Suspended load protection system of crane and crane

Abstract

The utility model relates to the technical field of cranes, and discloses a suspended load protection system of a crane and the crane, the suspended load protection system comprises: a long angle sensor configured to collect the length and angle of a cargo boom; the pressure sensor is configured to collect the pressure of the variable-amplitude oil cylinder; the controller is configured to determine the hoisting weight of the crane according to the length, the angle and the pressure; when the crane is in the remote control mode and the suspended load protection function is activated, determining a preset working speed corresponding to the preset suspended load range according to the suspended load weight and the reference rated load weight of the crane; the remote controller is configured to control the movement speed of the crane boom according to the preset working speed; the reference rated load is obtained by increasing the original rated load by a first preset amount, and the preset working speed is obtained by reducing the original working speed by a second preset amount. According to the utility model, the action of the cargo boom is more stable while the hoisting efficiency is ensured, and the impact and vibration are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of hoist, specifically relates to hoist's hoist protection system and hoist. BACKGROUND

[0002] Currently, the truck-mounted cranes controlled by remote controllers are gradually increasing, and the operators control the truck-mounted cranes by rotating the handle on the remote control transmitter. The remote control operation depends on the experience and skills of the operators. When there are obstacles in the construction site or high-precision micro-motion control is required, the traditional remote control mode is difficult to ensure the stability of the action, and improper handle operation can easily cause the hoisted load to swing greatly or even cause the crane to overturn. SUMMARY

[0003] Therefore, in a first aspect, the utility model provides a hoist's hoist protection system, which comprises:

[0004] The long-angle sensor is connected to the controller and is configured to collect the length and angle of the hoist arm;

[0005] The pressure sensor is connected to the controller and is configured to collect the pressure of the luffing cylinder;

[0006] The controller is configured to determine the hoist load of the hoist according to the length, angle and pressure. When the hoist is in a remote control mode and the hoist protection function is activated, the corresponding preset hoist load range is determined according to the hoist load and the reference load capacity of the hoist, and the preset working speed of the hoist is determined according to the corresponding preset hoist load range. One preset hoist load range corresponds to one preset working speed, and different preset hoist load ranges correspond to different preset working speeds. The reference load capacity is obtained by increasing the original load capacity by a first preset amount, and the preset working speed is obtained by reducing the original working speed by a second preset amount.

[0007] The remote controller is connected to the controller and is configured to control the movement speed of the hoist arm according to the preset working speed.

[0008] In an optional embodiment, the hoist protection system further comprises a multi-way valve, and the remote controller is connected to the multi-way valve.

[0009] The controller is further configured to monitor the signal change rate of the output signal of the remote controller.

[0010] The remote controller is further configured to output a preset remote control electrical signal to the multi-way valve when the controller monitors that the signal change rate is greater than or equal to a preset change rate.

[0011] The multi-way valve is configured to adjust the opening degree according to the preset remote control electric signal; the preset remote control electric signal is used to indicate that the opening degree of the multi-way valve gradually decreases according to a preset mode.

[0012] In an optional embodiment, the remote controller is provided with a remote control transmitter and a remote control receiver;

[0013] The remote control transmitter is arranged on the remote controller, and the remote control receiver is arranged on the controller;

[0014] The remote control transmitter is provided with a rocker, and a Hall sensor is arranged in the rocker;

[0015] The Hall sensor is configured to generate the output signal according to the stroke size of the rocker being pushed and transmit the output signal to the remote control receiver;

[0016] The remote control receiver receives the output signal and transmits to the controller.

[0017] In an optional embodiment, the remote control transmitter comprises a transmitter panel, and the rocker is arranged on the transmitter panel.

[0018] In an optional embodiment, the remote controller is provided with a load-lifting protection function button, and the remote controller is further configured to activate the load-lifting protection function through the load-lifting protection function button.

[0019] In an optional embodiment, the remote controller is provided with a display screen, and the display screen is configured to display a preset icon when the load-lifting protection function is activated.

[0020] In an optional embodiment, the display screen is further configured to display relevant information of the action of the lifting arm.

[0021] In an optional embodiment, the long-angle sensor is arranged on the basic arm of the crane, and the pressure sensor is arranged in the luffing cylinder of the crane.

[0022] In an optional embodiment, the pressure sensor is specifically configured to collect the pressure of the rod cavity and the pressure of the rodless cavity of the luffing cylinder.

[0023] In a second aspect, the utility model also provides a crane comprising the load-lifting protection system of the first aspect or any one of the corresponding embodiments.

