CN115557390B - Boom lifting control system, tower crane and hydraulic control loop of damping cylinder - Google Patents
Boom lifting control system, tower crane and hydraulic control loop of damping cylinder Download PDFInfo
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- CN115557390B CN115557390B CN202211125196.8A CN202211125196A CN115557390B CN 115557390 B CN115557390 B CN 115557390B CN 202211125196 A CN202211125196 A CN 202211125196A CN 115557390 B CN115557390 B CN 115557390B
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- pressing
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- 238000013016 damping Methods 0.000 title claims abstract description 295
- 239000003921 oil Substances 0.000 claims abstract description 164
- 238000003825 pressing Methods 0.000 claims abstract description 92
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 42
- 238000007599 discharging Methods 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 230000001502 supplementing effect Effects 0.000 claims description 10
- 230000001965 increasing effect Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 5
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000000903 blocking effect Effects 0.000 claims description 2
- 239000000725 suspension Substances 0.000 abstract description 9
- 238000005381 potential energy Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 description 5
- 239000013589 supplement Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 244000208734 Pisonia aculeata Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
- B66C23/821—Bracing equipment for booms
- B66C23/826—Bracing equipment acting at an inclined angle to vertical and horizontal directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the field of lifting equipment, and discloses a boom lifting control system for a tower crane, the tower crane and a hydraulic control loop of a damping oil cylinder, wherein the boom lifting control system comprises a damping oil cylinder (3) connected between a tower body (1) and a lifting arm (2), the damping oil cylinder (3) is connected with a pressing damping oil path for discharging hydraulic oil in a rodless cavity, the pressing damping oil path has a first pressing damping, and when the lifting arm (2) lifts to a first preset lifting position relative to the tower body (1), the pressing damping oil path is switched to have a second pressing damping which is larger than the first pressing damping. The lifting control system for the suspension arm can effectively support the suspension arm by utilizing the damping oil cylinder when the suspension arm lifts to the limit lifting position so as to prevent the free resetting of the suspension arm, so that the kinetic energy of the suspension arm is converted into gravitational potential energy and is kept, the impact on a tower body caused by the resetting of the suspension arm is avoided, and the overturning accident is effectively prevented.
Description
Technical Field
The invention relates to hoisting equipment, in particular to a boom lifting control system for a tower crane. On the basis, the invention also relates to a tower crane with the suspension arm lifting control system. In addition, the invention also relates to a hydraulic control loop of the damping cylinder.
Background
Tower cranes (also referred to as "tower cranes") have high-rise tower bodies and are widely used in building construction, bridges, wind power, ports and wharfs, nuclear power plants and other construction constructions. Typically, the boom of a tower crane is fixed to the top end of the tower and is rotatable about the centerline of the tower by a slewing bearing at the top end of the tower to hoist weights to different positions.
Along with the development trend of large-scale, modularized and intensive construction projects, the ultra-large development requirement is also provided for the tower crane. The super-large tower crane has the characteristics of high operation height, large lifting weight, long operation range and the like, and compared with the common tower crane, the super-large tower crane has high manufacturing cost and large volume, so that the property loss and secondary damage caused by the overturning accident can be obviously increased. In particular, when the boom suddenly unloads due to breakage of a wire rope in the hoisting system, the lifting moment of the boom suddenly decreases, which may cause the boom to lift up with respect to the tower, or by setting the connection relationship of the tower and the boom to allow the boom to lift up with respect to the tower, it is possible to reduce or avoid a moment impact on the tower at the moment of sudden unloading from occurring.
However, lifting and lowering of the boom only allows the boom to achieve a mutual conversion between kinetic and gravitational potential energy, which energy always needs to be transferred to the tower or consumed during lifting. Therefore, in the case of sudden unloading of the boom, it is necessary to effectively control the lifting and resetting of the boom, so as to slow down the impact on the tower body and thus prevent the overturning accident of the tower crane.
