CN105460789B - Crane multiplying power diagnostic method, system and crane - Google Patents
Crane multiplying power diagnostic method, system and crane Download PDFInfo
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- CN105460789B CN105460789B CN201610017761.7A CN201610017761A CN105460789B CN 105460789 B CN105460789 B CN 105460789B CN 201610017761 A CN201610017761 A CN 201610017761A CN 105460789 B CN105460789 B CN 105460789B
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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
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The present invention relates to a kind of crane multiplying power diagnostic method, system and cranes, wherein diagnostic method includes：According to the steel wire rope multiplying power of input, the first load parameter and the second load parameter of crane are calculated separately out using the first computation model and the second computation model；Calculate the absolute difference of the first load parameter and the second load parameter；Judge whether absolute difference is more than first threshold, if absolute difference is not more than first threshold, judges that the steel wire rope multiplying power of input meets actual steel wire rope multiplying power；If absolute difference is more than first threshold, judge that the steel wire rope multiplying power of input does not meet actual steel wire rope multiplying power.Whether the steel wire rope multiplying power that the diagnostic method of the present invention can be diagnosed to be input is consistent with actual steel wire rope multiplying power; to carry out corresponding protection control according to diagnostic result; the stress of steel wire rope is set to be within zone of reasonableness; to improve safety in utilization and the service life of steel wire rope, and then safety when craning weight of same.
Description
Technical field
The present invention relates to a kind of technical field of engineering machinery more particularly to crane multiplying power diagnostic method, system and liftings
Machine.
Background technology
Crane is common engineering machinery, is seen everywhere in occasions such as lifting, transhipments, most important function is elevator
Weight raising and whereabouts are played in operation.During crane carries out lifting operation, steel wire rope multiplying power is to have reflected principal characteristic
The important parameter of energy, can determine the biggest lifting capacity under certain operating modes.
The process of crane operation is, operator for current lifting operation feature (such as current weight weight, lifting away from
From, hoisting height etc.) pass through human-computer interaction function and selects the works such as operating mode code, balance weight, semi-girder combination and steel wire rope multiplying power
The signal transmission of condition element, operator's selection limits device to power, and power limits device and then by the performance feedback being calculated to operator.Power
It can (includes mainly brachium sensor, luffing oil pressure sensor, luffing according to lifting performance and the input of electric-control system signal to limit device
Angular transducer) etc. calculate current weight weight in real time, while can be sentenced according to the comparison of current weight weight and lift heavy performance
Whether disconnected lifting action is safe.
The judgement form for inputting multiplying power to steel wire rope multiplying power and power limit device in the prior art is carried out mainly by artificial, is easy to make
Multiplying power is selected into mistake at operation error, or even there is artificial selection high magnification with the possibility of hoisting performance.
Since steel wire rope multiplying power determines that maximum lift heavy performance, power limit the multiplying power that device performance calculates under certain conditions
Should be identical with actual steel wire rope multiplying power, such crane can match with practical lifting condition, so that hanging
Dress process is accurate and safe.If multiplying power selection is incorrect, power limit device reads a wrong performance and calculates the factor, can cause
Maximum lift heavy performance, the calculating of real-time lift heavy amount are inaccurate, and continuing lifting even can make safe wire cable and service life
It is affected, or even there are the danger that steel wire rope has fracture, and very big loss and product is caused to use hidden danger.
Invention content
The purpose of the present invention is to propose to a kind of crane multiplying power diagnostic method, system and cranes, can realize to lifting
Machine inputs the diagnostic function of multiplying power, to improve safety when crane executes lifting operation.
To achieve the above object, first aspect present invention provides a kind of crane multiplying power diagnostic method, including：
According to the steel wire rope multiplying power of input, crane is calculated separately out using the first computation model and the second computation model
First load parameter and the second load parameter；
Calculate the absolute difference of first load parameter and second load parameter；
Judge whether the absolute difference is more than first threshold, if the absolute difference is not more than first threshold,
The steel wire rope multiplying power of judgement input meets actual steel wire rope multiplying power；If the absolute difference is more than first threshold, judge
The steel wire rope multiplying power of input does not meet actual steel wire rope multiplying power.
