CN203411244U - Control system for synchronous lifting and descending of crawler crane mast - Google Patents

Control system for synchronous lifting and descending of crawler crane mast Download PDF

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Publication number
CN203411244U
CN203411244U CN201320444214.9U CN201320444214U CN203411244U CN 203411244 U CN203411244 U CN 203411244U CN 201320444214 U CN201320444214 U CN 201320444214U CN 203411244 U CN203411244 U CN 203411244U
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CN
China
Prior art keywords
mast
control
jacking cylinder
valve
pressure
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CN201320444214.9U
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Chinese (zh)
Inventor
陈远泽
张红松
孙影
徐刚
刘可
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徐工集团工程机械股份有限公司
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Priority to CN201320444214.9U priority Critical patent/CN203411244U/en
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Publication of CN203411244U publication Critical patent/CN203411244U/en

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Abstract

The utility model relates to a control system for synchronous lifting and descending of a crawler crane mast. The control system for synchronous lifting and descending of the crawler crane mast comprises a main variable amplitude steel wire rope, a main variable amplitude winch, a mast jacking cylinder and a synchronous control device, wherein one end of the mast of a crawler crane is fixed on a hinging point at the front part of a turntable; the other end of the mast is tracked by the main variable amplitude winch though the main variable amplitude steel wire rope; one end of the mast jacking cylinder is fixed on a hinging point of the bottom of the turntable; the other end of the mast jacking cylinder is connected with the lower surface of the mast through a connecting plate; the synchronous control device is a throttle control device for carrying out throttle control on the mast jacking cylinder and carrying out rope releasing and withdrawing speed adjustment on the main variable amplitude winch according to pressure of the large chamber of the mast jacking cylinder, and/or a pressure control device for carrying out constant speed rope release and withdrawing control on the main variable amplitude winch main variable amplitude winch. The system is capable of reasonably controlling the telescopic speed of the cylinder and the speed of the rope releasing and withdrawing of the main variable amplitude winch.

Description

The caterpillar crane mast synchronous control system that rises and falls
Technical field
The utility model relates to crawler crane field, relates in particular to a kind of caterpillar crane mast synchronous control system that rises and falls.
Background technology
Crawler crane has mast mechanism conventionally, before mast, be connected with jib arm-tie, be connected with main variable-amplitude steel wire rope afterwards, for the luffing that is jib by the withdrawing rope conversion of motion of main transformer width elevator, mast plays an important role in the installation of crawler crane and working process.When dismounting crawler crane, mast and jib arm-tie be in off-state, can only bearing tension due to steel rope, and for mast can be hoisted normally, mast jacking cylinder is set conventionally and to mast, provides thrust or bearing force.
In the mast structure of existing crawler crane, mast jacking cylinder makes mast be subject to power upwards, and the deadweight of main transformer width hoisting rope and mast makes respectively top-hamper have downward power.In rising and falling process, mast require steel rope to there is all the time certain tensile force to avoid disorder cable.If cylinder jacking excessive velocities while playing mast, or luffing elevator rope closing excessive velocities all easily causes mast to be occurred by the accident of stretch bending while falling mast; If speed is crossed slowly, can cause steel wire rope looseness again, occur disorder cable phenomenon.Therefore, rationally controlling oil cylinder speed flexible and main transformer width elevator withdrawing rope is the key of mast rising and dropping control.
Traditional way is the flexible of manual control main transformer width elevator withdrawing rope and mast jacking cylinder, by blocked operation, realizes rising and falling of mast.The method that adopts manual control mast to rise and fall, because main transformer width elevator withdrawing rope speed and jacking cylinder stretching speed do not mate, often there is exercise not harmony, it is serious or by problems such as stretch bendings that steel rope disorder cable, mast rock, the inefficient while, also deposit just potential safety hazard.
The occasion being restricted for installing space, mast jacking cylinder is often designed to the form (being generally two-stage oil cylinder) of multi-stage oil cylinder.In the time of oil cylinder work not at the same level, because oil cylinder active area changes, the in the situation that in load force, certain or system pressure being certain, the thrust of oil cylinder can change a lot, the moment of especially switching in the work of two-stage oil cylinder, this sudden change easily causes mast stressed excessive and damage.Therefore, rationally solving the problem that in multi-stage oil cylinder work, cylinder thrust suddenlys change is another key point of mast rising and dropping control.
Problem for the pressure occurring in multi-stage oil cylinder or cylinder thrust sudden change, current existing solution is: an independent oil sources is set, when the larger level work of oil cylinder area, by reducing valve, pressure oil is caused to the first guide cavity of mast jacking cylinder balance cock, response pressure while reducing balance cock overflow, thus reach the effect that limits cylinder thrust.
And there is equally following shortcoming in the method that adopts reducing valve to reduce balance cock oil pressure relief:
Therefore 1, for tensioning steel rope, in the process that mast rises, oil cylinder need to limit the speed of stretching out by overflow, the maximum pressure when pump discharge need to arrange high-low pressure control cock group and limits oil cylinders at different levels and stretch out; Mast falls in process, need to limit oil cylinder retraction speed by balance cock overflow, the overflow response pressure of balance cock in the time of secondary pressure valve group therefore need to be set limit oil cylinders retraction at different levels.Be not difficult to find out, system forms complicated.