Disclosure of Invention
The invention aims to solve the problems of tower moment impact and overturning risk caused by sudden unloading of a tower crane boom in the prior art, and provides a boom lifting control system for a tower crane, which can effectively control the movements of a boom in the process of lifting and resetting the tower crane boom relatively to the tower due to sudden unloading, so as to avoid the impact on the tower body caused by free movements of the boom and prevent overturning accidents.
In order to achieve the above object, the present invention provides, in one aspect, a boom raising control system for a tower crane, characterized by comprising a damping cylinder connected between a tower body and a boom, the damping cylinder being connected with a pressing damping oil passage for hydraulic oil discharge in a rodless chamber, the pressing damping oil passage having a first pressing damping, wherein when the boom is raised to a first predetermined raised position with respect to the tower body, the pressing damping oil passage is switched to have a second pressing damping larger than the first pressing damping.
Preferably, the damping cylinder is connected with a pull-to damping oil path for discharging hydraulic oil in the rod cavity, the pull-to damping oil path has a first pull-to damping, and the pull-to damping oil path is kept to have the first pull-to damping in the process that the boom is lifted from an initial working position relative to the tower body.
Preferably, during the return of the boom from the limit raising position to the initial operating position, the pull-to-damp oil passage is switched and maintained to have the second pull-to-damp greater than the first pull-to-damp, and the pressing damping generated by the pressing-to-damp oil passage decreases from the second pressing damping.
Preferably, the pull-to-damping oil passage includes a pull-to-damping control oil passage connected between the rod chamber and the rodless chamber, wherein the pull-to-damping control oil passage is provided to allow only hydraulic oil to flow from the rod chamber to the rodless chamber and is provided with a first cartridge valve or a second reverse-proportion relief valve controlled by a first reverse-proportion relief valve,
the first or second reverse relief valve having a first energizing current to maintain the first pull-in damping when the boom is in or raised from the initial operating position;
when the boom is raised relative to the body of the tower to the limit raised position and/or during a reset from the limit raised position to the initial operating position, the first or second reverse relief valve has a second energizing current that is less than the first energizing current to maintain the second pull-out damping.
Preferably, the boom raising control system further comprises an accumulator group which is communicated with the rodless cavity in one way through a first oil supplementing oil circuit and is communicated with the rod cavity in one way through a second oil supplementing oil circuit, the pull-to damping oil circuit comprises an oil filling oil circuit which allows hydraulic oil in the rod cavity to be filled into the accumulator group, a fourth inverse proportion overflow valve is arranged on the oil filling oil circuit,
the fourth reverse proportion overflow valve has a third electrification current to maintain the first pull-in damping when the boom is in or lifted from the initial operating position;
the fourth reverse ratio relief valve has a fourth electrical current less than the third electrical current to maintain the second pull-up damping when the boom is raised relative to the body of the tower to the limit raised position and/or during a reset from the limit raised position to the initial operating position.
Preferably, the accumulator set includes a first accumulator and a second accumulator having a capacity, a charging pressure, and a working pressure greater than the first accumulator, the second accumulator being in communication with the rodless chamber during lifting of the boom to the first predetermined lifting position, continuing lifting from the first predetermined lifting position to the limit lifting position, and resetting from the limit lifting position to the first predetermined lifting position; under other working conditions, the first energy accumulator is communicated to the rodless cavity.
Preferably, the pressing damping oil passage includes a pressing damping control oil passage connected between the accumulator group and the rodless chamber, wherein the pressing damping control oil passage is provided to allow only hydraulic oil to flow from the rodless chamber to the accumulator group and is provided with a second cartridge valve or a third proportional relief valve controlled by a relief valve,
when the boom is in the initial operating position, the energizing current of the third proportional relief valve is set such that the compression damping is maintained at the first compression damping; when the boom is lifted to the first preset lifting position relative to the tower body, the energizing current of the third inverse proportion overflow valve is reduced so as to be switched to have the second pressing damping;
the third proportional relief valve is energized with an increasing current during at least a portion of the return of the boom from the limit up position to the initial operating position such that the compression damping decreases from the second compression damping.
