CN111924732B - Counterweight loading and unloading method and system and crane - Google Patents
Counterweight loading and unloading method and system and crane Download PDFInfo
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- CN111924732B CN111924732B CN202010957905.3A CN202010957905A CN111924732B CN 111924732 B CN111924732 B CN 111924732B CN 202010957905 A CN202010957905 A CN 202010957905A CN 111924732 B CN111924732 B CN 111924732B
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- counterweight
- oil cylinder
- rotation angle
- crane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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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
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a counterweight loading and unloading method and system and a crane, and relates to the technical field of engineering mechanisms, wherein the counterweight loading and unloading system comprises a counterweight oil cylinder, a controller, a rotation angle detection mechanism and a position detection mechanism, wherein the rotation angle detection mechanism is used for detecting the rotation angle information of a crane on board; the position detection mechanism is used for detecting whether the counterweight oil cylinder reaches a preset position or not, when the rotation angle information is equal to a first preset angle, the counterweight oil cylinder corresponds to the swinging position of a counterweight on the counterweight, the controller controls the movable end of the counterweight oil cylinder to extend out of the first preset position, the crane is driven to continue rotating, when the counterweight oil cylinder extends out of the first preset position and the rotation angle information is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight on the counterweight, the movable end of the counterweight oil cylinder is controlled to retract to the second preset position, the counterweight is connected with the crane, automatic counterweight loading is achieved, operation is convenient, and when the counterweight needs to be unloaded, reverse operation can be carried out.
Description
Technical Field
The invention relates to the technical field of engineering mechanisms, in particular to a counterweight loading and unloading method and system and a crane.
Background
Along with the development of the existing automobile crane, the operation safety of the crane is more and more emphasized, two operators are generally needed for manually loading and unloading the counter weight, one operator is responsible for observing the position of the counter weight, the other operator is responsible for operating the crane to load and unload the counter weight, if the operator does not observe carefully or operate lightly, the counter weight oil cylinder is damaged, and a great safety accident is caused.
At present, the installation position of the counter weight is identified by adopting a camera and other visual positioning modes in the industry, after the counter weight oil cylinder is aligned with the installation position on the counter weight, the counter weight is manually controlled to stretch and retract, and loading or unloading of the counter weight is realized.
Disclosure of Invention
The invention aims to provide a counterweight loading and unloading method, a counterweight loading and unloading system and a crane, which are used for solving the technical problems that in the prior art, the counterweight loading and unloading device process is greatly influenced by environmental factors, the identification rate is not high, manual further confirmation is needed, and complete counterweight self-loading and unloading cannot be realized.
The counterweight handling system comprises a counterweight oil cylinder, a controller, a rotation angle detection mechanism and a position detection mechanism, wherein the counterweight oil cylinder is arranged on the counterweight handling system;
the counterweight oil cylinder, the rotation angle detection mechanism and the position detection mechanism are respectively in communication connection with the controller;
the rotation angle detection mechanism is used for detecting the rotation angle information of the crane on the vehicle; the position detection mechanism is used for detecting whether the stretching and retracting of the counterweight oil cylinder reach a preset position or not;
the controller is used for receiving the rotation angle information of the crane on board detected by the rotation angle detection mechanism, when the rotation angle information is equal to a first preset angle, the balance weight oil cylinder corresponds to the swinging-out position of the balance weight, the controller sends a first signal to the balance weight oil cylinder, and the balance weight oil cylinder stretches out to a first preset position according to the first signal;
when the counterweight oil cylinder extends to a first preset position and the information of the rotating angle of the crane on the crane is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight, the controller sends a second signal to the counterweight oil cylinder, and the counterweight oil cylinder retracts to a second preset position according to the second signal.
Further, the position detection mechanism includes a first proximity switch and a second proximity switch;
the first proximity switch is used for detecting that the counterweight oil cylinder extends to a first preset position; the second proximity switch is used for detecting that the counterweight oil cylinder retracts to a second preset position.
Further, the counterweight handling system further includes a first display mechanism; the first display mechanism is electrically connected with the controller;
the controller comprises an input module, a setting module, a comparison module and a control module;
the input module is used for receiving the rotation angle information;
the setting module is used for setting the first preset angle and the second preset angle;
the comparison module is used for comparing the rotation angle information with the first preset angle and the second preset angle;
the control module is used for sending a first signal to the counterweight oil cylinder when the rotation angle information of the crane on the crane is equal to a first preset angle, the counterweight oil cylinder stretches out to a first preset position according to the first signal and sends a second signal to the counterweight oil cylinder when the rotation angle information of the crane on the crane is equal to a second preset angle, and the counterweight oil cylinder retracts to a second preset position according to the second signal.
