Hydraulic control system and method for lifting pins of crane, and crane

Abstract

This invention relates to the field of engineering machinery technology, providing a hydraulic control system, method, and crane for lifting pins. The hydraulic control system includes a lifting winch, a traction hydraulic pipe winch, and a hydraulic drive control module. The end of the wire rope of the lifting winch is connected to the lifting frame of the crane, driving the lifting frame to move up and down. The end of the hydraulic pipe of the traction hydraulic pipe winch is connected to a pin-pulling drive cylinder, which is located on the lifting frame. The hydraulic drive control module is connected to both the lifting winch and the traction hydraulic pipe winch. This invention ensures that the lifting wire rope and the pin-pulling hydraulic pipe are wound and unwound synchronously during the lifting process, avoiding damage caused by asynchrony. It also enables automatic and rapid pin insertion and removal after lifting to the desired position, improving operational efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a hydraulic control system, method, and crane for lifting pins. Background Technology

[0002] In related technologies, during the lifting or lowering of a crane, the frequent insertion and removal of the pins between the lifting frame and the standard boom section by manual labor results in low work efficiency. Furthermore, the insertion and removal of the pins involves high-altitude operations, requiring manual labor to repeatedly pull the hydraulic hoses of the pins up and down the boom, which leads to a low safety factor. Summary of the Invention

[0003] This invention provides a hydraulic control system, method, and crane for lifting pins, which can ensure that the lifting wire rope and the pin oil pipe are wound and released synchronously during the lifting process, avoiding damage caused by asynchronous movement. It also enables automatic and rapid pin insertion and removal after lifting to the desired position, improving work efficiency and safety.

[0004] This invention provides a hydraulic control system for a crane lifting pin, comprising:

[0005] A lifting winch, the end of the wire rope of which is connected to the lifting frame of the crane, is used to drive the lifting frame to move up and down;

[0006] A traction hydraulic pipe winch is provided, with the end of the hydraulic pipe of the traction hydraulic pipe winch connected to a plug-in pin drive cylinder, which is located on the lifting sleeve.

[0007] A hydraulic drive control module is connected to the lifting winch and the traction hydraulic winch respectively. It is used to control the drive current of the lifting winch and the traction hydraulic winch according to the wire rope winding and unwinding speed of the lifting winch and the hydraulic pipe winding and unwinding speed of the traction hydraulic winch during the movement of the lifting frame, so as to synchronize the winding and unwinding.

[0008] This invention provides a hydraulic control system for a crane lifting pin, which further includes:

[0009] The first identification device is installed on the lifting winch and is used to identify the cross-layer status of the wire rope during winding and unwinding.

[0010] The second identification device is installed on the traction oil pipe winch and is used to identify the cross-layer status of the oil pipe during winding and unwinding.

[0011] The hydraulic drive control module is electrically connected to the first identification device and the second identification device respectively, and is used to synchronously control the drive current of the lifting winch and the traction oil pipe winch according to the identified cross-layer status of the wire rope and the oil pipe during winding and unwinding.

[0012] This invention provides a hydraulic control system for a crane lifting pin, which further includes:

[0013] A position sensor is installed on the lifting frame and electrically connected to the hydraulic drive control module to detect the position of the lifting frame.

[0014] This invention provides a hydraulic control system for a crane lifting pin, the hydraulic drive control module comprising:

[0015] The first drive oil circuit is connected to the first motor of the lifting winch and is used to drive the wire rope of the lifting winch to be wound up and down.

[0016] The second drive oil circuit is connected to the second motor of the traction oil pipe winch and the first end of the oil pipe, and is used to drive the oil pipe of the traction oil pipe winch to retract and extend, and to drive the insertion and removal pin drive cylinder to extend and retract.

[0017] The controller is electrically connected to the first drive oil circuit and the second drive oil circuit, respectively.

[0018] This invention provides a hydraulic control system for a crane lifting pin, wherein the first drive oil circuit includes:

[0019] The first oil pump is connected to the first motor;

[0020] The first speed sensor, connected to the first motor, is used to detect the speed of the lifting winch;

[0021] The lifting electro-proportional valve and the lowering electro-proportional valve are respectively connected to the first oil pump and are used to adjust the lifting speed and lowering speed of the lifting winch.

[0022] This invention provides a hydraulic control system for a crane lifting pin, wherein the second drive oil circuit includes:

[0023] The second oil pump is connected to the second motor via the first directional valve;

[0024] The second speed sensor, connected to the second motor, is used to detect the speed of the traction hydraulic winch.

[0025] An electro-proportional valve, connected to the second oil pump, is used to adjust the rotational speed of the traction oil pipe winch;

[0026] At least one second directional valve is connected in parallel with the first directional valve and is connected via the oil pipe to at least one of the plug-in drive cylinders.

[0027] The present invention provides a hydraulic control system for a crane lifting pin, wherein the second directional valve is connected to the first end of the oil pipe via a rotary joint, and the rotary joint is driven by the second motor.