2, in oil cylinder retraction process, the passive unlatching overflow of balance cock, in-oil cylinder pressure meeting over balance valve setting pressure is a lot, when main transformer width elevator rope closing is very fast, even can surpass the more than 1/3rd of pressure that balance cock is set, especially when the larger level work of oil cylinder active area, this part pressure having more will produce very large extra-push model.In order to bear this part thrust having more, require the design capacity of oil cylinder and mast to strengthen, increased cost and weight.
Utility model content
An object of the present utility model is to propose a kind of caterpillar crane mast synchronous control system that rises and falls, and can rationally control the speed of the flexible and main transformer width elevator withdrawing rope of oil cylinder.
Another object of the present utility model is to propose a kind of caterpillar crane mast synchronous control system that rises and falls, and can solve the problem of cylinder thrust sudden change in multi-stage oil cylinder work.
For achieving the above object, the utility model provides a kind of caterpillar crane mast synchronous control system that rises and falls, comprise main variable-amplitude steel wire rope, main transformer width elevator, mast jacking cylinder and sync control device, mast one end of described crawler crane is fixed on the hinge of turntable the place ahead, and by described main transformer width elevator by the other end of mast described in described main transformer width rope traction, one end of described mast jacking cylinder is fixed on the hinge of turntable bottom, the other end is connected to the lower surface of described mast by connecting panel, wherein
Described sync control device is: the throttle control device that described mast jacking cylinder is carried out throttling control and according to the large cavity pressure of described mast jacking cylinder, described main transformer width elevator carried out to the adjusting of withdrawing rope speed, and/or
The pressure control device that described main transformer width elevator is carried out to the control of constant speed withdrawing rope.
Further, described mast jacking cylinder is one-level oil cylinder, and described sync control device is described throttle control device or described pressure control device.
Further, described mast jacking cylinder is three grades of above multi-stage oil cylinders, described in when first order oil cylinder stretches, sync control device adopts described throttle control device, described in when in the end one-level oil cylinder stretches, sync control device adopts described pressure control device, when intergrade oil cylinder stretches described in sync control device adopt described throttle control device or described pressure control device.
Further, described mast jacking cylinder is two-level oil cylinder, when first order oil cylinder stretches described in sync control device adopt described throttle control device, when second stage oil cylinder stretches described in sync control device adopt described pressure control device.
Further, described throttle control device comprises main reversing valve, working position locking mechanism, damping, pressure sensor and lifting-speed controller, described damping is arranged in the large chamber of described mast jacking cylinder, and be connected with the large chamber hydraulic fluid port of described mast jacking cylinder, the oil inlet of described main reversing valve and return opening communicate with oil pump and fuel tank respectively, two actuator ports of described main reversing valve communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of described mast jacking cylinder respectively, the pressure tap of described pressure sensor is arranged on the oil circuit that the large chamber hydraulic fluid port of described mast jacking cylinder is corresponding, described working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, in order to described mast jacking cylinder is carried out to control position locking, described lifting-speed controller is connected with described pressure sensor, the large cavity pressure of the described mast jacking cylinder measuring according to described pressure sensor carries out the adjusting of withdrawing rope speed to described main transformer width elevator.
Further, described working position locking mechanism is balance cock.
Further, described throttle control device also comprises one-way throttle valve, and described one-way throttle valve is located in the oil circuit between described main reversing valve and described balance cock.
Further, described balance cock is pressure balance type single-acting balance cock.
Further, described working position locking mechanism comprises the first by pass valve, hydraulic lock and check valve, described hydraulic lock is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, the control port of described hydraulic lock communicates with the loculus hydraulic fluid port of described mast jacking cylinder, described the first by pass valve and check valve are connected in series, and described first by pass valve of series connection and check valve and described hydraulic lock are connected in parallel.
Further, described throttle control device also comprises one-way throttle valve, and described one-way throttle valve and described hydraulic lock are connected in series, and the described one-way throttle valve of series connection and hydraulic lock are connected in parallel with described the first by pass valve and the check valve of connecting.
Further, also comprise for being switched to the secondary change-over valve of manual control, the oil inlet of described secondary change-over valve and return opening communicate with an actuator port and the described fuel tank of described main reversing valve respectively, and an actuator port of described secondary change-over valve communicates with the loculus hydraulic fluid port of described mast jacking cylinder.
Further, described main reversing valve is 3-position 4-way solenoid directional control valve, and Median Function is " Y " type, and described secondary change-over valve is two four-way electromagnetic reversing valves.
Further, described pressure control device comprises main reversing valve, working position locking mechanism, the second by pass valve, pressure sensor and lifting-speed controller, the oil inlet of described main reversing valve and return opening communicate with oil pump and fuel tank respectively, two actuator ports of described main reversing valve communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of described mast jacking cylinder respectively, the pressure tap of described pressure sensor is arranged on the oil circuit that the large chamber hydraulic fluid port of described mast jacking cylinder is corresponding, described working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, in order to described mast jacking cylinder is carried out to control position locking, described the second by pass valve is arranged on the oil circuit between described oil pump and the oil inlet of described main reversing valve, described lifting-speed controller is connected with described pressure sensor, control described main transformer width elevator with constant speed withdrawing rope.
Further, described main reversing valve is 3-position 4-way solenoid directional control valve, and Median Function is " Y " type.
Further, also comprise angular transducer, described angular transducer is fixed on described mast, for measuring the angle value of described mast, described angular transducer is connected with described pressure control device with described throttle control device, and the angle value that described throttle control device and described pressure control device are measured according to described angular transducer carries out the switching of synchronous control mode.
