WO2012149704A1 - Torque control method for crawler crane installation, device therefor and crawler crane - Google Patents

Torque control method for crawler crane installation, device therefor and crawler crane Download PDF

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Publication number
WO2012149704A1
WO2012149704A1 PCT/CN2011/078270 CN2011078270W WO2012149704A1 WO 2012149704 A1 WO2012149704 A1 WO 2012149704A1 CN 2011078270 W CN2011078270 W CN 2011078270W WO 2012149704 A1 WO2012149704 A1 WO 2012149704A1
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WO
WIPO (PCT)
Prior art keywords
crawler crane
torque control
ratio
control method
preset maximum
Prior art date
Application number
PCT/CN2011/078270
Other languages
French (fr)
Chinese (zh)
Inventor
詹纯新
刘权
高一平
黄赞
黎伟福
滕宏珍
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
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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 WO2012149704A1 publication Critical patent/WO2012149704A1/en

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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
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force

Definitions

  • the present invention relates to a torque control method and apparatus for mounting a crawler crane, and a crawler crane.
  • the torque limiter only calculates and limits the torque under working conditions, and does not calculate the torque during the installation condition, under the conditions of the installation conditions, completely It is up to the operator to judge whether it is safe or not to tip over according to experience. Inadvertent operation when lifting the track will result in a safe tipping accident. In view of the safety requirements, the products of individual companies have been considered.
  • Safety limit switches are installed at the maximum safety angle in front of the mast to ensure that the crane can only work at a safe angle under the maximum lifting weight of the lifting cylinder when the crane is in the working condition. This has largely sacrificed the light load hoisting range under self-loading conditions.
  • the present invention discloses a method and a device for controlling the torque of a crawler crane installation, and a crawler crane for solving the problem that the tilting torque is not calculated under the condition of the installation condition in the prior art.
  • a torque control method for installing a crawler crane comprising: when acquiring a crawler crane installation condition Tilting torque and lifting weight; and comparing the tilting moment with the preset maximum stabilizing torque, and comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result.
  • the tilting moment and the lifting weight when acquiring the installation condition of the crawler crane include: collecting real-time parameters when the crawler crane is installed; and calculating the tilting torque and the lifting weight according to the real-time parameters.
  • comparing the tilting moment with the preset maximum stable torque, or comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result including: calculating the tilting moment and the preset maximum stable torque
  • the ratio referred to as the first ratio
  • the ratio of the calculated lifting weight to the preset maximum lifting weight is referred to as the second ratio.
  • comparing the tilting moment with the preset maximum stable torque, or comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result further includes: determining whether the first ratio or the second ratio is Between the preset ratio, and in the case of YES, issue an alarm signal; and determine whether the first ratio or the second ratio is greater than a preset maximum ratio, and if yes, issue a stop signal to stop increasing the tipping The action of the moment. Further, the preset ratio is between 90% and 100%. Further, the preset maximum ratio is 102%.
  • a torque control device for mounting a crawler crane includes: an angular position sensor disposed on the main boom of the crawler crane , for collecting the angle data of the main arm mast; the lifting wire rope tension sensor is arranged at the top of the hoisting rope of the crawler crane for collecting the lifting wire rope pulling force data; and the central controller is respectively connected to the angular position sensor and The hoisting wire rope tension sensor is used to process the received angle data and the wire rope pulling force data, and obtain the operation data when the crawler crane is installed.
  • the torque control device for the installation of the crawler crane includes: an angular position sensor disposed on the main boom of the crawler crane for collecting angle data of the main boom mast; at least one load sensor disposed on the lift cylinder for collecting the lift cylinder pressure Data; and a central controller, which is respectively connected to the angular position sensor and the load sensor, for processing the received angle data and the tension data, and obtaining the operation data when the crawler crane is installed. Further, the torque control device for the installation of the crawler crane further comprises: a second load sensor disposed on the variable amplitude wire rope for collecting the tension wire rope pulling force data.
  • a torque control device for mounting a crawler crane is provided and realized by the following technical solutions:
  • a crawler crane comprising any of the above-described torque control devices.
  • the beneficial effects of the present invention are: calculating the real-time tilting moment by collecting the operating data of the crawler crane installation working condition, and judging the crawling belt according to the comparison between the tilting torque and the maximum stable torque.
  • the safe state of the heavy machine, to make correct operation can ensure the safety of the torque when lifting, and achieve the purpose of greater safe working range of the mast at light load.
  • FIG. 1 is a flow chart showing a torque control method for mounting a crawler crane according to an embodiment of the present invention
  • FIG. 2 is a flow chart for obtaining a tilting moment and a lifting weight according to an embodiment of the present invention
  • Figure 4 is a schematic view showing the structure of a crawler crane according to an embodiment of the present invention
  • Figure 5 is a schematic view showing the structure of a crawler crane according to another embodiment of the present invention
  • It is a schematic structural view of still another crawler crane according to the embodiment of Fig. 4 or Fig. 5 of the present invention.
  • a torque control method for installing a crawler crane includes: a. obtaining a tilting moment and a lifting weight when the crawler crane is installed; and b. comparing the tilting moment with a preset maximum stable torque And comparing the hanging weight with the preset maximum lifting weight to preset data, and outputting different prompt information according to the comparison result.
  • the preset maximum stabilizing torque and the preset maximum lifting weight are theoretically allowed maximum values after considering the safety factor in design.
