WO2013086882A1 - Crane, and closed-type hoist negative power control system for use with crane - Google Patents
Crane, and closed-type hoist negative power control system for use with crane Download PDFInfo
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- WO2013086882A1 WO2013086882A1 PCT/CN2012/082075 CN2012082075W WO2013086882A1 WO 2013086882 A1 WO2013086882 A1 WO 2013086882A1 CN 2012082075 W CN2012082075 W CN 2012082075W WO 2013086882 A1 WO2013086882 A1 WO 2013086882A1
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- valve
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- closed
- crane
- transfer case
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
Definitions
- the present invention relates to the field of construction machinery, and in particular to a closed hoisting negative power control system for a crane and a crane.
- BACKGROUND OF THE INVENTION Cranes are a common construction machine.
- an open or closed system is driven by an engine to achieve lifting of a hoisting weight, and the closed system mainly includes a variable pump and a hoisting motor.
- the open system the speed at which the weight drops can be adjusted by the balancing valve.
- the closed system cannot be installed because of the poor heat dissipation.
- Fig. 1 is a schematic view showing the principle of a closed winch negative power absorption mode for a crane according to the related art.
- the arrows in Figure 1 indicate the flow of power and the weight G is the weight of the crane.
- the generation of negative power can only be limited by limiting the falling speed of the weight.
- a primary object of the present invention is to provide a closed hoisting negative power control system for a crane and a crane to solve the problem of poor performance of the closed hoisting negative power control for a crane in the prior art.
- a closed hoisting negative power control system for a crane is provided.
- the closed hoisting negative power control system for a crane of the present invention is used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered.
- the control system includes an engine, a transfer case, an open system, and a closed system.
- the open system and the closed system are respectively connected to the transfer case and connected to the engine through the transfer case;
- the closed system includes a closed type connected to the transfer case Variable pump, through hydraulic lines and said a hoist motor coupled to the closed variable pump and a hoisting reducer coupled to the hoisting motor;
- the transfer case for transmitting part or all of the negative power to the crane when the crane performs a lowering operation Open system.
- the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a proportional reversing valve, and the open type variable a pump connection; a loading relief valve of the crane, coupled to the proportional directional valve; a pilot proportional pressure reducing valve coupled to the proportional directional valve for controlling the pressure oil via the proportional directional valve Flow to the load relief valve.
- the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a hydraulically controlled directional valve, and the open type a variable pump connection; a proportional load relief valve connected to the hydraulic directional control valve; an electromagnetic directional control valve connected to the hydraulic directional control valve for controlling the conduction or closing of the hydraulic directional control valve Broken.
- the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; and first and second proportional reversing valves, both Connected to the open variable pump; first to fourth pilot proportional pressure reducing valves, wherein the first and second pilot proportional pressure reducing valves are coupled to the first proportional directional control valve, and the third and fourth pilot proportional pressure reducing valves Connected to the second proportional directional control valve; the hydraulic component and the load relief valve, wherein the first port of the hydraulic component is coupled to the first and second proportional directional valves, the second port and the second a proportional diverter valve is connected, the load relief valve is connected to the second proportional reversing valve; and the hydraulic component is configured to absorb power obtained by the open variable pump; the first pilot proportional decompression a valve for controlling a flow rate of the pressurized oil flowing to the first port of the hydraulic component via the first proportional reversing valve; the second pilot proportional pressure reducing valve is configured to control
- the load relief valve is a proportional load relief valve.
- the hydraulic component is a two-piece valve combined flow control hydraulic motor or a two-piece valve combined flow control telescopic cylinder.
- the hydraulic component is a luffing cylinder of the crane, the first port is a rodless cavity of the luffing cylinder, and the second port is a rod cavity of the luffing cylinder.
- the variable amplitude cylinder is a double variable amplitude cylinder.
- the open variable pump is a load sensing pump or an electrically variable pump.
- the negative power generated by the closed hoisting is transferred from the transfer case to the open system, which is absorbed by the open system, and the weight drop speed is no longer restricted;
- the pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
- the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve or proportionally loading the pressure of the relief valve;
- FIG. 1 is a schematic view showing the principle of a closed hoisting negative power absorption mode for a crane according to the related art
- FIG. 2 is a schematic diagram showing a power transmission relationship at an engine output power according to an embodiment of the present invention
- FIG. 4 is a first basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
- FIG. 5 is a schematic diagram of a first embodiment of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
- 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention
- FIG. 7 is a fourth type of closed hoisting negative power control system for a crane according to an embodiment of the present invention
- Basic structure diagram. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.
- the closed hoisting negative power control system for a crane according to an embodiment of the present invention is mainly used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered.
- 2 is a schematic diagram of a power transfer relationship when an engine outputs power according to an embodiment of the present invention.
- 3 is a schematic diagram of a power transfer relationship when an engine absorbs power according to an embodiment of the present invention.
- the closed hoisting negative power control system for a crane according to an embodiment of the present invention mainly includes an engine 1, a transfer case 2, an open system 3, and a closed system 4.
- the open system 3 and the closed system 4 are respectively connected to the transfer case 2, and are connected to the engine 1 through the transfer case 2.
- the closed system 4 includes a closed variable pump and a hoisting motor that are connected to each other, and also includes a hoisting reducer (not shown).
- the transfer case 2 can be used to transfer the output power of the engine to the open system 3 and the closed system 4 when the crane performs the ascending operation (as shown in FIG. 3, wherein the arrow indicates the power flow direction), and for the control of the negative power,
- the transfer case 2 is capable of transferring a portion of the negative power (and another portion to the engine at this time) or all of the open system 3 when the crane is performing the lowering operation (as shown in Fig. 3, wherein the arrow indicates the power flow direction).
- Figure 3 also shows the weight G, which produces a negative power when it descends.
- the first optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer The box takes power and outputs pressure oil; the proportional reversing valve 41; the pilot proportional pressure reducing valve 42, and the loading relief valve 43 of the crane. Further, the open type variable pump 30, the pilot proportional pressure reducing valve 42, and the load relief valve 43 are respectively connected to the proportional switching valve 41; the pilot proportional pressure reducing valve 42 is for controlling the flow of the pressurized oil to the loading overflow via the proportional switching valve 41.
- FIG. 4 shows a case where the proportional directional control valve 41 adopts a three-position proportional directional control valve, in which case the B1 port can be blocked, as shown in FIG. 4; a two-way proportional directional control valve can also be used.
- . 5 is a second basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention.
- the second optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer Box 2 takes power and outputs pressure Force oil; electromagnetic reversing valve 51; hydraulically controlled reversing valve 52; proportionally loaded relief valve 53.
- the open type variable pump 30, the electromagnetic reversing valve 51 and the proportional load relief valve 53 are respectively connected to the pilot-operated reversing valve 52; the electromagnetic reversing valve 51 is used to control the on or off of the pilot-operated reversing valve 52.
- the electromagnetic reversing valve 51 can control the switching of the working state of the pilot-operated reversing valve 52, so that the pressure oil is disconnected or connected to the proportional-loading relief valve, and is controlled by the proportional-loading relief valve 53.
- the magnitude of the loading pressure is used to achieve stepless adjustment of the loading pressure.
- 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention. As shown in FIG.
- the third optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open type variable pump 30 connected to the transfer case 2 for use in the transfer The tank 2 takes power and outputs pressurized oil; the first proportional diverter valve 621 and the second proportional reversing valve 622 are both connected to the open type variable pump 30; the first to fourth pilot proportional pressure reducing valves 611 to 614, wherein The first and second pilot proportional pressure reducing valves 611, 612 are coupled to the first proportional directional valve 621, and the third and fourth pilot proportional pressure reducing valves are coupled to the second proportional directional valve 622; the slewing cylinder 63 of the crane and loading The relief valve 64, wherein the rodless cavity of the variator cylinder 63 is connected to the first proportional directional valve 621 and the second proportional directional valve 622, and the rod cavity of the variator cylinder 63 is connected to the first proportional directional valve 621.
- the load relief valve 64 is coupled to the second proportional directional valve 622.
- the slewing cylinder 63 can absorb the power obtained by the open type variable pump 30.