Based on technique scheme, the utility model is controlled the process of rising and falling of caterpillar crane mast automatically by sync control device, the control form adopting can be the throttle control device that mast jacking cylinder is carried out throttling control and according to the large cavity pressure of mast jacking cylinder, main transformer width elevator carried out to the adjusting of withdrawing rope speed, also can be the pressure control device that main transformer width elevator is carried out to the control of constant speed withdrawing rope, or two kinds of control forms that control setup all adopts, the form speed flexible to oil cylinder and main transformer width elevator withdrawing rope that can be directed to different mast jacking cylinders is rationally controlled.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present utility model, forms the application's a part, and schematic description and description of the present utility model is used for explaining the utility model, does not form improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the rise and fall scheme of installation of an embodiment of synchronous control system of the utility model caterpillar crane mast.
Fig. 2 is that the utility model caterpillar crane mast synchronous control system embodiment that rises and falls adopts a kind of hydraulic principle schematic diagram of Fig. 1 mounting means.
Fig. 3 is that the utility model caterpillar crane mast synchronous control system embodiment that rises and falls adopts the another kind of hydraulic principle schematic diagram of Fig. 1 mounting means.
Fig. 4 is the rise and fall scheme of installation of another embodiment of synchronous control system of the utility model caterpillar crane mast.
Fig. 5 is that the utility model caterpillar crane mast synchronous control system embodiment that rises and falls adopts a kind of hydraulic principle schematic diagram of Fig. 4 mounting means.
Fig. 6 is that the utility model caterpillar crane mast synchronous control system embodiment that rises and falls adopts the another kind of hydraulic principle schematic diagram of Fig. 4 mounting means.
The specific embodiment
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Rising and falling in synchronous control system of caterpillar crane mast, main variable-amplitude steel wire rope, main transformer width elevator, mast jacking cylinder and sync control device have been comprised, mast one end of crawler crane is fixed on the hinge of turntable the place ahead, and pass through the other end of main transformer width rope traction mast by main transformer width elevator, one end of mast jacking cylinder is fixed on the hinge of turntable bottom, and the other end is connected to the lower surface of mast by connecting panel.And sync control device can be selected the throttle control device that mast jacking cylinder is carried out throttling control and according to the large cavity pressure of mast jacking cylinder, main transformer width elevator carried out to the adjusting of withdrawing rope speed as the case may be, also can select main transformer width elevator to carry out the pressure control device of constant speed withdrawing rope control, or adopt the multistage mode of comprehensive two kinds of pressure control devices.
For crawler crane, mast jacking cylinder can adopt one-level oil cylinder, also can adopt two-level oil cylinder, or three grades of above multi-stage oil cylinders.For one-level oil cylinder, because the active area of oil cylinder is constant all the time, therefore there is not the problem of pressure jump, therefore can adopt throttle control device, also can adopt pressure control device, conventionally do not adopt the mode of comprehensive two kinds of control setups.Wherein throttle control device is less than the pressure overshoot of pressure control device, but need to relate to pressure detection and controlled reset while controlling, and is controlling in difficulty slightly largerly, so engineering staff can select applicable control program as required.
As shown in Figure 1, be the rise and fall scheme of installation of an embodiment of synchronous control system of the utility model caterpillar crane mast.In the present embodiment, one end of the mast 101 of crawler crane is fixed on the place ahead hinge of turntable 104, mast 101 can rotate a certain angle around this hinge, on turntable 104, be also provided with main transformer width elevator 102, the main transformer width rope traction that main transformer width elevator 102 is drawn the other end of mast 101, the pulling force C of turntable 104 is pointed in formation along main variable-amplitude steel wire rope 103, mast jacking cylinder 7 is arranged on the position near turntable 104 the place ahead hinges, one end of mast jacking cylinder 7 (being cylinder barrel end) is fixed on turntable 104 bottom hinges, mast jacking cylinder 7 also can swing certain angle round bottom hinge, and the other end of mast jacking cylinder 7 is connected to the lower surface of mast 101 by connecting panel, the top lift A of formation to mast 101, its jacking process need overcomes the gravity B of mast 101.
As seen from Figure 1, mast jacking cylinder 7 is one-level oil cylinder, so sync control device can be selected throttle control device or pressure control device.Fig. 2 shows the hydraulic principle schematic diagram of throttle control device.As seen from Figure 2, throttle control device comprises main reversing valve 3, working position locking mechanism, damping 6, pressure sensor 8 and lifting-speed controller (not shown).Damping 6 is arranged in the large chamber (be rodless cavity, loculus is rod chamber hereinafter) of mast jacking cylinder 7, and is connected with the large chamber hydraulic fluid port of mast jacking cylinder 7.
The oil inlet of main reversing valve 3 and return opening communicate with oil pump 1 and fuel tank respectively, and two actuator port A, B of main reversing valve communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of mast jacking cylinder 7 respectively.
The pressure tap of pressure sensor 8 is arranged on the oil circuit that the large chamber hydraulic fluid port of mast jacking cylinder 7 is corresponding.Pressure sensor 8 can be installed one or two, and because two mast jacking cylinders 7 are to act on mast 101 simultaneously, therefore the application force of two oil cylinders is identical in theory, therefore a pressure sensor is installed just enough.But in actual use, can be at the equal setting pressure sensor of the large chamber of two oil cylinders hydraulic fluid port, one of them is for controlling, and another points out et out of order as reference when the numerical value of two pressure sensors differs greatly.