  • the self-loading and unloading crawler crane is completely determined by the operator according to experience whether it is safe to not tip over, and the accidental operation when lifting the crawler belt may lead to a safe tipping accident.
  • the operation prompt information is obtained, which helps the operator to accurately grasp the working condition in the installation condition and make correct operation.
  • the operation data when obtaining the installation condition of the crawler crane comprises: a. collecting the tilting moment and the lifting weight when the crawler crane is installed; and a2.
  • calculating the tipping torque and the lifting weight according to the real-time parameters including: bl. calculating the tilting moment and The ratio of the preset maximum stable torque is called the first ratio, and the ratio of the calculated lifting weight to the maximum preset lifting weight is called the second ratio; b2. determining whether the first ratio or the second ratio is at the preset ratio Between, and in the case of, an alarm signal is issued; b3 determines whether the first ratio or the second ratio is greater than a preset maximum ratio, and in the case of YES, stops the action of increasing the tilting moment.
  • the sensor transmits the detected angle, wire tension, length and other signals to the central controller (CPU).
  • the central controller dynamically calculates the boom angle, the lifting weight, and the tipping torque.
  • the percentage of lifting torque P_A is compared with the maximum stabilizing torque, and the rated load percentage P_B is compared with the maximum allowable lifting weight.
  • the tilting torque is the negative moment that causes the crawler crane to tip over.
  • the stabilizing torque is the positive moment that prevents the crawler crane from tipping over, and the moment generated by the crawler crane's own gravity on the overturning line.
  • the stabilizing torque is calculated by the following formula: Stable moment M ⁇ mg*! ⁇ , where mi is the self-weight mass when loading and unloading, g is the gravitational acceleration, the horizontal distance from the centroid of the self-weight to the overturning line;
  • the operation data is compared with the preset data, and different prompt information is output according to the comparison result.
  • the torque control method further comprises: determining whether the first ratio and the second ratio are less than 100%, and if yes, issuing a recovery signal to resume increasing the tipping The action of the moment. Only when _ and ?
  • the present invention further comprises: a human-machine interface and a control system, accepting an operation instruction, displaying a working torque condition, a lifting condition, and an audible and visual alarm prompt.
  • a human-machine interface and a control system accepting an operation instruction, displaying a working torque condition, a lifting condition, and an audible and visual alarm prompt.
  • a safety limit switch is installed at the maximum safety angle in front of the mast to ensure that the crane can only work at a safe angle under the maximum lifting weight of the lifting cylinder when the crane is in the installation condition, thus largely sacrificed.
  • the light load hoisting range under the loading and unloading condition and the invention adopts the method of setting the sensor, accurately collecting various data in the installation working condition, and transmitting the data to the central processor, after the processor calculates the tipping torque and the lifting weight, That is to ensure the safety of the torque when lifting, and to achieve the purpose of greater safe working range of the mast at light load, and better digging the performance of the product.
  • 4 is a schematic structural view of a crawler crane according to an embodiment of the present invention; see FIG.
  • a crawler crane including a luffed wire rope 2, a variable hoisting hoist 3, a hoisting hoisting wire rope 4, and a main arm mast 5 And a hook 8 and a torque control device
  • the torque device comprises: an angular position sensor 6 disposed on the main boom mast 5 of the crawler crane for collecting angle data of the main boom mast 5, wherein the angle is the main boom mast The angle between the 5 and the horizontal line; the hoisting wire rope tension sensor 7 is disposed at the top end of the hoisting wire rope 4 of the crawler crane for collecting the pulling data of the hoisting wire rope 4; and the central controller 1 is respectively connected to the angular position sensor 6 With the hoisting wire rope tension sensor 7, for processing the received angle data and wire rope tension data, the operating data when the crawler crane is installed.
  • FIG. 5 is a schematic view showing the structure of a crawler crane according to another embodiment of the present invention.
  • a crawler crane includes a luffed wire rope 2, a variable amplitude winch 3 and a torque control device.
  • the torque device includes: an angular position sensor 6 disposed on the main boom mast 5 of the crawler crane for The angle data of the main boom mast 5 is collected, wherein the angle is an angle between the plane of the mast and the horizontal plane; the load sensor 9 has at least one load sensor, and the load sensor 9 is disposed on the rodless cavity of the lift cylinder 8 In the example, two are disposed in the rodless cavity and the rod cavity of the lift cylinder 8 for detecting the pressure of the cylinder to calculate the weight of the load; and the central controller 1 is respectively connected to The angular position sensor 6 and the load sensor 9 are configured to process the received angle data and the tension data and the load data to obtain operational data when the crawler crane is installed.
  • the real-time lifting weight is calculated, and according to the comparison of the lifting weight and the maximum lifting weight, the safety state of the crawler crane is judged, and the correct operation is performed.
  • the stabilizing torque another method may be adopted, that is, the second load sensor 10 is mounted on the variator steel cord 2, according to the second load.
  • the information acquired by the sensor 10 calculates a stabilizing torque.
  • the specific calculation formula belongs to the prior art and will not be described again.

Abstract

Disclosed are a torque control method for crawler crane installation, a device therefor and a crawler crane. The torque control method for installation comprises: obtaining a tilting moment and hoisting load of a crawler crane when it is being installed; comparing the tilting moment with a preset maximum stable moment; and comparing the hoisting load with a preset maximum hoisting load, and outputting different prompt messages according to the comparison results. The torque control device for the crawler crane installation comprises: an angular position sensor (6) provided on a main arm mast (5) of the crawler crane, used for collecting angle data of the main arm mast (5); a lifting wire rope tension sensor (7) provided on the top of a lifting wire rope (4) of the crawler crane, used for collecting tensile data of the lifting wire rope (4); or a load sensor (9) provided on a lifting cylinder (8), used for collecting data on the pressure of the lifting cylinder (8); and a central controller (1) for processing the collected data. Using the control method or device can ensure moment safety when hoisting, and also can enable the mast to have a larger safe working range when hoisting a light load.

