CN102464270A - Anti-tipping moment limiter system and mobile crane - Google Patents
Anti-tipping moment limiter system and mobile crane Download PDFInfo
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Abstract
The invention discloses an anti-tipping moment limiter system, which is used for a mobile crane and comprises a detection unit, a controller unit and a display unit; the detection unit comprises a length sensor for detecting the length of the crane boom, an angle sensor for detecting the working angle of the crane boom and a pressure sensor for detecting the weight of the crane boom; the detection unit further includes an anemometer, a revolution speed sensor, a level meter, and a lifting speed sensor. The moment limiter system can accurately reflect the working state of the mobile crane, calculate the moment generated by the lifted weight, wind power, inertia force and centrifugal force in the working process, further control the amplitude variation angle, speed and acceleration, the rotation speed, the weight lifting speed and the acceleration of the crane, and prevent the mobile crane from being overturned due to dynamic instability. The invention also discloses a mobile crane provided with the anti-tipping moment limiter system.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to the anti-tipping limiter of moment system of hoisting crane.The invention still further relates to the movable crane that is provided with said anti-tipping limiter of moment system.
Background technology
Movable crane has concurrently and goes and the lift heavy operation function as a kind of special engineered vehicle, is widely used in the installation, maintenance of industry equipment such as petrochemical industry, shipbuilding, wind-powered electricity generation.
Along with rapid economy development; The lifting weight of required hoisting crane product is increasing in the practical applications; Requirement to its performance, function is also increasingly high, and safety, reliability, stability and the operation convenience etc. to vehicle have also proposed sizable challenge simultaneously.
Movable crane is a kind of construction machinery and equipment that danger factor are more, the accident occurrence probability is bigger of containing, and the device damage even the human casualty accident that cause because of crane job in a large number all can take place both at home and abroad every year.From technical standpoint, any hoisting crane all has its maximum safe load limit, surpasses this limit, gently then equipment unit is caused damage, and is heavy then the serious accident that car load topples takes place.Therefore, must use limiter of moment control hoisting crane in safe level, to work.
The limiter of moment system is the overload protection device that is equipped on the movable crane, and when hoisting crane got into mode of operation, limiter of moment was with the detection signal input controller of actual each parameter; After computing, amplification, processing; Show the relevant parameters value, and compare, and the restriction hoisting crane partly moves with the specified hoisting moment value that deposits in advance; Prevent hoisting crane owing to misoperation with accidents such as excessive hoisting moment is tumbled, folding arms, to guarantee safe operation.
Hoisting crane is in hoisting operation, and stabilized conditions might be in the safe moment scope, but hoisting crane is carrying out a plurality of actions or action during flip-flop, and force of inertia will increase with the additional moment of centnifugal force generation greatly.Particularly at full capacity or near operation at full capacity the time, as only considering the heavy object weight that rises, hoisting crane hoists at flip-flop, cause overthrow accident when luffing and revolution operation easily.
Existing limiter of moment system can only limit the action of hoisting crane after overload; Do not make detection computations and take the respective limits measure for the dynamic buckling in the operation process; Can not predict more how many additional moments next step action will produce, and then can't make restriction workman's operation.
At first, do not consider the influence of wind load and arm distortion, wind load action is when the arm forward, and capsizing moment can reflect on the thrust of luffing hydraulic actuating cylinder to some extent; Wind load action can produce the side direction capsizing moment when the side of arm, make to lift by crane or transfer weight and depart from plumb bob vertical and produce extra capsizing moment, and this can't embody in existing limiter of moment system.
Secondly, because the horizontal span of supporting leg is big, factor such as stable and inertia loading caused and in the limiter of moment system, do not reflect the increase of amplitude and load-carrying for supporting leg when band carried work.
Moreover, can't calculate the dynamic force moment that produces in the course of the work, can only after exceeding risk range, react, there is potential safety hazard.