[0028] The present invention also provides a control method for the above-mentioned hydraulic control system for the lifting pin of a crane, comprising:

[0029] The position of the lifting frame, the winding and unwinding speed of the wire rope of the lifting winch, and the winding and unwinding speed of the hydraulic pipe of the traction hydraulic pipe winch are obtained.

[0030] During the movement of the lifting frame, the drive current of the lifting winch and the traction winch is controlled according to the winding and unwinding speed of the wire rope of the lifting winch and the winding and unwinding speed of the hydraulic pipe of the traction hydraulic pipe winch, so as to synchronize the winding and unwinding.

[0031] After confirming that the lifting sleeve has moved into place, control the insertion and removal pin drive cylinder to operate.

[0032] According to a control method for a hydraulic control system for a crane lifting pin provided by the present invention, the step of controlling the drive current of the lifting winch and the traction winch to synchronize their winding and unwinding based on the winding and unwinding speeds of the wire rope of the lifting winch and the hydraulic hose of the traction winch includes:

[0033] If either the wire rope winding speed of the lifting winch or the hydraulic pipe winding speed of the traction winch deviates from the target set value, the drive current of the corresponding winch that deviates from the target set value is controlled so that the corresponding winding speed reaches the target set value.

[0034] A control method for a hydraulic control system for a crane lifting pin according to the present invention further includes:

[0035] During the movement of the lifting frame, the cross-layer status of the lifting winch's wire rope and the traction pipe winch's oil pipe during their respective winding and unwinding processes is identified.

[0036] Based on the identified cross-layer status of the wire rope and the oil pipe during winding and unwinding, the drive current of the lifting winch and the traction oil pipe winch is controlled synchronously.

[0037] According to a control method for a hydraulic control system for a crane lifting pin provided by the present invention, the step of synchronously controlling the drive current of the lifting winch and the traction hydraulic pipe winch based on the identified cross-layer state during the winding and unwinding of the wire rope and the hydraulic pipe includes:

[0038] Determine that at least one of the wire rope and the oil pipe is in the initial section of the cross-layer, and simultaneously reduce the driving current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the first set value.

[0039] Determine that at least one of the wire rope and the oil pipe is in the cross-layer transition section, and simultaneously reduce the driving current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the second set value.

[0040] Determine that at least one of the wire rope and the oil pipe is at the end of the cross-layer section, and simultaneously increase the drive current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the third set value.

[0041] Ensure that the wire rope and the oil pipe are in the same layer of winding and unwinding state, and synchronously increase the driving current of the lifting winch and the traction oil pipe winch, so that the winding and unwinding speed of the wire rope of the lifting winch and the winding and unwinding speed of the oil pipe of the traction oil pipe winch are synchronized to the fourth set value.

[0042] Wherein, the second setting value is less than the first setting value, and the third setting value is less than the fourth setting value.

[0043] The present invention also provides a crane, including: the above-mentioned hydraulic control system for lifting pins of the crane.

[0044] The present invention provides a hydraulic control system, method, and crane for lifting pins. The lifting winch's wire rope is connected to the crane's lifting frame, driving the lifting frame to move the standard boom section up and down. A pin drive cylinder is connected to the end of the winch's hydraulic hose, which is mounted on the lifting frame. When the winch's hydraulic hose retracts or extends, the pin drive cylinder moves up and down with the lifting frame, thus avoiding manual climbing of the boom pins. The hydraulic hose of the oil inlet winch can supply oil to the drive cylinder of the insertion / removal pin to achieve extension and retraction. A hydraulic drive control module is connected to the lifting winch and the traction hydraulic hose winch drive. During the lifting and lowering movement of the lifting frame, the drive current of the lifting winch and the traction hydraulic hose winch is controlled according to the winding and unwinding speeds of the lifting winch's wire rope and the traction hydraulic hose winch, ensuring synchronous winding and unwinding. After the lifting frame moves into position, the drive cylinder of the insertion / removal pin is activated to drive the pin insertion / removal component, thus inserting or removing the pin. Therefore, this invention can ensure that the winding and unwinding speeds of the lifting wire rope and the insertion / removal pin hydraulic hose are synchronized during the lifting process, avoiding damage caused by asynchrony, and enabling automatic and rapid insertion and removal of the pin after the lifting position is reached, thereby improving work efficiency and safety. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the hydraulic control system for the lifting pin of a crane provided by the present invention;

[0047] Figure 2 This is an assembly diagram of the lifting winch, traction oil pipe winch, and lifting sleeve provided by the present invention.

[0048] Figure 3 This is a schematic diagram of the structure of the hydraulic drive control module provided by the present invention;

[0049] Figure 4 This is a hydraulic schematic diagram of the hydraulic drive control module provided by the present invention;

[0050] Figure 5 This is a hydraulic schematic diagram of the plug-in pin driven cylinder provided by the present invention;

[0051] Figure 6 This is one of the flowcharts illustrating the control method of the hydraulic control system for the lifting pin of a crane provided by the present invention;

[0052] Figure 7 This is the second flowchart illustrating the control method of the hydraulic control system for the lifting pin of a crane provided by the present invention.

