WO2023137977A1 - 起重机及其起臂方法 - Google Patents

起重机及其起臂方法 Download PDF

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Publication number
WO2023137977A1
WO2023137977A1 PCT/CN2022/101116 CN2022101116W WO2023137977A1 WO 2023137977 A1 WO2023137977 A1 WO 2023137977A1 CN 2022101116 W CN2022101116 W CN 2022101116W WO 2023137977 A1 WO2023137977 A1 WO 2023137977A1
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WO
WIPO (PCT)
Prior art keywords
leg
crane
boom
lifting
raising
Prior art date
Application number
PCT/CN2022/101116
Other languages
English (en)
French (fr)
Inventor
贾胜超
邹一岚
徐明振
Original Assignee
浙江三一装备有限公司
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 浙江三一装备有限公司 filed Critical 浙江三一装备有限公司
Priority to DE112022002533.6T priority Critical patent/DE112022002533T5/de
Publication of WO2023137977A1 publication Critical patent/WO2023137977A1/zh

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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
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • 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
    • 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
    • B66C23/88—Safety gear

Definitions

  • the present application relates to the technical field of cranes, in particular to a crane and a boom raising method thereof.
  • Existing large-tonnage crawler cranes do not have a super-lifting condition to lift the long arm.
  • the overturning line of the whole machine is moved forward by lifting the outrigger sideways, so as to improve the long-arm lifting capacity of the crawler crane and the stability of the whole vehicle to lift the arm laterally.
  • the existing crawler crane sideways lifting method has the problem that it has high requirements for the construction environment and cannot be implemented in a small space.
  • the present application provides a crane and a boom raising method thereof, which are used to solve the problem that the lateral boom raising method of crawler cranes in the prior art has high requirements on the construction environment and cannot be implemented in a narrow space.
  • the application provides a crane, comprising: a base, a dismounting leg and a positive lifting leg.
  • the base is provided with a leg interface, and the leg interface is adapted to be detachably connected to the disassembly leg and the positive lifting leg.
  • the positive lifting leg is used for the forward lifting of the crane.
  • an angle monitoring system is provided between the positive raising leg and the side of the base, and the angle monitoring system is used to monitor the setting angle of the positive raising leg.
  • the bottom of the outrigger interface is provided with a support plate
  • the top of the outrigger interface is provided with a connecting plate
  • the first end of the positively raising outrigger is provided with a first connector inside, and the first end of the positively raising outrigger is connected to the support plate through the first connector
  • the top plate of the first end of the positively raising outrigger is detachably connected to the connecting plate
  • the second end of the positively raising outrigger is provided with a first leg.
  • the bottom of the first end of the detachable leg is provided with a plug-in board, and the plug-in board and the support plate are respectively provided with plug-in holes, and the plug-in board is supported and placed on the support board and is plugged and connected at the plug-in hole by a second connector; the second end of the dismountable leg is provided with a second leg.
  • the socket hole matches the first socket piece, the size of the first socket piece is larger than that of the second socket piece, and a transition sleeve is sheathed on the outside of the second socket piece, and the transition sleeve matches the socket hole.
  • the top plate at the first end of the lifting leg is connected to the connecting plate through a connecting piece, the side of the top plate at the first end of the lifting leg overlaps with the connecting plate, one side of the connecting piece is connected to the connecting plate by bolts, and the other side of the connecting piece is connected to the top plate at the first end of the lifting leg by bolts.
  • the crane also includes a crawler structure connected to both sides of the base in the width direction.
  • a support rod is connected between the positive raising leg and the crawler structure; the support rod is a telescopic structure, or the support rod is adjustable in position with the positive raising leg and/or the crawler structure.
  • the present application also provides a crane boom method, the crane is the crane described in any one of the above, the boom method includes: after the crane is disassembled and assembled, disassemble the dismounting leg, install the positive lifting leg; adjust the initial angle of the positive lifting leg according to the preset boom angle of the boom of the crane, so that the initial deflection angle between the center line of the boom at the preset boom angle and the positive lifting leg is within a preset range; control the boom of the crane according to Preset boom angle for forward boom.
  • the crane arm raising method before the crane is disassembled and assembled, it further includes: performing an arm raising test on the positive raising leg to verify the stress and deformation of the positive raising leg under a preset force.
  • verifying the stress and deformation of the positive lifting outrigger under a preset force includes: setting strain gauges on the positive lifting leg to monitor the stress and strain of the positive lifting leg during the arm lifting test; and/or, during the arm lifting test, measuring the height parameters of both ends of the positive lifting leg in real time, and verifying the deformation of the positive lifting leg according to the height parameters.
  • controlling the boom of the crane to perform forward boom according to the preset boom angle specifically includes: monitoring the actual boom angle of the boom and the real-time angle of the raising leg during the boom raising process; monitoring the actual deflection angle between the raising leg and the center line of the boom according to the actual boom angle and the real-time angle; when the actual deflection angle is greater than a preset range, controlling to send an alarm prompt.
  • a crane and its arm raising method provided by the present application are provided with positive lifting outriggers installed on the base along the walking direction of the crane, which can improve the stability of the crane’s lifting arm and anti-overturning ability, and realize the forward lifting operation.
  • the forward lifting method can be used to work, thereby improving the applicability of the crane, which is conducive to improving the efficiency of the boom.
  • the interface for installing the outriggers is common, and there is no need to additionally set up the interface for the positively raising the outriggers, which is beneficial to reduce the structural complexity and facilitate the installation of the positively raising the outriggers.
  • Fig. 1 is the schematic diagram of the installation and disassembly outriggers of the crane provided by the application;
  • Fig. 2 is a top view schematic diagram of the crane installation provided by the application is pulling up the outrigger;
  • Fig. 3 is a schematic side view of the crane installation provided by the application and the outrigger is being raised;
  • Fig. 4 is the whole sketch map that the crane installation provided by the application is pulling up the outrigger
  • Figure 5 is a schematic top view of the base provided by the present application.
  • Fig. 6 is a schematic structural view of the dismountable outrigger provided by the present application.
  • Fig. 7 is a schematic structural view of the positive lifting leg provided by the present application.
  • Fig. 8 is a partially enlarged schematic diagram of part A in Fig. 4 provided by the present application.
  • Fig. 9 is a partially enlarged schematic diagram of part B in Fig. 4 provided by the present application.
  • 25 The second height adjustment structure; 26: The second leg; 31: The first welded body;
  • the present embodiment provides a kind of crane, and this crane comprises: base 1, detachable outrigger 2 and uplifting outrigger 3, described base 1 is provided with outrigger interface 14, and described outrigger interface 14 is detachably connected with described dismounting outrigger 2 and described uplifting outrigger 3.
  • the positive lifting leg 3 is used for the forward lifting of the crane, and when the crane is raising the arm forward, the positive lifting leg 3 is connected to the leg interface 14 along the traveling direction of the crane and is located on the lifting arm side of the crane.
  • the crane provided in this embodiment can be a crawler crane.
  • the interfaces of the positive lifting leg 3 and the dismounting leg 2 are common.
  • the dismounting leg 2 can be disassembled from the leg interface 14 and then the positive lifting leg 3 can be installed to carry out the forward lifting of the crane. There is no need to separately design the positive lifting leg 3 interface.
  • the disassembly outrigger 2 is used for the disassembly and assembly of the crane; after the crane disassembly vehicle is completed, the disassembly outrigger 2 is usually disassembled and put away, which cannot improve the stability of the crane boom. Referring to Fig. 1, when the lifting leg 3 is not installed on the base 1 of the crane, and only the dismounting leg 2 is installed, the tipping line of the crane is at the first roller position of the crane, that is, the first tipping line 12 shown in Fig. 1 .
  • the interface between the positive lifting support leg 3 and the dismounting support leg 2 is common.
  • the positive lifting support leg 3 is installed on the base 1 at the position of the main engine disassembly support leg 2.
  • the positive lifting support leg 3 is arranged along the walking direction of the crane, that is, it is consistent with the direction of the jib of the forward lifting arm; The position is shown in Figure 2, the stability and anti-overturning ability of the crane boom are improved, and it can complete the forward boom work.
  • the positive lifting outrigger 3 is installed on the base 1 along the traveling direction of the crane, which can improve the stability of the lifting arm and the anti-overturning ability of the crane, and realize the forward lifting operation.