Use existing limiter of moment system, though rely on the experience of operating personal also can carry out operation, fully loaded or during near fully loaded operation, the moment that wind-force, force of inertia and centnifugal force produce can increase the possibility that hoisting crane is tumbled.
Therefore, how taking all factors into consideration many-sided factor, guarantee that movable crane is safe and reliable in operation process, is the present technical issues that need to address of those skilled in the art.
Summary of the invention
First purpose of the present invention provides a kind of anti-tipping limiter of moment system.This limiter of moment system can the accurate response movable crane mode of operation; The moment that hoisting heavy, wind-force, force of inertia and centnifugal force produced in the evaluation work process; And then can control change angle, speed and acceleration/accel, speed of revolutions, weight rising or falling speed and the acceleration/accel of hoisting crane, prevent that the movable crane dynamic buckling from causing overthrow accident.
Second purpose of the present invention provides a kind of movable crane that is provided with above-mentioned anti-tipping limiter of moment system.
In order to realize above-mentioned first purpose, the invention provides a kind of anti-tipping limiter of moment system, be used for movable crane, comprising: the detecting unit that detects each job parameter; Processing is by the detection signal of said detecting unit input and export the controller unit of control signal; The display unit of display parameter information;
Said detecting unit comprises linear transducer, the angular transducer that detects the crane arm operating angle that detects boom length, the pressure sensor that detects lift heavy weight;
Said detecting unit further comprises the anemoscope of the detection wind speed that is connected in said controller unit, the rotary speed sensor that detects the turntable speed of revolutions, the level indicator that detects the crane horizontal degree and the detection winch hoists or the rising or falling speed sensor of sinking speed.
Preferably, said linear transducer is fixed in the afterbody of the basic arm of crane arm, comprises the long line of transmitter and side, and long line one end of its side is wrapped on the said transmitter, and the other end is fixed on the crane arm telescopic oil cylinder through track adjusting wheel.
Preferably, said angular transducer comprises first angular transducer and second angular transducer; Said first angular transducer is arranged at the side of the basic arm of crane arm, and said second angular transducer is arranged at the side of the arm head of said crane arm.
Preferably, said pressure sensor comprises first pressure sensor and second pressure sensor; Said first pressure sensor and second pressure sensor are located at the big chamber and the loculus of amplitude oil cylinder respectively.
Preferably, said anemoscope is arranged at the arm head of said crane arm.
Preferably, said rotary speed sensor is arranged in the center steering body at crane rotation supporting center.
Preferably, said level indicator is fixed on the platform of rotating platform of crane; Chassis plane parallel under said platform and the hoisting crane.
Preferably, said rising or falling speed sensor is connected with the hoisting speed reducer center shaft.
In order to realize above-mentioned second purpose; The present invention also provides a kind of movable crane; Comprise turntable, crane arm, amplitude oil cylinder, winch and crane job control system, said crane job control system is provided with above-mentioned each described anti-tipping limiter of moment system.
Preferably, in the control cabin of getting on the bus that the controller unit of said anti-tipping limiter of moment system and display unit are located at said movable crane.
The present invention according to movable crane in hoisting operation; Except that the hoisting crane deadweight with the hoisting weight; Also might receive the influence of wind-force, force of inertia, centnifugal force; For guaranteeing its safety, in anti-tipping limiter of moment system, be provided with the anemoscope, the rotary speed sensor that detects the turntable speed of revolutions that detect wind speed, detect the level indicator of crane horizontal degree and detect that winch hoists or the rising or falling speed sensor of sinking speed.Can gather signals such as boom angle, length of boom, hydraulic system pressure, wind speed, speed of revolutions and lifting-speed in real time, calculate the actual moment of hoisting crane according to program at steady-working state by controller unit.And in microprocessor, compare with the rated value that is stored in the controller storage according to the actual moment that calculates; And control output according to this; When actual moment reaches or during near rated moment; On telltale, send the overload alarm signal, controller output control signal is in conjunction with the peripheral control element of hoisting crane; Cut off the work operating mode all can continue increase moment (for example semi-girder, downward luffing, hoist), have only the action operating mode that moment is reduced to be retained (arm that for example contracts, luffing, off the hook make progress).Simultaneously; According to the actual moment that calculates; Measurable next step action allows the zone of reasonableness of action, judges that this hoisting crane changes maximum speed of revolutions or up-down, luffing speed and acceleration/accel that standing state allowed, and then restriction variation of output signals degree; Restriction operation personnel's risky operation, the protection crane safety.
