Crawler crane under standard working condition and amplitude variation cooperative control method thereof

Abstract

The invention discloses a crawler crane under a standard working condition and a variable amplitude cooperative control method thereof in the field of overall layout of crawler cranes, and aims to solve the technical problems of limited lifting performance, larger occupied area and low construction efficiency of the existing crawler crane under the standard working condition. The crawler crane comprises a main machine, a crawler chassis and a rotary table, the rotary table is installed on the crawler chassis, the main machine is installed in the rotary table, the rotary table is connected with the main machine through a rotating mechanism in the rotary table, a main arm, a main mast and an auxiliary mast are hinged to the rotary table, the main mast is in transmission connection with the rotary table through a main variable-amplitude steel wire rope, and the auxiliary mast is in transmission connection with the main variable-amplitude steel wire rope. The main mast and the auxiliary mast are hinged through an auxiliary mast pulling plate, and the auxiliary mast and the main arm are hinged through a main arm pulling plate. According to the invention, the lifting performance of the crawler crane can be obviously improved under the condition that the superlift counterweight and the superlift luffing device are not increased, and meanwhile, a smaller occupied area and higher construction efficiency are kept.

Description

Technical Field

[0001] The invention relates to a standard working condition crawler crane and a luffing coordinated control method thereof, belonging to the technical field of crawler crane whole machine layout. Background Art

[0002] Crawler cranes are widely used in the engineering field due to their strong lifting capacity and flexible boom combination. There are two main operating conditions for traditional crawler cranes: standard working conditions and superlifting working conditions. Among them, the standard working condition provides counterweight through the turntable counterweights fixed on both sides of the turntable, which has the characteristics of high operating efficiency and small site occupation, but is limited by the arm length and lifting torque, and it is difficult to meet the needs of heavy weight and high amplitude lifting; the superlifting working condition significantly improves the arm length and performance by adding a superlifting mast, superlifting counterweight and pushing device to move the counterweight away from the rotation center to increase the lifting torque, but requires a larger working space and has low construction efficiency. To solve this contradiction, the existing technology attempts to adopt the superlifting zero counterweight working condition (removing the superlifting counterweight and pushing device). Although it reduces the floor space, it still needs to retain the superlifting variable structure, resulting in a complex layout of the whole machine and limited efficiency. Therefore, how to maintain the small site occupation and high construction efficiency of the standard working condition while improving the boom length and lifting performance has become a technical problem that needs to be broken through. Summary of the invention

[0003] The purpose of the present invention is to provide a standard working condition crawler crane and a coordinated luffing control method thereof, which can solve the problems of insufficient lifting performance, large footprint and low construction efficiency of traditional crawler cranes under standard working conditions. By optimizing the retraction and release of the main luffing wire rope and the coordinated action of various components, the lifting performance of the crawler crane is significantly improved.

[0004] In order to solve the above technical problems, the present invention is implemented by adopting the following technical solutions.

[0005] On the one hand, the present invention provides a standard working condition crawler crane, including a main machine, a crawler chassis and a turntable, the crawler chassis is equipped with a turntable, the main machine is installed in the turntable, the turntable is connected to the main machine through its internal rotating mechanism, a main arm, a main mast and a secondary mast are hinged on the turntable, the main mast and the turntable are connected through a main variable-length steel wire rope transmission, the main mast and the secondary mast are hinged through a secondary mast pull plate, and the secondary mast and the main arm are hinged through a main arm pull plate.

[0006] In combination with the first aspect, further, a movable pulley block is installed on the top of the main mast, a fixed pulley block is installed on the turntable, the main luffing wire rope is wound around the movable pulley block and the fixed pulley block, and the luffing of the main arm is controlled by retracting and releasing the main luffing wire rope.

[0007] In combination with the first aspect, further, the turntable further includes a winch, which controls the retraction and release of the main luffing wire rope, drives the main mast to luff, and further adjusts the angle between the main boom and the main boom stay plate.