  • the positive lifting method can be used to work, thereby improving the applicability of the crane, which is conducive to improving the efficiency of the lifting arm.
  • the interface of the outrigger 2 is common, and there is no need to additionally set the interface of the positively raising the outrigger 3, which is beneficial to reduce the structural complexity and facilitate the installation of the positively raising the outrigger 3.
  • outrigger interfaces 14 may be respectively provided at the four corners of the base 1 .
  • the four corners of the base 1 can be installed with dismounting legs 2 respectively.
  • positive lifting legs 3 can be respectively installed on both sides of the base 1 towards the arm raising side. That is, the base 1 can be symmetrically connected with two positive lifting legs 3 in the width direction.
  • the positive lifting legs 3 on both sides are distributed symmetrically with respect to the center line 11 of the crane in the width direction of the crane, which is beneficial to improve stability.
  • the width direction of the crane is the direction between the traveling mechanisms on both sides of the crane; the travel direction of the crane is the direction perpendicular to the width direction.
  • the bottom of the leg interface 14 is provided with a support plate 141, the top of the leg interface 14 is provided with a connecting plate 142, and the first end of the first end of the positive leg 3 is provided with a first plug 32, and the first end of the positive leg 3 is connected to the support plate 141 through the first socket 32;
  • the second end of the positive lifting leg 3 is provided with a first leg 35 .
  • the outrigger interface 14 is on the base 1 and has an accommodating space in a semi-enclosed structure.
  • the accommodating space is used to match with the first end of the detachable outrigger 2 and the first end of the uplifting outrigger 3;
  • the positive lifting leg 3 includes a first welded body 31, a first end of the first welded body 31 may be provided with a hollow space, and a first connector 32 is arranged in the hollow space at the first end of the first welded body 31, and can move up and down.
  • the first end of the first welded body 31 is placed in the accommodation space of the support leg interface 14, and the first plug-in piece 32 is moved, and the first plug-in piece 32 can pass through the first welded body 31 and the support plate 141 to realize the plug-in connection between the support leg 3 and the support plate 141.
  • the second end of the first welded body 31 of the raising leg 3 is provided with a first foot 35 for supporting the second end of the raising leg 3 to achieve a stable contact with the ground.
  • a first height adjustment structure 34 can be provided at the second end of the leg 3 being lifted up, and the first leg 35 is connected to the bottom of the first height adjustment structure 34 .
  • the first height adjustment structure 34 is used to adjust the height of the second end of the support leg 3.
  • the first height adjustment structure 34 can be a telescopic oil cylinder, and the fixed part of the telescopic oil cylinder can be connected with the second end of the support leg 3.
  • the first height adjustment structure 34 can also be an adjusting bolt, which can be threadedly connected to the second end of the positive lifting leg 3, and the bottom of the adjusting bolt can abut against the first leg 35, and the height of the second end of the positive lifting leg 3 can be adjusted by adjusting the amount of screwing of the adjusting bolt relative to the positive lifting leg 3.
  • the specific structure of the first height adjustment structure 34 is not limited, and the purpose is to realize the height adjustment of the second end of the positively raised leg 3 .
  • the bottom of the first end of the dismounting support leg 2 is provided with a plug-in board 24, and the plug-in board 24 and the support plate 141 are respectively provided with plug-in holes, and the plug-in board 24 is supported and placed on the support board 141 and is plugged and connected at the plug-in hole by the second connector 22; the second end of the dismountable leg 2 is provided with a second leg 26.
  • the dismountable leg 2 includes a second welded body 21, the first end of the second welded body 21 can be provided with an installation space, and the second connector 22 is located in the installation space at the first end of the second welded body 21 and can move up and down.
  • the detachable leg 2 is connected to the base 1, the first end of the second welded body 21 is placed in the accommodation space of the leg interface 14, and the second plug-in piece 22 is moved, and the second plug-in piece 22 can pass through the plug-in plate 24 and the support plate 141 of the second welded body 21 to realize the plug-in connection of the detachable leg 2 and the support plate 141.
  • the top of the first end of the second welding body 21 can also be connected to the connecting plate 142 on the top of the leg interface 14, so that the stable connection between the detachable leg 2 and the base 1 can be realized, and the connection method is simple and easy to operate.
  • the second end of the second welded body 21 of the detachable leg 2 is provided with a second leg 26 for supporting the second end of the detachable leg 2 to achieve a stable contact with the ground.
  • the second end of the detachable leg 2 can be provided with a second height adjustment structure 25 , and the second leg 26 is connected to the bottom of the second height adjustment structure 25 .
  • the second height adjustment structure 25 is used to adjust the height of the second end of the dismounting support leg 2.
  • the second height adjustment structure 25 can be a telescopic oil cylinder, and the fixed part of the telescopic oil cylinder can be connected with the second end of the disassembly support leg 2.
  • the second height adjusting structure 25 can also be an adjusting bolt, which can be threadedly connected with the second end of the dismounting leg 2, and the bottom of the adjusting bolt can be abutted against the second leg 26, and the height of the second end of the dismounting leg 2 can be adjusted by adjusting the screwing amount of the adjusting bolt relative to the dismounting leg 2.
  • the specific structure of the second height adjustment structure 25 is not limited, and the purpose is to realize the height adjustment of the second end of the detachable support leg 2 .
  • the socket hole matches the first socket piece 32
  • the size of the first socket piece 32 is larger than the size of the second socket piece 22
  • the outer side of the second socket piece 22 is covered with a transition sleeve 23, and the transition sleeve 23 matches the socket hole. Due to the different effects of pulling up the supporting leg 3 and dismounting the supporting leg 2, the force of the two is also different.
  • the force of the dismounting supporting leg 2 of the main engine is smaller than that of the pulling up the supporting leg 3, so the size of the first connector 32 is set to be greater than the size of the second connector 22.
  • the socket holes on the support plate 141 at the bottom of the leg interface 14 are configured to match the first socket 32 so that both the first socket 32 and the second socket 22 can be inserted into the sockets in order to adapt to two legs at the same time.
  • the host dismounting leg 2 is common to the interface of the positive lifting leg 3. Simultaneously, in order to improve the stability of the second connector 22 of the dismounting leg 2, a transition sleeve 23 is needed to make a transition when the second connector 22 is connected to the socket hole.
  • the size of the transition sleeve 23 can be matched with the socket hole, and the transition sleeve 23 is arranged on the periphery of the second socket member 22. By matching with the socket hole, the second socket member 22 remains stable and does not shake in the socket hole. Further, the length of the transition sleeve 23 may be smaller than the length of the second connector 22 to reduce weight and improve convenience.
  • the top of the second connector 22 can also be connected with an end cap, and the size of the end cap can be larger than the size of the socket hole, so that the end cap can be placed on the plug board 24 to prevent the second connector 22 from falling off.
  • first connector 32 connecting the leg 3 with the lower side of the base 1 will be large in size due to the large force, and it is very laborious to disassemble and assemble by manpower.
  • the design uses a pin oil cylinder; that is, the first connector 32 can be a pin oil cylinder;
  • the second plug connector 22 can be a pin shaft, which has a simple structure and is easy to operate.
  • the top plate 33 at the first end of the positive lifting leg 3 is connected to the connecting plate 142 through the connecting piece 7 .
  • the top plate 33 is located on the top of the first end of the leg 3 that is being lifted.
  • the side of the top plate 33 at the first end of the positive lifting leg 3 is overlapped with the connecting plate 142 . That is to say, the top plate 33 and the connecting plate 142 have an overlapping portion; the overlapping portion is the main force bearing surface 8 between the leg 3 and the base 1 during the forward lifting process.
  • the side of the connecting plate 142 can be overlapped above the side of the top plate 33, or the side of the top plate 33 can be overlapped above the side of the connecting plate 142.
  • the details are not limited, and the connection between the top plate 33 and the connecting plate 142 can be realized.
  • the side of the connecting plate 142 is overlapped above the side of the top plate 33, that is, the side of the top plate 33 is located below the side of the connecting plate 142, so that the connecting plate 142 can limit the top plate 33 above the top plate 33, avoiding the concentration of stress on the connecting piece 7, which is conducive to improving stability and firmness.