- the first pilot proportional pressure reducing valve 611 is configured to control the flow rate of the pressurized oil flowing to the first port of the slewing cylinder 63 via the first proportional directional valve 621;
- the second pilot proportional pressure reducing valve 612 is configured to control the pressure oil via the first
- the proportional diverter valve 621 flows to the second port of the slewing cylinder 63;
- the third pilot proportional pressure reducing valve 613 is configured to control the flow of the pressurized oil to the first port of the slewing cylinder 63 via the second proportional directional valve 622
- the flow rate; the fourth pilot proportional pressure reducing valve 614 is used to control the flow of the pressurized oil to the load relief valve 64 via the second proportional directional valve 622.
- the first port of the slewing cylinder 63 is a rodless chamber, and the second port has a rod chamber.
- the horn cylinder 63 may be a double squaring cylinder.
- the load relief valve 64 can employ a proportional load relief valve.
- the open type variable pump 30 can employ a load sensing pump or an electrically variable pump.
- a two-piece valve combined flow control hydraulic motor or a two-piece valve confluence control telescopic cylinder may be used.
- Fig. 7 is a closed roll for a crane according to an embodiment of the present invention.
- the closed variable pump 31 and the hoisting motor 32 constitute a closed system main oil passage, and provide kinetic energy to the hoisting reducer 33 to lift the weight G. During the falling of the weight G, the potential energy is converted into kinetic energy to the closed system. .
- the engine acts simultaneously through the transfer case and the open system (by acting directly on the open variable pump) and the closed system (by acting directly on the closed variable pump).
- the transfer case acts as an energy transfer mechanism: it can transmit the power output from the engine to the open variable pump and the closed variable pump for external work, or it can generate the weight when the closed system is lowered.
- the negative power (in this case, the closed variable pump drives the transfer case and the engine to rotate) is transmitted to the transfer case, which is transmitted to the engine and the open system through the transfer case.
- the main working elements of the closed system are closed variable displacement pumps and hoisting motors.
- the closed variable pump is responsible for controlling the speed control of the lifting and lowering of the hoisting mechanism, and the hoisting motor is connected with the speed reducer to synchronize the lifting and falling of the weight. When the weight rises, the engine inputs part of the energy into the closed variable pump through the transfer case.
- the negative power that the engine can absorb is limited, so when the lifting weight M increases, the maximum falling speed V of the weight should be reduced. With the development of the crane, the lifting weight is increased, and the negative power absorbed by the engine alone cannot meet the demand.
- the negative power generated by the weight drop is absorbed by the engine and the open system.
- the negative power S absorbed by the engine is smaller than the maximum negative power that can be absorbed.
- s ⁇ s m (where s m represents the maximum negative power that the engine can absorb).
- the A1 port of the first proportional diverter valve 621 and the A2 port of the second proportional diverter valve 622 are combined to supply oil to the rodless cavity of the luffing cylinder; the B1 port of the first proportional diverter valve 621 is changed.
- the oil cylinder 63 has a rod chamber for oil supply; the B2 port of the second proportional directional valve 622 is a proportional load relief valve 64 for oil supply; and the second proportional directional valve 622 has a center function of "0" type function.
- the specific control is as follows: When the pilot proportional pressure reducing valves 611, 612, 613 and 614 are all de-energized, the first proportional switching valve 621 and the second proportional switching valve 622 are in the neutral position, and the system has no pressure oil output; when the pilot ratio When the pressure reducing valve 611 is energized, the first proportional switching valve 621 operates in the right position, and the pressurized oil enters the rodless cavity of the variable amplitude cylinder 63 from the A1 port through the first proportional switching valve 621, and the variable amplitude cylinder 63 realizes the lifting action; When the pilot proportional pressure reducing valve 612 is energized, the first proportional switching valve 621 operates in the left position, and the pressure oil passes through the first proportional switching valve from the B1 port into the variable amplitude cylinder 63 to have a rod cavity, and the variable amplitude realizes the lowering action; When the pilot proportional pressure reducing valves 611, 613 are simultaneously energized, the pressurized oil
- the rodless chamber realizes high-speed confluence at the time of variable amplitude lifting; when the pilot proportional pressure reducing valve 614 is energized, the pressurized oil is proportionally loaded into the relief valve 64 from the B2 port via the second proportional diverter valve 622.
- the control pressures outputted by the pilot proportional pressure reducing valves 611 to 614 are proportional to the control current, so that the proportional output of the flow rates of the first proportional switching valve 621 and the second proportional switching valve 622 can be realized, thereby realizing the speed of the variable amplitude cylinder or
- the flow rate of the proportional load relief valve is proportional to the input current.
- the negative power absorbed by the open system consists of two parts, one of which is the power consumed by the luffing system, and the other is the power consumed when the overflow valve is loaded.
- the power consumed by the luffing system is determined by the working conditions during the lifting process (such as the action of the luffing cylinder, the speed of the action is determined by the actual working conditions), and the power of the loading system is controlled in real time.
- a variable parameter is controlled.
- P K Q x ⁇ / 600 + Q 2 xAP 2 / 600 (6)
- g represents the flow rate of the luffing system; represents the luffing system pressure;
- ⁇ 2 represents the supply load relief valve flow;
- ⁇ 2 represents the loading Overflow valve pressure;
- the control current of the pilot proportional pressure reducing valve 614 is increased to increase the flow rate of the proportional switching valve output to the proportional loading relief valve ( ⁇ 2 in the equation (7)) so that the proportional loading
- the overflow valve consumes more power, which causes the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the current of the pilot proportional pressure reducing valve 614 can be reduced to reduce the power consumption of the load relief valve. , to maintain the engine load rate at the target value.
- the input current of the proportional load relief valve 53 is increased to increase the loading pressure of the proportional load relief valve ( ⁇ 2 in the equation (7) ) causing the proportional load relief valve to increase power consumption, causing the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the input current of the proportional load relief valve 53 can be reduced to reduce the load overflow
- the power consumption of the flow valve maintains the engine load rate at the target value. If the load relief valve in this embodiment uses an electro-hydraulic proportional overflow pottery, the magnitude of its pressure ( ⁇ 2 in equation (7)) can be steplessly controlled by adjusting the magnitude of its control current.
- the control current can be made relatively small, so that the overshoot amount when the relief valve is opened is reduced, and the loading is more stable.
- the negative power input to the engine when the closed hoisting is lowered does not exceed the maximum absorbable value.
- the engine can absorb the negative power at the target set value by real-time control of the current magnitude of the electric pilot proportional pressure reducing valve 614 or the proportional loading relief valve 53.
- the negative power generated by the closed hoisting is transferred from the transfer case to the open system, absorbed by the open system, and the weight drop speed is no longer limited; 2.
- the flow ratio control of the proportional reversing valve output to the proportional loading relief valve is realized to obtain different loading power of the proportional loading relief valve. Since the control is stepless adjustment, the loading is stable, and the speed is not changed suddenly; 3.
- the pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
- the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve / or proportionally loading the current of the relief valve;
- the second proportional reversing valve 622 can realize two functions of variable amplitude lifting and system loading, which saves a proportional reversing valve compared with the traditional control method.
- the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module.
- the invention is not limited to any specific combination of hardware and software.
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Abstract
Disclosed are a crane, and a closed-type hoist negative power control system for use with the crane. The control system comprises an engine (1), a transfer case (2), an open-type system (3) and a closed-type system (4), wherein the open-type system (3) and the closed-type system (4) are connected to the transfer case (2), respectively, and are connected to the engine (1) via the transfer case (2). The closed-type system (4) comprises a closed-type variable displacement pump (31) connected to the transfer case (2), a hoist motor (32) connected to the closed-type variable displacement pump (31) via a hydraulic pipeline, and a hoist reduction gear (33) connected to the hoist motor (32). When the crane is lowering a weight, the transfer case (2) transfers part or all of the negative power to the open-type system (3). When the closed-type hoist is lowering a weight, the negative power generated is transferred to the open-type system (3) by the transfer case (2), and is absorbed by the open-type system (3), meaning there is no longer a restriction on the speed of lowering a weight; therefore, better control effects are achieved compared with the prior art.
