WO2013000323A1 - Appareil de mesure et de commande de levage, procédé et machine de construction - Google Patents

Appareil de mesure et de commande de levage, procédé et machine de construction Download PDF

Info

Publication number
WO2013000323A1
WO2013000323A1 PCT/CN2012/074215 CN2012074215W WO2013000323A1 WO 2013000323 A1 WO2013000323 A1 WO 2013000323A1 CN 2012074215 W CN2012074215 W CN 2012074215W WO 2013000323 A1 WO2013000323 A1 WO 2013000323A1
Authority
WO
WIPO (PCT)
Prior art keywords
wire rope
hoisting
encoder
position information
angle information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2012/074215
Other languages
English (en)
Chinese (zh)
Inventor
张蓉
夏荣生
李晓乐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Automobile Hoisting Machinery Co Ltd
Original Assignee
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Automobile Hoisting Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan Sany Intelligent Control Equipment Co Ltd, Sany Automobile Hoisting Machinery Co Ltd filed Critical Hunan Sany Intelligent Control Equipment Co Ltd
Publication of WO2013000323A1 publication Critical patent/WO2013000323A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes

Definitions

  • the invention relates to the field of engineering machinery, in particular to a measuring and controlling device, a method and an engineering machine for a hoisting stroke.
  • the hoisting device is a widely used hoisting mechanism that drives the movement of the wire rope by the rotation of the reel, thereby realizing the lifting function of the construction machine.
  • the hoisting stroke measuring and controlling device of the present invention comprises:
  • An encoder an input shaft of the encoder is coupled to an axis of the hoisting drum for detecting angle information of the hoist drum;
  • the display unit displays the position information of the hoist according to the angle information detected by the encoder.
  • the hoisting stroke measuring and controlling device of the present invention further includes: a calculating unit, the calculating unit calculates position information of the wire rope according to the angle information detected by the encoder, and the display unit displays the calculating unit Calculated position information of the wire rope.
  • the calculating unit includes: a judging module, the judging module determining the number of layers of the wire rope in the hoisting drum according to the angle information detected by the encoder;
  • calculation module calculates the position information of the wire rope according to the angle information detected by the encoder and combined with the radius of different layers.
  • the hoisting stroke measuring and controlling device of the present invention further includes: an input unit, wherein the input unit is configured to input a target moving distance of the wire rope;
  • control unit controls the wire rope to achieve the target moving distance according to the angle information detected by the encoder.
  • Another object of the present invention is to provide a method for measuring and controlling a hoisting stroke, the method comprising the steps of:
  • the two steps further include:
  • the position information of the wire rope is calculated, and the position information displayed is the position information of the wire rope.
  • the calculating the position information of the wire rope is: determining the number of layers of the wire rope in the hoisting drum according to the detected angle information;
  • the position information of the wire rope is calculated.
  • the hoisting stroke measuring and controlling method of the present invention further includes: inputting a target moving distance of the wire rope;
  • the wire rope is controlled to achieve the target moving distance according to the detected angle information.
  • the construction machine is specifically a crane.
  • the hoisting stroke measuring and controlling device, method and engineering machine of the invention can calculate the position information of the wire rope according to the detected hoisting drum angle information, and can accurately control the wire rope to achieve the target moving distance.
  • the present invention can visually display the position information of the hoisting, and the operator can accurately position the wire rope according to the displayed hoisting position information during the manual start-stop operation, thereby avoiding the operation in the prior art.
  • Subjective judgment of the start and stop position caused by positioning The accurate defect has the advantages of high precision and good reliability.
  • the invention can also automatically control the wire rope to realize the target moving distance through the control unit, and the operator can automatically complete the quantitative operation of the hoisting action through the input unit, and operate. It is very convenient and greatly improves the operability of construction machinery.
  • FIG. 1 is a block diagram showing the structure of a hoisting stroke measuring and controlling device according to an embodiment of the present invention
  • FIGS. 2a-2b are schematic diagrams showing the installation of an encoder according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a hoisting stroke measuring and controlling device according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of a method for measuring and controlling a hoisting stroke according to an embodiment of the present invention
  • Figure 5 is a flow chart for determining the number of layers of the winch according to an embodiment of the present invention.
  • Figure 6 is a flow chart for calculating the moving distance of a wire rope according to an embodiment of the present invention.