Description

履带起重机安装用力矩控制方法、 装置及履带起重机 技术领域 本发明涉及一种履带起重机安装用力矩控制方法、 装置及履带起重机。 背景技术 现阶段， 国内国外所有的履带起重机， 其力矩限制器都只对工作工况下的力矩进 行计算并限制， 对其安装工况时的力矩不进行计算， 在安装工况条件下， 完全靠操作 者根据经验判断是否安全不倾翻， 吊装履带时操作不慎则会导致安全倾翻事故。 鉴于 安全需要， 个别公司的产品对此已有考虑， 在桅杆前最大安全角度处安装有安全限制 开关， 保证起重机在安装工况时， 桅杆只能在吊装油缸最大吊重条件下的安全角度工 作， 这样就在很大程度上牺牲了自装卸工况下的轻载吊装幅度。 但是， 现有技术中对上述提出的安装工况时， 完全靠经验来实施操作的问题尚未 提出有效的解决方案。 发明内容 本发明公开了一种履带起重机安装用力矩控制方法、 装置及履带起重机， 用以解 决现有技术中存在安装工况条件下， 不对倾翻力矩进行计算的问题。 为了实现上述目的， 根据本发明的一个方面， 提供一种履带起重机安装用力矩控 制方法， 并通过以下技术方案实现： 一种履带起重机安装用力矩控制方法， 包括： 获取履带起重机安装工况时的倾翻 力矩与吊载重量； 以及将倾翻力矩与预设最大稳定力矩比较， 以及将吊载重量与预设 最大吊载重量比较， 并根据比较结果输出不同的提示信息。 进一步地， 获取履带起重机安装工况时的倾翻力矩与吊载重量包括： 采集履带起 重机安装工况时的实时参数； 以及根据实时参数计算出倾翻力矩与吊载重量。 进一步地， 将倾翻力矩与预设最大稳定力矩比较， 或将吊载重量与预设最大吊载 重量比较， 并根据比较结果输出不同的提示信息包括： 计算倾翻力矩与预设最大稳定 力矩的比值， 称为第一比值， 以及计算吊载重量与预设最大吊载重量的比值， 称为第 二比值。 进一步地， 将倾翻力矩与预设最大稳定力矩比较， 或将吊载重量与预设最大吊载 重量比较， 并根据比较结果输出不同的提示信息还包括： 判断第一比值或第二比值是 否在预设比值之间， 并在是的情况下， 发出报警信号； 以及判断第一比值或第二比值 是否大于预设最大比值， 并在是的情况下， 发出停止信号， 停止增大倾翻力矩的动作。 进一步地， 预设比值之间为 90%- 100%。 进一步地， 预设最大比值为 102%。 进一步地， 在停止增大倾翻力矩的动作之后， 力矩控制方法， 还包括： 判断第一 比值和第二比值是否小于 100%， 并在是的情况下， 发出恢复信号， 恢复增大倾翻力矩 的动作。 根据本发明的另外一个方面， 提供一种履带起重机安装用力矩控制装置， 并通过 以下两种技术方案实现： 履带起重机安装用力矩控制装置包括： 角度位置传感器， 设置在履带起重机的主 臂桅杆上， 用于采集主臂桅杆的角度数据； 起升钢丝绳拉力传感器， 设置在履带起重 机的起升钢丝绳的顶端处， 用于采集起升钢丝绳拉力数据； 以及中央控制器， 分别连 接于角度位置传感器与起升钢丝绳拉力传感器， 用于处理接收到的角度数据与钢丝绳 拉力数据， 得出履带起重机安装工况时的操作数据。 履带起重机安装用力矩控制装置包括： 角度位置传感器， 设置在履带起重机的主 臂桅杆上， 用于采集主臂桅杆的角度数据； 至少一个载荷传感器， 设置在提升油缸上， 用于采集提升油缸压力数据； 以及中央控制器， 分别连接于角度位置传感器与载荷传 感器， 用于处理接收到的角度数据与拉力数据， 得出履带起重机安装工况时的操作数 据。 进一步地， 履带起重机安装用力矩控制装置还包括： 第二载荷传感器， 设置在变 幅钢丝绳上， 用于采集变幅钢丝绳拉力数据。 根据本发明的又一个方面， 提供一种履带起重机安装用力矩控制装置， 并通过以 下技术方案实现： 一种履带起重机， 包括上述的任一力矩控制装置。 与现有技术相比， 本发明的有益效果是： 通过采集履带起重机安装工况的操作数 据， 计算出实时的倾翻力矩， 并且根据倾翻力矩与最大稳定力矩的比较， 判断履带起 重机的安全状态， 做出正确操作， 即能保证吊重时力矩安全， 又能达到轻载时桅杆更 大安全工作幅度的目的。 附图说明 此处所说明的附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发 明的示意性实施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图 中： 图 1是根据本发明实施例中一种履带起重机安装用力矩控制方法的流程图； 图 2是根据本发明实施例中获取倾翻力矩与吊载重量的流程图； 图 3是根据本发明实施例中获取操作提示信息的流程图； 图 4是根据本发明实施例中一种履带起重机结构示意图； 图 5是根据本发明又一实施例的履带起重机结构示意图； 以及 图 6是根据本发明图 4或图 5的实施例中的又一种履带起重机结构示意图。 具体实施方式 需要说明的是， 在不冲突的情况下， 本申请中的实施例及实施例中的特征可以相 互组合。 下面将参考附图并结合实施例来详细说明本发明。 图 1是根据本发明实施例中一种履带起重机安装用力矩控制方法的主要流程图。 图 2是根据本发明实施例中获取倾翻力矩与吊载重量的流程图。 图 3是根据本发明实施例中获取操作提示信息的流程图。 参见图 1 所示， 一种履带起重机安装用力矩控制方法， 包括： a.获取履带起重机 安装工况时的倾翻力矩与吊载重量； 以及 b.将倾翻力矩与预设最大稳定力矩比较， 以 及将吊载重量与预设最大吊载重量比较预设数据， 并根据比较结果输出不同的提示信 息。 其中， 预设最大稳定力矩和预设最大吊载重量是在设计时考虑安全系数以后理论 上允许的最大值。 目前的自装卸履带起重机在安装工况条件下， 完全靠操作者根据经 验判断是否安全不倾翻， 吊装履带时操作不慎则会导致安全倾翻事故。 根据本发明的 技术方案， 获取履带起重机安装工况时， 根据获取的操作数据， 在经计算后， 得到操 作的提示信息， 有助于操作者准确掌握安装工况时的工况， 做出正确的操作。 优选地， 获取履带起重机安装工况时的操作数据包括： al.采集履带起重机安装工 况时的倾翻力矩与吊载重量； 以及 a2.根据实时参数计算出倾翻力矩与吊载重量。 优选地， 将倾翻力矩与预设最大稳定力矩比较， 以及将吊载重量与预设最大吊载 重量比较预设数据， 并根据比较结果输出不同的提示信息包括： bl.计算倾翻力矩与预 设最大稳定力矩的比值， 称为第一比值， 以及计算吊载重量与最大预设吊载重量的比 值， 称为第二比值； b2.判断第一比值或第二比值是否在预设比值之间， 并在是的情况 下， 发出报警信号； b3判断第一比值或第二比值是否大于预设最大比值， 并在是的情 况下， 停止增大倾翻力矩的动作。 参见图 2所示， 传感器把检测到的角度、 钢丝绳拉力、 长度等信号传送给中央控 制器（CPU), 中央控制器动态计算主臂桅杆角度、 吊载重量、 倾翻力矩大小； 中央控 制器通过倾翻力矩与最大稳定力矩比较得起重力矩百分比 P_A， 吊载重量与最大允许 吊载重量比较得额定载荷百分比 P_B， 其中， 倾翻力矩是指使履带起重机倾翻的负向 力矩， 方向定义为负载力矩方向， 由负载对倾覆线所产生的力矩； 稳定力矩是指防止 履带起重机倾翻的正向力矩， 由履带起重机自身重力对倾覆线所产生的力矩。 其中， 稳定力矩通过以下计算公式计算得出： 稳定力矩 M^m g*!^ ， 其中 mi 为自装卸时自重质量、 g为重力加速度、 为自重的质心到倾覆线的水平距离； 倾翻 力矩通过以下计算公式计算得出： 倾翻力矩 Ma=m2*g*L2， 其中 m2为自装卸时吊重质 量， m2= (F n^ate), 其中， ？1为钢丝绳拉力， n为钢丝绳倍率， rate为摩擦力修正系 数、 g为重力加速度、 L2为吊重的质心垂线到倾覆线的水平距离。 参见图 3所示， 将操作数据和预设数据进行比较， 并根据比较结果输出不同的提 示信息。 当 （卩_ 或？_8) >90%且 _ 和？_8) <100%时， 发出声音和灯光报警信号， 提醒操作者载荷或力矩负荷大， 小心操作， 当 _ 或！^_8) >102%切断倾翻力矩增 大方向的危险动作。 优选地， 在停止增大倾翻力矩的动作之后， 力矩控制方法， 还包括： 判断第一比 值和第二比值是否小于 100%， 并在是的情况下， 发出恢复信号， 恢复增大倾翻力矩的 动作。 只有当 _ 和？_8) <100%时， 切断的倾翻力矩增大方向动作才恢复正常， 防止在力矩超过安全范围点上震荡， 导致安全事故。 优选地， 本发明还包括： 人机界面与控制系统， 接受操作指令， 显示工作力矩情 况、 吊载情况， 声光报警提示。 在本实施例的技术方案中， 履带起重机安装工况时， 动态计算履带起重机的实际 吊载倾翻力矩， 实时与其最大的稳定力矩比较， 并在必要的时候对实际吊载进行限制， 防止履带起重机在安装工况下超载导致倾翻。 鉴于安全需要， 在桅杆前最大安全角度处安装有安全限制开关， 保证起重机在安 装工况时， 桅杆只能在吊装油缸最大吊重条件下的安全角度工作， 这样就在很大程度 上牺牲了自装卸工况下的轻载吊装幅度， 而本发明采用设置传感器的方式， 准确采集 安装工况时各项数据， 并传送给中央处理器， 处理器计算出倾翻力矩与吊载重量后， 即能保证吊重时力矩安全， 又能达到轻载时桅杆更大安全工作幅度的目的， 更好地挖 掘了产品的使用性能。 图 4是根据本发明实施例中一种履带起重机结构示意图； 参见图 4所示， 一种履 带起重机， 包括变幅钢丝绳 2、 变幅卷扬 3、 起升卷扬钢丝绳 4、 主臂桅杆 5和吊钩 8 和力矩控制装置， 其中， 该力矩装置包括： 角度位置传感器 6， 设置在履带起重机的 主臂桅杆 5上， 用于采集主臂桅杆 5的角度数据， 其中， 角度是主臂桅杆 5与水平线 之间的角度； 起升钢丝绳拉力传感器 7， 设置在履带起重机的起升钢丝绳 4的顶端处， 用于采集起升钢丝绳 4拉力数据； 以及中央控制器 1， 分别连接于角度位置传感器 6 与起升钢丝绳拉力传感器 7， 用于处理接收到的角度数据与钢丝绳拉力数据， 得出履 带起重机安装工况时的操作数据。 可以看出， 通过采集履带起重机安装工况的操作数据， 计算出实时的倾翻力矩， 并且根据倾翻力矩与最大稳定力矩的比较， 判断履带起重机的安全状态， 做出正确操 作， 即能保证吊重时力矩安全， 又能达到轻载时桅杆更大安全工作幅度的目的。 图 5是根据本发明另一实施例的履带起重机结构示意图。 