CN102259799A - Crawler crane installation torque control method and device, and crawler crane - Google Patents
Crawler crane installation torque control method and device, and crawler crane Download PDFInfo
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- CN102259799A CN102259799A CN2011101158748A CN201110115874A CN102259799A CN 102259799 A CN102259799 A CN 102259799A CN 2011101158748 A CN2011101158748 A CN 2011101158748A CN 201110115874 A CN201110115874 A CN 201110115874A CN 102259799 A CN102259799 A CN 102259799A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000009434 installation Methods 0.000 title abstract description 11
- 230000000052 comparative effect Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012797 qualification Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C23/18—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a crawler crane installation torque control method, a crawler crane installation torque control device and a crawler crane. The torque control method comprises the following steps of: acquiring a tilting torque and a hoisting weight under a crawler crane installation working condition; comparing the tilting torque with the maximum preset stable torque and comparing the hoisting weight with the maximum preset hoisting weight; and outputting different indication information according to comparison results. The invention has the advantages that: torque security during hoisting can be guaranteed and an aim that a mast has a higher secure working range at light loads can be fulfilled.
Description
Technical field
The present invention relates to a kind of crawler crane installs with moment control method, device and crawler crane.
Background technology
Present stage, the crawler crane that the home and abroad is all, its limiter of moment all only calculates and limits the moment under the work operating mode, moment when it is installed operating mode is not calculated, installing under the working condition, rule of thumb judge whether not tumble safely by the operator fully, careless manipulation then can cause safe overthrow accident during the lifting crawler belt.In view of security needs, the product of indivedual companies is to this existing consideration, maximum security standpoint place is equipped with the safe limit switch before mast, guarantee that hoisting crane is when installing operating mode, mast can only so just have been sacrificed the underloading lifting amplitude of loading and unloading certainly under the operating mode to a great extent in the security standpoint work under the maximum lift heavy condition of lifting oil cylinder.
But, during to the installation operating mode of above-mentioned proposition, come the problem of implementation and operation not propose the actv. solution as yet by experience fully in the prior art.
Summary of the invention
The invention discloses a kind of crawler crane and install, install under the working condition in order to solve to exist in the prior art, not the problem that tilting moment is calculated with moment control method, device and crawler crane.
To achieve these goals, according to an aspect of the present invention, provide a kind of crawler crane to install and use the moment control method, and be achieved through the following technical solutions:
A kind of crawler crane is installed and use the moment control method, comprising: the tilting moment when obtaining crawler crane operating mode being installed and hang load carrying ability; And with tilting moment and default maximum stable torque ratio, and will hang load carrying ability and default maximum is hung load carrying ability relatively, and according to the different information of comparative result output.
Tilting moment when further, obtaining crawler crane operating mode is installed with hang load carrying ability and comprise: the real-time parameter when gathering crawler crane operating mode being installed; And calculate tilting moment and hang load carrying ability according to real-time parameter.
Further, with tilting moment and default maximum stable torque ratio, maybe will hang load carrying ability and default maximum and hang load carrying ability relatively, and comprise: the ratio that calculates tilting moment and default maximum stable moment according to the different information of comparative result output, be called first ratio, and calculate and to hang the ratio that load carrying ability and default maximum are hung load carrying ability, be called second ratio.
Further, with tilting moment and default maximum stable torque ratio, maybe will hang load carrying ability and default maximum and hang load carrying ability relatively, and also comprise: judge that first ratio or second ratio are whether between default ratio according to the different information of comparative result output, and under the situation that is, send alerting signal; And whether judge first ratio or second ratio greater than default maximum ratio, and under the situation that is, send danger signal, stop to increase the action of tilting moment.
Further, be 90%-100% between the default ratio.
Further, default maximum ratio is 102%.
Further, after stopping to increase the action of tilting moment, the Torque Control method also comprises: whether judge first ratio and second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of tilting moment.
According to another aspect of the present invention, provide a kind of crawler crane to install and use moment control device, and realize by following two kinds of technical schemes:
Crawler crane is installed and is comprised with moment control device: angular position transducer, be arranged on the principal arm mast of crawler crane, and be used to gather the angle-data of principal arm mast; The hoist rope pulling force sensor is arranged on the top end of the hoist rope of crawler crane, is used to gather the hoist rope pulling force data; And central controller, be connected to angular position transducer and hoist rope pulling force sensor, be used to handle the angle-data and the lineoutofservice signal pull data that receive, the service data when drawing crawler crane installation operating mode.
