WO2013086882A1 - Grue, et système de commande de puissance négative de dispositif de levage du type fermé à des fins d'utilisation avec une grue - Google Patents

Grue, et système de commande de puissance négative de dispositif de levage du type fermé à des fins d'utilisation avec une grue Download PDF

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Publication number
WO2013086882A1
WO2013086882A1 PCT/CN2012/082075 CN2012082075W WO2013086882A1 WO 2013086882 A1 WO2013086882 A1 WO 2013086882A1 CN 2012082075 W CN2012082075 W CN 2012082075W WO 2013086882 A1 WO2013086882 A1 WO 2013086882A1
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WO
WIPO (PCT)
Prior art keywords
valve
proportional
closed
crane
transfer case
Prior art date
Application number
PCT/CN2012/082075
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English (en)
Chinese (zh)
Inventor
詹纯新
刘权
李英智
李怀福
李义
刘琴
张建军
Original Assignee
中联重科股份有限公司
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.)
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Publication date
Application filed by 中联重科股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 中联重科股份有限公司
Publication of WO2013086882A1 publication Critical patent/WO2013086882A1/fr

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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
    • B66C13/20—Control systems or devices for non-electric drives

Definitions

  • the present invention relates to the field of construction machinery, and in particular to a closed hoisting negative power control system for a crane and a crane.
  • BACKGROUND OF THE INVENTION Cranes are a common construction machine.
  • an open or closed system is driven by an engine to achieve lifting of a hoisting weight, and the closed system mainly includes a variable pump and a hoisting motor.
  • the open system the speed at which the weight drops can be adjusted by the balancing valve.
  • the closed system cannot be installed because of the poor heat dissipation.
  • Fig. 1 is a schematic view showing the principle of a closed winch negative power absorption mode for a crane according to the related art.
  • the arrows in Figure 1 indicate the flow of power and the weight G is the weight of the crane.
  • the generation of negative power can only be limited by limiting the falling speed of the weight.
  • a primary object of the present invention is to provide a closed hoisting negative power control system for a crane and a crane to solve the problem of poor performance of the closed hoisting negative power control for a crane in the prior art.
  • a closed hoisting negative power control system for a crane is provided.
  • the closed hoisting negative power control system for a crane of the present invention is used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered.
  • the control system includes an engine, a transfer case, an open system, and a closed system.
  • the open system and the closed system are respectively connected to the transfer case and connected to the engine through the transfer case;
  • the closed system includes a closed type connected to the transfer case Variable pump, through hydraulic lines and said a hoist motor coupled to the closed variable pump and a hoisting reducer coupled to the hoisting motor;
  • the transfer case for transmitting part or all of the negative power to the crane when the crane performs a lowering operation Open system.
  • the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a proportional reversing valve, and the open type variable a pump connection; a loading relief valve of the crane, coupled to the proportional directional valve; a pilot proportional pressure reducing valve coupled to the proportional directional valve for controlling the pressure oil via the proportional directional valve Flow to the load relief valve.
  • the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a hydraulically controlled directional valve, and the open type a variable pump connection; a proportional load relief valve connected to the hydraulic directional control valve; an electromagnetic directional control valve connected to the hydraulic directional control valve for controlling the conduction or closing of the hydraulic directional control valve Broken.
  • the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; and first and second proportional reversing valves, both Connected to the open variable pump; first to fourth pilot proportional pressure reducing valves, wherein the first and second pilot proportional pressure reducing valves are coupled to the first proportional directional control valve, and the third and fourth pilot proportional pressure reducing valves Connected to the second proportional directional control valve; the hydraulic component and the load relief valve, wherein the first port of the hydraulic component is coupled to the first and second proportional directional valves, the second port and the second a proportional diverter valve is connected, the load relief valve is connected to the second proportional reversing valve; and the hydraulic component is configured to absorb power obtained by the open variable pump; the first pilot proportional decompression a valve for controlling a flow rate of the pressurized oil flowing to the first port of the hydraulic component via the first proportional reversing valve; the second pilot proportional pressure reducing valve is configured to control