Working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of main reversing valve 3 and mast jacking cylinder 7, in order to mast jacking cylinder 7 is carried out to control position locking.And lifting-speed controller is connected with pressure sensor 8, the large cavity pressure of the mast jacking cylinder 7 that can measure according to pressure sensor 8 carries out the adjusting of withdrawing rope speed to main transformer width elevator 102.
The control principle of throttle control device has comprised that damping is to passing into the stream quantitative limitation of hydraulic oil in the large chamber of mast jacking cylinder, and the adjustment of the lifting-speed controller withdrawing rope speed of carrying out according to the large cavity pressure of mast jacking cylinder, mast jacking cylinder stretches out and the speed of retracting is decided by damping, and pressure sensor monitors the large cavity pressure of mast jacking cylinder, when pressure surpasses the actual required pressure certain limit of mast, the rope speed of putting that main transformer width elevator is described is crossed slow or rope closing excessive velocities, by lifting-speed controller, accelerated the rope speed of putting of main transformer width elevator, or the rope closing speed of the main transformer width elevator that slows down, until pressure is got back to normal range, otherwise, if the large cavity pressure of mast jacking cylinder drops to while approaching the pressure that mast deadweight produces, the tensile force that main variable-amplitude steel wire rope is described is inadequate, it is too fast or rope closing is excessively slow that main transformer width elevator is put rope, make the rope speed of putting of main transformer width elevator reduce, or the rope closing speed of main transformer width elevator is improved, until pressure is got back to normal range.
Working position locking mechanism can carry out control position locking to mast jacking cylinder 7, is important component part, in specific implementation, can adopt balance cock 5 examples of lifting in Fig. 2, or the balance cock of other version.Aspect installation, balance cock directly can be fixed on the contiguous block at place, large chamber of mast jacking cylinder 7, and the hydraulic fluid port M setting pressure sensor 8 and the pressure measuring tie-in that at balance cock 5, directly communicate with large chamber.
Balance cock 5 preferred pressure balancing single action balance cocks, its response pressure can not be subject to back pressure impact, hydraulic oil by balance cock 5 to can be through the check valve in balance cock 5 in the mobile process in the large chamber of mast jacking cylinder 7, and the process that hydraulic oil in large chamber flows out from balance cock 5 through the by pass valve in balance cock 5, and the back pressure of hydraulic fluid port V2 can not have influence on the overflow response pressure of balance cock 5.
Working position locking mechanism, except adopting balance cock realization, can also adopt the unitized construction of the first by pass valve, hydraulic lock and check valve, owing to will illustrating in embodiment in the back, wouldn't describe in detail herein.
For one-level oil cylinder, also can adopt separately pressure control device, pressure control device is mainly by main transformer width elevator is carried out to the control of constant speed withdrawing rope, and unnecessary hydraulic oil can flow back to oil cylinder by by pass valve in withdrawing rope process, thereby realize the constant bearing force of mast jacking cylinder, and stretch out and the retraction speed of mast jacking cylinder are being followed respectively the speed of putting rope and rope closing of main transformer width elevator, realize synchronous rising and dropping control.
Fig. 3 shows the hydraulic schematic diagram of pressure control device.Pressure control device comprises main reversing valve 3, working position locking mechanism, the second by pass valve 2, pressure sensor 8 and lifting-speed controller (not shown), the oil inlet of main reversing valve 3 and return opening communicate with oil pump 1 and fuel tank respectively, two actuator ports of main reversing valve 3 communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of mast jacking cylinder 7 respectively, and the pressure tap of pressure sensor 8 is arranged on the oil circuit that the large chamber hydraulic fluid port of mast jacking cylinder 7 is corresponding.Working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of main reversing valve 3 and mast jacking cylinder 7, in order to mast jacking cylinder 7 is carried out to control position locking, the second by pass valve 2 is arranged on the oil circuit between oil pump 1 and the oil inlet of main reversing valve 3, lifting-speed controller is connected with pressure sensor, controls main transformer width elevator with constant speed withdrawing rope.
Working position locking mechanism, except adopting the balance cock realization of introducing above, can also adopt the unitized construction of the first by pass valve, hydraulic lock and check valve, owing to will illustrating in embodiment in the back, wouldn't describe in detail herein.
For two-level oil cylinder, or three grades of above multi-stage oil cylinders, because the active area of oil cylinder can change, therefore there is the problem of pressure jump, there is certain difficulty in its control.For this class mast jacking cylinder, caterpillar crane mast of the present utility model rise and fall synchronous control system comprehensively throttle control device and pressure control device control, in the different phase of working process, select applicable control setup.
If mast jacking cylinder is three grades of above multi-stage oil cylinders, when first order oil cylinder stretches in order to reduce pressure overshoot, sync control device adopts throttle control device, when in the end one-level oil cylinder stretches, for fear of damping, stop up, sync control device adopts pressure control device, and when intergrade oil cylinder stretches, sync control device adopts throttle control device or pressure control device.
Because multi-stage oil cylinder cost is higher, it is larger that system is controlled difficulty, and the less ,Er two-level oil cylinder of use is more more common, take two-level oil cylinder below the caterpillar crane mast of the present utility model synchronous control system embodiment that rises and falls to be described as example.
