CN112173979B - Slewing safety control method and system for preventing whole crane from inclining - Google Patents
Slewing safety control method and system for preventing whole crane from inclining Download PDFInfo
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- CN112173979B CN112173979B CN202010962446.8A CN202010962446A CN112173979B CN 112173979 B CN112173979 B CN 112173979B CN 202010962446 A CN202010962446 A CN 202010962446A CN 112173979 B CN112173979 B CN 112173979B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
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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
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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
- 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
- B66C23/94—Safety gear for limiting slewing movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
Abstract
The invention belongs to the field of crane control, and discloses a rotation safety control method and a system for preventing the whole crane from inclining, wherein the method comprises the following steps: acquiring the current inclination of the crane, and judging whether to enter a rotary safety control mode according to the current inclination of the crane; when the crane enters a safe rotation control mode, judging whether the safe rotation condition is met under the current hoisting working condition; and if so, controlling the crane to perform the rotation action. According to the scheme, the judgment of the rotation safety control mode and the judgment of the rotation safety condition are added, so that when the crane carries out lifting load on uneven ground, the problem that the crane rotates reversely under the condition that the pressure of a rotation system is insufficient due to the opening of a rotation brake cylinder is solved, and unpredictable potential safety hazards caused by the problem can be avoided.
Description
Technical Field
The invention relates to the field of crane control, in particular to a turning safety control method and system for preventing the whole crane from inclining.
Background
When the crane carries out hoisting operation, the supporting legs are generally required to be leveled, but in some occasions, for example, when a construction site is uneven, the supporting legs cannot be completely leveled, the whole crane is in a state of inclining with a certain angle, in this case, if the crane wants to hoist a heavy object to rotate from a low slope to a high slope, when a rotary brake cylinder is opened, a rotary system obtains enough pressure, a time delay of about 1 second is caused, at the moment, the heavy object can reversely rotate towards the direction with the low slope due to self weight, the operation direction is opposite to the operation direction which the crane wants to execute, and an unappreciable safety risk is caused.
Disclosure of Invention
The invention aims to provide a slewing safety control method and a system for preventing the whole crane from inclining, so that potential safety hazards when the crane performs hoisting and slewing on uneven ground are reduced.
In order to achieve the purpose, the scheme of the invention is as follows:
in a first aspect, a slewing safety control method for preventing a whole crane from inclining is provided, which includes:
acquiring the current inclination of the crane, and judging whether to enter a rotary safety control mode according to the current inclination of the crane;
when the crane enters a safe rotation control mode, judging whether the safe rotation condition is met under the current hoisting working condition;
and if so, controlling the crane to perform the rotation action.
Preferably, the judging whether to enter the slewing safety control mode according to the current inclination of the crane comprises:
judging whether the gradient of the whole crane of the crane is greater than a first threshold value, if so, entering a safe rotation control mode, and if not, not entering the safe rotation control mode;
and/or judging whether the inclination of the crane in any one direction is larger than a second threshold value, if so, entering a safe rotation control mode, and if not, not entering the safe rotation control mode.
Preferably, the judging whether the inclination of the whole crane of the crane is greater than a first threshold value comprises: judging whether the whole inclination of the crane is greater than 0.6 degrees or not;
the judging whether the inclination of the crane in any one direction is larger than a second threshold value comprises the following steps: and judging whether the inclination of the crane in any one direction including the front direction, the rear direction, the left direction and the right direction is more than 0.5 degrees or not.
Preferably, the judging whether the crane meets the safe rotation condition under the current hoisting working condition includes:
acquiring the current rotation system pressure of the crane;
calculating the pressure required by overcoming the rotation resistance when the crane normally rotates at present;
and comparing the current pressure of the rotary system with the pressure required for overcoming the rotary resistance, and if the current pressure of the rotary system is not less than the pressure required for overcoming the rotary resistance, judging that the crane meets the safe rotary condition under the current hoisting working condition.
