CN112141893B - Crane hoisting load calculation method and device and automobile crane - Google Patents

Crane hoisting load calculation method and device and automobile crane Download PDF

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CN112141893B
CN112141893B CN202010936993.9A CN202010936993A CN112141893B CN 112141893 B CN112141893 B CN 112141893B CN 202010936993 A CN202010936993 A CN 202010936993A CN 112141893 B CN112141893 B CN 112141893B
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hoisting
motor
load
pressure value
hoisting motor
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CN112141893A (en
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曹书苾
罗淼
何伟
龙世文
徐清平
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Zoomlion Heavy Industry Science and Technology Co Ltd
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/001—Servomotor systems with fluidic control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/17—Mechanical parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

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  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention provides a method and a device for calculating the hoisting load of a crane and an automobile crane, and belongs to the technical field of cranes. The method comprises the following steps: acquiring the reduction ratio of a speed reducer, the mechanical efficiency of the speed reducer and the efficiency of a hoisting motor of the crane; acquiring the radius of a hoisting drum of the crane, the number of layers of steel wire ropes and the diameter of the steel wire ropes, and calculating to obtain the hoisting radius; acquiring an oil inlet pressure value of the hoisting motor, an oil outlet pressure value of the hoisting motor and an oil inlet pressure value of the hoisting brake cylinder to calculate to obtain a hoisting motor load pressure and a hoisting motor displacement; and calculating to obtain the hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor. The method solves the defect that the actual weight of the suspended load cannot be accurately calculated when the amplitude of the suspension arm is increased to a large angle and the pressure is eliminated in the prior art.

Description

Crane hoisting load calculation method and device and automobile crane
Technical Field
The invention relates to the technical field of cranes, in particular to a crane hoisting load calculation method, a crane hoisting load calculation device and an automobile crane.
Background
At present, the actual hoisting load weight of the crane is calculated according to a moment balance theory, firstly, the pressure of a rodless cavity of a luffing cylinder and the pressure of a rod cavity of the luffing cylinder are measured by a pressure sensor, and then the actual hoisting load weight of the crane is calculated by combining other structural parameters of the crane, such as the extending length of a suspension arm of the crane, the inclination angle of the suspension arm and the like. However, in the process of hoisting a heavy object, when the amplitude of the boom is close to or in the pressure-lifting condition, the boom is limited to a mechanical structure, the boom cannot lift the amplitude of the boom any more, the oil pressure of a rodless cavity in the amplitude-changing oil cylinder can be far higher than the oil pressure in the normal hoisting, the actual hoisting weight cannot be accurately calculated, whether the crane is overloaded or not due to the rise of the oil pressure caused by the pressure-lifting or whether the crane is really overloaded or not can be really overloaded by a user, effective judgment and safety limitation cannot be performed on specific conditions, and potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a crane hoisting load calculation method, which at least solves the problems that the calculation of the actual hoisting load is not accurate and whether the hoisting load is overweight cannot be judged.
In order to achieve the above object, a first aspect of the present invention provides a method for calculating a hoisting load of a crane, including:
acquiring a speed reducer reduction ratio, speed reducer mechanical efficiency, hoisting motor efficiency, a hoisting roller radius, the number of steel wire rope layers, a steel wire rope diameter, an oil inlet pressure value of a hoisting motor, an oil outlet pressure value of the hoisting motor and an oil inlet pressure value of a hoisting brake oil cylinder of the crane;
calculating to obtain a hoisting radius according to the radius of the hoisting roller, the number of layers of the steel wire rope and the diameter of the steel wire rope;
calculating according to the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder to obtain the load pressure and the displacement of the hoisting motor;
and calculating to obtain the hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor.
Optionally, the hoisting load is calculated as follows:
Figure BDA0002672306070000021
wherein T is the hoisting load; n is a preset multiplying power; i is the reduction ratio of the speed reducer; eta1To mechanical efficiency of the speed reducer, η10.95 λ, where λ is a correction coefficient, and 0.9<λ<1.1；η2For hoist motor efficiency; r is the hoisting radius; p is the load pressure of the hoisting motor; vLIs the displacement of the hoisting motor.
