WO2013053105A1 - Method and device for controlling secondary hoisting of crane winch - Google Patents
Method and device for controlling secondary hoisting of crane winch Download PDFInfo
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- WO2013053105A1 WO2013053105A1 PCT/CN2011/080660 CN2011080660W WO2013053105A1 WO 2013053105 A1 WO2013053105 A1 WO 2013053105A1 CN 2011080660 W CN2011080660 W CN 2011080660W WO 2013053105 A1 WO2013053105 A1 WO 2013053105A1
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- hoisting
- pressure
- current
- hoist
- crane
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Classifications
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- 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
Definitions
- the present invention relates to a control method and a control device for a crane hoisting secondary hoisting.
- a crane is a commonly used construction machine, and crane hoisting is an important part of a crane.
- Crane coiling mainly refers to the lifting of cranes used for hooks, variable amplitudes, etc., such as the main hoisting of truck cranes and tire cranes, such as hoisting and hoisting of crawler cranes. In practical engineering applications, it is often encountered that the second lifting of the lifting is carried out.
- the second lifting of the hoisting mainly refers to the hoisting and stopping action for a period of time, and then operating again to achieve the lifting up or down.
- the hoisting down mainly means that the actual direction or speed of the hoisting is not controlled, and the direction or speed of the movement is inconsistent with the operation, and is dragged by the gravity of the heavy object, which is represented by the downward sway when the hoisting operation rises, or the acceleration decreases when the operation is lowered.
- the speed is not controlled.
- the second lifting of the hoisting is usually realized by the hydraulic system, because the hydraulic pump, the hydraulic motor, the valve parts and the like in the hydraulic system have the characteristics of sealing leakage, and the leakage amount will depend on the load and the pressure. , time and other changes, resulting in the crane's hoisting in the actual hoisting process, the actual speed of the hoisting will change with the hoisting load, pressure, time, there are different degrees of secondary lifting and falling.
- the following two aspects are used to avoid the secondary rise and fall:
- the hydraulic system adopts closed loop control to reduce the leakage of the hydraulic circuit.
- the leakage of the system cannot be completely avoided, so this method is not effective in avoiding the secondary rise and fall.
- the main object of the present invention is to provide a control method and a control device for lifting and hoisting secondary lifting of a crane, so as to solve the problem of low power utilization efficiency in controlling the secondary lifting and lowering of the crane hoisting in the prior art. The problem of poor control and high equipment manufacturing costs.
- a control method of a crane hoisting secondary hoist comprises: recording the pressure of the hoisting motor when the crane is hoisted, and detecting the pressure of the current hoisting motor when the crane is hoisted twice, And comparing with the pressure of the recorded hoisting motor, if the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor, braking the hoisting mechanism and charging the hoisting circuit of the hoisting motor It is not less than the preset pressure, which is determined based on the pressure of the recorded hoisting motor.
- a control device for lifting a secondary lift of a crane comprises: a storage device for preserving the pressure of the hoisting motor when the crane is hoisted up; a pressure setting device for hoisting according to the preservation device The pressure of the motor determines a preset pressure; the detecting and comparing device is configured to detect the pressure of the current hoisting motor when the crane is hoisted and lifted, and compare with the pressure of the recorded hoisting motor; For braking the hoisting mechanism when the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor; charging device for charging the hoisting circuit of the hoisting motor to be not smaller than The preset pressure.
- the pressure of the hoisting motor during the second lifting of the hoisting is adjusted according to the pressure of the hoisting motor during the first hoisting lifting, which helps to ensure that the hoisting motor has a hoisting secondary hoisting Sufficient pressure to avoid hoisting the secondary rise and fall.
- position following correction can be performed, that is, the actual position of the hoist is detected and then the actual movement state is judged, and the hoisting is controlled according to the actual movement state, so that the actual movement of the hoist is close to the operation instruction.
- FIG. 1 is a schematic diagram showing the main steps of a method for controlling a second lifting of a crane according to an embodiment of the present invention
- FIG. 2 is a schematic view showing a working condition of a crane according to an embodiment of the present invention
- It is a schematic diagram of a main component of a crane hoisting secondary hoisting control device according to an embodiment of the present invention.
- the second lifting of the hoisting mainly refers to the hoisting stop operation for a period of time, and then the operation is performed to achieve the hoisting lifting or lowering.
- 1 is a schematic diagram of main steps of a method for controlling a second hoisting of a crane according to an embodiment of the present invention. As shown in FIG. 1, the method mainly includes the following steps: Step S11: recording when the crane is hoisted and lifted The pressure of the hoisting motor. The lifting and lifting of the crane in this step refers to the first lifting of the hoisting. After the first lift, the crane stops for a while and then performs a second lift. Step S12: When the crane is hoisted twice, the pressure of the current hoisting motor is detected.
- Step S13 It is judged whether the pressure of the current hoisting motor is smaller than the pressure of the recorded hoisting motor. If yes, go to step S15 and step S16, otherwise go to step S14.
- Step S14 Maintain the pressure of the current hoisting motor.
- Step S15 Braking the hoisting mechanism. Stop braking the hoisting mechanism only if there is no slip. Otherwise, the hoisting will slide down under heavy loads. Once the replenishment is not timely, it will suck up and cause the heavy objects to accelerate and fall, which may cause an accident.
- Step S16 The hoisting circuit of the hoisting motor is pressurized so as not to be less than a preset pressure.
- step S15 This step is performed simultaneously with step S15, where the hoisting mechanism is braked so that the weight does not slip when the pressure is insufficient to support the hoist.
- the preset pressure here is determined according to the pressure of the hoisting motor recorded in step S11, and may specifically be the pressure of the recorded hoisting motor plus a fixed pressure value; or the pressure and pre-recorded hoisting motor
- step S16 the hoisting circuit is pressurized regardless of whether the above-described re-operation in the secondary hoisting causes the hoisting to rise or fall.