Further, the controller is connected with a driving mechanism of the crane upper carriage;
the first display mechanism comprises a touch display screen, a rotation angle fine adjustment module is arranged on the touch display screen, and the rotation angle fine adjustment module is connected with an input module and a setting module of the controller.
Furthermore, the counterweight handling system also comprises a camera and a second display mechanism;
the camera is electrically connected with the second display mechanism;
the camera faces the counterweight oil cylinder and is used for acquiring the corresponding conditions of the counterweight oil cylinder and the swinging position or the center position of the counterweight; the second display mechanism is used for displaying the image information collected by the camera.
Further, the rotation angle detection mechanism includes an encoder.
The crane provided by the invention comprises the counterweight loading and unloading system.
The invention provides a counterweight loading and unloading method, which comprises the following steps:
acquiring the rotation angle information of the crane on the vehicle; when the rotation angle information of the crane upper car is equal to a first preset angle, the counterweight oil cylinder corresponds to the swinging-out position of the counterweight, a first signal is sent to the counterweight oil cylinder, and the counterweight oil cylinder stretches out to a first preset position according to the first signal;
acquiring position information of the counterweight oil cylinder and rotation angle information of the crane on the crane; when the counterweight oil cylinder extends to a first preset position and the information of the rotating angle of the crane on the crane is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight and sends a second signal to the counterweight oil cylinder, and the counterweight oil cylinder retracts to a second preset position according to the second signal.
Further, calibrating a zero point of a rotation angle of the crane upper carriage;
and/or calibrating the first preset angle and the second preset angle.
Further, acquiring the rotation angle information of the crane on the vehicle by using an encoder;
and judging whether the counterweight oil cylinder extends to a first preset position or retracts to a second preset position by using a position detection mechanism.
The counterweight handling system comprises a counterweight oil cylinder, a controller, a rotation angle detection mechanism and a position detection mechanism, wherein the counterweight oil cylinder is arranged on the counterweight handling system; the counterweight oil cylinder, the rotation angle detection mechanism and the position detection mechanism are respectively in communication connection with the controller; the rotation angle detection mechanism is used for detecting the rotation angle information of the crane on the vehicle; the position detection mechanism is used for detecting whether the stretching and retracting of the counterweight oil cylinder reach a preset position or not; the controller is used for receiving the rotation angle information of the crane on board detected by the rotation angle detection mechanism, when the rotation angle information is equal to a first preset angle, the balance weight oil cylinder corresponds to the swinging-out position of the balance weight, the controller sends a first signal to the balance weight oil cylinder, and the balance weight oil cylinder stretches out to a first preset position according to the first signal; when the counterweight oil cylinder extends to a first preset position and the information of the rotating angle of the crane on the crane is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight, the controller sends a second signal to the counterweight oil cylinder, and the counterweight oil cylinder retracts to a second preset position according to the second signal.
When the counterweight loading and unloading system is used, when the rotation angle information is equal to a first preset angle, the counterweight oil cylinder corresponds to the swinging position of the counterweight, at the moment, the controller controls the movable end of the counterweight oil cylinder to extend out of the first preset position, then the crane is loaded to continue to rotate, when the counterweight oil cylinder extends out of the first preset position and the rotation angle information is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight, the controller can control the movable end of the counterweight oil cylinder to retract to the second preset position, so that the counterweight is connected with the crane to load the counterweight, and when the counterweight needs to be unloaded, corresponding reverse operation is carried out.
The crane provided by the invention comprises the counterweight loading and unloading system, so that the crane also has the advantages of the counterweight loading and unloading system.
The invention provides a counterweight loading and unloading method, which comprises the following steps: acquiring the rotation angle information of the crane on the vehicle; when the rotation angle information of the crane upper car is equal to a first preset angle, the counterweight oil cylinder corresponds to the swinging-out position of the counterweight, a first signal is sent to the counterweight oil cylinder, and the counterweight oil cylinder stretches out to a first preset position according to the first signal; acquiring position information of the counterweight oil cylinder and rotation angle information of the crane on the crane; when the counterweight oil cylinder extends to a first preset position and the information of the rotating angle of the crane on the crane is equal to a second preset angle, the counterweight oil cylinder corresponds to the center position of the counterweight and sends a second signal to the counterweight oil cylinder, and the counterweight oil cylinder retracts to a second preset position according to the second signal.