[0053] Figure label:

[0054] 100: Lifting winch; 101: First drum; 102: Wire rope; 103: First motor;

[0055] 104: First brake;

[0056] 200: Traction hose winch; 201: Second drum; 202: Oil hose;

[0057] 203: Second motor; 204: Rotary joint;

[0058] 300: Hydraulic drive control module; 301: First drive oil circuit; 3011: First oil pump;

[0059] 3012: First speed sensor; 3013: Lifting proportional valve;

[0060] 3014: Lowering proportional valve; 3015: Make-up pump; 3016: Brake valve;

[0061] 3017: Fuel tank;

[0062] 302: Second drive oil circuit; 3021: Second oil pump; 3022: First directional valve;

[0063] 3023: Second speed sensor; 3024: Electro-proportional valve; 3025: Second directional valve;

[0064] 3026: Shuttle valve; 3027: Second brake; 303: Controller;

[0065] 400: Lifting bracket; 500: Insertion and removal pin drive cylinder. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0067] In the description of the embodiments of the present invention, it should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0070] The following is combined with Figures 1-7The present invention describes a hydraulic control system, method, and crane for lifting pins of a crane.

[0071] According to an embodiment of the first aspect of the present invention, referring to Figure 1 and Figure 2 As shown, the hydraulic control system for the lifting pin of the crane provided by the present invention mainly includes: a lifting winch 100, a traction oil pipe winch 200, and a hydraulic drive control module 300.

[0072] The lifting winch 100 is mounted on the slewing platform or boom of the crane. The first drum 101 of the lifting winch 100 is wound with multiple layers of wire rope 102, and the ends of the wire rope 102 are connected to the lifting frame 400 of the crane. When the first drum 101 of the lifting winch 100 rotates, it can drive the wire rope 102 to be wound and unwound, thereby driving the lifting frame 400 to move up and down with the standard boom section (not shown in the figure) in the frame system.

[0073] The traction hose winch 200 is mounted on a slewing platform or boom. The second drum 201 of the traction hose winch 200 is wound with multiple layers of hose 202. The hose 202 can be a rubber hose, and the end of the hose 202 is connected to a plug-in pin drive cylinder 500. The plug-in pin drive cylinder 500 is mounted on the lifting frame 400. When the second drum 201 of the traction hose winch 200 rotates, it can drive the hose 202 to retract and extend.

[0074] Specifically, when the lifting winch 100 drives the lifting frame 400 to move up and down via the wire rope 102, the traction winch 200 drives the oil pipe 202 to extend and retract, so that the insertion and removal pin drive cylinder 500 can move up and down together with the lifting frame 400. Since the insertion and removal pin on the lifting frame 400 is about 20m above the ground, it is difficult to manually insert and remove the pin. This invention can effectively avoid manual climbing of the lifting frame 400 to insert and remove the pin shaft. Furthermore, the oil pipe 202 of the traction winch 200 can supply oil to the insertion and removal pin drive cylinder 500, thereby realizing the telescopic action.

[0075] The hydraulic drive control module 300 is connected to the lifting winch 100 and the traction oil pipe winch 200 respectively. During the movement of the lifting frame 400, it controls the drive current of the lifting winch 100 and the traction oil pipe winch 200 according to the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200, so as to achieve synchronous winding and unwinding. After the lifting frame 400 moves into place, it controls the insertion and removal pin drive cylinder 500 to drive the pin shaft insertion and removal parts to realize the insertion or removal of the pin.

[0076] For example, when either the winding speed of the wire rope 102 of the lifting winch 100 or the winding speed of the oil pipe 202 of the traction winch 200 differs from the target set value, the drive current of the corresponding winch mechanism that differs from the target set value is controlled so that the corresponding winding speed reaches the target set value, thereby keeping the winding speed of the two winch mechanisms consistent.

[0077] For example, when the winding and unwinding speed of the wire rope 102 of the lifting winch 100 is different from the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200, the drive current of the lifting winch 100 and the traction oil pipe winch 200 is controlled to keep the winding and unwinding speeds of the two winch mechanisms consistent.

[0078] It should be noted that existing synchronous control rope release technology is applied to wire ropes with the same diameter on two winches. However, for hydraulic pipes and wire ropes with different diameters, the real-time radius difference between the two as they rotate can be significant, easily leading to differences in the speed of wire rope release and retraction.

[0079] Therefore, the hydraulic control system for the crane lifting pin provided in this embodiment of the invention can ensure that the lifting wire rope 102 and the pin oil pipe 202 are synchronized during the lifting process, so that the winding and unwinding speeds of the wire rope 102 and the oil pipe 202 with different diameters are synchronized, avoiding the pulling damage caused by asynchrony, and realizing automatic and rapid pin insertion and removal after lifting to the position, thereby effectively improving work efficiency and safety.

