CN108423551B - A kind of crane eliminates accumulated error system and eliminates accumulated error method - Google Patents
A kind of crane eliminates accumulated error system and eliminates accumulated error method Download PDFInfo
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- CN108423551B CN108423551B CN201711237483.7A CN201711237483A CN108423551B CN 108423551 B CN108423551 B CN 108423551B CN 201711237483 A CN201711237483 A CN 201711237483A CN 108423551 B CN108423551 B CN 108423551B
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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
- B66C13/20—Control systems or devices for non-electric drives
-
- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of crane elimination accumulated error system and method, including PLC automatic control system, emergency manual system, the changing-breadth system for driving span winch, main hoisting system, secondary main hoisting system, rotary system, main motor, main pump and hydraulic oil container, the PLC automatic control system passes through electric proportional pressure-reducing valve group and controls hydraulic control proportional multi-way valve；The emergency manual system includes the emergency pump set being connected with hydraulic tank and hydraulic handle, and emergency pump set controls changing-breadth system, main hoisting system, secondary main hoisting system and rotary system by hydraulic handle；Electric control handle controls electric proportional pressure-reducing valve group by PLC automatic control system, and the PLC automatic control system passes through the revolving speed that encoder detects main hoister winch, secondary main hoister winch, span winch and swing mechanism respectively.
Description
Technical field
Accumulated error system, which is eliminated, the present invention relates to the crane of crane, especially shipping work and eliminates accumulation misses
Difference method.
Background technique
Currently, being typically mounted on the spud leg of various ocean platform around stake formula isolated pillar crane, platform is occupied because it has
Space is small, compact-sized, crane capacity is big, lifts by crane the advantages that radius is remote and is widely used.
It mainly include pedestal, revolving platform, derricking gear and hydraulic system around stake formula isolated pillar crane, revolving platform can turn
Be arranged dynamicly on the base, derricking gear is then arranged on revolving platform, the middle part of the middle part of pedestal and revolving platform all there are
Enough spaces enable spud leg to extend there through, small-sized in stake formula isolated pillar crane, between revolving platform and pedestal usually
It is connected using pivoting support, large-scale in stake formula isolated pillar crane, is then connected by idler wheel between revolving platform and pedestal,
One revolving support ring is specifically set on the base, multiple positive roll wheel assemblies and multiple anti-roller groups are set on revolving platform
Part, revolving support ring is clipped between the idler wheel of multiple positive roll wheel assemblies and the idler wheel of multiple anti-roll wheel assemblies, wherein positive roller group
Part is located at turn around above support ring, and anti-roll wheel assembly is located at turn around below support ring, in revolving platform rotation, positive roll wheel assembly
Idler wheel and the idler wheel of anti-roll wheel assembly rolled on the surface of revolving support ring.Existing crane hydraulic system is not same
Step system, winch is easy to appear asynchronous after longtime running, is influenced crane and is stablized.
Summary of the invention
Accumulated error system is eliminated technical problem to be solved by the invention is to provide a kind of 800t and eliminates accumulated error
Method solves the problems, such as of the existing technology.
In order to solve the above technical problems, the technical scheme is that a kind of crane eliminate accumulated error system, including
PLC automatic control system, emergency manual system, the changing-breadth system for driving span winch, for driving main hoister winch
Main hoisting system, the main hoisting system of pair, the rotary system for driving swing mechanism, main electricity for driving secondary main hoister winch
Machine, main pump and hydraulic oil container, the main motor drive main pump, and the main pump is connected with hydraulic tank, the main pump output end shape
At main oil feed line by hydraulic control proportional multi-way valve respectively to changing-breadth system, main hoisting system, secondary main hoisting system and revolution
System fuel feeding, the PLC automatic control system pass through electric proportional pressure-reducing valve group and control hydraulic control proportional multi-way valve；The emergency hand
Dynamic system includes the emergency pump set being connected with hydraulic tank and hydraulic handle, and emergency pump set controls luffing system by hydraulic handle
System, main hoisting system, secondary main hoisting system and rotary system；
Electric control handle controls electric proportional pressure-reducing valve group, the PLC automatic control system difference by PLC automatic control system
The revolving speed of main hoister winch, secondary main hoister winch, span winch and swing mechanism is detected by encoder；
The rotary system includes first fixed displacement motor of two drive revolving platforms, the first electric proportional pressure-reducing valve and revolution
Multi-way valve, the input for turning round multi-way valve terminate main oil feed line, turn round the output end of multi-way valve by left-hand fuel feed pump respectively with
Two the first fixed displacement motor connections, the output end for turning round multi-way valve are connected with two the first fixed displacement motors respectively by dextrad fuel feed pump
