor U4 and the limiter of moment main frame U7 lotus root that are installed on tower jib root connect, and are used for measuring tower arm jib angle.Be positioned at the limiter of moment man-machine interface U2 of driver's cab, connect by CAN bus and limiter of moment main frame U7 lotus root, the operating mode of hoisting crane is switched.Be positioned at bar handle U8, U9 on the operator's station of the driver's cab left and right sides, connect by CAN bus and controller U1 lotus root, speed and the direction signal of major-minor elevator is provided to controller U1.The PWM mouth lotus root of proportion magnetic valve U10, U11, U12, U13, U14, U15 and controller U1 connects, and is installed in the Hydraulic Pump of major-minor hoisting system and the output port lotus root of proportion magnetic valve and controller U1 and connects, and is used for the discharge capacity of control Hydraulic Pump and valve.
Circuit of the present utility model is connected to: power supply is Hirschmann IFLEX5 through 1,27,13,41,42 pin, the limiter of moment main frame U7(model that fuse FU1 ~ FU11 connects PLC controller U1 (model is BOSCH-REXROTH RC6-9) respectively) 1 pin, limiter of moment man-machine interface U2, principal arm angular transducer U3, tower arm angle sensor U4, principal arm pulling force sensor U5, tower arm pulling force sensor U6, left bar handle U8, right bar handle U9.Limiter of moment main frame U7, left side bar handle U8, right bar handle U9 connects 25 of controller U1 through the CAN bus, 26 pin, limiter of moment man-machine interface U2 is also by 10 of CAN bus coupling torque killer main frame U7,11 pin, principal arm angular transducer U3, tower arm angle sensor U4, principal arm pulling force sensor U5, tower arm pulling force sensor U6 is the analog quantity input port of coupling torque killer main frame U7 respectively, principal arm rises electromagnetic valve U10, electromagnetic valve U11 falls in principal arm, the tower arm rises electromagnetic valve U12, electromagnetic valve U13 falls in the tower arm, master file rises electromagnetic valve U14, secondary volume rises the PWM output port that electromagnetic valve U15 connects controller U1 respectively, 2 of controller U1,28 pin ground connection, the 48 pin ground connection of limiter of moment main frame U7.
The programming control flow process is:
Under the tower operating mode of limiter of moment man-machine interface U2 band main hook, press the major-minor hook and switch (main hook: main hook lift heavy under the tower operating mode; Do auxiliary hook: auxiliary hook lift heavy under the tower operating mode) as switching to the main hook lift heavy, the prompting interface appears in the limiter of moment man-machine interface: you determine to select main hook lift heavy under the tower operating mode? have simultaneously and confirm and the cancellation printed words.After reaffirming by the user, can be chosen as main hook lift heavy under the tower operating mode.After the switching of major-minor hook is finished, send restraint signal (operating mode affirmation) by the CAN bus to the PLC controller.Main hook lift heavy under the tower operating mode: obtain principal arm extended line and tower arm angle by principal arm angular transducer U3 and tower arm angle sensor U4, if principal arm extended line and tower arm angle do not reach 23 °, the continuous sound and light alarm of limiter of moment man-machine interface U2, at this moment, needing the right bar handle U9 of operation to carry out the tower arm rises electromagnetic valve U12 or tower arm and falls electromagnetic valve U13 and move, when principal arm extended line and tower arm angle reach 23 °, limiter of moment man-machine interface sound and light alarm is removed, at this moment, operate right bar handle U9 and can not carry out the tower arm and rise electromagnetic valve U12 or tower arm and fall electromagnetic valve U13 action, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; Principal arm extended line and tower arm angle reach 23 °, and U3 obtains the principal arm angle by the principal