By acquiring the rotation angle information of the crane on board, when the rotation angle information of the crane on board is equal to a first preset angle, the balance weight oil cylinder corresponds to the swinging-out position of the balance weight and sends a first signal to the balance weight oil cylinder, the balance weight oil cylinder extends to a first preset position according to the first signal, then the crane on board continuously rotates, when the balance weight oil cylinder extends to the first preset position and the rotation angle information of the crane on board is equal to a second preset angle, the center position of the balance weight on the balance weight oil cylinder corresponds to the center position of the balance weight on the balance weight, the balance weight oil cylinder retracts to a second preset position according to the second signal, so that the balance weight is connected with the crane on board, the automatic loading of the balance weight is realized, when the balance weight needs to be unloaded, the corresponding reverse operation can be carried out, and the operation is convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic illustration of an installation of a counterweight handling system according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a counterweight handling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a counterweight cylinder of the counterweight handling system according to an embodiment of the present disclosure corresponding to a swinging-out position of a counterweight;
FIG. 4 is a schematic view of a counterweight cylinder of the counterweight handling system extending to a first predetermined position according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a counterweight cylinder and a counterweight of the counterweight handling system according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of the counterweight cylinder of the counterweight loading and unloading system retracted to a second predetermined position according to the embodiment of the present invention;
FIG. 7 is a flowchart of a method for loading and unloading a counterweight according to an embodiment of the present invention;
fig. 8 is a control process diagram of a counterweight mounting and dismounting method according to an embodiment of the present invention.
Icon: 10-a counterweight oil cylinder; 11-a first connecting structure; 20-counterweight; 21-a second connecting structure; 100-a rotation angle detection mechanism; 210-a first proximity switch; 220-a second proximity switch; 300-a controller; 400-touch display screen; 500-a camera; 600-a display;
a-a swing-out position; b-center position; c-a first preset position; d-a second preset position.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 6, the counterweight handling system provided in this embodiment includes a counterweight cylinder 10 and a controller 300, and the counterweight handling system further includes a rotation angle detection mechanism 100 and a position detection mechanism; the counterweight oil cylinder 10, the rotation angle detection mechanism 100 and the position detection mechanism are respectively in communication connection with the controller 300; the rotation angle detection mechanism 100 is used for detecting rotation angle information of the crane on board; the position detection mechanism is used for detecting whether the extension and retraction of the counterweight oil cylinder 10 reach a preset position; the controller 300 is configured to receive rotation angle information of the crane, which is detected by the rotation angle detection mechanism 100, and when the rotation angle information is equal to a first preset angle, the counterweight cylinder 10 corresponds to the swing-out position a of the counterweight 20, the controller 300 sends a first signal to the counterweight cylinder 10, and the counterweight cylinder 10 extends to a first preset position C according to the first signal; when the counterweight cylinder 10 extends to the first preset position C and the rotation angle information of the crane on the crane is equal to the second preset angle, the counterweight cylinder 10 corresponds to the center position B of the counterweight 20, the controller 300 sends a second signal to the counterweight cylinder 10, and the counterweight cylinder 10 retracts to the second preset position D according to the second signal.
When the counterweight loading and unloading system is used, when the rotation angle information is equal to a first preset angle, the counterweight oil cylinder corresponds to the swinging-out position A of the counterweight 20, at the moment, the controller controls the movable end of the counterweight oil cylinder to extend to the first preset position, then the crane is loaded to continue to rotate, when the counterweight oil cylinder 10 extends to the first preset position C and the rotation angle information is equal to a second preset angle, the counterweight oil cylinder corresponds to the central position B of the counterweight 20, the controller can control the movable end of the counterweight oil cylinder to retract to the second preset position, so that the counterweight is connected with the crane to load the counterweight, and when the counterweight needs to be unloaded, corresponding reverse operation is carried out.
It should be noted that the counterweight 20 can be placed on the lower crane, the counterweight cylinder 10 is connected to the upper crane and can rotate together with the upper crane, and the counterweight cylinder 10 is arranged in the vertical direction.
In this embodiment, when the rotation angle information is equal to the first preset angle, at this time, the counterweight cylinder 10 retracts to the second preset position, so that when the counterweight cylinder 10 rotates together with the crane, the counterweight cylinder does not interfere with the counterweight on the crane, thereby avoiding an accident.
As shown in fig. 1 and 3 to 6, a connecting member is disposed on the counterweight 20 and disposed at the center of the counterweight 20, one end of the connecting member is connected to the upper end surface of the counterweight 20, a first connecting structure 11 is disposed on the movable end of the counterweight cylinder 10, a second connecting structure 21 is disposed on the other end of the connecting member, and the first connecting structure 11 can be connected to the second connecting structure 21, so that the counterweight cylinder 10 is connected to the counterweight 20.