Optionally, the hoisting radius is calculated as follows:
Figure BDA0002672306070000022
wherein R is the hoisting radius; r is the radius of the winding drum; m is the number of layers of the steel wire rope; d is the diameter of the steel wire rope;
setting the total number of pulses sent by an encoder after the winch drum starts to rotate to stop as N, the number of pulses sent by the encoder for one rotation as a, and the number of turns of each layer of rope containing layer of the winch drum as b; assuming that the number of turns of rope accommodating of each layer of the hoisting drum is the same, the number m of the steel wire rope layers is as follows:
m＝c+1
wherein c is
Figure BDA0002672306070000023
The integer part of (2).
Optionally, the hoisting motor load pressure is calculated as follows:
setting the pressure value of an oil inlet of a hoisting motor as PinThe pressure value of the oil outlet of the hoisting motor is PoutThe pressure value of an oil inlet of the winch brake oil cylinder is PkAnd if the load pressure of the hoisting motor is P, then:
when P is presentk>PzWhen the winch brake cylinder is opened, P is equal to Pin-Pout；
When P is presentk≤PzWhen the winch brake cylinder is not opened, P is equal to Py；
Wherein, PzPressure required for opening the hoisting brake cylinder, PyThe hoisting motor load pressure P is the last time the hoisting brake cylinder is closedy＝PGo up in-PUpper out，PGo up inThe pressure value P of an oil inlet of the hoisting motor when the hoisting brake oil cylinder is closed last timeUpper outThe pressure value of the oil outlet of the hoisting motor when the hoisting brake oil cylinder is closed last time is obtained.
Optionally, the hoisting motor is a fixed-displacement motor, a hydraulic-control variable-displacement motor, a pressure-boosting variable-displacement motor or an electric-control variable-displacement motor:
if the hoisting motor is a boost variable motor, the displacement of the hoisting motor is determined according to the load pressure P of the hoisting motor, and when the load pressure of the hoisting motor is P1When the corresponding discharge capacity of the hoist motor is VL1(ii) a When the load pressure of the hoisting motor is P2When the corresponding discharge capacity of the hoist motor is VL2Wherein P is1<P2，VL1<VL2And then:
when P is less than or equal to P1When, VL＝VL1；
When P is present1<P<P2When the temperature of the water is higher than the set temperature,
Figure BDA0002672306070000031
when P is more than or equal to P2When, VL＝VL2。
A second aspect of the present invention provides a crane suspended load calculation apparatus, including:
the basic parameter information acquisition unit is used for acquiring the speed reducer reduction ratio, the speed reducer mechanical efficiency, the hoisting motor efficiency, the hoisting roller radius, the number of steel wire rope layers, the diameter of a steel wire rope, the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder of the crane;
the intermediate parameter acquisition unit is used for calculating the hoisting radius according to the radius of the hoisting roller, the number of layers of the steel wire rope and the diameter of the steel wire rope; calculating according to the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder to obtain the load pressure and the displacement of the hoisting motor;
and the hoisting load calculation unit is used for calculating the hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor.
Optionally, the hoisting load is calculated as follows:
Figure BDA0002672306070000041
wherein T is the hoisting load; n is a preset multiplying power; i is the reduction ratio of the speed reducer; eta1To mechanical efficiency of the speed reducer, η10.95 λ, where λ is a correction coefficient, and 0.9<λ<1.1；η2For hoist motor efficiency; r is the hoisting radius; p is the load pressure of the hoisting motor; vLIs the displacement of the hoisting motor.
Optionally, the hoisting radius is calculated as follows:
Figure BDA0002672306070000042
wherein R is the hoisting radius; r is the radius of the winding drum; m is the number of layers of the steel wire rope; d is the diameter of the steel wire rope;
setting the total number of pulses sent by an encoder after the winch drum starts to rotate to stop as N, the number of pulses sent by the encoder for one rotation as a, and the number of turns of each layer of rope containing layer of the winch drum as b; assuming that the number of turns of rope accommodating of each layer of the hoisting drum is the same, the number m of the steel wire rope layers is as follows:
m＝c+1
wherein c is
Figure BDA0002672306070000043
The integer part of (2).