[0080] According to one embodiment of the present invention, the hydraulic control system for the lifting pin of the crane further includes: a first identification device and a second identification device. The first identification device is disposed on the lifting winch 100 and is used to identify the cross-layer state of the wire rope 102 during winding and unwinding. The second identification device is disposed on the traction pipe winch 200 and is used to identify the cross-layer state of the pipe 202 during winding and unwinding. The hydraulic drive control module 300 is electrically connected to the first identification device and the second identification device respectively, and is used to synchronously control the drive current of the lifting winch 100 and the traction pipe winch 200 according to the identified cross-layer state of the wire rope 102 during winding and unwinding and the pipe 202 during winding and unwinding.

[0081] The term "cross-layer" mentioned in the text can be understood as, for example, the intermediate transition stage when the wire rope 102 or the oil pipe 202 is being wound up or down, switching from the first layer to the second layer.

[0082] Specifically, the rope or tube segment in the intermediate transition phase between the first and second layers is divided into three parts: the initial segment, the transition segment, and the final segment.

[0083] When at least one of the wire rope 102 and the oil pipe 202 is in the initial stage of the cross-layer, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is reduced simultaneously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200 are synchronized to the first set value, thereby achieving synchronous speed reduction.

[0084] When at least one of the wire rope 102 and the oil pipe 202 is in the cross-layer transition section, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is reduced simultaneously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200 are synchronized to the second set value. If the second set value is less than the first set value, the speed reduction continues.

[0085] When at least one of the wire rope 102 and the oil pipe 202 is in the end section of the cross-layer, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is increased simultaneously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200 are synchronized to the third set value, thereby achieving synchronous speed increase.

[0086] When both the wire rope 102 and the oil pipe 202 are in the same layer winding and unwinding state, that is, after the wire rope 102 and the oil pipe 202 have completed the cross-layer winding and unwinding, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is increased synchronously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200 are synchronized to the fourth set value. The fourth set value is greater than the third set value, that is, the synchronous speed is increased and normal is restored.

[0087] The first setting value can be, for example, 50% of the normal speed, the second setting value can be, for example, 20% of the normal speed, the third setting value can be, for example, 50% of the normal speed, and the fourth setting value can be, for example, the normal speed.

[0088] This invention, through an identification device, further identifies the deployment and retraction status of the wire rope 102 and the oil pipe 202 across layers. During the layer-crossing process, phased speed adjustment—first synchronously reducing speed during layer crossing, and then synchronously increasing speed after layer crossing—further improves the synchronization consistency of the deployment and retraction of wire ropes 102 and oil pipes 202 with different diameters. This effectively solves the problem of asynchrony caused by large instantaneous speed differences between the wire rope 102 and oil pipe 202 during layer deployment and retraction, thereby preventing the wire rope 102 and oil pipe 202 from breaking and improving the safety of the jacking operation. The large instantaneous speed difference between the wire rope 102 and oil pipe 202 during layer deployment and retraction is due to the difference in diameter between the oil pipe and the wire rope.

[0089] The specific type of identification device in this embodiment of the invention is not particularly limited; for example, it can be a camera.

[0090] According to one embodiment of the present invention, the hydraulic control system for the lifting pin of the crane further includes: a position sensor, which is disposed on the lifting sleeve 400 and electrically connected to the hydraulic drive control module 300, for detecting the position of the lifting sleeve 400 and sending the detected position information to the hydraulic drive control module 300 for processing to determine whether the lifting sleeve 400 has moved into place.

[0091] One embodiment of the present invention, referred to Figure 3 As shown, the hydraulic drive control module 300 of the present invention mainly includes: a first drive oil circuit 301, a second drive oil circuit 302, and a controller 303.

[0092] The first drive oil circuit 301 is connected to the first motor 103 of the lifting winch 100, and is used to drive the first drum 101 of the lifting winch 100 to rotate, thereby driving the wire rope 102 of the lifting winch 100 to be wound up and down.

[0093] The second drive oil circuit 302 is connected to the second motor 203 and the first end of the oil pipe 202 of the traction oil pipe winch 200. It is used to drive the second drum 201 of the traction oil pipe winch 200 to rotate, thereby driving the oil pipe 202 of the traction oil pipe winch 200 to retract and extend. It is also used to drive the insertion and removal pin drive cylinder 500 to extend and retract, realizing the insertion and removal of the pin.

[0094] The controller 303 is electrically connected to the first drive oil circuit 301 and the second drive oil circuit 302 respectively, and is used to control the operation of the entire system.

[0095] One embodiment of the present invention, referred to Figure 4 As shown, the first drive oil circuit 301 includes: a first oil pump 3011, a first speed sensor 3012, a lifting electro-proportional valve 3013, and a lowering electro-proportional valve 3014; the first oil pump 3011 can be a closed-loop oil pump, and the first oil pump 3011 is connected to the engine and the first motor 103 respectively. The first motor 103 is connected to the first drum 101 via a first reducer; the first speed sensor 3012 is connected to the first motor 103 and is used to detect the speed of the lifting winch 100; the lifting electro-proportional valve 3013 and the lowering electro-proportional valve 3014 are respectively connected to the first oil pump 3011.