  • the apparatus of the present invention is used to measure and control the stroke of the hoisting.
  • the hoisting referred to in the present invention refers to a mechanism including a rotatably disposed hoist drum 10 and a wire rope wound on the drum, the structure of which is referred to the prior art and will not be described herein.
  • the rotation of the hoisting drum 10 and the winding movement of the wire rope correspond to each other.
  • the hoisting stroke referred to in the present invention may refer to both the rotational stroke of the hoist drum 10 and the movement stroke of the steel cord, and the present invention is not limited thereto.
  • the position information of the hoisting referred to in the present invention may refer to the angle information of the hoisting drum 10, such as the number of turns, the angle, and the like when the hoist is fixed or rotated, or the position information of the rope, such as the wire rope being fixed or moved. Time length, displacement, etc. Interest.
  • the hoisting stroke measuring and controlling device of the present invention includes at least an encoder 1 and a display unit 2.
  • the input shaft of the encoder 1 is coupled to the axis of the hoist drum 10 for detecting the angle information of the hoist drum 10.
  • the encoder 1 which may be a rotary photoelectric encoder 1 to hoist the drum 10 by photoelectric conversion.
  • the amount of mechanical geometric position information on the output shaft is converted to a pulse or digital quantity.
  • FIGS. 2a-2b are schematic views showing the mounting of an encoder according to an embodiment of the present invention, wherein Fig. 2a is a side view showing the encoder 1 disposed at the center of the hoist drum 10; Fig. 2b is the bottom portion.
  • the encoder 1 shown in the drawing is disposed on one side of the hoisting drum 10, and the hoisting drums 10 are disposed in the hoisting box in each of the figures.
  • the encoder 1 is mounted on the side axis of the hoist drum 10, and the input shaft of the encoder 1 and the axis of the hoist drum 10 can be rotated simultaneously.
  • a person skilled in the art can determine the size of the encoder 1 according to the specific structure and installation requirements of the hoist drum 10, and the present invention is not limited thereto. It should be understood that the encoder 1 of the present invention can be mounted either on the main hoist drum or on the sub hoist drum to achieve the technical effects of the present invention.
  • the display unit 2 displays the position information of the hoist according to the angle information detected by the encoder 1.
  • the position information may be position information of the hoist drum 10 or position information of the wire rope, and the latter is preferable.
  • the display unit 2 can display the position information in real time, and provides the operator with a reference for the hoisting operation by providing the operator with intuitive and quantitative information.
  • the operator can perform the manual start and stop operation to accurately position the wire rope, relying on the displayed hoisting position information, thereby avoiding the operator in the prior art to subjectively determine the start and stop position and cause the positioning to be inaccurate. Defects, with high precision and good reliability.
  • the hoisting stroke measuring and controlling device of the present invention further includes a calculating unit 3.
  • the calculation unit 3 calculates the position information of the wire rope based on the angle information detected by the encoder 1.
  • the wire rope is wound in the hoisting drum 10, and its moving position is directly related to the rotation angle of the hoisting drum 10.
  • the position information may be the relative distance between a fixed point on the wire rope and a reference point, such as the distance between the end of the wire rope and the boom.
  • the displacement of the moving wire rope is determined by calculating the difference in position information between the two points.
  • the computing unit 3 comprises a judging module 31 and a computing module 32.
  • the determining module 31 determines the number of layers of the wire rope in the hoist according to the angle information detected by the encoder 1; the calculating module 32 calculates the position information of the wire rope according to the angle information detected by the encoder 1 and the radius of the different layers.
  • the number of wire ropes can be calibrated according to the specific structure of the hoisting drum 10 and the wire rope, so that the number of layers of the wire rope can be judged according to the increase or decrease of the sampling value of the rotary encoder 1, thereby obtaining The current radius of rotation is obtained, and the position information of the wire rope is obtained.
  • the hoisting stroke measuring and controlling device of the present invention can also realize automatic positioning of the wire rope, thereby improving the operability of the construction machine.
  • the apparatus further includes an input unit 4 and a control unit 5.
  • the input unit 4 is used to input the target moving distance of the wire rope
  • the control unit 5 controls the wire rope to realize the target moving distance according to the angle information detected by the encoder 1.
  • the operator determines the target moving distance of the input according to the specific operation that needs to be performed.
  • the control unit 5 connects the actuators of the construction machine, and drives the hydraulic motor by controlling the switches of the actuators such as valves, pumps, etc., thereby driving the rotation of the hoist drum 10 and the movement of the wire rope.