A third aspect of the present invention provides a truck crane, comprising:
the first oil pressure sensor is arranged on an oil inlet pipeline of the hoisting motor and used for acquiring the pressure value of an oil inlet of the hoisting motor;
the second oil pressure sensor is arranged on an oil outlet pipeline of the winch motor and used for acquiring the pressure value of an oil outlet of the winch motor;
the third oil pressure sensor is arranged at an oil inlet of the winch brake cylinder and used for acquiring the pressure value of the oil inlet of the winch brake cylinder;
the encoder is arranged on the hoisting roller and is used for generating pulses by the rotation of the hoisting roller;
and a basic parameter information acquisition unit of the crane hoisting load calculation device is connected with the first oil pressure sensor, the second oil pressure sensor, the third oil pressure sensor and the encoder.
In another aspect, the present disclosure provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform a crane hoist load calculation method as described herein.
According to the technical scheme, the pressure of the oil inlet pipeline of the hoisting motor and the pressure of the oil outlet pipeline of the hoisting motor are measured, the hoisting load is calculated by combining all structural parameters of the crane, the actual hoisting load weight is obtained, and the problems that when the hoisting arm is lifted to a large angle and the pressure is removed, the actual hoisting load weight cannot be accurately calculated, and whether the hoisting load is overweight is judged are solved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a method for calculating a crane lifting load according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the variation of the displacement of the hoist motor and the load pressure of the hoist motor according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a crane hoisting load calculation device according to an embodiment of the present invention;
FIG. 4 is a schematic view of the mounting structure of the first pressure sensor, the second pressure sensor and the third pressure sensor provided by one embodiment of the present invention;
fig. 5 is a schematic diagram of an encoder connection structure according to an embodiment of the present invention.
Description of the reference numerals
311-first oil pressure sensor 312-second oil pressure sensor
313-third oil pressure sensor
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a method for calculating a crane lifting load according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a method for calculating a crane hoisting load, including the following steps:
101, acquiring a speed reducer reduction ratio, speed reducer mechanical efficiency, hoisting motor efficiency, a hoisting roller radius, the number of steel wire rope layers, the diameter of the steel wire rope, an oil inlet pressure value of the hoisting motor, an oil outlet pressure value of the hoisting motor and an oil inlet pressure value of a hoisting brake oil cylinder of the crane;
102, calculating to obtain a hoisting radius according to the radius of the hoisting roller, the number of layers of the steel wire rope and the diameter of the steel wire rope;
103, calculating according to the pressure value of an oil inlet of the hoisting motor, the pressure value of an oil outlet of the hoisting motor and the pressure value of an oil inlet of the hoisting brake cylinder to obtain the load pressure and the displacement of the hoisting motor;
and 104, calculating to obtain the hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor.
The calculation formula of the hoisting load is as follows:
Figure BDA0002672306070000071
t is the hoisting load; n is a preset multiplying power; i is the reduction ratio of the speed reducer; eta1To mechanical efficiency of the speed reducer, η10.95 λ, where λ is a correction coefficient, and 0.9<λ<1.1；η2For hoist motor efficiency; r is the hoisting radius; p is the load pressure of the hoisting motor; vLThe displacement of a hoisting motor;
specifically, the speed reducer reduction ratio, the hoisting motor efficiency, the hoisting roller radius and the wire rope diameter of the crane can be obtained through a crane use specification; the mechanical efficiency of the speed reducer can be obtained through theoretical calculation, and in the actual application process, correction is carried out according to the tested correction coefficient so as to ensure that the calculation result is more accurate; the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder can be measured by arranging an oil pressure sensor in an oil pipeline.