Further, first load parameter is the first lift heavy amount M1 of steel wire rope, and second load parameter is steel
Second lift heavy amount M2 of cord, the absolute difference are the absolute value of the difference △ M of the first lift heavy amount M1 and the second lift heavy amount M2.
Further, further include：When the steel wire rope multiplying power of judgement input does not meet actual steel wire rope multiplying power, to lifting
Machine arm carries out action limitation or alarms.
Further, when the steel wire rope multiplying power of judgement input does not meet actual steel wire rope multiplying power, the step alarmed
Suddenly it specifically includes：
Calculate the ratio of tilting moment and stabilizing moment；
Judge whether the ratio is more than second threshold, if the ratio is no more than second threshold, carry out buzzer
Alarm；If the ratio is more than second threshold, it is carried out at the same time display sound-light alarm, alarm lamp control and buzzer warning.
Further, the hoisting system of the crane includes：Hoist motor, reel, steel wire rope and arm head sheave, according to
The step of steel wire rope multiplying power of input, the first lift heavy amount M1 for calculating steel wire rope, specifically includes：
Oil inlet and outlet pressure difference △ P, the hoist motor of the discharge capacity V, the hoist motor that obtain the hoist motor arrive
Transmission ratio i, the reel radius r of the reel and the steel wire rope multiplying power of input these parameters；
According to the parameter of acquisition the first lift heavy amount M1 is calculated using first computation model.
Further, the step of steel wire rope multiplying power according to input, the second lift heavy amount M2 for calculating steel wire rope, has
Body includes：
Obtain the steel wire rope multiplying power inputted, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight, principal arm geometry
Parameter and principal arm location parameter；
According to the parameter of acquisition the second lift heavy amount M2 is calculated using second computation model.
Further, the first lift heavy amount M1 is obtained by the pulling force of pulling force sensor measuring steel wire rope.
To achieve the above object, second aspect of the present invention provides a kind of crane multiplying power diagnostic system, including：
Load parameter computing module is calculated for the steel wire rope multiplying power according to input using the first computation model and second
Model calculates separately out the first load parameter and the second load parameter of crane；
Load parameter comparison module, for judging that the first load parameter and second that load parameter computing module obtains loads
The absolute difference of parameter；
Multiplying power diagnostic module is inputted, for comparing absolute difference that load parameter comparison module obtains and first threshold
Relationship, to judge whether the steel wire rope multiplying power of input meets actual steel wire rope multiplying power.
Further, further include：
Action limitation module, the steel wire rope multiplying power for determining input in input multiplying power diagnostic module do not meet actual
When steel wire rope multiplying power, action limitation is carried out to crane arm；
Alarm module, the steel wire rope multiplying power for determining input in input multiplying power diagnostic module do not meet actual steel wire
It alarms when multiplying power of restricting.
Further, alarm module includes：
Torque ratio calculation module, the ratio for calculating tilting moment and stabilizing moment；
Alarm mode selecting module, the ratio of tilting moment and stabilizing moment for being calculated according to torque ratio calculation module
Value, selects the type of alarm mode.
Further, in load parameter computing module, load parameter comparison module and input multiplying power diagnostic module at least
One limits device or weighing instrument realization by power.
To achieve the above object, third aspect present invention provides a kind of crane, includes the crane of above-described embodiment
Multiplying power diagnostic system.