Description
起重机以及起重机用闭式卷扬负功率控制*** 技术领域 本发明涉及工程机械技术领域， 特别地涉及一种起重机以及起重机用闭式卷扬负 功率控制***。 背景技术 起重机是一种常见的工程机械。 相关技术中， 由发动机驱动开式或闭式***以实 现吊重物的起升， 该闭式***中主要包括变量泵和卷扬马达。 在开式***中重物下降的速度可通过平衡阀来调节控制， 而在闭式***中因闭式 ***散热效果差， 因此不能安装平衡阀。 相关技术中的负功率吸收方式主要通过发动 机本身吸收一部分负功率， 其原理如图 1所示。 图 1是根据相关技术中的起重机用闭 式卷扬负功率吸收方式原理的示意图。 图 1中的箭头表示功率的流量， 重物 G为起重 机的吊重物。 如图 1所示， 重物 G下降时产生负功率， 该负功率传递给闭式***， 闭 式***向发动机输出功率， 相应地发动机吸收功率。 相关技术中， 只能通过限制重物的下降速度来限制负功率的产生。 随着起重机行 业的发展， 起重量越来越大， 下降时需要吸收的负功率也越来越多 （因为负功率的大 小和重物质量成正比），速度被限制的也越来越小， 因发动机本身能吸收的负功率是有 限的， 超出发动机的吸收范围后会有飞车危险。 因此相关技术中对于起重机用闭式卷 扬负功率控制的效果不佳， 对于该问题， 相关技术中尚未提出有效解决方案。 发明内容 本发明的主要目的是提供一种起重机以及起重机用闭式卷扬负功率控制***， 以 解决现有技术中对于起重机用闭式卷扬负功率控制的效果不佳的问题。 为了实现上述目的， 根据本发明的一个方面， 提供了一种起重机用闭式卷扬负功 率控制***。 本发明的起重机用闭式卷扬负功率控制***用于吸收起重机的卷扬机构在吊重物 下放时产生的负功率， 所述控制***包括发动机、 分动箱、 开式***、 和闭式***， 其中： 所述开式***和闭式***分别与所述分动箱连接， 并通过所述分动箱连接到所 述发动机； 所述闭式***包括与所述分动箱连接的闭式变量泵、 通过液压管路与所述
闭式变量泵连接的卷扬马达、 以及与所述卷扬马达连接的卷扬减速机； 所述分动箱用 于在起重机进行下降作业时将所述负功率的部分或全部传递给所述开式***。 进一步地， 所述开式***中包括： 开式变量泵， 与所述分动箱连接， 用于从所述 分动箱取得动力并输出压力油； 比例换向阀， 与所述开式变量泵连接； 所述起重机的 加载溢流阀， 与所述比例换向阀连接； 先导比例减压阀， 与所述比例换向阀连接， 用 于控制所述压力油经由所述比例换向阀流向所述加载溢流阀的流量。 进一步地， 所述开式***中包括： 开式变量泵， 与所述分动箱连接， 用于从所述 分动箱取得动力并输出压力油； 液控换向阀， 与所述开式变量泵连接； 比例加载溢流 阀， 与所述液控换向阀连接； 电磁换向阀， 与所述液控换向阀连接， 用于控制所述液 控换向阀的导通或者关断。 进一步地， 所述开式***中包括： 开式变量泵， 与所述分动箱连接， 用于从所述 分动箱取得动力并输出压力油； 第一和第二比例换向阀， 都与所述开式变量泵连接； 第一至第四先导比例减压阀，其中第一和第二先导比例减压阀与第一比例换向阀连接， 第三和第四先导比例减压阀与第二比例换向阀连接； 液压元件和加载溢流阀， 其中所 述液压元件的第一油口与所述第一和第二比例换向阀连接， 第二油口与所述第二比例 换向阀连接， 所述加载溢流阀与所述第二比例换向阀连接； 并且， 所述液压元件用于 吸收所述开式变量泵取得的动力； 所述第一先导比例减压阀用于控制所述压力油经由 所述第一比例换向阀流向所述液压元件的第一油口的流量； 所述第二先导比例减压阀 用于控制所述压力油经由所述第一比例换向阀流向所述液压元件的第二油口的流量； 所述第三先导比例减压阀用于控制所述压力油经由所述第二比例换向阀流向所述液压 元件的第一油口的流量； 所述第四先导比例减压阀用于控制所述压力油经由所述第二 比例换向阀流向所述加载溢流阀的流量。 进一步地， 所述加载溢流阀为比例加载溢流阀。 进一步地， 所述液压元件为两片阀合流控制的液压马达或两片阀合流控制的伸缩 油缸。 进一步地， 所述液压元件为所述起重机的变幅油缸， 所述第一油口为该变幅油缸 的无杆腔， 所述第二油口为该变幅油缸的有杆腔。 进一步地， 所述变幅油缸为双变幅油缸。 进一步地， 所述开式变量泵为负荷传感泵或电控变量泵。
根据本发明的又一方面， 提供了一种起重机， 该起重机包括本发明的起重机用闭 式卷扬负功率控制***。 应用本发明的技术方案， 能够获得以下有益效果： BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of construction machinery, and in particular to a closed hoisting negative power control system for a crane and a crane. BACKGROUND OF THE INVENTION Cranes are a common construction machine. In the related art, an open or closed system is driven by an engine to achieve lifting of a hoisting weight, and the closed system mainly includes a variable pump and a hoisting motor. In the open system, the speed at which the weight drops can be adjusted by the balancing valve. In the closed system, the closed system cannot be installed because of the poor heat dissipation. The negative power absorption method in the related art mainly absorbs a part of negative power by the engine itself, and the principle thereof is as shown in FIG. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the principle of a closed winch negative power absorption mode for a crane according to the related art. The arrows in Figure 1 indicate the flow of power and the weight G is the weight of the crane. As shown in Fig. 1, when the weight G falls, negative power is generated, which is transmitted to the closed system, and the closed system outputs power to the engine, and accordingly the engine absorbs power. In the related art, the generation of negative power can only be limited by limiting the falling speed of the weight. With the development of the crane industry, the lifting capacity is getting bigger and bigger, and the negative power that needs to be absorbed when falling is also increasing (because the magnitude of the negative power is proportional to the mass of the heavy object), the speed is limited to be smaller and smaller. The negative power that the engine itself can absorb is limited, and there is a risk of flying after the engine's absorption range. Therefore, the related art has a poor effect on the closed winch negative power control for the crane, and an effective solution has not been proposed in the related art for this problem. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a closed hoisting negative power control system for a crane and a crane to solve the problem of poor performance of the closed hoisting negative power control for a crane in the prior art. In order to achieve the above object, according to an aspect of the present invention, a closed hoisting negative power control system for a crane is provided. The closed hoisting negative power control system for a crane of the present invention is used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered. The control system includes an engine, a transfer case, an open system, and a closed system. Wherein: the open system and the closed system are respectively connected to the transfer case and connected to the engine through the transfer case; the closed system includes a closed type connected to the transfer case Variable pump, through hydraulic lines and said a hoist motor coupled to the closed variable pump and a hoisting reducer coupled to the hoisting motor; the transfer case for transmitting part or all of the negative power to the crane when the crane performs a lowering operation Open system. Further, the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a proportional reversing valve, and the open type variable a pump connection; a loading relief valve of the crane, coupled to the proportional directional valve; a pilot proportional pressure reducing valve coupled to the proportional directional valve for controlling the pressure oil via the proportional directional valve Flow to the load relief valve. Further, the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; a hydraulically controlled directional valve, and the open type a variable pump connection; a proportional load relief valve connected to the hydraulic directional control valve; an electromagnetic directional control valve connected to the hydraulic directional control valve for controlling the conduction or closing of the hydraulic directional control valve Broken. Further, the open system includes: an open type variable pump connected to the transfer case for obtaining power from the transfer case and outputting pressure oil; and first and second proportional reversing valves, both Connected to the open variable pump; first to fourth pilot proportional pressure reducing valves, wherein the first and second pilot proportional pressure reducing valves are coupled to the first proportional directional control valve, and the third and fourth pilot proportional pressure reducing valves Connected to the second proportional directional control valve; the hydraulic component and the load relief valve, wherein the first port of the hydraulic component is coupled to the first and second proportional directional valves, the second port and the second a proportional diverter valve is connected, the load relief valve is connected to the second proportional reversing valve; and the hydraulic component is configured to absorb power obtained by the open variable pump; the first pilot proportional decompression a valve for controlling a flow rate of the pressurized oil flowing to the first port of the hydraulic component via the first proportional reversing valve; the second pilot proportional pressure reducing valve is configured to control the pressure oil via the first a proportional directional valve flows to the second port of the hydraulic component The third