CN102464270B - Overturning-preventing torque limiter and movable crane - Google Patents
Overturning-preventing torque limiter and movable crane Download PDFInfo
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- CN102464270B CN102464270B CN201010540783.4A CN201010540783A CN102464270B CN 102464270 B CN102464270 B CN 102464270B CN 201010540783 A CN201010540783 A CN 201010540783A CN 102464270 B CN102464270 B CN 102464270B
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Abstract
The invention discloses an overturning-preventing torque limiter system which is used for a movable crane and comprises a detection unit, a controller unit and a display unit, wherein the detection unit comprises a length sensor for detecting the length of a jib loading boom, an angle sensor for detecting the working angle of the jib loading boom, and a pressure sensor for detecting the hoisting weight; and the detection unit further comprises an anemobiagraph, a rotary speed sensor, a gradienter and a lifting speed sensor. According to the torque limiter system, a working state of the movable crane can be accurately reflected, torque generated by a hoisting weight, wind force, inertia force and centrifugal force in a working process is calculated, further amplitude angle, speed and acceleration, rotary speed, weight lifting speed and acceleration of the crane can be controlled, thus overturning accident caused by dynamic instability of the movable crane is prevented. The invention also discloses a mobile crane provided with the overturning-preventing torque limiter system.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to the anti-overturning moment limiter system of hoisting crane.The invention still further relates to the movable crane that is provided with described anti-overturning moment limiter system.
Background technology
Movable crane, as the special engineered vehicle of one, has concurrently and travels and lift heavy operation function, is widely used in the installation, maintenance of the industry equipment such as petrochemical industry, shipbuilding, wind-powered electricity generation.
Along with economic fast development, in engineering application, the lifting weight of required crane products is increasing, requirement to its performance, function is also more and more higher, and the safety to vehicle, reliability, stability and operation convenience etc. have also proposed sizable challenge simultaneously.
Movable crane is a kind of construction machinery and equipment that danger factor are more, accident occurrence probability is larger of containing, and the even human casualty accident of device damage causing because of crane job in a large number all can occur every year both at home and abroad.From technical standpoint, any hoisting crane has its maximum safe load limit, exceedes this limit, gently equipment unit is caused to damage, heavy the serious accident that car load topples occurs.Therefore, must use limiter of moment control hoisting crane to work in safe level.
Torque limiter is the overload protection device being equipped on movable crane; in the time that hoisting crane enters mode of operation; limiter of moment is by the detection signal input control device of the each parameter of reality; after computing, amplification, processing; show corresponding parameter value, and with the specified hoisting moment value comparison depositing in advance, and limit hoisting crane part action; prevent hoisting crane due to misoperation and the accident such as excessive hoisting moment is tumbled, folding arm, to guarantee safe operation.
Hoisting crane is in hoisting operation, and stabilized conditions is likely within the scope of safe moment, but hoisting crane is in the time carrying out multiple actions or action flip-flop, and the additional moment that force of inertia and centnifugal force produce will increase greatly.Particularly at full capacity or approach at full capacity when operation, as only considered the heavy object weight that rises, hoisting crane hoists at flip-flop, easily cause overthrow accident when luffing and revolution operation.
Existing torque limiter can only limit afterwards in overload the action of hoisting crane, do not make detection computations and take respective limits measure for the dynamic buckling in operation process, more can not predict next step action will produce how many additional moments, and then cannot make restriction to workman's operation.
First, do not consider the impact of wind load and arm distortion, wind load action is in the time of arm forward, and capsizing moment can reflect to some extent in the thrust of luffing hydraulic actuating cylinder; Wind load action, in the time of the side of arm, can produce side direction capsizing moment, makes lifting or transfers weight and depart from plumb bob vertical and produce extra capsizing moment, and this cannot embody in existing torque limiter.
Secondly, because the horizontal span of supporting leg is large, for supporting leg, the factor such as stable and inertia loading causes and on torque limiter, does not reflect the increase of amplitude and load-carrying band while carrying work.
Moreover, cannot calculate in the course of the work the dynamic force moment producing, can only react exceeding after risk range, there is potential safety hazard.
Use existing torque limiter, although rely on the experience of operating personal also can carry out operation, in the time of fully loaded or approaching fully loaded operation, the moment that wind-force, force of inertia and centnifugal force produce can increase the possibility that hoisting crane is tumbled.