In step 102, the winding radius is calculated as follows: when the heavy object is lifted, the hoisting drum is required to rotate, the steel wire rope is wound, the steel wire rope is driven to be retracted, therefore, the number of layers of the steel wire rope on the hoisting drum is required to be determined at first, the encoder is arranged on the hoisting drum, the encoder can be driven to rotate in the rotating process of the hoisting drum, and the encoder can send pulses when rotating, so that the total number of the pulses sent by the hoisting drum from the beginning to the stopping of the rotating encoder can be obtained and recorded as N, meanwhile, the number of pulses sent by one circle of the rotation of the encoder can be determined according to specification parameters of the encoder, and recorded as a, the number of turns of each layer of rope of the hoisting drum is recorded as b, and if the number of turns of each layer of rope of the hoisting drum is the same, the number of layers m of the steel wire rope is:
m＝c+1
wherein c is
Figure BDA0002672306070000072
The integer part of (1);
the hoisting radius R can be calculated by combining the calculated number m of steel wire rope layers with the radius R of the hoisting roller, the number m of steel wire rope layers and the diameter d of the steel wire rope;
Figure BDA0002672306070000081
based on the content of the above embodiment, when calculating the hoisting radius, the hoisting radius of the crane can be obtained by a machine vision method, for example, an industrial camera or a lens is used to collect pictures of the number of layers of the steel wire rope on the hoisting drum, and the pictures are matched with the template to identify the number of the layers of the steel wire rope on the hoisting drum, and the number of the layers of the steel wire rope can be obtained in the same way, so that the hoisting radius can be obtained by the calculation method of the above embodiment.
In step 103, the hoist motor load pressure is calculated as follows:
setting the pressure value of an oil inlet of a hoisting motor as PinThe pressure value of the oil outlet of the hoisting motor is PoutThe pressure value of an oil inlet of the winch brake oil cylinder is PkAnd if the load pressure of the hoisting motor is P, then:
when P is presentk>PzWhen the winch brake cylinder is opened, the hoisting motor load pressure at the moment is as follows: p ═ Pin-Pout；
When P is presentk≤PzAnd when the winch brake cylinder is not opened, the hoisting motor load pressure at the moment is as follows: p ═ Py；
Wherein, PzThe pressure required for opening the winch brake cylinder can be calculated according to the related technical parameters of the spring in the brake cylinder, and P isyIs the load pressure, P, of the hoisting motor when the hoisting brake cylinder is closed last timey＝PGo up in-PUpper out，PGo up inThe pressure value P of an oil inlet of the hoisting motor when the hoisting brake oil cylinder is closed last timeUpper outThe pressure value of the oil outlet of the hoisting motor when the hoisting brake oil cylinder is closed last time is obtained.
The winding motor can be a fixed displacement motor, a hydraulic control variable displacement motor, a boosting variable displacement motor or an electric control variable displacement motor, and when the winding motor is the fixed displacement motor, the displacement of the winding motor can be obtained through a winding motor technical specification; if the hoisting motor is a hydraulic control variable motor, the displacement of the hoisting motor can be calculated by pilot control pressure, load pressure and a variable characteristic curve of the motor; if the hoisting motor is an electric control variable motor, the displacement of the hoisting motor can be determined by the control current and the variable characteristic curve; if the hoisting motor is a boost variable motor, the displacement of the hoisting motor can be determined according to the load pressure P of the hoisting motor and a variable characteristic curve of the motor, and the variable characteristic curve of the motor can be obtained through technical data of the motor, and the specific calculation steps are as follows:
FIG. 2 is a schematic diagram of the variation relationship between the displacement of the hoist motor and the load pressure of the hoist motor (i.e., the variable characteristic curve of the motor), which can be obtained from FIG. 2 when the load pressure of the hoist motor is P1When the corresponding discharge capacity of the hoist motor is VL1(ii) a When the load pressure of the hoisting motor is P2When the corresponding discharge capacity of the hoist motor is VL2Wherein P is1<P2，VL1<VL2And then:
when P is less than or equal to P1When, VL＝VL1；
When P is present1<P<P2When the temperature of the water is higher than the set temperature,
Figure BDA0002672306070000091
when P is more than or equal to P2When, VL＝VL2。
Based on the content of the embodiment, the method can also be applied to accurately calculate the single-rope tension when the main hook and the auxiliary hook are simultaneously hoisted, and the maximum allowable tension of the rope is compared according to the calculated single-rope tension, so that the risk that the actual tension of the single rope is larger than the allowable maximum tension and the rope is broken can be avoided.