pilot proportional pressure reducing valve is configured to control a flow rate of the pressurized oil flowing to the first oil port of the hydraulic component via the second proportional switching valve; the fourth pilot proportional pressure reducing valve And a flow rate for controlling the flow of the pressurized oil to the load relief valve via the second proportional directional control valve. Further, the load relief valve is a proportional load relief valve. Further, the hydraulic component is a two-piece valve combined flow control hydraulic motor or a two-piece valve combined flow control telescopic cylinder. Further, the hydraulic component is a luffing cylinder of the crane, the first port is a rodless cavity of the luffing cylinder, and the second port is a rod cavity of the luffing cylinder. Further, the variable amplitude cylinder is a double variable amplitude cylinder. Further, the open variable pump is a load sensing pump or an electrically variable pump. According to still another aspect of the present invention, there is provided a crane including the closed hoisting negative power control system for a crane of the present invention. By applying the technical solution of the present invention, the following beneficial effects can be obtained:
1、 闭式卷扬下降时所产生的负功率由分动箱传递到开式***， 由开式***吸收， 重物下降速度不再受到限制； 1. The negative power generated by the closed hoisting is transferred from the transfer case to the open system, which is absorbed by the open system, and the weight drop speed is no longer restricted;
2、通过控制先导比例减压阀的电流来实现比例换向阀输出给比例加载溢流阀的流 量比例控制， 以得到比例加载溢流阀不同的加载功率， 由于控制为无级调节， 因此加 载稳定， 不会使速度产生突变； 2. By controlling the current of the pilot proportional pressure reducing valve, the flow proportional control of the proportional switching valve output to the proportional loading relief valve is realized, so as to obtain different loading power of the proportional loading relief valve, since the control is stepless adjustment, the loading is performed. Stable, does not cause a sudden change in speed;
3、 比例加载溢流阀的压力也可无级调节，在闭式***产生的负功率较小时设定压 力较低***超调小， 加载更加平稳， 当闭式***产生的负功率较大时， 设定压力较高 满足加载功率要求； 3. The pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
4、无论闭式***输出的负功率如何变化， 都可通过控制先导比例减压阀的电流或 者比例加载溢流阀的压力使发动机的功率维持在目标控制值； 4. Regardless of how the negative power output of the closed system changes, the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve or proportionally loading the pressure of the relief valve;
5、 由一个比例换向阀实现变幅起升和***加载两个功能，较传统的控制方式节省 了一个比例换向阀。 附图说明 说明书附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发明的示 意性实施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1是根据相关技术中的起重机用闭式卷扬负功率吸收方式原理的示意图； 图 2是根据本发明实施例的发动机输出功率时的功率传递关系的示意图； 图 3是根据本发明实施例的发动机吸收功率时的功率传递关系的示意图； 图 4是根据本发明实施例的起重机用闭式卷扬负功率控制***的第一种基本结构 示意图； 图 5是根据本发明实施例的起重机用闭式卷扬负功率控制***的第二种基本结构 示意图；
图 6是根据本发明实施例的起重机用闭式卷扬负功率控制***的第三种基本结构 示意图； 图 7是根据本发明实施例的起重机用闭式卷扬负功率控制***的第四种基本结构 示意图。 具体实施方式 需要说明的是， 在不冲突的情况下， 本申请中的实施例及实施例中的特征可以相 互组合。 下面将参考附图并结合实施例来详细说明本发明。 本发明实施例的起重机用闭式卷扬负功率控制***主要用于吸收起重机的卷扬机 构在吊重物下放时产生的负功率。 图 2是根据本发明实施例的发动机输出功率时的功 率传递关系的示意图。 图 3是是根据本发明实施例的发动机吸收功率时的功率传递关 系的示意图。 如图 2和图 3所示， 本发明实施例的起重机用闭式卷扬负功率控制***主要包括 发动机 1、 分动箱 2、 开式*** 3和闭式*** 4。 其中开式*** 3和闭式*** 4分别与 分动箱 2连接， 并通过分动箱 2连接到发动机 1。 闭式*** 4包括相互连接的闭式变 量泵和卷扬马达， 还包括卷扬减速机（图中未示出）。分动箱 2能够用于在起重机进行 上升作业时将发动机输出的功率传递给开式*** 3和闭式*** 4 (如图 3所示， 其中 箭头表示功率流向），对于负功率的控制方面，分动箱 2能够在起重机进行下降作业时 将负功率的部分 （此时另一部分传递给发动机） 或全部传递给开式*** 3 (如图 3所 示， 其中箭头表示功率流向）。 图 3还示出了重物 G， 该重物 G在下降时产生负功率。 图 4是根据本发明实施例的起重机用闭式卷扬负功率控制***的第一种基本结构 示意图。 如图 4所示， 起重机用闭式卷扬负功率控制***中的开式*** 3的第一种可 选结构是包括： 开式变量泵 30， 与分动箱 2连接， 用于从分动箱取得动力并输出压力 油； 比例换向阀 41 ; 先导比例减压阀 42、 起重机的加载溢流阀 43。 并且， 开式变量 泵 30、先导比例减压阀 42、 以及加载溢流阀 43分别与比例换向阀 41连接； 先导比例 减压阀 42用于控制压力油经由比例换向阀 41流向加载溢流阀 43的流量。在图 4中示 出了比例换向阀 41采取三位的比例换向阀的情形，此时可将 B 1口堵住，如图 4所示； 另外也可以采用两位的比例换向阀。 图 5是根据本发明实施例的起重机用闭式卷扬负功率控制***的第二种基本结构 示意图。 如图 5所示， 起重机用闭式卷扬负功率控制***中的开式*** 3的第二种可 选结构是包括： 开式变量泵 30， 与分动箱 2连接， 用于从分动箱 2取得动力并输出压
力油； 电磁换向阀 51 ; 液控换向阀 52; 比例加载溢流阀 53。 开式变量泵 30、 电磁换 向阀 51和比例加载溢流阀 53分别与液控换向阀 52连接； 电磁换向阀 51用于控制液 控换向阀 52的导通或者关断。 在图 5所示的结构中， 电磁换向阀 51能够控制液控换 向阀 52工作状态的切换， 以实现压力油与比例加载溢流阀断开或者连通，通过比例加 载溢流阀 53控制加载压力的大小来实现加载压力的无级调节。 图 6是根据本发明实施例的起重机用闭式卷扬负功率控制***的第三种基本结构 示意图。 如图 6所示， 起重机用闭式卷扬负功率控制***中的开式*** 3的第三种可 选结构是包括： 开式变量泵 30， 与分动箱 2连接， 用于从分动箱 2取得动力并输出压 力油； 第一比例换向阀 621和第二比例换向阀 622， 都与开式变量泵 30连接； 第一至 第四先导比例减压阀 611至 614， 其中第一和第二先导比例减压阀 611、 612与第一比 例换向阀 621连接， 第三和第四先导比例减压阀与第二比例换向阀 622连接； 起重机 的变幅油缸 63和加载溢流阀 64， 其中变幅油缸 63的无杆腔与第一比例换向阀 621和 第二比例换向阀 622连接，变幅油缸 63的有杆腔与第一比例换向阀 621连接，加载溢 流阀 64与第二比例换向阀 622连接。变幅油缸 63能够吸收开式变量泵 30取得的动力。 第一先导比例减压阀 611 用于控制压力油经由第一比例换向阀 621 流向变幅油缸 63 的第一油口的流量;第二先导比例减压阀 612用于控制压力油经由第一比例换向阀 621 流向变幅油缸 63的第二油口的流量；第三先导比例减压阀 613用于控制压力油经由第 二比例换向阀 622流向变幅油缸 63的第一油口的流量；第四先导比例减压阀 614用于 控制压力油经由第二比例换向阀 622流向加载溢流阀 64的流量。在图 6中，变幅油缸 63的第一油口内为无杆腔， 第二油口内为有杆腔。 变幅油缸 63可以是双变幅油缸。 加载溢流阀 64可采用比例加载溢流阀。 开式变 量泵 30可采用负荷传感泵或电控变量泵。另外， 也可以用两片阀合流控制的液压马达 或两片阀合流控制的伸缩油缸来替代变幅油缸 63， 如图 7所示， 图 7是是根据本发明 实施例的起重机用闭式卷扬负功率控制***的第四种基本结构示意图。 在图 7中， 两 片阀合流控制的液压马达 71的第一油口 711与第一比例换向阀 621以及第二比例换向 阀 622连接， 第二油口 712与第一比例换向阀 621连接。 以下对本实施例的技术方案作进一步说明。 闭式变量泵 31与卷扬马达 32组成闭式***主油路，向卷扬减速机 33提供动能以 提升重物 G， 在重物 G下降过程中， 其势能转换为动能传递给闭式***。 发动机通过 分动箱与开式*** （通过直接作用于开式变量泵） 和闭式*** （通过直接作用于闭式 变量泵） 同时发生作用。 分动箱作为一个能量传递机构： 其可将发动机输出的功率同 时传递给开式变量泵和闭式变量泵实现对外做功， 也可将闭式***中重物下降时产生
的负功率 （此工况下闭式变量泵带动分动箱和发动机转动） 传递给分动箱， 通过分动 箱传递给发动机和开式***。 闭式***主要的工作元件为闭式变量泵和卷扬马达。 闭式变量泵负责控制卷扬机 构起升和下降的速度控制， 卷扬马达与减速机相连接， 同步于重物的起和落。 当重物 起升时， 发动机通过分动箱将部分能量输入到闭式变量泵， 此时发动机对外做功， 重 物被提起。 当重物下降时， 重物在重力作用下带动卷扬机转动， 从而带动卷扬马达和 闭式变量泵转动， 闭式变量泵将能量传递给分动箱。 此下降过程为闭式变量泵对分动 箱和发动机做功。 因此对于发动机来说这是个负的功率 （发动机此工况不对外输出功 率， 而是吸收功率） 而发动机吸收的能量是有限的。 重物下降时产生的负功率 Pm为： Pm =MxgxV ( 1 ) 式 （1 ) 中： M表示吊重质量； g表示重力加速度； V表示重物下降速度。 传递到闭式***的负功率为 为： Pc =MxgxV ^ ^ (2) 式 （2) 中： 表示减速机及钢丝绳滑轮组的机械效率； 表示液压***的机械 效率。 发动机吸收的负功率 =^， 即 = ^^77^；72 ( 3 ) 式中 S表示发动机吸收功率。 从式 （3 ) 可以看出， 发动机吸收的负功率与重物的质量 M成正比， 与下降速度 V成正比。 而发动机可吸收的负功率有限， 因此当起重量 M增大时， 重物的最大下降 速度 V则应减小。 随着起重机的发展， 起重量的增大， 仅由发动机吸收负功率已经不 能满足需求。 重物下降产生的负功率被发动机和开式***所吸收。 其中发动机吸收的功率为： pe = PC -Pk (4) 式中： 表示开式***吸收的负功率。
由此得出发动机吸收的负功率： Pe =MgVxr^y -Pk ( 5 ) 本实施例通过控制开式***吸收的负功率 ， 实现发动机吸收的负功率 S小于其 可吸收的最大负功率 s≤sm (其中 sm表示发动机可吸收的最大负功率）。 以下以图 6为例说明本实施例中的闭式卷扬负功率控制***的工作过程。 在图 6中，第一比例换向阀 621的 A1口和第二比例换向阀 622的 A2口合流给变 幅油缸的无杆腔供油； 第一比例换向阀 621的 B1口为变幅油缸 63有杆腔供油； 第二 比例换向阀 622的 B2口为比例加载溢流阀 64供油； 第二比例换向阀 622的中位机能 为 "0"型机能。 具体控制如下： 当先导比例减压阀 611、 612、 613及 614全部失电时， 第一比例换向阀 621、 第二比例换向阀 622处于中位， ***无压力油输出； 当先导比 例减压阀 611得电时第一比例换向阀 621于右位工作， 压力油经第一比例换向阀 621 从 A1口进入变幅油缸 63无杆腔，变幅油缸 63实现起升动作； 当先导比例减压阀 612 得电时， 第一比例换向阀 621于左位工作， 压力油经第一比例换向阀从 B1 口进入变 幅油缸 63有杆腔， 变幅实现下降动作； 当先导比例减压阀 611、 613同时得电时， 压 力油经第一比例换向阀 621从 A1口进变幅无杆腔，同时压力油经第二比例换向阀 622 从 A2 口进变幅无杆腔， 实现了变幅起升时的高速合流； 当先导比例减压阀 614得电 时， 压力油经第二比例换向阀 622从 B2口进比例加载溢流阀 64。 图中先导比例减压 阀 611至 614输出的控制压力正比于控制电流， 因此可实现第一比例换向阀 621和第 二比例换向阀 622流量的比例输出， 从而实现变幅油缸的速度或者比例加载溢流阀的 流量与输入电流成正比。 开式***吸收的负功率由两部分组成， 一部分为变幅***动作时消耗的功率， 一 部分为加载溢流阀加载时消耗的功率。 其中变幅***消耗的功率是吊装过程中工况决 定的（比如变幅油缸动作与否， 动作的快慢是由实际工况的要求决定）， 而加载***的 功率是我们可实时控制的， 为一变量参数。 5. A proportional reversing valve realizes two functions of variable amplitude lifting and system loading, which saves a proportional reversing valve compared with the traditional control method. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing the principle of a closed hoisting negative power absorption mode for a crane according to the related art; FIG. 2 is a schematic diagram showing a power transmission relationship at an engine output power according to an embodiment of the present invention; FIG. 4 is a first basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a first embodiment of a closed hoisting negative power control system for a crane according to an embodiment of the present invention; A second basic structural diagram of a closed hoisting negative power control system for a crane of an embodiment; 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention; FIG. 7 is a fourth type of closed hoisting negative power control system for a crane according to an embodiment of the present invention; Basic structure diagram. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. The closed hoisting negative power control system for a crane according to an embodiment of the present invention is mainly used for absorbing the negative power generated by the hoisting mechanism of the crane when the hoisting weight is lowered. 2 is a schematic diagram of a power transfer relationship when an engine outputs power according to an embodiment of the present invention. 3 is a schematic diagram of a power transfer relationship when an engine absorbs power according to an embodiment of the present invention. As shown in FIG. 2 and FIG. 3, the closed hoisting negative power control system for a crane according to an embodiment of the present invention mainly includes an engine 1, a transfer case 2, an open system 3, and a closed system 4. The open system 3 and the closed system 4 are respectively connected to the transfer case 2, and are connected to the engine 1 through the transfer case 2. The closed system 4 includes a closed variable pump and a hoisting motor that are connected to each other, and also includes a hoisting reducer (not shown). The transfer case 2 can be used to transfer the output power of the engine to the open system 3 and the closed system 4 when the crane performs the ascending operation (as shown in FIG. 3, wherein the arrow indicates the power flow direction), and for the control of the negative power, The transfer case 2 is capable of transferring a portion of the negative power (and another portion to the engine at this time) or all of the open system 3 when the crane is performing the lowering operation (as shown in Fig. 3, wherein the arrow indicates the power flow direction). Figure 3 also shows the weight G, which produces a negative power when it descends. 4 is a first basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention. As shown in FIG. 4, the first optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer The box takes power and outputs pressure oil; the proportional reversing valve 41; the pilot proportional pressure reducing valve 42, and the loading relief valve 43 of the crane. Further, the open type variable pump 30, the pilot proportional pressure reducing valve 42, and the load relief valve 43 are respectively connected to the proportional switching valve 41; the pilot proportional pressure reducing valve 42 is for controlling the flow of the pressurized oil to the loading overflow via the proportional switching valve 41. The flow rate of the flow valve 43. FIG. 4 shows a case where the proportional directional control valve 41 adopts a three-position proportional directional control valve, in which case the B1 port can be blocked, as shown in FIG. 4; a two-way proportional directional control valve can also be used. . 5 is a second basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention. As shown in FIG. 5, the second optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open variable pump 30 connected to the transfer case 2 for use in the transfer Box 2 takes power and outputs pressure Force oil; electromagnetic reversing valve 51; hydraulically controlled reversing valve 52; proportionally loaded relief valve 53. The open type variable pump 30, the electromagnetic reversing valve 51 and the proportional load relief valve 53 are respectively connected to the pilot-operated reversing valve 52; the electromagnetic reversing valve 51 is used to control the on or off of the pilot-operated reversing valve 52. In the structure shown in FIG. 5, the electromagnetic reversing valve 51 can control the switching of the working state of the pilot-operated reversing valve 52, so that the pressure oil is disconnected or connected to the proportional-loading relief valve, and is controlled by the proportional-loading relief valve 53. The magnitude of the loading pressure is used to achieve stepless adjustment of the loading pressure. 6 is a third basic structural diagram of a closed hoisting negative power control system for a crane according to an embodiment of the present invention. As shown in FIG. 6, the third optional structure of the open system 3 in the closed winch negative power control system for a crane includes: an open type variable pump 30 connected to the transfer case 2 for use in the transfer The tank 2 takes power and outputs pressurized oil; the first proportional diverter valve 621 and the second proportional reversing valve 622 are both connected to the open type variable pump 30; the first to fourth pilot proportional pressure reducing valves 611 to 614, wherein The first and second pilot proportional pressure reducing valves 611, 612 are coupled to the first proportional directional valve 621, and the third and fourth pilot proportional pressure reducing valves are coupled to the second proportional directional valve 622; the slewing cylinder 63 of the crane and loading The relief valve 64, wherein the rodless cavity of the variator cylinder 63 is connected to the first proportional directional valve 621 and the second proportional directional valve 622, and the rod cavity of the variator cylinder 63 is connected to the first proportional directional valve 621. The load relief valve 64 is coupled to the second proportional directional valve 622. The slewing cylinder 63 can absorb the power obtained by the open type variable pump 30. The first pilot proportional pressure reducing valve 611 is configured to control the flow rate of the pressurized oil flowing to the first port of the slewing cylinder 63 via the first proportional directional valve 621; the second pilot proportional pressure reducing valve 612 is configured to control the pressure oil via the first The proportional diverter valve 621 flows to the second port of the slewing cylinder 63; the third pilot proportional pressure reducing valve 613 is configured to control the flow of the pressurized oil to the first port of the slewing cylinder 63 via the second proportional directional valve 622 The flow rate; the fourth pilot proportional pressure reducing valve 614 is used to control the flow of the pressurized oil to the load relief valve 64 via the second proportional directional valve 622. In FIG. 6, the first port of the slewing cylinder 63 is a rodless chamber, and the second port has a rod chamber. The horn cylinder 63 may be a double squaring cylinder. The load relief valve 64 can employ a proportional load relief valve. The open type variable pump 30 can employ a load sensing pump or an electrically variable pump. Alternatively, instead of the luffing cylinder 63, a two-piece valve combined flow control hydraulic motor or a two-piece valve confluence control telescopic cylinder may be used. As shown in Fig. 7, Fig. 7 is a closed roll for a crane according to an embodiment of