Movable crane provided by the present invention is provided with above-mentioned anti-tipping limiter of moment system; Because above-mentioned anti-tipping limiter of moment system has above-mentioned technique effect, the movable crane with this anti-tipping limiter of moment system also should possess the corresponding techniques effect.
Description of drawings
Fig. 1 is the logic control scheme drawing of anti-tipping limiter of moment provided by the present invention system;
Fig. 2 is the working state schematic representation with movable crane of anti-tipping limiter of moment provided by the present invention system;
Fig. 3 is the scheme of installation of linear transducer;
Fig. 4 is the scheme of installation of rotary speed sensor;
Fig. 5 is the force analysis model of movable crane when in running order;
Fig. 6 is the force analysis model of the crane arm of movable crane when in running order.
Among Fig. 1 to Fig. 6:
1. turntable 2. long line 12. track adjusting wheels 13. 3 of the secondary elevator 6. arm heads of control cabin 3. crane arms 4. amplitude oil cylinder 5-1. master winch 5-2. 7. suspension hooks 8. linear transducers 9. basic arms 10. transmitters 11. sides of getting on the bus save arm arm position 14. rotary speed sensors, 15. pivoting supports, 16. center steering bodies, 17. level indicators, 18. first angular transducers, 19. second angular transducers
The specific embodiment
Core of the present invention provides a kind of anti-tipping limiter of moment system.This anti-tipping limiter of moment system can the accurate response hoisting crane mode of operation; The moment that hoisting heavy, wind-force, force of inertia and centnifugal force produced in the evaluation work process; And then can control change angle speed and acceleration/accel, speed of revolutions, weight rising or falling speed and the acceleration/accel of hoisting crane, prevent that the hoisting crane dynamic buckling from causing overthrow accident.
Another core of the present invention provides a kind of movable crane that is provided with above-mentioned anti-tipping limiter of moment system.
In order to make those skilled in the art person understand the present invention program better, the present invention is done further detailed description below in conjunction with the accompanying drawing and the specific embodiment.
Terms such as " first, second " among this paper only is for the ease of describing, and with the different constituent elementss that differentiation has same names, does not represent successively or the primary and secondary relation.
Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 1 is the logic control scheme drawing of anti-tipping limiter of moment provided by the present invention system; Fig. 2 is the working state schematic representation with movable crane of anti-tipping limiter of moment provided by the present invention system; Fig. 3 is the scheme of installation of linear transducer; Fig. 4 is the scheme of installation of rotary speed sensor.
As shown in Figure 1; In a kind of specific embodiment; Anti-tipping limiter of moment provided by the present invention system mainly is made up of detecting unit, controller unit, display unit three parts; Wherein detecting unit is used to detect each job parameter, comprises that pressure sensor, angular transducer, linear transducer etc. detect unit; Controller unit is used to handle the detection signal of being imported by said detecting unit and export control signal, comprises the intelligent alarm control system that unit modules such as amplification, computing, comparison, output, feedback, storage are formed; Display unit is used to show the detection processing signals by controller unit output.
Above-mentioned detecting unit, display unit all connect with controller unit through connector (like signal cable etc.), and controller unit connects with the peripheral control element of hoisting crane through connector, and control element is exported control signal to the periphery.