[0096] When the lifting proportional valve 3013 is controlled to apply the drive current, the lifting winch 100 performs a lifting action. When the lowering proportional valve 3014 is controlled to apply the drive current, the lifting winch 100 performs a lowering action. Furthermore, by adjusting the drive current of the lifting proportional valve 3013 and the lowering proportional valve 3014, the displacement of the first oil pump 3011 can be adjusted, thereby adjusting the speed of the lifting winch 100.

[0097] Furthermore, the first drive oil circuit 301 also includes: a replenishing oil pump 3015 and a brake valve 3016. The replenishing oil pump 3015 is connected to the engine and the oil tank 3017 respectively. The brake valve 3016 is connected to the replenishing oil pump 3015, the first brake 104 and the oil tank 3017 respectively, and is used to control the first brake 104 to brake the first motor 103 of the lifting winch 100.

[0098] Furthermore, the winding and unwinding speed of the wire rope 102 of the lifting winch 100 can be calculated based on the rotational speed of the lifting winch 100, and the calculated winding and unwinding speed of the wire rope 102 is sent to the controller 303. The controller 303 compares the winding and unwinding speed of the wire rope 102 with the target set value, thereby controlling the drive current of the lifting electro-proportional valve 3013 or the lowering electro-proportional valve 3014 to adjust the displacement of the first oil pump 3011, thereby adjusting the rotational speed of the lifting winch 100, so that the winding and unwinding speed of the wire rope 102 reaches the target set value.

[0099] The calculation of the winding and unwinding speed of the wire rope 102 of the lifting winch 100, based on the rotational speed of the lifting winch 100, roughly includes:

[0100] Based on the display interaction of the controller 303, the relevant parameters of the lifting hoist 100 can be initially input: the inner diameter of the first drum GD g Wire rope diameter GR G Number of wire rope layers I (I = 1, 2, ...);

[0101] V g =R Gi ×V gjtzs ;

[0102] R Gi＝ GD g +2×(I-1)*GR G ×0.85(I=2,……);

[0103] V gjtzs =V lift ×n / V motor / i;

[0104] Among them, V g R is the wire rope winding and unwinding speed. Gi V is the structural coefficient of the jacking hoist. gjtzs V is the rotational speed of the first drum. lift Where n is the displacement of the first oil pump, n is the engine speed, and V is the displacement of the first oil pump. motor Let i be the displacement of the first motor, and i be the speed ratio of the first reducer.

[0105] Therefore, the present invention can dynamically modify the initial parameters of the lifting winch 100 for different winch mechanism sizes, thereby adjusting the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and achieving a rapid synchronization effect.

[0106] One embodiment of the present invention, referred to Figure 4 As shown, the second drive oil circuit 302 includes: a second oil pump 3021, a first reversing valve 3022, a second speed sensor 3023, an electro-proportional valve 3024, and a second reversing valve 3025; the second oil pump 3021 is connected to the engine and the fuel tank 3017 respectively, and the second oil pump 3021 is connected to the second motor 203 via the first reversing valve 3022, and the second motor 203 is connected to the second drum 201 via the second reducer; the second speed sensor 3023 is connected to the second motor 203 and is used to detect the speed of the traction oil pipe winch 200; the electro-proportional valve 3024 is connected to the second oil pump Connected to 3021, when the control proportional valve 3024 loads the drive current, the first directional valve 3022 is controlled to drive the traction oil pipe winch 200 to retract and extend the oil pipe 202. By adjusting the drive current of the proportional valve 3024, the displacement of the second oil pump 3021 can be adjusted, thereby adjusting the speed of the traction oil pipe winch 200. The second directional valve 3025 is connected in parallel with the first directional valve 3022 and is connected to the insertion and removal pin drive cylinder 500 via the oil pipe 202. By controlling the second directional valve 3025, the insertion and removal pin drive cylinder 500 can be driven to extend and retract, thereby realizing the insertion and removal of the pin.

[0107] Furthermore, the aforementioned reversing valve of the present invention can be a three-position four-way reversing valve; the second motor 203 can be a cycloidal motor, and the second motor 203 is connected in parallel with a shuttle valve 3026. The oil port of the shuttle valve 3026 is connected to the second brake 3027, and the second motor 203 can be braked by the second brake 3027.

[0108] Furthermore, the winding and unwinding speed of the hydraulic hose 202 of the traction hydraulic hose winch 200 can be calculated based on the rotational speed of the traction hydraulic hose winch 200. The calculated winding and unwinding speed of the hydraulic hose 202 is then sent to the controller 303. The controller 303 compares the winding and unwinding speed of the hydraulic hose 202 with the target set value, thereby controlling the drive current of the electro-proportional valve 3024 to adjust the displacement of the second oil pump 3021, thereby adjusting the rotational speed of the traction hydraulic hose winch 200, and thus enabling the winding and unwinding speed of the hydraulic hose 202 to reach the target set value.