the present invention. The fourth basic structure diagram of the negative power control system. In FIG. 7, the first port 711 of the hydraulic valve 71 of the two-piece valve merge control is connected to the first proportional directional valve 621 and the second proportional directional valve 622, and the second port 712 and the first proportional directional valve 621 connection. The technical solutions of this embodiment are further described below. The closed variable pump 31 and the hoisting motor 32 constitute a closed system main oil passage, and provide kinetic energy to the hoisting reducer 33 to lift the weight G. During the falling of the weight G, the potential energy is converted into kinetic energy to the closed system. . The engine acts simultaneously through the transfer case and the open system (by acting directly on the open variable pump) and the closed system (by acting directly on the closed variable pump). The transfer case acts as an energy transfer mechanism: it can transmit the power output from the engine to the open variable pump and the closed variable pump for external work, or it can generate the weight when the closed system is lowered. The negative power (in this case, the closed variable pump drives the transfer case and the engine to rotate) is transmitted to the transfer case, which is transmitted to the engine and the open system through the transfer case. The main working elements of the closed system are closed variable displacement pumps and hoisting motors. The closed variable pump is responsible for controlling the speed control of the lifting and lowering of the hoisting mechanism, and the hoisting motor is connected with the speed reducer to synchronize the lifting and falling of the weight. When the weight rises, the engine inputs part of the energy into the closed variable pump through the transfer case. At this time, the engine performs external work and the heavy object is lifted. When the weight drops, the weight drives the hoist to rotate under the action of gravity, thereby driving the hoisting motor and the closed variable pump to rotate, and the closed variable pump transmits the energy to the transfer case. This descent process is a closed variable pump that works on the transfer case and the engine. Therefore, this is a negative power for the engine (the engine does not output power externally, but absorbs power) and the energy absorbed by the engine is limited. The negative power P m generated when the weight is lowered is: P m = MxgxV ( 1 ) In the formula (1 ): M represents the weight of the hoist; g represents the acceleration of gravity; V represents the speed of the weight drop. The negative power delivered to the closed system is: P c = MxgxV ^ ^ (2) Equation (2): Indicates the mechanical efficiency of the reducer and the rope pulley block; represents the mechanical efficiency of the hydraulic system. The negative power absorbed by the engine = ^, ie = ^^77^; 7 2 ( 3 ) where S represents the absorbed power of the engine. It can be seen from equation (3) that the negative power absorbed by the engine is proportional to the mass M of the weight and proportional to the rate of decrease V. The negative power that the engine can absorb is limited, so when the lifting weight M increases, the maximum falling speed V of the weight should be reduced. With the development of the crane, the lifting weight is increased, and the negative power absorbed by the engine alone cannot meet the demand. The negative power generated by the weight drop is absorbed by the engine and the open system. The power absorbed by the engine is: p e = P C - P k (4) where: represents the negative power absorbed by the open system. From this, the negative power absorbed by the engine is obtained: P e =MgVxr^y -P k ( 5 ) By controlling the negative power absorbed by the open system, the negative power S absorbed by the engine is smaller than the maximum negative power that can be absorbed. s ≤ s m (where s m represents the maximum negative power that the engine can absorb). The working process of the closed hoisting negative power control system in this embodiment will be described below by taking FIG. 6 as an example. In FIG. 6, the A1 port of the first proportional diverter valve 621 and the A2 port of the second proportional diverter valve 622 are combined to supply oil to the rodless cavity of the luffing cylinder; the B1 port of the first proportional diverter valve 621 is changed. The oil cylinder 63 has a rod chamber for oil supply; the B2 port of the second proportional directional valve 622 is a proportional load relief valve 64 for oil supply; and the second proportional directional valve 622 has a center function of "0" type function. The specific control is as follows: When the pilot proportional pressure reducing valves 611, 612, 613 and 614 are all de-energized, the first proportional switching valve 621 and the second proportional switching valve 622 are in the neutral position, and the system has no pressure oil output; when the pilot ratio When the pressure reducing valve 611 is energized, the first proportional switching valve 621 operates in the right position, and the pressurized oil enters the rodless cavity of the variable amplitude cylinder 63 from the A1 port through the first proportional switching valve 621, and the variable amplitude cylinder 63 realizes the lifting action; When the pilot proportional pressure reducing valve 612 is energized, the first proportional switching valve 621 operates in the left position, and the pressure oil passes through the first proportional switching valve from the B1 port into the variable amplitude cylinder 63 to have a rod cavity, and the variable amplitude realizes the lowering action; When the pilot proportional pressure reducing valves 611, 613 are simultaneously energized, the pressurized oil enters the variable amplitude rodless chamber from the A1 port through the first proportional switching valve 621, and the pressure oil changes from the A2 port through the second proportional switching valve 622. The rodless chamber realizes high-speed confluence at the time of variable amplitude lifting; when the pilot proportional pressure reducing valve 614 is energized, the pressurized oil is proportionally loaded into the relief valve 64 from the B2 port via the second proportional diverter valve 622. In the figure, the control pressures outputted by the pilot proportional pressure reducing valves 611 to 614 are proportional to the control current, so that the proportional output of the flow rates of the first proportional switching valve 621 and the second proportional switching valve 622 can be realized, thereby realizing the speed of the variable amplitude cylinder or The flow rate of the proportional load relief valve is proportional to the input current. The negative power absorbed by the open system consists of two parts, one of which is the power consumed by the luffing system, and the other is the power consumed when the overflow valve is loaded. The power consumed by the luffing system is determined by the working conditions during the lifting process (such as the action of the luffing cylinder, the speed of the action is determined by the actual working conditions), and the power of the loading system is controlled in real time. A variable parameter.