It connects, the described first electric proportional pressure-reducing valve turns round multi-way valves to left-hand fuel feed pump or dextrad fuel feed pump by two the first shuttle valve controls
Fuel feeding is equipped with the balanced valve of balance oil pressure between the left-hand fuel feed pump and dextrad fuel feed pump；First fixed displacement motor is furnished with
First fixed displacement motor braking mechanism, the public oil circuit that brakes are set on the public oil circuit that brakes to the first fixed displacement motor braking mechanism fuel feeding
There are speed governing valve and the first pilot operated directional control valve, the second shuttle valve is equipped between the left-hand oil feed line and dextrad oil feed line, it is described
It is connected between second shuttle valve and the first pilot operated directional control valve；
The main hoisting system includes the first variable displacement motor for driving main hoister winch, and main oil feed line is to the first variable horse
Up to fuel feeding, the first variable displacement motor is connected with hydraulic tank by main oil return line；First variable displacement motor is furnished with the first variable
The oil inlet end of motor brake mechanism, the first variable displacement motor controls the second pilot operated directional control valve by third shuttle valve, and brake public oil circuit
By the second pilot operated directional control valve and the first sequence valve to the first variable displacement motor braking mechanism fuel feeding；Equipped with the first check valve and first
Sequence valve is in parallel, and the oil return of the first variable displacement motor passes through the first check valve, the first normally opened ball valve and the first electromagnetic valve oil return；
The main hoisting system of pair include the second variable displacement motor for driving secondary main hoister winch, the second electric proportional pressure-reducing valve and
Auxiliary hook multi-way valve, the input of auxiliary hook multi-way valve terminate main oil feed line, and the output end of auxiliary hook multi-way valve passes through raising fuel feed pump point
It not being connect with the second variable displacement motor, the output end of auxiliary hook multi-way valve is connect with the second variable displacement motor respectively by declining fuel feed pump,
Described second electric proportional pressure-reducing valve controls auxiliary hook multi-way valve by two the 4th shuttle valves and supplies to raising fuel feed pump or decline fuel feed pump
Oil；Second variable displacement motor is furnished with the second variable displacement motor braking mechanism, and the oil inlet end of the second variable displacement motor passes through the 5th shuttle valve
Third pilot operated directional control valve is controlled, the public oil circuit that brakes is stopped by third pilot operated directional control valve and the second sequence valve to the second variable displacement motor
Mechanism of car fuel feeding；In parallel with the second sequence valve equipped with second one-way valve, the oil return of the second variable displacement motor passes through second one-way valve, the
Two normally opened ball valves and second solenoid valve oil return；
The changing-breadth system includes the second fixed displacement motor for driving span winch, and main oil feed line passes through the second fixed displacement motor
Oil feed line to the second fixed displacement motor fuel feeding, the oil feed line of the second fixed displacement motor is equipped with balanced valve；Described second is quantitative
Motor is furnished with fixed displacement motor braking mechanism, and the oil inlet end of the second fixed displacement motor controls the 4th pilot operated directional control valve by the 6th shuttle valve,
The public oil circuit that brakes passes through the 4th pilot operated directional control valve and third sequence valve to the second fixed displacement motor braking mechanism fuel feeding；Equipped with third
Check valve is in parallel with third sequence valve, and the oil return of the second fixed displacement motor passes through third check valve, the normally opened ball valve of third and third electricity
Magnet valve oil return.
As an improvement, setting altogether on revolving platform, there are two main hoister winchs, the respectively main hoister winch in left side and right side
Main hoister winch；Span winch, respectively left side span winch and right side span winch there are two being set altogether on revolving platform.
As an improvement, main hook multi-way valve is controlled by the 7th shuttle valve between the hydraulic handle of main hook and electric proportional pressure-reducing valve,
In turn to the first variable displacement motor fuel feeding；It is more by the 8th shuttle valve control auxiliary hook between the hydraulic handle of auxiliary hook and electric proportional pressure-reducing valve
Road valve, and then to the second variable displacement motor fuel feeding；It is controlled between the hydraulic handle of luffing and electric proportional pressure-reducing valve by the 9th shuttle valve
Luffing multi-way valve, and then control the second fixed displacement motor；Pass through the tenth shuttle valve between the hydraulic handle of revolution and electric proportional pressure-reducing valve
Control revolution multi-way valve, and then control the first fixed displacement motor.
As an improvement, the main hoister winch of pair includes four the second variable displacement motors, the oil inlet of four the second variable displacement motors
Pipe is interconnected by the first cylinder manifold, and the oil return pipe of four the second variable displacement motors is interconnected by the second cylinder manifold.