Preferably, the boom raising control system further includes a dump counterweight locked to the counterweight arm by a dump locking mechanism, and when the boom is raised to a second predetermined raised position relative to the tower body, the dump locking mechanism releases the lock of at least a portion of the dump counterweight to enable the dump counterweight to fall off the counterweight arm.
Preferably, the boom raising control system further comprises a latch coupled to the tower for preventing the lift of the boom, the latch being actuated to disengage from the preventing position to allow the lift of the boom when the lift moment of the boom is not less than a predetermined value.
Preferably, the boom raising control system comprises a hydraulic pump and a proportional relief valve for controlling the outlet pressure of the hydraulic pump, wherein during the return of the boom from the limit raising position to the initial working position, the oil outlet of the hydraulic pump is communicated to the rod cavity of the damping cylinder, and the energizing current of the proportional relief valve is reduced, so that the outlet pressure of the hydraulic pump is reduced.
Preferably, the boom up control system comprises a sensor for monitoring the extension length of the damping cylinder or the boom up angle.
A second aspect of the invention provides a tower crane provided with a boom-up control system as described above.
A third aspect of the present invention provides a hydraulic control circuit of a damping cylinder, including a pressing damping oil passage connected to discharge hydraulic oil in a rodless chamber of the damping cylinder, the pressing damping oil passage having a first pressing damping, the pressing damping oil passage being switched to have a second pressing damping that is larger than the first pressing damping when the damping cylinder is elongated to a predetermined length.
Through the technical scheme, the boom lifting control system can increase the pressing damping generated by the pressing damping oil way when the boom lifts to the first preset lifting position relative to the tower body, so that the boom can be effectively supported when the boom lifts to the limit lifting position to prevent free resetting of the boom, kinetic energy of the boom is converted into gravitational potential energy and is kept, impact on the tower body caused by resetting of the boom is avoided, and overturning accidents are effectively prevented.
Drawings
FIG. 1 is a schematic illustration of a load lifted by a tower crane as it is released from a boom;
FIG. 2 is a schematic illustration of the tower crane of FIG. 1 with the boom raised to a first predetermined raised position;
fig. 3 is a hydraulic schematic of a boom up control system according to a preferred embodiment of the invention.
Description of the reference numerals
1-a tower body; 2-a boom; 3-damping cylinder; 4-balancing arms; 5-self-discharging balancing weight; 6-loading; 7-a first inverse proportion overflow valve; 8-a first cartridge valve; 9-a second inverse proportion overflow valve; 10-overflow valve; 11-a second cartridge valve; 12-third proportional relief valve; 13-fourth inverse proportion overflow valve; 14-a first accumulator; 15-a second accumulator; 16-a first reversing cartridge valve; 17-a second reversing cartridge valve; 18-a hydraulic pump; 19-a proportional overflow valve;
l1-pulling to a damping control oil way; l2-pressing to a damping control oil path; l3-a first oil supplementing oil way; l4-a second oil supplementing oil way; l5-oil-filled oil way.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Referring to fig. 1 and 2, the tower has a tower body 1 and a boom mounted to the top end of the tower body 1, which may have a boom 2 and a counter-boom 4 extending to both sides of the tower body 1, respectively, wherein the boom may be provided with a hoisting mechanism, which may include a luffing trolley connected to the boom 2 and a hanging assembly for connection to a load 6 to be hoisted by a hook or the like; the balance arm 4 may be provided with a counterweight (such as the illustrated dump counterweight 5). The boom may be connected to the top end of the tower 1 by a pivot axis, whereby the boom may be turned around the pivot axis relative to the tower 1 to cause the boom 2 to lift up in case of sudden unloading of the boom 2, such as failure of the connection between the suspension assembly and the load 6, broken wire rope, etc.