Specifically, the suspension arm of the crane comprises a main arm and an auxiliary arm, wherein the main arm is used for suspending and loading an object with larger weight, the auxiliary arm is used for suspending and loading an object with smaller weight, the main arm is connected with a main hoisting motor, a main hoisting roller, a main steel wire rope and a main hook, and the auxiliary arm is connected with an auxiliary hoisting motor, an auxiliary hoisting roller, an auxiliary steel wire rope and an auxiliary hook. When the main arm and the auxiliary arm are used for hoisting heavy objects, the hoisting load calculation method in the prior art cannot accurately calculate the single-rope tension of the main hook and the auxiliary hook during simultaneous hoisting, so that by adopting the hoisting load calculation method in the embodiment, the speed reducer reduction ratio of a main hoisting motor of the crane, the mechanical efficiency of the speed reducer of the main hoisting motor, the efficiency of the main hoisting motor, the radius of a main hoisting roller, the number of layers of main steel wire ropes, the diameter of the main steel wire ropes, the pressure value of an oil inlet of the main hoisting motor, the pressure value of an oil outlet of the main hoisting motor and the pressure value of an oil inlet of a main hoisting brake cylinder are firstly obtained; calculating to obtain the radius of the main winch according to the radius of the main winch drum, the number of layers of the main steel wire rope and the diameter of the main steel wire rope by using the calculation method in the embodiment; if the winch motor is a variable-displacement motor with a boosting function, calculating according to the pressure value of an oil inlet of the main winch motor, the pressure value of an oil outlet of the main winch motor, the pressure value of the oil inlet of the main winch brake cylinder and a variable characteristic curve of the motor to obtain load pressure of the main winch motor and displacement of the main winch motor, wherein when the winch motor is a quantitative motor, the displacement of the motor is obtained through a technical specification, when the winch motor is a hydraulic variable-displacement motor, the displacement of the winch motor can be obtained through calculation of pilot control pressure, load pressure and the variable characteristic curve of the motor, and if the winch motor is an electric variable-displacement motor, the displacement of the winch motor can be determined through control current and the variable characteristic curve; finally, calculating to obtain the main hoisting load according to the speed reducer reduction ratio of the main hoisting motor, the mechanical efficiency of the main hoisting motor, the radius of the main hoisting, the load pressure of the main hoisting motor and the displacement of the main hoisting motor, so as to obtain the actual hoisting load weight of the main hook, and then obtaining the single rope tension of the main hook according to the multiplying power; similarly, the auxiliary hoisting load can be obtained by adopting the same hoisting load calculation method, namely the actual hoisting load of the auxiliary hook, namely the single-rope tension of the auxiliary hook can be obtained; thereby can contrast the biggest allowable pulling force of rope, avoid the actual pulling force of single rope to be greater than the biggest pulling force of allowwing, the risk of rope breakage appears.
Fig. 3 is a schematic structural diagram of a crane suspended load calculating device according to an embodiment of the present invention, and as shown in fig. 3, the crane suspended load calculating device according to the embodiment of the present invention includes:
the basic parameter information acquiring unit 31 is configured to acquire a speed reducer reduction ratio, speed reducer mechanical efficiency, hoisting motor efficiency, a hoisting drum radius, the number of layers of a steel wire rope, a diameter of the steel wire rope, an oil inlet pressure value of the hoisting motor, an oil outlet pressure value of the hoisting motor, and an oil inlet pressure value of the hoisting brake cylinder of the crane;
the intermediate parameter acquiring unit 32 is used for calculating a hoisting radius according to the radius of the hoisting drum, the number of layers of the steel wire rope and the diameter of the steel wire rope; calculating according to the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder to obtain the load pressure and the displacement of the hoisting motor;
and the hoisting load calculation unit 33 is used for calculating the hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor.
An embodiment of the present invention further provides a mobile crane, including:
the first oil pressure sensor 311 is arranged on an oil inlet pipeline of the hoisting motor and used for acquiring an oil inlet pressure value of the hoisting motor;
the second oil pressure sensor 312 is arranged on an oil outlet pipeline of the hoisting motor and used for acquiring an oil outlet pressure value of the hoisting motor;
the third oil pressure sensor 313 is arranged at an oil inlet of the hoisting brake cylinder and is used for acquiring the pressure value of the oil inlet of the hoisting brake cylinder;
fig. 4 is a schematic view of an installation structure of the first pressure sensor 311, the second pressure sensor 312, and the third pressure sensor 313 according to an embodiment of the present invention, and by adopting such an arrangement, a pressure value of an oil inlet of the hoisting motor, a pressure value of an oil outlet of the hoisting motor, and a pressure value of an oil inlet of the hoisting brake cylinder can be obtained.
