WO2012094900A1 - Appareil et procédé de commande d'un circuit étanche de treuil hydraulique de grue - Google Patents

Appareil et procédé de commande d'un circuit étanche de treuil hydraulique de grue Download PDF

Info

Publication number
WO2012094900A1
WO2012094900A1 PCT/CN2011/079205 CN2011079205W WO2012094900A1 WO 2012094900 A1 WO2012094900 A1 WO 2012094900A1 CN 2011079205 W CN2011079205 W CN 2011079205W WO 2012094900 A1 WO2012094900 A1 WO 2012094900A1
Authority
WO
WIPO (PCT)
Prior art keywords
ratio
pressure
brake
hoisting
hydraulic pump
Prior art date
Application number
PCT/CN2011/079205
Other languages
English (en)
Chinese (zh)
Inventor
詹纯新
刘权
杨勇
刘琴
刘永赞
郭纪梅
李英智
胡廷江
Original Assignee
长沙中联重工科技发展股份有限公司
湖南中联重科专用车有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 长沙中联重工科技发展股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 长沙中联重工科技发展股份有限公司
Publication of WO2012094900A1 publication Critical patent/WO2012094900A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/44—Control devices non-automatic pneumatic of hydraulic

Definitions

  • the present invention relates to a control device, and in particular to a control device and method for a closed hydraulic winch circuit of a crane. Background technique
  • the hydraulic hoisting circuit used in the current construction machinery is generally an open circuit.
  • the open circuit is provided with a balancing valve.
  • the balancing valve When the hydraulic pump provides sufficient lifting pressure, the balancing valve will open, and generally does not occur due to the brake.
  • the uncontrollable load slip phenomenon caused by premature opening, but the open circuit has the following three disadvantages: (1) Composite operation control is difficult; (2) The pipeline is complicated, the installation space is large, and the required hydraulic tank volume is larger. , the realization cost is higher; and (3) cavitation is easier to form due to the absence of the oil filling system in the open circuit.
  • Chinese patent CN. 200946070Y discloses a secondary lifting control device for the closed hydraulic hoisting circuit of the crane.
  • the control device stores the pressure of the hydraulic pump when the brake is last closed, and obtains the pressure in the hydraulic pump on the circuit before performing the next hoisting operation, and when the pressure reaches or exceeds the pressure stored by the control device, the brake is opened, thereby opening the brake Perform the next hoisting action.
  • the brake is opened when the lifting operation is performed according to the pressure of the hydraulic pump when the brake is last closed. It is not reasonable, for example, when the last hoisting action is lifting, the pressure stored in the control device is the sum of the gravity of the load, the frictional force during lifting, and the force for lifting the acceleration, if this value is used.
  • the pressure threshold of the brake opening will cause the following problems due to the high pressure threshold: (1) The phenomenon that the load will jump instantaneously when the brake is opened, which is not conducive to the stable lifting or lowering of the load; (2) The hydraulic pump before the brake is opened The pressure built in is too high, resulting in excessive consumption of the hydraulic pump, and the time required to establish pressure in the hydraulic pump is too long, which also affects the rapidity of the control device. Summary of the invention
  • the object of the present invention is to provide a control device and method for a closed hydraulic hoisting circuit of a crane, which can improve the hoisting operation of a closed hydraulic hoisting circuit of a crane without ensuring a load drop phenomenon. Stability and rapidity, and reduced wear on the hydraulic pump.
  • the present invention provides a control device for a closed hydraulic hoisting circuit of a crane, the closed hydraulic hoisting circuit of the crane comprising a hydraulic pump and a brake, wherein the control device is executed every time a hoisting operation is performed And storing a pressure in the hydraulic pump when the brake is closed and a direction of the hoisting action, and controlling the brake according to the stored pressure and the direction of the last hoisting action when performing the hoisting operation turn on.
  • the control device controls the brake to be opened when the pressure in the hydraulic pump reaches a first ratio of the stored pressure; and when the last hoisting action is decentralized
  • the control device controls the brake to open when the pressure in the hydraulic pump reaches a second ratio of the stored pressure, and the first ratio may be greater than or equal to 30% and less than 100%, the first The second ratio can be greater than or equal to 50% and less than 100%.
