CN203486778U - Hoisting height control system of crane - Google Patents
Hoisting height control system of crane Download PDFInfo
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- CN203486778U CN203486778U CN201320489896.5U CN201320489896U CN203486778U CN 203486778 U CN203486778 U CN 203486778U CN 201320489896 U CN201320489896 U CN 201320489896U CN 203486778 U CN203486778 U CN 203486778U
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- principal arm
- lift heavy
- elevator
- length
- control system
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Abstract
The utility model discloses a hoisting height control system of a crane. The crane comprises a main arm, a winch and a lifting appliance, wherein a pull rope wound on the winch bypasses a pulley block at the head part of the main arm to be connected with the lifting appliance; the control system comprises a detection device, a controller and an actuator, wherein the detection device is used for detecting the length parameter of the main arm, a first included angle formed by the root part of the main arm and the horizontal plane, and the working parameters of the winch; the controller pre-stores the multiplying power of a hook, the length of the lifting appliance and the preset hoisting height, is used for acquiring the current hoisting height according to the detection parameters of the detection device and the pre-stored parameters and outputting a control signal according to the current hoisting height and the preset hoisting height; the actuator is used for controlling the winch to release/withdraw the pull rope according to the control signal. The control system can detect the current hoisting height of a heavy object and can hoist the heavy object to the preset hoisting height, so as to accurately control the hoisting process.
Description
Technical field
The utility model relates to hoisting crane technical field, particularly relates to a kind of lift heavy height control system of hoisting crane.
Background technology
Along with the fast development of China's economic construction, market for hoisting crane particularly the demand of hoister in large tonnage day by day increase.Hoister in large tonnage is more and more extensive in the application in the fields such as chemical industry, wind-powered electricity generation and bridge.
Hoister in large tonnage is when carrying out lifting operation, and generally speaking required lifting is highly higher, and the bulky of hoisting object is difficult to accurate location when installing, and need to ceaselessly regulate height and direction; When practice, often there will be two or more hoister in large tonnage work compounds.Owing to cannot accurately locating the height of hoisting object, in operating process, easily there is following problems:
When equipment being installed to location, lifting distance, highly high, operating personal cannot visual installation process, can only carry out by the commander of installation personnel the adjusting of height, and operating personal can only regulate elevator to change lift heavy height by experience when regulating, cannot fine adjustment distance, if distance is little, cannot arrive installation site, if distance is excessive easily accidents caused;
During multimachine operation, should keep lifting highly consistent, if deviation is excessive, easily make the side hoisting crane that lift heavy height is low stressed excessive, surpass predetermined value and will cause the Peril Incidents such as overturning, folding arm.
In view of this, how designing a kind of lift heavy height control system of hoisting crane, can the lift heavy height of hoisting crane be detected and be controlled, improve efficiency and the safety of lifting, be the current technical issues that need to address of those skilled in the art.
Utility model content
The purpose of this utility model is to provide a kind of lift heavy height control system of hoisting crane, and this control system can detect and control the lift heavy height of hoisting crane, improves efficiency and the safety of lifting.
For solving the problems of the technologies described above, the utility model provides a kind of lift heavy height control system of hoisting crane, and described hoisting crane comprises principal arm, elevator and suspender; The stay cord being wound around on described elevator, the assembly pulley of walking around described principal arm head is connected with described suspender; Described control system comprises:
Detecting device, the first angle forming for detection of the length parameter of described principal arm, described principal arm root and horizontal surface and the working parameter of described elevator;
Controller, the length of prestore suspension hook multiplying power, described suspender and default lift heavy height; Be used for according to the detected parameters of described detecting device and the current lift heavy height of parameter acquiring that prestores, and according to current lift heavy height and default lift heavy height output control signal;
Actr, according to described control signal control described elevator emit regain described stay cord.
Preferably, described controller comprises:
The first control element, for obtaining described principal arm head apart from the height of described rotating platform of crane horizontal surface according to the length parameter of described principal arm and described the first angle;
The second control element, for obtaining according to the working parameter of described elevator the length that described stay cord stretches out described elevator;
The 3rd control element, for stretching out the length of described elevator, the length of the length parameter of described principal arm, described suspension hook multiplying power and described suspender is obtained current lift heavy height according to height, the described stay cord of the described rotating platform of crane horizontal surface of described principal arm head distance.