参见图 5所示， 一种履带起重机， 包括变幅钢丝绳 2、 变幅卷扬 3和力矩控制装 置， 该力矩装置包括： 角度位置传感器 6， 设置在履带起重机的主臂桅杆 5上， 用于 采集主臂桅杆 5的角度数据， 其中， 角度是桅杆平面与水平面的夹角； 载荷传感器 9， 且载荷传感器至少为 1个， 该载荷传感器 9设置在提升油缸 8的无杆腔上， 本实施例 中采用 2个， 设置在履带起重机的设置在提升油缸 8的无杆腔和有杆腔处， 用于检测 油缸的压力， 从而计算出吊载的重量； 以及中央控制器 1， 分别连接于角度位置传感 器 6与载荷传感器 9， 用于处理接收到的角度数据与拉力数据、 载荷数据， 得出履带 起重机安装工况时的操作数据。 可以看出， 通过采集履带起重机安装工况的操作数据， 计算出实时的吊载重量， 并且根据吊载重量与最大吊载重量的比较， 判断履带起重机的安全状态， 做出正确操 作， 即能保证吊重时力矩安全， 又能达到轻载时桅杆更大安全工作幅度的目的。 参见图 6所示， 在图 4、 图 5所示的实施例中， 计算稳定力矩时， 还可以采取另 一种方式， 即在变幅钢丝绳 2上安装第二载荷传感器 10， 根据第二载荷传感器 10获 取的信息计算稳定力矩。 具体计算公式属于现有技术， 不再赘述。 以上仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技术人 员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的任何 修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torque control method and apparatus for mounting a crawler crane, and a crawler crane. BACKGROUND OF THE INVENTION At present, all the crawler cranes at home and abroad, the torque limiter only calculates and limits the torque under working conditions, and does not calculate the torque during the installation condition, under the conditions of the installation conditions, completely It is up to the operator to judge whether it is safe or not to tip over according to experience. Inadvertent operation when lifting the track will result in a safe tipping accident. In view of the safety requirements, the products of individual companies have been considered. Safety limit switches are installed at the maximum safety angle in front of the mast to ensure that the crane can only work at a safe angle under the maximum lifting weight of the lifting cylinder when the crane is in the working condition. This has largely sacrificed the light load hoisting range under self-loading conditions. However, in the prior art for the above-mentioned installation conditions, the problem of completely operating by experience has not yet proposed an effective solution. SUMMARY OF THE INVENTION The present invention discloses a method and a device for controlling the torque of a crawler crane installation, and a crawler crane for solving the problem that the tilting torque is not calculated under the condition of the installation condition in the prior art. In order to achieve the above object, according to an aspect of the present invention, a torque control method for installing a crawler crane is provided, and is realized by the following technical solutions: A torque control method for installing a crawler crane, comprising: when acquiring a crawler crane installation condition Tilting torque and lifting weight; and comparing the tilting moment with the preset maximum stabilizing torque, and comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result. Further, the tilting moment and the lifting weight when acquiring the installation condition of the crawler crane include: collecting real-time parameters when the crawler crane is installed; and calculating the tilting torque and the lifting weight according to the real-time parameters. Further, comparing the tilting moment with the preset maximum stable torque, or comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result, including: calculating the tilting moment and the preset maximum stable torque The ratio, referred to as the first ratio, and the ratio of the calculated lifting weight to the preset maximum lifting weight, is referred to as the second ratio. Further, comparing the tilting moment with the preset maximum stable torque, or comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result further includes: determining whether the first ratio or the second ratio is Between the preset ratio, and in the case of YES, issue an alarm signal; and determine whether the first ratio or the second ratio is greater than a preset maximum ratio, and if yes, issue a stop signal to stop increasing the tipping The action of the moment. Further, the preset ratio is between 90% and 100%. Further, the preset maximum ratio is 102%. Further, after stopping the action of increasing the tilting moment, the torque control method further includes: determining whether the first ratio and the second ratio are less than 100%, and in the case of YES, issuing a recovery signal to resume increasing the tilting The action of the moment. According to another aspect of the present invention, a torque control device for mounting a crawler crane is provided, and is realized by the following two technical solutions: The torque control device for the installation of the crawler crane includes: an angular position sensor disposed on the main boom of the crawler crane , for collecting the angle data of the main arm mast; the lifting wire rope tension sensor is arranged