Based on the above-mentioned technical proposal, crane multiplying power diagnostic method of the invention, can according to the steel wire rope multiplying power of input,
The first load parameter and the second load parameter of crane are calculated separately out using the first computation model and the second computation model, are born
It is the degree of closeness that can reflect the parameter of craning weight of same amount size, and judge the two load parameters to carry parameter, passes through this
Whether the steel wire rope multiplying power that one process can be diagnosed to be input is consistent with actual steel wire rope multiplying power, to be held according to diagnostic result
The corresponding safeguard measure of row, makes the stress of steel wire rope be within zone of reasonableness, to improve safety in utilization and the longevity of steel wire rope
Life, and then safety when guarantee craning weight of same.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structure composition schematic diagram of the hoisting system by motor control in crane；
Fig. 2 is the flow diagram of crane multiplying power diagnostic method one embodiment of the present invention；
Fig. 3 is the flow diagram of another embodiment of crane multiplying power diagnostic method of the present invention；
Fig. 4 be crane multiplying power diagnostic method of the present invention in when input steel wire rope multiplying power do not meet practical steel wire rope multiplying power when
The flow diagram of the one embodiment alarmed；
Fig. 5 is the flow diagram of one specific embodiment of crane multiplying power diagnostic method of the present invention；
Fig. 6 is the functional structure composition schematic diagram of one embodiment of crane multiplying power diagnostic system of the present invention.
Reference sign
1- first pressure sensors；2- second pressure sensors；3- hoist motors；4- reels；5- steel wire ropes；6-
Arm head sheave；7- wirings；8- running blocks；9- suspension hooks；10- weights.
Specific implementation mode
The present invention described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail.So
The various aspects of restriction can be combined with any other one side or many aspects, can not be combined unless explicitly stated otherwise.Especially,
Be considered as preferred or advantageous any feature can be considered as preferred or advantageous feature group with other one or more
It closes.
The terms descriptions merely for convenience such as " first " that occurs in the present invention, " second " have same names to distinguish
Different building blocks, be not offered as successively or primary-slave relation.
The elevator function of crane is realized by running block and steel wire rope cooperation, and practical lift heavy amount and sub-thread
Steel wire rope stress is related to the multiplying power of pulley blocks, and the selection of multiplying power can influence the lifting performance of crane, if steel wire rope multiplying power is selected
Mistake is selected, can cause steel wire rope stress unreasonable when serious and damage.The present invention is in order to make steel wire rope be in rational stress model
Within enclosing, it is intended to diagnose the steel wire rope multiplying power of input.
For this purpose, the present invention provides a kind of crane multiplying power diagnostic methods, and in one embodiment, stream as shown in Figure 2
Journey schematic diagram, includes the following steps：
Step 101, the steel wire rope multiplying power according to input calculate the first lift heavy amount of steel wire rope using the first computation model
M1；The steel wire rope multiplying power of input refers to the steel wire rope multiplying power of operator's selection.
Step 102, the steel wire rope multiplying power according to input calculate the second lift heavy amount of steel wire rope using the second computation model
M2。
Step 103, the absolute difference △ M for calculating the first lift heavy amount M1 and the second lift heavy amount M2.
Step 104 judges whether absolute difference is more than first threshold, if absolute difference is not more than first threshold,
Execute step 105；If absolute difference is more than first threshold, 106 are thened follow the steps.That is, passing through the first lift heavy amount M1
Diagnose whether the steel wire rope multiplying power of input meets actual steel wire rope multiplying power with the degree of closeness of the second lift heavy amount M2.
Step 105, the steel wire rope multiplying power of judgement input meet actual steel wire rope multiplying power.
Step 106, the steel wire rope multiplying power of judgement input do not meet actual steel wire rope multiplying power.
Wherein, step 102 can also execute before step 101 or the two steps are performed simultaneously.
The crane multiplying power diagnostic method of the embodiment, can be diagnosed to be the steel wire rope multiplying power of input and actual steel wire rope
Whether multiplying power is consistent, to take corresponding protection control measure according to diagnostic result, so that the stress of steel wire rope is in rationally
Within the scope of, to improve safety in utilization and the service life of steel wire rope, and then safety when guarantee craning weight of same.By again
Rate diagnosis can be avoided due to operation error and by multiplying power input error as possible, or even artificial selection high magnification is with hoisting
The phenomenon that energy, to greatly reduce the risk and hidden danger that steel wire rope is broken.