PK = Qx χΔ^ / 600 + Q2 xAP2 / 600 ( 6) 式中： g表示变幅***的流量； 表示变幅***压力； β2表示供给加载溢流阀 流量； ΔΡ2 表示加载溢流阀压力； 由此得出： P K = Q x χΔ^ / 600 + Q 2 xAP 2 / 600 (6) where: g represents the flow rate of the luffing system; represents the luffing system pressure; β 2 represents the supply load relief valve flow; ΔΡ 2 represents the loading Overflow valve pressure;
Pe = MgV x ^ ,x^2 - x / 600 - ¾ x Δ 2 / 600 ( 7)
发动机本身的功率输出状态可由其自带的控制器实时监测得出， 并通过 CAN总 线传递给***控制***，我们称其为发动机负载率。发动机负载率 =发动机实际输出功 率 /发动机额定功率。在存在负功率的情况下，一般维持发动机负载率在一个固定值（比 如 5%)， 我们视其为目标控制值。 当负载率低于目标值时， 增大先导比例减压阀 614的控制电流， 以增大比例换向 阀输出给比例加载溢流阀的流量 （式 （7) 中的 ρ2 ) 使得比例加载溢流阀消耗功率增 大， 促使发动机负载率恢复到目标值； 反之当发动机负载率高于目标值时， 可减小先 导比例减压阀 614的电流， 以减小加载溢流阀的功率消耗， 使发动机负载率维持在目 标值。 另外， 对于图 5所示***， 当负载率低于目标值时， 增大比例加载溢流阀 53的输 入电流， 以增大比例加载溢流阀的加载压力 （式 （7) 中的 ΔΡ2 ) 使得比例加载溢流阀 消耗功率增大，促使发动机负载率恢复到目标值； 反之当发动机负载率高于目标值时， 可减小比例加载溢流阀 53的输入电流， 以减小加载溢流阀的功率消耗， 使发动机负载 率维持在目标值。 如本实施例中的加载溢流阀采用电液比例溢流陶，则其压力大小（式（7)中的 ΔΡ2 ) 可通过调节其控制电流的大小来实现无级控制。 当负载率较低时， 可使控制电流相对 较小， 使得溢流阀开启时的超调量减小， 加载更加平稳。 通过以上***及控制方法， 使闭式卷扬下放时输入到发动机的负功率不超过其可 吸收的最大值。 无论起重量 Μ和下降速度 V如何变化， 都可通过对电先导比例减压 阀 614或者比例加载溢流阀 53电流大小的实时控制，使的发动机吸收负功率维持在目 标设定值。 从以上描述可以看出， 应用本实施例的技术方案， 可以获得如下有益效果： P e = MgV x ^ , x^ 2 - x / 600 - 3⁄4 x Δ 2 / 600 ( 7) The power output state of the engine itself can be monitored in real time by its own controller and transmitted to the peripheral control system via the CAN bus, which we call the engine load factor. Engine load rate = actual engine output / engine rated power. In the presence of negative power, the engine load rate is typically maintained at a fixed value (such as 5%), which we consider to be the target control value. When the load rate is lower than the target value, the control current of the pilot proportional pressure reducing valve 614 is increased to increase the flow rate of the proportional switching valve output to the proportional loading relief valve (ρ 2 in the equation (7)) so that the proportional loading The overflow valve consumes more power, which causes the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the current of the pilot proportional pressure reducing valve 614 can be reduced to reduce the power consumption of the load relief valve. , to maintain the engine load rate at the target value. In addition, for the system shown in FIG. 5, when the load ratio is lower than the target value, the input current of the proportional load relief valve 53 is increased to increase the loading pressure of the proportional load relief valve (ΔΡ 2 in the equation (7) ) causing the proportional load relief valve to increase power consumption, causing the engine load rate to return to the target value; conversely, when the engine load rate is higher than the target value, the input current of the proportional load relief valve 53 can be reduced to reduce the load overflow The power consumption of the flow valve maintains the engine load rate at the target value. If the load relief valve in this embodiment uses an electro-hydraulic proportional overflow pottery, the magnitude of its pressure (ΔΡ 2 in equation (7)) can be steplessly controlled by adjusting the magnitude of its control current. When the load ratio is low, the control current can be made relatively small, so that the overshoot amount when the relief valve is opened is reduced, and the loading is more stable. Through the above system and control method, the negative power input to the engine when the closed hoisting is lowered does not exceed the maximum absorbable value. Regardless of how the weight Μ and the descending speed V change, the engine can absorb the negative power at the target set value by real-time control of the current magnitude of the electric pilot proportional pressure reducing valve 614 or the proportional loading relief valve 53. As can be seen from the above description, by applying the technical solution of the embodiment, the following beneficial effects can be obtained:
1、 闭式卷扬下降时所产生的负功率由分动箱传递到开式***， 由开式***吸收， 重物下降速度不再受到限制； 2、通过控制先导比例减压阀的电流来实现比例换向阀输出给比例加载溢流阀的流 量比例控制， 以得到比例加载溢流阀不同的加载功率， 由于控制为无级调节， 因此加 载稳定， 不会使速度产生突变；
3、 比例加载溢流阀的压力也可无级调节，在闭式***产生的负功率较小时设定压 力较低***超调小， 加载更加平稳， 当闭式***产生的负功率较大时， 设定压力较高 满足加载功率要求； 1. The negative power generated by the closed hoisting is transferred from the transfer case to the open system, absorbed by the open system, and the weight drop speed is no longer limited; 2. By controlling the current of the pilot proportional pressure reducing valve The flow ratio control of the proportional reversing valve output to the proportional loading relief valve is realized to obtain different loading power of the proportional loading relief valve. Since the control is stepless adjustment, the loading is stable, and the speed is not changed suddenly; 3. The pressure of the proportional load relief valve can also be adjusted steplessly. When the negative power generated by the closed system is small, the set pressure is lower. The system overshoots less and the load is more stable. When the negative power generated by the closed system is large, , setting the pressure higher to meet the loading power requirement;
4、 无论闭式***输出的负功率如何变化， 都可通过控制先导比例减压阀的电流 / 或者比例加载溢流阀的电流使发动机的功率维持在目标控制值； 4. Regardless of how the negative power of the closed system output changes, the power of the engine can be maintained at the target control value by controlling the current of the pilot proportional pressure reducing valve / or proportionally loading the current of the relief valve;
5、第二比例换向阀 622可实现变幅起升和***加载两个功能，较传统的控制方式 节省了一个比例换向阀。 显然， 本领域的技术人员应该明白， 上述的本发明的各模块或各步骤可以用通用 的计算装置来实现， 它们可以集中在单个的计算装置上， 或者分布在多个计算装置所 组成的网络上， 可选地， 它们可以用计算装置可执行的程序代码来实现， 从而， 可以 将它们存储在存储装置中由计算装置来执行， 或者将它们分别制作成各个集成电路模 块， 或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。 这样， 本发明 不限制于任何特定的硬件和软件结合。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技 术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。
5. The second proportional reversing valve 622 can realize two functions of variable amplitude lifting and system loading, which saves a proportional reversing valve compared with the traditional control method. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Claims
1. 一种起重机用闭式卷扬负功率控制***， 用于吸收起重机的卷扬机构在吊重物 下放时产生的负功率， 其特征在于， 所述控制***包括发动机、 分动箱、 开式 ***、 和闭式***， 其中： A closed hoisting negative power control system for a crane for absorbing a negative power generated by a hoisting mechanism of a crane when the hoisting weight is lowered, wherein the control system includes an engine, a transfer case, and an open type System, and closed systems, where:
所述开式***和闭式***分别与所述分动箱连接， 并通过所述分动箱连接 到所述发动机； The open system and the closed system are respectively connected to the transfer case and connected to the engine through the transfer case;
所述闭式***包括与所述分动箱连接的闭式变量泵、 通过液压管路与所述 闭式变量泵连接的卷扬马达、 以及与所述卷扬马达连接的卷扬减速机； The closed system includes a closed variable pump coupled to the transfer case, a hoist motor coupled to the closed variable pump via a hydraulic line, and a hoist reducer coupled to the hoist motor;
所述分动箱用于在起重机进行下降作业时将所述负功率的部分或全部传递 给所述开式***。 The transfer case is used to transfer some or all of the negative power to the open system when the crane is performing a lowering operation.