at the top of the hoisting rope of the crawler crane for collecting the lifting wire rope pulling force data; and the central controller is respectively connected to the angular position sensor and The hoisting wire rope tension sensor is used to process the received angle data and the wire rope pulling force data, and obtain the operation data when the crawler crane is installed. The torque control device for the installation of the crawler crane includes: an angular position sensor disposed on the main boom of the crawler crane for collecting angle data of the main boom mast; at least one load sensor disposed on the lift cylinder for collecting the lift cylinder pressure Data; and a central controller, which is respectively connected to the angular position sensor and the load sensor, for processing the received angle data and the tension data, and obtaining the operation data when the crawler crane is installed. Further, the torque control device for the installation of the crawler crane further comprises: a second load sensor disposed on the variable amplitude wire rope for collecting the tension wire rope pulling force data. According to still another aspect of the present invention, a torque control device for mounting a crawler crane is provided and realized by the following technical solutions: A crawler crane comprising any of the above-described torque control devices. Compared with the prior art, the beneficial effects of the present invention are: calculating the real-time tilting moment by collecting the operating data of the crawler crane installation working condition, and judging the crawling belt according to the comparison between the tilting torque and the maximum stable torque The safe state of the heavy machine, to make correct operation, can ensure the safety of the torque when lifting, and achieve the purpose of greater safe working range of the mast at light load. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are set to illustrate,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flow chart showing a torque control method for mounting a crawler crane according to an embodiment of the present invention; FIG. 2 is a flow chart for obtaining a tilting moment and a lifting weight according to an embodiment of the present invention; Figure 4 is a schematic view showing the structure of a crawler crane according to an embodiment of the present invention; Figure 5 is a schematic view showing the structure of a crawler crane according to another embodiment of the present invention; It is a schematic structural view of still another crawler crane according to the embodiment of Fig. 4 or Fig. 5 of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. 1 is a main flow chart of a torque control method for mounting a crawler crane according to an embodiment of the present invention. 2 is a flow chart for obtaining a tipping moment and a lifting weight in accordance with an embodiment of the present invention. 3 is a flow chart of obtaining operation prompt information in accordance with an embodiment of the present invention. Referring to Fig. 1, a torque control method for installing a crawler crane includes: a. obtaining a tilting moment and a lifting weight when the crawler crane is installed; and b. comparing the tilting moment with a preset maximum stable torque And comparing the hanging weight with the preset maximum lifting weight to preset data, and outputting different prompt information according to the comparison result. Among them, the preset maximum stabilizing torque and the preset maximum lifting weight are theoretically allowed maximum values after considering the safety factor in design. At present, under the condition of installation conditions, the self-loading and unloading crawler crane is completely determined by the operator according to experience whether it is safe to not tip over, and the accidental operation when lifting the crawler belt may lead to a safe tipping accident. According to the invention Technical solution, when obtaining the installation condition of the crawler crane, according to the obtained operation data, after the calculation, the operation prompt information is obtained, which helps the operator to accurately grasp the working condition in the installation condition and make correct operation. Preferably, the operation data when obtaining the installation condition of the crawler crane comprises: a. collecting the tilting moment and the lifting weight when the crawler crane is installed; and a2. calculating