The boom raising control system provided by the invention comprises a damping oil cylinder 3 connected between a tower body 1 and a boom 2, wherein the damping oil cylinder 3 is connected with a pressing damping oil path for discharging hydraulic oil in a rodless cavity, such as an oil path which is unidirectionally communicated to a rod cavity and/or an energy accumulator and the like, and the pressing damping oil path has a first pressing damping. Thus, during retraction of (the piston rod of) the damping cylinder 3, the hydraulic oil discharge in the rodless chamber needs to withstand this first pressing damping. Therefore, the "pressing damping oil path" in the present invention refers to an oil path through which hydraulic oil in the rodless chamber of the damping cylinder 3 flows when being discharged, and the "pressing damping" refers to damping that is received when the piston rod of the damping cylinder 3 is retracted; similarly, the "pull-to-damp oil path" in the present invention refers to an oil path through which hydraulic oil in the rod cavity of the damping cylinder 3 flows when being discharged, and the "pull-to-damp" refers to damping that is received when the piston rod of the damping cylinder 3 is extended.
In order to reduce or avoid the impact on the tower body 1 caused by the return of the boom 2 to its initial operating position after the boom 2 is lifted up to the limit lifting position, the boom lifting control system of the present invention switches the pressing damping oil path to have a second pressing damping when the boom 2 is lifted up to the first predetermined lifting position relative to the tower body 1, which is greater than the first pressing damping in the normal operating condition described above, i.e. increases the damping of the hydraulic oil discharge from the rodless chamber. The boom up control system thus does not need to switch the pressing damping of the damping cylinder 3 at the moment when the boom 2 is suddenly unloaded, but can switch after the damping cylinder 3 has been extended a certain length. And, when the boom 2 is lifted to any lifting angle beyond the first predetermined lifting position and the lifting is stopped (i.e., any limit lifting angle), the damping cylinder 3 may be pressed against the damping support boom 2 with a relatively large second pressure to prevent the return to the initial working position. Therefore, after the boom 2 is suddenly unloaded, the kinetic energy of the boom is completely converted into gravitational potential energy by lifting the boom 2 from an initial working position to a limit lifting position, and at the moment, the damping cylinder 3 prevents the boom 2 from falling back, so that the conversion of the gravitational potential energy of the boom into the kinetic energy is reduced or avoided, the impact on the tower body 1 is reduced or avoided, and the occurrence of overturning accidents is prevented.
Further, the damping cylinder 3 may be further connected with a pull-to-damping oil path for hydraulic oil discharge in the rod chamber, the pull-to-damping oil path having a first pull-to-damping. During the lifting process of the boom 2 relative to the tower body 1, the lifting damping generated by the lifting damping oil path enables the lifting power of the boom 2 to be transmitted to the tower body 1, which may cause the tower body 1 to deform or even topple. For this reason, the pull-up damping generated by the pull-up damping oil passage can be kept small during the lifting of the boom 2. Since the moment at which the sudden unloading of the boom 2, such as a broken wire, occurs is uncertain, it is possible to have a small first pull-in damping when the boom 2 is in the initial operating position and to maintain this first pull-in damping or further reduce it during the lifting of the boom 2.
Further, after being raised to the limit raised position, the boom 2 is required to be lowered back to the initial working position for maintenance and subsequent lifting tasks. During this fall back, it is also necessary to control the pull-back damping and the press-back damping of the damping cylinder 3 to avoid an unexpected lifting up or falling back too fast of the boom 2. For this purpose, during the return of the boom 2 from the limit raising position to the initial operating position, the pull-to-damping oil passage can be switched and maintained with the aforementioned second pull-to-damping greater than the first pull-to-damping, while the pressing damping generated by the pressing to-damping oil passage is decreased from the second pressing damping, so that the boom 2 is controlled to fall back to the top end of the tower 1 at a lower speed.