Preferably, the step of calculating the pressure required for overcoming the slewing resistance when the crane is currently slewing normally comprises the following steps:
(1) calculating a turning resistance moment;
the rotation resistance moment is the friction resistance moment of the rotation mechanism, the rotation gradient resistance moment, the wind load resistance moment and the rotation inertia resistance moment;
(2) calculating the output torque of the motor;
the motor output torque is equal to the rotation resistance torque, the rotation mechanism speed ratio, the rotation speed reducer speed ratio and the mechanical transmission total efficiency;
the total mechanical transmission efficiency is the product of the transmission efficiency of the slewing mechanism and the efficiency of the slewing reducer;
(3) calculating the pressure required for overcoming the rotation resistance;
the pressure required to overcome the turning resistance is motor output torque/62.8/mechanical hydraulic efficiency.
In a second aspect, a slewing safety control system for preventing a whole crane from inclining is provided, which is applied to the above method, and the system includes:
the first judgment module is used for acquiring the current inclination of the crane and judging whether to enter a rotary safety control mode according to the current inclination of the crane;
the second judgment module is used for judging whether the safe rotation condition is met under the current hoisting working condition when the crane enters a rotation safe control mode;
and the control module is used for controlling the crane to execute the rotation action when the safe rotation condition is met.
In a third aspect, a slewing safety control system for preventing a whole crane from tilting is provided, and is applied to the method, the system includes: the device comprises a PLC, an electronic level gauge, a rotary control handle and a moment limiter, wherein the electronic level gauge, the rotary control handle and the moment limiter are connected with the PLC;
the signal input end of the PLC is connected with a pressure sensor, and the signal output end of the PLC is connected with a rotary brake cylinder electromagnetic valve, a left rotary electromagnetic valve and a right rotary electromagnetic valve.
Preferably, the PLC controller is respectively connected with the electronic level gauge, the rotary control handle and the moment limiter through CAN buses;
the CANH port of the PLC is in communication connection with the CANH ports of the electronic level gauge, the rotary control handle and the moment limiter respectively;
and the CANL port of the PLC is respectively in communication connection with the CANL ports of the electronic level gauge, the rotary control handle and the moment limiter.
Preferably, the PLC controller obtains a current inclination of the crane through the electronic level, and determines whether to enter a safe control mode of slewing according to the current inclination of the crane, and specifically includes:
when the inclination of the whole crane is greater than 0.6 degrees, entering a rotary safety control mode;
and/or entering a slewing safety control mode when the inclination of the crane in any direction including the front direction, the rear direction, the left direction and the right direction is larger than 0.5 degrees.
Preferably, the PLC acquires the current actual hoisting load through the torque limiter, acquires the current pressure of the rotary system through the pressure sensor, and judges whether the crane meets the safe rotary condition under the current hoisting load working condition according to the actual hoisting load and the current pressure of the rotary system;
the safe rotation conditions are as follows: the pressure of the current rotary system is not less than the pressure required for overcoming the rotary resistance under the current hoisting working condition;
and when the safe rotation condition is met, the PLC controller controls the rotary brake cylinder electromagnetic valve to be opened, and the left rotary electromagnetic valve or the right rotary electromagnetic valve executes a rotation action.
According to the technical scheme, whether a safe rotation control mode is entered or not is judged according to the current inclination of the crane, whether the crane meets safe rotation conditions under the current hoisting working condition or not is judged, and if yes, the crane is controlled to execute rotation action. The scheme of the invention is added with the judgment of the rotation safety control mode and the judgment of the rotation safety condition, so that when the crane carries out lifting load on uneven ground, the problem of reverse rotation of the crane caused by insufficient pressure of a rotation system due to the opening of a rotation brake cylinder is prevented, and unpredictable potential safety hazards caused by the reverse rotation can be avoided.
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 swing safety control method for preventing a whole vehicle from tilting for a crane;
FIG. 2 is a block diagram of a swing safety control system for preventing the entire vehicle from tilting for a crane;
fig. 3 is an electrical schematic diagram of a slewing safety control system for preventing the entire crane from tilting.
