CN108840261B - Control the method, apparatus and setting-up elevator control system of setting-up elevator - Google Patents
Control the method, apparatus and setting-up elevator control system of setting-up elevator Download PDFInfo
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- CN108840261B CN108840261B CN201810922987.0A CN201810922987A CN108840261B CN 108840261 B CN108840261 B CN 108840261B CN 201810922987 A CN201810922987 A CN 201810922987A CN 108840261 B CN108840261 B CN 108840261B
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- ratchet
- back pressure
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- torque
- elevator
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Classifications
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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
- B66D1/14—Power transmissions between power sources and drums or barrels
-
- 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
- B66D1/12—Driving gear incorporating electric motors
-
- 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
- B66D1/54—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to crane fields, more particularly to the method, apparatus and setting-up elevator control system of control setting-up elevator.This method is used for setting-up elevator control system, the setting-up elevator control system includes motor, main valve and lock-off oil cylinder, the motor includes oil inlet and oil outlet, the setting-up elevator includes ratchet and pawl, enter slot control period control that the pawl locks the ratchet, this method comprises: controlling the main valve to the oil inlet fuel feeding, to provide for pushing the motor rotation thrust, to push the ratchet wheel；And control is located at the counterbalance valve of the motor oil outlet, by the control of the back pressure of the counterbalance valve for it is described enter the value that changes from large to small of slot control period, the back pressure provides the resistance for preventing the ratchet wheel.This method, apparatus and system can not only improve the success rate and efficiency that pawl enters slot control, additionally it is possible to reduce hardware cost.
Description
Technical field
The present invention relates to crane fields, control more particularly to the method, apparatus and setting-up elevator of control setting-up elevator
System.
Background technique
Hoister in large tonnage generally has setting-up mechanism, and setting-up is exactly the setting setting-up support arm between principal arm and principal arm tip
(or on auxiliary, this situation is tower type work condition setting-up), to improve the relationship between principal arm and rope, makes it to be formed
The several relationships of more triangles increase additional weight in crane tail portion, so that crane can reach maximum lifting in lifting process
Ability, and guarantee the stability of crane.As shown in Figure 1, being a kind of structural schematic diagram of the crane with setting-up mechanism, scheming
In 1, setting-up rope 4 is connected to the head of crane arm 1, when hoisting operation, is mentioned by not setting the setting-up elevator 3 on setting-up auxiliary 2
For certain counter-force, tensioning rope 4, at the same time, the counter-force will be transmitted to balancing device 5 after super lifting device by setting-up auxiliary
On, to reduce the deflection of crane arm, improve hoist ability.
The length of setting-up rope 4 needs to make corresponding adjustment according to the variation of boom brachium, to keep work shown in FIG. 1
State.After rope length adjusting, ratchet elevator needs to lock ratchet by pawl setting-up elevator, to guarantee when hanging load, surpasses
The ratchet elevator holding when bearing pulling force of lift winch rope does not rotate, and rope will not be drawn out.Fig. 2 shows the lock-off shapes of pawl
State, Fig. 3 show pawl and enter channel-shaped state, i.e. pawl is locked in the state in ratchet.