As shown in Figure 4, be the rise and fall scheme of installation of another embodiment of synchronous control system of the utility model caterpillar crane mast.Compare with a upper embodiment, the mast jacking cylinder 7 of the present embodiment is two-level oil cylinder, and on mast, be fixed with angular transducer 105, for measuring the angle value of mast 101, angular transducer is connected with pressure control device with throttle control device, and the angle value that throttle control device and pressure control device can be measured according to angular transducer carries out the switching of synchronous control mode.
Fig. 5 is for showing a kind of hydraulic principle schematic diagram.In Fig. 5, both comprised throttle control device, and comprised again pressure control device, these two kinds of control setups have shared main reversing valve 3, working position locking mechanism, pressure sensor 8 and lifting-speed controller (not shown).Working position locking mechanism in Fig. 5 is balance cock 5, owing to introducing to some extent above, just no longer describes in detail here.In throttle control device, can further include the one-way throttle valve 4 in Fig. 5, one-way throttle valve 4 is located in the oil circuit between main reversing valve 3 and balance cock 5, its effect is in the process that falls at mast, the retraction speed of mast jacking cylinder 7 to be limited, make its maintenance constant, one-way throttle valve 4 can also regulate simultaneously, to adjust the retraction speed of mast jacking cylinder 7.
In Fig. 5, can also increase by one for being switched to the secondary change-over valve 9 of manual control, the oil inlet of secondary change-over valve 9 and return opening communicate with actuator port and the fuel tank of main reversing valve 3 respectively, and an actuator port of secondary change-over valve 9 communicates with the loculus hydraulic fluid port of mast jacking cylinder 7.
In the selection of main reversing valve and secondary change-over valve, main reversing valve can adopt 3-position 4-way solenoid directional control valve, and preferably Median Function is " Y " type, and secondary change-over valve can adopt two four-way electromagnetic reversing valves.
For the present embodiment that adopts two-level oil cylinder, mast is maximum to the application force of mast jacking cylinder in the time of 0 °, in the time of 90 °, to the application force of mast jacking cylinder, is 0, and in whole process, application force is parabolic shape even variation.From 0 °, during to certain angle A, first order oil cylinder works, and oil cylinder active area is large; During from angle A to 90 °, second stage oil cylinder works, and oil cylinder active area is little.In whole process, require oil cylinder stretching speed even.
When mast is when arriving angle A, first order oil cylinder stretches out completely, and second stage oil cylinder starts to stretch out.In the moment changing at mast jacking cylinder active area, mast angle does not change substantially, so mast is to the application force of mast jacking cylinder also no change substantially, but the active area of oil cylinder has diminished, so requires the now pressure of oil cylinder to improve.
Before mentioned the mast jacking cylinder speed of stretching out and control and can have two kinds of modes, a kind of is by throttle control device, a kind of is pressure control device.Owing to being two-stage oil cylinder, adopt separately any control setup all to need to arrange two cover by pass valves or two flow regulating valve, and require in different angles, to work respectively, implement and need to increase a lot of extra parts, system is more complicated.Therefore the present embodiment has adopted the mode of comprehensive two kinds of control setups, consider that first order oil cylinder area is large, reach the flow that same speed needs more, very little with throttling control rate pressure overshoot, therefore the extra-push model producing is little, and throttle bore dia can be relatively large, be difficult for stopping up, and second stage oil cylinder active area is little, reach the flow that same speed needs less, even if there is pressure overshoot while controlling with pressure, but the extra-push model of generation is also very little, if adopt throttling to control, damping hole may stop up because of too little.
Based on above feature, can make sync control device when first order oil cylinder stretches adopt throttle control device, when second stage oil cylinder stretches, sync control device adopts pressure control device, both are combined, can not only realize good synchro control, but also can share some devices, realize better simply system and form.
Fig. 6 has provided another kind of hydraulic principle schematic diagram.Compare with Fig. 5, the balance cock that working position locking mechanism has adopted the first by pass valve 10, hydraulic lock 12 and check valve 11 to replace in Fig. 5, hydraulic lock 12 is located in the oil circuit between the large chamber hydraulic fluid port of main reversing valve 3 and mast jacking cylinder 7, the control port of hydraulic lock 12 communicates with the loculus hydraulic fluid port of mast jacking cylinder 7, the first by pass valve 10 and check valve 11 are connected in series, and the first by pass valve 10 of series connection and check valve 11 are connected in parallel with hydraulic lock 12.
The effect of hydraulic lock 12 is mast to be locked in to any control position when inoperation; and during the second stage oil cylinder of mast 101 compression mast jacking cylinders 7; hydraulic oil in the large chamber of mast jacking cylinder 7 flows back to fuel tank by the first by pass valve 10; check valve 11 fluid High Pressure when preventing work, at the oil outlet of by pass valve 10, plays the effect of protection by pass valve 10.
Throttle control device in Fig. 6 also comprises one-way throttle valve 4, and one-way throttle valve 4 is connected in series with hydraulic lock 12, and the one-way throttle valve 4 of series connection and hydraulic lock 12 are connected in parallel with the first by pass valve 10 and the check valve 11 of connecting.Although slightly different in the position relationship of one-way throttle valve 4 and working position locking mechanism and Fig. 5, its function is basically identical, has just repeated no more here.
Embodiment corresponding to Fig. 4 and Fig. 5 of take is below example, and the caterpillar crane mast synchro control process of rising and falling is described.