Therefore, how considering many factors, guarantee that movable crane is safe and reliable in operation process, is the current technical issues that need to address of those skilled in the art.
Summary of the invention
The first object of the present invention is to provide a kind of anti-overturning moment limiter system.This torque limiter can accurate response movable crane mode of operation, the moment that in evaluation work process, hoisting heavy, wind-force, force of inertia and centnifugal force produce, and then can control the change angle of hoisting crane, speed and acceleration/accel, speed of revolutions, weight rising or falling speed and acceleration/accel, prevent that movable crane dynamic buckling from causing overthrow accident.
The second object of the present invention is to provide a kind of movable crane that is provided with above-mentioned anti-overturning moment limiter system.
In order to realize above-mentioned first object, the invention provides a kind of anti-overturning moment limiter system, for movable crane, comprising: the detecting unit that detects each job parameter; Process the detection signal of being inputted by described detecting unit the controller unit of exporting control signal; The display unit of display parameter information;
Described detecting unit comprises the pressure sensor that detects the linear transducer of boom length, the angular transducer that detects crane arm operating angle, detection lift heavy weight;
Described detecting unit further comprises the anemoscope of the detection wind speed that is connected in described controller unit, the rotary speed sensor that detects rotation of rotary table speed, the level indicator that detects crane horizontal degree and detection winch hoists or the rising or falling speed sensor of sinking speed.
Preferably, described linear transducer is fixed on the afterbody of the basic arm of crane arm, comprises the long line of transmitter and side, and the long line of its side one end is wrapped on described transmitter, and the other end is fixed on crane arm telescopic oil cylinder by track adjusting wheel.
Preferably, described angular transducer comprises the first angular transducer and the second angular transducer; Described the first angular transducer is arranged at the side of the basic arm of crane arm, and described the second angular transducer is arranged at the side of the arm head of described crane arm.
Preferably, described pressure sensor comprises the first pressure sensor and the second pressure sensor; Described the first pressure sensor and the second pressure sensor are located at respectively large chamber and the loculus of amplitude oil cylinder.
Preferably, described anemoscope is arranged at the arm head of described crane arm.
Preferably, described rotary speed sensor is arranged in the center steering body at crane rotation supporting center.
Preferably, described level indicator is fixed on the platform of rotating platform of crane; Described platform and crane descending chassis plane parallel.
Preferably, described rising or falling speed sensor is connected with hoisting speed reducer center shaft.
In order to realize above-mentioned second object, the present invention also provides a kind of movable crane, comprise turntable, crane arm, amplitude oil cylinder, winch and crane job control system, described crane job control system is provided with the anti-overturning moment limiter system described in above-mentioned any one.
Preferably, the controller unit of described anti-overturning moment limiter system and display unit are located at getting on the bus in control cabin of described movable crane.
The present invention according to movable crane in hoisting operation, except hoisting crane deadweight and hoisting weight, also likely be subject to the impact of wind-force, force of inertia, centnifugal force, for guaranteeing its safety, in anti-overturning moment limiter system, be provided with detect wind speed anemoscope, detect rotation of rotary table speed rotary speed sensor, detect the level indicator of crane horizontal degree and detect that winch hoists or the rising or falling speed sensor of sinking speed.Can Real-time Collection boom angle, the signal such as length of boom, hydraulic system pressure, wind speed, speed of revolutions and lifting-speed, calculate the actual moment of hoisting crane at steady-working state by controller unit according to program.And compare with the rated value being stored in controller storage in microprocessor according to the actual moment calculating, and control and export according to this, in the time that actual moment reaches or approaches rated moment, on telltale, send overload alarm signal, controller output control signal, in conjunction with the peripheral control element of hoisting crane, cut off the work operating mode that all can continue increase moment (for example semi-girder, downward luffing, hoist), only have and can make the action operating mode that moment reduces be retained (for example contracting arm, upwards luffing, off the hook).Simultaneously; according to the actual moment calculating; measurable next step action allows the zone of reasonableness of action; judge that this hoisting crane changes maximum speed of revolutions or lifting, derricking speed and acceleration/accel that standing state allows; and then the intensity of variation of restriction output signal; the risky operation of restriction operating personal, protection crane safety.
Movable crane provided by the present invention is provided with above-mentioned anti-overturning moment limiter system, because above-mentioned anti-overturning moment limiter system has above-mentioned technique effect, the movable crane with this anti-overturning moment limiter system also should possess corresponding technique effect.