Description of the reference numerals
A first judgment module 100; a second judgment module 200; a control module 300; a PLC controller 1; an electronic level 2; a rotary control handle 3; a torque limiter 4; a pressure sensor 5; a rotary brake cylinder solenoid valve 6; a left rotary solenoid valve 7; a right rotary solenoid valve 8; a power supply 9.
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 embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The invention provides a slewing safety control method for preventing a whole crane from inclining, which comprises the following steps of:
s1, acquiring the current inclination of the crane, and judging whether to enter a rotary safety control mode according to the current inclination of the crane;
and S2, when the crane enters a safe rotation control mode, judging whether the safe rotation condition is met under the current hoisting working condition, and if so, controlling the crane to execute rotation action.
In step S1, the inclination of the crane may be the inclination of the whole body of the crane, or the inclination of the body in any one of the front, rear, left and right directions. Specifically, the judging whether to enter the slewing safety control mode according to the current inclination of the crane includes the following conditions:
judging whether the gradient of the whole crane of the crane is greater than a first threshold value, if so, entering a rotary safety control mode; if not, the safe control mode of the rotation is not entered.
And/or judging whether the inclination of the crane in any one direction is greater than a second threshold value, and if so, entering a rotary safety control mode; if not, the safe control mode of the rotation is not entered.
According to a specific embodiment, the determining whether the whole vehicle inclination of the crane is greater than the first threshold value comprises: judging whether the whole inclination of the crane is greater than 0.6 degrees or not; namely, when the current finished vehicle inclination of the crane is more than 0.6 degrees, the crane enters a rotary safety control mode.
According to a specific embodiment, the determining whether the inclination of the crane in any one direction is greater than the second threshold value comprises: judging whether the inclination of the crane in any one direction including the front direction, the rear direction, the left direction and the right direction is more than 0.5 degree; that is, the swing safety control mode is entered when the inclination of the crane is currently greater than 0.5 ° in any one of the directions including front, rear, left, and right.
In the scheme of the invention, when the inclination of the whole crane of the crane is not more than 0.6 degrees, and the inclination of the crane in any direction including the front direction, the rear direction, the left direction and the right direction is not more than 0.5 degrees, the crane does not enter a rotary safety control mode. When the crane does not enter a rotation safety control mode, the crane is safe in rotation operation, the crane is directly controlled to execute rotation action according to a rotation control command, namely, a rotation brake cylinder is directly controlled to be opened according to the rotation control command from a rotation control handle, and the rotation action is controlled through a rotation electromagnetic valve.
Further, in step S2, the determining whether the crane meets the safe rotation condition under the current hoisting condition includes:
acquiring the current rotary system pressure of the crane;
calculating the pressure required by the crane to overcome the rotation resistance during the current normal rotation, namely the pressure of a rotation system capable of normally rotating under the hoisting working condition of the crane;
and comparing the current pressure of the rotary system with the pressure required for overcoming the rotary resistance, and if the current pressure of the rotary system is not less than the pressure required for overcoming the rotary resistance, judging that the crane meets the safe rotary condition under the current hoisting working condition.
Specifically, the step of calculating the pressure required for overcoming the rotation resistance under the current hoisting and loading working condition of the crane comprises the following steps of:
(1) calculating the turning resistance moment of the turning mechanism;
the calculation formula is as follows: the rotation resistance moment is the friction resistance moment of the rotation mechanism, the rotation gradient resistance moment, the wind load resistance moment and the rotation inertia resistance moment;
parameters such as the frictional resistance moment of the slewing mechanism (mainly the frictional resistance moment of a slewing bearing), the slewing gradient resistance moment caused by mechanical instability, the wind load resistance moment caused by wind pressure, the slewing inertial resistance moment when the slewing mechanism is started and the like are generally calculated by referring to a crane design specification GB/T3811 and a related formula in the document engineering machinery hydraulic system design calculation, and are the prior art and are not repeated herein;
(2) calculating the output torque of the motor;
the calculation formula is as follows: the motor output torque is equal to the rotation resistance torque, the rotation mechanism speed ratio, the rotation speed reducer speed ratio and the mechanical transmission total efficiency;
the total mechanical transmission efficiency is the product of the transmission efficiency of the slewing mechanism and the efficiency of the slewing reducer;
(3) calculating the pressure required for overcoming the rotation resistance;
the calculation formula is as follows: the pressure required to overcome the turning resistance is motor output torque/62.8/mechanical hydraulic efficiency.