1, mast synchronization onwards operation
When crawler crane is in installing operating mode, and when mast synchronization onwards button is opened, the right position of main reversing valve 3 obtains electric, the high pressure oil that oil pump 1 provides is successively by the damping 6 in the check valve in main reversing valve 3, one-way throttle valve 4, the check valve in balance cock 5, mast jacking cylinder 7 large chamber oil ducts, reach the large chamber of mast jacking cylinder 7, promote mast jacking cylinder 7 and stretch out.Meanwhile, main transformer width elevator 102 starts to put rope.Under the thrust of mast jacking cylinder 7, mast 101 starts slowly to hoist.Wherein damping 6 is for limiting the lifting velocity of mast jacking cylinder 7.
At mast 101, from angle, be zero process of stretching out completely to mast jacking cylinder 7 first order oil cylinders, by pressure sensor 8 monitoring, determine the large cavity pressure of mast jacking cylinder 7.When main transformer width elevator 102, put and restricted when slow, the downward pulling force C of mast 101 can increase, and the pressure in mast jacking cylinder 7 large chambeies can raise simultaneously.When mast jacking cylinder 7 pressure are elevated to a certain degree, controller improves the rope speed of putting of main transformer width elevator 102 automatically, can cause the suffered pulling force C of mast 101 to decline, and then the pressure in mast jacking cylinder 7 large chambeies also can decline simultaneously.In like manner, when main transformer width elevator 102, put rope speed when too fast, also can cause mast jacking cylinder 7 pressure drops.When pressure drop is to a certain extent time, controller reduces the rope speed of putting of main transformer width elevator 102 automatically, and main variable-amplitude steel wire rope 103 is tightened up, and maintains appropriate tensile force.So, mast jacking cylinder 7 stretches out with more constant speed, by monitor force, automatically regulate main transformer width elevator 102 to put rope speed, make main variable-amplitude steel wire rope 103 keep appropriate tensile force, realize mast 101 and to mast jacking cylinder 7 first order, all stretch out the synchronization onwards operation in process at zero degree.
In the process of mast jacking, the elongation of mast angle and oil cylinder is one to one, therefore can determine whether first order oil cylinder stretches out completely by the measured angle of angular transducer 105 on mast 101, when determining while stretching out completely, can carry out the switching of mode, second stage oil cylinder starts participation work simultaneously.
From mast jacking cylinder 7 second stage, just started to stretch out, surpassed 90 degree can rely on deadweight to realize in the process of whereabouts to mast 101, main transformer width elevator 102 is put rope with constant speed.Under the pressure that mast jacking cylinder 7 is set at by pass valve 2, provide constant thrust, unnecessary fluid flows back to fuel tank from by pass valve 2.In this stage, the speed that main transformer width elevator 102 is put rope is the speed of 101, mast, controls separately main transformer width elevator 102 and puts rope speed and can realize mast 101 synchronization onwards operations.
Angular transducer 105 can also be monitored the minimum and maximum angle of mast 101, when large maximum angle or minimum angles being detected, can control hoist rising of process and stopping of mast.
The whole mast pressure sensor 8 in process that hoists can be monitored the large cavity pressure of mast jacking cylinder 7 always; if while causing pressure to surpass default peak due to fault cause; system volitional check main transformer width elevator 102 rope closings and mast jacking cylinder 7 extend actions, protection mast 101 and mast jacking cylinder 7 are not destroyed.
2, mast synchronously falls to operating
At crawler crane, in operating mode is installed, and mast synchronously falls in the situation that button opens, if principal arm arm-tie power is greater than certain value, judges that mast 101 is still in running order, the operation that synchronously falls of restriction mast.If mast 101 angles are greater than 95 °, also need to detect the pressure in mast jacking cylinder 7 large chambeies, if pressure is lower than certain value, while approaching zero, judge that mast jacking cylinder 7 is not yet adjacent to mast, need stop the 102 rope closing actions of main transformer width elevator, the right position of while main reversing valve 3 obtains electric, and mast jacking cylinder 7 stretches out.
If pressure detected, be greater than after certain value, judge that mast jacking cylinder 7 has been adjacent to mast 101, now, main reversing valve 3 dead electricity, main transformer width elevator 102 continues rope closing.The pressure underflow stream that hydraulic oil in the large chamber of mast jacking cylinder 7 is set up at balance cock 5,7 pairs of masts 101 of mast jacking cylinder provide constant bearing force simultaneously, until retract completely in mast jacking cylinder 7 second stage.At this one-phase, the speed of main transformer width elevator 102 rope closings is the speed that mast 101 falls, and controls separately main transformer width elevator 102 rope closing speed and can realize mast 101 operation that synchronously falls.
When mast jacking cylinder 7 second stage oil cylinders are retracted completely, when first order oil cylinder starts to bounce back, the left position of main reversing valve 3 obtains electric, the pressure oil that Hydraulic Pump 1 provides acts on the control mouth V1 of balance cock 5, balance cock 4 is fully opened, under the flow regulating valve combined action of the hydraulic oil in mast jacking cylinder 7 large chambeies in damping 6, one-way throttle valve 4, with more constant speed, flow back to fuel tank.Regulate one-way throttle valve 4 can control the descending speed of mast jacking cylinder 7.Simultaneously, main transformer width elevator 102 starts rope closing, controller regulates the rope closing speed of main transformer width elevator 102 automatically according to the large cavity pressure of mast jacking cylinder 7, the pressure in mast jacking cylinder 7 large chambeies is maintained in certain scope, thereby guarantees that main variable-amplitude steel wire rope 103 keeps certain tensile force.At this one-phase, the monitoring of the large cavity pressure by 8 pairs of mast jacking cylinders 7 of pressure sensor, controls main transformer width elevator 102 rope closing speed and adapts to mast jacking cylinder 7 fallings speed, realizes mast 101 and synchronously falls to controlling.