  • the first ratio may be 60-80%, and the second ratio may be greater than or equal to 80% and less than 100%
  • the first ratio may be 70%, and the second ratio may be 90%.
  • the brake when the control device controls the brake to be opened, the brake can be controlled to be opened according to the direction of the current winding operation.
  • the control device can control the brake to be opened according to the following strategy: when the last hoisting action is lifting and the hoisting action is lifting, when the pressure in the hydraulic pump reaches the third of the stored pressure When the ratio is proportional, the brake is controlled to be opened; when the last hoisting action is lifting and the hoisting action is lowering, when the pressure in the hydraulic pump reaches the fourth ratio of the stored pressure, the brake is controlled Opening; when the last hoisting action is lowering and the hoisting action is lowering, when the pressure in the hydraulic pump reaches the fifth ratio of the stored pressure, the brake is controlled to be opened; and the previous volume
  • the lifting action is the lowering and the hoisting action is the lifting
  • the pressure in the hydraulic pump reaches the sixth ratio of the stored pressure
  • the brake is controlled to be opened, and the third ratio and the fifth ratio may be 50-90%, the fourth ratio may be 30-70%, and the sixth ratio may be greater than or equal to 70% and less than 100%.
  • the third ratio and the fifth ratio may be 60-80%, the fourth ratio may be 40-60%, and the sixth ratio may be greater than or equal to 80% and less than 100%.
  • the third ratio and the fifth ratio may be 70%, the fourth ratio may be 50%, and the sixth ratio may be 90%.
  • the present invention also provides a control method for a closed hydraulic hoisting circuit of a crane, the closed hydraulic hoisting circuit of the crane comprising a hydraulic pump and a brake, the method comprising: storing the brake when each hoisting operation is performed The pressure in the hydraulic pump and the direction of the winding operation, and when the present winding operation is performed, the brake is controlled to be opened according to the stored pressure and the direction of the previous winding operation.
  • the brake when the last hoisting action is lifting, when the pressure in the hydraulic pump reaches a first ratio of the stored pressure, the brake is controlled to open; and when the last hoisting action is lowering, When the pressure in the hydraulic pump reaches a second ratio of the stored pressure, the control controls the brake to open, the first ratio may be greater than or equal to 30% and less than 100%, and the second ratio may be greater than or equal to 50 % and less than 100%.
  • the first ratio may be 60-80%, and the second ratio may be greater than or equal to 80% and less than 100%.
  • the first ratio may be 70%, and the second ratio may be 90%.
  • the brake when the brake is controlled to open, the brake can be controlled to be opened according to the direction of the winding operation.
  • the brake when the last hoisting action is lifting and the hoisting action is lifting, when the pressure in the hydraulic pump reaches a third ratio of the stored pressure, the brake is controlled to open; When the lifting is performed and the hoisting action is lowering, when the pressure in the hydraulic pump reaches the fourth ratio of the stored pressure, the brake is controlled to be opened; the last hoisting action is decentralized and the volume is When the lifting action is the lowering, when the pressure in the hydraulic pump reaches the fifth ratio of the stored pressure, the brake is controlled to be opened; and when the last hoisting action is lowering and the hoisting action is lifting, Then, when the pressure in the hydraulic pump reaches a sixth ratio of the stored pressure, the brake is controlled to be opened, the third ratio and the fifth ratio may be 50-90%, and the fourth ratio may be 30- 70%, the sixth ratio may be greater than or equal to 70% and less than 100%.
  • the third ratio and the fifth ratio may be 60-80%, and the fourth ratio may be
  • the sixth ratio may be greater than or equal to 80% and less than 100%.
  • the third ratio and the fifth ratio may be 70%, the fourth ratio may be 50%, and the sixth ratio may be 90%.