Preferably, described detecting device comprises:
Length measurement sensor, is located at described principal arm, for detection of the length parameter of described principal arm;
The first angular transducer, is located at described principal arm root, for detection of described the first angle;
Tachogen, is located at the center of gyration of described elevator, for detection of the rotational parameters of described elevator;
Described controller, every layer of number of turns that stay cord is wound around on the winding radius when radius of the described stay cord that also prestores, described stay cord are all wrapped in described elevator and described elevator;
Described the second control element, for obtaining according to the radius of the rotational parameters of described elevator, described stay cord, described winding radius and the described number of turns length that described stay cord stretches out described elevator.
Preferably, described detecting device also comprises:
The second angular transducer, is located at described principal arm head, for detection of the second angle of described principal arm head and horizontal surface formation;
Described controller is also for obtain the deflection of described principal arm according to the length parameter of described the second angle and described principal arm, and according to the current lift heavy height of described deflection correction.
Preferably, when described hoisting crane is single cylinder bolt-type hoisting crane, described length measurement sensor is located at the telescopic oil cylinder of described principal arm, for detection of the extension elongation that respectively saves telescopic boom of described principal arm;
Described controller, the length of the basic arm of the described principal arm that also prestores.
Preferably, described detecting device also comprises approach switch and detects piece, one in both is located at the cylinder pin of described telescopic oil cylinder, what another one was located at described principal arm respectively saves telescopic boom, so that when described cylinder pin inserts wherein a joint telescopic boom, described approach switch response sends an electrical signal to described controller.
Preferably, described tachogen is angular encoder or Hall element.
Preferably, described actr is electromagnetic valve.
The lift heavy height control system of the hoisting crane that the utility model provides, can detect and control the lift heavy height of hoisting crane, improves efficiency and the safety of lift heavy.In this programme, first control system detects the first angle of forming between length parameter, principal arm root and the horizontal surface of principal arm and the working parameter of elevator by detecting device, again according to these three parameters and the suspension hook multiplying power prestoring, the current lift heavy height of length computation of suspender, finally according to current lift heavy height and default lift heavy height control elevator receive put stay cord, weight is winched to default lift heavy height; So, this control system not only can detect current lift heavy height, can also weight be winched to default lift heavy height according to current lift heavy height and default lift heavy height, thereby accurately control hoisting process, improves efficiency and the safety of user's lifting.
A kind of preferred embodiment in, the detecting device of described control system also detects the second angle of principal arm head and horizontal surface formation, controller is also for obtain the deflection of principal arm according to the length parameter of this second angle and principal arm, and according to the current lift heavy height of this deflection correction.Hoisting crane in hoisting process, the effect of and weight long due to principal arm, principal arm can downwarp produce deflection, after as above arranging, control system is revised current lift heavy height according to described deflection, can control more accurately hoisting process.
Accompanying drawing explanation
Fig. 1 provides the structured flowchart of a kind of embodiment of lift heavy height control system for the utility model;
Fig. 2 is located at the structural representation on hoisting crane for the utility model provides the another kind of embodiment of lift heavy height control system;
Fig. 3 is the structured flowchart of Fig. 2;
Fig. 4 is the structural representation of crane hoisting.
The specific embodiment
Core of the present utility model is to provide a kind of lift heavy height control system of hoisting crane, and this control system can detect and control the lift heavy height of hoisting crane, improves efficiency and the safety of lifting.
In order to make those skilled in the art person understand better the utility model scheme, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
The utility model provides a kind of lift heavy height control system of hoisting crane, and this hoisting crane comprises principal arm, elevator and suspender; The stay cord being wound around on described elevator, the assembly pulley of walking around described principal arm head is connected with described suspender.
Please refer to Fig. 1, Fig. 1 provides the structured flowchart of a kind of embodiment of lift heavy height control system for the utility model.
In one embodiment, as shown in Figure 1, lift heavy height control system comprises detecting device 10, controller 20 and actr 30.
The first angle that detecting device 10 forms for detection of the length parameter of described principal arm, described principal arm root and horizontal surface and the working parameter of described elevator.
Particularly, described controller 20 comprises: the first control element 21, for obtaining described principal arm head apart from the height of described rotating platform of crane horizontal surface according to the length parameter of described principal arm and described the first angle; The second control element 22, for obtaining according to the working parameter of described elevator the length that described stay cord stretches out described elevator; The 3rd control element 23, for obtaining current lift heavy height according to described principal arm head apart from the length of the height of described rotating platform of crane horizontal surface, length, described suspension hook multiplying power and described suspender that described stay cord stretches out described elevator.