2. 根据权利要求 1所述的控制***， 其特征在于， 所述开式***中包括： 2. The control system according to claim 1, wherein the open system comprises:
开式变量泵， 与所述分动箱连接， 用于从所述分动箱取得动力并输出压力 油； An open type variable pump connected to the transfer case for taking power from the transfer case and outputting pressurized oil;
比例换向阀， 与所述开式变量泵连接； a proportional directional valve connected to the open variable pump;
所述起重机的加载溢流阀， 与所述比例换向阀连接； a loading relief valve of the crane, connected to the proportional reversing valve;
先导比例减压阀， 与所述比例换向阀连接， 用于控制所述压力油经由所述 比例换向阀流向所述加载溢流阀的流量。 A pilot proportional pressure reducing valve is coupled to the proportional directional control valve for controlling a flow rate of the pressurized oil to the load relief valve via the proportional directional control valve.
3. 根据权利要求 1所述的控制***， 其特征在于， 所述开式***中包括： 3. The control system according to claim 1, wherein the open system comprises:
开式变量泵， 与所述分动箱连接， 用于从所述分动箱取得动力并输出压力 油； An open type variable pump connected to the transfer case for taking power from the transfer case and outputting pressurized oil;
液控换向阀， 与所述开式变量泵连接； a hydraulically controlled directional control valve connected to the open variable pump;
比例加载溢流阀， 与所述液控换向阀连接； Proportional loading relief valve, connected to the hydraulically controlled directional valve;
电磁换向阀， 与所述液控换向阀连接， 用于控制所述液控换向阀的导通或 者关断。 An electromagnetic reversing valve is connected to the hydraulically controlled reversing valve for controlling conduction or shutoff of the pilot operated reversing valve.
4. 根据权利要求 1所述的控制***， 其特征在于， 所述开式***中包括： 4. The control system according to claim 1, wherein the open system comprises:
开式变量泵， 与所述分动箱连接， 用于从所述分动箱取得动力并输出压力 油；
第一和第二比例换向阀， 都与所述开式变量泵连接； An open type variable pump connected to the transfer case for taking power from the transfer case and outputting pressurized oil; First and second proportional directional valves, both connected to the open variable pump;
第一至第四先导比例减压阀， 其中第一和第二先导比例减压阀与第一比例 换向阀连接， 第三和第四先导比例减压阀与第二比例换向阀连接； First to fourth pilot proportional pressure reducing valves, wherein the first and second pilot proportional pressure reducing valves are coupled to the first proportional directional control valve, and the third and fourth pilot proportional pressure reducing valves are coupled to the second proportional directional control valve;
液压元件和加载溢流阀， 其中所述液压元件的第一油口与所述第一和第二 比例换向阀连接， 第二油口与所述第二比例换向阀连接， 所述加载溢流阀与所 述第二比例换向阀连接； 并且， a hydraulic component and a load relief valve, wherein a first port of the hydraulic component is coupled to the first and second proportional diverter valves, and a second port is coupled to the second proportional diverter valve, the loading a relief valve is coupled to the second proportional directional valve; and
所述液压元件用于吸收所述开式变量泵取得的动力； The hydraulic component is configured to absorb power obtained by the open variable pump;
所述第一先导比例减压阀用于控制所述压力油经由所述第一比例换向阀流 向所述液压元件的第一油口的流量； The first pilot proportional pressure reducing valve is configured to control a flow rate of the pressurized oil to the first port of the hydraulic component via the first proportional directional control valve;
所述第二先导比例减压阀用于控制所述压力油经由所述第一比例换向阀流 向所述液压元件的第二油口的流量； The second pilot proportional pressure reducing valve is configured to control a flow rate of the pressurized oil to the second port of the hydraulic component via the first proportional directional control valve;
所述第三先导比例减压阀用于控制所述压力油经由所述第二比例换向阀流 向所述液压元件的第一油口的流量； The third pilot proportional pressure reducing valve is configured to control a flow rate of the pressurized oil flowing to the first port of the hydraulic component via the second proportional switching valve;
所述第四先导比例减压阀用于控制所述压力油经由所述第二比例换向阀流 向所述加载溢流阀的流量。 The fourth pilot proportional pressure reducing valve is configured to control a flow rate of the pressurized oil to the loading relief valve via the second proportional directional control valve.
5. 根据权利要求 4所述的控制***， 其特征在于， 所述加载溢流阀为比例加载溢 流阀。 5. The control system of claim 4 wherein the load relief valve is a proportional load relief valve.
6. 根据权利要求 4或 5所述的控制***， 其特征在于， 所述液压元件为两片阀合 流控制的液压马达或者两片阀合流控制的伸缩油缸。 The control system according to claim 4 or 5, wherein the hydraulic component is a two-piece valve-combined-controlled hydraulic motor or a two-piece valve-combined-controlled telescopic cylinder.
7. 根据权利要求 4或 5所述的控制***， 其特征在于， 所述液压元件为所述起重 机的变幅油缸， 所述第一油口为该变幅油缸的无杆腔， 所述第二油口为该变幅 油缸的有杆腔。 The control system according to claim 4 or 5, wherein the hydraulic component is a luffing cylinder of the crane, and the first port is a rodless cavity of the luffing cylinder, the The second oil port is a rod cavity of the variable amplitude cylinder.
8. 根据权利要求 7所述的控制***， 其特征在于， 所述变幅油缸为双变幅油缸。 8. The control system according to claim 7, wherein the variable amplitude cylinder is a double variable amplitude cylinder.
9. 根据权利要求 2， 3或 4所述的控制***， 其特征在于， 所述开式变量泵为负荷 传感泵或电控变量泵。 9. The control system according to claim 2, 3 or 4, characterized in that the open variable pump is a load sensing pump or an electrically variable pump.
10. 一种起重机， 其特征在于， 包括权利要求 1至 9中任一项所述的起重机用闭式 卷扬负功率控制***。
A crane comprising the closed hoisting negative power control system for a crane according to any one of claims 1 to 9.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110412215.0 | 2011-12-12 | ||
| CN201110412215.0A CN102491173B (en) | 2011-12-12 | 2011-12-12 | Crane and closed type hoisting negative power control system for crane |
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| Publication Number | Publication Date |
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| WO2013086882A1 true WO2013086882A1 (en) | 2013-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2012/082075 WO2013086882A1 (en) | 2011-12-12 | 2012-09-26 | Crane, and closed-type hoist negative power control system for use with crane |
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| Country | Link |
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| CN (1) | CN102491173B (en) |
| WO (1) | WO2013086882A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102491173B (en) * | 2011-12-12 | 2014-04-02 | 中联重科股份有限公司 | Crane and closed type hoisting negative power control system for crane |
| CN103832314A (en) * | 2012-11-26 | 2014-06-04 | 徐州徐工随车起重机有限公司 | Road wrecker with U-type hanging arm |
| CN103350955B (en) * | 2013-07-25 | 2015-06-03 | 中联重科股份有限公司 | Crane, negative power system, negative power control method and negative power control equipment |
| CN108212335A (en) * | 2017-12-27 | 2018-06-29 | 徐工集团工程机械有限公司 | Crusher |
| CN110925252A (en) * | 2019-11-18 | 2020-03-27 | 中联重科股份有限公司 | Integrated multi-way valve, lifting hydraulic control system and crane |
| CN113582024B (en) * | 2021-06-17 | 2022-09-20 | 中联重科股份有限公司 | Negative power control method, equipment and system for crane and crane |
| CN113879995A (en) * | 2021-09-14 | 2022-01-04 | 徐州徐工基础工程机械有限公司 | Main winch variable load lowering control method and rotary drilling rig |
| CN113914173A (en) * | 2021-10-29 | 2022-01-11 | 柳工无锡路面机械有限公司 | Hydraulic control system of paver screed plate |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN102491173A (en) | 2012-06-13 |
| CN102491173B (en) | 2014-04-02 |
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