- the charging of the hoisting circuit of the hoisting motor in step S16 may be referred to as "reverse charging".
- the amount of pressure can be adjusted by experiment and actual working conditions. It can be seen from the above steps that the hoisting circuit of the hoisting motor is recorded by recording the pressure of the hoisting motor before the secondary hoisting lift and the hoisting motor pressure is less than the recorded pressure during the secondary lifting.
- the charging pressure is not less than the preset pressure determined according to the pressure of the recorded hoisting motor, and the hoisting mechanism is braked, thereby avoiding the phenomenon of hoisting secondary lifting and lowering, and the control effect is better.
- the current state of the hoisting motion can be determined, and the current state of the hoisting can be determined according to the detected hoisting position state;
- the position state of the load weight of the crane determines the current motion state of the hoist, if the current motion state of the hoist is descending, and if the current working condition (given by the operation command) is hoisting, the hoisting motor is increased.
- the rotation speed causes the hoisting motor to rise, which can reduce the displacement of the hoisting motor and increase the flow output of the hoisting pump. With the increase in the rotational speed of the motor, the hoisting rises so that the actual motion of the hoist is consistent with the requirements of the operational command.
- the increase in the rotational speed of the hoisting motor and the flow output of the hoisting pump can be adjusted by trial and actual working conditions.
- the pressure of the hoisting system, the amount of leakage, etc. may also be changed due to changes in the number of ropes, etc.; or the change in the amount of leakage may be caused by the change in the length of the stop time, which may make the hoisting speed The change does not match the speed required by the operation.
- the current speed of the hoisting can also be determined when the crane is hoisted twice, and compared with the received set speed, where the set speed is the speed required for the operation; In the case where the current speed is less than the set speed, the displacement of the hoisting motor is reduced or the flow output of the hoisting pump is increased, so that the current speed of the hoisting is increased to reach or approach the speed required for the operation.
- the hoisting position can be tested multiple times to determine the current speed of the hoist; the position of the crane's load can also be detected to determine the current speed of the hoist.
- the crane hoisting secondary hoisting control device in this embodiment can be installed in the control system, and Fig.
- the crane hoisting secondary lifting control device 30 mainly comprises: a storage device 31 for preserving the pressure of the hoisting motor when the crane is hoisted up; and a pressure setting device 32 for storing The pressure of the hoisting motor held by the device 31 determines a preset pressure; the detecting and comparing device 33 is configured to detect the pressure of the current hoisting motor when the crane is hoisted twice, and compares with the pressure of the recorded hoisting motor a brake device 34, configured to brake the hoisting mechanism when the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor; the charging device 35 is configured to charge the hoisting circuit of the hoisting motor Press it so that it is not less than the preset pressure.
- the crane hoisting secondary lifting control device 30 may further include a motion state detecting device and a lifting device (not shown), wherein the motion state detecting device is configured to determine the current motion state of the hoist; the lifting device is used in the volume When the current state of motion of the hang is down, the hoisting motor is increased in speed to increase the hoisting.
- the motion state detecting device can be specifically configured to determine the current motion state of the hoist according to the detected hoisting position state. Alternatively, the motion state detecting device may be further configured to determine the current motion state of the hoist according to the detected position state of the load weight of the crane.
- the crane hoisting secondary lift control device 30 may further include a speed comparison device and an acceleration device (not shown), wherein the speed comparison device is configured to determine the current speed of the hoist and compare with the received set speed
- the acceleration device is configured to reduce the displacement of the hoisting motor or increase the flow output of the hoisting pump when the current speed of the hoisting is less than the set speed, so that the current speed of the hoisting is increased.
- the speed comparison device can also be used to determine the current speed of the hoist according to the hoisting position detected multiple times. Alternatively, the speed comparison device can be used to determine the current speed of the hoist according to the position of the load weight of the crane that is detected multiple times.
- the pressure of the hoisting motor during the second lifting of the hoisting is adjusted according to the pressure of the hoisting motor during the first hoisting, which helps to ensure that the hoisting is carried out during the second lifting of the hoisting
- the motor has enough pressure to Avoid hoisting the second rise and fall.
- position following correction can be performed, that is, the actual position of the hoist is detected and then the actual movement state is judged, and the hoisting is controlled according to the actual movement state, so that the actual movement of the hoist is close to the operation instruction.
- the actual speed of the hoisting is monitored when the crane is hoisted twice, compared with the speed required by the operation, and the hydraulic system is adjusted and controlled. Helps ensure that the hoisting movement is consistent with operational requirements.
- the back pressure of the hoisting system is not required, and the power utilization efficiency is high; and the existing pump and the motor can be used, which helps to reduce the manufacturing cost of the device.
- the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices.
- the invention is not limited to any specific combination of hardware and software.
- the above is only the preferred embodiment of the present invention, and is 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.
Abstract
Disclosed is a method for controlling secondary hoisting of a crane winch. The method comprises: recording a pressure of a winch motor when a crane winch performs hoisting; detecting a current pressure of the winch motor when the crane winch performs secondary hoisting; comparing the current pressure with the recorded pressure of the winch motor; and if the current pressure of the winch motor is less than the recorded pressure of the winch motor, braking a winch mechanism, and pressurizing a hoisting loop of the winch motor so that the current pressure is not less than a preset pressure, the preset pressure being determined according to the recorded pressure of the winch motor. The method improves the power utilization efficiency and the control effect of the secondary hoisting control of the crane winch, and reduces the manufacturing cost of equipment. Also disclosed is a device for controlling secondary hoisting of a crane winch.