Adopt said structure, first lift heavy height control system detects the first angle of forming between length parameter, principal arm root and the horizontal surface of principal arm and the working parameter of elevator, again according to these three parameters and the suspension hook multiplying power prestoring, the current lift heavy height of length computation of suspender, finally according to current lift heavy height and default lift heavy height control elevator receive put stay cord, weight is winched to default lift heavy height; That is to say, this control system not only can detect the current lift heavy height of hoisting crane, can also weight be winched to default lift heavy height according to current lift heavy height and default lift heavy height, thereby accurately control hoisting process, improve efficiency and the safety of user's lifting.
Also the concrete structure of above-mentioned lift heavy height control system can be further set.Please refer to Fig. 2 and Fig. 3, Fig. 2 is located at the structural representation on hoisting crane for the utility model provides the another kind of embodiment of lift heavy height control system; Fig. 3 is the structured flowchart of Fig. 2.
In this specific embodiment, the detecting device 10 of lift heavy height control system comprises length measurement sensor 11, the first angular transducer 12 and tachogen 13; Wherein, length measurement sensor 11 is located at the principal arm 51 of hoisting crane, for detection of the length parameter of principal arm 51; The first angular transducer 12 is located at principal arm 51 roots, for detection of the first angle; Tachogen 13 is located at the center of gyration of elevator 52, for detection of the rotational parameters of elevator 52.
The number of turns that on winding radius when length, the stay cord of suspension hook multiplying power, suspender 53 of prestoring in controller 20 is all wrapped in elevator 52, elevator 52, every layer of stay cord is wound around, radius and the default lift heavy height of stay cord; Controller 20 is connected with tachogen 13 with length measurement sensor 11, the first angular transducer 12, and the length of the parameter recording according to each sensor and suspension hook multiplying power, suspender 53 is obtained current lift heavy height.
Obviously, if current lift heavy height is less than default lift heavy height, controller 20 sends the signal of regaining stay cord, and actr 30 is controlled elevator 52 according to this control signal and regained stay cord, so that current lift heavy height rises to default lift heavy height; If current lift heavy height is greater than default lift heavy height, controller 20 sends the signal of emitting stay cord, and actr 30 is controlled elevator 52 according to this control signal and emitted stay cord, so that current lift heavy height is down to default lift heavy height.
Wherein, actr 30 can be electromagnetic valve 31, as shown in Figure 3.
Particularly, length measurement sensor 11 detects under current working, the length of the principal arm 51 of hoisting crane; Tachogen 13 detects under current working, the accumulative total angle that elevator 52 rotates.
Wherein, tachogen 13 can be angular encoder, can be also Hall element, can certainly be made as the sensor that other can record the accumulative total angle of elevator 52 rotations.
Below how controller 20 is analyzed according to detected parameters and the current lift heavy height of parameter acquiring that prestores; First, the parameter relating to and symbol are carried out to corresponding explanation:
H---current lift heavy height;
H
1---principal arm 51 heads are apart from the height of rotating platform of crane horizontal surface;
L
1---under current working, the length of principal arm 51;
A---the first angle;
L
2---the length that stay cord stretches out from elevator 52;
θ---under current working, the accumulative total angle that elevator 52 rotates;
Every layer of number of turns that stay cord is wound around on K---elevator 52;
R
i---i layer stay cord is wound around radius;
R
n---current layer stay cord is wound around radius;
R
1---winding radius when stay cord is all wrapped in elevator 52;
R
2---the radius of stay cord;
N---suspension hook multiplying power;
The length of h---suspender 53.
H
1＝L
1sina （1）
r
i＝R
1-2i×R
2 （3）
Understanding for convenience of to above-mentioned formula, please refer to Fig. 4, the structural representation that Fig. 4 is crane hoisting.
While putting rope, every rotation one circle of elevator 52, the winding of stay cord 54 on elevator 52 just reduces by a circle, and accordingly, the length that stay cord 54 stretches out from elevator 52 is to utilize current layer stay cord to be wound around radius r
nthe girth calculating; Wherein, n is current layer number; Obviously, n is that initial value is 1 natural number.It is pointed out that outermost layer when here the 1st layer is stay cord 54 and is all wrapped on elevator 52.
As shown in Figure 4, the winding radius of stay cord 54 on elevator 52 changes with the variation of stay cord 54 numbers of plies, and wherein, the winding radius of i layer stay cord 54 can utilize formula (3) to draw.
On elevator 52, the number of turns that every layer of stay cord 54 is wound around is K, the layer of (n-1) before current layer number n so, and the length that stay cord 54 stretches out from elevator 52 is the first half of formula (2),
owing to utilizing tachogen 13 can detect under current working, the accumulative total angle θ that elevator 52 rotates, can utilize this accumulative total angle θ to calculate so, under current layer number n, and the number of turns that stay cord 54 stretches out,
Thereby, under current working, the length L that stay cord 54 stretches out from elevator 52
2be that available formula (2) calculates.