[0008] In combination with the first aspect, further, the angle range between the main boom stay plate and the main boom is between 15° and 25°.

[0009] In combination with the first aspect, further, the two sides of the turntable are fixedly connected with turntable counterweights.

[0010] In combination with the first aspect, further, the length of the main mast is less than the length of the auxiliary mast.

[0011] In combination with the first aspect, further, one end of the main boom stay plate is hinged to the top of the auxiliary mast, and the other end is connected to the top of the main boom to form a triangular force-bearing structure.

[0012] In combination with the first aspect, further, the bottom of the auxiliary mast is hinged to the tail of the turntable, and its top is connected to the top of the main mast through the auxiliary mast stay plate.

[0013] In the second aspect, a luffing cooperative control method for a standard working condition crawler crane includes: During the boom-up process, the winch retracts the main luffing wire rope, so that the moving pulley block is pulled towards the tail of the turntable along with the top of the main mast, forcing the main mast to lift upward around the hinge point of the turntable, and further driving the auxiliary mast stay plate to be tensioned; The tension of the auxiliary mast stay plate drives the auxiliary mast to lift synchronously around the hinge point of the turntable, and then pulls the top of the main boom through the main boom stay plate. At this time, the main boom stay plate, the main boom and the auxiliary mast form a triangular force-bearing structure, so that the main boom is lifted to a preset angle under the cooperative action of the main mast and the auxiliary mast.

[0014] During the boom-down process, the winch releases the main luffing wire rope, so that the moving pulley block gradually moves away from the tail of the turntable along with the top of the main mast, forcing the main mast to fall downward around the hinge point of the turntable, and further driving the auxiliary mast stay plate to be slack; The slack of the auxiliary mast stay plate drives the auxiliary mast to tilt downward synchronously around the hinge point of the turntable under its own gravity, and then releases the top of the main boom through the main boom stay plate. At this time, the triangular force-bearing structure between the main boom stay plate, the main boom and the auxiliary mast is released, so that the main boom falls back to the initial position under the cooperative action of the main mast and the auxiliary mast.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention: In the present invention, the main boom, the main mast and the auxiliary mast are hinged on the turntable, and through the synergistic action of the main luffing wire rope, the auxiliary mast pull plate and the main boom pull plate, the force distribution of each component is optimized, enabling the main boom and the main mast to more effectively exert their load-bearing capacity.

[0016] The introduction of the auxiliary mast further improves the force conditions of the main boom and the main mast. By increasing the angle between the main boom pull plate and the main boom, and at the same time increasing the angle between the main luffing wire ropes on both sides of the main mast and the auxiliary mast pull plate, the capabilities of each component are exerted, and the overall footprint of the machine is relatively small.

[0017] During the boom-up and boom-down processes, the hoist is used to control the retraction and extension of the main luffing wire rope, achieving precise adjustment of the main boom angle. This "two-way winding" rope layout evenly distributes the tension of the main luffing wire rope to both sides of the main mast, significantly reducing the local load on the unilateral pulley block, thereby extending the service life of the components and improving the safety of the operation. Brief Description of the Drawings

[0018] Figure 1 The figure shows a schematic structural diagram of a crawler crane under standard working conditions provided by an embodiment of the present invention; Figure 2 The figure shows a schematic structural diagram of the boom-up process provided by an embodiment of the present invention; In the figure: 1, main boom; 2, main mast; 3, auxiliary mast; 4, main luffing wire rope; 5, auxiliary mast pull plate; 6, main boom pull plate; 8, crawler chassis; 9, turntable; 10, turntable counterweight. Detailed Embodiments

[0019] The technical solution of the present invention will be described in detail below through the drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the technical features in the embodiments of the present invention and the embodiments can be combined with each other.