arm angular transducer, can not carry out principal arm and rise electromagnetic valve U10 action if the principal arm angle during more than or equal to 80 ° of the upper limits, is operated right bar handle U9; Can carry out principal arm and rise electromagnetic valve U10 action if the principal arm angle during less than 80 ° of the upper limits, is operated right bar handle U9, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; Principal arm extended line and tower arm angle reach 23 °, if principal arm angle during smaller or equal to 50 ° of lower limits, electromagnetic valve U11 akinesia falls in principal arm; Can carry out principal arm and fall electromagnetic valve U11 action if the principal arm angle during greater than 50 °, is operated right bar handle U9, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; U6 obtains auxiliary hook weight by tower arm pulling force sensor, if weigh and auxiliary hook need be risen near auxiliary hook upper limit state smaller or equal to the auxiliary hook hook by calculating auxiliary hook actual weight Fj, U5 obtains main hook weight by the principal arm pulling force sensor, if by calculating Fm smaller or equal to rated weight, operate right bar handle U9 and can carry out master file and rises electromagnetic valve U14 and move; If Fm, operates right bar handle U9 greater than rated weight and can not carry out master file and rise electromagnetic valve U14 action, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1.Satisfy above-mentioned condition, can carry out main hook lift heavy under the tower operating mode.Auxiliary hook lift heavy under the tower operating mode: obtain principal arm and tower arm angle by principal arm angular transducer U3 and tower arm angle sensor U4, if principal arm and tower arm angle, are operated right bar handle U9 more than or equal to 105 ° and can be carried out principal arm and rise electromagnetic valve U10 or tower arm and fall electromagnetic valve U13 action; If principal arm and tower arm angle, are operated right bar handle U9 less than 105 ° and can not be carried out principal arm and rise electromagnetic valve U10 or tower arm and fall electromagnetic valve U13 action, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; After switching to auxiliary hook, U3 obtains the principal arm angle by the principal arm angular transducer, can carry out principal arm and rises electromagnetic valve U10 action if principal arm and tower arm angle, are operated right bar handle U9 more than or equal to 105 ° and principal arm angle during less than 86 ° of the upper limits; Can not carry out principal arm and rise electromagnetic valve U10 action if the principal arm angle during more than or equal to 86 °, is operated right bar handle U9, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; Obtain tower arm angle by tower arm angle sensor U4, can carry out the tower arm and rise electromagnetic valve U12 action if tower arm angle during less than 72 ° of the upper limits, is operated right bar handle U9; Can not carry out the tower arm and rise electromagnetic valve U12 action if tower arm angle during more than or equal to 72 °, is operated right bar handle U9, limiter of moment main frame U7 transmits control signal by the CAN bus and gives controller U1; U5 obtains main hook weight by the principal arm pulling force sensor, if main hook actual weight Fm weighs and needs smaller or equal to the main hook hook main hook is risen near main hook upper limit state, U6 obtains auxiliary hook weight by tower arm pulling force sensor, if by calculating auxiliary hook actual weight Fj smaller or equal to rated weight, operate left bar handle U8 and can carry out pair volume and rise electromagnetic valve U16 and move; If Fj is greater than rated weight for the auxiliary hook actual weight, operate left bar handle U8 and can not carry out pair volume and rises electromagnetic valve U16 action, square killer main frame U7 transmits control signal to controller U1 by the CAN bus; Satisfy above-mentioned condition, can carry out auxiliary hook lift heavy under the tower operating mode.