When mast lies on turntable, for avoiding mast to be subject to moment of flexure, the pulling force C that should make 103 pairs of masts of main variable-amplitude steel wire rope is zero.Therefore, when mast 101 approaches horizontality soon, stop the 102 rope closing actions of main transformer width elevator, mast jacking cylinder 7 continues to fall under the effect of mast deadweight B, until mast 101 lies on turntable.So far completing mast jacking cylinder synchronously falls to operating.
3, mast manually rises, falls to controlling
For guarantee the mast that still can rise and fall in the situation that mast synchronous control system breaks down, system has retained the function of manual fluctuation mast.Be specially: while manually playing mast, the right position of main reversing valve 3 obtains electric, and hydraulic oil enters the large chamber of mast jacking cylinder 7, and oil cylinder stretches out, and loculus inner fluid flows back to fuel tank by solenoid directional control valve 9; While manually falling, the left position of main reversing valve 3 obtains electric, and solenoid directional control valve 9 obtains electric, hydraulic oil enters mast jacking cylinder 7 loculuses and balance cock 5 control port V1 simultaneously, balance cock 5 is opened, and the fluid in the large chamber of mast jacking cylinder 7 flows back to fuel tank by main reversing valve 3, and oil cylinder is retracted.The retractable rope action of the flexible and main transformer width elevator 102 by blocked operation mast jacking cylinder 7, realizes the rising and dropping control of mast 101.
By above to the rise and fall explanation of structure, principle and working process of each embodiment of synchronous control system of caterpillar crane mast, can see, rise and fall throttle control device that synchronous control system adopts and/or state pressure control device of caterpillar crane mast of the present utility model, can rationally control the speed of the flexible and main transformer width elevator withdrawing rope of oil cylinder.And for mast jacking cylinder, be specifically two-level oil cylinder, the situation of three grades of above multi-stage oil cylinders even, when working, first order oil cylinder adopt throttle control device to carry out throttling governing, during the work of afterbody oil cylinder, adopt pressure control device to carry out constant voltage control, solved the problem of jacking cylinder and main transformer width elevator synchro control, from control principle, avoided the problem that need to carry out pressure switching when mast jacking cylinder active area is different simultaneously, solve the problem of cylinder thrust sudden change in multi-stage oil cylinder work, and simplified system formation.Separately owing to adopting throttle control device to carry out throttling governing when first order oil cylinder is worked, oil cylinder descending speed is no longer decided by the response pressure of balance cock, but be decided by the openings of sizes of one-way throttle valve, pressure overshoot in mast dropping process is greatly reduced, improved mast stressing conditions, be conducive to the loss of weight design of mast and reduce costs.
Finally should be noted that: above embodiment is only in order to illustrate that the technical solution of the utility model is not intended to limit; Although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the field are to be understood that: still can modify or part technical characterictic is equal to replacement the specific embodiment of the present utility model; And not departing from the spirit of technical solutions of the utility model, it all should be encompassed in the middle of the technical scheme scope that the utility model asks for protection.

Claims (15)

1. the caterpillar crane mast synchronous control system that rises and falls, comprise main variable-amplitude steel wire rope, main transformer width elevator, mast jacking cylinder and sync control device, mast one end of described crawler crane is fixed on the hinge of turntable the place ahead, and by described main transformer width elevator by the other end of mast described in described main transformer width rope traction, one end of described mast jacking cylinder is fixed on the hinge of turntable bottom, the other end is connected to the lower surface of described mast by connecting panel, it is characterized in that:
Described sync control device is: the throttle control device that described mast jacking cylinder is carried out throttling control and according to the large cavity pressure of described mast jacking cylinder, described main transformer width elevator carried out to the adjusting of withdrawing rope speed, and/or
The pressure control device that described main transformer width elevator is carried out to the control of constant speed withdrawing rope.
2. the caterpillar crane mast according to claim 1 synchronous control system that rises and falls, is characterized in that, described mast jacking cylinder is one-level oil cylinder, and described sync control device is described throttle control device or described pressure control device.
3. the caterpillar crane mast according to claim 1 synchronous control system that rises and falls, it is characterized in that, described mast jacking cylinder is three grades of above multi-stage oil cylinders, described in when first order oil cylinder stretches, sync control device adopts described throttle control device, described in when in the end one-level oil cylinder stretches, sync control device adopts described pressure control device, when intergrade oil cylinder stretches described in sync control device adopt described throttle control device or described pressure control device.
4. the caterpillar crane mast according to claim 1 synchronous control system that rises and falls, it is characterized in that, described mast jacking cylinder is two-level oil cylinder, described in when first order oil cylinder stretches, sync control device adopts described throttle control device, when second stage oil cylinder stretches described in sync control device adopt described pressure control device.