In the prior art, ratchet elevator enters slot ratchet elevator passive rotation under external force, to enter slot.Such as Fig. 4 institute
Show, for the hydraulic control schematic diagram for entering slot control in setting-up elevator in the prior art (such as CN203079588U).When entering slot, due to
Ratchet will receive the pulling force of rope, in order to prevent the stall under external force of ratchet elevator, and the prior art is according to rope pull
The back pressure of the big minor adjustment ratchet hoist motor oil outlet (the A mouth of such as Fig. 4) of value is (such as the size of the Y2 electric current by adjusting Fig. 4
I.e. adjustable back pressure), to match the different pulling force of rope, and then guarantee motor rotation, realizes that pawl enters during rotation
Slot.Or it is more simple, in a manner of equal pulling force, (such as a uncontrollable definite value by the back pressure control of motor oil outlet
CN201110380040)。
As shown in Figure 4 rope enters the length that slot lock needs to control rope surely in the prior art, and same operating repeats to lock
When, it is larger (tightness, the temperature etc. wound by boom angle, rope influences) that rope enters the value of thrust difference before slot lock is determined.And
Motor only relies on rope pull promotion, thus in order to make ratchet wheel, it needs to match the pulling force of rope and adjusts back pressure, to protect
Demonstrate,prove ratchet wheel.Therefore the necessary real-time detection rope pull value of the prior art, and need adjustment magnitude of back pressure in real time, Cai Nengbao
Card hoist motor can rotate under rope pull and under the countertorque of back pressure, to realize into slot.Such mode needs to shift to an earlier date
It is largely tested, stores corresponding difference back pressure under different rope pulls, complexity and principal arm are under different amplitudes
It is similar that load how many lifting capacity can be hung, waste a large amount of test period.And be possible to test data and be inaccurate, there is matching
Not accurate problem.Simultaneously because needing real-time detection rope pull value when entering slot, adjusting rope in real time, therefore for computer
Communication speed, storing data space all require, higher cost.And in practical applications, external environment, which is affected, (compares
When as biggish such as temperature difference, the corresponding back pressure difference of same controlling value is very big), therefore it is lower to enter slot success rate, especially exists
Temperature difference enters slot success rate when big lower.
In addition, motor is by the hydraulic oil fuel feeding recycled in pipeline, it is difficult to avoid in hydraulic control circuit shown in Fig. 4
There is leakage in ground, thus also need to configure additional recharging oil device.
In the prior art, there is also the problems bad for long-armed Conditions Matching.In long-armed operating condition, since boom is complete
It stretches, brachium is very long, and boom, which hangs to allow to deform under weight pulling force effect after load, to be increased, and setting-up rope is also required to run out at this time
Stroke is longer, and rope is not in tensioned state, but relaxed state, therefore rope reduces the pulling force of reel, has
When be not necessarily able to drive spool turns and enter slot.
In the prior art, the case where being definite value for back pressure, it is lower to enter slot success rate, since it is not adjustable back pressure, only
Rope pull rope lengths modes such as () not being can be adjusted repeatedly, to match back pressure, realize that, into slot, efficiency is lower.
Summary of the invention
The purpose of the embodiment of the present invention is that provide it is a kind of control setting-up elevator method, apparatus and setting-up elevator control system
System, this method, apparatus and system can not only improve the success rate and efficiency that pawl enters slot control, additionally it is possible to reduce hardware
Cost.
To achieve the goals above, the embodiment of the present invention provides a kind of method for controlling setting-up elevator, and this method is for surpassing
Lift winch control, the setting-up elevator control system include motor, main valve and lock-off oil cylinder, the motor include oil inlet and
Oil outlet, the setting-up elevator include ratchet and pawl, enter slot control period control that the pawl locks the ratchet, should
Method includes: the control main valve to the oil inlet fuel feeding, to provide for pushing the motor rotation thrust, to push
The ratchet wheel；And control is located at the counterbalance valve of the motor oil outlet, and the back pressure of the counterbalance valve is controlled as in institute
The value changed from large to small into slot control period is stated, the back pressure provides the resistance for preventing the ratchet wheel.
Wherein, the back pressure is controlled as: it is described enter slot control period baseline, provided by the back pressure
One torque is greater than the second torque that the thrust provides and is wound in the ratchet rope generates the pulling force of the ratchet the
The sum of three torques, and it is described enter slot control period, the back pressure be gradually decrease to so that first torque be less than it is described
The value of the sum of second torque and the third torque.
Wherein, first torque corresponding to the maximum value of the back pressure is greater than second power under all operating conditions
The sum of square and the third torque.