Description
起重机卷扬二次起升的控制方法和控制装置 技术领域 本发明涉及一种起重机卷扬二次起升的控制方法和控制装置。 背景技术 起重机是一种常用的工程机械， 起重机卷扬是起重机的重要组成部分。 起重机卷 扬主要指移动式起重机上用于吊钩、 变幅等用途的卷扬， 如汽车起重机、 轮胎吊的主 副卷扬， 如履带起重机的起升卷扬、 变幅卷扬等。 在实际工程应用中， 常常会遇到卷 扬二次起升的工况。 卷扬二次起升主要指卷扬停止动作一段时间后， 再次操作实现卷 扬起升或下降。 在卷扬二次起升的工作过程中， 有时会发生起升下滑的现象。 起升下 滑主要指卷扬实际动作方向或速度不受控， 其运动方向或速度与操作不一致， 被重物 重力牵引下降， 表现为卷扬操作上升时反向下降、 或操作下降时加速下降， 速度不受 控。 目前在市场上使用的起重机， 其卷扬二次起升通常由液压系统实现， 由于液压系 统中的液压泵、 液压马达、 阀件等本身存在密封泄漏等特点， 而且泄露量会随负载、 压力、 时间等不同而变化， 导致起重机的卷扬在实际吊装过程中， 卷扬的实际速度会 随吊装负载、 压力、 时间的变化而变化， 出现不同程度的二次起升下滑现象。 在现有 技术中， 为了减弱卷扬下滑影响， 主要通过以下几方面来避免二次起升下滑： BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and a control device for a crane hoisting secondary hoisting. BACKGROUND OF THE INVENTION A crane is a commonly used construction machine, and crane hoisting is an important part of a crane. Crane coiling mainly refers to the lifting of cranes used for hooks, variable amplitudes, etc., such as the main hoisting of truck cranes and tire cranes, such as hoisting and hoisting of crawler cranes. In practical engineering applications, it is often encountered that the second lifting of the lifting is carried out. The second lifting of the hoisting mainly refers to the hoisting and stopping action for a period of time, and then operating again to achieve the lifting up or down. During the work of hoisting the second hoist, sometimes the ups and downs occur. The hoisting down mainly means that the actual direction or speed of the hoisting is not controlled, and the direction or speed of the movement is inconsistent with the operation, and is dragged by the gravity of the heavy object, which is represented by the downward sway when the hoisting operation rises, or the acceleration decreases when the operation is lowered. The speed is not controlled. The cranes currently used in the market, the second lifting of the hoisting is usually realized by the hydraulic system, because the hydraulic pump, the hydraulic motor, the valve parts and the like in the hydraulic system have the characteristics of sealing leakage, and the leakage amount will depend on the load and the pressure. , time and other changes, resulting in the crane's hoisting in the actual hoisting process, the actual speed of the hoisting will change with the hoisting load, pressure, time, there are different degrees of secondary lifting and falling. In the prior art, in order to reduce the impact of the downswing, the following two aspects are used to avoid the secondary rise and fall:
1、 提高卷扬系统工作背压。 这种方式牺牲了动力的利用效率。 1. Improve the back pressure of the hoisting system. This approach sacrifices the efficiency of power utilization.
2、液压系统采用闭式回路控制， 降低液压回路的泄露量。但系统的泄露是无法完 全避免的， 因此这种方式的对于避免二次起升下滑的效果不佳。 2. The hydraulic system adopts closed loop control to reduce the leakage of the hydraulic circuit. However, the leakage of the system cannot be completely avoided, so this method is not effective in avoiding the secondary rise and fall.
3、 提高液压元件本身的精度， 选用高精度的泵和马达等元件， 减小泄漏。 采用高 精度的元件使设备的制造成本较高。 在现有技术中， 在防止起重机卷扬二次起升下滑的控制中存在动力利用效率低、 控制效果不佳、设备制造成本较高的问题。对于该问题， 目前尚未提出有效解决方案。
发明内容 本发明的主要目的是提供一种起重机卷扬二次起升的控制方法和控制装置， 以解 决现有技术中在防止起重机卷扬二次起升下滑的控制中存在动力利用效率低、 控制效 果不佳、 设备制造成本较高的问题。 为了解决上述问题， 根据本发明的一个方面， 提供了一种起重机卷扬二次起升的 控制方法。 本发明的起重机卷扬二次起升的控制方法包括： 在起重机卷扬起升时， 记录卷扬 马达的压力； 在所述起重机卷扬二次起升时， 检测当前卷扬马达的压力， 并与记录的 卷扬马达的压力进行比较， 如果当前卷扬马达的压力小于记录的卷扬马达的压力， 则 对卷扬机构进行制动， 并且对所述卷扬马达的起升回路充压使其不小于预设压力， 该 预设压力根据记录的卷扬马达的压力确定。 根据本发明的另一方面， 提供了一种起重机卷扬二次起升的控制装置。 本发明的起重机卷扬二次起升的控制装置包括： 保存设备， 用于在起重机卷扬起 升时， 保存卷扬马达的压力； 压力设置设备， 用于根据所述保存设备保存的卷扬马达 的压力确定预设压力； 检测比较设备， 用于在所述起重机卷扬二次起升时， 检测当前 卷扬马达的压力， 并与记录的卷扬马达的压力进行比较； 制动设备， 用于在当前卷扬 马达的压力小于记录的卷扬马达的压力的情况下， 对卷扬机构进行制动； 充压设备， 用于对所述卷扬马达的起升回路充压使其不小于所述预设压力。 根据本发明的技术方案， 根据第一次卷扬起升时卷扬马达的压力调整卷扬二次起 升时卷扬马达的压力， 有助于保证卷扬二次起升时卷扬马达有足够的压力从而避免卷 扬二次起升下滑。 对于特殊工况， 可进行位置随动校正， 即检测卷扬实际位置然后判 断其实际运动状态， 根据实际运动状态对卷扬加以控制， 使卷扬的实际运动接近操作 指令。 另外在本实施例中， 考虑到外界负载扰动对卷扬速度的影响， 在起重机卷扬二 次起升时监控卷扬的实际速度， 与操作要求的速度进行比较并对液压系统进行调节控 制， 有助于保证卷扬的运动与操作要求相一致。 采用本实施例的技术方案， 无需提高 卷扬系统的背压， 有着较高的动力利用效率； 并且可以采用已有的泵和马达， 有助于 降低设备的制造成本。
附图说明 说明书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的起重机卷扬二次起升的控制方法的主要步骤的示意 图； 图 2是与本发明实施例有关的一种起重机工况的示意图； 图 3是根据本发明实施例的起重机卷扬二次起升的控制装置的主要组成部分的示 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。 本实施例中， 卷扬二次起升主要指卷扬停止动作一段时间后， 再次操作实现卷扬 起升或下降。 图 1是根据本发明实施例的起重机卷扬二次起升的控制方法的主要步骤 的示意图， 如图 1所示， 该方法主要包括如下步骤： 步骤 S11 : 在起重机卷扬起升时， 记录卷扬马达的压力。 本步骤中的起重机卷扬 起升是指卷扬的第一次起升。 在第一次起升后， 起重机停止一段时间， 然后进行二次 起升。 步骤 S12: 在起重机卷扬二次起升时， 检测当前卷扬马达的压力。 步骤 S13 : 判断当前卷扬马达的压力是否小于记录的卷扬马达的压力。 若是， 进 入步骤 S15和步骤 S16， 否则进入步骤 S14。 步骤 S14: 保持当前卷扬马达的压力。 步骤 S 15： 对卷扬机构进行制动。