  • connection piece 7 One side of the connecting piece 7 is connected to the connecting plate 142 by bolts, and the other side of the connecting piece 7 is connected to the top plate 33 at the first end of the positive lifting leg 3 by bolts. It is connected by bolts, which is easy to install and disassemble, and the connection is firm.
  • a connecting seat 1421 can be provided on the connecting plate 142, and one side of the connecting piece 7 can be in contact with the connecting plate 142, and the connecting seat 1421 is pressed on the connecting piece 7;
  • Mounting holes 1422 may also be provided on the connecting plate 142 , and the connecting plate 142 is bolted to the connecting piece 7 at the mounting holes 1422 .
  • Multiple installation holes 1422 can be provided, and can be evenly distributed on the connecting piece 7, so as to improve the firmness of the connection.
  • the other side of connector 7 can be in contact with the top surface of top plate 33
  • pin shaft 71 can be set to pass connector 7 and top plate 33
  • bolt is set to press and fix pin shaft 71, to realize the connection of connector 7 and top plate 33.
  • a cover plate can be arranged above the pin shaft 71, and the cover plate can be fixed by bolts so as to press and fix the pin shaft 71 through the cover plate.
  • the connecting piece 7 and the top plate 33 are connected by the pin shaft 71, and the pin shaft 71 is limited and fixed by bolts, and the rotation of the top plate 33 relative to the connecting piece 7 can also be realized, which can facilitate the adjustment of the setting angle of the leg 3.
  • the upper side pin shaft 71 only plays a connecting role, and the force-bearing part between the leg 3 and the base 1 is the force-bearing surface 8 , that is, the overlapping contact part between the top plate 33 and the connecting plate 142 .
  • a crane further includes crawler belt structures 4 connected to both sides of the base 1 in the width direction.
  • the track structure 4 is a walking structure.
  • a support rod 5 is connected between the positive raising leg 3 and the crawler belt structure 4; the setting of the supporting rod 5 is conducive to maintaining the stability of the setting angle of the positive raising leg 3.
  • the support rod 5 is configured as a telescopic structure, or the support rod 5 is connected to the positive lifting leg 3 and/or the track structure 4 in an adjustable position. By stretching of the support rod 5 or the adjustment of the position between the support rod 5 and the described positive lifting leg 3 and/or the crawler track structure 4, the support length of the positive lifting leg 3 and the crawler track structure 4 can be changed to adjust the setting angle of the positive lifting leg 3.
  • the support rod 5 can be set as a multi-section rod which is sequentially provided with a telescopic structure; two adjacent rods can be connected by elastic buckles or threaded, so as to realize the expansion and contraction between the multi-section rods.
  • the specific telescopic structure of the support rod 5 can also be other, and the specific is not limited, with the purpose of being able to realize telescoping.
  • the support rod 5 can be threadedly connected with the positive lifting leg 3 and/or the crawler track structure 4, and the position adjustment between the support rod 5 and the positive lifting leg 3 and/or the crawler track structure 4 can be realized by adjusting the thread screwing amount of the support rod 5 .
  • connection structure that the support rod 5 is adjustable in position with the positive lifting leg 3 and/or the crawler track structure 4 can also be other, in order to realize the adjustment of the length of the support rod 5 between the positive lifting leg 3 and the crawler track structure 4 to adjust the setting angle of the positive lifting leg 3, it is not specifically limited.
  • a support rod 5 fixed position can be set on the positive lifting leg 3, and when the forward arm is not used, the support rod 5 can be fixed on the positive lifting leg 3, which is convenient for storage and fixing;
  • an angle monitoring system 6 is provided between the raising leg 3 and the side of the base 1, and the angle monitoring system 6 is used to monitor the setting angle of the raising leg 3.
  • the present embodiment proposes a setting angle monitoring system 6 to monitor the setting angle of the outrigger 3 being raised, which is beneficial to ensure the stability of the arm raising process.
  • the angle monitoring system 6 can be arranged between the side of the base 1 connected to the positive lifting leg 3 and the positive lifting leg 3 .
  • the angle monitoring system 6 can be a travel switch sensor, an angle sensor or a distance sensor and the like.
  • the angle monitoring system 6 can be a travel switch sensor; the travel switch sensor can be located between the side of the base 1 and the leg 3 that is being pulled up, initially the setting angle of the leg 3 that is being pulled up can be adjusted according to the angle of the jib of the crane, so that the angular deviation between the arm frame and the leg 3 is being pulled up within a preset range; Contact with travel switch sensor.
  • the travel switch sensor can be signal-connected to the alarm, which can be set to trigger the alarm when the uprigger 3 touches the travel switch sensor, prompting that the deflection of the uprigger 3 exceeds the preset range, and there is a risk to the stability of the arm.
  • a travel switch sensor can be respectively provided between the two sides of the positively raising leg 3 and the side of the base 1; the deflection of the positively raising leg 3 on both sides can be monitored.
  • the angle monitoring system 6 can be an angle sensor; the angle sensor can be used to detect the angle between the side of the base 1 and the leg 3 being raised; since the side of the leg 3 connected to the base 1 is perpendicular to the centerline 11 of the crane, the angle between the leg 3 and the centerline 11 of the crane can be obtained through the angle between the leg 3 and the side of the base 1.
  • the setting angle of the positive lifting leg 3 can be the angle between the positive lifting leg 3 and the centerline 11 of the crane.
  • the control system of the crane can monitor the angle between the jib and the centerline 11 of the crane in real time; and then through the angle between the jib and the centerline 11 of the crane and the angle between the jib and the centerline 11 of the crane, the angle deviation between the uprigger 3 and the centerline of the jib can be obtained.
  • the angle monitoring system 6 can also be a distance sensor; the distance sensor can be arranged at a certain angle relative to the side of the base 1, that is, the distance sensor is fixed in the setting direction between the side of the base 1 and the leg 3, and the angle between the side of the base 1 is fixed.
  • the distance sensor is used to detect the distance between the side of the base 1 and the support leg 3 in the direction in which the distance sensor is set.
  • the sides of the base 1, the upright leg 3 and the distance sensor are enclosed to form a triangle, and the lengths of the three sides of the triangle can be obtained through the distance sensor, and combined with the angle between the distance sensor and the side of the base 1, each interior angle of the triangle can be obtained.
  • the angle between the positive lifting leg 3 and the side of the base 1 the angle between the positive lifting leg 3 and the center line 11 of the crane can be obtained; the monitoring of the setting angle of the positive lifting leg 3 can be realized.
  • angle monitoring system 6 may also adopt other forms, which are not specifically limited, for the purpose of realizing the monitoring of the setting angle of the upright leg 3 so as to improve the safety and stability of the boom.
  • the crane raising method provided by the present application is described below, and the crane raising method described below and the crane described above can be referred to in correspondence.
  • this embodiment provides a method for lifting a crane, wherein the crane is the crane described in any one of the above embodiments, and the method for raising the boom includes: after the disassembly and assembly of the crane is completed, disassembling the dismounting leg 2, and installing the positive lifting leg 3; according to the preset boom angle of the boom of the crane, adjust the initial angle of the positive lifting leg 3, so that the distance between the center line of the boom at the preset boom angle and the positive lifting leg 3 The initial deflection angle of the crane is within the preset range; the jib frame of the crane is controlled to carry out positive jib lifting according to the preset jib angle.
  • This lifting arm method can directly disassemble and disassemble the supporting leg 2 at the lifting arm side of the crane after dismounting and assembling the car, and the supporting leg 3 is installed at the supporting leg interface 14 places.
  • the stability and anti-overturning capability of the crane can be improved, and positive lifting of the boom can be realized.
  • this embodiment further proposes to adjust the setting angle of the outrigger 3 before raising the arm, so as to further ensure the stability of the arm. Specifically, adjust the initial angle of the positive raising leg 3 according to the preset boom angle of the boom, so that the initial deflection angle between the positive raising leg 3 at the initial position and the centerline of the boom at the preset boom angle is within a preset range. After adjusting the initial position of the support leg 3 that is being pulled up, carry out the arm in the forward direction.
  • the boom raising method of the crane provided in this embodiment provides a forward boom raising method, which can meet the requirements of the long arm forward boom in mountainous wind power construction equipment, so that the applicability of the crane is greatly improved, and the boom raising efficiency is improved. In the case of space constraints and long booms, the forward boom can be completed.