Accompanying drawing explanation
Fig. 1 is the logic control schematic diagram of anti-overturning moment limiter system provided by the present invention;
Fig. 2 is the working state schematic representation with the movable crane of anti-overturning moment limiter system provided by the present invention;
Fig. 3 is the scheme of installation of linear transducer;
Fig. 4 is the scheme of installation of rotary speed sensor;
Fig. 5 is the force analysis model of movable crane when in running order;
Fig. 6 is the force analysis model of the crane arm of movable crane when in running order.
In Fig. 1 to Fig. 6:
1. turntable 2. long line 12. track adjusting wheels 13. 3 of control cabin 3. crane arm secondary elevator 6. arm head 7. suspension hook 8. linear transducer 9. basic arm 10. transmitter 11. side of 4. amplitude oil cylinder 5-1. master winch 5-2. of getting on the bus save arm arm position 14. rotary speed sensor 15. pivoting support 16. center steering body 17. level indicator 18. first angular transducer 19. second angular transducers
The specific embodiment
Core of the present invention is to provide a kind of anti-overturning moment limiter system.This anti-overturning moment limiter system can accurate response hoisting crane mode of operation, the moment that in evaluation work process, hoisting heavy, wind-force, force of inertia and centnifugal force produce, and then can control the change angle speed of hoisting crane and acceleration/accel, speed of revolutions, weight rising or falling speed and acceleration/accel, prevent that hoisting crane dynamic buckling from causing overthrow accident.
Another core of the present invention is to provide a kind of movable crane that is provided with above-mentioned anti-overturning moment limiter system.
In order to make those skilled in the art person understand better the present invention program, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Terms such as " first, second " is herein only for convenience of description, to distinguish the different constituent elementss with same names, does not represent successively or primary and secondary relation.
Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, the logic control schematic diagram that Fig. 1 is anti-overturning moment limiter system provided by the present invention; Fig. 2 is the working state schematic representation with the movable crane of anti-overturning moment limiter system provided by the present invention; Fig. 3 is the scheme of installation of linear transducer; Fig. 4 is the scheme of installation of rotary speed sensor.
As shown in Figure 1, in a kind of specific embodiment, anti-overturning moment limiter system provided by the present invention is mainly made up of detecting unit, controller unit, display unit three parts, wherein detecting unit, for detection of each job parameter, comprises that pressure sensor, angular transducer, linear transducer etc. detect unit; Controller unit is for the treatment of the detection signal of being inputted by described detecting unit and export control signal, comprises the intelligent alarm control system of the unit module compositions such as amplification, computing, comparison, output, feedback, storage; Display unit is for showing the Check processing signal of being exported by controller unit.
Above-mentioned detecting unit, display unit all connect with controller unit by connector (as signal cable etc.), and controller unit connects with the peripheral control element of hoisting crane by connector, the control signal of control element output to the periphery.
As shown in Figure 3, be fixed on the afterbody of the basic arm 9 of crane arm 3 for detection of the linear transducer 8 of boom length, be made up of transmitter 10 and the long line 11 of side, the long line of side 11 one end are wrapped on transmitter 10, and the other end is fixed on crane arm telescopic oil cylinder by track adjusting wheel 12.
Surveying long method is: telescopic oil cylinder finds three joint arm arm positions 13 of crane arm 3, insert cylinder pin, 3 of crane arms are raised to and require position, the long line 11 of side being fixed on during this on telescopic oil cylinder will move with telescopic oil cylinder, sensor 8 from the three joint arm arm position 13 distance S1 to the terminal that hoists, transfers to controller unit by transmitter 10 by signal by record.Then, telescopic oil cylinder retraction cylinder pin, gets back to reference position, repeats flow process two joint arms are risen and are raised to corresponding position, and record oil cylinder outreach S2, and both are worth to summation, is exactly the distance S that crane arm stretches out.Add the length S0 of basic arm 9, both can calculate the length L (L=S+S0) of crane arm 3, the brachium of crane arm 3 in like manner can calculate any operating mode work time.
Native system is selected two angular transducers, is respectively the first angular transducer and the second angular transducer; The first angular transducer 18 is arranged at the side of the basic arm 9 of crane arm 3, be mainly used in measuring the operating angle of crane arm 3, the second angular transducer 19 is arranged at the side of the arm head 6 of crane arm 3, for the value of the first angular transducer 18 is revised, and judge the amount of deflection degree of crane arm 3.