只有在不出现下滑的情况下停止对卷扬机构进行制动。 否则卷扬会在重物牵引下 往下滑， 一旦补油不及时， 就会吸空导致重物加速下滑， 可能引起事故。 步骤 S16: 对卷扬马达的起升回路充压使其不小于预设压力。 本步骤与步骤 S15同时进行， 这里对卷扬机构进行制动使得在压力不足以支撑起 重物时重物不会下滑。 这里的预设压力是根据步骤 S11中记录的卷扬马达的压力来确 定， 具体可以是记录的卷扬马达的压力加上一个固定的压力值； 也可以是记录的卷扬 马达的压力与预设的调节系数的乘积， 即： 充压后压力 =记录的压力 X调节系数。 步骤 S16 中， 不论二次起升中的上述再次操作使卷扬起升还是下降， 都对起升回路进行充 压。 其中， 如果上述再次操作是使卷扬下降， 步骤 S16中的对卷扬马达的起升回路进 行充压又可称作"反向充压"。 充压的量值可以通过试验和实际工况进行调整。 从上述的步骤可以看出， 通过记录二次卷扬起升之前的卷扬马达的压力， 以及在 二次起升时如果卷扬马达压力小于记录的压力， 则对卷扬马达的起升回路充压使其不 小于根据记录的卷扬马达的压力所确定的预设的压力， 并且对卷扬机构进行制动， 由 此避免了卷扬二次起升下滑的现象，控制效果较好。并且这种方式无需提高系统背压， 动力利用效率较高； 此外可以利用普通的泵和马达， 无需采取高精度元件， 有助于降 低设备的制造成本。 在一些特殊的实际工程应用场合下， 仅根据图 1所示的步骤有可能仍然出现卷扬 二次起升下滑的现象。 例如图 2所示的情形， 图 2是与本发明实施例有关的一种起重 机工况的示意图。 在图 2中， 重物 W未被完全吊起， 其与地面有一接触点 A。 在这种 情况下， 如果通过变幅向上使重物 W吊离地面， 这时起升卷扬没有工作， 其制动缸没 有打开， 保存的卷扬马达压力值没有更新， 这样根据该压力值得到的设置压力值可能 难以保证卷扬二次起升不出现下滑。 因此， 在本实施例中， 在卷扬二次起升时， 还可以对卷扬当前运动状态加以确定， 可以根据检测得到的卷扬位置状态确定卷扬的当前运动状态； 也可以根据检测得到的 起重机的负载重物的位置状态确定卷扬的当前运动状态， 若卷扬的当前运动状态为下 降， 而如果当前的工况 （由操作指令给定） 为起升， 则增加卷扬马达的转速使卷扬马 达上升， 具体可以减少卷扬马达的排量， 也可以增加卷扬泵的流量输出。 在增加了马 达的转速情况下， 卷扬上升从而使卷扬的实际运动与操作指令的要求相一致。 上述卷 扬马达的转速增量和卷扬泵的流量输出都可以通过试验和实际工况进行调整。
在起重机吊装卷扬过程中， 还可能因为绕绳层数等变化引起卷扬系统压力、 泄露 量等变化； 也可能由于停止时间长短的变化导致泄露量的变化， 这些都有可能使卷扬 速度发生变化， 与操作要求的速度不相符合。 所以在本实施例中， 还可以在起重机卷 扬二次起升时确定卷扬的当前速度， 并与接收的设定速度进行比较， 这里的设定速度 是操作要求的速度； 在卷扬的当前速度小于该设定速度的情况下， 减少卷扬马达的排 量或增加卷扬泵的流量输出， 使卷扬的当前速度增大， 以达到或接近操作要求的速度。 在确定卷扬的当前速度时， 可以对卷扬的位置进行多次检测从而确定卷扬的当前 速度； 也可以对起重机的负载重物进行位置检测来确定卷扬的当前速度。 本实施例中的起重机卷扬二次起升的控制装置可以安装在控制系统中， 图 3是根 据本发明实施例的起重机卷扬二次起升的控制装置的主要组成部分的示意图。 如图 3 所示， 起重机卷扬二次起升的控制装置 30主要包括： 保存设备 31， 用于在起重机卷 扬起升时， 保存卷扬马达的压力； 压力设置设备 32， 用于根据保存设备 31保存的卷 扬马达的压力确定预设压力； 检测比较设备 33， 用于在起重机卷扬二次起升时， 检测 当前卷扬马达的压力， 并与记录的卷扬马达的压力进行比较； 制动设备 34， 用于在当 前卷扬马达的压力小于记录的卷扬马达的压力的情况下， 对卷扬机构进行制动； 充压 设备 35， 用于对卷扬马达的起升回路充压使其不小于预设压力。 起重机卷扬二次起升的控制装置 30还可以包括运动状态检测设备和提升设备（图 中未示出），其中运动状态检测设备用于确定卷扬的当前运动状态； 提升设备用于在卷 扬的当前运动状态为下降的情况下， 增加卷扬马达的转速使卷扬上升。 运动状态检测 设备具体可以用于根据检测得到的卷扬位置状态确定卷扬的当前运动状态。 或者运动 状态检测设备具体还可用于根据检测得到的起重机的负载重物的位置状态确定卷扬的 当前运动状态。 起重机卷扬二次起升的控制装置 30还可以包括速度比较设备和加速设备（图中未 示出）， 其中速度比较设备用于确定卷扬的当前速度， 并与接收的设定速度进行比较； 加速设备用于在卷扬的当前速度小于所述设定速度的情况下， 减少卷扬马达的排量或 增加卷扬泵的流量输出， 使卷扬的当前速度增大。 速度比较设备具体还可以用于根据 多次检测到的卷扬位置确定卷扬的当前速度。 或者速度比较设备具体还可用于根据多 次检测到的起重机的负载重物的位置确定卷扬的当前速度。 根据本发明实施例的技术方案， 根据第一次卷扬起升时卷扬马达的压力调整卷扬 二次起升时卷扬马达的压力， 有助于保证卷扬二次起升时卷扬马达有足够的压力从而
避免卷扬二次起升下滑。 对于特殊工况， 可进行位置随动校正， 即检测卷扬实际位置 然后判断其实际运动状态， 根据实际运动状态对卷扬加以控制， 使卷扬的实际运动接 近操作指令。 另外在本实施例中， 考虑到外界负载扰动对卷扬速度的影响， 在起重机 卷扬二次起升时监控卷扬的实际速度， 与操作要求的速度进行比较并对液压系统进行 调节控制， 有助于保证卷扬的运动与操作要求相一致。 采用本实施例的技术方案， 无 需提高卷扬系统的背压， 有着较高的动力利用效率； 并且可以采用已有的泵和马达， 有助于降低设备的制造成本。 显然， 本领域的技术人员应该明白， 上述的本发明的各模块或各步骤可以用通用 的计算装置来实现， 它们可以集中在单个的计算装置上， 或者分布在多个计算装置所 组成的网络上， 可选地， 它们可以用计算装置可执行的程序代码来实现， 从而， 可以 将它们存储在存储装置中由计算装置来执行， 或者将它们分别制作成各个集成电路模 块， 或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。 这样， 本发明 不限制于任何特定的硬件和软件结合。 以上所述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。
3. Improve the accuracy of the hydraulic components themselves, and select high-precision components such as pumps and motors to reduce leakage. The use of high-precision components makes the manufacturing cost of the equipment high. In the prior art, in the control for preventing the second hoisting down of the crane hoisting, there is a problem that the power utilization efficiency is low, the control effect is poor, and the equipment manufacturing cost is high. For this problem, no effective solution has yet been proposed. SUMMARY OF THE INVENTION The main object of the present invention is to provide a control method and a control device for lifting and hoisting secondary lifting of a crane, so as to solve the problem of low power utilization efficiency in controlling the secondary lifting and lowering of the crane hoisting in the prior art. The problem of poor control and high equipment manufacturing costs. In order to solve the above problems, according to an aspect of the present invention, a control method of a crane hoisting secondary hoist is provided. The control method for the second hoisting of the crane hoist according to the present invention comprises: recording the pressure of the hoisting motor when the crane is hoisted, and detecting the pressure of the current hoisting motor when the crane is hoisted twice, And comparing with the pressure of the recorded hoisting motor, if the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor, braking the hoisting mechanism and charging the hoisting circuit of the hoisting motor It is not less than the preset pressure, which is determined based on the pressure of the recorded hoisting motor. According to another aspect of the present invention, a control device for lifting a secondary lift of a crane is provided. The crane hoisting secondary lifting control device of the present invention comprises: a storage device for preserving the pressure of the hoisting motor when the crane is hoisted up; a pressure setting device for hoisting according to the preservation device The pressure of the motor determines a preset pressure; the detecting and comparing device is configured to detect the pressure of the current hoisting motor when the crane is hoisted and lifted, and compare with the pressure of the recorded hoisting motor; For braking the hoisting mechanism when