Wherein, this method further include: detect whether the pawl is successfully locked in the ratchet of the ratchet；And work as institute
When stating pawl and being successfully locked in the ratchet, the main valve fuel cut-off is controlled, and controls the counterbalance valve and stops applying institute
State back pressure.
Wherein, this method further include: the thrust is set for each operating condition, corresponding to described in each operating condition
Thrust is set as that the motor can be pushed to rotate when the back pressure is reduced to minimum value.
Wherein, the change curve of the back pressure is linear, conic or other non-linear curves.
According to another aspect of the present invention, a kind of device for controlling setting-up elevator is also provided, which is used for setting-up elevator
Control system, the setting-up elevator control system include motor, main valve and lock-off oil cylinder, and the motor includes oil inlet and fuel-displaced
Mouthful, the setting-up elevator includes ratchet and pawl, enters slot control period control that the pawl locks the ratchet, the device
It include: main valve control module, for controlling the main valve to the oil inlet fuel feeding, to provide for pushing the motor to rotate
Thrust, to push the ratchet wheel；And counterbalance valve control module, for controlling the back pressure for being located at the motor oil outlet
Valve, by the control of the back pressure of the counterbalance valve for it is described enter the value that changes from large to small of slot control period, the back pressure provides resistance
The only resistance of the ratchet wheel.
Wherein, the back pressure is controlled as: it is described enter slot control period baseline, provided by the back pressure
One torque is greater than the second torque that the thrust provides and is wound in the ratchet rope generates the pulling force of the ratchet the
The sum of three torques, and it is described enter slot control period, the back pressure be gradually decrease to so that first torque be less than it is described
The value of the sum of second torque and the third torque.
Wherein, first torque corresponding to the maximum value of the back pressure is greater than second power under all operating conditions
The sum of square and the third torque.
Wherein, the device further include: position detecting module, for detecting whether the pawl is successfully locked in the ratchet
Ratchet in；And control module, for controlling the active fuel feeding mould when the pawl is successfully locked in the ratchet
Block and the main valve fuel cut-off is controlled with the back pressure module, and controls the counterbalance valve and stop applying the back pressure.
Wherein, device further include: overflow valve is connected to the pipeline to the oil inlet active fuel feeding of the motor
In, for adjusting the fuel delivery to the oil inlet, so that the thrust is set for each operating condition, correspond to described every
The thrust of one operating condition is set as that the motor can be pushed to rotate when the back pressure is reduced to minimum value.
Wherein, the change curve of the back pressure is linear, conic or other non-linear curves.
According to another aspect of the present invention, a kind of setting-up elevator control system, system use of the present invention are also provided
In the device of control setting-up elevator.
According to a further aspect of the invention, it also for a kind of machine readable storage medium, is stored on the machine readable storage medium
There is instruction, which is used for so that machine executes the method for the present invention for controlling setting-up elevator.
Through the above technical solutions, pushing ratchet wheel to actively provide from main valve to the oil inlet fuel feeding of motor
Thrust, and by applying from greatly to the back pressure of small variation, so that back pressure can match the pulling force of applied thrust and rope always,
It can be realized without detection rope pull into slot control, and the revolving speed of ratchet when into slot can be reduced, to realize essence
Really enter slot.In addition, repairing equipment can also be saved from main valve to motor oil inlet fuel feeding, thus reduce hardware cost.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is a kind of structural schematic diagram with the crane of setting-up mechanism；
Fig. 2 is the schematic diagram of the delocking state of pawl；
Fig. 3 is the schematic diagram that pawl enters channel-shaped state；
Fig. 4 is the hydraulic circuit diagram for entering slot control in the prior art；
The flow chart of the method for Fig. 5 control setting-up elevator according to an embodiment of the invention；
Fig. 6 A is the figure illustrated pawl successfully to enter slot and lock ratchet；
Fig. 6 B-6C is the schematic diagram in the Ratchet slide face of ratchet and pawl respectively
Fig. 6 D is that signal pawl fails into the figure of slot；
Fig. 7 is the schematic diagram according to the hydraulic circuit in the setting-up elevator control system of one embodiment of the invention；
Fig. 8 is the schematic diagram of economy curve in the method according to the control setting-up elevator of one embodiment of invention；
Fig. 9 is the flow chart according to the method for the control setting-up elevator of one embodiment of the invention；
Figure 10 is the schematic diagram according to position detecting module in the device of the control setting-up elevator of one embodiment of the invention；With
And
Figure 11 is the structural block diagram according to the device of the control setting-up elevator of one embodiment of the invention.