Claims (2)
1. the main hook chain sling under the tower operating mode of crawler crane, comprise the limiter of moment man-machine interface that is positioned on the driver's cab telltale, the limiter of moment main frame that is positioned at electrical control cubicles, the PLC controller that is positioned at electrical control cubicles, be positioned at left and right sides bar handle on the operating console, be positioned at proportion magnetic valve on the Hydraulic Pump, be installed on principal arm pulling force sensor on the principal arm arm-tie, be installed on principal arm frame root the principal arm angular transducer, be installed on the tower arm pulling force sensor on the tower arm arm-tie and be installed on the tower arm angle sensor of tower arm roots; It is characterized in that: principal arm pulling force sensor, tower arm pulling force sensor, principal arm angular transducer and tower arm angle sensor couple with the limiter of moment main frame respectively; Left and right sides bar handle couples by CAN bus and controller; Principal arm rises electromagnetic valve, tower arm and rises electromagnetic valve, principal arm and fall electromagnetic valve, tower arm and fall electromagnetic valve, master file and rise the output port that electromagnetic valve and secondary volume rise electromagnetic valve and PLC controller and couple; Sensor is imported controller through the limiter of moment main frame respectively with the suffered value of thrust of principal arm, the suffered value of thrust of tower arm, principal arm jib angle and tower arm jib angle, calculate principal arm moment and tower arm strength square through program, output to the limiter of moment man-machine interface by controller and show; Bar handle provides speed and the direction signal of major-minor elevator to the PLC controller, control principal arm, the lifting of tower arm and the lifting of major-minor elevator.
2. the main hook chain sling under the tower operating mode of crawler crane according to claim 1, it is characterized in that: circuit of the present utility model is connected to: power supply connects 1 of PLC controller U1 respectively through fuse FU1 ~ FU11,27,13,41,42 pin, 1 pin of limiter of moment main frame U7, the limiter of moment people wants interface U2, principal arm angular transducer U3, tower arm angle sensor U4, principal arm pulling force sensor U5, tower arm pulling force sensor U6, left side bar handle U8, right bar handle U9, limiter of moment main frame U7, left side bar handle U8, right bar handle U9 connects 25 of controller U1 through the CAN bus, 26 pin, limiter of moment man-machine interface U2 is also by 10 of CAN bus coupling torque killer main frame U7,11 pin, principal arm angular transducer U3, tower arm angle sensor U4, principal arm pulling force sensor U5, tower arm pulling force sensor U6 is the analog quantity input port of coupling torque killer main frame U7 respectively, principal arm rises electromagnetic valve U10, electromagnetic valve U11 falls in principal arm, the tower arm rises electromagnetic valve U12, electromagnetic valve U13 falls in the tower arm, master file rises electromagnetic valve U14, secondary volume rises the PWM output port that electromagnetic valve U15 connects controller U1 respectively, 2 of controller U1,28 pin ground connection, the 48 pin ground connection of limiter of moment main frame U7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320146049 CN203159068U (en) | 2013-03-28 | 2013-03-28 | Main hook hoisting device of crawler crane in working condition of tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320146049 CN203159068U (en) | 2013-03-28 | 2013-03-28 | Main hook hoisting device of crawler crane in working condition of tower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203159068U true CN203159068U (en) | 2013-08-28 |
Family
ID=49020271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320146049 Expired - Lifetime CN203159068U (en) | 2013-03-28 | 2013-03-28 | Main hook hoisting device of crawler crane in working condition of tower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203159068U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738853A (en) * | 2014-01-24 | 2014-04-23 | 徐工集团工程机械股份有限公司 | Crane motion control method and crane motion control system |
| CN105084213A (en) * | 2015-07-06 | 2015-11-25 | 中联重科股份有限公司 | Mobile crane, moment limiting system of mobile crane and moment limiting method of mobile crane |
| CN109019338A (en) * | 2018-09-21 | 2018-12-18 | 长沙中联恒通机械有限公司 | The limiter of moment control method of double hoisting crane |
-
2013
- 2013-03-28 CN CN 201320146049 patent/CN203159068U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738853A (en) * | 2014-01-24 | 2014-04-23 | 徐工集团工程机械股份有限公司 | Crane motion control method and crane motion control system |
| CN105084213A (en) * | 2015-07-06 | 2015-11-25 | 中联重科股份有限公司 | Mobile crane, moment limiting system of mobile crane and moment limiting method of mobile crane |
| CN109019338A (en) * | 2018-09-21 | 2018-12-18 | 长沙中联恒通机械有限公司 | The limiter of moment control method of double hoisting crane |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130828 |