  • the above solution can appropriately reduce the pressure threshold for opening the brake by considering the direction of the last hoisting action (that is, the threshold value can be lower than the pressure in the hydraulic pump when the brake is closed after the last hoisting operation stored by the control device). This not only saves the time for the hydraulic pump to establish pressure before opening the brake, but also improves the speed of the control device, and also avoids the loss of the hydraulic pump due to the excessive pressure established in the hydraulic pump. In addition, because the pressure in the hydraulic pump changes very rapidly with the load, even if the pressure threshold for opening the brake is appropriately reduced, the load can be lifted or lowered.
  • FIG. 1 is a schematic structural view of a control device for a closed hydraulic hoisting circuit of a crane
  • Figure 2 is a graph showing the relationship between the pressure established by the hydraulic pump and the time required to establish the pressure
  • Figure 3 is a flow chart of the control method of the closed hydraulic hoisting circuit of the crane. Description of the reference numerals
  • the present invention provides a control device for a closed hydraulic hoisting circuit of a crane, the closed hydraulic hoisting circuit of the crane comprising a hydraulic pump and a brake, wherein the control device stores the brake closed every time a hoisting operation is performed When the pressure in the hydraulic pump and the direction of the hoisting operation are performed, and when the hoisting operation is performed, the brake is controlled to be opened according to the stored pressure and the direction of the previous hoisting operation.
  • the pressure in the hydraulic pump reaches a certain ratio of the stored pressure. In the case (the ratio is less than 1), the brake is controlled to open.
  • the pressure of the hydraulic pump can be stabilized by the rapid response of the load and the setting of the ratio to ensure the load is lifted or lowered.
  • FIG. 1 is a schematic view showing the structure of a control device for a closed hydraulic hoisting circuit of a crane.
  • the control device of the closed hydraulic hoisting circuit of the crane includes a controller 100 and a pressure sensor 200 electrically connected to the controller 100 , a proportional solenoid valve 300 , a switch solenoid valve 400 , and a joystick 500 .
  • the pressure sensor 200 is located in the hydraulic pump for detecting the pressure in the hydraulic pump;
  • the proportional solenoid valve 300 is located on the hydraulic pump for controlling the flow rate of the hydraulic pump; 400 is located on the brake for controlling opening and closing of the brake;
  • the joystick 500 is used to input a direction of the hoisting action.
  • control device An embodiment of the control device is given here, but the invention of the present invention lies in the specific control strategy of the control device, so the control device of the present invention is not limited to the specific form shown in FIG.
  • the control device is also feasible.
  • the direction of the hoisting motion may be input without the manipulation of the joystick 500, and input by means of a key input; as for the control of the brake, it may be performed without the switch solenoid valve 400.
  • Fig. 2 is a graph showing the relationship between the pressure established by the hydraulic pump and the time required to establish the pressure.
  • T1 the time required to enter the steady state
  • T2 the time required to enter the steady state
  • the pressure P1 is less than the pressure ⁇ 2
  • the time T1 is less than the time ⁇ 2. Therefore, the higher the established pressure, the longer the time required to establish the pressure, and the present invention improves the speed of the control device by reducing the pressure required to build the hydraulic pump.
  • the control device controls the brake to be opened when the pressure in the hydraulic pump reaches a first ratio of the stored pressure; and when the last hoisting action For lowering, the control device controls the brake to open when the pressure in the hydraulic pump reaches a second ratio of the stored pressure.
  • the pressure stored by the control device is the gravity of the load, the friction of the lifting, and the lifting.
  • the sum of the forces corresponding to the acceleration; when the last hoisting action is the lowering, the pressure stored by the control device is the difference between the gravity of the load and the force corresponding to the downward acceleration and the friction of the lowering, in view of the previous volume
  • the magnitude of the pressure stored by the control device is different, so the first ratio may be less than or equal to the second ratio.