As shown in Figure 2, a pressure sensor of the each design of the large chamber of amplitude oil cylinder 4 and loculus, be respectively the first pressure sensor and the second pressure sensor, hoisting crane in the course of the work, the moment that lift heavy produces can embody in amplitude oil cylinder, the large cavity pressure of the little cavity pressure=amplitude oil cylinder of weight+amplitude oil cylinder of lift heavy weight+suspension hook 7 weight+steel rope weight+crane arm 3, be the numerical value that the first pressure sensor detects, due to the weight of suspension hook 7, the weight of steel rope weight and crane arm 3 is crane structure parameter, think known, the little cavity pressure of amplitude oil cylinder is measured by the second pressure sensor, therefore can calculate the moment that lift heavy weight produces.
Anemoscope (not shown) is fixed on the arm head of crane arm 3, detects in real time wind speed.
As shown in Figure 4, rotary speed sensor 14 is fixed in the center steering body 16 at pivoting support 15 centers, and turntable 1 is in the time turning round around pivoting support 15, and rotary speed sensor 14 can detect the speed of revolutions of turntable 1, and transmits it to controller unit.
Rising or falling speed sensor is also two, is connected respectively with the reductor center shaft of master winch 5-1, secondary elevator 5-2, detects in real time hoisting or sinking speed V of elevator, considers the winding multiplying power n of suspension hook 7, can calculate weight lifting velocity V
1=V/n.
Below the principle of work of above-mentioned anti-overturning moment limiter system is described.
Please refer to Fig. 5, Fig. 6, Fig. 5 is the force analysis model of movable crane when in running order; Fig. 6 is the force analysis model of the crane arm of movable crane when in running order.
In the course of the work, the moment that suffered power produces has following several hoisting crane:
(1) balancing torque that hoisting crane deadweight produces is
M
1＝G(0.5L
1+C) (1)
G in formula---hoisting crane deadweight
L
1---leg spacing
Horizontal throw between C---center of gyration and center of gravity
(2) moment that lifted load produces, adopts amplitude oil cylinder pressure to calculate:
Fl
2 cosαcosβ+Fl
2 sinαsinβ-W(l
2+l
3+l
4)cosα-G
2(l
2+l
4)cosα＝0 (2)
That is: Fl
2cos (alpha-beta)=W (l
2+ l
3+ l
4) cos α+G
2(l
2+ l
4) cos α (3)
G in formula
2---crane arm gravity
L
2---luffing hydraulic actuating cylinder supporting-point is to the distance of crane arm hinge
L
3---crane arm center of gravity is to the distance of luffing hydraulic actuating cylinder supporting-point
L
4---crane arm center of gravity is to the distance of the distance of crane arm head
F---the pressure that luffing hydraulic actuating cylinder is suffered
The moment that obtains after formula (3) is arranged being produced by gravity and the crane arm gravity of lifted weight thing is Mq
Mq＝Fl
2 cos(α-β)＝W(l
2+l
3+l
4)cosα+G
2(l
2+l
4)cosα (4)
Can be found out by formula (3), determine that the moment Mq being produced by gravity and the crane arm gravity of lifted weight thing only need measure or the angle of inclination beta of supporting power F, crane arm inclination alpha and the luffing hydraulic actuating cylinder of definite luffing hydraulic actuating cylinder, angle of inclination beta can be by l
2obtain β=f (l with the function of α
2, α).
(3) wind-force is the work wind-force of considering to be unfavorable for stability, mainly refers to and acts on hoisting crane and hang the wind-force on thing.The tilting moment M being produced by wind-force
ffor
M
F＝P
1H
1+P
2H
2 (5)
P in formula
1---act on the mode of operation maximum wind power on hoisting crane
P
2---act on the mode of operation maximum wind power on lifting thing
H
1, H
2---with P
1, P
2corresponding height
(4) impact of the gradient also can not be ignored, by the moment M of its generation
pfor:
M
P＝WH
2 sinγ+GH
1 sinγ (6)
γ in formula---slope angle
(5) generation of force of inertia has two kinds of situations: one refers to lifting mechanism action, when article lift by crane suddenly and fall unexpected brake, and the unfavorable stable force of inertia of generation; One is luffing mechanism action, and crane arm is jerked or when cut, the force of inertia of generation.The tilting moment Mg that above-mentioned force of inertia produces is:
Mg＝WV
1(S-0.5L)/gt
1+(W+G
3)V
2H
2/gt
2
V in formula
1---lifting mechanism starting and braking speed
V
2---luffing mechanism starting and braking speed
T
1---the lifting mechanism starting and braking time
T
2---the luffing mechanism starting and braking time
S---operating radius
G
3---conversion is to the crane arm deadweight of arm head
(6) centnifugal force, while mainly referring to crane rotation, crane arm, hangs the centnifugal force that thing produces, and particularly lifts by crane the centnifugal force of thing, acts directly on crane arm end by steel rope, increases moment M
l.