  • the load relief valve is a proportional load relief valve.
  • the hydraulic component is a two-piece valve combined flow control hydraulic motor or a two-piece valve combined flow control telescopic cylinder.
  • the hydraulic component is a luffing cylinder of the crane, the first port is a rodless cavity of the luffing cylinder, and the second port is a rod cavity of the luffing cylinder.
  • the variable amplitude cylinder is a double variable amplitude cylinder.
  • the open variable pump is a load sensing pump or an electrically variable pump.
  • the negative power generated by the closed hoisting is transferred from the transfer case to the open system, which is absorbed by the open system, and the weight drop speed is no longer restricted;
  • the pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
  • the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve or proportionally loading the pressure of the relief valve;
  • FIG. 1 is a schematic view showing the principle of a closed hoisting negative power absorption mode for a crane according to the related art
  • FIG. 2 is a schematic diagram showing a power transmission relationship at an engine output power according to an embodiment of the present invention
  • FIG. 4 is a first basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a first embodiment of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
  • 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
  • FIG. 7 is a fourth type of closed hoisting negative power control system for a crane according to an embodiment of the present invention
  • Basic structure diagram. 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.
  • the closed hoisting negative power control system for a crane according to an embodiment of the present invention is mainly used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered.
  • 2 is a schematic diagram of a power transfer relationship when an engine outputs power according to an embodiment of the present invention.
  • 3 is a schematic diagram of a power transfer relationship when an engine absorbs power according to an embodiment of the present invention.
  • the closed hoisting negative power control system for a crane according to an embodiment of the present invention mainly includes an engine 1, a transfer case 2, an open system 3, and a closed system 4.
  • the open system 3 and the closed system 4 are respectively connected to the transfer case 2, and are connected to the engine 1 through the transfer case 2.
  • the closed system 4 includes a closed variable pump and a hoisting motor that are connected to each other, and also includes a hoisting reducer (not shown).
  • the transfer case 2 can be used to transfer the output power of the engine to the open system 3 and the closed system 4 when the crane performs the ascending operation (as shown in FIG. 3, wherein the arrow indicates the power flow direction), and for the control of the negative power,
  • the transfer case 2 is capable of transferring a portion of the negative power (and another portion to the engine at this time) or all of the open system 3 when the crane is performing the lowering operation (as shown in Fig. 3, wherein the arrow indicates the power flow direction).
  • Figure 3 also shows the weight G, which produces a negative power when it descends.
  • the first optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer The box takes power and outputs pressure oil; the proportional reversing valve 41; the pilot proportional pressure reducing valve 42, and the loading relief valve 43 of the crane. Further, the open type variable pump 30, the pilot proportional pressure reducing valve 42, and the load relief valve 43 are respectively connected to the proportional switching valve 41; the pilot proportional pressure reducing valve 42 is for controlling the flow of the pressurized oil to the loading overflow via the proportional switching valve 41.
  • FIG. 4 shows a case where the proportional directional control valve 41 adopts a three-position proportional directional control valve, in which case the B1 port can be blocked, as shown in FIG. 4; a two-way proportional directional control valve can also be used.
  • . 5 is a second basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention.
  • the second optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer Box 2 takes power and outputs pressure Force oil; electromagnetic reversing valve 51; hydraulically controlled reversing valve 52; proportionally loaded relief valve 53.
  • the open type variable pump 30, the electromagnetic reversing valve 51 and the proportional load relief valve 53 are respectively connected to the pilot-operated reversing valve 52; the electromagnetic reversing valve 51 is used to control the on or off of the pilot-operated reversing valve 52.
  • the electromagnetic reversing valve 51 can control the switching of the working state of the pilot-operated reversing valve 52, so that the pressure oil is disconnected or connected to the proportional-loading relief valve, and is controlled by the proportional-loading relief valve 53.
  • the magnitude of the loading pressure is used to achieve stepless adjustment of the loading pressure.
  • 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention. As shown in FIG.