And (4) calculating the pressure required for overcoming the rotation resistance according to the steps (1) to (3) to obtain the pressure of the rotation system when the crane normally rotates under the current hoisting working condition.
According to the scheme of the invention, whether a slewing safety control mode is entered is judged according to the current inclination of the crane, when the inclination of the whole crane and/or the inclination in any direction including the front direction, the rear direction, the left direction and the right direction of the crane exceed a threshold value, the crane enters the slewing safety control mode, the slewing operation cannot be directly performed after the crane enters the slewing safety control mode, the slewing safety condition is judged firstly, and when the judgment result is safe, a slewing brake cylinder is controlled to be opened, and the slewing action is controlled through a slewing electromagnetic valve. The scheme of the invention is added with the judgment of the rotation safety control mode and the judgment of the rotation safety condition, so that when the crane carries out lifting load on uneven ground, the problem of reverse rotation of the crane caused by insufficient pressure of a rotation system due to the opening of a rotation brake cylinder is prevented, and unpredictable potential safety hazards caused by the reverse rotation can be avoided.
The second aspect of the present invention further provides a slewing safety control system for preventing a whole crane from tilting, which is applied to the slewing safety control method, and as shown in fig. 2, the system includes:
the first judging module 100 is configured to obtain a current inclination of the crane, and judge whether to enter a safe rotation control mode according to the current inclination of the crane.
And the second judgment module 200 is configured to judge whether a safe rotation condition is met under the current hoisting working condition when the crane enters the rotation safety control mode.
And the control module 300 is used for controlling the crane to perform the rotation action when the safe rotation condition is met.
The third aspect of the invention also provides a slewing safety control system for preventing the whole crane from inclining, which is applied to the slewing safety control method, and as shown in fig. 3, the system comprises a PLC controller 1, and an electronic level 2, a slewing control handle 3 and a moment limiter 4 which are in communication connection with the PLC controller 1.
The signal input end of the PLC controller 1 is connected with a pressure sensor 5, and the signal output end of the PLC controller 1 is connected with a rotary brake cylinder electromagnetic valve 6, a left rotary electromagnetic valve 7 and a right rotary electromagnetic valve 8.
In the scheme of the invention, a PLC (programmable logic controller) 1 is respectively connected with an electronic level meter 2, a rotary control handle 3 and a moment limiter 4 through a CAN (controller Area network) bus. The CAN bus is a serial communication protocol bus for real-time communication, CAN transmit signals by using a twisted pair, and is one of the most widely applied field buses. Specifically, the CANH port of the PLC controller 1 is in communication connection with the CANH ports of the electronic level 2, the swing control handle 3, and the moment limiter 4, respectively, and the CANL port of the PLC controller 1 is in communication connection with the CANL ports of the electronic level 2, the swing control handle 3, and the moment limiter 4, respectively. The CANH port is used for transmitting high-level signals, and the CANL port is used for transmitting low-level signals.
Further, PLC controller 1 obtains the current gradient of hoist through electron spirit level 2, including the whole car gradient of hoist and the gradient on the equidirectional not to judge whether to get into gyration safety control mode according to the current gradient of hoist, include:
when the inclination of the whole crane is larger than 0.6 degrees and/or the inclination of the crane in any direction including the front direction, the rear direction, the left direction and the right direction is larger than 0.5 degrees, entering a rotary safety control mode;
and when the inclination of the whole crane is not more than 0.6 DEG, and when the inclination of the crane in any direction including the front direction, the rear direction, the left direction and the right direction is not more than 0.5 DEG, the safe rotation control mode is not entered.