[0109] The calculation of the winding and unwinding speed of the hydraulic hose 202 of the traction hydraulic hose winch 200 based on its rotational speed includes approximately:

[0110] Based on the display interaction of the controller 303, the relevant parameters of the traction hose winch can be initially input: the inner diameter of the second drum JD. J Oil pipe diameter JR JNumber of tubing layers K (K = 1, 2, ...);

[0111] V J =R jK ×V jjgjt ;

[0112] R jK＝ JD J +2×(K-1)*JR J ×0.85(K=2,……);

[0113] V jjgjt =V auxiliary pump ×n / V rotor ;

[0114] Among them, V J R is the tubing retraction and extension speed. jK V is the traction hose winch coefficient. jjgjt V is the rotational speed of the second drum. auxiliary pump The displacement of the second oil pump is n, where n is the engine speed and V is V. rotor This refers to the displacement of the second motor.

[0115] Therefore, the present invention can dynamically modify the initial parameters of the traction hydraulic pipe winch 200 for different winch mechanism sizes, thereby adjusting the winding and unwinding speed of the hydraulic pipe 202 of the traction hydraulic pipe winch 200 and achieving a rapid synchronization effect.

[0116] One embodiment of the present invention, referred to Figure 4 and Figure 5 As shown, the first reversing valve 3022 is connected to the second motor 203 to control the forward and reverse rotation of the second motor 203, and the rotary joint 204 is driven by the second motor 203, that is, the second motor 203 can drive the rotary joint 204 to rotate; the second reversing valve 3025 is connected to the first end of the oil pipe 202 via the rotary joint 204, and the end of the oil pipe 202 is connected to the plug-in pin drive cylinder 500.

[0117] Specifically, the rotary joint 204 and the second motor 203 are respectively located at both ends of the second drum 201. The second drum 201 is driven to rotate by the second motor 203, and the rotary joint 204 rotates with the second drum 201, so that oil can be supplied to the plug-in drive cylinder 500 while ensuring the oil pipe 202 is wound and unwound.

[0118] Furthermore, when hydraulic oil enters the rodless chamber of the pin-pulling drive cylinder 500 through the second directional valve 3025, rotary joint 204, and oil pipe 202, the pin-pulling drive cylinder 500 extends to insert the pin; when hydraulic oil enters the rod chamber of the pin-pulling drive cylinder 500 through the second directional valve 3025, rotary joint 204, and oil pipe 202, the pin-pulling drive cylinder 500 retracts to remove the pin.

[0119] One embodiment of the present invention, referred to Figure 2 and Figure 4 As shown, multiple plug-in pin drive cylinders 500 are respectively provided on both sides of the lifting sleeve 400. Correspondingly, multiple second reversing valves 3025 are provided.

[0120] like Figure 2 and Figure 5 As shown, two plug-in pin drive cylinders 500 are respectively provided on both sides of the lifting frame 400. By simultaneously controlling the four plug-in pin drive cylinders 500 to plug and pull the pins in a synchronous manner, the operating efficiency and stability can be effectively improved.

[0121] The control method provided by the present invention is described below. The control method described below can be referred to in correspondence with the control system described above.

[0122] According to an embodiment of the second aspect of the present invention, referring to Figure 6 As shown, the present invention also provides a control method for the hydraulic control system of the crane lifting pin in the above embodiment, which mainly includes the following steps:

[0123] S100: Obtain the position of the lifting frame 400, the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200.

[0124] Specifically, obtaining the position of the lifting frame 400 within the frame system can be understood as the height of the lifting frame 400 above the ground. The height position of the lifting frame 400 can be detected in real time by a position sensor, and the rotational speed of the lifting winch 100 can be detected in real time by a first speed sensor 3012, thereby obtaining the winding and unwinding speed of the wire rope 102 of the lifting winch 100. The rotational speed of the traction hydraulic pipe winch 200 can be detected in real time by a second speed sensor 3023, thereby obtaining the winding and unwinding speed of the hydraulic pipe 202 of the traction hydraulic pipe winch 200. The specific process is described above and will not be repeated here.

[0125] S200: Determine whether the lifting frame 400 is in position, i.e., whether the lifting frame 400 has reached the highest allowable position designed in the frame system; if not, i.e. it is still in the process of moving, then execute step S300; if yes, then execute step S400.

[0126] S300. During the movement of the lifting frame 400, the drive current of the lifting winch 100 and the traction winch 200 is controlled according to the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200, so as to achieve synchronous winding and unwinding.

[0127] Specifically, when the lifting frame 400 is detected to be moving, the detected winding and unwinding speeds of the wire rope 102 of the lifting winch 100 and the oil pipe 202 of the traction oil pipe winch 200 are compared with the preset target values ​​in the controller 303. When it is determined that either the winding and unwinding speed of the wire rope 102 of the lifting winch 100 or the winding and unwinding speed of the oil pipe 202 of the traction oil pipe winch 200 is different from the target value, the drive current of the corresponding winch mechanism that is different from the target value is controlled so that the corresponding winding and unwinding speed reaches the target value, thereby keeping the winding and unwinding speeds of the two winch mechanisms consistent.

[0128] S400: After confirming that the lifting sleeve 400 has moved into place, control the insertion and removal pin to drive the hydraulic cylinder 500 to move.