In this embodiment, the position where the first connecting structure 11 at the movable end of the counterweight oil cylinder 10 and the second connecting structure 21 on the connecting member are staggered and separated in the vertical direction is defined as a swing-out position a of the counterweight 20, and corresponds to a first preset angle; the position at which the first connecting structure 11 and the second connecting structure 21 are aligned in the vertical direction defines a center position B of the counterweight 20, corresponding to the second preset angle.
Specifically, when the rotation angle information of the crane upper cart detected by the rotation angle detection mechanism 100 is equal to a first preset angle, the counterweight cylinder 10 is aligned with the swing-out position a of the counterweight 20 in the vertical direction, at this time, the movable end of the counterweight cylinder 10 extends out, when the crane upper cart extends out to a first preset position C, the crane upper cart continues to rotate, at this time, the first connection structure 11 of the movable end of the counterweight cylinder 10 moves from the swing-out position a of the counterweight 20 to the central position B of the counterweight 20, when the counterweight cylinder 10 extends out to the first preset position C, and the rotation angle information of the crane upper cart detected by the rotation angle detection mechanism 100 is equal to a second preset angle, the counterweight cylinder 10 is aligned with the central position B of the counterweight 20 in the vertical direction, at this time, the first connection structure 11 is connected with the second connection structure 21, and subsequently, the movable end of the counterweight cylinder 10 retracts to a second preset position D, because the movable end of the counterweight oil cylinder 10 is provided with the first connecting structure 11, the upper end of the connecting piece is provided with the second connecting structure 21, and the first connecting structure 11 can be connected with the second connecting structure 21 when the movable end moves from the swinging-out position A of the counterweight 20 to the central position direction, the connection between the counterweight 20 and the crane can be realized when the movable end of the counterweight oil cylinder 10 retracts, and the loading of the counterweight 20 is realized.
It should be noted that, in this embodiment, the first connecting structure 11 is an annular protrusion disposed at the movable end of the counterweight cylinder 10, and the second connecting structure 21 is a groove portion disposed at the upper end of the connecting member, and the groove portion is open laterally, when the crane is turned on, the annular protrusion at the movable end of the counterweight cylinder 10 at the first preset position C can be inserted into the groove portion, and when the counterweight cylinder 10 is retracted to the second preset position D again, the connection between the counterweight 20 and the counterweight cylinder 10 is realized.
In this embodiment, the position of the annular protrusion between the upper and lower end surfaces of the groove portion in the horizontal direction is defined as the counterweight cylinder 10 extending to the first preset position C; the position where the annular protrusion portion is connected with the groove portion in the horizontal direction and the counterweight cylinder 10 loads the counterweight 20 so that the counterweight 20 can rotate together with the crane boarding is defined as the retraction of the counterweight cylinder 10 to the second preset position D.
The first preset position C may be the longest position where the movable end of the counterweight cylinder 10 can extend out; the second preset position D may be the shortest position where the movable end of the counterweight cylinder 10 can be retracted.
The controller 300 can receive the rotation angle information of the crane getting on the train, which is detected by the rotation angle detection mechanism 100, and when the rotation angle information is equal to a first preset angle, the controller 300 sends control information to the counterweight cylinder 10, and the counterweight cylinder 10 extends to a first preset position C according to the control information; when the counterweight cylinder 10 extends to the first preset position C and the rotation angle information is equal to the second preset angle, the controller 300 sends control information to the counterweight cylinder 10, and the counterweight cylinder 10 retracts to the second preset position D according to the control information.
Specifically, the rotation angle detection mechanism 100 and the position detection mechanism may be in communication with the controller 300 in a wired or wireless manner, respectively.
The controller 300 can receive the rotation angle information of the crane getting on the train detected by the rotation angle detection mechanism 100 in real time, and when the counterweight cylinder 10 is in a retraction state and the rotation angle information is equal to a first preset angle, the counterweight cylinder 10 corresponds to the swing-out position a of the counterweight 20; and when the rotation angle information of the crane on the crane is equal to a second preset angle, the center positions B of the counterweight oil cylinder 10 and the counterweight 20 are determined. And correspondingly.
It should be noted that, the rotation angle detection mechanism 100 is installed on the rotation support, and when the rotation support is in initial operation, zero calibration of the rotation angle, calibration of the swing-out position a of the counterweight 20, and calibration of the center position B of the counterweight 20 are performed, and the controller 300 stores the angles of the relative zero positions of the swing-out position a of the counterweight 20 and the center position B of the counterweight 20, that is, the first preset angle and the second preset angle.
Further, the position detection mechanism includes a first proximity switch 210 and a second proximity switch 220; the first proximity switch 210 is used for detecting that the counterweight cylinder 10 extends to a first preset position C; the second proximity switch 220 is used to detect the retraction of the counterweight cylinder 10 to the second preset position D.