The present invention may be used also in addition to that can realize input multiplying power diagnosis by the lift heavy amount of steel wire rope according in a upper embodiment
According to same principle and thinking, to compare the parameters such as hydraulic pressure value and lineoutofservice signal pull value and realize input multiplying power diagnosis, example
Such as：Hydraulic pressure value is the pressure value exported by the hoist motor 3 that pressure sensor measures, and lineoutofservice signal pull value can pass through drawing
Force snesor directly measures.This three classes parameter have in common that be crane load parameter, can be direct or indirect
Ground reflects the lift heavy amount size of crane, and only the lift heavy amount of steel wire rope most can directly provide load.
In another embodiment of the present invention, after step 106, it can also be taken according to diagnostic result and be arranged accordingly
It applies, flow diagram as shown in Figure 3 specifically comprises the following steps：
Step 107, when judgement input steel wire rope multiplying power do not meet actual steel wire rope multiplying power when, to crane arm into
Action is restricted or alarms.If the steel wire rope multiplying power of input does not obviously meet actual steel wire rope multiplying power, and is enough
Danger is caused to the lifting operation of crane, at this moment action limitation can be carried out to arm, fundamentally to ensure crane
Safety.If the steel wire rope multiplying power and the degree that do not meet of actual steel wire rope multiplying power of input make the stress of steel wire rope overload
It in range, can also only alarm, operator is reminded to re-enter correct multiplying power.
In yet another embodiment of the present invention, when the steel wire rope multiplying power of judgement input does not meet actual steel wire rope multiplying power
When, as shown in figure 4, the step of being alarmed in step 107 specifically includes：
Step 201, the ratio for calculating tilting moment and stabilizing moment, alternatively referred to as torque percentage；
Step 202 judges whether the ratio is more than second threshold, if the ratio is no more than second threshold, executes
Step 203；If the ratio is more than second threshold, step 204 is executed.
Step 203 only carries out buzzer warning；
Step 204 is carried out at the same time display sound-light alarm, alarm lamp control and buzzer warning.
Buzzer siren, alarm lamp and human-computer interaction display, the display generally are equipped on actual crane
It is equipped with alarm indication and alarm buzzer, and realizes that the mode of alarm is not unique, can configured and be carried out according to crane
Increase and decrease.It, can be according to being calculated in step 201 when the steel wire rope multiplying power for determining input is with actual steel wire rope multiplying power difference
Ratio divides alarm level, such as second threshold is set as 90%.When multiplying power input exception and ratio is no more than 90%, then holds
Row step 203；It is more than 90% when multiplying power selects exception and ratio, thens follow the steps 204.
Torque percentage refers to tilting moment and the ratio of stabilizing moment, related with practical lift heavy amount.This value is existing
Crane products on generally all have been given, be a general variable, the safety coefficient of practical crane can be represented, ratio is got over
Height, it is more dangerous.90% there is no special meaning, but 90% or less is commonly considered as safety condition, and 90% or more then thinks
Close to dangerous boundary.90% or more can continue to lift heavy, but the usability of steel wire rope may be reached under certain operating modes
Energy boundary, it is therefore preferred that it not allowed to be lifted 100% or even 90% or more, such as can stop due to safety concerns
Lift heavy.
The structure for mostly using hydraulic motor driving hoisting system on current crane products greatly, is based on to be described in detail
The multiplying power diagnostic method of this specific type hoisting system, is first described the structure composition of such hoisting system.Such as
Shown in Fig. 1, rotated by the rotation driving reel 4 of hoist motor (can be fixed displacement motor or variable displacement motor, and discharge capacity can be surveyed),
Reel 4 is by fixed drive ratio or can obtain transmission ratio and drive to steel wire rope 5 in hoisting system, and steel wire rope 5 leads to again
It crosses arm head sheave 6, running block 8 and suspension hook 9 to transmit weight 10 into action edge, pass through between arm head sheave 6, running block 8
The number of share of stock of pulley combination and wiring 7 realizes different multiplying powers.