Crawler crane is installed and is comprised with moment control device: angular position transducer, be arranged on the principal arm mast of crawler crane, and be used to gather the angle-data of principal arm mast; At least one load transducer is arranged on the elevating ram, is used to gather the elevating ram pressure data; And central controller, be connected to angular position transducer and load transducer, be used to handle the angle-data and the pulling force data that receive, the service data when drawing crawler crane installation operating mode.
Further, crawler crane is installed and is also comprised with moment control device: second load transducer, be arranged on the luffing steel rope, and be used to gather luffing lineoutofservice signal pull data.
According to a further aspect of the invention, provide a kind of crawler crane to install and use moment control device, and be achieved through the following technical solutions:
A kind of crawler crane comprises above-mentioned arbitrary moment control device.
Compared with prior art, the invention has the beneficial effects as follows: the service data of operating mode is installed by gathering crawler crane, calculate real-time tilting moment, and comparison according to tilting moment and maximum stable moment, judge the safe condition of crawler crane, make proper operation, moment safety in the time that lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading can being reached again.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 installs the diagram of circuit of using the moment control method according to a kind of crawler crane in the embodiment of the invention;
Fig. 2 is according to obtaining tilting moment and the diagram of circuit that hangs load carrying ability in the embodiment of the invention;
Fig. 3 is according to the diagram of circuit that obtains operation prompt information in the embodiment of the invention;
Fig. 4 is according to a kind of crawler crane structural representation in the embodiment of the invention;
Fig. 5 is the crawler crane structural representation according to further embodiment of this invention; And
Fig. 6 is another the crawler crane structural representation among the embodiment of Fig. 4 or Fig. 5 according to the present invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 installs the main diagram of circuit of using the moment control method according to a kind of crawler crane in the embodiment of the invention.
Fig. 2 is according to obtaining tilting moment and the diagram of circuit that hangs load carrying ability in the embodiment of the invention.
Fig. 3 is according to the diagram of circuit that obtains operation prompt information in the embodiment of the invention.
Referring to shown in Figure 1, a kind of crawler crane is installed and use the moment control method, comprising: the tilting moment when a. obtains crawler crane operating mode is installed and hang load carrying ability; And b. is with tilting moment and default maximum stable torque ratio, and will hang load carrying ability and default maximum is hung relatively preset data of load carrying ability, and according to the different information of comparative result output.
Wherein, to hang load carrying ability be to consider the maxim that safety factor allows later in theory when design for default maximum stable moment and default maximum.The present crawler crane of loading and unloading is certainly being installed under the working condition, rule of thumb judges whether not tumble safely by the operator fully, and careless manipulation then can cause safe overthrow accident during the lifting crawler belt.According to technical scheme of the present invention, when obtaining crawler crane installation operating mode, according to the service data of obtaining, after as calculated, the information that obtains operating, the operating mode when helping the operator accurately to grasp the installation operating mode is made correct operation.
Service data when preferably, obtaining crawler crane operating mode is installed comprises: the tilting moment when a1. gathers crawler crane operating mode is installed with hang load carrying ability; And a2. calculates tilting moment and hangs load carrying ability according to real-time parameter.
Preferably, with tilting moment and default maximum stable torque ratio, and will hang load carrying ability and default maximum and hang relatively preset data of load carrying ability, and comprise according to the different information of comparative result output: b1. calculates the ratio of tilting moment and default maximum stable moment, be called first ratio, and calculate and to hang the ratio that load carrying ability and maximum preset are hung load carrying ability, be called second ratio; B2. judge first ratio or second ratio whether between default ratio, and under the situation that is, send alerting signal; Whether b3 judges first ratio or second ratio greater than default maximum ratio, and under the situation that is, stops to increase the action of tilting moment.
Referring to shown in Figure 2, sensor sends signals such as detected angle, lineoutofservice signal pull, length to central controller (CPU), central controller dynamic calculation principal arm mast angle, hangs load carrying ability, tilting moment size; Central controller gets hoisting moment percentum P_A by tilting moment and maximum stable torque ratio, hang load carrying ability and maximum allow to hang load carrying ability relatively rated load percentum P_B, wherein, tilting moment is the negative sense moment of instigating crawler crane to be tumbled, direction is defined as the load moment direction, by load to the moment that line produced of toppling; Balancing torque is meant the forward moment that prevents that crawler crane from tumbling, by the crawler crane self gravitation to the moment that line produced of toppling.