In this embodiment, the position detecting mechanism includes a first proximity switch 210 and a second proximity switch 220, and the first proximity switch 210 and the second proximity switch 220 are disposed in the counterweight cylinder 10 and are used for detecting the moving position of the piston rod of the counterweight cylinder 10, where the first proximity switch 210 is disposed at the lower end of the counterweight cylinder 10, and when the piston rod of the counterweight cylinder 10 triggers the first proximity switch 210, the movable end of the counterweight cylinder 10 is at the lowest end, that is, reaches a first preset position C; the second proximity switch 220 is disposed at the upper end of the counterweight cylinder 10, and when the piston rod of the counterweight cylinder 10 triggers the second proximity switch 220, the movable end of the counterweight cylinder 10 is at the uppermost end, that is, reaches the second preset position D.
When the first proximity switch 210 is triggered, the counterweight cylinder 10 stops operating, and the movable end of the counterweight cylinder 10 is at the lowermost position, and when the second proximity switch 220 is triggered, the counterweight cylinder 10 also stops operating, and the movable end of the counterweight cylinder 10 is at the uppermost position.
Further, the counterweight handling system also includes a first display mechanism; the first display mechanism is electrically connected to the controller 300.
The controller 300 comprises an input module, a setting module, a comparison module and a control module; the input module can receive rotation angle information; the setting module is used for setting a first preset angle and a second preset angle; the comparison module is used for comparing the rotation angle information with a first preset angle and a second preset angle; the control module is used for sending a first signal to the counterweight oil cylinder 10 when the rotation angle information of the crane on the crane is equal to a first preset angle, the counterweight oil cylinder 10 stretches out to a first preset position C according to the first signal and sends a second signal to the counterweight oil cylinder 10 when the counterweight oil cylinder 10 stretches out to the first preset position C and the rotation angle information of the crane on the crane is equal to a second preset angle, and the counterweight oil cylinder 10 retracts to a second preset position D according to the second signal, so that the counterweight 20 is loaded or the counterweight 20 is unloaded.
Specifically, in this embodiment, the first display mechanism may include a touch display screen 400, and the touch display screen 400 is connected to the controller 300 and is capable of displaying the rotation angle information of the rotation angle detection mechanism 100 received by the controller 300 and the position of the counterweight cylinder 10 detected by the position detection mechanism.
Meanwhile, the controller can also be connected with a driving mechanism of the crane upper carriage and used for controlling the rotation of the crane upper carriage.
In this embodiment, can utilize touch-type display screen 400 to carry out the numerical value of the first angle of presetting of manual input and the second angle of presetting, the input module of controller 300 can also receive the numerical value of the first angle of presetting and the second angle of presetting of manual input, and transmit and set for setting module, and simultaneously, the input module can receive the gyration angle information that gyration angle detection mechanism detected, and transmit to the contrast module, the contrast module is used for contrasting gyration angle information and the first angle of presetting and the second angle of presetting, control module is according to the contrast result of contrast module, send control signal to counter weight hydro-cylinder 10, control signal that counter weight hydro-cylinder 10 basis goes on stretching out or retracting, thereby realize loading counter weight 20 and uninstalling counter weight 20.
It should be noted that, a rotation angle fine adjustment module is arranged on the touch display screen 400, the rotation angle fine adjustment module is connected with the input module and the setting module of the controller 300, and a user may control the rotation angle fine adjustment module with a hand to perform man-machine interaction and control the micro rotation of the crane on the crane, so that the counterweight cylinder 10 can be aligned with the swing-out position a or the center position B better, and then the corresponding position is set as a first preset angle or a second preset angle.
In addition, after the operator receives the vehicle, the controller 300 may automatically calibrate the zero position of the rotation angle detection mechanism 100, thereby eliminating the accumulated angle error.
Similarly, the rotation angle information can be finely adjusted through the touch display screen 400, and the current position is saved after the confirmation is finished and is used as the first preset angle and the second preset angle for next loading and unloading, so that the reliability and the safety of the loading and unloading of the balance weight 20 are improved.
Further, the counterweight loading and unloading system also comprises a camera 500 and a second display mechanism; the camera 500 is electrically connected with the second display mechanism; the camera 500 faces the counterweight oil cylinder 10 and is used for acquiring the corresponding situation of the counterweight oil cylinder 10 and the swinging position A or the central position B of the counterweight; the second display mechanism is used for displaying the image information collected by the camera 500.