  • the third optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open type variable pump 30 connected to the transfer case 2 for use in the transfer The tank 2 takes power and outputs pressurized oil; the first proportional diverter valve 621 and the second proportional reversing valve 622 are both connected to the open type variable pump 30; the first to fourth pilot proportional pressure reducing valves 611 to 614, wherein The first and second pilot proportional pressure reducing valves 611, 612 are coupled to the first proportional directional valve 621, and the third and fourth pilot proportional pressure reducing valves are coupled to the second proportional directional valve 622; the slewing cylinder 63 of the crane and loading The relief valve 64, wherein the rodless cavity of the variator cylinder 63 is connected to the first proportional directional valve 621 and the second proportional directional valve 622, and the rod cavity of the variator cylinder 63 is connected to the first proportional directional valve 621.
  • the load relief valve 64 is coupled to the second proportional directional valve 622.
  • the slewing cylinder 63 can absorb the power obtained by the open type variable pump 30.
  • the first pilot proportional pressure reducing valve 611 is configured to control the flow rate of the pressurized oil flowing to the first port of the slewing cylinder 63 via the first proportional directional valve 621;
  • the second pilot proportional pressure reducing valve 612 is configured to control the pressure oil via the first
  • the proportional diverter valve 621 flows to the second port of the slewing cylinder 63;
  • the third pilot proportional pressure reducing valve 613 is configured to control the flow of the pressurized oil to the first port of the slewing cylinder 63 via the second proportional directional valve 622
  • the flow rate; the fourth pilot proportional pressure reducing valve 614 is used to control the flow of the pressurized oil to the load relief valve 64 via the second proportional directional valve 622.
  • the first port of the slewing cylinder 63 is a rodless chamber, and the second port has a rod chamber.
  • the horn cylinder 63 may be a double squaring cylinder.
  • the load relief valve 64 can employ a proportional load relief valve.
  • the open type variable pump 30 can employ a load sensing pump or an electrically variable pump.
  • a two-piece valve combined flow control hydraulic motor or a two-piece valve confluence control telescopic cylinder may be used.
  • Fig. 7 is a closed roll for a crane according to an embodiment of the present invention.
  • the closed variable pump 31 and the hoisting motor 32 constitute a closed system main oil passage, and provide kinetic energy to the hoisting reducer 33 to lift the weight G. During the falling of the weight G, the potential energy is converted into kinetic energy to the closed system. .
  • the engine acts simultaneously through the transfer case and the open system (by acting directly on the open variable pump) and the closed system (by acting directly on the closed variable pump).
  • the transfer case acts as an energy transfer mechanism: it can transmit the power output from the engine to the open variable pump and the closed variable pump for external work, or it can generate the weight when the closed system is lowered.
  • the negative power (in this case, the closed variable pump drives the transfer case and the engine to rotate) is transmitted to the transfer case, which is transmitted to the engine and the open system through the transfer case.
  • the main working elements of the closed system are closed variable displacement pumps and hoisting motors.
  • the closed variable pump is responsible for controlling the speed control of the lifting and lowering of the hoisting mechanism, and the hoisting motor is connected with the speed reducer to synchronize the lifting and falling of the weight. When the weight rises, the engine inputs part of the energy into the closed variable pump through the transfer case.
  • the negative power that the engine can absorb is limited, so when the lifting weight M increases, the maximum falling speed V of the weight should be reduced. With the development of the crane, the lifting weight is increased, and the negative power absorbed by the engine alone cannot meet the demand.
  • the negative power generated by the weight drop is absorbed by the engine and the open system.
  • the negative power S absorbed by the engine is smaller than the maximum negative power that can be absorbed.
  • s ⁇ s m (where s m represents the maximum negative power that the engine can absorb).
  • the A1 port of the first proportional diverter valve 621 and the A2 port of the second proportional diverter valve 622 are combined to supply oil to the rodless cavity of the luffing cylinder; the B1 port of the first proportional diverter valve 621 is changed.
  • the oil cylinder 63 has a rod chamber for oil supply; the B2 port of the second proportional directional valve 622 is a proportional load relief valve 64 for oil supply; and the second proportional directional valve 622 has a center function of "0" type function.