the tipping torque and the lifting weight according to the real-time parameters. Preferably, comparing the tilting moment with the preset maximum stable torque, and comparing the lifting weight with the preset maximum lifting weight, and outputting different prompt information according to the comparison result, including: bl. calculating the tilting moment and The ratio of the preset maximum stable torque is called the first ratio, and the ratio of the calculated lifting weight to the maximum preset lifting weight is called the second ratio; b2. determining whether the first ratio or the second ratio is at the preset ratio Between, and in the case of, an alarm signal is issued; b3 determines whether the first ratio or the second ratio is greater than a preset maximum ratio, and in the case of YES, stops the action of increasing the tilting moment. Referring to Figure 2, the sensor transmits the detected angle, wire tension, length and other signals to the central controller (CPU). The central controller dynamically calculates the boom angle, the lifting weight, and the tipping torque. The percentage of lifting torque P_A is compared with the maximum stabilizing torque, and the rated load percentage P_B is compared with the maximum allowable lifting weight. The tilting torque is the negative moment that causes the crawler crane to tip over. In the direction of the load torque, the torque generated by the load on the overturning line; the stabilizing torque is the positive moment that prevents the crawler crane from tipping over, and the moment generated by the crawler crane's own gravity on the overturning line. Among them, the stabilizing torque is calculated by the following formula: Stable moment M^mg*!^, where mi is the self-weight mass when loading and unloading, g is the gravitational acceleration, the horizontal distance from the centroid of the self-weight to the overturning line; The following calculation formula is calculated: the tipping moment M a = m 2 *g * L 2 , where m 2 is the weight of the hoist when loading and unloading, m 2 = (F n^ate), where ? 1 is the wire rope pulling force, n is the wire rope magnification, the rate is the friction force correction coefficient, g is the gravity acceleration, and L 2 is the horizontal distance from the center of gravity of the hoisting weight to the overturning line. Referring to FIG. 3, the operation data is compared with the preset data, and different prompt information is output according to the comparison result. When (卩_ or ?_8) >90% and _ and ? _8) <100%, sound and light alarm signal to remind the operator that the load or torque load is large, be careful, when _ or! ^_8) >102% Dangerous action to cut the direction in which the tilting torque increases. Preferably, after the stopping the action of increasing the tilting moment, the torque control method further comprises: determining whether the first ratio and the second ratio are less than 100%, and if yes, issuing a recovery signal to resume increasing the tipping The action of the moment. Only when _ and ? _8) <100%, the action of increasing the tilting moment of the cut will return to normal, preventing the shock from oscillating at the point where the torque exceeds the safe range, resulting in a safety accident. Preferably, the present invention further comprises: a human-machine interface and a control system, accepting an operation instruction, displaying a working torque condition, a lifting condition, and an audible and visual alarm prompt. In the technical solution of the embodiment, when the crawler crane is installed, the actual lifting tipping torque of the crawler crane is dynamically calculated, and the real-time stable torque is compared in real time, and the actual lifting load is restricted when necessary to prevent the crawler belt. Overloading of the crane under installation conditions results in tipping. In view of the safety requirements, a safety limit switch is installed at the maximum safety angle in front of the mast to ensure that the crane can only work at a safe angle under the maximum lifting weight of the lifting cylinder when the crane is in the installation condition, thus largely sacrificed. The light load hoisting range under the loading and unloading condition, and the invention adopts the method of setting the sensor, accurately collecting various data in the installation working condition, and transmitting the data to the central processor, after the processor calculates the tipping torque and the lifting weight, That is to ensure the safety of the torque when lifting, and to achieve the purpose of greater safe working range of the mast at light load, and better digging the performance of the product. 