the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor; charging device for charging the hoisting circuit of the hoisting motor to be not smaller than The preset pressure. According to the technical solution of the present invention, the pressure of the hoisting motor during the second lifting of the hoisting is adjusted according to the pressure of the hoisting motor during the first hoisting lifting, which helps to ensure that the hoisting motor has a hoisting secondary hoisting Sufficient pressure to avoid hoisting the secondary rise and fall. For special working conditions, position following correction can be performed, that is, the actual position of the hoist is detected and then the actual movement state is judged, and the hoisting is controlled according to the actual movement state, so that the actual movement of the hoist is close to the operation instruction. In addition, in the embodiment, considering the influence of the external load disturbance on the hoisting speed, the actual speed of the hoisting is monitored when the crane is hoisted twice, compared with the speed required by the operation, and the hydraulic system is adjusted and controlled. Helps ensure that the hoisting movement is consistent with operational requirements. By adopting the technical solution of the embodiment, the back pressure of the hoisting system is not required, and the power utilization efficiency is high; and the existing pump and the motor can be used, which helps to reduce the manufacturing cost of the device. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention BRIEF DESCRIPTION OF THE DRAWINGS In the drawings: FIG. 1 is a schematic diagram showing the main steps of a method for controlling a second lifting of a crane according to an embodiment of the present invention; FIG. 2 is a schematic view showing a working condition of a crane according to an embodiment of the present invention; It is a schematic diagram of a main component of a crane hoisting secondary hoisting control device according to an embodiment 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. In this embodiment, the second lifting of the hoisting mainly refers to the hoisting stop operation for a period of time, and then the operation is performed to achieve the hoisting lifting or lowering. 1 is a schematic diagram of main steps of a method for controlling a second hoisting of a crane according to an embodiment of the present invention. As shown in FIG. 1, the method mainly includes the following steps: Step S11: recording when the crane is hoisted and lifted The pressure of the hoisting motor. The lifting and lifting of the crane in this step refers to the first lifting of the hoisting. After the first lift, the crane stops for a while and then performs a second lift. Step S12: When the crane is hoisted twice, the pressure of the current hoisting motor is detected. Step S13: It is judged whether the pressure of the current hoisting motor is smaller than the pressure of the recorded hoisting motor. If yes, go to step S15 and step S16, otherwise go to step S14. Step S14: Maintain the pressure of the current hoisting motor. Step S15: Braking the hoisting mechanism. Stop braking the hoisting mechanism only if there is no slip. Otherwise, the hoisting will slide down under heavy loads. Once the replenishment is not timely, it will suck up and cause the heavy objects to accelerate and fall, which may cause an accident. Step S16: The hoisting circuit of the hoisting motor is pressurized so as not to be less than a preset pressure. This step is performed simultaneously with step S15, where the hoisting mechanism is braked so that the weight does not slip when the pressure is insufficient to support the hoist. The preset pressure here is determined according to the pressure of the hoisting motor recorded in step S11, and may specifically be the pressure of the recorded hoisting motor plus a fixed pressure value; or the pressure and pre-recorded hoisting motor The product of the adjustment factor, ie: pressure after charging = recorded pressure X adjustment factor. In step S16, the hoisting circuit is pressurized regardless of whether the above-described re-operation in the secondary hoisting causes the hoisting to rise or fall. Here, if the above-described re-operation is to lower the hoisting, the charging of the hoisting circuit of the hoisting motor in step S16 may be referred to as "reverse charging". The amount of pressure can be adjusted by experiment and actual working conditions. It can be seen from the above steps that the hoisting circuit of the hoisting motor is recorded by recording the pressure of the hoisting motor before the secondary hoisting lift and the hoisting motor pressure is less than the recorded pressure during the secondary lifting. The charging pressure is not less