Specifically, still include camera 500 and second display mechanism, the second display mechanism can be display 600 for receive the image information of camera 500, and show this image information, can realize monitoring to the position of counter weight hydro-cylinder 10, and operating personnel can be through observing this display 600, and whether further confirm counter weight hydro-cylinder 10 and aim at the central point B of counter weight 20 or whether shift out to the pendulum-out position A of counter weight 20, and the user can further confirm the position of counter weight hydro-cylinder 10, prevents that the maloperation from causing the accident.
Further, the rotation angle detection mechanism 100 includes an encoder.
Specifically, the turning angle detection mechanism 100 includes an encoder that can be connected to the turning support of the crane for detecting the turning angle information of the crane getting on the vehicle.
The counterweight handling system provided by the invention adopts the rotation angle detection mechanism 100 to detect the rotation angle information of the crane, and obtains the swinging-out position A and the central position of the counterweight 20 respectively through the calibration of a first preset angle and a second preset angle; detecting that the counterweight cylinder 10 extends to the first preset position C and retracts to the second preset position D by using the first proximity switch 210 and the second proximity switch 220; monitoring the state of the counterweight cylinder 10 in real time by using the camera 500 and the display 600; the touch display screen 400 is used for man-machine interaction, and the rotation angle information of the crane can be finely adjusted. The counterweight handling system is operated for the first time to calibrate the angle of the swinging-out position A and the central position of the counterweight 20, when the self-loading and unloading function of the counterweight 20 is activated, the counterweight handling system automatically rotates to the central position B of the counterweight by using a PID control method according to the central position B of the counterweight 20, and the telescopic position of the oil cylinder counterweight oil cylinder 10 is detected through a proximity switch, so that the loading and unloading of the counterweight 20 are realized. When the operator finishes the collection of the vehicle, the zero position of the rotation angle detection mechanism 100 is calibrated again, and the accuracy of the rotation angle data is ensured. The touch display screen 400 has a rotation fine-tuning function, and can fine-tune the rotation position in real time.
The crane provided by the invention comprises the counterweight loading and unloading system, so that the crane also has the advantages of the counterweight loading and unloading system.
As shown in fig. 7 and 8, the method for loading and unloading a counterweight according to the present invention, which depends on the counterweight loading and unloading system, includes: acquiring the rotation angle information of the crane on the vehicle; when the rotation angle information of the crane on the crane is equal to a first preset angle, the counterweight oil cylinder 10 corresponds to the swinging-out position A of the counterweight 20, a first signal is sent to the counterweight oil cylinder 10, and the counterweight oil cylinder 10 extends to a first preset position C according to the first signal; acquiring position information of the counterweight oil cylinder 10 and rotation angle information of the crane on the crane; when the counterweight oil cylinder 10 extends to the first preset position C and the information of the turning angle of the crane on the crane is equal to the second preset angle, the counterweight oil cylinder 10 corresponds to the center position B of the counterweight 20, a second signal is sent to the counterweight oil cylinder 10, and the counterweight oil cylinder 10 retracts to the second preset position D according to the second signal.
Specifically, by acquiring the rotation angle information of the crane upper carriage and the position information of the counterweight cylinder 10, when the rotation angle information of the crane upper carriage is equal to a first preset angle, the counterweight cylinder 10 corresponds to the swing-out position a of the counterweight 20, and sends a first signal to the counterweight cylinder 10, the counterweight cylinder 10 extends to a first preset position C according to the first signal, then the crane upper carriage continues to rotate, when the counterweight cylinder 10 extends to the first preset position C and the rotation angle information of the crane upper carriage is equal to a second preset angle, the counterweight cylinder 10 corresponds to the central position B of the counterweight 20, and sends a second signal to the counterweight cylinder 10, the counterweight cylinder 10 retracts to a second preset position D according to the second signal, so that the counterweight 20 is connected with the crane upper carriage, the automatic loading of the counterweight 20 is realized, and when the counterweight 20 needs to be unloaded, a corresponding reverse operation is performed, the operation is convenient.
Furthermore, the method also comprises the step of calibrating the first preset angle and the second preset angle before the step of obtaining the information of the turning angle of the crane.
In addition, the zero point of the rotation angle of the crane is calibrated, and the calibration aims at calibrating the zero point position of the rotation angle detection mechanism 100 to avoid accumulated angle errors.
Specifically, the rotation angle detection mechanism 100 is mounted on the rotation support, and when the rotation support is in initial operation, the rotation angle zero position, the swing-out position a of the counterweight 20, and the center position B of the counterweight 20 are calibrated, and the controller 300 stores the angles of the relative zero positions of the swing-out position a of the counterweight 20 and the center position B of the counterweight 20, that is, the first preset angle and the second preset angle.
It should be noted that, after the operator receives the vehicle, the controller 300 can automatically calibrate the zero position of the rotation angle detection mechanism 100, and can eliminate the accumulated error of the angle.