As shown in Figure 3; The linear transducer 8 that is used to detect boom length is fixed in the afterbody of the basic arm 9 of crane arm 3; Be made up of transmitter 10 and the long line 11 of side, long line 11 1 ends of side are wrapped on the transmitter 10, and the other end is fixed on the crane arm telescopic oil cylinder through track adjusting wheel 12.
Surveying long method is: telescopic oil cylinder finds three joint arm arm positions 13 of crane arm 3; Insert the cylinder pin; 3 of crane arms are raised to require the position; The long line 11 of side that is fixed in during this on telescopic oil cylinder will move with telescopic oil cylinder, sensor 8 will write down from three joint arm arm position 13 to the terminal points that hoist apart from S1, through transmitter 10 signal is transferred to controller unit.Then, telescopic oil cylinder withdrawal cylinder pin is got back to reference position, repeats flow process and two joint arms are risen is raised to corresponding position, and record oil cylinder outreach S2, and both are worth summation, be exactly crane arm stretch out apart from S.Add the length S0 of basic arm 9, both can calculate the length L (L=S+S0) of crane arm 3, the brachium of crane arm 3 in the time of in like manner can calculating the work of any operating mode.
Native system is selected two angular transducers for use, is respectively first angular transducer and second angular transducer; First angular transducer 18 is arranged at the side of the basic arm 9 of crane arm 3; Be mainly used in the operating angle of measuring crane arm 3; Second angular transducer 19 is arranged at the side of the arm head 6 of crane arm 3; Be used for the value of first angular transducer 18 is revised, and judge the amount of deflection degree of crane arm 3.
As shown in Figure 2, the big chamber of amplitude oil cylinder 4 and loculus respectively design a pressure sensor, are respectively first pressure sensor and second pressure sensor; Hoisting crane in the course of the work; The moment that lift heavy produced can embody on amplitude oil cylinder, and the big cavity pressure of the little cavity pressure=amplitude oil cylinder of weight+amplitude oil cylinder of lift heavy weight+suspension hook 7 weight+steel rope weight+crane arm 3 promptly is the numerical value that first pressure sensor is detected; Because the weight of weight, steel rope weight and the crane arm 3 of suspension hook 7 is the crane structure parameter; Think known, the little cavity pressure of amplitude oil cylinder is measured by second pressure sensor, so can calculate the moment that lift heavy weight produces.
The anemoscope (not shown) is fixed on the arm head of crane arm 3, detects wind speed in real time.
As shown in Figure 4, rotary speed sensor 14 is fixed in the center steering body 16 at pivoting support 15 centers, and turntable 1 is around pivoting support 15 revolutions the time, and rotary speed sensor 14 can detect the speed of revolutions of turntable 1, and transmits it to controller unit.
The rising or falling speed sensor also is two, and the reductor center shaft with master winch 5-1, secondary elevator 5-2 is connected respectively, detects hoisting or sinking speed V of elevator in real time, considers the winding multiplying power n of suspension hook 7, can calculate weight lifting velocity V
1=V/n.
Principle of work in the face of above-mentioned anti-tipping limiter of moment system describes down.
Please refer to Fig. 5, Fig. 6, Fig. 5 is the force analysis model of movable crane when in running order; Fig. 6 is the force analysis model of the crane arm of movable crane when in running order.