[0129] Specifically, once the lifting sleeve 400 is detected to have moved into place, the second directional valve 3025 can be controlled to drive the insertion and removal of the pin, thereby driving the pin insertion and removal parts to achieve automatic insertion and removal of the pin.

[0130] Therefore, the control method of the hydraulic control system for the lifting pin of the crane provided in this embodiment of the invention can ensure that the lifting wire rope and the oil pipe of the lifting pin are synchronously released during the lifting process of the crane, so that the release speed of wire ropes and oil pipes with different diameters is synchronized, avoiding the pulling damage caused by asynchrony, and realizing automatic and rapid insertion and removal of the pin after lifting to the position, thereby effectively improving the work efficiency and safety.

[0131] According to one embodiment of the present invention, referring to Figure 7 As shown, the control method of the hydraulic control system for the lifting pin of the crane of the present invention further includes the following steps:

[0132] S301. During the movement of the lifting frame 400, identify the cross-layer status when the wire rope 102 of the lifting winch 100 is wound up and down and the oil pipe 202 of the traction oil pipe winch 200 is wound up and down.

[0133] S302. Based on the identified cross-layer status of the wire rope 102 during winding and unwinding and the oil pipe 202 during winding and unwinding, the drive current of the lifting winch 100 and the traction oil pipe winch 200 are controlled synchronously.

[0134] Specifically, when it is determined that at least one of the wire rope 102 and the oil pipe 202 is in the initial stage of the cross-layer transition, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is simultaneously reduced, so that the winding and unwinding speeds of the wire rope 102 of the lifting winch 100 and the oil pipe 202 of the traction oil pipe winch 200 are synchronized to a first set value; when it is determined that at least one of the wire rope 102 and the oil pipe 202 is in the cross-layer transition, the driving current of the lifting winch 100 and the traction oil pipe winch 200 is simultaneously reduced, so that the winding and unwinding speeds of the wire rope 102 of the lifting winch 100 and the oil pipe 202 of the traction oil pipe winch 200 are synchronized to a second set value; when it is determined that at least one of the wire rope 102 and the oil pipe 202 is in the initial stage of ... When at least one of 2 is in the end segment of the cross-layer transition, the drive current of the lifting winch 100 and the traction hose winch 200 is increased simultaneously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the hose 202 of the traction hose winch 200 are synchronized to the third set value; when it is determined that the wire rope 102 and the hose 202 are both in the same layer winding and unwinding state, that is, the cross-layer transition is completely finished, the drive current of the lifting winch 100 and the traction hose winch 200 is increased simultaneously, so that the winding and unwinding speed of the wire rope 102 of the lifting winch 100 and the winding and unwinding speed of the hose 202 of the traction hose winch 200 are synchronized to the fourth set value; wherein, the second set value is less than the first set value, and the third set value is less than the fourth set value.

[0135] Because the wire rope 102 and the oil pipe 202 switch layers during winding and unwinding, i.e., cross-layer phenomenon, the instantaneous speed difference between the wire rope 102 and the oil pipe 202 when winding and unwinding cross layers is large, which can easily lead to asynchrony, thereby causing the wire rope 102 and the oil pipe 202 to break due to tension.

[0136] Therefore, this embodiment of the invention further identifies the winding and unwinding status of the wire rope 102 and oil pipe 202 during the movement of the lifting frame 400, and adjusts the speed in stages during the winding process, first synchronously reducing the speed during winding and then synchronously increasing the speed after the winding is completed. This can further improve the synchronous consistency of winding and unwinding of wire rope 102 and oil pipe 202 of different diameters, thereby avoiding the collapse of wire rope 102 and oil pipe 202 and improving the safety of the lifting operation.

[0137] According to an embodiment of a third aspect of the present invention, the present invention also provides a crane, mainly comprising: a hydraulic control system for lifting pins of the crane as described in the above embodiments.

[0138] Since the crane of this embodiment includes the hydraulic control system for the crane lifting pin of the above embodiment, it has all the technical effects of the hydraulic control system for the crane lifting pin of the above embodiment, which will not be elaborated here.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydraulic control system for a crane lifting pin, characterized in that, include: A lifting winch, the end of the wire rope of which is connected to the lifting frame of the crane, is used to drive the lifting frame to move up and down; A traction hydraulic pipe winch is provided, with the end of the hydraulic pipe of the traction hydraulic pipe winch connected to a plug-in pin drive cylinder, which is located on the lifting sleeve. A hydraulic drive control module is connected to the lifting winch and the traction hydraulic winch respectively. It is used to control the drive current of the lifting winch and the traction hydraulic winch according to the wire rope winding and unwinding speed of the lifting winch and the hydraulic pipe winding and unwinding speed of the traction hydraulic winch during the movement of the lifting frame, so as to synchronize the winding and unwinding. The first identification device is installed on the lifting winch and is used to identify the cross-layer status of the wire rope during winding and unwinding. The second identification device is installed on the traction oil pipe winch and is used to identify the cross-layer status of the oil pipe during winding and unwinding. The hydraulic drive control module is electrically connected to the first identification device and the second identification device respectively, and is used to synchronously control the drive current of the lifting winch and the traction oil pipe winch according to the identified cross-layer status of the wire rope and the oil pipe during winding and unwinding.