The automobile crane further comprises an automobile chassis, supporting legs, a suspension arm, an amplitude-changing mechanism, a lifting mechanism, a swing mechanism and a hydraulic system, wherein the suspension arm, the amplitude-changing mechanism, the lifting mechanism and the swing mechanism are connected with the hydraulic system; when the hoisting motor works, the automobile crane is driven to a set point position, the supporting legs are put down, so that the automobile crane and the ground form good support, and the amplitude, the lifting and the rotation of the suspension arm are realized through the adjustment of a hydraulic system; during the hoisting process, the longer the length of the hoisting arm is, the smaller the weight of the hoisting weight is.
When the lifting hook needs to act, hydraulic oil in the control oil circuit pushes a spring in the winch brake oil cylinder, a brake piece of the winch brake oil cylinder is separated from a winch motor, the hydraulic oil in the main oil circuit drives the winch motor to rotate to drive the speed reducer to operate, the speed reducer drives the winch drum to rotate, and at the moment, the steel wire rope wound on the winch drum is retracted or released, and the steel wire rope is connected with the lifting hook, so that the lifting hook is driven to rise and fall in the vertical direction; when the lifting hook needs to stop acting, hydraulic oil in the brake oil cylinder can be pressed out by the spring and returns to the hydraulic oil tank along the original pipeline, under the acting force of the spring, a brake pad of the brake cylinder is in contact with the hoisting motor, the hoisting motor stops acting, the hoisting roller stops rotating, and the motion of a suspended object is limited.
Fig. 5 is a schematic view of a connection structure of an encoder according to an embodiment of the present invention, in order to obtain the number of layers of the wire rope and the winding radius, the encoder installed on the winding drum is driven by the winding drum to rotate to generate pulses.
The basic parameter information acquisition unit of the crane hoisting load calculation device is connected with the first oil pressure sensor 311, the second oil pressure sensor 312, the third oil pressure sensor 313 and the encoder, so that an oil inlet pressure value of the hoisting motor, an oil outlet pressure value of the hoisting motor and an oil inlet pressure value of the hoisting brake cylinder are acquired. The encoder is installed on the hoisting roller, the hoisting motor is connected with the hoisting roller through the speed reducer, when the crane hoists a heavy object, the hoisting motor works, the hoisting roller rotates to drive the movable shaft of the encoder to rotate, the encoder generates pulses and sends the pulses to the controller (not shown) through the connecting bus, and therefore the number of layers of the steel wire rope on the hoisting roller is obtained according to the total number of the pulses sent by the encoder, the number of pulses of one circle of the rotation of the encoder and the number of turns of each layer of the rope contained in the hoisting roller, and the hoisting radius is calculated according to the diameter of the steel wire rope and the radius of the hoisting roller.
Embodiments of the present invention also provide a machine-readable storage medium, on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement the method for calculating a hoisting load of a crane described above.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.

Claims (4)

1. A method for calculating the hoisting load of a crane is characterized by comprising the following steps:
acquiring a speed reducer reduction ratio, speed reducer mechanical efficiency, hoisting motor efficiency, a hoisting roller radius, the number of steel wire rope layers, a steel wire rope diameter, an oil inlet pressure value of a hoisting motor, an oil outlet pressure value of the hoisting motor and an oil inlet pressure value of a hoisting brake oil cylinder of the crane;
calculating to obtain a hoisting radius according to the radius of the hoisting roller, the number of layers of the steel wire rope and the diameter of the steel wire rope;
calculating according to the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder to obtain the load pressure and the displacement of the hoisting motor;
calculating to obtain a hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor;
the hoisting load is calculated as follows:
Figure FDA0003244273730000011
wherein T is the hoisting load; n is a preset multiplying power; i is the reduction ratio of the speed reducer; eta1To mechanical efficiency of the speed reducer, η10.95 λ, where λ is a correction coefficient, and 0.9<λ<1.1；η2For hoist motor efficiency; r is the hoisting radius; p is the load pressure of the hoisting motor; vLThe displacement of a hoisting motor;