Wherein, the current layer number n of stay cord 54 on elevator 52 can utilize formula (4) to determine.
Working parameter due to elevator 52: winding radius R when stay cord 54 is all wrapped in elevator 52
1, every layer of stay cord 54 is wound around on elevator 52 number of turns K and the radius R of stay cord 54
2, in the hoisting process of hoisting crane, can not change, all can record in advance, and be pre-stored in controller 20, so only need measure under current working, the accumulative total angle θ that elevator 52 rotates, can draw the length L that stay cord 54 stretches out from elevator 52
2.
Thereby controller 20 can obtain the current lift heavy height H of hoisting crane:
H＝H
1-(L
2-L
1)/N-h （5）
In formula (5), the length h of suspender 53 is pre-stored in controller 20.
Please continue to refer to Fig. 2, in further scheme, detecting device 10 also comprises the second angular transducer 14, is located at principal arm 51 heads, for detection of the second angle of principal arm 51 heads and horizontal surface formation; Controller 20 is also for obtain the deflection of principal arm 51 according to the length parameter of this second angle and principal arm 51, and according to the current lift heavy height of this deflection correction.
Hoisting crane is in hoisting process, the effect of and lifted weight long due to principal arm 51, principal arm 51 inevitably can downwarp produce deflection, as above after arranging, controller 20 can be revised the current lift heavy height of hoisting crane according to the deflection of principal arm 51, thereby controls hoisting process more accurately.
When hoisting crane is single cylinder bolt-type hoisting crane, the length measurement sensor 11 of detecting device 10 is located at the telescopic oil cylinder of principal arm 51, for detection of the extension elongation that respectively saves telescopic boom of principal arm 51; Now, in controller 20, also prestore the length of the basic arm of principal arm 51.The length of the basic arm that controller 20 bases prestore and the extension elongation that respectively saves telescopic boom that length measurement sensor 11 records can calculate the length of principal arm 51.
Particularly, detecting device 10 also comprises approach switch and detects piece, and the one in both is located at the cylinder pin of described telescopic oil cylinder, and what another one was located at principal arm 51 respectively saves telescopic boom, so that when described cylinder pin inserts wherein a joint telescopic boom, described approach switch response sends an electrical signal to controller 20.
Because length measurement sensor 11 is located at the telescopic oil cylinder of principal arm 51, so length measurement sensor 11 can record the length that described telescopic oil cylinder stretches out at every turn, by approach switch and detection piece, controller 20 electric signal that response is sent according to approach switch judges whether described telescopic oil cylinder drives the telescopic boom of principal arm 51 flexible when flexible, thereby from length measurement sensor 11, select the extension elongation of surveying long telescopic boom, then calculate the length of principal arm 51 in conjunction with the length gauge of the basic arm prestoring.
Certainly, also can utilize the length of length measurement sensor 11 direct-detection main arm of cranes 51, but, when hoisting crane is single cylinder bolt-type hoisting crane, its principal arm 51 is conventionally very long, if directly measure the length of principal arm 51, is unfavorable for that the long line of survey of length measurement sensor 11 is arranged, thereby affect the survey precision of length measurement sensor 11, therefore select aforesaid way can improve survey precision.
Certainly, when principal arm 51 length of hoisting crane are not very long, when directly measurement also can reach accuracy requirement, can directly measure the length of principal arm 51 by length measurement sensor 11.
In addition, above-mentioned lift heavy height control system can also comprise telltale 40, in order to show the return signal of each sensor of detecting device 10, and each signal of obtaining of controller 20.
Above the lift heavy height control system of hoisting crane provided by the utility model is described in detail.Applied specific case herein principle of the present utility model and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present utility model and core concept thereof.Should be understood that; for those skilled in the art; do not departing under the prerequisite of the utility model principle, can also carry out some improvement and modification to the utility model, these improvement and modification also fall in the protection domain of the utility model claim.
Claims (8)
1. a lift heavy height control system for hoisting crane, described hoisting crane comprises principal arm, elevator and suspender; The stay cord being wound around on described elevator, the assembly pulley of walking around described principal arm head is connected with described suspender; It is characterized in that, described control system comprises:
Detecting device, the first angle forming for detection of the length parameter of described principal arm, described principal arm root and horizontal surface and the working parameter of described elevator;
Controller, the length of prestore suspension hook multiplying power, described suspender and default lift heavy height; Be used for according to the detected parameters of described detecting device and the current lift heavy height of parameter acquiring that prestores, and according to current lift heavy height and default lift heavy height output control signal;
Actr, according to described control signal control described elevator emit regain described stay cord.