Description of symbols
1: crane arm 2: setting-up auxiliary
3: setting-up elevator 4: rope
5: balancing device 6: pawl
7: ratchet 8: lock-off oil cylinder
9: spring 10: solenoid valve
11: overflow valve 12: motor
13: counterbalance valve 14: main valve
15: position detecting switch
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
The flow chart of the method for Fig. 5 control setting-up elevator according to an embodiment of the invention.Fig. 6 A is signal pawl success
Enter slot and locks the figure of ratchet；Fig. 6 B-6C is that schematic diagram Fig. 6 D in the Ratchet slide face of ratchet and pawl is signal pawl respectively
It fails into the figure of slot；Fig. 7 is the signal according to the hydraulic circuit in the setting-up elevator control system of one embodiment of the invention
Figure.
Method of the present invention can be used for setting-up elevator control system shown in Fig. 7, the setting-up elevator control system packet
Motor, main valve and lock-off oil cylinder are included, the motor includes oil inlet B and oil outlet A, and the setting-up elevator includes ratchet and pawl
6 (not shown).As shown in figure 5, enter slot control period control that the pawl locks the ratchet, this method comprises:
Step S510, controls the main valve to the oil inlet fuel feeding, to provide for pushing the motor rotation thrust,
To push the ratchet wheel.
As shown in fig. 7, when the Y3 of lock-off oil cylinder solenoid valve 10 obtains electric, 8 oil inlet of lock-off oil cylinder, pawl 6 is disengaged, when Y3 loses
When electric, the hydraulic oil of lock-off oil cylinder 8 is communicated with draining road or oil return line, and lock-off oil cylinder 8 is in quick condition, at this time pawl 6
Start to act into slot under the thrust of spring oil cylinder.Entering slot control period, it can be to motor 12 by the B1 mouth of main valve 14
Oil inlet B fuel feeding.Compared with prior art, which is active fuel feeding, can not only provide and push pushing away for ratchet wheel
Power, and hydraulic fluid leak problem is not present, because saving repairing equipment without additional repairing.
Step S520, control are located at the counterbalance valve of the motor oil outlet, and the back pressure of the counterbalance valve is controlled as in institute
The value changed from large to small into slot control period is stated, the back pressure provides the resistance for preventing the ratchet wheel.
As shown in Figure 6A, after pawl 6 successfully enters slot, the center of circle of pawl 6 is overlapped with the center of circle of ratchet 7, can be steadily
Lock ratchet 7.In order to improve the success rate that pawl 6 enters slot, should be matched in entering slot control process pawl 6 movement velocity and
The velocity of rotation of ratchet 7.In order to reach the purpose, the velocity of rotation of ratchet can be reduced, or improve the pop-up speed of pawl, but by
Depend on the size of spring force in pawl pop-up speed, and after device configuration is completed, being typically sized to for spring force is nonadjustable
Value, thus the present invention proposes to realize speeds match by control ratchet wheel speed.