  • adjusting the initial angle of the positive lifting leg 3 specifically includes: connecting the support rod 5 between the positive lifting leg 3 and the track structure 4, and adjusting the initial angle of the positive lifting leg 3 by adjusting the length of the support rod 5 between the positive lifting leg 3 and the track structure 4.
  • the crane before the crane is disassembled and assembled, it also includes: performing an arm lift test on the positive lifting leg 3 to verify the stress and deformation of the positive lifting leg 3 under a preset force.
  • an arm lifting test is first carried out to verify the stress and deformation of the positive lifting leg 3 under the preset force. When the stress and deformation meet the requirements, it is then applied to the construction site;
  • an arm lift test on the positive lifting leg 3 to verify the stress and deformation of the positive lifting leg 3 under a preset force which specifically includes: installing the positive lifting leg 3 on a test crane, controlling the test crane to perform positive lifting, and verifying the stress and deformation of the positive lifting leg 3 under a preset force during the positive lifting process of the test crane to perform a boom test.
  • the load of the lifting leg 3 can be adjusted by controlling and adjusting the load of the test crane so that it is in a preset stress working condition.
  • Verifying the stress and deformation of the positive raising leg 3 under a preset force specifically includes: setting strain gauges on the positive raising leg 3 to monitor the stress and strain of the positive raising leg 3 during the arm raising test. The stress and strain of the leg 3 being pulled up can be obtained through the stress test system according to the strain gauge.
  • verifying the stress and deformation of the positive lifting leg 3 under a preset force may also include: during the arm raising test, measuring the height parameters at both ends of the positive lifting leg 3 in real time, verifying the deformation of the positive lifting leg 3 according to the height parameters; judging the stability of the positive lifting leg according to the deformation. That is, when the change of the height parameter at both ends of the positively raised outrigger 3 is within a certain range, it indicates that the stability is strong, and when the change of the height parameter at both ends of the positively raised outrigger 3 exceeds a certain range, it indicates that the stability is poor. Specifically, when the height difference between the two ends of the upright leg 3 remains within a certain range, the stability is relatively strong, and when the height difference between the two ends of the upright leg 3 exceeds a certain range, the stability is poor.
  • controlling the jib of the crane to perform forward jib raising according to the preset jib angle specifically includes: monitoring the actual jib angle of the jib and the real-time angle of the raising leg 3 during the jib raising process; monitoring the actual deflection angle between the jib leg 3 and the center line of the jib according to the actual jib angle and the real-time angle; when the actual deflection angle is greater than a preset range, the control sends out an alarm prompt.
  • the actual boom angle of the jib can be obtained through the control system of the crane itself, and the actual jib angle can be the angle between the center line of the jib and the center line 11 of the crane.
  • the real-time angle of the leg 3 being pulled up can be monitored by the angle monitoring system 6 .
  • the angle monitoring system 6 is a travel switch sensor, the distance between the travel switch sensor and the lifting leg 3 can be reasonably set.
  • the lifting leg 3 When the lifting leg 3 deflects to touch the travel switch sensor, it means that the actual deflection angle between the lifting leg 3 and the center line of the jib exceeds the preset range, and an alarm prompt can be triggered; it can also trigger an alarm when the actual jib angle of the jib deviates from the preset jib angle within a certain range.