the hoisting radius is calculated as follows:
Figure FDA0003244273730000012
wherein R is the hoisting radius; r is the radius of the winding drum; m is the number of layers of the steel wire rope; d is the diameter of the steel wire rope;
setting the total number of pulses sent by an encoder to be N, the number of pulses sent by the encoder for one rotation and the number of turns of each layer of rope containing of the winding drum to be b after the winding drum starts to rotate and stops; assuming that the number of turns of rope accommodating of each layer of the hoisting drum is the same, the number m of the steel wire rope layers is as follows:
m＝c+1
wherein c is
Figure FDA0003244273730000021
The integer part of (1);
the hoisting motor load pressure is calculated as follows:
setting the pressure value of an oil inlet of a hoisting motor as PinThe pressure value of the oil outlet of the hoisting motor is PoutThe pressure value of an oil inlet of the winch brake oil cylinder is PkAnd if the load pressure of the hoisting motor is P, then:
when P is presentk>PzWhen the winch brake cylinder is opened, P is equal to Pin-Pout；
When P is presentk≤PzWhen the winch brake cylinder is not opened, P is equal to Py；
Wherein, PzPressure required for opening the hoisting brake cylinder, PyIs the load pressure, P, of the hoisting motor when the hoisting brake cylinder is closed last timey＝PGo up in-PUpper out，PGo up inThe pressure value P of an oil inlet of the hoisting motor when the hoisting brake oil cylinder is closed last timeUpper outThe pressure value of the oil outlet of the hoisting motor when the hoisting brake oil cylinder is closed last time is obtained;
the hoisting motor is a fixed-displacement motor, a hydraulic control variable displacement motor, a boosting variable displacement motor or an electric control variable displacement motor:
if the hoisting motor is a boost variable motor, the displacement of the hoisting motor is determined according to the load pressure P of the hoisting motor, and when the load pressure of the hoisting motor is P1When the corresponding discharge capacity of the hoist motor is VL1(ii) a When the load pressure of the hoisting motor is P2When the corresponding discharge capacity of the hoist motor is VL2Wherein P is1<P2，VL1<VL2And then:
when P is less than or equal to P1When, VL＝VL1；
When P is present1<P<P2When the temperature of the water is higher than the set temperature,
Figure FDA0003244273730000022
when P is more than or equal to P2When, VL＝VL2。
2. A crane hoisting load calculation device, comprising:
the basic parameter information acquisition unit is used for acquiring the speed reducer reduction ratio, the speed reducer mechanical efficiency, the hoisting motor efficiency, the hoisting roller radius, the number of steel wire rope layers, the diameter of a steel wire rope, the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder of the crane;
the intermediate parameter acquisition unit is used for calculating the hoisting radius according to the radius of the hoisting roller, the number of layers of the steel wire rope and the diameter of the steel wire rope; calculating according to the oil inlet pressure value of the hoisting motor, the oil outlet pressure value of the hoisting motor and the oil inlet pressure value of the hoisting brake oil cylinder to obtain the load pressure and the displacement of the hoisting motor;
the hoisting load calculation unit is used for calculating and obtaining a hoisting load according to the reduction ratio of the speed reducer, the mechanical efficiency of the speed reducer, the efficiency of the hoisting motor, the hoisting radius, the load pressure of the hoisting motor and the displacement of the hoisting motor;
the hoisting load is calculated as follows:
Figure FDA0003244273730000031
wherein T is the hoisting load; n is a preset multiplying power; i is the reduction ratio of the speed reducer; eta1To mechanical efficiency of the speed reducer, η10.95 λ, where λ is a correction coefficient, and 0.9<λ<1.1；η2For hoist motor efficiency; r is the hoisting radius; p is the load pressure of the hoisting motor; vLThe displacement of a hoisting motor;
the hoisting radius is calculated as follows:
Figure FDA0003244273730000032
wherein R is the hoisting radius; r is the radius of the winding drum; m is the number of layers of the steel wire rope; d is the diameter of the steel wire rope;