By controlling the controlled current flow magnitude of back pressure being applied on the Y2 of counterbalance valve 13 as shown in Figure 7, back pressure offer pair
Anti- rope is to the pulling force of ratchet and the active thrust of motor, to prevent disorder cable.Since back pressure is from greatly to small variation, thus carry on the back
Pressure total energy reaches the value that can match the pulling force and the thrust, and since initial stage back pressure is larger, it is thus possible to reduce spine
The velocity of rotation of wheel.When the velocity of rotation of ratchet 7 is lower, pawl 6 under the thrust of lock-off oil cylinder 8 can well with
The fitting of ratchet Ratchet slide face 71 shown in Fig. 6 C, so that the rotation with ratchet 7 can successfully enter slot., whereas if ratchet 7 exists
The movement velocity that comparatively fast then will lead to the pawl under the spring-force driven dual of spring 9 is rotated under pulling force effect relative to the rotation of ratchet 7
Speed is too small, and has little time to reach Ratchet slide face 71, cannot be bonded sliding surface in real time, thus will appear shape shown in Fig. 6 D
State, ratchet 7 has the power transported clockwise under external force at this time, and pawl 6 loses into tank circuit diameter and cannot enter slot, in stuck
State causes to fail into slot.
Fig. 8 is the schematic diagram of economy curve in the method according to the control setting-up elevator of one embodiment of invention.Back pressure
It can be controlled by controlling the electric current that is applied on Y2 as shown in Figure 7, what Fig. 8 showed that electric current changes from large to small several shows
Example, the change curve of electric current can be adjusted to linear, conic and other non-linear curves etc. according to actual needs, thus carry on the back
Pressure P can change from large to small with corresponding curve.
In a preferred embodiment, back pressure is controlled as: it is described enter slot control period baseline, back pressure provided
The first torque be greater than the second torque that the thrust provides and be wound in the rope of the ratchet pulling force of the ratchet is produced
The sum of raw third torque, and it is described enter slot control period, the back pressure is gradually decrease to so that first torque is small
In the value of the sum of second torque and the third torque.As a result, in baseline, back pressure can cover the pulling force and be mentioned
The sum of the torque that the thrust that active fuel feeding generates in the torque and B1-B oil circuit of confession provides.Thus baseline motor 12 does not turn
Dynamic, 12 speed of motor is zero, and when back pressure is gradually reduced, value, which is reduced to, makes the first torque under current working be equal to the second power
When the sum of square and third torque, motor 12 is in critical rotation state.As back pressure is gradually reduced, motor 12 starts low speed rotation
It is dynamic, since at the beginning of starting turning, since 7 velocity of rotation of ratchet is very low, thus pawl 6 can fit to Ratchet slide face 71,
In low speed rotation, pawl 6 can successfully enter slot.
May include various working using the crane of setting-up elevator, under every kind of operating condition rope to the pulling force of ratchet not
Together, thus, in a preferred embodiment, first torque corresponding to the maximum value of the back pressure be greater than under all operating conditions
Second torque and the sum of the third torque.The back pressure changed from large to small as a result, can cover all operating conditions, that is, exist
It can guarantee that pawl successfully enters slot under all operating conditions.By the embodiment, do not need individually to be tested for each operating condition and
Individually setting back pressure.Because hardware without occupying excessive storage resource, can be further decreased at simultaneously, and improve system
Control efficiency.
In another embodiment, thrust provided by main valve active fuel feeding can also be set for each operating condition, be corresponded to
The thrust of each operating condition is set as that the motor can be pushed to rotate when the back pressure is reduced to minimum value.By
This, the pulling force provided by the rope is too small, or is entering slot control period as the rotation rope pull of ratchet reduces, and causes to draw
Power generate torque cannot individually drawing motor rotation when, can guarantee be not in into slot failure the problem of.When back pressure reduces
When to minimum, even if pulling force is unable to drawing motor rotation, the thrust can cooperate pulling force and motor is pushed to rotate, so as to
Make ratchet wheel.
The thrust is set in order to match each operating condition, it can be as shown in fig. 7, overflow be arranged on the oil feeding line of B1-B
Valve 11, by the amount of the adjustable hydraulic oil into motor oil inlet of regulation relief valve 11, so that the thrust be adjusted.