Hoisting crane in the course of the work, the moment that suffered power produces has following several kinds:
(1) balancing torque of hoisting crane deadweight generation does
M
1＝G(0.5L
1+C) (1)
G in the formula---hoisting crane deadweight
L
1---the leg spacing
Horizontal throw between C---center of gyration and center of gravity
(2) play the moment that heavy lift produces, adopt the amplitude oil cylinder pressure to calculate:
Fl
2?cosαcosβ+Fl
2?sinαsinβ-W(l
2+l
3+l
4)cosα-G
2(l
2+l
4)cosα＝0 (2)
That is: Fl
2Cos (alpha-beta)=W (l
2+ l
3+ l
4) cos α+G
2(l
2+ l
4) cos α (3)
G in the formula
2---crane arm gravity
l
2---luffing hydraulic actuating cylinder POS is to the distance of crane arm hinge
l
3---the crane arm center of gravity is to the distance of luffing hydraulic actuating cylinder POS
l
4---the crane arm center of gravity is to the distance of the distance of crane arm head
F---the pressure that the luffing hydraulic actuating cylinder is suffered
With obtaining by the gravity of lifted weight thing and the moment of crane arm gravity generation after formula (3) arrangement is Mq
Mq＝Fl
2?cos(α-β)＝W(l
2+l
3+l
4)cosα+G
2(l
2+l
4)cosα (4)
Can find out that by formula (3) will confirm only need be measured or the angle of inclination beta of supporting power F, crane arm inclination alpha and the luffing hydraulic actuating cylinder of definite luffing hydraulic actuating cylinder gets final product by the moment Mq that the gravity of lifted weight thing and crane arm gravity produce, angle of inclination beta can be by l
2Obtain β=f (l with the function of α
2, α).
(3) wind-force is the work wind-force of considering to be unfavorable for stability, mainly is meant to act on hoisting crane and hang the wind-force on the thing.Tilting moment M by the wind-force generation
FFor
M
F＝P
1H
1+P
2H
2 (5)
P in the formula
1---act on the mode of operation maximum wind power on the hoisting crane
P
2---act on the mode of operation maximum wind power on the lifting thing
H
1, H
2---with P
1, P
2Cooresponding height
(4) influence of the gradient also can not be ignored, by the moment M of its generation
PFor:
M
P＝WH
2?sinγ+GH
1?sinγ (6)
γ in the formula---slope angle
(5) generation of force of inertia has two kinds of situation: a kind ofly be meant lifting mechanism action, and when article lift by crane and fall unexpected brake suddenly, the unfavorable stable force of inertia of generation; A kind of is luffing mechanism action, and crane arm is jerked or when stopping suddenly, the force of inertia of generation.The tilting moment Mg that above-mentioned force of inertia produces is:
Mg＝WV
1(S-0.5L)/gt
1+(W+G
3)V
2H
2/gt
2
V in the formula
1---lifting mechanism rises, retro-speed
V
2---luffing mechanism rises, retro-speed
t
1---lifting mechanism rises, braking time
t
2---luffing mechanism rises, braking time
S---operating radius
G
3---convert the crane arm deadweight of arm head
(6) centnifugal force when mainly being meant crane rotation, crane arm, hangs the centnifugal force that thing produces, and particularly lifts by crane the centnifugal force of thing, acts directly on the crane arm end through steel rope, increases moment M
L
N in the formula---speed of revolutions
H
3---the height of lift heavy article to arm end
So in working order, the work moment of car hosit is adding up of above five kinds of situation, the dynamic actual moment of hoisting crane is:
M
2＝Mq+M
F+M
P+Mg+M
L
Work as M
2Greater than M
1The time, hoisting crane has the danger of tumbling.
During work; Controller unit is at first handled the data of sensor such as length, pressure; To length of boom, angle, lifting altitude, work range, rated load, actual hoisting capacity, moment percentum; Wind speed during the lift heavy operation, the pressure and other parameters of main pump dynamically show at main interface, when certain parameter surpasses setting value, report to the police, and are convenient to operator's monitoring.
System controls by the principle of actual moment and rated moment comparison.Microprocessor is according to the length of boom of each sensor input, and angle signal calculates the operating radius S of hoisting crane.Go out the stressed F of derricking cylinder according to the calculated signals of pressure sensor input, calculate hoisting moment Mq then.Calculated signals according to the level indicator input goes out hoisting crane gradient γ, calculates the extra moment Mp that causes, the extra moment M that the calculated signals of anemoscope input goes out to cause
F, compare with the rated moment that is stored in the central control unit memory device in microprocessor according to the actual moment that calculates, in conjunction with the peripheral control element of hoisting crane, the dangerous play of restriction hoisting crane.