setting the total number of pulses sent by an encoder to be N, the number of pulses sent by the encoder for one rotation and the number of turns of each layer of rope containing of the winding drum to be b after the winding drum starts to rotate and stops; assuming that the number of turns of rope accommodating of each layer of the hoisting drum is the same, the number m of the steel wire rope layers is as follows:
m＝c+1
wherein c is
Figure FDA0003244273730000033
The integer part of (1);
the hoisting motor load pressure is calculated as follows:
setting the pressure value of an oil inlet of a hoisting motor as PinThe pressure value of the oil outlet of the hoisting motor is PoutThe pressure value of an oil inlet of the winch brake oil cylinder is PkAnd if the load pressure of the hoisting motor is P, then:
when P is presentk>PzWhen the winch brake cylinder is opened, P is equal to Pin-Pout；
When P is presentk≤PzWhen the winch brake cylinder is not opened, P is equal to Py；
Wherein, PzPressure required for opening the hoisting brake cylinder, PyIs the load pressure, P, of the hoisting motor when the hoisting brake cylinder is closed last timey＝PGo up in-PUpper out，PGo up inThe pressure value P of an oil inlet of the hoisting motor when the hoisting brake oil cylinder is closed last timeUpper outThe pressure value of the oil outlet of the hoisting motor when the hoisting brake oil cylinder is closed last time is obtained;
the hoisting motor is a fixed-displacement motor, a hydraulic control variable displacement motor, a boosting variable displacement motor or an electric control variable displacement motor:
if the hoisting motor is a boost variable motor, the displacement of the hoisting motor is determined according to the load pressure P of the hoisting motor, and when the load pressure of the hoisting motor is P1When the corresponding discharge capacity of the hoist motor is VL1(ii) a When the load pressure of the hoisting motor is P2When the corresponding discharge capacity of the hoist motor is VL2Wherein P is1<P2，VL1<VL2And then:
when P is less than or equal to P1When, VL＝VL1；
When P is present1<P<P2When the temperature of the water is higher than the set temperature,
Figure FDA0003244273730000041
when P is more than or equal to P2When, VL＝VL2。
3. A truck crane, comprising:
the first oil pressure sensor is arranged on an oil inlet pipeline of the hoisting motor and used for acquiring the pressure value of an oil inlet of the hoisting motor;
the second oil pressure sensor is arranged on an oil outlet pipeline of the winch motor and used for acquiring the pressure value of an oil outlet of the winch motor;
the third oil pressure sensor is arranged at an oil inlet of the winch brake cylinder and used for acquiring the pressure value of the oil inlet of the winch brake cylinder;
the encoder is arranged on the hoisting roller and is used for generating pulses by the rotation of the hoisting roller;
the crane suspended load calculation apparatus according to claim 2, wherein the base parameter information acquisition means of the crane suspended load calculation apparatus is connected to the first oil pressure sensor, the second oil pressure sensor, the third oil pressure sensor, and the encoder.
4. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the crane hoist load calculation method of claim 1.
CN202010936993.9A 2020-09-08 2020-09-08 Crane hoisting load calculation method and device and automobile crane Active CN112141893B (en)

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CN1570576A (en) * 2004-04-08 2005-01-26 王振宇 Method and device for determining weight of starting parcel for winch
EP1547963A2 (en) * 2003-12-26 2005-06-29 Kobelco Cranes Co., Ltd. Control device for hydraulic winch
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CN202265338U (en) * 2011-09-16 2012-06-06 北京首钢建设集团有限公司 Horizontal-dragging overhead hoisting device for hoisting and winding of crown block
CN102976222A (en) * 2012-11-26 2013-03-20 中联重科股份有限公司 Engineering machinery and hydraulic system input load power control equipment, method and system
CN103613030A (en) * 2013-11-26 2014-03-05 中联重科股份有限公司 Oil supplementing control method, device and system for hydraulic system of hoisting mechanism and crane
CN104150388A (en) * 2014-05-26 2014-11-19 徐工集团工程机械股份有限公司 Method and device for controlling delivery capacity of motor when winch descends

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1547963A2 (en) * 2003-12-26 2005-06-29 Kobelco Cranes Co., Ltd. Control device for hydraulic winch
CN1570576A (en) * 2004-04-08 2005-01-26 王振宇 Method and device for determining weight of starting parcel for winch
CN101139069A (en) * 2007-06-29 2008-03-12 大连华锐股份有限公司 Multiple hanging points crane electric control method
CN202265338U (en) * 2011-09-16 2012-06-06 北京首钢建设集团有限公司 Horizontal-dragging overhead hoisting device for hoisting and winding of crown block
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