  • the angle monitoring system 6 When the angle monitoring system 6 is an angle sensor or a distance sensor, it can monitor and obtain the angle between the lifting leg 3 and the center line 11 of the crane, and according to the actual arm angle, the actual deflection angle between the lifting leg 3 and the center line of the jib can be obtained, and an alarm can be triggered when the actual deflection angle is greater than the preset range.
  • the present embodiment provides a crane and a forward arm method thereof.
  • the crane is mainly composed of five parts as shown in FIG.
  • the main engine is dismantled and disassembled; the positive lifting outrigger 3 is installed. After the positive lifting outrigger 3 is connected to the end of the base 1, the side of the positive lifting outrigger 3 is connected to the track through the support rod 5 to increase the overall stability. Finally, the first leg 35 is used to support the end of the positive lifting outrigger 3 in contact with the ground to extend the tipping line of the whole machine.
  • the control parameters of the uprigger 3 According to the construction conditions, the force on the outrigger of the long-arm lifting arm can be calculated through theoretical calculation, and the required deformation of the outrigger can be obtained according to the force on the outrigger. For example, when the force on the outrigger is about 182 tons, the standard requires that the deformation of the outrigger cannot exceed 1%.
  • the boom test is carried out first. During the test, the stress and deformation of the outrigger can be effectively verified and controlled through a stress test system such as Donghua DH3819D stress test system, combined with resistive strain gauges and on-site measurement.
  • the support rod 5 For the angle control of the support leg 3, it can be realized by setting the support rod 5 as an adjustable support rod 5, and the adjustment of the support rod 5 ensures that the horizontal angle between the support leg 3 and the center line of the boom is controlled within 0 ⁇ 0.5°.
  • the angle monitoring system 6 such as a travel switch sensor monitors the horizontal angle of the lifting leg 3. The accuracy of the travel switch sensor can be accurate to 0.1°.
  • the crane control system calculates and compares the horizontal angle monitoring result of the lifting leg 3 with the horizontal angle of the boom detected by the main engine. Deformation affects the safety of the overall lifting arm.
  • the positive lifting leg 3 is used to improve stability, and the long arm of the crawler crane is forwardly lifted;
  • the angle monitoring system 6 is set to monitor the horizontal angle between the positive lifting leg 3 and the boom frame;
  • the installation interface of the positive lifting leg 3 and the dismounting leg 2 are common;
  • the design uses a pin cylinder, and the pin cylinder is controlled by the hydraulic oil circuit of the main engine to perform disassembly and installation at this position.
  • the forward boom can be completed; the monitoring of the angle error between the straight raising outrigger 3 and the horizontal angle of the boom is simple and quick; it is common to the interface of the host disassembly and assembly of the outrigger 2, and does not need to be designed separately.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

一种起重机，包括：底座（1）、拆装支腿（2）和正扳起支腿（3），底座（1）上设有支腿接口（14），支腿接口（14）与拆装支腿（2）和正扳起支腿（3）均适配可拆卸连接，正扳起支腿（3）用于起重机的正向起臂，且在起重机正向起臂时，正扳起支腿（3）沿起重机的行走方向连接于支腿接口（14）并位于起重机的起臂侧；正扳起支腿（3）和底座（1）的侧面之间设有角度监测系统（6），角度监测系统（6）用于对正扳起支腿（3）的设置角度进行监测。还涉及一种起重机起臂方法。设置正扳起支腿，可提高起重机的起臂稳定性以及抗倾翻能力，实现正向起臂工作，在山地风电等侧向起臂不适用的环境下，可通过该正向起臂方式工作，提高了起重机的适用性，在空间限制、长臂架的情况下，可以完成正向起臂。

Description

起重机及其起臂方法
相关申请的交叉引用
本申请要求于2022年1月24日提交的申请号为202210082376.6，发明名称为“起重机及其起臂方法”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及起重机技术领域，尤其涉及一种起重机及其起臂方法。
背景技术
随着大型机械的不断发展，对履带起重机的提升高度要求不断增加，要增加提升高度，就需要更长的臂架，但臂架越长会导致履带起重机起臂过程中稳定性变差，更为严重的会导致整体失稳。通常的方式是在臂架扳起过程中通过安装侧扳起支腿来提高整机稳定性和抗倾翻能力。然而在山地风电等狭小空间施工环境下，由于空间限制，侧向起臂需要主机进行多次调整，严重影响设备拆装效率，甚至无法侧向起长臂，故需要通过其他方式来提高扳起主臂的能力和抗前倾翻能力。
现有大吨位履带起重机不带超起工况起长臂通常利用侧扳起支腿将整机倾覆线前移，以提升履带起重机的长臂架起臂能力和整车稳定性来侧向起臂；现有履带式起重机侧向起臂方式存在对施工环境要求较高、在狭小空间下无法实施的问题。
发明内容
本申请提供一种起重机及其起臂方法，用以解决现有技术中履带式起重机侧向起臂方式存在对施工环境要求较高、在狭小空间下无法实施的问题。