[0020] The term "and / or" merely describes the associated relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the associated objects before and after. Embodiment 1

[0021] See Figure 1 and Figure 2The crawler crane of standard working condition provided in this embodiment cleverly achieves the performance improvement of similar super-lifting working condition without adding super-lifting counterweight and super-lifting luffing device, while maintaining the advantages of small footprint and high construction efficiency of standard working condition. The crawler crane includes a main machine, a crawler chassis 8 and a turntable 9. The turntable 9 is fixedly mounted on the crawler chassis 8 and can achieve 360° rotation through its internal rotating mechanism. The main machine is also installed inside the turntable 9, and the main machine is connected to the rotating mechanism of the turntable 9, and the rotating mechanism is connected to the slewing support of the crawler chassis 8.

[0022] Among them, the turntable 9 adopts a three-way articulated structure, which is respectively articulated with the main boom 1, the main mast 2 and the secondary mast 3. The main mast 2 and the turntable 9 are connected by the main variable-length steel wire rope 4, the main mast 2 and the secondary mast 3 are articulated by the secondary mast pull plate 5, and the secondary mast 3 and the main boom 1 are articulated by the main boom pull plate 6.

[0023] The present invention significantly improves the stress conditions of the main boom 1 and the main mast 2 by introducing the secondary mast 3, so that the angle between the main boom pull plate 6 and the main boom 1 and the angle between the main luffing wire rope 4 on both sides of the main mast 2 and the secondary mast pull plate 5 are significantly increased, that is, without increasing the site occupation, an effect similar to super lifting with zero counterweight is achieved.

[0024] In the actual lifting operation application scenario, heavy load lifting is performed with the main arm 1 at an angle of 80°, and the angle between the main arm pull plate 6 and the main arm 1 increases from 15° to 25°. At this time, the main arm pull plate force is reduced by about 39%, and the axial force of the main arm 1 is reduced by about 17%. Example 2

[0025] The embodiment of the present invention further refines the synergistic effect of the main mast 2 and the secondary mast 3. A movable pulley block is installed on the top of the main mast 2, a fixed pulley block is installed on the turntable 9, the main luffing wire rope 4 is wound around the movable pulley block and the fixed pulley block, and the luffing of the main boom 1 is controlled by retracting and releasing the main luffing wire rope 4.

[0026] It should be noted that the main luffing wire rope 4 is gathered and released by the winch inside the turntable 9. When performing heavy load lifting operations, the winch controls the main luffing wire rope 4 to be gathered or released to drive the main mast 2 to luff, thereby achieving the luffing of the main boom 1.

[0027] The axial force of the main mast 2, the main boom 1 and other components mainly comes from the component force of the secondary mast pull plate 5, the main boom pull plate 6 and the main luffing wire rope 4 along the component direction.

[0028] The expression of the component force is: (1) in, represents the component force along the direction of the member, i.e., the axial force; F represents the tension force of the secondary mast stay plate and the main boom stay plate; represents the angle between the tension force of the stay plate and the member.

[0029] From Figure 2 it can be seen that the angle between the main boom stay plate 6 and the main boom 1 increases significantly, and at the same time, the angle between the main mast 2 and the secondary mast stay plate 5 also increases. Therefore, in the same hoisting operation environment, the crawler crane described in the embodiment of the present invention can give full play to the capabilities of each component, and the overall footprint of the machine is relatively small.

[0030] In the embodiment of the present invention, a secondary mast 3 is innovatively introduced. Among them, the top of the secondary mast 3 is hinged to one end of the main boom stay plate 6, and the other end of the main boom stay plate 6 is connected to the top end of the main boom 1 to form a triangular force structure. The stable triangular force structure not only enhances the stability of the whole machine, but also further optimizes the force distribution of the main boom 1 and the main mast 2, so that the bearing capacity of each component is enhanced.

[0031] In a further embodiment of the present invention, the bottom of the secondary mast 3 is also hinged to the tail of the turntable 9, and its top is connected to the top of the main mast 2 through the secondary mast stay plate 5.