For the structure shown in FIG. 1 for driving hoisting system using hydraulic motor, the present invention provides a specific implementation
Example illustrates crane multiplying power diagnostic method.As shown in figure 5, in the multiplying power diagnostic method of the present invention, step 101 piece
According to the steel wire rope multiplying power of input, the first lift heavy amount M1 for calculating steel wire rope can specifically include：
Step 101a, the discharge capacity V of hoist motor 3 is obtained, oil inlet and outlet pressure difference △ P, the hoist motor 3 of hoist motor 3 arrive
Transmission ratio i, the reel radius r of reel 4 and the steel wire rope multiplying power of input these parameters；
Step 101b, the first lift heavy amount M1 is calculated using the first computation model according to the parameter of acquisition.
Wherein, in step 101a, the oil inlet and outlet pressure difference △ P of hoist motor 3 pass through the inlet and outlet oil in hoist motor 3
The first pressure sensor 1 and second pressure sensor 2 that road is respectively set obtain；The steel wire rope multiplying power of input can be in operator
After executing input action, device or other controller real-time calling input values are limited by power.Power limit device is having of being equipped on crane
The controller of torque limitation function will subsequently be discussed in detail.
In step 101b, the first lift heavy amount M1 can be limited device or other controllers according to following formula (1) institute by power
The first computation model shown obtains：
M1=△ P*V*i*n/ (g*r) (1)
In formula：△ P- 3 inlet and outlet pressures of hoist motor are poor；The discharge capacity of V- hoist motors 3；I- hoist motors 3 arrive reel
4 transmission ratio；The steel wire rope multiplying power of n- inputs；G- acceleration of gravity；R- reel radius.
By formula (1) it can be seen that being input steel wire rope times according to the first lift heavy amount M1 of the calculation of pressure of hoist motor 3
The increasing function of rate, i.e. multiplying power increase practical lift heavy amount and should increase.
In other embodiments, the first lift heavy amount M1 can also be obtained by the pulling force of pulling force sensor measuring steel wire rope
Go out.First lift heavy amount M1 be the single steel wire rope tension measured be multiplied by input multiplying power obtain.Above with the pressure of hoist motor 3
The method of the first lift heavy amount M1 is calculated also for the pulling force for obtaining single-strand rope.
Further, according to the steel wire rope multiplying power of input, the first lift heavy amount M2 for calculating steel wire rope is specifically wrapped step 102
It includes：
Step 102a, obtain input steel wire rope multiplying power, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight,
Principal arm geometric parameter and principal arm location parameter；
Step 102b, the second lift heavy amount M2 is calculated using the second computation model according to the parameter of acquisition.
In step 102a, amplitude oil cylinder pressure can be obtained by the way that pressure sensor is arranged in the working chamber of oil cylinder,
Its parameter, which is all the intrinsic parameter of crane either arm, can obtain design value or be obtained by measuring.
In step 101b, device or other controls can be limited by power by calculating the second lift heavy amount M2 according to the parameter of acquisition
Device is obtained according to following formula (2), and formula (2) is that the form of calculation of the second computation model embodies：
M2={ (amplitude oil cylinder pressure * amplitude oil cylinders piston area) * (the amplitude oil cylinder support force arm of force)-(principal arm weights
Amount) * [(principal arm center of gravity X-coordinate) * cos (principal arm angle)-(principal arm center of gravity Y coordinate) * sin (principal arm angle)] }/{ [(principal arm is long
Degree) * cos (principal arm angle)+(lifting pulley coordinate) * sin (principal arm angle)]-(steel wire rope of the hoist rope arm of force/input
Multiplying power) } (2)
It can be seen from formula (2) under the particular pose and lift heavy amount of crane, molecular moiety is fixed numbers, point
Female part is the function of multiplying power.Denominator part is formed by two, and the minus sign left side is fixed numbers, is to follow input on the right of minus sign
The subtraction function of steel wire rope multiplying power variation, then denominator part is the increasing function of multiplying power variation under the specific posture of crane, and whole
The subtraction function of a lift heavy amount M2 inputs steel wire rope multiplying power, i.e. multiplying power increase (or artificial selection increases) corresponding practical lift heavy amount and answer
The reduction.
Wherein, step 102a and step 102b can also be executed or this two groups of steps before step 101a and step 101b
Suddenly it is performed simultaneously.