  • Fig. 3 is a schematic view showing a winding stroke measuring and controlling device according to an embodiment of the present invention.
  • both the display unit 2 and the input unit 4 are disposed on the touch screen, and a user command is input by a touch operation on the touch screen by an operator, and the command may be an instruction such as a target moving distance.
  • the touch screen sends relevant command signals to the controller, and the controller implements the related commands through actuators such as valves and pumps.
  • the controller can feed back the relevant values detected by the sensor, such as wire rope pressure information, to the touch screen.
  • the present invention also provides a method for measuring and controlling the hoisting stroke.
  • 4 is a flow chart showing a method for measuring and controlling a hoisting stroke according to an embodiment of the present invention, the method comprising:
  • Step 1 Detect the angle information of the hoist drum
  • Step 2 Display the location information of the hoist.
  • the operator can perform a manual start-stop operation to accurately position the wire rope depending on the displayed hoisting position information.
  • the position information displayed in step 2 can be either a hoist roll
  • the position information of the drum may also be the position information of the wire rope, and the latter is preferred.
  • the hoisting stroke measurement and control method of the present invention further includes between step 1 and step 2:
  • Step 10 Calculate the position information of the wire rope according to the detected angle information, wherein the position information displayed in step 2 is the position information of the wire rope.
  • step 10 may include the following process:
  • Step 101 Determine the number of layers of the wire rope in the hoist according to the detected angle information
  • FIG. 5 is a flow chart for determining the number and radius of the hoisting layer according to an embodiment of the present invention, when the method provided by the present invention is used for the first time, According to the specific structure of the hoisting drum 10 and the wire rope, the number of wire rope turns is calibrated. After initializing the relevant parameters, the relevant parameters are set according to the sampled values of the detected angle information, and the number of hoisting layers and the hoisting radius are calculated according to the relevant parameters.
  • Step 102 Calculate the position information of the wire rope according to the detected angle information and combined with the radius of different layers.
  • Fig. 6 is a flow chart showing the calculation of the moving distance of the wire rope according to an embodiment of the present invention.
  • the relevant parameters are initialized according to the recording starting point, and during the movement of the wire rope, it is judged that the movement is the increasing mode or the subtracting mode, and the number of sampling points is recorded while moving. According to the difference between the relevant parameters between the sampling point and the starting point, the position information such as the length and displacement of the wire rope can be determined.
  • the hoisting stroke measuring and controlling method of the present invention can also realize automatic positioning of the wire rope, thereby improving the operability of the construction machine.
  • the method further includes:
  • Step 3 Enter the target moving distance of the wire rope
  • Step 4 Control the wire rope to achieve the target moving distance according to the detected angle information.
  • step 3 may be performed before step 2, and the technical effects of the present invention can be achieved as well, and the present invention is not limited thereto.
  • the present invention also provides a construction machine including a measurement and control device or method using the aforementioned hoisting stroke, and other structures of the construction machine refer to the prior art, and will not be described herein.
  • the construction machine may be a variety of mechanisms including a hoisting device, preferably the construction machine is a crane.
  • the crane may be a crawler crane, a wheel crane, a tower crane or the like including a plurality of hoisting devices, and the present invention is not limited thereto.
  • the hoisting stroke measuring and controlling device, method and engineering machine of the present invention are based on detection
  • the hoist drum angle information can calculate the position information of the wire rope, and can accurately control the wire rope to achieve the target moving distance.
  • the present invention has the following advantages:
  • the invention can display the position information of the hoisting in an intuitive and quantitative manner, and the operator can accurately position the wire rope according to the displayed hoisting position information during the manual start-stop operation, thereby avoiding the operator's subjective judgment on the starting and stopping position in the prior art. It has the disadvantage of inaccurate positioning, so it has the advantages of high precision and good reliability.
  • the invention can automatically control the wire rope to realize the target moving distance through the control unit 5, and the operator can automatically complete the quantitative operation of the hoisting action through the display unit 2, which is very convenient to operate and greatly improves the operability of the engineering machine.
  • the invention also has the advantages of small changes to the existing structure, single structure, and cost saving. Therefore, the advantageous effects of the present invention are obvious.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)