It is above-mentioned enter slot control period, since 7 outer diameter of ratchet is larger, in 7 rotation process of ratchet, rope is gradually released,
Stress gradually discharges, therefore it is also to be gradually reduced to the torque of motor 12, thus while back pressure is the value being gradually reduced, but
The speed that not will lead to ratchet 7 can incrementally increase.Thus ratchet can be made to rotate with lesser speed always, guarantee that pawl is smooth
It fits to sliding surface and successfully enters slot.
In addition, the velocity of rotation of ratchet can also be controlled by the reduction speed for adjusting back pressure, the rotation for making ratchet is realized
Speed is slow enough.Back pressure reduction speed can be realized by the slope of a curve for the electric current being applied on Y2.Back pressure specifically subtracts
Small rate can be set according to the concrete condition restarted is acted.
Fig. 9 is the flow chart according to the method for the control setting-up elevator of one embodiment of the invention.As shown in figure 9, this method
It is further comprising the steps of:
Step S930, detects whether the pawl is successfully locked in the ratchet of the ratchet.
Step S940 controls the main valve fuel cut-off, and control when the pawl is successfully locked in the ratchet
The counterbalance valve stops applying the back pressure.When whether pawl is successfully locked in the ratchet of the ratchet, show pawl
Successfully enter slot, entering slot control terminates.
It by the embodiment, can know sometimes into slot success status, and stop saving control resource into slot control in time,
And it prevents from carrying out the equipment belts such as pawl, ratchet additional consume.
Position detecting switch 15 can be set as shown in Figure 10, successfully entered when the position detecting switch 15 detects that pawl reaches
When groove location, it can terminate into slot control.The trench bottom that can be installed on ratchet of position detecting switch 15, also may be mounted at spine
On wheel carrier, corresponding to pawl position and be arranged, when be arranged on ratchet wheel frame when, since ratchet wheel frame does not rotate, can only set
Set a position detecting switch.Position detecting switch, which can be used, arbitrarily can be realized the realization such as sensor of position detection, such as light
Electro-detection switch, electromagnetic switch etc..
Figure 11 is the structural block diagram according to the device of the control setting-up elevator of one embodiment of the invention.The device can be applied to
Setting-up elevator control system shown in Fig. 7, as shown in figure 11, the device include: main valve control module, for controlling the main valve
To the oil inlet fuel feeding, to provide for pushing the motor rotation thrust, to push the ratchet wheel；And back pressure
Valve control module, for controlling the counterbalance valve for being located at the motor oil outlet, by the back pressure control of the counterbalance valve for described
Enter the value that slot control period changes from large to small, the back pressure provides the resistance for preventing the ratchet wheel.
In a preferred embodiment, back pressure is controlled as: it is described enter slot control period baseline, the back pressure institute
The first torque provided is greater than the second torque and be wound in the ratchet rope to the pulling force of the ratchet that the thrust provides
The sum of third torque of generation, and it is described enter slot control period, the back pressure is gradually decrease to so that first torque
Less than the value of the sum of second torque and the third torque.
In another preferred embodiment, first torque corresponding to the maximum value of the back pressure is greater than in all operating conditions
Under second torque and the sum of the third torque.
In another preferred embodiment, which can also include position detecting module, for whether detecting the pawl
It is successfully locked in the ratchet of the ratchet；Wherein, when the pawl is successfully locked in the ratchet, main valve control module
It controls the active fuel oil supply unit and controls the main valve fuel cut-off with the back pressure module, described in the control of back pressure control module
Counterbalance valve stops applying the back pressure.
In another preferred embodiment, device further include: overflow valve is connected to the oil inlet master to the motor
In the pipeline of dynamic fuel feeding, for adjusting the fuel delivery to the oil inlet, so that the thrust is set for each operating condition,
The thrust corresponding to each operating condition is set as that the motor can be pushed to turn when the back pressure is reduced to minimum value
It is dynamic.