Similarly, the rotation angle information can be finely adjusted through the touch display screen 400, and the current position is saved after the confirmation is finished and is used as the first preset angle and the second preset angle for next loading and unloading, so that the loading and unloading reliability and the safety of the counterweight 20 are improved.
Preferably, the encoder is used for acquiring the rotation angle information of the crane on the vehicle; and judging that the counterweight oil cylinder 10 extends to a first preset position C and retracts to a second preset position D by using a position detection mechanism.
In summary, when the counterweight loading and unloading system provided by the present invention is used, when the rotation angle information is equal to the first preset angle, the counterweight cylinder 10 corresponds to the swing-out position a of the counterweight 20, at this time, after the controller 300 controls the movable end of the counterweight cylinder 10 to be capable of extending to the first preset position C, then the crane is loaded to continue rotating, when the counterweight oil cylinder 10 extends to the first preset position C and the rotation angle information is equal to the second preset angle, the counterweight cylinder 10 corresponds to the center position B of the counterweight 20, the controller 300 can control the movable end of the counterweight cylinder 10 to be retracted to the second preset position D, thereby connecting the counterweight 20 with the crane on board, realizing the loading of the counterweight, when the counterweight 20 needs to be unloaded, the counterweight loading and unloading system provided by the invention can realize automatic loading and unloading of the counterweight and is convenient to operate.
The crane provided by the invention comprises the counterweight loading and unloading system, so that the crane also has the advantages of the counterweight loading and unloading system.
The invention provides a counterweight loading and unloading method, by obtaining the rotation angle information of a crane upper carriage and the position information of a counterweight oil cylinder 10, when the rotation angle information of the crane upper carriage is equal to a first preset angle, the counterweight oil cylinder 10 corresponds to a swinging-out position A of a counterweight 20, and sends a first signal to the counterweight oil cylinder 10, the counterweight oil cylinder 10 extends to a first preset position C according to the first signal, then the crane upper carriage continues to rotate, when the counterweight oil cylinder 10 extends to the first preset position C and the rotation angle information of the crane upper carriage is equal to a second preset angle, the counterweight oil cylinder 10 corresponds to a central position B of the counterweight 20, and sends a second signal to the counterweight oil cylinder 10, the counterweight oil cylinder 10 retracts to a second preset position D according to the second signal, thereby connecting the counterweight 20 with the crane upper carriage, realizing the automatic loading of the counterweight 20, when the counterweight 20 needs to be unloaded, the corresponding reverse operation is carried out, and the operation is convenient.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A counterweight handling system comprises a counterweight oil cylinder (10) and a controller (300), and is characterized by further comprising a rotation angle detection mechanism (100) and a position detection mechanism;
the counterweight oil cylinder (10), the rotation angle detection mechanism (100) and the position detection mechanism are respectively in communication connection with the controller (300);
the rotation angle detection mechanism (100) is used for detecting the rotation angle information of the crane on the vehicle; the position detection mechanism is used for detecting whether the stretching out and retracting back of the counterweight oil cylinder (10) reaches a preset position or not;
the controller (300) is used for receiving the rotation angle information of the crane getting on the vehicle, which is detected by the rotation angle detection mechanism (100), when the rotation angle information is equal to a first preset angle, the counterweight oil cylinder (10) corresponds to the swinging-out position (A) of the counterweight (20), the controller (300) sends a first signal to the counterweight oil cylinder (10), and the counterweight oil cylinder (10) stretches out to a first preset position (C) according to the first signal;
when the counterweight oil cylinder (10) extends to a first preset position (C) and the information of the turning angle of the crane on the crane is equal to a second preset angle, the counterweight oil cylinder (10) corresponds to the center position (B) of the counterweight (20), the controller (300) sends a second signal to the counterweight oil cylinder (10), and the counterweight oil cylinder (10) retracts to a second preset position (D) according to the second signal;
the counterweight handling system further includes a first display mechanism; the first display mechanism is electrically connected with the controller (300);
the controller (300) comprises an input module, a setting module, a comparison module and a control module;
the input module is used for receiving the rotation angle information;
the setting module is used for setting the first preset angle and the second preset angle;
the comparison module is used for comparing the rotation angle information with the first preset angle and the second preset angle;
the control module is used for sending a first signal to the counterweight oil cylinder (10) when the rotation angle information of the crane on-board is equal to a first preset angle, the counterweight oil cylinder (10) stretches out to a first preset position (C) according to the first signal and sends a second signal to the counterweight oil cylinder (10) when the rotation angle information of the crane on-board is equal to a second preset angle, and the counterweight oil cylinder (10) retracts to a second preset position (D) according to the second signal;
the controller (300) is connected with a driving mechanism of the crane upper carriage;
the first display mechanism comprises a touch display screen (400), a rotation angle fine adjustment module is arranged on the touch display screen (400), and the rotation angle fine adjustment module is connected with an input module and a setting module of the controller (300).