By comparison, formula (1) is the calculation of pressure maximum lift heavy amount by hoist motor 3, and formula (2) is to pass through luffing
The calculation of pressure lift heavy amount of oil cylinder, the inside consider mechanism setting.It is obtained by formula (1) and the corresponding two sets of algorithms of formula (2)
Lift heavy amount one be increasing function, one is subtraction function, and when multiplying power is equal, the lift heavy amount obtained by two kinds of algorithms more connects
Closely, if multiplying power changes, finally obtained result becomes apparent from difference.The present invention is exactly utilized this principle and comes to lifting
The input multiplying power of machine is diagnosed.
In addition, hoisting system is driven in addition to hoist motor 3 may be used, can also be driven using motor, it is right
In this embodiment, the steel wire rope multiplying power of input can be diagnosed by comparing the parameter of frequency converter, will not be unfolded to illustrate here.
Step in the diagnostic method of the various embodiments described above can be executed by controller, can realize signal-obtaining,
Relevant parameter calculates and logic executes, and controller can be with existing controller in optional equipment or utilization crane.It is general next
It says, being designed with Vehicle Controller, power limit device and display, minor crane compared with hoister in large tonnage also must be equipped with effectively limiting
Device, Vehicle Controller and display can not be equipped with.Power limit device is the component for calculating practical lifting performance, can be by some
Sensing data carries out that the parameters such as practical lift heavy amount are calculated, and can also reflect that operator selects operating mode code and steel wire rope times
Rate, power limits device can be according to existing structural behaviour parameter and Sensor monitoring data (such as telescopic arm length detection, amplitude oil cylinder
Pressure detecting, change angle detection etc.) the maximum lift heavy performance of output and real-time lift heavy amount, can also feed back to operator whether mistake
It carries, can be acted according to product demand limitation in certain products.
Preferably, each step in above-mentioned diagnostic method can limit device to execute by power, can make full use of in this way
The upper existing apparatus of crane, entire diagnostic method can introduce corresponding algorithm realization, Bu Huizeng by being limited in power inside device
Add any hardware cost, it can be achieved that property is preferable.
In other embodiments, each step in above-mentioned diagnostic method can also be realized by weighing instrument, weighing instrument tool
There are the function of calculating practical lift heavy amount, principle similar with the power limit device practical lift heavy amount of calculating, it is only necessary to obtain final lift heavy
Amount, is then compared using method provided by the invention, control function is preferably realized by Vehicle Controller.
Secondly, the present invention also provides a kind of crane multiplying power diagnostic systems, in one embodiment, as shown in fig. 6, packet
It includes：Load parameter computing module 11 utilizes the first computation model and the second computation model for the steel wire rope multiplying power according to input
Calculate separately out the first load parameter and the second load parameter of crane；Load parameter comparison module 12, for judging load
The absolute difference for the first load parameter and the second load parameter that parameter calculating module 11 obtains；Input multiplying power diagnostic module
13, the relationship for comparing absolute difference and first threshold that load parameter comparison module 12 obtains, to judge the steel of input
Whether cord multiplying power meets actual steel wire rope multiplying power.Wherein, load parameter computing module 11 can also pass through two independent meters
It calculates module and calculates separately the first load parameter and the second load parameter.
Preferably, in load parameter computing module 11, load parameter comparison module 12 and input multiplying power diagnostic module 13
It is at least one that device or weighing instrument realization are limited by power.
The crane multiplying power diagnostic system of the embodiment of the present invention can utilize two kinds of differences according to the input multiplying power of steel wire rope
The calculated load parameter of model is compared, be diagnosed to be input steel wire rope multiplying power and actual steel wire rope multiplying power whether phase
Symbol, to take corresponding protection control measure according to diagnostic result, so that the stress of steel wire rope is within zone of reasonableness, from
And safety in utilization and the service life of steel wire rope are improved, and then safety when guarantee craning weight of same.