[0024] The technical scheme provided by the utility model has the following technical effects:

[0025] The embodiment of the utility model through long angle sensor gathers the length and angle of hoist arm, pressure sensor gathers the pressure of amplitude cylinder, the controller fuses three kinds of data to calculate real time load weight. When the crane is in remote control mode, the reference load weight can be obtained by increasing the first preset amount on the basis of the original load weight when activating the load protection function, thereby improving the load capacity, and the preset working speed can be obtained by reducing the second preset amount on the basis of the original working speed, thereby reducing the movement speed of hoist arm action. When the crane is in remote control mode, the controller can determine the preset load range according to the load weight and the reference load weight of the crane when activating the load protection function, determine the preset working speed of the crane according to the preset load range, and the remote controller can control the movement speed of hoist arm action according to the preset working speed, thereby reducing the movement speed of hoist arm action under the condition of improving the load capacity and ensuring the load efficiency, so that the action of hoist arm is more stable and the impact and vibration are reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0027] Figure 1 It is the structure schematic diagram of the load protection system of the crane of the embodiment of the utility model;

[0028] Figure 2 It is the structure schematic diagram of the remote control transmitter of the embodiment of the utility model;

[0029] Figure 3 It is the structure schematic diagram of the load protection system of another crane of the embodiment of the utility model.

[0030] In the drawing: long angle sensor-1, pressure sensor-2, controller-3, remote controller-4, multiway valve-5. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantages of the embodiment of the utility model more clear, the technical scheme in the embodiment of the utility model will be described clearly and completely in the following with the drawings in the embodiment of the utility model, obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiments. Based on the embodiment in the utility model, all other embodiments obtained by those skilled in the art without creating creative labor belong to the scope of protection of the utility model.

[0032] In the description of the utility model, it is necessary to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as the limitation of the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the utility model, it is necessary to explain, unless otherwise specified and limited, the terms "installation", "connection", "connection" should be understood broadly, for example, it can be fixed connection, can also be detachable connection, or integrally connected. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0034] In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as there is no conflict between them.

[0035] Figure 1 It is the structure diagram of the hoisting protection system of the crane of the utility model embodiment.

[0036] As shown in Figure 1 The utility model embodiment provides a kind of hoisting protection system of crane, and the hoisting protection system of crane includes:

[0037] Long angle sensor 1, pressure sensor 2, controller 3, remote controller 4.

[0038] Long angle sensor 1 and controller 3 are connected, configured to collect the length and angle of crane arm. Long angle sensor 1 is arranged on the basic arm of crane.

[0039] As an example, the long angle sensor 1 comprises a long angle sensor 1 body, an angle measurement unit and a reel mechanism. The long angle sensor 1 body is arranged on the side of the basic arm of the crane, close to the rotary base, and remains stationary. The angle measurement unit: based on the gyroscope / inclinometer technology, detects the elevation angle of the lifting arm relative to the reference plane, such as the horizontal plane, in real time, and the elevation angle is the angle of the lifting arm. With the horizontal plane as 0°, the upward lifting of the lifting arm is a positive angle (such as 0°~80°), and the downward looking is a negative angle. The reel mechanism: winds a high-strength flexible cable (such as a stainless steel wire rope), and the cable end is fixed to the frontmost arm head of the telescopic arm. The connection mode of the cable is: the cable is passively pulled out or retracted with the telescopic arm, and drives the reel to rotate. The reel is built-in with an encoder (such as an optical encoder or a magnetic encoder), and the cable pull-out length is calculated by detecting the number of rotations. As an example, the length of the lifting arm = the initial length of the basic arm + the cable pull-out length.

[0040] The pressure sensor 2 and the controller 3 are connected and configured to collect the pressure of the luffing oil cylinder. As an example, the pressure sensor 2 is specifically a luffing pressure sensor. The pressure sensor 2 is arranged in the luffing oil cylinder of the crane.

[0041] The controller 3 is configured to determine the load weight of the crane according to the length, the angle and the pressure. When the crane is in the remote control mode and the load protection function is activated, the corresponding preset load range is determined according to the load weight and the reference load weight of the crane, and the preset working speed of the crane is determined according to the corresponding preset load range. Among them, one preset load range corresponds to one preset working speed, and different preset load ranges correspond to different preset working speeds. The reference load weight is obtained by increasing the original load weight by a first preset amount, and the preset working speed is obtained by reducing the original working speed by a second preset amount. In this embodiment, the specific implementation of determining the load weight of the crane according to the length, the angle and the pressure is not limited, and the load weight of the crane can be determined according to the length, the angle and the pressure in a conventional manner in the art. As an example, the load weight can be calculated by the moment balance principle and the hydraulic system mechanics model.