As an improvement, left side span winch and right side span winch include two the second fixed displacement motors, left side luffing is twisted
The oil inlet pipe of two the second fixed displacement motors of vehicle is connected to by third cylinder manifold, two the second fixed displacement motors of left side span winch
Oil return pipe pass through the 4th cylinder manifold be connected to；The oil inlet pipe of two the second fixed displacement motors of right side span winch passes through the 5th confluence
The oil return pipe of plate connection, two the second fixed displacement motors of right side span winch is connected to by the 6th cylinder manifold；Third cylinder manifold with
It is equipped with the first logical valve between 5th cylinder manifold, the second logical valve is equipped between the 4th cylinder manifold and the 6th cylinder manifold.
As an improvement, the frequency-changing control system further includes emergency halt system and safety system, emergency stops system
The proportional current that system monitoring main motor and control PLC automatic control system export electric proportional pressure-reducing valve, PLC automatic control system
Monitor liquid level, temperature and the filter of hydraulic oil container.
The present invention eliminates accumulated error systems approach: PLC automatic control system is by obtaining main hoister winch, secondary main raising
After the revolving speed of winch, span winch and swing mechanism, main raising is corrected by electric proportional pressure-reducing valve and hydraulic control proportional multi-way valve and is twisted
Vehicle, secondary main hoister winch, span winch and swing mechanism revolving speed.
The beneficial effect of the invention compared with the existing technology is:
1, the present invention can both have been realized by PLC automatic control system main hoister winch, secondary main hoister winch, span winch and
The automatic control of swing mechanism can also switch to the MANUAL CONTROL mode of hydraulic handle, and the safety of hydraulic system is higher, can
It is more preferable by property；
2, main hoister winch, secondary main hoister winch, span winch and swing mechanism be by independent HYDRAULIC CONTROL SYSTEM,
Independence is good, high reliablity；
3, the braking mechanism being arranged may insure the safe operation of crane；
4, PLC automatic control system pass through respectively encoder detect main hoister winch, secondary main hoister winch, span winch and
The revolving speed of swing mechanism corrects main hoister winch, secondary main hoister winch, change by electric proportional pressure-reducing valve and hydraulic control proportional multi-way valve
The revolving speed of width winch and swing mechanism；
5, it is connected between left side span winch and the second fixed displacement motor of right side span winch by cylinder manifold, the remittance of two sides
Logical valve is equipped between flowing plate, the oil pressure of the adjustable two sides span winch of logical valve is consistent, when making crane amplitude variation more
Steadily.
Detailed description of the invention
Fig. 1 is present system frame diagram.
Fig. 2 is present system piping diagram.
Fig. 3 is rotary system piping diagram.
Fig. 4 is main hoisting system piping diagram.
Fig. 5 be main hoister winch automatically with manual switching piping diagram.
Fig. 6 is secondary main hoisting system piping diagram.
Fig. 7 is changing-breadth system piping diagram.
Fig. 8 be span winch automatically with manual switching piping diagram.
Fig. 9 is crane electric control system line map of the present invention.
Specific embodiment
A kind of crane is used for ship comprising mechanical part and control section.The mechanical part is inserted on main deck
Spud leg, be located on main deck and cover swing mechanism on spud leg, is the A-frame being located on swing mechanism, hinged with A-frame
Cantilever crane, be arranged in below cantilever crane top main suspension hook, secondary suspension hook, luffing suspension hook, the main hoister winch for driving main suspension hook,
Span winch for driving the main hoister winch of pair of secondary suspension hook and for driving luffing suspension hook.The swing mechanism includes revolution
Supporting arrangement and the revolving platform being located on rotary supporting device；Rotary supporting device and revolving platform cover on spud leg, no
It is contacted with spud leg, therefore the two is not interfere with each other mutually, makes revolving platform and spud leg perfect combination, save the space for occupying clamping plate.Institute
The top for stating A-frame is equipped with A-frame pulley blocks, and the top of the cantilever crane is equipped with cantilever crane pulley blocks；On the main hoister winch
It is wound with main hoist rope, main hoist rope is connect after passing through A-frame pulley blocks and cantilever crane pulley blocks with main suspension hook；It is described
Secondary main hoist rope is wound on secondary main hoister winch, after secondary main hoist rope passes through A-frame pulley blocks and cantilever crane pulley blocks
It is connect with secondary suspension hook；Variable-amplitude steel wire rope is wound on the span winch, variable-amplitude steel wire rope passes through A-frame pulley blocks and cantilever crane is sliding
It is connect after wheel group with luffing suspension hook.Set there are two main hoister winch altogether on revolving platform, respectively the main hoister winch in left side and
The main hoister winch in right side.It is set altogether on revolving platform there are two span winch, respectively left side span winch and right side luffing twists
Vehicle.