  • the first ratio may be greater than or equal to 30% and less than 100%, and the second ratio may be greater than or equal to 50% and less than 100%; experiments show that when the first ratio is 60-80%, the first When the second ratio can be greater than or equal to 80% and less than 100%, the load lifting or lowering stability can be better balanced, the speed of the control device can be avoided, and the hydraulic pump can be prevented from being damaged due to excessive hydraulic pressure. More preferably, the first ratio is 70% and the second ratio is 90%.
  • the control device may also consider the direction of the hoisting action when controlling the opening of the brake. If the direction of the hoisting action is lower, the pressure threshold for opening the brake can be relatively reduced, and the load can be stabilized when the brake is opened; if the direction of the hoisting action is increased, it can be relatively increased.
  • the pressure threshold of the large opening brake can also satisfy the stability of the load when the brake is opened. In this way, the ratio of the direction of the previous and the hoisting action can be further refined to further reduce the pressure threshold for opening the brake, shorten the time for establishing the pressure of the hydraulic pump, and reduce the time when the stability is satisfied. Loss of the hydraulic pump.
  • control device may control the brake to be opened according to the following strategy: when the last hoisting action is lifting and the hoisting action is lifting, when the pressure in the hydraulic pump reaches the stored pressure In the third ratio, the brake is controlled to be opened; when the last hoisting action is lifting and the hoisting action is lowering, when the pressure in the hydraulic pump reaches the fourth ratio of the stored pressure, the control center The brake is opened; when the last hoisting action is lowering and the hoisting action is lowering, when the pressure in the hydraulic pump reaches the fifth ratio of the stored pressure, the brake is controlled to be opened; When the hoisting action is the lowering and the hoisting action is the lifting, when the pressure in the hydraulic pump reaches the sixth ratio of the stored pressure, the brake is controlled to be opened, and the fourth ratio is smaller than the first The third ratio and the fifth ratio, the third ratio and the fifth ratio are smaller than the sixth ratio.
  • the third ratio and the fifth ratio may be 50-90%, the fourth ratio may be 30-70%, and the sixth ratio may be greater than or equal to 70% and less than 100%.
  • the third ratio and the fifth ratio are 60-80%, the fourth ratio is 40-60%, and the sixth ratio is greater than or equal to 80% and less than 100%, it is better Take into account the stability of the load lifting or lowering, the speed of the control device and the loss of the hydraulic pump due to excessive hydraulic pressure. More preferably, the third ratio and the fifth ratio are 70%, the fourth ratio is 50%, and the sixth ratio is 90%.
  • the present invention also provides a control method for a closed hydraulic hoisting circuit of a crane, the closed hydraulic hoisting circuit of the crane comprising a hydraulic pump and a brake, the method comprising: performing a hoisting operation every time, storing the storage When the brake is closed, the pressure in the hydraulic pump and the direction of the winding operation are performed, and when the winding operation is performed, the brake is controlled to be opened according to the stored pressure and the direction of the previous winding operation.
  • the brake when the last hoisting action is lifting, when the pressure in the hydraulic pump reaches a first ratio of the stored pressure, the brake is controlled to open; and when the last hoisting action is lowering, When the pressure in the hydraulic pump reaches a second ratio of the stored pressure, the control controls the brake to open, and the first ratio is less than or equal to the second ratio.
  • the first ratio may be greater than or equal to 30% and less than 100%, and the second ratio may be greater than or equal to 50% and less than 100%; experiments show that when the first ratio is 60-80%, the first When the second ratio can be greater than or equal to 80% and less than 100%, the load lifting or lowering stability can be better balanced, the speed of the control device can be avoided, and the hydraulic pump can be prevented from being damaged due to excessive hydraulic pressure. More preferably, the first ratio is 70% and the second ratio is 90%.
  • the direction of the hoisting action can also be considered.
  • the brake is controlled to open;