4 is a schematic structural view of a crawler crane according to an embodiment of the present invention; see FIG. 4, a crawler crane including a luffed wire rope 2, a variable hoisting hoist 3, a hoisting hoisting wire rope 4, and a main arm mast 5 And a hook 8 and a torque control device, wherein the torque device comprises: an angular position sensor 6 disposed on the main boom mast 5 of the crawler crane for collecting angle data of the main boom mast 5, wherein the angle is the main boom mast The angle between the 5 and the horizontal line; the hoisting wire rope tension sensor 7 is disposed at the top end of the hoisting wire rope 4 of the crawler crane for collecting the pulling data of the hoisting wire rope 4; and the central controller 1 is respectively connected to the angular position sensor 6 With the hoisting wire rope tension sensor 7, for processing the received angle data and wire rope tension data, the operating data when the crawler crane is installed. It can be seen that by collecting the operating data of the crawler crane installation condition, the real-time tilting moment is calculated, and according to the comparison between the tilting moment and the maximum stable torque, the safety state of the crawler crane is judged, and correct operation is ensured. When the weight is hoisted, the torque is safe, and the purpose of the mast is more safe and safe when the load is light. Figure 5 is a schematic view showing the structure of a crawler crane according to another embodiment of the present invention. Referring to FIG. 5, a crawler crane includes a luffed wire rope 2, a variable amplitude winch 3 and a torque control device. The torque device includes: an angular position sensor 6 disposed on the main boom mast 5 of the crawler crane for The angle data of the main boom mast 5 is collected, wherein the angle is an angle between the plane of the mast and the horizontal plane; the load sensor 9 has at least one load sensor, and the load sensor 9 is disposed on the rodless cavity of the lift cylinder 8 In the example, two are disposed in the rodless cavity and the rod cavity of the lift cylinder 8 for detecting the pressure of the cylinder to calculate the weight of the load; and the central controller 1 is respectively connected to The angular position sensor 6 and the load sensor 9 are configured to process the received angle data and the tension data and the load data to obtain operational data when the crawler crane is installed. It can be seen that by collecting the operating data of the crawler crane installation condition, the real-time lifting weight is calculated, and according to the comparison of the lifting weight and the maximum lifting weight, the safety state of the crawler crane is judged, and the correct operation is performed. To ensure the safety of the torque when lifting, and to achieve the purpose of greater safe working range of the mast at light load. Referring to FIG. 6, in the embodiment shown in FIG. 4 and FIG. 5, when calculating the stabilizing torque, another method may be adopted, that is, the second load sensor 10 is mounted on the variator steel cord 2, according to the second load. The information acquired by the sensor 10 calculates a stabilizing torque. The specific calculation formula belongs to the prior art and will not be described again. The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

权 利 要 求 书 Claim
1. 一种履带起重机安装用力矩控制方法， 其特征在于， 包括： A torque control method for installing a crawler crane, characterized in that it comprises:
获取所述履带起重机安装工况时的倾翻力矩与吊载重量； 以及 将所述倾翻力矩与预设最大稳定力矩比较， 以及将所述吊载重量与预设最 大吊载重量比较， 并根据所述比较结果输出不同的提示信息。  Obtaining a tipping moment and a lifting weight when the crawler crane is installed; and comparing the tilting moment with a preset maximum stable torque, and comparing the lifting weight with a preset maximum lifting weight, and Different prompt information is output according to the comparison result.
2. 根据权利要求 1所述的力矩控制方法， 其特征在于， 所述获取所述履带起重机 安装工况时的倾翻力矩与吊载重量包括： 2. The torque control method according to claim 1, wherein the tilting moment and the lifting weight when the crawler crane is installed are:
采集所述履带起重机安装工况时的实时参数； 以及  Collecting real-time parameters of the crawler crane installation conditions;
根据所述实时参数计算出所述倾翻力矩与所述吊载重量。  Calculating the tilting moment and the lifting weight according to the real-time parameter.