than the preset pressure determined according to the pressure of the recorded hoisting motor, and the hoisting mechanism is braked, thereby avoiding the phenomenon of hoisting secondary lifting and lowering, and the control effect is better. In addition, this method does not need to increase the system back pressure, and the power utilization efficiency is high; in addition, ordinary pumps and motors can be utilized, and high-precision components are not required, which helps to reduce the manufacturing cost of the equipment. In some special practical engineering applications, it is possible that the second lifting and lowering of the hoisting phenomenon may still occur according to the steps shown in Fig. 1. For example, the situation shown in Figure 2, Figure 2 is a schematic illustration of a crane operating condition in connection with an embodiment of the present invention. In Fig. 2, the weight W is not completely lifted, and it has a contact point A with the ground. In this case, if the weight W is lifted off the ground by the variable amplitude, then the lifting hoisting does not work, the brake cylinder is not opened, and the stored hoisting motor pressure value is not updated, so according to the pressure value The set pressure value to which it is reached may be difficult to ensure that the second lift of the hoist does not fall. Therefore, in the embodiment, when the second lifting is hoisted, the current state of the hoisting motion can be determined, and the current state of the hoisting can be determined according to the detected hoisting position state; The position state of the load weight of the crane determines the current motion state of the hoist, if the current motion state of the hoist is descending, and if the current working condition (given by the operation command) is hoisting, the hoisting motor is increased. The rotation speed causes the hoisting motor to rise, which can reduce the displacement of the hoisting motor and increase the flow output of the hoisting pump. With the increase in the rotational speed of the motor, the hoisting rises so that the actual motion of the hoist is consistent with the requirements of the operational command. The increase in the rotational speed of the hoisting motor and the flow output of the hoisting pump can be adjusted by trial and actual working conditions. During the hoisting and hoisting process of the crane, the pressure of the hoisting system, the amount of leakage, etc. may also be changed due to changes in the number of ropes, etc.; or the change in the amount of leakage may be caused by the change in the length of the stop time, which may make the hoisting speed The change does not match the speed required by the operation. Therefore, in the present embodiment, the current speed of the hoisting can also be determined when the crane is hoisted twice, and compared with the received set speed, where the set speed is the speed required for the operation; In the case where the current speed is less than the set speed, the displacement of the hoisting motor is reduced or the flow output of the hoisting pump is increased, so that the current speed of the hoisting is increased to reach or approach the speed required for the operation. When determining the current speed of the hoist, the hoisting position can be tested multiple times to determine the current speed of the hoist; the position of the crane's load can also be detected to determine the current speed of the hoist. The crane hoisting secondary hoisting control device in this embodiment can be installed in the control system, and Fig. 3 is a schematic diagram of the main components of the crane hoisting secondary hoisting control device according to the embodiment of the present invention. As shown in FIG. 3, the crane hoisting secondary lifting control device 30 mainly comprises: a storage device 31 for preserving the pressure of the hoisting motor when the crane is hoisted up; and a pressure setting device 32 for storing The pressure of the hoisting motor held by the device 31 determines a preset pressure; the detecting and comparing device 33 is configured to detect the pressure of the current hoisting motor when the crane is hoisted twice, and compares with the pressure of the recorded hoisting motor a brake device 34, configured to brake the hoisting mechanism when the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor; the charging device 35 is configured to charge the hoisting circuit of the hoisting motor Press it so that it is not less than the preset pressure. The crane hoisting secondary lifting control device 30 may further include a motion state detecting device and a lifting device (not shown), wherein the motion state detecting device is configured to determine the current motion state of the hoist; the lifting device