  • the last hoisting action is decentralized and the volume is When the lifting action is lowered, when the pressure in the hydraulic pump reaches the stored Controlling the brake to open when the fifth ratio of pressure is; and when the last hoisting action is lowering and the hoisting action is lifting, when the pressure in the hydraulic pump reaches the sixth ratio of the stored pressure
  • the fourth ratio is smaller than the third ratio and the fifth ratio
  • the third ratio fifth ratio is smaller than the sixth ratio.
  • the third ratio and the fifth ratio may be 50-90%, the fourth ratio may be 30-70%, and the sixth ratio may be greater than or equal to 70% and less than 100%.
  • the third ratio and the fifth ratio are 60-80%, the fourth ratio is 40-60%, and the sixth ratio is greater than or equal to 80% and less than 100%, it is better Take into account the stability of the load lifting or lowering, the speed of the control device and the loss of the hydraulic pump due to excessive hydraulic pressure. More preferably, the third ratio and the fifth ratio are 70%, the fourth ratio is 50%, and the sixth ratio is 90%.
  • FIG. 3 is a flow chart of the control method of the closed hydraulic hoisting circuit of the crane.
  • the control method of the closed hydraulic hoisting circuit of the crane of the present invention will be described in detail below with reference to FIG.
  • the user can operate the joystick 500 to give a request to perform the hoisting action and the direction of the hoisting action.
  • the controller 100 inputs a small current that can increase the pressure in the hydraulic pump to the proportional solenoid valve 300 located on the hydraulic pump, so that the proportional solenoid valve 300 is partially opened, and the pressure in the hydraulic pump is rapidly increased.
  • the real-time pressure in the hydraulic pump is detected by the pressure sensor 200, and when the real-time pressure reaches a ratio of the pressure stored in the controller 100 (the ratio can be determined by the direction of the previous and the hoisting action), the switch The solenoid valve 400 outputs a switching amount signal to open the switch solenoid valve 400 located on the brake, thereby opening the brake.
  • the controller 100 outputs a corresponding current to the proportional solenoid valve 300 in accordance with the direction of the hoisting action given by the joystick 500 to perform the hoisting action.
  • the controller 100 stores the pressure in the hydraulic pump detected by the pressure sensor 200 at this time, and closes the switch solenoid valve 400, thereby closing the brake.
  • the controller 100 can control the opening of the brake according to the re-stored pressure and the direction of the next hoisting action. It should be noted that the crane lifts or depresses a load for the first time. Time, need to be given An initial pressure (i.e., "pressure signal input" step in Figure 3) because the pressure stored in controller 100 at this time does not apply to the load.
  • the present invention aims to reduce the pressure threshold for opening the brake by reducing the direction of the last hoisting action, reducing the time for establishing the pressure in the hydraulic pump, reducing the wear on the hydraulic pump, and ensuring the stability of the load lifting or lowering.
  • the hydraulic pump can ensure that the pressure can be established, thereby ensuring that the weight does not fall uncontrollably.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Types And Forms Of Lifts (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un appareil de commande d'un circuit étanche de treuil hydraulique de grue et un procédé de commande de ce dernier. Le circuit étanche de treuil hydraulique de grue comprend une pompe hydraulique et un frein. Après achèvement de chaque action du treuil, la pression au sein de la pompe hydraulique et le sens de l'action du treuil au moment où le frein s'arrête sont stockés par l'appareil de commande ; et lorsqu'on exécute l'action de treuil en cours, le frein est activé sur base de la pression stockée et du sens de l'action de treuil précédente. La prévention d'un glissement de la charge est assurée par l'appareil de commande du circuit étanche du treuil hydraulique de grue, l'usure sur la pompe hydraulique est réduite, et la stabilité et la vitesse de l'action du treuil effectuée par le circuit étanche du treuil hydraulique de grue sont améliorées.
PCT/CN2011/079205 2011-01-14 2011-08-31 Appareil et procédé de commande d'un circuit étanche de treuil hydraulique de grue WO2012094900A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110007667.0 2011-01-14
CN201110007667.0A CN102583157B (zh) 2011-01-14 2011-01-14 一种起重机闭式液压卷扬回路的控制装置及方法