2. The counterweight handling system of claim 1 wherein the position sensing mechanism includes a first proximity switch (210) and a second proximity switch (220);
the first proximity switch (210) is used for detecting that the counterweight oil cylinder (10) extends to a first preset position (C); the second proximity switch (220) is used for detecting that the counterweight oil cylinder (10) retracts to a second preset position (D).
3. The counterweight handling system of claim 1 further including a camera (500) and a second display mechanism;
the camera (500) is electrically connected with the second display mechanism;
the camera (500) faces the counterweight oil cylinder (10) and is used for collecting the corresponding conditions of the counterweight oil cylinder (10) and the swinging position (A) or the central position (B) of the counterweight (20); the second display mechanism is used for displaying the image information collected by the camera (500).
4. The counterweight handling system of claim 1 wherein the pivot angle detection mechanism (100) includes an encoder.
5. A crane comprising the counterweight handling system of any of claims 1-4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957905.3A CN111924732B (en) | 2020-09-14 | 2020-09-14 | Counterweight loading and unloading method and system and crane |
| PCT/CN2021/117768 WO2022053027A1 (en) | 2020-09-14 | 2021-09-10 | Counterweight loading and unloading method and system, and crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010957905.3A CN111924732B (en) | 2020-09-14 | 2020-09-14 | Counterweight loading and unloading method and system and crane |
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| CN111924732A CN111924732A (en) | 2020-11-13 |
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| WO (1) | WO2022053027A1 (en) |
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| CN111924732B (en) * | 2020-09-14 | 2020-12-29 | 湖南三一中型起重机械有限公司 | Counterweight loading and unloading method and system and crane |
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|---|---|---|---|---|
| CN1569606A (en) * | 2004-04-23 | 2005-01-26 | 徐州重型机械厂 | Combined self-assembling/disassembling balance-weight device |
| CN2695425Y (en) * | 2004-04-07 | 2005-04-27 | 徐州重型机械厂 | Assembling self-disassembling balancing weight device |
| CN201002937Y (en) * | 2006-12-28 | 2008-01-09 | 长沙中联重工科技发展股份有限公司 | Counter weight dismounting mechanism for crane |
| CN203439964U (en) * | 2013-08-19 | 2014-02-19 | 四川长江工程起重机有限责任公司 | Mounting mechanism for balancing weights of automobile crane |
| CN110713125A (en) * | 2019-10-17 | 2020-01-21 | 三一汽车起重机械有限公司 | Counterweight assembling method and device and engineering machinery |
| EP3670422A1 (en) * | 2018-12-21 | 2020-06-24 | Sumitomo Heavy Industries Construction Cranes Co., Ltd. | Mobile crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5018256B2 (en) * | 2007-06-08 | 2012-09-05 | コベルコクレーン株式会社 | Crane working vehicle |
| CN111924732B (en) * | 2020-09-14 | 2020-12-29 | 湖南三一中型起重机械有限公司 | Counterweight loading and unloading method and system and crane |
-
2020
- 2020-09-14 CN CN202010957905.3A patent/CN111924732B/en active Active
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2021
- 2021-09-10 WO PCT/CN2021/117768 patent/WO2022053027A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2695425Y (en) * | 2004-04-07 | 2005-04-27 | 徐州重型机械厂 | Assembling self-disassembling balancing weight device |
| CN1569606A (en) * | 2004-04-23 | 2005-01-26 | 徐州重型机械厂 | Combined self-assembling/disassembling balance-weight device |
| CN201002937Y (en) * | 2006-12-28 | 2008-01-09 | 长沙中联重工科技发展股份有限公司 | Counter weight dismounting mechanism for crane |
| CN203439964U (en) * | 2013-08-19 | 2014-02-19 | 四川长江工程起重机有限责任公司 | Mounting mechanism for balancing weights of automobile crane |
| EP3670422A1 (en) * | 2018-12-21 | 2020-06-24 | Sumitomo Heavy Industries Construction Cranes Co., Ltd. | Mobile crane |
| CN110713125A (en) * | 2019-10-17 | 2020-01-21 | 三一汽车起重机械有限公司 | Counterweight assembling method and device and engineering machinery |
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| Publication number | Publication date |
|---|---|
| WO2022053027A1 (en) | 2022-03-17 |
| CN111924732A (en) | 2020-11-13 |
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