The control section include eliminate accumulated error system comprising PLC automatic control system, emergency manual system,
For driving the changing-breadth system of span winch, the main hoisting system for driving main hoister winch, for driving secondary main raising to twist
The main hoisting system of pair, the rotary system for driving swing mechanism, main motor, main pump and the hydraulic oil container of vehicle.The present embodiment one
Be equipped with four main motors and eight main pumps altogether, each main motor drives two main pumps to form a driving, the main pump with it is hydraulic
Fuel tank connection, to hydraulic oil container oil suction or draining, the main oil feed line that main pump output end is formed passes through hydraulic control proportional multi-way valve point
Not to changing-breadth system, main hoisting system, secondary main hoisting system and rotary system fuel feeding.Electric control handle is automatically controlled by PLC
System controls electric proportional pressure-reducing valve group, and then controls hydraulic control proportional multi-way valve, and realization automatically controls main hoister winch, secondary main raising twists
Vehicle, span winch and swing mechanism.
As shown in figure 3, the rotary system includes the first fixed displacement motor S01 of two drive revolving platforms, the first electric ratio
Example pressure reducing valve H18/6 and revolution multi-way valve H17/9, the input of revolution multi-way valve H17/9 terminate main oil feed line, turn round multi-way valve
The output end of H17/9 is connect with two the first fixed displacement motor S01 respectively by left-hand fuel feed pump, and revolution multi-way valve H17/9's is defeated
Outlet is connect with two the first fixed displacement motor S01 respectively by dextrad fuel feed pump, and the first electricity proportional pressure-reducing valve H18/6 passes through
Two first shuttle valve H10/26, H10/27 controls turn round multi-way valve H17/9 to left-hand fuel feed pump or dextrad fuel feed pump fuel feeding, institute
State the balanced valve S02 that balance oil pressure is equipped between left-hand fuel feed pump and dextrad fuel feed pump.The first fixed displacement motor S01 is equipped with the
A certain amount of motor brake mechanism, to the first fixed displacement motor braking mechanism fuel feeding, the public oil circuit that brakes is equipped with the public oil circuit that brakes
Speed governing valve H22 and the first pilot operated directional control valve W04/6 is equipped with the second shuttle between the left-hand oil feed line and dextrad oil feed line
Valve is connected between second shuttle valve and the first pilot operated directional control valve W04/6.The working method of swing mechanism: when needs drive back
When rotation mechanism turns left or turns right, using the electric proportional pressure-reducing valve H18/6 of priority acccess control pipeline PCP and PCT control first, make its to
First shuttle valve H10/26 or H10/27 fuel feeding, and then change the valve position situation of revolution multi-way valve H17/9, it is supplied eventually by left-hand
Oil pipe line or dextrad oil feed line carry out fuel feeding, when left-hand oil feed line fuel feeding, indicate that the first fixed displacement motor turns left, dextrad fuel feeding
When pipeline fuel feeding, indicate that the first fixed displacement motor is turned right.The first pilot operated directional control valve W04/6 is driven to open by the second shuttle valve, brake
Public pipeline BC1 gives the first fixed displacement motor braking mechanism fuel feeding, and the first quantitative horse is left in the starting of the first fixed displacement motor braking mechanism
Up to S01；Furthermore it is possible to change the speed of the first fixed displacement motor S01 by speed governing valve H22 control brake oil pressure.When first quantitative
When motor draining, using the effect of balanced valve, slow down the speed of draining, to generate the effect of buffering to swing mechanism.
As shown in figure 4, the main hoister winch fuel feeding of the main hoisting system to the left and right simultaneously, due to the fuel feed pump of two sides
Road is completely identical, and the present embodiment is illustrated with the hydraulic system of the main hoister winch in left side comprising four drives are led
First variable displacement motor W01/1~W01/4 of winch is risen, main oil feed line is become to first respectively by balanced valve W02/1~W02/4
Motor W01/1~W01/4 fuel feeding is measured, first variable displacement motor W01/1~W01/4 is connected with hydraulic tank by main oil return line.