Wherein, balancing torque calculates by following computing formula: balancing torque M
e=m
1* g*L
1, m wherein
1For load and unload time deadweight quality certainly, g is acceleration due to gravity, L
1For the barycenter of deadweight to the horizontal throw of the line that topples; Tilting moment calculates by following computing formula: tilting moment M
a=m
2* g*L
2, m wherein
2Lift heavy quality when loading and unloading certainly, m
2=(F
1* n*rate), wherein, F
1Be lineoutofservice signal pull, n is the steel rope multiplying power, and rate is that friction force coefficient of correction, g are acceleration due to gravity, L
2Be the barycenter vertical line of lift heavy horizontal throw to the line that topples.
Referring to shown in Figure 3, service data and preset data are compared, and according to the different information of comparative result output.
When (P_A or P_B)＞90% and (P_A and P_B)＜100%, sound and the light warning signal, remind operator's load or moment load big, careful operation is cut off the dangerous play of tilting moment augment direction when (P_A or P_B)＞102%.
Preferably, after stopping to increase the action of tilting moment, the Torque Control method also comprises: whether judge first ratio and second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of tilting moment.Have only when (P_A and P_B)＜100%, it is normal that the action of the tilting moment augment direction of cut-out just recovers, and prevents to surpass concussion on the safe range point in moment, causes safety misadventure.
Preferably, the present invention also comprises: man-machine interface and control system, accept operating order, and show work moment situation, hang the situation of carrying, the sound and light alarm prompting.
In the technical scheme of present embodiment, when crawler crane is installed operating mode, actual the hanging of dynamic calculation crawler crane carried tilting moment, in real time maximum with it balancing torque relatively, and when being necessary to actual hang to carry limit, prevent that overload causes tumbling crawler crane under the operating mode installing.
In view of security needs, maximum security standpoint place is equipped with the safe limit switch before mast, guarantee that hoisting crane is when installing operating mode, mast can only be in the security standpoint work under the maximum lift heavy condition of lifting oil cylinder, so just sacrificed the underloading lifting amplitude of loading and unloading certainly under the operating mode to a great extent, and the present invention adopts the mode that sensor is set, accurately gather every data when operating mode is installed, and send central process unit to, after treater calculates tilting moment and hangs load carrying ability, moment safety in the time of can guaranteeing lift heavy, the purpose of the bigger trouble free service amplitude of mast in the time of reaching underloading has again been excavated the in-use performance of product better.
Fig. 4 is according to a kind of crawler crane structural representation in the embodiment of the invention; Referring to shown in Figure 4, a kind of crawler crane, comprise luffing steel rope 2, luffing elevator 3, the hoisting rope 4 that hoists, principal arm mast 5 and suspension hook 8 and moment control device, wherein, this moment device comprises: angular position transducer 6, be arranged on the principal arm mast 5 of crawler crane, and be used to gather the angle-data of principal arm mast 5, wherein, angle is the angle between principal arm mast 5 and the horizon; Hoist rope pulling force sensor 7 is arranged on the top end of the hoist rope 4 of crawler crane, is used to gather hoist rope 4 pulling force data; And central controller 1, be connected to angular position transducer 6 and hoist rope pulling force sensor 7, be used to handle the angle-data and the lineoutofservice signal pull data that receive, the service data when drawing crawler crane installation operating mode.
As can be seen, by gathering crawler crane the service data of operating mode is installed, calculate real-time tilting moment, and comparison according to tilting moment and maximum stable moment, judge the safe condition of crawler crane, make proper operation, moment safety in the time that lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading can being reached again.
Fig. 5 is a crawler crane structural representation according to another embodiment of the present invention.
Referring to shown in Figure 5, a kind of crawler crane, comprise luffing steel rope 2, luffing elevator 3 and moment control device, this moment device comprises: angular position transducer 6, be arranged on the principal arm mast 5 of crawler crane, be used to gather the angle-data of principal arm mast 5, wherein, angle is the angle of mast plane and horizontal surface; Load transducer 9, and load transducer is at least 1, this load transducer 9 is arranged on the rodless cavity of elevating ram 8, adopt 2 in the present embodiment, be arranged on the rodless cavity that is arranged on elevating ram 8 and the rod chamber place of crawler crane, be used to detect the pressure of oil cylinder, hang the weight of carrying thereby calculate; And central controller 1, be connected to angular position transducer 6 and load transducer 9, be used to handle the angle-data and pulling force data, load data that receive, the service data when drawing crawler crane installation operating mode.
As can be seen, by gathering crawler crane the service data of operating mode is installed, calculate the real-time load carrying ability that hangs, and according to hanging load carrying ability and maximum comparison of hanging load carrying ability, judge the safe condition of crawler crane, make proper operation, moment safety in the time that lift heavy can being guaranteed, the purpose of the bigger trouble free service amplitude of mast in the time of underloading can being reached again.