The details mentioned in the above-mentioned explanation for method of the invention is equally applicable to described device, thus no longer heavy
Multiple explanation.
It is wanted by technical solution discussed above, the invention proposes the controlling parties that setting-up elevator system is drawn when pushing away
Formula, thus, it is possible to bring following technical effect: there is no repairing requirement, the systems can be suitble to all operating conditions for system；Back pressure from
It is big make to small control mode it is no longer related to rope pull, crane operating condition into slot control process, so as to avoid each work
Difficulty of matching under condition, matching precision are no longer problems, while needing the storing data of magnanimity no longer to call, and are reduced electrical
Amount of storage, it is no longer necessary to real-time closed-loop control, reduce the communication need of hardware, reduction can hardware cost；It is proposed that back pressure is adopted
With by being up to the smallest control mode (with time correlation), so that any one operating condition is always in gradual change during gradual change
It is matching in the process, and by the process (curve) of control gradual change, can control hoist motor enters slot speed, realizes accurate
Enter slot, the card slot (since elevator rotation speed is too fast) before eliminating, or enter slot it is not in place (since elevator pulling force is too small,
Enter the termination of slot process action) the problem of；Back pressure is greater than lineoutofservice signal pull and active under all operating conditions to motor generated reaction force square
To the sum of torque caused by the main thrust generated up to fuel feeding, so as to match all operating conditions；It proposes by controlling elevator
The matching speed of ratchet and pawl, or the velocity of rotation of reduction elevator make the pawl moment more to pop up the time to pawl
Slot can smoothly be entered with ratchet sliding face paste conjunction.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that realizing that all or part of the steps in above-described embodiment device is can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment described device of the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (14)
1. a kind of method for controlling setting-up elevator, this method are used for setting-up elevator control system, the setting-up elevator control system packet
Motor, main valve and lock-off oil cylinder are included, the motor includes oil inlet and oil outlet, and the setting-up elevator includes ratchet and pawl,
It is characterized in that, enter slot control period control that the pawl locks the ratchet, this method comprises:
The main valve is controlled to the oil inlet fuel feeding, to provide for pushing the motor rotation thrust, thus described in pushing
Ratchet wheel；And
Control is located at the counterbalance valve of the oil outlet of the motor, by the control of the back pressure of the counterbalance valve for it is described enter slot control
The value changed from large to small during system, the back pressure provide the resistance for preventing the ratchet wheel.
2. the method according to claim 1, wherein the back pressure is controlled as:
It is described enter slot control period baseline, the first torque provided by the back pressure be greater than that the thrust provides the
Two torques and the sum of the third torque for being wound in pulling force generation of the ratchet rope to the ratchet, and
It is described enter slot control period, the back pressure be gradually decrease to so that first torque be less than second torque and institute
State the value of the sum of third torque.
3. according to the method described in claim 2, it is characterized in that, first torque corresponding to the maximum value of the back pressure
Greater than second torque and the sum of the third torque under all operating conditions.
4. method according to any one of claim 1-3, which is characterized in that this method further include:
Detect whether the pawl is successfully locked in the ratchet of the ratchet；And
When the pawl is successfully locked in the ratchet, the main valve fuel cut-off is controlled, and controls the counterbalance valve and stops
Only apply the back pressure.
5. method according to any one of claim 1-3, which is characterized in that this method further include:
The thrust is set for each operating condition, and the thrust corresponding to each operating condition is set as subtracting when the back pressure
It is small to minimum value when the motor can be pushed to rotate.
6. method according to any one of claim 1-3, which is characterized in that the change curve of the back pressure is line
Shape, conic or other non-linear curves.