The first variable displacement motor W01/1~W01/4 is furnished with the first variable displacement motor braking mechanism, first variable displacement motor W01/1~W01/
4 oil inlet end controls the second pilot operated directional control valve W04/1 by third shuttle valve H10/13, and the public oil circuit that brakes is changed by the second hydraulic control
To valve W04/1 and the first sequence valve W05/1 to the first variable displacement motor braking mechanism fuel feeding；Equipped with the first check valve W06/1 and
One sequence valve W05/1 is in parallel, and the oil return of first variable displacement motor W01/1~W01/4 passes through the first check valve W06/1, first normally opened
Ball valve H23/1 and the first solenoid valve W03/1 oil return.When normal fuel injection, third shuttle valve H10/13 obtains oil pressure from oil feed line, leads to
The second pilot operated directional control valve W04/1, the first sequence valve W05/1 are crossed to the first variable displacement motor braking mechanism fuel feeding, make its start and from
Open the first variable displacement motor；When the first variable displacement motor pressure release, the hydraulic oil of the first variable displacement motor braking mechanism is by the first sequence
Valve W05/1 or the first check valve W06/1 is finally returned by the first normally opened ball valve H23/1 and the first solenoid valve W03/1
Oil, the first variable displacement motor braking mechanism brakes the first variable displacement motor at this time.If flowing into the oil mass of the first variable displacement motor
Few, balanced valve opening becomes smaller, and can generate back pressure.
As shown in fig. 6, the main hoisting system of pair includes four the second variable displacement motor W01/9 for driving secondary main hoister winch
~W01/12, the second electricity proportional pressure-reducing valve H18/3 and two auxiliary hooks multi-way valve H17/5, H17/6, auxiliary hook multi-way valve H17/5 correspondence
Second variable displacement motor W01/9 and W01/10, the second variable displacement motor W01/11 and W01/12 of auxiliary hook multi-way valve H17/6 correspondence.Auxiliary hook
The input of multi-way valve H17/5, H17/6 terminate main oil feed line, and the output end of auxiliary hook multi-way valve H17/5, H17/6 are supplied by raising
Oil pipe is connect with second variable displacement motor W01/9~W01/12 respectively, and raising fuel feed pump is equipped with balanced valve A02/1~A02/4, often
The output end of corresponding second variable displacement motor of a balanced valve, auxiliary hook multi-way valve H17/5, H17/6 passes through decline fuel feed pump difference
It is connect with second variable displacement motor W01/9~W01/12.The second electricity proportional pressure-reducing valve H18/3 passes through two the 4th shuttle valve H10/
15, H10/16 controls auxiliary hook multi-way valve to raising fuel feed pump or decline fuel feed pump fuel feeding.The second variable horse W01/9~W01/
12 up to being furnished with the second variable displacement motor braking mechanism, and the oil inlet end of second variable displacement motor W01/9~W01/12 passes through the 5th shuttle valve
H10/18 controls third pilot operated directional control valve W04/3, and the public oil circuit that brakes passes through the sequence of third pilot operated directional control valve W04/3 and second
Valve W05/3 is to the second variable displacement motor braking mechanism fuel feeding；It is in parallel with the second sequence valve W05/3 equipped with second one-way valve W06/3, the
The oil return of two variable displacement motors passes through second one-way valve W06/3, the second normally opened ball valve H23/3 and second solenoid valve W03/3 oil return.
Two second variable displacement motors in left side are connected to the oil inlet pipe of two second variable displacement motors on right side by the 7th cylinder manifold, left side
Two the second variable displacement motors be connected to the oil return pipe of two second variable displacement motors on right side by the 8th cylinder manifold.Normal fuel injection
When, the 5th shuttle valve H10/18 obtains oil pressure from oil feed line, is given by third pilot operated directional control valve W04/3, the second sequence valve W05/3
Second variable displacement motor braking mechanism fuel feeding, starts it and leaves the second variable displacement motor；When the second variable displacement motor pressure release, second
The hydraulic oil of variable displacement motor braking mechanism passes through the second sequence valve W05/3 or second one-way valve W06/3, finally normally opened by second
Ball valve H23/3 and second solenoid valve W03/3 carries out oil return, and the second variable displacement motor braking mechanism carries out the second variable displacement motor at this time
Braking.If the oil mass for flowing into the second variable displacement motor is few, balanced valve opening becomes smaller, and can generate back pressure.