If the crane enters a safe rotation control mode, whether the current working condition meets the safe rotation condition needs to be judged; if the crane does not enter a rotation safety control mode, the PLC controller outputs an instruction to the electromagnetic valve 6 of the rotation brake cylinder and controls the opening of the rotation brake cylinder when receiving a rotation command of the rotation control handle 3, and meanwhile, outputs a PWM signal to the left rotation electromagnetic valve 7 or the right rotation electromagnetic valve 8 to control left rotation action or right rotation action.
The moment limiter is a safety system installed on the crane for overload limitation and moment protection of the crane, and generally consists of a microprocessor system connected to various sensors of the crane, detects signals of the various sensors including a force sensor signal, an angle sensor signal, a length sensor signal and a working condition setting condition through circulation, and compares the signals with the technical specification of a manufacturer to determine whether the hoisting work is safe or not. The PLC 1 acquires the current actual hoisting load weight through the torque limiter 4, acquires the current pressure of the rotary system through the pressure sensor 5, and judges whether the crane meets the safe rotary condition or not according to the actual hoisting load weight, the current pressure of the rotary system and the pressure of the rotary system required by overcoming the rotary resistance under the current hoisting load working condition.
In the solution of the present invention, the safe rotation condition is: the pressure of the current rotary system is not less than the pressure of the rotary system required for overcoming the rotary resistance under the current hoisting working condition.
When the working condition of the crane meets the safe rotation condition, the PLC 1 outputs an instruction to the rotary brake cylinder electromagnetic valve 6 and controls the rotary brake cylinder to be opened, and meanwhile, outputs a PWM signal to the left rotary electromagnetic valve 7 or the right rotary electromagnetic valve 8 and controls the left rotary electromagnetic valve 7 or the right rotary electromagnetic valve 8 to execute rotation.
Further, as shown in fig. 3, the PLC controller 1, the electronic level 2, the swing control handle 3, the moment limiter 4, and the pressure sensor 5 are connected to a power supply 9, which is preferably a lead storage battery that supplies a stable 24V voltage, respectively.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (9)
1. A safe control method for preventing the whole crane from inclining is characterized by comprising the following steps:
acquiring the current inclination of the crane, and judging whether to enter a rotary safety control mode according to the current inclination of the crane;
when the crane enters a rotation safety control mode, acquiring the current rotation system pressure of the crane;
calculating the pressure required by overcoming the rotation resistance when the crane normally rotates at present;
comparing the current pressure of the slewing system with the pressure required for overcoming the slewing resistance;
and if the current pressure of the rotary system is not less than the pressure required for overcoming the rotary resistance, judging that the crane meets the safe rotary condition under the current hoisting working condition, and controlling the crane to execute the rotary action.
2. The method according to claim 1, wherein the determining whether to enter a swing safety control mode according to the current inclination of the crane comprises:
judging whether the gradient of the whole crane of the crane is greater than a first threshold value, if so, entering a safe rotation control mode, and if not, not entering the safe rotation control mode;
and/or judging whether the inclination of the crane in any one direction is larger than a second threshold value, if so, entering a safe rotation control mode, and if not, not entering the safe rotation control mode.
3. The method of claim 2, wherein determining whether a full car inclination of the crane is greater than a first threshold comprises: judging whether the whole inclination of the crane is greater than 0.6 degrees or not;
the judging whether the inclination of the crane in any one direction is larger than a second threshold value comprises the following steps: and judging whether the inclination of the crane in any one direction including the front direction, the rear direction, the left direction and the right direction is more than 0.5 degrees or not.
4. The method of claim 1, wherein the step of calculating the pressure required to overcome the slewing resistance during the current normal slewing of the crane comprises:
(1) calculating the turning resistance moment of the turning mechanism;
the rotation resistance moment is the friction resistance moment of the rotation mechanism, the rotation gradient resistance moment, the wind load resistance moment and the rotation inertia resistance moment;
(2) calculating the output torque of the motor;
the motor output torque is equal to a rotation resistance torque, a rotation mechanism speed ratio, a rotation speed reducer speed ratio and a mechanical transmission total efficiency;
the total mechanical transmission efficiency is the product of the transmission efficiency of the slewing mechanism and the efficiency of the slewing reducer;
(3) calculating the pressure required for overcoming the rotation resistance;
the pressure required to overcome the turning resistance is motor output torque/62.8/mechanical hydraulic efficiency.