3. 根据权利要求 1所述的力矩控制方法， 其特征在于， 所述将所述倾翻力矩与预 设最大稳定力矩比较， 或将所述吊载重量与预设最大吊载重量比较， 并根据所 述比较结果输出不同的提示信息包括： The torque control method according to claim 1, wherein the comparing the tilting moment with a preset maximum stable torque, or comparing the lifting weight with a preset maximum lifting weight, and Outputting different prompt information according to the comparison result includes:
计算所述倾翻力矩与所述预设最大稳定力矩的比值， 作为第一比值， 以及 计算所述吊载重量与所述预设最大吊载重量的比值， 作为第二比值。  Calculating a ratio of the tilting moment to the preset maximum stabilizing moment as a first ratio, and calculating a ratio of the lifting weight to the preset maximum lifting weight as a second ratio.
4. 根据权利要求 3所述的力矩控制方法， 其特征在于， 所述将所述倾翻力矩与预 设最大稳定力矩比较， 或将所述吊载重量与预设最大吊载重量比较， 并根据所 述比较结果输出不同的提示信息还包括： The torque control method according to claim 3, wherein the comparing the tilting moment with a preset maximum stable torque, or comparing the lifting weight with a preset maximum lifting weight, and Outputting different prompt information according to the comparison result further includes:
判断所述第一比值或所述第二比值是否在预设比值之间，并在是的情况下， 发出报警信号； 以及  Determining whether the first ratio or the second ratio is between preset ratios, and if yes, issuing an alarm signal;
判断所述第一比值或所述第二比值是否大于预设最大比值， 并在是的情况 下， 发出停止信号， 停止增大所述倾翻力矩的动作。  Determining whether the first ratio or the second ratio is greater than a preset maximum ratio, and in the case of YES, issuing a stop signal to stop the action of increasing the tilting moment.
5. 根据权利要求 4 所述的力矩控制方法， 其特征在于， 所述预设比值之间为 90%- 100%。 The torque control method according to claim 4, wherein the preset ratio is between 90% and 100%.
6. 根据权利要求 5所述的力矩控制方法，其特征在于，所述预设最大比值为 102%。 6. The torque control method according to claim 5, wherein the preset maximum ratio is 102%.
7. 根据权利要求 4所述的力矩控制方法， 其特征在于， 在所述停止增大所述倾翻 力矩的动作之后， 所述力矩控制方法， 还包括： 判断所述第一比值和所述第二比值是否小于 100%， 并在是的情况下， 发 出恢复信号， 恢复增大所述倾翻力矩的动作。 一种履带起重机安装用力矩控制装置， 其特征在于， 包括： The torque control method according to claim 4, wherein after the stopping the action of increasing the tilting moment, the torque control method further comprises: It is judged whether the first ratio and the second ratio are less than 100%, and in the case of YES, a recovery signal is issued to resume the action of increasing the tilting moment. A torque control device for installing a crawler crane, characterized in that it comprises:
角度位置传感器， 设置在所述履带起重机的主臂桅杆上， 用于采集所述主 臂桅杆的角度数据；  An angular position sensor is disposed on the main arm mast of the crawler crane for collecting angle data of the main arm mast;
起升钢丝绳拉力传感器， 设置在所述履带起重机的起升钢丝绳的顶端处， 用于采集所述起升钢丝绳拉力数据； 以及  a hoisting wire rope tension sensor disposed at a top end of the hoisting wire rope of the crawler crane for collecting the hoisting wire rope pulling force data;
中央控制器， 分别连接于所述角度位置传感器与所述起升钢丝绳拉力传感 器， 用于处理接收到的所述角度数据与所述钢丝绳拉力数据， 得出所述履带起 重机安装工况时的操作数据。 一种履带起重机安装用力矩控制装置， 其特征在于， 包括：  a central controller, respectively connected to the angular position sensor and the hoisting wire rope tension sensor, for processing the received angle data and the wire rope pulling force data, and obtaining the operation when the crawler crane is installed data. A torque control device for installing a crawler crane, characterized in that it comprises:
角度位置传感器， 设置在所述履带起重机的主臂桅杆上， 用于采集所述主 臂桅杆的角度数据；  An angular position sensor is disposed on the main arm mast of the crawler crane for collecting angle data of the main arm mast;
至少一个载荷传感器， 设置在提升油缸上， 用于采集提升油缸压力数据； 以及  At least one load cell disposed on the lift cylinder for collecting lift cylinder pressure data;
中央控制器， 分别连接于所述角度位置传感器与所述载荷传感器， 用于处 理接收到的所述角度数据与所述拉力数据， 得出所述履带起重机安装工况时的 操作数据。 根据权利要求 8或 9所述的力矩控制装置， 其特征在于， 还包括： 第二载荷传感器， 设置在所述履带起重机的变幅钢丝绳上， 用于采集所述 变幅钢丝绳拉力数据。 一种履带起重机， 其特征在于， 包括权利要求 8、 9、 或 10所述的力矩控制装  The central controller is respectively connected to the angular position sensor and the load sensor for processing the received angle data and the tension data to obtain operation data when the crawler crane is installed. The torque control device according to claim 8 or 9, further comprising: a second load sensor disposed on the variable amplitude wire rope of the crawler crane for collecting the rifling wire rope pulling force data. A crawler crane, comprising the torque control device according to claim 8, 9, or 10.
PCT/CN2011/078270 2011-05-05 2011-08-11 Torque control method for crawler crane installation, device therefor and crawler crane WO2012149704A1 (en)

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