Span winch, respectively left side span winch and right side span winch there are two being set altogether on revolving platform.Such as Fig. 7
Shown, changing-breadth system includes the second fixed displacement motor B01/1~B01/4, the second fixed displacement motor B01/1 of four drive span winches
The corresponding left side span winch of~B01/2, the corresponding right side span winch of second fixed displacement motor B01/3~B01/4, the change of the left and right sides
The hydraulic system of width winch is identical, and the present embodiment is illustrated with the hydraulic system of wherein side span winch: main oil feed line
By the oil feed line of the second fixed displacement motor to second fixed displacement motor B01/1~B01/2 fuel feeding, the second fixed displacement motor B01/1~
The oil feed line of B01/2 is equipped with balanced valve W02/9, W02/10；The second fixed displacement motor B01/1~B01/2 is furnished with second
The oil inlet end of fixed displacement motor braking mechanism, second fixed displacement motor B01/1~B01/2 controls the 4th liquid by the 6th shuttle valve H10/24
Reversal valve W04/4 is controlled, the public oil circuit that brakes is quantitative to second by the 4th pilot operated directional control valve W04/4 and third sequence valve W05/4
Motor brake mechanism fuel feeding；It is in parallel with third sequence valve W05/4 equipped with third check valve W06/4, the second fixed displacement motor B01/1
The oil return of~B01/2 passes through third check valve W06/4, the normally opened ball valve H23/3 of third and third solenoid valve W03/4 oil return.Left side
The oil inlet pipe of two the second fixed displacement motors of span winch is connected to by third cylinder manifold FL2/7, and two of left side span winch
The oil return pipe of second fixed displacement motor is connected to by the 4th cylinder manifold FL2/8；Two the second fixed displacement motors of right side span winch
Oil inlet pipe is connected to by the 5th cylinder manifold FL2/9, and the oil return pipe of two the second fixed displacement motors of right side span winch passes through the 6th
Cylinder manifold FL2/10 connection；Between third cylinder manifold FL2/7 and the 5th cylinder manifold FL2/9 be equipped with the first logical valve B03/2, the 4th
The second logical valve B03/1 is equipped between cylinder manifold FL2/8 and the 6th cylinder manifold FL2/10.Left side span winch and right side luffing
It is connected between second fixed displacement motor of winch by cylinder manifold, logical valve is equipped between the cylinder manifold of two sides, logical valve can be certainly
The oil pressure of dynamic adjustment two sides span winch is consistent, more stable when making crane amplitude variation；If left and right sides span winch can not
When autobalance, turn off logical valve, forces both sides to balance using hydraulic handle.When the second fixed displacement motor pressure release, second is quantitative
The hydraulic oil of motor brake mechanism passes through third sequence valve W05/4 or third check valve W06/4, finally passes through the normally opened ball valve of third
H23/3 and third solenoid valve W03/4 carries out oil return, and the second fixed displacement motor braking mechanism is to the second fixed displacement motor system at this time
It is dynamic.
As shown in Figure 1, it is equipped with encoder on main hoister winch, secondary main hoister winch, span winch and swing mechanism, institute
It states PLC automatic control system and passes through encoder respectively and detect main hoister winch, secondary main hoister winch, span winch and swing mechanism
Revolving speed, PLC automatic control system is by obtaining turning for main hoister winch, secondary main hoister winch, span winch and swing mechanism
After speed, main hoister winch, secondary main hoister winch, span winch are corrected by electric proportional pressure-reducing valve and hydraulic control proportional multi-way valve and returned
The revolving speed of rotation mechanism.Under normal condition, electric control handle controls electric proportional pressure-reducing valve group, realization pair by PLC automatic control system
The whole control of crane.
The emergency manual system includes the emergency pump set being connected with hydraulic tank and hydraulic handle, and emergency pump set passes through liquid
Press handle control changing-breadth system, main hoisting system, secondary main hoisting system and rotary system.As shown in Fig. 5,8, main hook it is hydraulic
Main hook multi-way valve is controlled by the 7th shuttle valve between handle and electric proportional pressure-reducing valve, and then to the first variable displacement motor fuel feeding；Auxiliary hook
Hydraulic handle and electric proportional pressure-reducing valve between auxiliary hook multi-way valve controlled by the 8th shuttle valve, and then supplied to the second variable displacement motor
Oil；Luffing multi-way valve is controlled by the 9th shuttle valve between the hydraulic handle of luffing and electric proportional pressure-reducing valve, and then it is fixed to control second
Measure motor；By the tenth shuttle valve control revolution multi-way valve between the hydraulic handle of revolution and electric proportional pressure-reducing valve, and then control the
A certain amount of motor.
As shown in Figure 1, the hydraulic system further includes emergency halt system and safety system, emergency halt system prison
The proportional current that control main motor and control PLC automatic control system export electric proportional pressure-reducing valve, PLC automatic control system prison
Control liquid level, temperature and the filter of hydraulic oil container.After emergency halt system and safety system detect exception, truncation
PLC automatic control system gives the signal of electric proportional pressure-reducing valve group, can control hydraulic control proportional multi-way valve by hydraulic handle at this time
Crane is manipulated.
As shown in Figure 1, cooling system is connected with hydraulic oil container, the oil return of the draining, multi-way valve of main pump, oil motor draining
Oil return with control valve has heat, and cooling system can be cooling by the hot oil of hydraulic oil container, guarantees that hydraulic hydraulic system is long
The stability of phase work.