5. A slewing safety control system for preventing the tilting of a crane, applied to the method of any one of claims 1 to 4, characterized in that the system comprises:
the first judgment module is used for acquiring the current inclination of the crane and judging whether to enter a rotary safety control mode according to the current inclination of the crane;
the second judgment module is used for acquiring the current rotation system pressure of the crane when the crane enters a rotation safety control mode;
calculating the pressure required by overcoming the rotation resistance when the crane normally rotates at present;
comparing the current pressure of the slewing system with the pressure required for overcoming the slewing resistance;
if the current pressure of the rotary system is not less than the pressure required for overcoming the rotary resistance, judging that the crane meets the safe rotary condition under the current hoisting working condition;
and the control module is used for controlling the crane to execute the rotation action when the safe rotation condition is met.
6. A slewing safety control system for preventing the tilting of a crane, applied to the method of any one of claims 1 to 4, characterized in that the system comprises:
the device comprises a PLC, an electronic level gauge, a rotary control handle and a moment limiter, wherein the electronic level gauge, the rotary control handle and the moment limiter are connected with the PLC;
the signal input end of the PLC is connected with a pressure sensor, and the signal output end of the PLC is connected with a rotary brake cylinder electromagnetic valve, a left rotary electromagnetic valve and a right rotary electromagnetic valve.
7. The system of claim 6, wherein the PLC controller is connected to the electronic level, the swing control handle, and the torque limiter, respectively, via CAN buses;
the CANH port of the PLC is in communication connection with the CANH ports of the electronic level gauge, the rotary control handle and the moment limiter respectively;
and the CANL port of the PLC is respectively in communication connection with the CANL ports of the electronic level gauge, the rotary control handle and the moment limiter.
8. The system according to claim 6, wherein the PLC controller obtains a current inclination of the crane through the electronic level and determines whether to enter a safe slewing control mode according to the current inclination of the crane, and specifically comprises:
when the inclination of the whole crane is greater than 0.6 degrees, entering a rotary safety control mode;
and/or entering a slewing safety control mode when the inclination of the crane in any direction including the front direction, the rear direction, the left direction and the right direction is larger than 0.5 degrees.
9. The system of claim 6, wherein the PLC controller obtains the current actual hoisting load weight through the torque limiter, obtains the current revolving system pressure through the pressure sensor, and judges whether the crane meets the safe revolving condition under the current hoisting load working condition according to the actual hoisting load weight and the current revolving system pressure;
the safe rotation conditions are as follows: the pressure of the current rotary system is not less than the pressure required for overcoming the rotary resistance under the current hoisting working condition;
and when the safe rotation condition is met, the PLC controller controls the rotary brake cylinder electromagnetic valve to be opened, and the left rotary electromagnetic valve or the right rotary electromagnetic valve executes a rotation action.
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| CN202010962446.8A CN112173979B (en) | 2020-09-14 | 2020-09-14 | Slewing safety control method and system for preventing whole crane from inclining |
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| CN104876138A (en) * | 2015-05-05 | 2015-09-02 | 山东大学 | Overturn-preventing device capable of adapting to complicated pavement automatically and applied to engineering machinery and overturn-preventing method |
| WO2019175400A1 (en) * | 2018-03-16 | 2019-09-19 | Putzmeister Engineering Gmbh | Mobile concrete pump and method for stabilization-relevant control of a mobile concrete pump |
| CN109437030A (en) * | 2018-12-10 | 2019-03-08 | 中联重科股份有限公司 | Engineering machinery anti-tipping control method, device and engineering machinery |
| CN111348562A (en) * | 2018-12-21 | 2020-06-30 | 住友重机械建机起重机株式会社 | Mobile crane |
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| CN112173979A (en) | 2021-01-05 |
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