本申请提供一种起重机，包括：底座、拆装支腿和正扳起支腿，所述底座上设有支腿接口，所述支腿接口与所述拆装支腿和所述正扳起支腿均适配可拆卸连接，所述正扳起支腿用于所述起重机的正向起臂，且在所述 起重机正向起臂时，所述正扳起支腿沿所述起重机的行走方向连接于所述支腿接口并位于所述起重机的起臂侧；所述起重机正向起臂时，所述正扳起支腿和所述底座的侧面之间设有角度监测系统，所述角度监测系统用于对所述正扳起支腿的设置角度进行监测。
根据本申请提供的起重机，所述支腿接口的底部设有支撑板，所述支腿接口的顶部设有连接板，所述正扳起支腿的第一端内部设有第一插接件，所述正扳起支腿的第一端通过所述第一插接件与所述支撑板插接连接；所述正扳起支腿第一端的顶板与所述连接板可拆卸连接；所述正扳起支腿的第二端设有第一支脚。
根据本申请提供的起重机，所述拆装支腿的第一端底部设有插接板，所述插接板和所述支撑板上分别设有插接孔，所述插接板支撑放置在所述支撑板上且通过第二插接件在所述插接孔处插接连接；所述拆装支腿的第二端设有第二支脚。
根据本申请提供的起重机，所述插接孔与所述第一插接件匹配，所述第一插接件的尺寸大于所述第二插接件的尺寸，所述第二插接件的外侧套设有过渡套，所述过渡套与所述插接孔匹配。
根据本申请提供的起重机，所述正扳起支腿第一端的顶板与所述连接板通过连接件连接，所述正扳起支腿第一端的顶板的侧边与所述连接板搭接，所述连接件的一侧与所述连接板通过螺栓连接，所述连接件的另一侧与所述正扳起支腿第一端的顶板通过螺栓连接。
根据本申请提供的起重机，还包括连接在所述底座宽度方向两侧的履带结构，所述起重机正向起臂时，所述正扳起支腿和所述履带结构之间连接有支撑杆；所述支撑杆为伸缩结构，或者，所述支撑杆与所述正扳起支腿和/或所述履带结构位置可调连接。
本申请还提供一种起重机起臂方法，所述起重机为上述任一项所述的起重机，所述起臂方法包括：在所述起重机拆装车完成后，拆卸所述拆装支腿，安装所述正扳起支腿；根据所述起重机的臂架的预设起臂角度，调节所述正扳起支腿的初始角度，使得所述臂架在预设起臂角度下的中心线与所述正扳起支腿之间的初始偏角在预设范围内；控制所述起重机的臂架按照预设起臂角度进行正向起臂。
根据本申请提供的起重机起臂方法，在所述起重机拆装车之前，还包括：对所述正扳起支腿进行起臂试验，验证所述正扳起支腿在预设受力下的应力及形变量。
根据本申请提供的起重机起臂方法，验证所述正扳起支腿在预设受力下的应力及形变量，具体包括：在所述正扳起支腿上设置应变片，监测起臂试验过程中所述正扳起支腿的应力应变量；和/或，在起臂试验过程中，实时测量所述正扳起支腿两端的高度参数，根据所述高度参数验证所述正扳起支腿的形变量。
根据本申请提供的起重机起臂方法，控制所述起重机的臂架按照预设起臂角度进行正向起臂，具体包括：起臂过程中监测所述臂架的实际起臂角度以及所述正扳起支腿的实时角度；根据所述实际起臂角度以及所述实时角度，对所述正扳起支腿与所述臂架的中心线之间的实际偏角进行监测；在所述实际偏角大于预设范围时，控制发出报警提示。
本申请提供的一种起重机及其起臂方法，设置正扳起支腿沿起重机的行走方向安装在底座上，可提高起重机的起臂稳定性以及抗倾翻能力，实现正向起臂工作，在山地风电等侧向起臂不适用的环境下，可通过该正向起臂方式工作，从而提高了起重机的适用性，有利于提升起臂效率，在空间限制、长臂架的情况下，可以完成正向起臂；且正扳起支腿与拆装支腿的接口通用，可无需额外设置正扳起支腿的接口，有利于降低结构复杂度，便于正扳起支腿的安装。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的起重机安装拆装支腿的示意图；
图2是本申请提供的起重机安装正扳起支腿的俯视示意图；
图3是本申请提供的起重机安装正扳起支腿的侧视示意图；
图4是本申请提供的起重机安装正扳起支腿的整体示意图；
图5是本申请提供的底座的俯视结构示意图；
图6是本申请提供的拆装支腿的结构示意图；
图7是本申请提供的正扳起支腿的结构示意图；
图8是本申请提供的关于图4中A部位的局部放大示意图；
图9是本申请提供的关于图4中B部位的局部放大示意图；
附图标记：
1：底座；                2：拆装支腿；        3：正扳起支腿；
4：履带结构；            5：支撑杆；          6：角度监测系统；
7：连接件；              8：受力面；          11：起重机的中心线；
12：第一倾翻线；         13：第二倾翻线；     14：支腿接口；
141：支撑板；            142：连接板；        21：第二焊接体；
22：第二插接件；         23：过渡套；         24：插接板；
25：第二高度调节结构；   26：第二支脚；       31：第一焊接体；
32：第一插接件；         33：顶板；           35：第一支脚；
34：第一高度调节结构；   1421：连接座；       1422：安装孔位；
71：销轴。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
下面结合图1至图9描述本申请的起重机及其起臂方法。
参考图1和图2，本实施例提供一种起重机，该起重机包括：底座1、拆装支腿2和正扳起支腿3，所述底座1上设有支腿接口14，所述支腿接口14与所述拆装支腿2和所述正扳起支腿3均适配可拆卸连接。参考图2和图3，所述正扳起支腿3用于所述起重机的正向起臂，且在所述起重机正向起臂时，所述正扳起支腿3沿所述起重机的行走方向连接于所述支腿接口14并位于所述起重机的起臂侧。
本实施例提供的起重机可为履带式起重机。本实施例中正扳起支腿3与拆装支腿2的接口通用，可将拆装支腿2从支腿接口14处拆卸然后安装正扳起支腿3进行起重机的正向起臂，无需单独设计正扳起支腿3接口。拆装支腿2用于起重机的拆装；在起重机拆装车完成后，拆装支腿2通常被拆卸收起，并不能提高起重机起臂稳定性。参考图1，在起重机的底座1上未安装正扳起支腿3，只安装拆装支腿2的情况下，起重机的倾翻线是在起重机的第一个支重轮位置，即图1中所示的第一倾翻线12。
本实施例设置正扳起支腿3与拆装支腿2接口通用，通过拆除起重机起臂侧的主机拆装支腿2，将正扳起支腿3安装在底座1主机拆装支腿2的位置，正扳起支腿3沿起重机的行走方向设置，即与正向起臂的臂架方向一致；在正扳起支腿3安装完成后，起重机的倾翻线在起臂侧前移至第二倾翻线13处，第二倾翻线13的位置如图2所示，起重机起臂稳定性和抗倾翻能力提高，其可以完成正向起臂工作。
本实施例提供的起重机，设置正扳起支腿3沿起重机的行走方向安装在底座1上，可提高起重机的起臂稳定性以及抗倾翻能力，实现正向起臂工作，在山地风电等侧向起臂不适用的环境下，可通过该正向起臂方式工作，从而提高了起重机的适用性，有利于提升起臂效率，在空间限制、长臂架的情况下，可以完成正向起臂；且正扳起支腿3与拆装支腿2的接口通用，可无需额外设置正扳起支腿3的接口，有利于降低结构复杂度，便于正扳起支腿3的安装。
进一步地，可在底座1的四角部位分别设置支腿接口14。在拆装车时，可在底座1的四角部位分别安装拆装支腿2。在正向起臂时，可在底座1朝向起臂侧的两侧部位分别安装正扳起支腿3。即底座1在宽度方向上可对称连接有两个正扳起支腿3。两侧的正扳起支腿3在起重机的宽度方向上关于起重机的中心线11对称分布，有利于提高稳定性。起重机的宽度方向即起重机两侧的行走机构之间的方向；起重机的行走方向即与宽度方向垂直的方向。
在上述实施例的基础上，进一步地，参考图4和图5，所述支腿接口14的底部设有支撑板141，所述支腿接口14的顶部设有连接板142，所述正扳起支腿3的第一端内部设有第一插接件32，所述正扳起支腿3的第一 端通过所述第一插接件32与所述支撑板141插接连接；所述正扳起支腿3第一端的顶板33与所述连接板142可拆卸连接；所述正扳起支腿3的第二端设有第一支脚35。
参考图4和图5，支腿接口14在底座1上，具有呈半包围结构的容置空间，容置空间用于与拆装支腿2的第一端以及正扳起支腿3的第一端匹配；容置空间的底部设有支撑板141，顶部设有连接板142，用于与拆装支腿2或正扳起支腿3连接。
具体的，参考图7，正扳起支腿3包括第一焊接体31，第一焊接体31的第一端可设有中空空间，第一插接件32设在第一焊接体31第一端的中空空间内，能够上下移动。在正扳起支腿3与底座1连接时，将第一焊接体31的第一端放置在支腿接口14的容置空间处，移动第一插接件32，第一插接件32可穿过第一焊接体31和支撑板141实现正扳起支腿3和支撑板141的插接连接。然后将第一焊接体31第一端顶部的顶板33与支腿接口14顶部的连接板142连接，可实现正扳起支腿3与底座1的稳定连接，且连接方式简单，便于操作。
进一步地，正扳起支腿3的第一焊接体31的第二端设有第一支脚35，用于支撑正扳起支腿3的第二端，实现与地面的稳定支撑接触。正扳起支腿3的第二端可设置第一高度调节结构34，第一支脚35与第一高度调节结构34的底部相连。第一高度调节结构34用于调节正扳起支腿3第二端的高度，具体的，第一高度调节结构34可为伸缩油缸，伸缩油缸的固定部可与正扳起支腿3的第二端连接，伸缩油缸的伸缩部可相对正扳起支腿3可移动设置并抵接在第一支脚35上，通过伸缩油缸伸缩部的伸缩移动，可实现正扳起支腿3第二端高度的调节。
在其他实施例中，第一高度调节结构34也可为调节螺栓，调节螺栓可与正扳起支腿3的第二端螺纹连接，调节螺栓的底部可抵接在第一支脚35上，通过调节调节螺栓相对正扳起支腿3的旋进量，可调节正扳起支腿3第二端的高度。第一高度调节结构34的具体结构不做限定，以能实现正扳起支腿3第二端的高度调节为目的。