is used in the volume When the current state of motion of the hang is down, the hoisting motor is increased in speed to increase the hoisting. The motion state detecting device can be specifically configured to determine the current motion state of the hoist according to the detected hoisting position state. Alternatively, the motion state detecting device may be further configured to determine the current motion state of the hoist according to the detected position state of the load weight of the crane. The crane hoisting secondary lift control device 30 may further include a speed comparison device and an acceleration device (not shown), wherein the speed comparison device is configured to determine the current speed of the hoist and compare with the received set speed The acceleration device is configured to reduce the displacement of the hoisting motor or increase the flow output of the hoisting pump when the current speed of the hoisting is less than the set speed, so that the current speed of the hoisting is increased. The speed comparison device can also be used to determine the current speed of the hoist according to the hoisting position detected multiple times. Alternatively, the speed comparison device can be used to determine the current speed of the hoist according to the position of the load weight of the crane that is detected multiple times. According to the technical solution of the embodiment of the present invention, the pressure of the hoisting motor during the second lifting of the hoisting is adjusted according to the pressure of the hoisting motor during the first hoisting, which helps to ensure that the hoisting is carried out during the second lifting of the hoisting The motor has enough pressure to Avoid hoisting the second rise and fall. For special working conditions, position following correction can be performed, that is, the actual position of the hoist is detected and then the actual movement state is judged, and the hoisting is controlled according to the actual movement state, so that the actual movement of the hoist is close to the operation instruction. In addition, in the embodiment, considering the influence of the external load disturbance on the hoisting speed, the actual speed of the hoisting is monitored when the crane is hoisted twice, compared with the speed required by the operation, and the hydraulic system is adjusted and controlled. Helps ensure that the hoisting movement is consistent with operational requirements. By adopting the technical solution of the embodiment, the back pressure of the hoisting system is not required, and the power utilization efficiency is high; and the existing pump and the motor can be used, which helps to reduce the manufacturing cost of the device. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is 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
1. 一种起重机卷扬二次起升的控制方法， 其特征在于， 包括： A control method for lifting a secondary lift of a crane, characterized in that it comprises:
在起重机卷扬起升时， 记录卷扬马达的压力； Record the pressure of the hoisting motor when the crane is hoisted and raised;
在所述起重机卷扬二次起升时， 检测当前卷扬马达的压力， 并与记 录的卷扬马达的压力进行比较， 如果当前卷扬马达的压力小于记录的卷 扬马达的压力， 则对卷扬机构进行制动， 并且对所述卷扬马达的起升回 路充压使其不小于预设压力， 该预设压力根据记录的卷扬马达的压力确 定。 When the crane is hoisted and lifted twice, the pressure of the current hoisting motor is detected and compared with the pressure of the recorded hoisting motor. If the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor, then The hoisting mechanism performs braking and pressurizes the hoisting circuit of the hoisting motor so as not to be less than a preset pressure determined based on the pressure of the recorded hoisting motor.
2. 根据权利要求 1所述的方法， 其特征在于， 所述预设压力为所述记录的 卷扬马达的压力与预设的调节系数的乘积。 2. The method according to claim 1, wherein the preset pressure is a product of a pressure of the recorded hoisting motor and a preset adjustment coefficient.
3. 根据权利要求 1所述的方法， 其特征在于， 在所述起重机卷扬二次起升 时， 所述方法还包括： 3. The method according to claim 1, wherein when the crane is hoisted twice, the method further comprises:
确定卷扬的当前运动状态； Determining the current state of motion of the hoist;
在所述卷扬的当前运动状态为下降的情况下， 增加所述卷扬马达的转速使 所述卷扬上升。 In the case where the current state of motion of the hoist is descending, the rotation speed of the hoisting motor is increased to cause the hoisting to rise.
4. 根据权利要求 3所述的方法， 其特征在于， 4. The method of claim 3, wherein
所述确定卷扬的当前运动状态包括： 根据检测得到的卷扬位置状态确定卷 扬的当前运动状态； Determining the current motion state of the hoist includes: determining a current motion state of the hoist according to the detected hoist position state;
或者， 所述确定卷扬的当前运动状态包括： 根据检测得到的所述起重机的 负载重物的位置状态确定卷扬的当前运动状态。 Alternatively, the determining the current motion state of the hoist includes: determining a current motion state of the hoist according to the detected position state of the load weight of the crane.