When further, in order to not meet actual steel wire rope multiplying power in the steel wire rope multiplying power for determining input, Neng Gouti
Awake operator carries out action protection, and in another embodiment, crane multiplying power diagnostic system of the invention further includes：Action
Module 14 is limited, the steel wire rope multiplying power for determining input in input multiplying power diagnostic module 13 does not meet actual steel wire rope times
When rate, action limitation is carried out to crane arm；Alarm module 15, for determining input in input multiplying power diagnostic module 13
Steel wire rope multiplying power is alarmed when not meeting actual steel wire rope multiplying power.
In a specific embodiment, alarm module 15 includes：Torque ratio calculation module 151 is tumbled for calculating
The ratio of torque and stabilizing moment；Alarm mode selecting module 152, the power of tumbling for being calculated according to torque ratio calculation module
The ratio of square and stabilizing moment selects the type of alarm mode.
In addition, the present invention also provides a kind of crane, include the crane multiplying power diagnostic system of above-described embodiment.Due to
The multiplying power that the multiplying power diagnostic system of the present invention can input operator diagnoses, it will be able to different in input according to diagnostic result
Remind operator or take restriction when often, can avoid as possible due to operation error and by multiplying power input error,
The phenomenon that even artificial selection high magnification is with hoisting performance, to greatly reduce risk that steel wire rope is broken and hidden
Suffer from, and then improves the safety that crane executes lifting operation.
Detailed Jie has been carried out to a kind of crane multiplying power diagnostic method provided by the present invention, system and crane above
It continues, the correlated characteristic and advantageous effect mentioned in above three theme can be used for reference mutually.Specific implementation used herein
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection domain in.
Claims (12)
1. a kind of crane multiplying power diagnostic method, which is characterized in that including：
According to the steel wire rope multiplying power of input, the first of crane is calculated separately out using the first computation model and the second computation model
Load parameter and the second load parameter；
Calculate the absolute difference of first load parameter and second load parameter；
Wherein, first load parameter is the first lift heavy amount M1 of steel wire rope, and second load parameter is the of steel wire rope
Two lift heavy amount M2, the absolute difference are the absolute value of the difference △ M of the first lift heavy amount M1 and the second lift heavy amount M2；
The computation model of first lift heavy amount M1 is：M1=△ P*V*i*n/ (g*r), in formula：△ P- hoist motor inlet and outlet pressures
Difference；The discharge capacity of V- hoist motors；Transmission ratio of the i- hoist motors to reel；The steel wire rope multiplying power of n- inputs；G- gravity adds
Speed；R- reel radius；
The computation model of second lift heavy amount M2 is：M2={ (amplitude oil cylinder pressure * amplitude oil cylinders piston area) * (amplitude oil cylinder branch
The support force arm of force) [(principal arm center of gravity X-coordinate) * cos (principal arm angle)-(principal arm center of gravity Y coordinate) * sin are (main by-(principal arm weight) *
Arm angle)] }/{ [(principal arm length) * cos (principal arm angle)+(lifting pulley coordinate) * sin (principal arm angle)]-(raising steel wire
The steel wire rope multiplying power of the rope arm of force/input) }；
First lift heavy amount M1 is the increasing function for inputting steel wire rope multiplying power, and the second lift heavy amount M2 is to input steel wire rope multiplying power to subtract letter
Number；
When multiplying power is equal, the first lift heavy amount M1 and the second lift heavy amount M2 are close, when multiplying power changes, the first lift heavy amount M1 and the
Two lift heavy amount M2 have differences, to whether meet actual steel according to the steel wire rope multiplying power of absolute difference judgement input
Cord multiplying power；
Judge whether the absolute difference is more than first threshold, if the absolute difference is not more than first threshold, judges
The steel wire rope multiplying power of input meets actual steel wire rope multiplying power；If the absolute difference is more than first threshold, judge to input
Steel wire rope multiplying power do not meet actual steel wire rope multiplying power.
2. crane multiplying power diagnostic method according to claim 1, which is characterized in that further include：When the steel of judgement input
When cord multiplying power does not meet actual steel wire rope multiplying power, action limitation is carried out to crane arm.