在上述实施例的基础上，进一步地，参考图6，所述拆装支腿2的第一端底部设有插接板24，所述插接板24和所述支撑板141上分别设有插 接孔，所述插接板24支撑放置在所述支撑板141上且通过第二插接件22在所述插接孔处插接连接；所述拆装支腿2的第二端设有第二支脚26。
具体的，参考图6，拆装支腿2包括第二焊接体21，第二焊接体21的第一端可设有安装空间，第二插接件22设在第二焊接体21第一端的安装空间内，能够上下移动。在拆装支腿2与底座1连接时，将第二焊接体21的第一端放置在支腿接口14的容置空间处，移动第二插接件22，第二插接件22可穿过第二焊接体21的插接板24和支撑板141实现拆装支腿2和支撑板141的插接连接。然后同样可将第二焊接体21第一端顶部与支腿接口14顶部的连接板142连接，可实现拆装支腿2与底座1的稳定连接，且连接方式简单，便于操作。
进一步地，拆装支腿2的第二焊接体21的第二端设有第二支脚26，用于支撑拆装支腿2的第二端，实现与地面的稳定支撑接触。拆装支腿2的第二端可设置第二高度调节结构25，第二支脚26与第二高度调节结构25的底部相连。第二高度调节结构25用于调节拆装支腿2第二端的高度，具体的，第二高度调节结构25可为伸缩油缸，伸缩油缸的固定部可与拆装支腿2的第二端连接，伸缩油缸的伸缩部可相对拆装支腿2可移动设置并抵接在第二支脚26上，通过伸缩油缸伸缩部的伸缩移动，可实现拆装支腿2第二端高度的调节。
在其他实施例中，第二高度调节结构25也可为调节螺栓，调节螺栓可与拆装支腿2的第二端螺纹连接，调节螺栓的底部可抵接在第二支脚26上，通过调节调节螺栓相对拆装支腿2的旋进量，可调节拆装支腿2第二端的高度。第二高度调节结构25的具体结构不做限定，以能实现拆装支腿2第二端的高度调节为目的。
在上述实施例的基础上，进一步地，所述插接孔与所述第一插接件32匹配，所述第一插接件32的尺寸大于所述第二插接件22的尺寸，所述第二插接件22的外侧套设有过渡套23，所述过渡套23与所述插接孔匹配。由于正扳起支腿3和拆装支腿2的作用不同，二者的受力也不同，主机拆装支腿2受力相比正扳起支腿3较小，因此设置第一插接件32的尺寸大于第二插接件22的尺寸。支腿接口14底部支撑板141上的插接孔为了同时适配两个支腿，插接孔设为与第一插接件32匹配，使得第一插接件32 和第二插接件22均能插入插接孔中。
主机拆装支腿2与正扳起支腿3接口通用，同时为了提高拆装支腿2的第二插接件22插接的稳定性，在第二插接件22与插接孔连接时需要过渡套23来过渡。过渡套23的尺寸可与插接孔匹配，过渡套23设在第二插接件22的外围，通过与插接孔匹配，使得第二插接件22保持稳定，不会在插接孔内晃动。进一步地，过渡套23的长度尺寸可小于第二插接件22的长度，以减轻重量，提高便捷性。第二插接件22的顶部还可连接端盖，端盖的尺寸可大于插接孔的尺寸，使得端盖能够放置在插接板24上，避免第二插接件22的脱落。
进一步地，正扳起支腿3与底座1下侧插接连接的第一插接件32由于受力较大，尺寸会较大，人力拆装很费劲，设计使用了销轴油缸；即第一插接件32可为销轴油缸；销轴油缸的固定部可与正扳起支腿3连接固定，销轴油缸的伸缩部可在高度方向上伸缩以实现插接和收回；可通过起重机主机液压油路控制销轴油缸进行该位置拆卸及安装。第二插接件22可为销轴，结构简单，便于操作。
在上述实施例的基础上，进一步地，参考图4和图8，所述正扳起支腿3第一端的顶板33与所述连接板142通过连接件7连接。顶板33位于正扳起支腿3第一端的顶部。所述正扳起支腿3第一端的顶板33的侧边与所述连接板142搭接。即顶板33和连接板142具有重叠部位；该重叠部位为正向起臂过程中正扳起支腿3和底座1之间的主要受力面8。
具体的，连接板142的侧边可搭接在顶板33的侧边上方，也可将顶板33的侧边搭接在连接板142的侧边上方，具体不做限定，均可实现顶板33和连接板142的连接。优选的，参考图8，将连接板142的侧边搭接在顶板33的侧边上方，即顶板33的侧边位于连接板142的侧边下方，使得连接板142能够在顶板33的上方对顶板33起到限位作用，避免受力集中在连接件7上，有利于提高稳定性和牢固性。
所述连接件7的一侧与所述连接板142通过螺栓连接，所述连接件7的另一侧与所述正扳起支腿3第一端的顶板33通过螺栓连接。通过螺栓连接，便于安装拆卸，连接牢固。具体的，参考图5和图8，连接板142上可设置连接座1421，连接件7的一侧可与连接板142贴合接触，连接座 1421压设在连接件7上；且可设置销轴穿过连接座1421和连接件7，并通过螺栓对销轴进行压设固定。连接板142上还可设置安装孔位1422，连接板142在安装孔位1422处与连接件7螺栓连接。安装孔位1422可设置多个，且可在连接件7上均匀分布，以提高连接牢固性。
参考图8，连接件7的另一侧可与顶板33的顶面贴合接触，可设置销轴71穿过连接件7和顶板33，并设置螺栓对销轴71进行压设固定，以实现连接件7和顶板33的连接。具体的，销轴71上方可设置盖板，通过螺栓将盖板固定即可实现通过盖板对销轴71进行压设固定。连接件7和顶板33之间通过销轴71连接，通过螺栓对销轴71进行限位固定，还可实现顶板33相对连接件7的可转动，可便于调节正扳起支腿3的设置角度。该上侧销轴71仅仅起到连接作用，正扳起支腿3和底座1之间的受力部位为受力面8，即顶板33和连接板142的重叠接触部位。
在上述实施例的基础上，进一步地，参考图2，一种起重机还包括连接在所述底座1宽度方向两侧的履带结构4。履带结构4为行走结构。所述起重机正向起臂时，所述正扳起支腿3和所述履带结构4之间连接有支撑杆5；设置支撑杆5有利于保持正扳起支腿3设置角度的稳定性。
进一步地，本实施例中设置所述支撑杆5为伸缩结构，或者，所述支撑杆5与所述正扳起支腿3和/或所述履带结构4位置可调连接。通过支撑杆5的伸缩或者支撑杆5与所述正扳起支腿3和/或所述履带结构4之间位置的调节，可改变正扳起支腿3和履带结构4之间支撑杆5的支撑长度，以调节正扳起支腿3的设置角度。
具体的，可设置支撑杆5为多节杆依次套设伸缩结构；相邻两节杆之间可通过弹性卡扣卡接或螺纹连接等，实现多节杆之间的伸缩。支撑杆5的具体伸缩结构也可为其他，具体不限，以能实现伸缩为目的。支撑杆5可与正扳起支腿3和/或履带结构4通过螺纹连接，通过调节支撑杆5的螺纹旋进量来实现支撑杆5与正扳起支腿3和/或履带结构4之间的位置调节。支撑杆5与正扳起支腿3和/或履带结构4位置可调连接的具体连接结构也可为其他，以能实现正扳起支腿3和履带结构4之间支撑杆5的长度调节以调节正扳起支腿3的设置角度为目的，具体不做限定。
进一步地，参考图2，在正扳起支腿3上可设置支撑杆5固定位，在 不用正向起臂时，可将支撑杆5固定在正扳起支腿3上，便于收纳固定；在需要正向起臂时，可将支撑杆5从正扳起支腿3的固定位处取下，连接在正扳起支腿3和履带结构4之间。
在上述实施例的基础上，进一步地，所述起重机正向起臂时，所述正扳起支腿3和所述底座1的侧面之间设有角度监测系统6，所述角度监测系统6用于对所述正扳起支腿3的设置角度进行监测。本实施例考虑到在正向起臂时，正扳起支腿3和臂架之间的角度偏差如果过大，会对起重机稳定性造成影响。基于此，本实施例提出设置角度监测系统6，对正扳起支腿3的设置角度进行监测，有利于保证起臂过程的稳定。
具体的，参考图9，角度监测系统6可设在底座1连接正扳起支腿3的侧面和正扳起支腿3之间。角度监测系统6可为行程开关传感器、角度传感器或距离传感器等。
在一个实施例中，角度监测系统6可为行程开关传感器；行程开关传感器可设在底座1的侧面和正扳起支腿3之间，初始可根据起重机的臂架起臂角度来调节正扳起支腿3的设置角度，使得臂架和正扳起支腿3之间的角度偏差在预设范围内；然后安装行程开关传感器，可使得正扳起支腿3在预设角度范围内偏转时与行程开关传感器之间无接触；在正扳起支腿3的偏转超过预设角度范围时会接触到行程开关传感器。行程开关传感器可信号连接报警器，可设置在正扳起支腿3接触到行程开关传感器时触发报警器进行报警，提示正扳起支腿3的偏转超出了预设范围，起臂稳定性存在风险。具体的，可在正扳起支腿3的两侧与底座1的侧面之间分别设置行程开关传感器；可对正扳起支腿3在两侧的偏转均实现监测。
在另一个实施例中，角度监测系统6可为角度传感器；角度传感器可用于检测底座1的侧面和正扳起支腿3之间的夹角；由于底座1连接正扳起支腿3的侧面与起重机的中心线11垂直，进而可通过正扳起支腿3与底座1的侧面之间的夹角获取正扳起支腿3与起重机的中心线11之间的夹角。正扳起支腿3的设置角度可为正扳起支腿3与起重机的中心线11之间的夹角。起重机的控制系统可实时监测臂架与起重机的中心线11之间的夹角；进而通过正扳起支腿3与起重机的中心线11之间的夹角以及臂架与起重机的中心线11之间的夹角，可获取正扳起支腿3与臂架中心 线之间的角度偏差。
在又一个实施例中，角度监测系统6还可为距离传感器；距离传感器相对底座1的侧面可沿一定夹角设置，即距离传感器在底座1的侧面和正扳起支腿3之间的设置方向固定，与底座1的侧面之间的夹角固定。距离传感器用于检测在距离传感器的设置方向上底座1的侧面和正扳起支腿3之间的距离。底座1的侧面、正扳起支腿3和距离传感器围合形成三角形，可通过距离传感器获取三角形三边的边长，并结合距离传感器和底座1的侧面之间的夹角，可获取三角形的各个内角。进而根据正扳起支腿3和底座1的侧面之间的夹角，可获取正扳起支腿3与起重机的中心线11之间的夹角；可实现对正扳起支腿3设置角度的监测。
进一步地，角度监测系统6也可采用其他形式，具体不做限定，以能实现对正扳起支腿3的设置角度的监测以提高起臂安全性和稳定性为目的。
下面对本申请提供的起重机起臂方法进行描述，下文描述的起重机起臂方法与上文描述的起重机可相互对应参照。