N in formula---speed of revolutions
H
3---lift heavy article are to the height of arm end
So in working order, the work moment of car hosit is the cumulative of above five kinds of situations, the dynamic actual moment of hoisting crane is:
M
2＝Mq+M
F+M
P+Mg+M
L
Work as M
2be greater than M
1time, hoisting crane has the danger of tumbling.
When work, the data that first controller unit detects the sensor such as length, pressure are processed, to length of boom, angle, lifting altitude, work range, rated load, actual hoisting capacity, moment percentum, wind speed when lift heavy operation, the pressure and other parameters of main pump dynamically show at main interface, in the time that exceeding setting value, certain parameter reports to the police, convenient operation person monitoring.
System is controlled by the principle of actual moment and rated moment comparison.Microprocessor is according to the length of boom of each sensor input, and angle signal calculates the operating radius S of hoisting crane.The stressed F that goes out derricking cylinder according to the calculated signals of pressure sensor input, then calculates hoisting moment Mq.Go out hoisting crane gradient γ according to the calculated signals of level indicator input, calculate the extra moment Mp causing, the extra moment M that the calculated signals of anemoscope input goes out to cause
f, compare with the rated moment being stored in central control unit memory device in microprocessor according to the actual moment calculating, in conjunction with the peripheral control element of hoisting crane, the dangerous play of restriction hoisting crane.
(1), in the time that hoisting operation starts, calculate M
2=Mq+M
f+ M
p, judge that initial hoisting moment is whether within safe range, otherwise controller is forbidden winding lifting, semi-girder etc. and is continued to increase the operation acts of moment.
(2) according to the moment M calculating
2, the operating angle scope that prediction hoisting crane allows, controls crane amplitude variation angle.
(3) in hoisting operation process, according to the M calculating
2=Mq+M
f+ M
p, with M
1relatively, at M
2< M
1situation under, calculate the force of inertia moment and the centnifugal force moment Mg+M that allow
l, output signal is limited, control V
1, V
2, t
1, t
2within allowed band, guarantee M with N
2=Mq+M
f+ M
p+ Mg+M
l< M
1.
In order to realize above-mentioned second object, the present invention also provides a kind of movable crane.This movable crane comprises turntable, crane arm, amplitude oil cylinder, winch and crane job control system, described crane job control system is provided with the anti-overturning moment limiter system described in above-mentioned any one, the controller unit of anti-overturning moment limiter system and display unit are located at getting on the bus in control cabin of movable crane, all the other structures refer to prior art, repeat no more herein.
Above anti-overturning moment limiter system provided by the present invention and movable crane are described in detail.Applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand core concept of the present invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of the claims in the present invention.