3. crane multiplying power diagnostic method according to claim 1, which is characterized in that further include：When the steel of judgement input
When cord multiplying power does not meet actual steel wire rope multiplying power, alarm.
4. crane multiplying power diagnostic method according to claim 3, which is characterized in that when the steel wire rope multiplying power of judgement input
When not meeting actual steel wire rope multiplying power, the step of being alarmed, specifically includes：
Calculate the ratio of tilting moment and stabilizing moment；
Judge whether the ratio is more than second threshold, if the ratio is no more than second threshold, only carries out buzzer warning；
If the ratio is more than second threshold, it is carried out at the same time display sound-light alarm, alarm lamp control and buzzer warning.
5. crane multiplying power diagnostic method according to claim 1, which is characterized in that the hoisting system packet of the crane
It includes：Hoist motor (3), reel (4), steel wire rope (5) and arm head sheave (6) calculate steel wire according to the steel wire rope multiplying power of input
The step of first lift heavy amount M1 of rope, specifically includes：
Obtain the discharge capacity V of the hoist motor (3), oil inlet and outlet pressure difference △ P, the hoist motor of the hoist motor (3)
(3) transmission ratio i, the reel radius r and the steel wire rope multiplying power of input these parameters of the reel (4) are arrived；
According to the parameter of acquisition the first lift heavy amount M1 is calculated using first computation model.
6. crane multiplying power diagnostic method according to claim 1, which is characterized in that the steel wire rope according to input times
The step of rate, the second lift heavy amount M2 for calculating steel wire rope, specifically includes：
Obtain the steel wire rope multiplying power inputted, amplitude oil cylinder pressure, amplitude oil cylinder geometric parameter, principal arm weight, principal arm geometric parameter
With principal arm location parameter；
According to the parameter of acquisition the second lift heavy amount M2 is calculated using second computation model.
7. crane multiplying power diagnostic method according to claim 1, which is characterized in that the first lift heavy amount M1 passes through survey
The single steel wire rope tension obtained is multiplied by input steel wire rope multiplying power and obtains.
8. a kind of crane multiplying power diagnostic system requiring 1~7 any crane multiplying power diagnostic method for perform claim,
It is characterised in that it includes：
Load parameter computing module (11) is calculated for the steel wire rope multiplying power according to input using the first computation model and second
Model calculates separately out the first load parameter and the second load parameter of crane；
Load parameter comparison module (12), the first load ginseng obtained for calculating the load parameter computing module (11)
The absolute difference of number and second load parameter；With
Multiplying power diagnostic module (13) is inputted, the absolute difference obtained for the load parameter comparison module (12)
With the relationship of first threshold, with judge input steel wire rope multiplying power whether meet actual steel wire rope multiplying power.
9. crane multiplying power diagnostic system according to claim 8, which is characterized in that further include：
Action limitation module (14), the steel wire rope multiplying power for determining input in the input multiplying power diagnostic module (13) are not inconsistent
When closing actual steel wire rope multiplying power, action limitation is carried out to crane arm；
Alarm module (15), the steel wire rope multiplying power for determining input in the input multiplying power diagnostic module (13) do not meet reality
It alarms when the steel wire rope multiplying power on border.
10. crane multiplying power diagnostic system according to claim 9, which is characterized in that the alarm module (15) includes：
Torque ratio calculation module (151), the ratio for calculating tilting moment and stabilizing moment；
Alarm mode selecting module (152), tilting moment and stability force for being calculated according to the torque ratio calculation module
The ratio of square selects the type of alarm mode.
11. crane multiplying power diagnostic system according to claim 8, which is characterized in that the load parameter computing module
(11), the load parameter comparison module (12) and input multiplying power diagnostic module at least one of (13) limit device or again by power
Instrument is realized.
12. a kind of crane, which is characterized in that including any crane multiplying power diagnostic system of claim 8~11.
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| US20220009753A1 (en) * | 2018-10-22 | 2022-01-13 | Tadano Ltd. | Crane device, method for determining number of falls, and computer readable non-transitory recording medium |
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