WO2012149704A1 - Procédé de commande de couple pour installation de grue à chenilles, dispositif pour celui-ci et grue à chenilles - Google Patents

Procédé de commande de couple pour installation de grue à chenilles, dispositif pour celui-ci et grue à chenilles 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
Authority
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
English (en)
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
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 WO2012149704A1 publication Critical patent/WO2012149704A1/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
    • B66C13/22—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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

L'invention porte sur un procédé de commande de couple pour une installation de grue à chenilles, sur un dispositif pour celui-ci et sur une grue à chenilles. Le procédé de commande de couple pour une installation met en œuvre : l'obtention d'un moment d'inclinaison et d'une charge de levage d'une grue à chenilles quand elle est installée; la comparaison du moment d'inclinaison à un moment stable maximal prédéfini; et la comparaison de la charge de levage à une charge de levage maximale prédéfinie, et la délivrance en sortie de différents messages d'ordre en fonction des résultats de comparaison. Le dispositif de commande de couple pour l'installation de grue à chenilles comprend : un capteur de position angulaire (6) disposé sur un mât de bras principal (5) de la grue à chenilles, utilisé pour collecter des données d'angle du mât de bras principal (5); un capteur de tension de câble de filin de levage (7) disposé au sommet d'un câble de filin de levage (4) de la grue à chenilles, utilisé pour collecter des données de tension du câble de filin de levage (4); ou un capteur de charge (9) disposé sur un cylindre de levage (8), utilisé pour collecter des données concernant la pression du cylindre de levage (8); et un dispositif de commande central (1) pour traiter les données collectées. L'utilisation du procédé de commande ou du dispositif peut assurer une sécurité en termes de moment lors du levage et peut également permettre au mat d'avoir une plus grande plage de travail sûr lors du levage d'une charge élevée.
PCT/CN2011/078270 2011-05-05 2011-08-11 Procédé de commande de couple pour installation de grue à chenilles, dispositif pour celui-ci et grue à chenilles WO2012149704A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110115874.8 2011-05-05
CN 201110115874 CN102259799B (zh) 2011-05-05 2011-05-05 履带起重机安装用力矩控制方法、装置及履带起重机

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WO2012149704A1 true WO2012149704A1 (fr) 2012-11-08

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CN104370224A (zh) * 2014-10-27 2015-02-25 苏州阔地网络科技有限公司 一种报警方法及系统
CN105984811B (zh) * 2015-02-03 2018-10-02 徐州重型机械有限公司 一种防起重机超载抖动的控制方法
CN104961061B (zh) * 2015-06-30 2017-01-04 中国一冶集团有限公司 一种用于履带式起重机的力矩限制器及其控制方法
DE102015118434A1 (de) * 2015-10-28 2017-05-04 Terex MHPS IP Management GmbH Verfahren zum Betreiben von mindestens zwei Hebezeugen in einem Gruppen-Betrieb und Anordnung mit mindestens zwei Hebezeugen
CN107190643A (zh) * 2016-03-15 2017-09-22 徐工集团工程机械有限公司 桥梁检测车作业稳定性监测装置、方法及桥梁检测车
CN106115490B (zh) * 2016-08-29 2018-08-31 徐工集团工程机械股份有限公司 高空作业车辆变幅度安全作业范围计算及控制方法
CN106760542B (zh) * 2016-12-12 2019-09-17 三一汽车制造有限公司 臂架控制方法、臂架控制装置和混凝土泵车
CN108313893B (zh) * 2018-02-17 2019-10-08 上海超富建筑机械设备安装有限公司 一种具有安全装置的起重机
CN108750946B (zh) * 2018-05-23 2024-04-09 四川庞源机械工程有限公司 一种起重机负载识别、测量及调节的控制方法
JP7119674B2 (ja) * 2018-07-11 2022-08-17 株式会社タダノ クレーン
GB2577899B (en) * 2018-10-09 2023-03-29 Bamford Excavators Ltd A machine, controller, and control method
AU2020366286A1 (en) * 2019-10-17 2022-04-14 Terex Australia Pty Ltd Mobile crane operation control
CN111112982B (zh) * 2020-01-13 2024-05-14 中机中联工程有限公司 一种挖掘机履带自动化装配设备及其装配方法
CN111532986B (zh) * 2020-05-18 2022-07-05 浙江三一装备有限公司 起重机力矩控制方法、装置和电子设备
CN112723169A (zh) * 2020-12-22 2021-04-30 中联重科股份有限公司 履带起重机自装卸控制方法及系统和履带起重机
CN112875515A (zh) * 2021-01-29 2021-06-01 中国一冶集团有限公司 用于液压提升机抬吊过程中钢丝绳状态监测的系统
CN112836299A (zh) * 2021-02-05 2021-05-25 山重建机有限公司 一种挖掘机整机稳定性优化方法
CN113548588A (zh) * 2021-08-09 2021-10-26 浙江三一装备有限公司 一种倾翻风险预测方法、装置及系统

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CN102259799A (zh) 2011-11-30

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