[0042] In this embodiment, the crane can be specifically a truck-mounted crane. The controller 3 is specifically configured to determine the load percentage according to the load weight and the reference load weight of the crane, and determine the corresponding preset load range of the load percentage. The load percentage = the load weight / reference load weight.

[0043] The original load capacity and the original working speed can be data when the crane is in the manual mode. When the crane is in the remote control mode and the load lifting protection function is activated, the reference load capacity is greater than the original load capacity in the manual mode, and the preset working speed is less than the original working speed in the manual mode. Thus, when the crane is in the remote control mode and the load lifting protection function is activated, the load capacity can be increased and the working speed can be reduced, so that the movement of the crane boom is more stable while the working efficiency is ensured.

[0044] As an example, the first preset amount is 10%, and the user can adjust the first preset amount. In this embodiment, the specific value of the first preset amount is not limited, and the reference load capacity is less than or equal to the maximum load capacity. As an example, the maximum load capacity is 145 kg, the original load capacity is 100 kg, and the reference load capacity can be 110 kg. The load lifting percentage and the second preset amount are in a positive correlation relationship. The greater the load lifting percentage, the greater the second preset amount, that is, the greater the load lifting weight, the smaller the preset working speed. As an example, the second preset amount is 40%, the original working speed is 1 m / s, and the preset working speed can be 0.6 m / s.

[0045] The controller 3 can set a preset number of preset load lifting ranges and a preset working speed corresponding to each preset load lifting range. As an example, the preset number is 3, and the preset load lifting ranges and the corresponding preset working speeds set by the controller 3 are shown in Table 1 below.

[0046] Table 1: Correspondence table of preset load lifting range and preset working speed

[0047]

[0048] The remote controller 4 is connected with the controller 3 and is configured to control the movement speed of the crane boom according to the preset working speed.

[0049] In this embodiment, the controller 3 is further configured to determine the load lifting weight of the crane according to the length, the angle, and the pressure when the crane is in the manual mode or the remote control mode. The length, the angle, the pressure, and the load lifting weight can be displayed as related information of the movement of the crane boom on the display screen in the following embodiments.

[0050] In this embodiment, the pressure sensor 2 is specifically configured to collect the pressure of the rod cavity and the pressure of the rodless cavity of the luffing cylinder. As an example, the pressure sensor 2 can be respectively installed at the rodless cavity oil port (usually the large cavity) and the rod cavity oil port (including the small cavity of the piston rod) of the luffing cylinder to collect the pressure of the rodless cavity and the pressure of the rod cavity, respectively.

[0051] In this embodiment, the length and the angle of the crane boom can be collected in real time by the length and angle sensor 1, and the pressure of the luffing cylinder can be collected in real time by the pressure sensor 2.

[0052] In the embodiment, the remote controller 4 is specifically configured to adjust the mapping relationship between the output signal and the movement speed of the crane boom action according to a preset working speed, and adjust the movement speed of the crane boom action in the mapping relationship to the preset working speed. For example, the movement speed of the crane boom action corresponding to the output signal in the mapping relationship before adjustment is 1 m / s, and the movement speed of the crane boom action corresponding to the output signal in the mapping relationship after adjustment is 0.6 m / s. Thus, the movement speed of the crane boom action is reduced to make the crane boom action more stable.

[0053] In an alternative embodiment, the load lifting protection system further comprises a multi-way valve. The remote controller 4 is connected to the multi-way valve.

[0054] The controller 3 is further configured to monitor the signal change rate of the output signal of the remote controller 4. The output signal is specifically a Hall sensor electrical signal.

[0055] The remote controller 4 is further configured to output a preset remote control electrical signal to the multi-way valve when the controller 3 monitors that the signal change rate is greater than or equal to a preset change rate. The preset change rate can be set and modified according to actual needs. The multi-way valve is specifically an electrically controlled multi-way valve. The signal change rate greater than or equal to the preset change rate indicates that the operator releases the joystick on the remote controller 4. The preset remote control electrical signal can be a remote control electrical signal that is slowly reduced according to a preset reduction mode.