  • the specific control is as follows: When the pilot proportional pressure reducing valves 611, 612, 613 and 614 are all de-energized, the first proportional switching valve 621 and the second proportional switching valve 622 are in the neutral position, and the system has no pressure oil output; when the pilot ratio When the pressure reducing valve 611 is energized, the first proportional switching valve 621 operates in the right position, and the pressurized oil enters the rodless cavity of the variable amplitude cylinder 63 from the A1 port through the first proportional switching valve 621, and the variable amplitude cylinder 63 realizes the lifting action; When the pilot proportional pressure reducing valve 612 is energized, the first proportional switching valve 621 operates in the left position, and the pressure oil passes through the first proportional switching valve from the B1 port into the variable amplitude cylinder 63 to have a rod cavity, and the variable amplitude realizes the lowering action; When the pilot proportional pressure reducing valves 611, 613 are simultaneously energized, the pressurized oil
  • the rodless chamber realizes high-speed confluence at the time of variable amplitude lifting; when the pilot proportional pressure reducing valve 614 is energized, the pressurized oil is proportionally loaded into the relief valve 64 from the B2 port via the second proportional diverter valve 622.
  • the control pressures outputted by the pilot proportional pressure reducing valves 611 to 614 are proportional to the control current, so that the proportional output of the flow rates of the first proportional switching valve 621 and the second proportional switching valve 622 can be realized, thereby realizing the speed of the variable amplitude cylinder or
  • the flow rate of the proportional load relief valve is proportional to the input current.
  • the negative power absorbed by the open system consists of two parts, one of which is the power consumed by the luffing system, and the other is the power consumed when the overflow valve is loaded.
  • the power consumed by the luffing system is determined by the working conditions during the lifting process (such as the action of the luffing cylinder, the speed of the action is determined by the actual working conditions), and the power of the loading system is controlled in real time.
  • a variable parameter is controlled.
  • P K Q x ⁇ / 600 + Q 2 xAP 2 / 600 (6)
  • g represents the flow rate of the luffing system; represents the luffing system pressure;
  • ⁇ 2 represents the supply load relief valve flow;
  • ⁇ 2 represents the loading Overflow valve pressure;
  • the control current of the pilot proportional pressure reducing valve 614 is increased to increase the flow rate of the proportional switching valve output to the proportional loading relief valve ( ⁇ 2 in the equation (7)) so that the proportional loading
  • the overflow valve consumes more power, which causes the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the current of the pilot proportional pressure reducing valve 614 can be reduced to reduce the power consumption of the load relief valve. , to maintain the engine load rate at the target value.
  • the input current of the proportional load relief valve 53 is increased to increase the loading pressure of the proportional load relief valve ( ⁇ 2 in the equation (7) ) causing the proportional load relief valve to increase power consumption, causing the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the input current of the proportional load relief valve 53 can be reduced to reduce the load overflow
  • the power consumption of the flow valve maintains the engine load rate at the target value. If the load relief valve in this embodiment uses an electro-hydraulic proportional overflow pottery, the magnitude of its pressure ( ⁇ 2 in equation (7)) can be steplessly controlled by adjusting the magnitude of its control current.
  • the control current can be made relatively small, so that the overshoot amount when the relief valve is opened is reduced, and the loading is more stable.
  • the negative power input to the engine when the closed hoisting is lowered does not exceed the maximum absorbable value.
  • the engine can absorb the negative power at the target set value by real-time control of the current magnitude of the electric pilot proportional pressure reducing valve 614 or the proportional loading relief valve 53.
  • the negative power generated by the closed hoisting is transferred from the transfer case to the open system, absorbed by the open system, and the weight drop speed is no longer limited; 2.
  • the flow ratio control of the proportional reversing valve output to the proportional loading relief valve is realized to obtain different loading power of the proportional loading relief valve. Since the control is stepless adjustment, the loading is stable, and the speed is not changed suddenly; 3.
  • the pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
  • the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve / or proportionally loading the current of the relief valve;
  • the second proportional reversing valve 622 can realize two functions of variable amplitude lifting and system loading, which saves a proportional reversing valve compared with the traditional control method.
  • 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.
  • the invention is not limited to any specific combination of hardware and software.