5. 根据权利要求 1至 4中任一项所述的方法， 其特征在于， 在所述起重机 卷扬二次起升时， 所述方法还包括： The method according to any one of claims 1 to 4, wherein, when the crane is hoisting the second lifting, the method further comprises:
确定卷扬的当前速度， 并与接收的设定速度进行比较； 在所述卷扬的当前速度小于所述设定速度的情况下， 减少所述卷扬 马达的排量或增加卷扬泵的流量输出， 使所述卷扬的当前速度增大。 Determining the current speed of the hoist and comparing it with the set speed; if the current speed of the hoist is less than the set speed, reducing the displacement of the hoisting motor or increasing the hoisting pump The flow output increases the current speed of the winch.
6. 根据权利要求 5所述的方法， 其特征在于，
所述确定卷扬的当前速度包括： 根据多次检测到的卷扬位置确定卷 扬的当前速度； 6. The method of claim 5, wherein The determining the current speed of the hoist includes: determining a current speed of the hoist according to the detected hoist position;
或者， 所述确定卷扬的当前速度包括： 根据多次检测到的所述起重机的负 载重物的位置确定卷扬的当前速度。 Alternatively, the determining the current speed of the hoisting comprises: determining the current speed of the hoist according to the detected position of the load of the crane.
7. 一种起重机卷扬二次起升的控制装置， 其特征在于， 包括： A control device for lifting a secondary lift of a crane, characterized in that it comprises:
保存设备， 用于在起重机卷扬起升时， 保存卷扬马达的压力； 压力设置设备， 用于根据所述保存设备保存的卷扬马达的压力确定预设压 力； a storage device for preserving a pressure of the hoisting motor when the crane is hoisted up; a pressure setting device for determining a preset pressure according to a pressure of the hoisting motor held by the holding device;
检测比较设备， 用于在所述起重机卷扬二次起升时， 检测当前卷扬马达的 压力， 并与记录的卷扬马达的压力进行比较； Detecting comparison device for detecting the pressure of the current hoisting motor when the crane is hoisted twice, and comparing with the pressure of the recorded hoisting motor;
制动设备， 用于在当前卷扬马达的压力小于记录的卷扬马达的压力的情况 下， 对卷扬机构进行制动； a brake device for braking the hoisting mechanism when the pressure of the current hoisting motor is less than the pressure of the recorded hoisting motor;
充压设备，用于对所述卷扬马达的起升回路充压使其不小于所述预设压力。 And a charging device for charging the hoisting circuit of the hoisting motor to be not less than the preset pressure.
8. 根据权利要求 7所述的装置， 其特征在于， 还包括： 运动状态检测设备， 用于确定卷扬的当前运动状态； 8. The apparatus according to claim 7, further comprising: a motion state detecting device, configured to determine a current motion state of the hoist;
提升设备， 用于在所述卷扬的当前运动状态为下降的情况下， 增加所述卷 扬马达的转速使所述卷扬上升。 A lifting device for increasing the rotational speed of the winding motor to cause the hoisting to rise if the current state of motion of the hoist is decreasing.
9. 根据权利要求 8所述的装置， 其特征在于， 所述运动状态检测设备还用于根据检测得到的卷扬位置状态确定卷扬的当 前运动状态； 或者， The device according to claim 8, wherein the motion state detecting device is further configured to determine a current state of motion of the hoist according to the detected hoisting position state; or
所述运动状态检测设备还用于根据检测得到的所述起重机的负载重物的位 置状态确定卷扬的当前运动状态。 The motion state detecting device is further configured to determine a current state of motion of the hoist according to the detected position state of the load weight of the crane.
10. 根据权利要求 7、 8或 9所述的装置， 其特征在于， 还包括： 速度比较设备，用于确定卷扬的当前速度，并与接收的设定速度进行比较; 加速设备， 用于在所述卷扬的当前速度小于所述设定速度的情况下， 减少 所述卷扬马达的排量或增加卷扬泵的流量输出， 使所述卷扬的当前速度增大。 10. The apparatus according to claim 7, 8 or 9, further comprising: a speed comparison device for determining a current speed of the hoist and comparing the received set speed; an acceleration device for In the case where the current speed of the hoisting is less than the set speed, the displacement of the hoisting motor is reduced or the flow output of the hoisting pump is increased to increase the current speed of the hoisting.
11. 根据权利要求 10所述的装置， 其特征在于，
所述速度比较设备还用于根据多次检测到的卷扬位置确定卷扬的当 前速度； 或者， 11. Apparatus according to claim 10, wherein The speed comparison device is further configured to determine a current speed of the hoist according to the hoisting position detected multiple times; or
所述速度比较设备还用于根据多次检测到的所述起重机的负载重物的位置 确定卷扬的当前速度。
The speed comparison device is further configured to determine a current speed of the hoist according to the position of the load weight of the crane that is detected multiple times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/080660 WO2013053105A1 (en) | 2011-10-11 | 2011-10-11 | Method and device for controlling secondary hoisting of crane winch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/080660 WO2013053105A1 (en) | 2011-10-11 | 2011-10-11 | Method and device for controlling secondary hoisting of crane winch |
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| Publication Number | Publication Date |
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| WO2013053105A1 true WO2013053105A1 (en) | 2013-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2011/080660 WO2013053105A1 (en) | 2011-10-11 | 2011-10-11 | Method and device for controlling secondary hoisting of crane winch |
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| WO (1) | WO2013053105A1 (en) |
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| CN102502443A (en) * | 2011-10-11 | 2012-06-20 | 中联重科股份有限公司 | Method and device for controlling secondary hoisting of crane winch |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2892805Y (en) * | 2006-04-29 | 2007-04-25 | 徐州重型机械有限公司 | Motor rotational speed memory hoisting braker control device |
| CN201358149Y (en) * | 2009-01-20 | 2009-12-09 | 徐州重型机械有限公司 | Crane and automatic lifting control system thereof |
| CN101780930A (en) * | 2009-01-20 | 2010-07-21 | 徐州重型机械有限公司 | Crane and lifting automatic control system thereof |
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