The crane further includes electric-control system, as shown in figure 9, the electric-control system includes control cabinet, left-handed opening case face
Plate, right switch box panel, driver's cabin transition junction box, hydraulic oil container junction box, boom transition junction box and moment instrument mainframe box；
Control cabinet is connect with left-handed opening case panel, right switch box panel, moment instrument mainframe box and driver's cabin transition junction box respectively, is driven
Transition junction box in room connect with hydraulic oil container junction box, and hydraulic oil container junction box connect with boom transition junction box；Control cabinet to
PLC display screen drives room illumination lamp, exhaust fan, air conditioner, the power supply of driver's cabin socket；Left-handed opening case panel controls front window rain
Curette, roof window wiper and water jet；Moment instrument mainframe box is powered to sensor；Control cabinet by driver's cabin transition junction box to
Encoder, limit switch power supply；Hydraulic oil container junction box control, pressure difference switch, electric proportional pressure-reducing valve, limit switch and electromagnetism
Valve；Headlamp on the used ballast control boom of boom transition junction box.
Claims (7)
1. a kind of crane eliminates accumulated error system, it is characterised in that: including PLC automatic control system, emergency manual system,
For driving the changing-breadth system of span winch, the main hoisting system for driving main hoister winch, for driving secondary main raising to twist
The main hoisting system of pair, the rotary system for driving swing mechanism, main motor, main pump and the hydraulic oil container of vehicle, the main motor
Main pump is driven, the main pump is connected with hydraulic tank, and the main oil feed line that the main pump output end is formed is more by hydraulic control ratio
Road valve is respectively to changing-breadth system, main hoisting system, secondary main hoisting system and rotary system fuel feeding, the PLC automatic control system
Hydraulic control proportional multi-way valve is controlled by electric proportional pressure-reducing valve group；The emergency manual system includes the emergency being connected with hydraulic tank
Pump group and hydraulic handle, emergency pump set control changing-breadth system, main hoisting system, secondary main hoisting system and revolution by hydraulic handle
System；
Electric control handle controls electric proportional pressure-reducing valve group by PLC automatic control system, and the PLC automatic control system passes through respectively
Encoder detects the revolving speed of main hoister winch, secondary main hoister winch, span winch and swing mechanism；
The rotary system includes first fixed displacement motor of two drive revolving platforms, the first electric proportional pressure-reducing valve and revolution multichannel
Valve, the input for turning round multi-way valve terminate main oil feed line, turn round the output end of multi-way valve by left-hand fuel feed pump respectively with two
The connection of first fixed displacement motor, the output end for turning round multi-way valve are connect with two the first fixed displacement motors respectively by dextrad fuel feed pump,
Described first electric proportional pressure-reducing valve is supplied by two the first shuttle valve control revolution multi-way valves to left-hand fuel feed pump or dextrad fuel feed pump
Oil is equipped with the balanced valve of balance oil pressure between the left-hand fuel feed pump and dextrad fuel feed pump；First fixed displacement motor is equipped with the
A certain amount of motor brake mechanism, to the first fixed displacement motor braking mechanism fuel feeding, the public oil circuit that brakes is equipped with the public oil circuit that brakes
Speed governing valve and the first pilot operated directional control valve, are equipped with the second shuttle valve between the left-hand oil feed line and dextrad oil feed line, and described the
It is connected between two shuttle valves and the first pilot operated directional control valve；
The main hoisting system includes the first variable displacement motor for driving main hoister winch, and main oil feed line is supplied to the first variable displacement motor
Oil, the first variable displacement motor are connected with hydraulic tank by main oil return line；First variable displacement motor is furnished with the first variable displacement motor
The oil inlet end of braking mechanism, the first variable displacement motor controls the second pilot operated directional control valve by third shuttle valve, and the public oil circuit that brakes passes through
Second pilot operated directional control valve and the first sequence valve are to the first variable displacement motor braking mechanism fuel feeding；Equipped with the first check valve and the first sequence
Valve is in parallel, and the oil return of the first variable displacement motor passes through the first check valve, the first normally opened ball valve and the first electromagnetic valve oil return；
The main hoisting system of pair includes the second variable displacement motor for driving secondary main hoister winch, the second electric proportional pressure-reducing valve and auxiliary hook
Multi-way valve, the input of auxiliary hook multi-way valve terminate main oil feed line, the output end of auxiliary hook multi-way valve by raising fuel feed pump respectively with
The connection of second variable displacement motor, the output end of auxiliary hook multi-way valve is connect with the second variable displacement motor respectively by declining fuel feed pump, described
Second electric proportional pressure-reducing valve controls auxiliary hook multi-way valve to raising fuel feed pump or decline fuel feed pump fuel feeding by two the 4th shuttle valves；Institute
The second variable displacement motor is stated equipped with the second variable displacement motor braking mechanism, the oil inlet end of the second variable displacement motor passes through the 5th shuttle valve control the
Three pilot operated directional control valves, the public oil circuit that brakes pass through third pilot operated directional control valve and the second sequence valve to the second variable displacement motor braking mechanism
Fuel feeding；In parallel with the second sequence valve equipped with second one-way valve, the oil return of the second variable displacement motor passes through second one-way valve, second normally opened
Ball valve and second solenoid valve oil return；
The changing-breadth system includes the second fixed displacement motor for driving span winch, and main oil feed line passes through the confession of the second fixed displacement motor
The oil feed line of oil pipe road direction the second fixed displacement motor fuel feeding, the second fixed displacement motor is equipped with balanced valve；Second fixed displacement motor
Equipped with fixed displacement motor braking mechanism, the oil inlet end of the second fixed displacement motor controls the 4th pilot operated directional control valve, brake by the 6th shuttle valve
Public oil circuit passes through the 4th pilot operated directional control valve and third sequence valve to the second fixed displacement motor braking mechanism fuel feeding；It is unidirectional equipped with third
Valve is in parallel with third sequence valve, and the oil return of the second fixed displacement motor passes through third check valve, the normally opened ball valve of third and third solenoid valve
Oil return.