在上述实施例的基础上，进一步地，本实施例提供一种起重机起臂方法，其中所述起重机为上述任一项实施例所述的起重机，所述起臂方法包括：在所述起重机拆装车完成后，拆卸所述拆装支腿2，安装所述正扳起支腿3；根据所述起重机的臂架的预设起臂角度，调节所述正扳起支腿3的初始角度，使得所述臂架在预设起臂角度下的中心线与所述正扳起支腿3之间的初始偏角在预设范围内；控制所述起重机的臂架按照预设起臂角度进行正向起臂。
该起臂方法在拆装车完成后，可直接在起重机的起臂侧拆卸拆装支腿2，在支腿接口14处安装正扳起支腿3。通过安装正扳起支腿3，可提高起重机的稳定性和抗倾翻能力，能够实现正向起臂。且本实施例进一步提出在进行起臂之前先调整好正扳起支腿3的设置角度，以进一步保证起臂稳定性。具体的，根据臂架的预设起臂角度来调整正扳起支腿3的初始角度，使得正扳起支腿3在初始位置与臂架在预设起臂角度下的中心线之间的初始偏角在预设范围内。在调整好正扳起支腿3的初始位置后，再进行正向起臂。
本实施例提供的一种起重机起臂方法，提供一种正向起臂方法，能够满足山地风电施工设备中长臂正向起臂要求，使得起重机的适用性大大提高，起臂效率提升，在空间限制、长臂架的情况下，可以完成正向起臂。
进一步地，调节所述正扳起支腿3的初始角度，具体包括：在正扳起支腿3和履带结构4之间连接支撑杆5，通过调节正扳起支腿3和履带结构4之间支撑杆5的长度来调节正扳起支腿3的初始角度。
在上述实施例的基础上，进一步地，在所述起重机拆装车之前，还包括：对所述正扳起支腿3进行起臂试验，验证所述正扳起支腿3在预设受力下的应力及形变量。
即在正扳起支腿3在施工应用之前，先进行起臂试验，对正扳起支腿3在预设受力下的应力及形变量进行验证，在应力及形变量满足要求的情况下，再应用于施工现场；如果应力及形变量不满足要求，则对正扳起支腿3的结构进行优化，直至起臂试验中正扳起支腿3的应力及形变量满足要求。
进一步地，对所述正扳起支腿3进行起臂试验，验证所述正扳起支腿3在预设受力下的应力及形变量，具体包括：将正扳起支腿3安装在试验起重机上，控制试验起重机进行正向起臂，且在试验起重机进行正向起臂过程中，验证所述正扳起支腿3在预设受力下的应力及形变量以进行起臂试验。可通过控制调节试验起重机的负载来调节正扳起支腿3的受力使其处于预设受力工况。验证所述正扳起支腿3在预设受力下的应力及形变量具体包括：可在正扳起支腿3上设置应变片，监测起臂试验过程中正扳起支腿3的应力应变量。可通过应力测试系统根据应变片来获取正扳起支腿3的应力应变。
进一步地，验证所述正扳起支腿3在预设受力下的应力及形变量还可包括：在起臂试验过程中，实时测量所述正扳起支腿3两端的高度参数，根据所述高度参数验证正扳起支腿3的形变量；根据形变量判断正扳起支腿的稳定性。即正扳起支腿3两端的高度参数变化在一定范围内时说明稳定性较强，在正扳起支腿3两端的高度参数变化超出一定范围时说明稳定性较差。具体的，在正扳起支腿3两端的高度差保持在一定范围内时说明稳定性较强，在正扳起支腿3两端的高度差超出一定范围时说明稳定性较 差。
在上述实施例的基础上，进一步地，控制所述起重机的臂架按照预设起臂角度进行正向起臂，具体包括：起臂过程中监测所述臂架的实际起臂角度以及所述正扳起支腿3的实时角度；根据所述实际起臂角度以及所述实时角度，对所述正扳起支腿3与所述臂架的中心线之间的实际偏角进行监测；在所述实际偏角大于预设范围时，控制发出报警提示。
臂架的实际起臂角度可通过起重机自身的控制系统获取，该实际起臂角度可为臂架的中心线与起重机的中心线11之间的夹角。正扳起支腿3的实时角度可通过角度监测系统6进行监测。在角度监测系统6为行程开关传感器时，可通过合理设置行程开关传感器与正扳起支腿3之间的间距，在正扳起支腿3偏转至触碰到行程开关传感器时，说明正扳起支腿3与臂架的中心线之间的实际偏角超出了预设范围，可触发报警提示；还可在臂架的实际起臂角度偏离预设起臂角度一定范围时，触发报警提示。
在角度监测系统6为角度传感器或距离传感器时，可监测获取正扳起支腿3与起重机的中心线11之间的夹角，并根据实际起臂角度，可获取正扳起支腿3和臂架的中心线之间的实际偏角，可在该实际偏角大于预设范围时，触发报警提示。
在上述实施例的基础上，进一步地，本实施例提供一种起重机及其正向起臂方法，该起重机主要由五部分组成如图2所示，第一部分是用于主机拆装的拆装支腿2；第二部分是用于连接履带和回转机构的底座1；第三部分是用于提高履带起重机稳定性和抗倾翻能力的正扳起支腿3；第四是部分行走机构履带结构4；第五部分是提高正扳起支腿3稳定性的固定支撑杆5。
该起重机正向起臂方法的主要操作步骤如下：
主机拆除支腿拆卸；正扳起支腿3安装，在正扳起支腿3和底座1端连接好后，通过支撑杆5将正扳起支腿3侧面与履带连接，增加整体稳定性，最后使用第一支脚35将正扳起支腿3端部支撑与地面接触，达到延长整机倾翻线的目的。
正扳起支腿3的控制参数：可根据施工工况通过理论计算，计算长臂起臂支腿的受力，根据支腿的受力获取支腿的标注要求变形量。例如在支 腿受力大约在182吨时，标准要求支腿变形不能超过1％。先进行起臂试验，试验过程中通过应力测试系统例如东华DH3819D应力测试系统，结合电阻式应变片及现场测量，可以有效地验证并控制支腿的应力及形变量。
对于正扳起支腿3的角度控制，可以通过将支撑杆5设为可调节式支撑杆5实现，通过该支撑杆5调节保证正扳起支腿3起臂前与臂架中心线的水平夹角控制在0±0.5°范围内。同时通过角度监测系统6例如行程开关传感器监测正扳起支腿3的水平夹角，该行程开关传感器的精度可以精确到0.1°，起重机控制系统将正扳起支腿3水平角度监测结果与主机检测到的臂架水平夹角进行运算比较，误差范围在设计要求内的允许起臂，超过误差范围(即±0.5°)则报警禁止起臂，只有通过调节达到设计值误差范围内才被允许再次起臂，避免正扳起支腿3受侧向力而变形，影响整体起臂安全性。
本实施例利用正扳起支腿3提高稳定性，实现履带起重机正向起长臂；设置角度监测系统6对正扳起支腿3与臂架水平夹角进行监测；正扳起支腿3和拆装支腿2的安装接口通用；设计使用了销轴油缸，通过主机液压油路控制销轴油缸进行该位置拆卸及安装。本实施例提供一种正向起臂方法，履带起重机的适用性大大提高，起臂效率提升在空间限制、长臂架的情况下，可以完成正向起臂；正扳起支腿3与臂架水平夹角误差的监测简便快捷；与主机拆装支腿2接口通用，无需单独设计接口。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (10)

  1. 一种起重机，包括：底座、拆装支腿和正扳起支腿，所述底座上设有支腿接口，所述支腿接口与所述拆装支腿和所述正扳起支腿均适配可拆卸连接，所述正扳起支腿用于所述起重机的正向起臂，且在所述起重机正向起臂时，所述正扳起支腿沿所述起重机的行走方向连接于所述支腿接口并位于所述起重机的起臂侧；
    所述起重机正向起臂时，所述正扳起支腿和所述底座的侧面之间设有角度监测系统，所述角度监测系统用于对所述正扳起支腿的设置角度进行监测。
  2. 根据权利要求1所述的起重机，其中，所述支腿接口的底部设有支撑板，所述支腿接口的顶部设有连接板，所述正扳起支腿的第一端内部设有第一插接件，所述正扳起支腿的第一端通过所述第一插接件与所述支撑板插接连接；所述正扳起支腿第一端的顶板与所述连接板可拆卸连接；所述正扳起支腿的第二端设有第一支脚。
  3. 根据权利要求2所述的起重机，其中，所述拆装支腿的第一端底部设有插接板，所述插接板和所述支撑板上分别设有插接孔，所述插接板支撑放置在所述支撑板上且通过第二插接件在所述插接孔处插接连接；所述拆装支腿的第二端设有第二支脚。
  4. 根据权利要求3所述的起重机，其中，所述插接孔与所述第一插接件匹配，所述第一插接件的尺寸大于所述第二插接件的尺寸，所述第二插接件的外侧套设有过渡套，所述过渡套与所述插接孔匹配。
  5. 根据权利要求2所述的起重机，其中，所述正扳起支腿第一端的顶板与所述连接板通过连接件连接，所述正扳起支腿第一端的顶板的侧边与所述连接板搭接，所述连接件的一侧与所述连接板通过螺栓连接，所述连接件的另一侧与所述正扳起支腿第一端的顶板通过螺栓连接。
  6. 根据权利要求1-5中任一项所述的起重机，其中，还包括连接在所述底座宽度方向两侧的履带结构，所述起重机正向起臂时，所述正扳起支腿和所述履带结构之间连接有支撑杆；所述支撑杆为伸缩结构，或者，所述支撑杆与所述正扳起支腿和/或所述履带结构位置可调连接。
  7. 一种起重机起臂方法，其中，所述起重机为上述权利要求1-6中任一项所述的起重机，所述起臂方法包括：
    在所述起重机拆装车完成后，拆卸所述拆装支腿，安装所述正扳起支腿；
    根据所述起重机的臂架的预设起臂角度，调节所述正扳起支腿的初始角度，使得所述臂架在预设起臂角度下的中心线与所述正扳起支腿之间的初始偏角在预设范围内；
    控制所述起重机的臂架按照预设起臂角度进行正向起臂。
  8. 根据权利要求7所述的起重机起臂方法，其中，在所述起重机拆装车之前，还包括：
    对所述正扳起支腿进行起臂试验，验证所述正扳起支腿在预设受力下的应力及形变量。
  9. 根据权利要求8所述的起重机起臂方法，其中，验证所述正扳起支腿在预设受力下的应力及形变量，具体包括：
    在所述正扳起支腿上设置应变片，监测起臂试验过程中所述正扳起支腿的应力应变量；
    和/或，在起臂试验过程中，实时测量所述正扳起支腿两端的高度参数，根据所述高度参数验证所述正扳起支腿的形变量。
  10. 根据权利要求7所述的起重机起臂方法，其中，控制所述起重机的臂架按照预设起臂角度进行正向起臂，具体包括：
    起臂过程中监测所述臂架的实际起臂角度以及所述正扳起支腿的实时角度；
    根据所述实际起臂角度以及所述实时角度，对所述正扳起支腿与所述臂架的中心线之间的实际偏角进行监测；
    在所述实际偏角大于预设范围时，控制发出报警提示。
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