Referring to shown in Figure 6, in Fig. 4, embodiment shown in Figure 5, during calculation stability moment, can also take another kind of mode, second load transducer 10 promptly is installed, the information calculations balancing torque that obtains according to second load transducer 10 on luffing steel rope 2.Concrete computing formula belongs to prior art, repeats no more.
Be the preferred embodiments of the present invention only below, be not limited to the present invention, for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a crawler crane is installed and is used the moment control method, it is characterized in that, comprising:
Tilting moment when obtaining described crawler crane operating mode being installed with hang load carrying ability; And
With described tilting moment and default maximum stable torque ratio, and hang load carrying ability and default maximum is hung load carrying ability relatively with described, and according to the different information of described comparative result output.
2. Torque Control method according to claim 1 is characterized in that, described tilting moment when obtaining described crawler crane operating mode being installed with hang load carrying ability and comprise:
Real-time parameter when gathering described crawler crane operating mode being installed; And
Calculate described tilting moment and the described load carrying ability that hangs according to described real-time parameter.
3. Torque Control method according to claim 1, it is characterized in that, describedly with described tilting moment and default maximum stable torque ratio or hang load carrying ability and default maximum is hung load carrying ability relatively, and comprise according to the different information of described comparative result output with described:
Calculate the ratio of described tilting moment and described default maximum stable moment, as first ratio, and calculate the described ratio that load carrying ability and described default maximum are hung load carrying ability that hangs, as second ratio.
4. Torque Control method according to claim 3, it is characterized in that, describedly with described tilting moment and default maximum stable torque ratio or hang load carrying ability and default maximum is hung load carrying ability relatively, and also comprise according to the different information of described comparative result output with described:
Judge described first ratio or described second ratio whether between default ratio, and under the situation that is, send alerting signal; And
Whether judge described first ratio or described second ratio greater than default maximum ratio, and under the situation that is, send danger signal, stop to increase the action of described tilting moment.
5. Torque Control method according to claim 4 is characterized in that, is 90%-100% between the described default ratio.
6. Torque Control method according to claim 5 is characterized in that, described default maximum ratio is 102%.
7. Torque Control method according to claim 4 is characterized in that, described stop to increase the action of described tilting moment after, described Torque Control method also comprises:
Whether judge described first ratio and described second ratio less than 100%, and under the situation that is, send restoring signal, recover to increase the action of described tilting moment.
8. a crawler crane is installed and is used moment control device, it is characterized in that, comprising:
Angular position transducer is arranged on the principal arm mast of described crawler crane, is used to gather the angle-data of described principal arm mast;
The hoist rope pulling force sensor is arranged on the top end of the hoist rope of described crawler crane, is used to gather described hoist rope pulling force data; And
Central controller is connected to described angular position transducer and described hoist rope pulling force sensor, is used to handle the described angle-data and the described lineoutofservice signal pull data that receive, the service data when drawing described crawler crane operating mode being installed.
9. a crawler crane is installed and is used moment control device, it is characterized in that, comprising:
Angular position transducer is arranged on the principal arm mast of described crawler crane, is used to gather the angle-data of described principal arm mast;
At least one load transducer is arranged on the elevating ram, is used to gather the elevating ram pressure data; And
Central controller is connected to described angular position transducer and described load transducer, is used to handle the described angle-data and the described pulling force data that receive, the service data when drawing described crawler crane operating mode being installed.
10. according to Claim 8 or 9 described moment control devices, it is characterized in that, also comprise:
Second load transducer is arranged on the luffing steel rope of described crawler crane, is used to gather described luffing lineoutofservice signal pull data.
11. a crawler crane is characterized in that, comprises claim 8,9 or 10 described moment control devices.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110115874 CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
| PCT/CN2011/078270 WO2012149704A1 (en) | 2011-05-05 | 2011-08-11 | Torque control method for crawler crane installation, device therefor and crawler crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110115874 CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
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| Publication Number | Publication Date |
|---|---|
| CN102259799A true CN102259799A (en) | 2011-11-30 |
| CN102259799B CN102259799B (en) | 2012-12-05 |
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ID=45006677
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| CN 201110115874 Active CN102259799B (en) | 2011-05-05 | 2011-05-05 | Torque control method and device for installing crawler crane and crawler crane |
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| WO (1) | WO2012149704A1 (en) |
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| CN104961061A (en) * | 2015-06-30 | 2015-10-07 | 中国一冶集团有限公司 | Moment limiter used for crawling crane and control method thereof |
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Also Published As
| Publication number | Publication date |
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| WO2012149704A1 (en) | 2012-11-08 |
| CN102259799B (en) | 2012-12-05 |
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