2. a kind of crane according to claim 1 eliminates accumulated error system, it is characterised in that: on revolving platform altogether
Main hoister winch there are two if, the respectively main hoister winch in left side and the main hoister winch in right side；Two are equipped on revolving platform altogether
A span winch, respectively left side span winch and right side span winch.
3. a kind of crane according to claim 1 eliminates accumulated error system, it is characterised in that: the hydraulic handle of main hook
Main hook multi-way valve is controlled by the 7th shuttle valve between electric proportional pressure-reducing valve, and then to the first variable displacement motor fuel feeding；The liquid of auxiliary hook
It presses and auxiliary hook multi-way valve is controlled by the 8th shuttle valve between handle and electric proportional pressure-reducing valve, and then to the second variable displacement motor fuel feeding；Become
Luffing multi-way valve is controlled by the 9th shuttle valve between the hydraulic handle of width and electric proportional pressure-reducing valve, and then controls the second quantitative horse
It reaches；By the tenth shuttle valve control revolution multi-way valve between the hydraulic handle of revolution and electric proportional pressure-reducing valve, and then it is fixed to control first
Measure motor.
4. a kind of crane according to claim 1 eliminates accumulated error system, it is characterised in that: the main raising of pair twists
Vehicle includes four the second variable displacement motors, and the oil inlet pipes of four the second variable displacement motors is interconnected by the first cylinder manifold, and four the
The oil return pipe of two variable displacement motors is interconnected by the second cylinder manifold.
5. a kind of crane according to claim 2 eliminates accumulated error system, it is characterised in that: left side span winch and
Right side span winch includes two the second fixed displacement motors, and the oil inlet pipe of two the second fixed displacement motors of left side span winch passes through
The oil return pipe of the connection of third cylinder manifold, two the second fixed displacement motors of left side span winch is connected to by the 4th cylinder manifold；Right side
The oil inlet pipe of two the second fixed displacement motors of span winch is connected to by the 5th cylinder manifold, and two second of right side span winch are fixed
The oil return pipe for measuring motor is connected to by the 6th cylinder manifold；The first logical valve is equipped between third cylinder manifold and the 5th cylinder manifold, the
The second logical valve is equipped between four cylinder manifolds and the 6th cylinder manifold.
6. a kind of crane according to claim 1 eliminates accumulated error system, it is characterised in that: the elimination accumulation misses
Poor system further includes emergency halt system and safety system, and emergency halt system monitoring main motor simultaneously control automatically by control PLC
The proportional current that system processed exports electric proportional pressure-reducing valve, PLC automatic control system monitor liquid level, temperature and the mistake of hydraulic oil container
Filter.
7. a kind of method that crane as described in claim 1 eliminates accumulated error system, it is characterised in that: PLC is automatically controlled
After system is by obtaining main hoister winch, secondary main hoister winch, span winch and the revolving speed of swing mechanism, depressurized by electric ratio
Valve and hydraulic control proportional multi-way valve correct the revolving speed of main hoister winch, secondary main hoister winch, span winch and swing mechanism.
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| FI124200B (en) * | 2011-11-21 | 2014-04-30 | Konecranes Oyj | A device, method, and computer program product for moving a load, and a kit and method for updating a device for moving a load |
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| CN102155453A (en) * | 2011-05-12 | 2011-08-17 | 徐工集团工程机械股份有限公司建设机械分公司 | Switching valve and double-motive power closed hydraulic system with switching valve |
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|---|---|
| CN108423551A (en) | 2018-08-21 |
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