Claims (10)
1. an anti-overturning moment limiter system, for movable crane, comprising:
Detect the detecting unit of each job parameter;
Process the detection signal of being inputted by described detecting unit the controller unit of exporting control signal;
The display unit of display parameter information;
Described detecting unit comprises the pressure sensor that detects the linear transducer of boom length, the angular transducer that detects crane arm operating angle, detection lift heavy weight,
Described detecting unit further comprises the anemoscope of the detection wind speed that is connected in described controller unit, the rotary speed sensor that detects rotation of rotary table speed, the level indicator that detects crane horizontal degree and detection winch hoists or the rising or falling speed sensor of sinking speed;
It is characterized in that,
Its control method comprises the following steps:
1), in the time that hoisting operation starts, calculate M
2=Mq+M
f+ M
p, judge that initial hoisting moment is whether within safe range, otherwise controller forbids winding lifting, semi-girder and continues to increase the operation acts of moment,
M in formula
2---the dynamic actual moment of hoisting crane,
M
q---the gravity of lifted weight thing and the moment that crane arm gravity produces,
M
f---the tilting moment that wind-force produces,
M
p---the moment that the gradient produces;
2) according to the moment M calculating
2, the operating angle scope that prediction hoisting crane allows, controls crane amplitude variation angle;
3) in hoisting operation process, according to the M calculating
2=Mq+M
f+ M
p, with M
1relatively, at M
2<M
1situation under, calculate the force of inertia moment and the centnifugal force moment Mg+M that allow
l, output signal is limited, control V
1, V
2, t
1, t
2within allowed band, guarantee M with N
2=Mq+M
f+ M
p+ Mg+M
l<M
1;
Wherein, Mq=Fl
2cos (alpha-beta)=W (l
2+ l
3+ l
4) cos α+G
2(l
2+ l
4) cos α,
M in formula
1---the balancing torque that hoisting crane deadweight produces,
G
2---crane arm gravity,
L
2---luffing hydraulic actuating cylinder supporting-point arrives the distance of crane arm hinge,
L
3---crane arm center of gravity arrives the distance of luffing hydraulic actuating cylinder supporting-point,
L
4---crane arm center of gravity arrives the distance of crane arm head,
F---the pressure that luffing hydraulic actuating cylinder is suffered,
α---crane arm inclination angle,
β---the leaning angle of luffing hydraulic actuating cylinder,
W---represent load weight;
M
F=P
1H
1+P
2H
2，
P in formula
1---act on the mode of operation maximum wind power on hoisting crane
P
2---act on the mode of operation maximum wind power on lifting thing
H
1, H
2---with P
1, P
2corresponding height;
M
P=WH
2sinγ+GH
1sinγ，
γ in formula---slope angle;
M
1=G(0.5L
1+C)，
G in formula---hoisting crane deadweight,
L
1---leg spacing,
Horizontal throw between C---center of gyration and center of gravity;
Mg=WV
1(S-0.5L)/gt
1+(W+G
3)V
2H
2/gt
2，
V in formula
1---lifting mechanism starting and braking speed,
V
2---luffing mechanism starting and braking speed,
T
1---the lifting mechanism starting and braking time,
T
2---the luffing mechanism starting and braking time,
S---operating radius,
G
3---conversion is conducted oneself with dignity to the crane arm of arm head,
The length of L---crane arm;
N in formula---speed of revolutions,
H
3---lift heavy article are to the height of arm end.
2. anti-overturning moment limiter system according to claim 1, it is characterized in that, described linear transducer is fixed on the afterbody of the basic arm of crane arm, comprise the long line of transmitter and side, the long line of its side one end is wrapped on described transmitter, and the other end is fixed on crane arm telescopic oil cylinder by track adjusting wheel.
3. anti-overturning moment limiter system according to claim 1, is characterized in that, described angular transducer comprises the first angular transducer and the second angular transducer; Described the first angular transducer is arranged at the side of the basic arm of crane arm, and described the second angular transducer is arranged at the side of the arm head of described crane arm.
4. anti-overturning moment limiter system according to claim 1, is characterized in that, described pressure sensor comprises the first pressure sensor and the second pressure sensor; Described the first pressure sensor and the second pressure sensor are located at respectively large chamber and the loculus of amplitude oil cylinder.
5. according to the anti-overturning moment limiter system described in claim 1 to 4 any one, it is characterized in that, described anemoscope is arranged at the arm head of described crane arm.
6. according to the anti-overturning moment limiter system described in claim 1 to 4 any one, it is characterized in that, described rotary speed sensor is arranged in the center steering body at crane rotation supporting center.
7. according to the anti-overturning moment limiter system described in claim 1 to 4 any one, it is characterized in that, described level indicator is fixed on the platform of rotating platform of crane; Described platform and crane descending chassis plane parallel.
8. according to the anti-overturning moment limiter system described in claim 1 to 4 any one, it is characterized in that, described rising or falling speed sensor is connected with hoisting speed reducer center shaft.
9. a movable crane, comprise turntable, crane arm, amplitude oil cylinder, winch and crane job control system, it is characterized in that, described crane job control system is provided with the anti-overturning moment limiter system described in the claims 1 to 8 any one.
10. movable crane according to claim 9, is characterized in that, the controller unit of described anti-overturning moment limiter system and display unit are located at getting on the bus in control cabin of described movable crane.
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