(1) when hoisting operation begins, calculates M
2=Mq+M
F+ M
P, judge initial hoisting moment whether within safe range, otherwise the operation acts that controller forbids that elevator hoists, semi-girder etc. continues to increase moments.
(2) according to the moment M that calculates
2, the operating angle scope that the prediction hoisting crane allows, control crane amplitude variation angle.
(3) in the hoisting operation process, according to the M that calculates
2=Mq+M
F+ M
P, with M
1Relatively, at M
2＜M
1Situation under, calculate force of inertia moment and the centnifugal force moment Mg+M allowed
L, output signal is limited control V
1, V
2, t
1, t
2With N within allowed band, guarantee M
2=Mq+M
F+ M
P+ Mg+M
L＜M
1
In order to realize above-mentioned second purpose, the present invention also provides a kind of movable crane.This movable crane comprises turntable, crane arm, amplitude oil cylinder, winch and crane job control system; Said crane job control system is provided with above-mentioned each described anti-tipping limiter of moment system; In the control cabin of getting on the bus that the controller unit of anti-tipping limiter of moment system and display unit are located at movable crane; All the other structures see also prior art, and this paper repeats no more.
More than anti-tipping limiter of moment system provided by the present invention and movable crane have been carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand core concept of the present invention.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. an anti-tipping limiter of moment system is used for movable crane, comprising:
Detect the detecting unit of each job parameter;
Processing is by the detection signal of said detecting unit input and export the controller unit of control signal;
The display unit of display parameter information;
Said detecting unit comprises linear transducer, the angular transducer that detects the crane arm operating angle that detects boom length, the pressure sensor that detects lift heavy weight, it is characterized in that,
Said detecting unit further comprises the anemoscope of the detection wind speed that is connected in said controller unit, the rotary speed sensor that detects the turntable speed of revolutions, the level indicator that detects the crane horizontal degree and the detection winch hoists or the rising or falling speed sensor of sinking speed.
2. anti-tipping limiter of moment according to claim 1 system; It is characterized in that; Said linear transducer is fixed in the afterbody of the basic arm of crane arm; Comprise the long line of transmitter and side, long line one end of its side is wrapped on the said transmitter, and the other end is fixed on the crane arm telescopic oil cylinder through track adjusting wheel.
3. anti-tipping limiter of moment according to claim 1 system is characterized in that said angular transducer comprises first angular transducer and second angular transducer; Said first angular transducer is arranged at the side of the basic arm of crane arm, and said second angular transducer is arranged at the side of the arm head of said crane arm.
4. anti-tipping limiter of moment according to claim 1 system is characterized in that said pressure sensor comprises first pressure sensor and second pressure sensor; Said first pressure sensor and second pressure sensor are located at the big chamber and the loculus of amplitude oil cylinder respectively.
5. according to each described anti-tipping limiter of moment system of claim 1 to 4, it is characterized in that said anemoscope is arranged at the arm head of said crane arm.
6. according to each described anti-tipping limiter of moment system of claim 1 to 4, it is characterized in that said rotary speed sensor is arranged in the center steering body at crane rotation supporting center.
7. according to each described anti-tipping limiter of moment system of claim 1 to 4, it is characterized in that said level indicator is fixed on the platform of rotating platform of crane; Chassis plane parallel under said platform and the hoisting crane.
8. according to each described anti-tipping limiter of moment system of claim 1 to 4, it is characterized in that said rising or falling speed sensor is connected with the hoisting speed reducer center shaft.
9. movable crane; Comprise turntable, crane arm, amplitude oil cylinder, winch and crane job control system; It is characterized in that said crane job control system is provided with each described anti-tipping limiter of moment system of aforesaid right requirement 1 to 8.
10. movable crane according to claim 9 is characterized in that, in the control cabin of getting on the bus that the controller unit of said anti-tipping limiter of moment system and display unit are located at said movable crane.
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