[0032] Among them, compared with the traditional crawler crane under standard working conditions, the length of the secondary mast 3 is greater than that of the main mast 2. By using masts of different lengths, the angle between the secondary mast stay plate 5 and the main mast 2 (denoted as ) is further increased, and then the angle between the main boom stay plate 6 and the top end of the main boom 1 (denoted as ) is synchronously enlarged. According to the above mechanical analysis formula, when the angle between the secondary mast stay plate 5 and the main mast 2 increases, the axial component force of the tension force of the main luffing wire rope 4 in the axial direction of the main mast 2 will decrease. Similarly, after the angle between the main boom stay plate 6 and the top end of the main boom 1 is enlarged, the axial component force of the tension force of the main boom stay plate 6 in the axial direction of the main boom 1 will also decrease. Therefore, the reduction of this axial component force can reduce the force burden on the main mast 2 and the main boom 1 in the axial direction, thereby optimizing the force performance of the whole machine.

[0033] In addition, turntable counterweights 10 are fixedly installed on both sides of the turntable 9 to further balance the overall center of gravity of the crawler crane and ensure the stability of the main boom 1 during hoisting operations.

[0034] In summary, the introduction of the secondary mast 3 not only replaces the function of the traditional superlift mast, but also realizes the equivalent moment increase effect of the superlift zero counterweight condition under standard working conditions through the angle optimization of each stay plate and the adjustment of the pulley block layout. Embodiment 3

[0035] A method for coordinated luffing control of a crawler crane under standard working conditions includes two control states: arm-raising and arm-dropping. The details are as follows: When raising the arm, the winch is controlled to retract the main luffing wire rope 4, so that the movable pulley group is pulled toward the tail of the turntable 9 along with the top of the main mast 2, forcing the main mast 2 to lift upward around the hinge point of the turntable 9, thereby driving the secondary mast pull plate 5 to be tightened, and the tensioning force of the secondary mast pull plate 5 drives the secondary mast 3 to be synchronously lifted around the hinge point of the turntable 9, and then the top of the main arm 1 is pulled through the main arm pull plate 6. At this time, the main arm pull plate 6, the main arm 1 and the secondary mast 3 form a triangular force structure, so that the main arm 1 is lifted to a preset angle under the coordinated action of the main mast 2 and the secondary mast 3, thereby achieving large-span lifting in a narrow working space and completely getting rid of the dependence on the super-lifting and pushing device.

[0036] During the boom lowering process, the winch is controlled to slowly release the main luffing wire rope 4, so that the movable pulley group gradually moves away from the tail of the turntable 9 along with the top of the main mast 2, forcing the main mast 2 to fall downward around the hinge point of the turntable 9, thereby driving the tension of the secondary mast pull plate 5 to gradually decrease (relax), and the relaxation of the secondary mast 3 drives the secondary mast 3 to synchronously tilt downward around the hinge point of the turntable 9 under its own gravity. At this time, the triangular force structure between the main boom pull plate 6, the main boom 1 and the secondary mast 3 is released, that is, as the secondary mast 3 tilts downward, the traction is gradually released, so that the main boom 1 stably falls back to its initial position under the coordinated action of the main mast 2 and the secondary mast 3.

[0037] In summary, when raising the boom, the load is dispersed through the triangular force-bearing structure (main boom pull plate 6, secondary mast 3, main boom 1), reducing the axial force of the main boom 1 and the pulling force of the main boom pull plate 6 by about 40%. When lowering the boom, gravity and the winch are relied upon for coordinated control to avoid the complex counterweight adjustment required for traditional superlifting conditions. The entire control process is achieved through the linkage of the main luffing wire rope 4 with the secondary mast pull plate 5 and the main boom pull plate 6 to achieve lifting performance equivalent to zero counterweight in superlifting under standard conditions, while maintaining a compact layout and high operating efficiency.