2. The hydraulic control system for the lifting pin of a crane according to claim 1, characterized in that, Also includes: A position sensor is installed on the lifting frame and electrically connected to the hydraulic drive control module to detect the position of the lifting frame.

3. The hydraulic control system for the lifting pin of a crane according to claim 1 or 2, characterized in that, The hydraulic drive control module includes: The first drive oil circuit is connected to the first motor of the lifting winch and is used to drive the wire rope of the lifting winch to be wound up and down. The second drive oil circuit is connected to the second motor of the traction oil pipe winch and the first end of the oil pipe, and is used to drive the oil pipe of the traction oil pipe winch to retract and extend, and to drive the insertion and removal pin drive cylinder to extend and retract. The controller is electrically connected to the first drive oil circuit and the second drive oil circuit, respectively.

4. The hydraulic control system for the lifting pin of a crane according to claim 3, characterized in that, The first drive oil circuit includes: The first oil pump is connected to the first motor; The first speed sensor, connected to the first motor, is used to detect the speed of the lifting winch; The lifting electro-proportional valve and the lowering electro-proportional valve are respectively connected to the first oil pump and are used to adjust the lifting speed and lowering speed of the lifting winch.

5. The hydraulic control system for the lifting pin of a crane according to claim 3, characterized in that, The second drive oil circuit includes: The second oil pump is connected to the second motor via the first directional valve; The second speed sensor, connected to the second motor, is used to detect the speed of the traction hydraulic winch. An electro-proportional valve, connected to the second oil pump, is used to adjust the rotational speed of the traction oil pipe winch; At least one second directional valve is connected in parallel with the first directional valve and is connected via the oil pipe to at least one of the plug-in drive cylinders.

6. The hydraulic control system for the lifting pin of a crane according to claim 5, characterized in that, The second directional valve is connected to the beginning of the oil pipe via a rotary joint, and the rotary joint is connected to the second motor drive.

7. A control method for a hydraulic control system for a crane lifting pin according to any one of claims 1-6, characterized in that, include: The position of the lifting frame, the winding and unwinding speed of the wire rope of the lifting winch, and the winding and unwinding speed of the hydraulic pipe of the traction hydraulic pipe winch are obtained. During the movement of the lifting frame, the drive current of the lifting winch and the traction winch is controlled according to the winding and unwinding speed of the wire rope of the lifting winch and the winding and unwinding speed of the hydraulic pipe of the traction hydraulic pipe winch, so as to synchronize the winding and unwinding. After confirming that the lifting sleeve has moved into place, control the insertion and removal pin drive cylinder to operate; During the movement of the lifting frame, the cross-layer status of the lifting winch's wire rope and the traction pipe winch's oil pipe during their respective winding and unwinding processes is identified. Based on the identified cross-layer status of the wire rope and the oil pipe during winding and unwinding, the drive current of the lifting winch and the traction oil pipe winch is controlled synchronously.

8. The control method of the hydraulic control system for the lifting pin of a crane according to claim 7, characterized in that, The step of controlling the drive current of the lifting winch and the traction winch to synchronize their winding and unwinding based on the wire rope winding and unwinding speed of the lifting winch and the hydraulic hose winding speed of the traction winch includes: If either the wire rope winding speed of the lifting winch or the hydraulic pipe winding speed of the traction winch deviates from the target set value, the drive current of the corresponding winch that deviates from the target set value is controlled so that the corresponding winding speed reaches the target set value.

9. The control method of the hydraulic control system for the lifting pin of a crane according to claim 7, characterized in that, The step of synchronously controlling the drive current of the lifting winch and the traction hydraulic pipe winch based on the identified cross-layer status of the wire rope and the hydraulic pipe during their respective winding and unwinding operations includes: Determine that at least one of the wire rope and the oil pipe is in the initial section of the cross-layer, and simultaneously reduce the driving current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the first set value. Determine that at least one of the wire rope and the oil pipe is in the cross-layer transition section, and simultaneously reduce the driving current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the second set value. Determine that at least one of the wire rope and the oil pipe is at the end of the cross-layer section, and simultaneously increase the drive current of the lifting winch and the traction oil pipe winch, so that the wire rope winding speed of the lifting winch and the oil pipe winding speed of the traction oil pipe winch are synchronized to the third set value. Ensure that the wire rope and the oil pipe are in the same layer of winding and unwinding state, and synchronously increase the driving current of the lifting winch and the traction oil pipe winch, so that the winding and unwinding speed of the wire rope of the lifting winch and the winding and unwinding speed of the oil pipe of the traction oil pipe winch are synchronized to the fourth set value. Wherein, the second setting value is less than the first setting value, and the third setting value is less than the fourth setting value.

10. A crane, characterized in that, include: The hydraulic control system for the lifting pin of a crane according to any one of claims 1-6.

Images