[0056] The multi-way valve is configured to adjust the opening degree according to the preset remote control electrical signal. The preset remote control electrical signal is used to indicate that the opening degree of the multi-way valve gradually decreases according to a preset mode. The multi-way valve can be specifically configured to adjust the opening degree to closed according to the preset remote control electrical signal. The preset mode can be specifically that a curve indicating the change of the opening degree with time or other variables is preset, and the opening degree of the multi-way valve gradually decreases according to the trend of the curve.

[0057] The remote controller 4 is further configured to output an original remote control electrical signal to the multi-way valve when the controller 3 monitors that the signal change rate is less than the preset change rate. The multi-way valve is further configured to adjust the opening degree according to the original remote control electrical signal. The adjustment speed of the opening degree by the preset remote control electrical signal is less than the adjustment speed of the opening degree by the original remote control electrical signal. For example, the preset remote control electrical signal needs 1 s to adjust from the maximum opening degree to closed, and the original remote control electrical signal needs 0.5 s to adjust from the maximum opening degree to closed.

[0058] In the embodiment, as an example, when the remote control operation is performed on the truck crane to perform the slewing action or the boom lifting action, if the joystick is suddenly released, the high-speed action is instantaneously stopped, and the load lifting generates a relatively large vibration and causes damage to the service life of the structural member. The signal change rate of the output signal of the remote controller 4 is relatively fast, the remote control electrical signal is slowly and linearly reduced, and the opening degree of the multi-way valve is gradually reduced, so that the slewing action and the lifting operation are more stable, and the impact and vibration are reduced.

[0059] In an alternative embodiment, the remote controller 4 is provided with a remote transmitter and a remote receiver.

[0060] The remote transmitter is provided on the remote controller 4, and the remote receiver is provided on the controller 3.

[0061] The remote transmitter is provided with a joystick, and a Hall sensor is provided in the joystick.

[0062] The Hall sensor is configured to generate an output signal according to the stroke size of the joystick being pushed, and transmit the output signal to the remote receiver.

[0063] The remote receiver receives the output signal and transmits to the controller 3.

[0064] In the present embodiment, the controller 3 monitors the received output signal and calculates the signal change rate.

[0065] In an alternative embodiment, the remote transmitter comprises a transmitter panel, and the joystick is provided on the transmitter panel.

[0066] In an alternative embodiment, the remote controller 4 is provided with a load-lifting protection function button, and the remote controller 4 is further configured to activate the load-lifting protection function through the load-lifting protection function button. Specifically, the load-lifting protection function can be activated when the operator presses / touches the load-lifting protection function button, and the load-lifting protection function can be closed when the operator presses / touches the load-lifting protection function button again. If the load-lifting protection function is activated in the current load-lifting task, it can be set to activate the load-lifting protection function by default in the next load-lifting task. In the present embodiment, the operator can choose whether to activate the load-lifting protection function, increasing the flexibility of the operator's selection.

[0067] In the present embodiment, the load-lifting protection function button can also be provided on the transmitter panel.

[0068] In an alternative embodiment, the remote controller 4 is provided with a display screen, and the display screen is configured to display a preset icon when the load-lifting protection function is activated.

[0069] In the present embodiment, the display screen can also be provided on the transmitter panel. The preset icon can be displayed by a preset color, such as yellow. As an example, the preset icon can be a preset letter or number, or a combination of letters and numbers, or a preset graphic, etc.

[0070] As an example, a structural schematic diagram of the remote transmitter is shown in Figure 2 .

[0071] In an alternative embodiment, the display screen is further configured to display information related to the action of the hoisting arm.

[0072] In the embodiment, the information related to the action of the crane boom can include the length and angle of the crane boom, the length of the base boom, the reference plane, the pressure of the luffing cylinder (the pressure of the rod cavity and the pressure of the rodless cavity), the original working speed, the preset working speed, the reference load, the original load, the load of the hoist, and the like.

[0073] As an example, the connection mode between the long angle sensor, the pressure sensor, the controller, the remote controller, and the multi-way valve in the load protection system is shown in the figure. Figure 3 In the figure, the long angle sensor 1 and the controller 3 communicate bidirectionally, the pressure sensor 2 and the controller 3 communicate unidirectionally, the controller 3 and the remote controller 4 communicate bidirectionally, and the remote controller 4 and the multi-way valve 5 communicate unidirectionally.

[0074] The long angle sensor 1 and the controller 3 are connected through the Controller Area Network (CAN) bus of the controller 3. The length and angle of the crane boom collected by the long angle sensor 1 can be encoded in a specific CAN message format and sent to the controller 3 through the CAN bus, so that the controller 3 can read and process the data conveniently.