5. according to claim 2, caterpillar crane mast described in 3 or 4 synchronous control system that rises and falls, it is characterized in that, described throttle control device comprises main reversing valve, working position locking mechanism, damping, pressure sensor and lifting-speed controller, described damping is arranged in the large chamber of described mast jacking cylinder, and be connected with the large chamber hydraulic fluid port of described mast jacking cylinder, the oil inlet of described main reversing valve and return opening communicate with oil pump and fuel tank respectively, two actuator ports of described main reversing valve communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of described mast jacking cylinder respectively, the pressure tap of described pressure sensor is arranged on the oil circuit that the large chamber hydraulic fluid port of described mast jacking cylinder is corresponding, described working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, in order to described mast jacking cylinder is carried out to control position locking, described lifting-speed controller is connected with described pressure sensor, the large cavity pressure of the described mast jacking cylinder measuring according to described pressure sensor carries out the adjusting of withdrawing rope speed to described main transformer width elevator.
6. the caterpillar crane mast according to claim 5 synchronous control system that rises and falls, is characterized in that, described working position locking mechanism is balance cock.
7. the caterpillar crane mast according to claim 6 synchronous control system that rises and falls, is characterized in that, described throttle control device also comprises one-way throttle valve, and described one-way throttle valve is located in the oil circuit between described main reversing valve and described balance cock.
8. the caterpillar crane mast according to claim 6 synchronous control system that rises and falls, is characterized in that, described balance cock is pressure balance type single-acting balance cock.
9. the caterpillar crane mast according to claim 5 synchronous control system that rises and falls, it is characterized in that, described working position locking mechanism comprises the first by pass valve, hydraulic lock and check valve, described hydraulic lock is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, the control port of described hydraulic lock communicates with the loculus hydraulic fluid port of described mast jacking cylinder, described the first by pass valve and check valve are connected in series, and described first by pass valve of series connection and check valve and described hydraulic lock are connected in parallel.
10. the caterpillar crane mast according to claim 9 synchronous control system that rises and falls, it is characterized in that, described throttle control device also comprises one-way throttle valve, described one-way throttle valve and described hydraulic lock are connected in series, and the described one-way throttle valve of series connection and hydraulic lock are connected in parallel with described the first by pass valve and the check valve of connecting.
The 11. caterpillar crane masts according to claim 5 synchronous control system that rises and falls, it is characterized in that, also comprise for being switched to the secondary change-over valve of manual control, the oil inlet of described secondary change-over valve and return opening communicate with an actuator port and the described fuel tank of described main reversing valve respectively, and an actuator port of described secondary change-over valve communicates with the loculus hydraulic fluid port of described mast jacking cylinder.
The 12. caterpillar crane masts according to claim 11 synchronous control system that rises and falls, is characterized in that, described main reversing valve is 3-position 4-way solenoid directional control valve, and Median Function is " Y " type, and described secondary change-over valve is two four-way electromagnetic reversing valves.
13. according to claim 2, caterpillar crane mast described in 3 or 4 synchronous control system that rises and falls, it is characterized in that, described pressure control device comprises main reversing valve, working position locking mechanism, the second by pass valve, pressure sensor and lifting-speed controller, the oil inlet of described main reversing valve and return opening communicate with oil pump and fuel tank respectively, two actuator ports of described main reversing valve communicate with large chamber hydraulic fluid port and the loculus hydraulic fluid port of described mast jacking cylinder respectively, the pressure tap of described pressure sensor is arranged on the oil circuit that the large chamber hydraulic fluid port of described mast jacking cylinder is corresponding, described working position locking mechanism is located in the oil circuit between the large chamber hydraulic fluid port of described main reversing valve and described mast jacking cylinder, in order to described mast jacking cylinder is carried out to control position locking, described the second by pass valve is arranged on the oil circuit between described oil pump and the oil inlet of described main reversing valve, described lifting-speed controller is connected with described pressure sensor, control described main transformer width elevator with constant speed withdrawing rope.
The 14. caterpillar crane masts according to claim 13 synchronous control system that rises and falls, is characterized in that, described main reversing valve is 3-position 4-way solenoid directional control valve, and Median Function is " Y " type.
15. according to the synchronous control system that rises and falls of the caterpillar crane mast described in claim 3 or 4, it is characterized in that, also comprise angular transducer, described angular transducer is fixed on described mast, for measuring the angle value of described mast, described angular transducer is connected with described pressure control device with described throttle control device, and the angle value that described throttle control device and described pressure control device are measured according to described angular transducer carries out the switching of synchronous control mode.
CN201320444214.9U 2013-07-24 2013-07-24 Control system for synchronous lifting and descending of crawler crane mast CN203411244U (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103342288A (en) * 2013-07-24 2013-10-09 徐工集团工程机械股份有限公司 Mast rise and fall synchronous control system of crawler crane
CN104355265A (en) * 2014-10-11 2015-02-18 泰兴市塔力机械制造有限公司 Lifting device
CN109578353A (en) * 2018-11-29 2019-04-05 重庆邮电大学 A kind of synchronous error automatic clear hydraulic control circuit

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103342288A (en) * 2013-07-24 2013-10-09 徐工集团工程机械股份有限公司 Mast rise and fall synchronous control system of crawler crane
CN103342288B (en) * 2013-07-24 2015-08-19 徐工集团工程机械股份有限公司 Caterpillar crane mast rises and falls synchronous control system
CN104355265A (en) * 2014-10-11 2015-02-18 泰兴市塔力机械制造有限公司 Lifting device
CN109578353A (en) * 2018-11-29 2019-04-05 重庆邮电大学 A kind of synchronous error automatic clear hydraulic control circuit

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