[0038] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A crawler crane under standard working conditions, characterized in that, The invention comprises a main machine, a crawler chassis (8) and a turntable (9), wherein the turntable (9) is mounted on the crawler chassis (8), the main machine is mounted inside the turntable (9), the turntable (9) is connected to the main machine via a rotating mechanism inside the turntable (9), a main boom (1), a main mast (2) and a secondary mast (3) are hingedly connected to the turntable (9), the main mast (2) and the turntable (9) are connected by a main luffing wire rope (4), the main mast (2) and the secondary mast (3) are hingedly connected by a secondary mast pull plate (5), and the secondary mast (3) and the main boom (1) are hingedly connected by a main boom pull plate (6).

2. The standard condition crawler crane according to claim 1, characterized in that, A movable pulley block is installed on the top of the main mast (2), a fixed pulley block is installed on the turntable (9), the main luffing steel wire rope (4) is wound around the movable pulley block and the fixed pulley block, and the luffing of the main arm (1) is controlled by retracting and releasing the main luffing steel wire rope (4).

3. The standard working condition crawler crane according to claim 2, wherein, The turntable (9) further comprises a winch, through which the main luffing steel wire rope (4) is controlled to be retracted and extended, thereby driving the main mast (2) to change its luffing height, thereby adjusting the angle between the main arm (1) and the main arm pull plate (6).

4. The standard working condition crawler crane according to claim 3, characterized in that, The angle between the main arm pull plate (6) and the main arm (1) ranges from 15° to 25°.

5. The standard working condition crawler crane according to claim 3, wherein Turntable counterweights (10) are fixedly mounted on both sides of the turntable (9).

6. The standard working condition crawler crane according to claim 1, characterized in that, The length of the main mast (2) is shorter than the length of the secondary mast (3).

7. The standard working condition crawler crane according to claim 1, wherein One end of the main arm pull plate (6) is hinged to the top of the secondary mast (3), and the other end is connected to the top of the main arm (1) to form a triangular force-bearing structure.

8. The standard working condition crawler crane according to claim 1, characterized in that, The bottom of the secondary mast (3) is hinged to the tail of the turntable (9), and the top of the secondary mast (3) is connected to the top of the main mast (2) via the secondary mast pull plate (5).

9. A luffing cooperative control method for a crawler crane under standard working conditions according to any one of claims 1-8, characterized in that, include: During the arm raising process, the winch retracts the main luffing wire rope (4), so that the movable pulley block is pulled toward the tail of the turntable (9) along with the top of the main mast (2), forcing the main mast (2) to rise upward around the hinge point of the turntable (9), thereby driving the tensioning of the secondary mast pull plate (5); The tensioning force of the secondary mast pull plate (5) drives the secondary mast (3) to be synchronously lifted around the hinge point of the turntable (9), and then pulls the top end of the main arm (1) through the main arm pull plate (6). At this time, the main arm pull plate (6), the main arm (1) and the secondary mast (6) form a triangular force-bearing structure, so that the main arm (1) is lifted to a preset angle under the coordinated action of the main mast (2) and the secondary mast (3); During the arm-lowering process, the winch releases the main luffing wire rope (4), so that the movable pulley group gradually moves away from the tail of the turntable (9) along with the top of the main mast (2), forcing the main mast (2) to fall back downward around the hinge point of the turntable (9), thereby driving the secondary mast pull plate (5) to relax; The relaxation of the secondary mast pull plate (5) drives the secondary mast (3) to tilt downward synchronously around the hinge point of the turntable (9) under its own gravity, and then releases the top of the main boom (1) through the main boom pull plate (6). At this time, the triangular force structure among the main boom pull plate (6), the main boom (1) and the secondary mast (6) is released, so that the main boom (1) falls back to the initial position under the combined action of the main mast (2) and the secondary mast (3).

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