[0075] The pressure sensor 2 and the controller 3 are connected through an Analog Input (AI) interface. The pressure of the rod cavity and the pressure of the rodless cavity of the luffing cylinder collected by the pressure sensor 2 are analog quantities, which are connected to the analog input port of the controller 3 through an analog signal line. The controller 3 converts the input analog voltage or current signal into a digital signal and then processes and analyzes it.

[0076] The controller 3 and the remote controller 4 are connected through the CAN bus. The remote controller 4 can send output signals to the controller 3, and the controller 3 can also feed back the information related to the action of the crane boom to the remote controller 4 through the CAN bus.

[0077] The remote controller 4 and the multi-way valve 5 are connected through an Analog Output (AO) interface. The remote controller 4 outputs preset remote control signals through the AO interface to control the opening of the multi-way valve, so as to adjust the flow direction, pressure, and flow rate of the hydraulic oil, and finally control the action speed of the crane boom and the like.

[0078] The technical scheme of the utility model has the advantages that the action working speed is slowed down during remote control operation, the micro-motion and precision are high, the change rate of the output signal is detected at the same time, the stability of the action is ensured, and the impact and vibration are reduced. When the crane is in the remote control mode and the load protection function is activated, the load capacity of the crane can be improved, the working efficiency is higher, and the cost is saved.

[0079] The utility model also provides a kind of crane, including the hoisting protection system of above embodiment or its corresponding any implementation mode.

[0080] Obviously, the above embodiments are only examples for clearly illustrating, and not limit the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A load hoist protection system for a crane, characterized by, The crane load protection system comprises: a long angle sensor and a controller connected, configured to collect the length and angle of the boom; a pressure sensor and a controller connected, configured to collect the pressure of the luffing cylinder; the controller is configured to determine the load weight of the crane according to the length, angle and pressure; when the crane is in remote control mode and the load protection function is activated, the corresponding preset load range is determined according to the load weight and the reference load weight of the crane, and the preset working speed of the crane is determined according to the corresponding preset load range; wherein one preset load range corresponds to one preset working speed, and different preset load ranges correspond to different preset working speeds; the reference load weight is obtained by adding a first preset amount to the original load weight, and the preset working speed is obtained by reducing a second preset amount from the original working speed; a remote controller and a controller connected, configured to control the movement speed of the boom action according to the preset working speed.

2. The load line protection system of claim 1, wherein, The crane load protection system further comprises a multi-way valve; the remote controller and the multi-way valve are connected; the controller is further configured to monitor the signal change rate of the output signal of the remote controller; the remote controller is further configured to output a preset remote control electric signal to the multi-way valve when the controller monitors that the signal change rate is greater than or equal to a preset change rate; the multi-way valve is configured to adjust the opening degree according to the preset remote control electric signal; the preset remote control electric signal is used to indicate that the opening degree of the multi-way valve gradually decreases according to a preset mode.

3. The load line protection system of claim 2, wherein, The remote controller is provided with a remote transmitter and a remote receiver; the remote transmitter is arranged on the remote controller, and the remote receiver is arranged on the controller; the remote transmitter is provided with a rocker, and a Hall sensor is arranged in the rocker; the Hall sensor is configured to generate the output signal according to the stroke size of the rocker being pushed, and transmit the output signal to the remote receiver; the remote receiver receives the output signal and transmits it to the controller.

4. The load line protection system of claim 3, wherein, The remote transmitter comprises a transmitter panel, and the rocker is arranged on the transmitter panel.

5. The load-lifting protection system of claim 1, wherein, The remote controller is provided with a load protection function button, and the remote controller is further configured to activate the load protection function through the load protection function button.

6. The load lift protection system of claim 1, wherein, The remote controller is provided with a display screen, and the display screen is configured to display a preset icon when the load protection function is activated.

7. The load line protection system of claim 6, wherein, The display screen is further configured to display related information of the boom action.

8. The load lift protection system of claim 1, wherein, The long angle sensor is arranged on the base boom of the crane, and the pressure sensor is arranged in the luffing cylinder of the crane.

9. The load-lifting protection system of claim 1, wherein, The pressure sensor is specifically configured to collect the pressure of the rod cavity and the pressure of the rodless cavity of the luffing cylinder.

10. A crane, characterized in that The crane load protection system comprises any one of claims 1 to 9.

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