Abstract

L'invention porte sur un appareil de mesure de commande de levage, sur un procédé et sur une machine de construction. L'appareil comprend au moins : un codeur (1) utilisé pour détecter l'angle du tambour de levage, l'arbre d'entrée dudit codeur (1) et le centre d'axe du tambour de levage (10) étant reliés ; une unité d'affichage (2) affichant, sur la base de l'angle détecté par le codeur (1), l'information d'emplacement du dispositif de levage. La présente invention peut calculer l'information d'emplacement d'un câble de filin sur la base de l'ange de tambour de levage détecté, et peut par conséquent commander avec précision le câble de filin pour obtenir la distance de déplacement désirée, et elle a par conséquent une précision élevée et une bonne aptitude au fonctionnement.
PCT/CN2012/074215 2011-06-30 2012-04-17 Appareil de mesure et de commande de levage, procédé et machine de construction Ceased WO2013000323A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110180984.2 2011-06-30
CN2011101809842A CN102346023A (zh) 2011-06-30 2011-06-30 卷扬行程的测控装置、方法及工程机械

Publications (1)

Publication Number Publication Date
WO2013000323A1 true WO2013000323A1 (fr) 2013-01-03

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Application Number Title Priority Date Filing Date
PCT/CN2012/074215 Ceased WO2013000323A1 (fr) 2011-06-30 2012-04-17 Appareil de mesure et de commande de levage, procédé et machine de construction

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CN (1) CN102346023A (fr)
WO (1) WO2013000323A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102346023A (zh) * 2011-06-30 2012-02-08 三一汽车起重机械有限公司 卷扬行程的测控装置、方法及工程机械
CN102867126B (zh) * 2012-09-19 2015-06-10 德瑞斯博海机械设备（大连）有限公司 利用plc优化变幅钢丝绳工作半径计算的方法
CN103673959A (zh) * 2013-12-12 2014-03-26 中联重科股份有限公司 卷筒钢丝绳收/出绳量检测方法、装置、系统及工程机械
CN103673956B (zh) * 2013-12-13 2016-03-30 中联重科股份有限公司 卷扬的放绳长度检测系统、方法、装置及起重机
CN110353557B (zh) * 2019-07-11 2024-10-18 北京史河科技有限公司 一种作业方法及作业装置
CN112147361B (zh) * 2020-10-16 2022-07-29 北京三一智造科技有限公司 钢丝绳的卷扬参数计算方法、及卷扬机设备
CN112811335A (zh) * 2021-02-03 2021-05-18 浙江三一装备有限公司 排缆机构、卷扬装置、作业机械及排缆控制方法

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CN101343009A (zh) * 2008-08-18 2009-01-14 中国矿业大学 摩擦提升机滑动无线监测系统及方法
CN101929855A (zh) * 2010-07-30 2010-12-29 中国矿业大学 提升机天轮转动角度检测方法及装置
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