7. a kind of device for controlling setting-up elevator, the device are used for setting-up elevator control system, the setting-up elevator control system packet
Motor, main valve and lock-off oil cylinder are included, the motor includes oil inlet and oil outlet, and the setting-up elevator includes ratchet and pawl,
It is characterized in that, entering slot control period control that the pawl locks the ratchet, which includes:
Main valve control module, for controlling the main valve to the oil inlet fuel feeding, to provide for pushing the motor to rotate
Thrust, to push the ratchet wheel；And
Counterbalance valve control module controls the back pressure of the counterbalance valve for controlling the counterbalance valve for being located at the motor oil outlet
For it is described enter the value that changes from large to small of slot control period, the back pressure provides the resistance for preventing the ratchet wheel.
8. device according to claim 7, which is characterized in that the back pressure is controlled as:
It is described enter slot control period baseline, the first torque provided by the back pressure be greater than that the thrust provides the
Two torques and the sum of the third torque for being wound in pulling force generation of the ratchet rope to the ratchet, and
It is described enter slot control period, the back pressure be gradually decrease to so that first torque be less than second torque and institute
State the value of the sum of third torque.
9. device according to claim 8, which is characterized in that first torque corresponding to the maximum value of the back pressure
Greater than second torque and the sum of the third torque under all operating conditions.
10. the device according to any one of claim 7-9, which is characterized in that the device further include:
Position detecting module, for detecting whether the pawl is successfully locked in the ratchet of the ratchet；And
Control module, for when the pawl is successfully locked in the ratchet, controlling the main valve control module and described
Counterbalance valve control module controls the main valve fuel cut-off, and controls the counterbalance valve and stop applying the back pressure.
11. the device according to any one of claim 7-9, which is characterized in that the device further include:
Overflow valve is connected into the pipeline of the oil inlet active fuel feeding of the motor, for adjusting to the oil inlet
Fuel delivery so that the thrust for each operating condition and set, the thrust corresponding to each operating condition is set as
The motor can be pushed to rotate when the back pressure is reduced to minimum value.
12. the device according to any one of claim 7-9, which is characterized in that the change curve of the back pressure is line
Shape, conic or other non-linear curves.
13. a kind of setting-up elevator control system, which is characterized in that the system includes dress described in any one of claim 7-12
It sets.
14. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Perform claim requires method described in any one of 1-6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810922987.0A CN108840261B (en) | 2018-08-14 | 2018-08-14 | Control the method, apparatus and setting-up elevator control system of setting-up elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810922987.0A CN108840261B (en) | 2018-08-14 | 2018-08-14 | Control the method, apparatus and setting-up elevator control system of setting-up elevator |
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| Publication Number | Publication Date |
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| CN108840261A CN108840261A (en) | 2018-11-20 |
| CN108840261B true CN108840261B (en) | 2019-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810922987.0A Active CN108840261B (en) | 2018-08-14 | 2018-08-14 | Control the method, apparatus and setting-up elevator control system of setting-up elevator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114014182A (en) * | 2021-11-08 | 2022-02-08 | 中建八局第二建设有限公司 | Auxiliary transportation device for loader |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201321354Y (en) * | 2008-11-21 | 2009-10-07 | 徐州重型机械有限公司 | Telescopic arm crane and ratchet wheel locking device thereof |
| CN202754743U (en) * | 2012-07-12 | 2013-02-27 | 中联重科股份有限公司 | Locking device, super lifting device and crane for winch |
| CN103552938B (en) * | 2013-11-14 | 2015-12-16 | 徐州重型机械有限公司 | A kind of hoisting crane and super lift winch lockable mechanism thereof |
| CN103663196B (en) * | 2013-12-24 | 2016-06-29 | 徐州重型机械有限公司 | Crane and setting-up hoisting hydraulic system thereof |
| CN204213077U (en) * | 2014-10-09 | 2015-03-18 | 中联重科股份有限公司 | Ratchet hydraulic control system and there is its hoist |
| CN204327613U (en) * | 2014-11-27 | 2015-05-13 | 徐州重型机械有限公司 | Super lift winch hydraulic control system and hoist |
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2018
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| CN108840261A (en) | 2018-11-20 |
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