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

Abstract

L'invention concerne une grue, et un système de commande de puissance négative de dispositif de levage du type fermé à des fins d'utilisation avec la grue. Le système de commande comporte un moteur (1), une boîte de transfert (2), un système du type ouvert (3) et un système du type fermé (4), le système du type ouvert (3) et le système du type fermé (4) étant raccordés à la boîte de transfert (2), respectivement, et étant raccordés au moteur (1) par le biais de la boîte de transfert (2). Le système du type fermé (4) comporte une pompe à cylindrée variable du type fermé (31) raccordée à la boîte de transfert (2), un moteur de levage (32) raccordé à la pompe à cylindrée variable du type fermé (31) par une conduite hydraulique, et un engrenage réducteur (33) de dispositif de levage raccordé au moteur de levage (32). Quand la grue abaisse un poids, la boîte de transfert (2) transfère une partie ou l'intégralité de la puissance négative au système du type ouvert (3). Quand le dispositif de levage du type fermé abaisse un poids, la puissance négative produite est transférée au système du type ouvert (3) par la boîte de transfert (2), et est absorbée par le système du type ouvert (3), cela signifiant qu'il n'y a plus de restriction sur la vitesse d'abaissement d'un poids; par conséquent, de meilleurs effets de contrôle sont réalisés par rapport à l'état de la technique.
PCT/CN2012/082075 2011-12-12 2012-09-26 Grue, et système de commande de puissance négative de dispositif de levage du type fermé à des fins d'utilisation avec une grue WO2013086882A1 (fr)

Applications Claiming Priority (2)

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CN201110412215.0 2011-12-12
CN201110412215.0A CN102491173B (zh) 2011-12-12 2011-12-12 起重机以及起重机用闭式卷扬负功率控制系统

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Publication number Priority date Publication date Assignee Title
CN102491173B (zh) * 2011-12-12 2014-04-02 中联重科股份有限公司 起重机以及起重机用闭式卷扬负功率控制系统
CN103832314A (zh) * 2012-11-26 2014-06-04 徐州徐工随车起重机有限公司 一种带有u型吊臂的道路清障车
CN103350955B (zh) * 2013-07-25 2015-06-03 中联重科股份有限公司 起重机、负功率系统、负功率控制方法及负功率控制设备
CN108212335A (zh) * 2017-12-27 2018-06-29 徐工集团工程机械有限公司 破碎机
CN110925252A (zh) * 2019-11-18 2020-03-27 中联重科股份有限公司 集成多路阀、起重液压控制系统及起重机
CN113582024B (zh) * 2021-06-17 2022-09-20 中联重科股份有限公司 用于起重机的负功率控制方法、设备、系统及起重机
CN113879995A (zh) * 2021-09-14 2022-01-04 徐州徐工基础工程机械有限公司 一种主卷扬变载荷下放控制方法及旋挖钻机
CN113914173A (zh) * 2021-10-29 2022-01-11 柳工无锡路面机械有限公司 一种摊铺机熨平板的液压控制系统

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JPH09278371A (ja) * 1996-04-17 1997-10-28 Keisuke Shigemitsu 動力源切り替え自在な自走クレーン
WO1999063168A1 (fr) * 1998-06-02 1999-12-09 O & K Mining Gmbh Procede pour reguler notamment le dispositif de pivotement d'un engin mobile
US6994223B1 (en) * 2002-10-29 2006-02-07 Auto Crane Company Diagnostic readout for operation of a crane
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CN102491173A (zh) 2012-06-13

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