Publications (1)

Publication Number Publication Date
WO2012094900A1 true WO2012094900A1 (fr) 2012-07-19

Family

ID=46472530

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2011/079205 WO2012094900A1 (fr) 2011-01-14 2011-08-31 Appareil et procédé de commande d'un circuit étanche de treuil hydraulique de grue

Country Status (2)

Country Link
CN (1) CN102583157B (fr)
WO (1) WO2012094900A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115285810A (zh) * 2022-09-30 2022-11-04 江苏顺捷机电工程有限公司 电梯运行预警方法及应用该方法的人体互通电梯系统

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102910535B (zh) * 2012-10-23 2014-11-26 上海中联重科桩工机械有限公司 旋挖钻机及其起升机构、控制器和控制方法
CN103233717B (zh) * 2013-04-15 2016-02-10 中联重科股份有限公司 旋挖钻机及其控制方法、设备和系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2652902Y (zh) * 2003-09-16 2004-11-03 江苏省机电研究所有限公司 一种液压起重控制系统
CN1970426A (zh) * 2005-11-21 2007-05-30 贺勍 防止工程起重机二次起升下滑的压差控制法
CN200946069Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 履带起重机主副卷扬同步控制装置
CN200946070Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 闭式液压回路起重机二次提升控制装置
WO2008056526A1 (fr) * 2006-11-09 2008-05-15 Furukawa Unic Corporation Dispositif de commande de quantité d'alimentation en huile sous pression pour grue montée sur un véhicule
CN101780930A (zh) * 2009-01-20 2010-07-21 徐州重型机械有限公司 起重机及其吊载自动控制系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3073151B2 (ja) * 1995-12-12 2000-08-07 日立建機株式会社 建設機械の油圧制御装置
CN2708022Y (zh) * 2004-05-26 2005-07-06 长沙中联重工科技发展股份有限公司浦沅分公司 解决起重机二次起升下滑的液压系统起升回路

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2652902Y (zh) * 2003-09-16 2004-11-03 江苏省机电研究所有限公司 一种液压起重控制系统
CN1970426A (zh) * 2005-11-21 2007-05-30 贺勍 防止工程起重机二次起升下滑的压差控制法
CN200946069Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 履带起重机主副卷扬同步控制装置
CN200946070Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 闭式液压回路起重机二次提升控制装置
WO2008056526A1 (fr) * 2006-11-09 2008-05-15 Furukawa Unic Corporation Dispositif de commande de quantité d'alimentation en huile sous pression pour grue montée sur un véhicule
CN101780930A (zh) * 2009-01-20 2010-07-21 徐州重型机械有限公司 起重机及其吊载自动控制系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115285810A (zh) * 2022-09-30 2022-11-04 江苏顺捷机电工程有限公司 电梯运行预警方法及应用该方法的人体互通电梯系统

Also Published As

Publication number Publication date
CN102583157B (zh) 2016-02-17
CN102583157A (zh) 2012-07-18

Similar Documents

Publication Publication Date Title
CN203976236U (zh) 液压控制系统及具有其的起重机
WO2012094900A1 (fr) Appareil et procédé de commande d'un circuit étanche de treuil hydraulique de grue
CN2892805Y (zh) 马达转速记忆卷扬制动器控制装置
CN102518610B (zh) 马达控制回路及控制阀
CN105110149A (zh) 水平衡安全电梯
CN105217508B (zh) 一种卷扬制动器控制系统、方法及起重机
CN103613021A (zh) 一种卷扬液压控制系统及工程机械
CN102146943B (zh) 马达压力切断控制系统及应用该系统的起重机
CN207259052U (zh) 一种闸门分段启闭装置
CN202785434U (zh) 起重机用开式液压系统中的卷扬控制装置
CN106006414B (zh) 移动平衡重动态平衡塔吊
CN203529851U (zh) 一种卷扬控制平衡阀装置、起重机卷扬液压系统及起重机
CN102910535B (zh) 旋挖钻机及其起升机构、控制器和控制方法
CN103508353B (zh) 卷扬二次起升防下滑控制系统及方法
CN103588134B (zh) 起重机用开式液压系统中的卷扬控制装置
CN203529839U (zh) 卷扬二次起升防下滑控制系统
JP6106574B2 (ja) 油圧ウインチの制御装置
CN105984811B (zh) 一种防起重机超载抖动的控制方法
CN202659609U (zh) 组合控制阀、起重机的液压控制系统和起重机
CN104803276B (zh) 用于工程设备的吊装装置及吊装方法
CN204675597U (zh) 地下连续墙钢筋笼的吊装辅助装置
CN203767921U (zh) 起重机及其卷扬制动控制系统
CN207792410U (zh) 一种能够防止轿厢溜车的电梯
CN204324770U (zh) 具有分段控制功能的回转液控系统及起重机
CN102776319B (zh) 防转炉溜炉的电气控制系统及方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11855505

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 11855505

Country of ref document: EP

Kind code of ref document: A1