2. lift heavy height control system as claimed in claim 1, is characterized in that, described controller comprises:
The first control element, for obtaining described principal arm head apart from the height of described rotating platform of crane horizontal surface according to the length parameter of described principal arm and described the first angle;
The second control element, for obtaining according to the working parameter of described elevator the length that described stay cord stretches out described elevator;
The 3rd control element, for stretching out the length of described elevator, the length of the length parameter of described principal arm, described suspension hook multiplying power and described suspender is obtained current lift heavy height according to height, the described stay cord of the described rotating platform of crane horizontal surface of described principal arm head distance.
3. lift heavy height control system as claimed in claim 2, is characterized in that, described detecting device comprises:
Length measurement sensor, is located at described principal arm, for detection of the length parameter of described principal arm;
The first angular transducer, is located at described principal arm root, for detection of described the first angle;
Tachogen, is located at the center of gyration of described elevator, for detection of the rotational parameters of described elevator;
Described controller, every layer of number of turns that stay cord is wound around on the winding radius when radius of the described stay cord that also prestores, described stay cord are all wrapped in described elevator and described elevator;
Described the second control element, for obtaining according to the radius of the rotational parameters of described elevator, described stay cord, described winding radius and the described number of turns length that described stay cord stretches out described elevator.
4. lift heavy height control system as claimed in claim 3, is characterized in that, described detecting device also comprises:
The second angular transducer, is located at described principal arm head, for detection of the second angle of described principal arm head and horizontal surface formation;
Described controller is also for obtain the deflection of described principal arm according to the length parameter of described the second angle and described principal arm, and according to the current lift heavy height of described deflection correction.
5. lift heavy height control system as claimed in claim 3, is characterized in that, when described hoisting crane is single cylinder bolt-type hoisting crane, described length measurement sensor is located at the telescopic oil cylinder of described principal arm, for detection of the extension elongation that respectively saves telescopic boom of described principal arm;
Described controller, the length of the basic arm of the described principal arm that also prestores.
6. lift heavy height control system as claimed in claim 5, it is characterized in that, described detecting device also comprises approach switch and detects piece, one in both is located at the cylinder pin of described telescopic oil cylinder, what another one was located at described principal arm respectively saves telescopic boom, so that when described cylinder pin inserts wherein a joint telescopic boom, described approach switch response sends an electrical signal to described controller.
7. lift heavy height control system as claimed in claim 3, is characterized in that, described tachogen is angular encoder or Hall element.
8. lift heavy height control system as claimed in claim 1, is characterized in that, described actr is electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320489896.5U CN203486778U (en) | 2013-08-12 | 2013-08-12 | Hoisting height control system of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320489896.5U CN203486778U (en) | 2013-08-12 | 2013-08-12 | Hoisting height control system of crane |
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| Publication Number | Publication Date |
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| CN203486778U true CN203486778U (en) | 2014-03-19 |
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| CN201320489896.5U Withdrawn - After Issue CN203486778U (en) | 2013-08-12 | 2013-08-12 | Hoisting height control system of crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395696A (en) * | 2013-08-12 | 2013-11-20 | 徐州重型机械有限公司 | Hoisting height control system and method of crane |
| CN104495623A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane telescopic boom control device and method and crane |
| CN105883620A (en) * | 2016-05-24 | 2016-08-24 | 扬州市东宇环保设备有限公司 | Movable crane height detecting and alarming system |
| CN113003419A (en) * | 2021-03-09 | 2021-06-22 | 浙江三一装备有限公司 | Dynamic simulation display method and system for construction of working machine |
-
2013
- 2013-08-12 CN CN201320489896.5U patent/CN203486778U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395696A (en) * | 2013-08-12 | 2013-11-20 | 徐州重型机械有限公司 | Hoisting height control system and method of crane |
| CN103395696B (en) * | 2013-08-12 | 2015-07-22 | 徐州重型机械有限公司 | Hoisting height control system and method of crane |
| CN104495623A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane telescopic boom control device and method and crane |
| CN105883620A (en) * | 2016-05-24 | 2016-08-24 | 扬州市东宇环保设备有限公司 | Movable crane height detecting and alarming system |
| CN113003419A (en) * | 2021-03-09 | 2021-06-22 | 浙江三一装备有限公司 | Dynamic simulation display method and system for construction of working machine |
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