The different pulling damping and pressing damping can be realized by arranging various proper pulling damping oil ways and pressing damping oil ways, and for this purpose, corresponding hydraulic valves can be arranged on a hydraulic control loop of the damping oil cylinder so as to control the damping to have different sizes according to the needs in the telescopic process. Fig. 3 shows a hydraulic schematic of a boom up control system according to a preferred embodiment of the invention, comprising a hydraulic control circuit of the damping cylinder 3. It will be appreciated that the hydraulic control circuit may be adapted to other situations where the same demands as boom up control are met, i.e. maintaining a small pull-in damping when the damping cylinder 3 is extended, while by increasing the compression damping in a predetermined extended position to prevent retraction thereof when the limit extended position is reached, and maintaining a large pull-in damping, compression damping gradually decreasing when and during the limit extended position is reached. Thus, the present invention also provides a hydraulic control circuit of a damping cylinder including a pressing damping oil passage connected to discharge hydraulic oil in a rodless chamber of the damping cylinder 3, the pressing damping oil passage having a first pressing damping, the pressing damping oil passage being switched to have a second pressing damping larger than the first pressing damping when the damping cylinder 3 is elongated to a predetermined length. Further, the hydraulic control circuit may further include a pull-to-damp oil passage for discharging hydraulic oil in the rod chamber of the damping cylinder 3, the pull-to-damp oil passage having a first pull-to-damp, and the pull-to-damp oil passage being maintained to have the first pull-to-damp during the period in which the damping cylinder 3 is driven to extend; during the damping cylinder 3 being driven to retract, the pull-up damping oil passage is switched to have a second pull-up damping that is larger than the first pull-up damping.
The composition, construction and principle of the boom up control system and the hydraulic control circuit of the damping cylinder according to the preferred embodiment of the present invention are exemplarily described below with reference to fig. 3. It should be understood that the different oil passages in the illustrated preferred embodiment may have a common oil passage portion, for example, a pull-to-damping control oil passage L1 and a second oil supply oil passage L4 described later share a part of the oil passage at a portion connected to the rod chamber of the damping cylinder 3 for discharging hydraulic oil in the rod chamber or supplementing hydraulic oil thereto under different conditions.
In the preferred embodiment, the pull-to damping oil passage includes a pull-to damping control oil passage L1 (two) connected between the rod chamber and the rodless chamber of the damping cylinder 3. The pull-to-damping control oil path L1 is provided with a first cartridge valve 8 controlled by a first inverse proportion relief valve 7, and the first cartridge valve 8 is configured to allow hydraulic oil in the rod chamber to flow to the rodless chamber only through the pull-to-damping control oil path L1. The first reverse ratio relief valve 7 has a relatively large first energizing current during the lift arm 2 is in or lifted from the initial operating position, or the damping cylinder 3 is used during normal operation or elongation in other scenarios, to keep the first cartridge valve 8 producing a relatively small first pull-in damping. By providing the first cartridge valve 8, a larger flow of hydraulic oil can be allowed to flow from the rod chamber to the rodless chamber during lifting of the boom 2, facilitating stable maintenance of a smaller first pull-in damping.
The illustrated preferred embodiment is further provided with another pull-to-damping control oil passage L1, and the pull-to-damping control oil passage L1 may be provided with a check valve with a forward oil inlet toward the rod chamber side, so as to allow only hydraulic oil in the rod chamber to flow to the rodless chamber through the pull-to-damping control oil passage L1, whereby hydraulic oil discharged from the rod chamber can be supplemented to the rodless chamber during extension of the damping cylinder 3. The pull-up damping control oil path L1 is also provided with a second inverse proportion overflow valve 9. Similar to the first reverse proportional relief valve 7 described above, the second reverse proportional relief valve 9 may have a relatively large first energizing current during the lift arm 2 is in or lifted from the initial operating position, or during normal operation or elongation when the damping cylinder 3 is used in other scenarios, such that the damping cylinder 3 has a first pull-in damping.
Conversely, when the boom 2 is raised relative to the body 1 to a limit raised position and/or during a return from the limit raised position to the initial operating position, or the damping cylinder 3 is used in a retraction process in other situations, the first or second inverse proportional relief valve 7, 9 may be caused to have a second energizing current that is less than the aforementioned first energizing current, so that the damping cylinder 3 remains with a relatively large second pull-in damping.
Thus, by controlling the energizing currents of the first and second inverse proportional relief valves 7 and 9, the pull-to-damp oil passage can be made to have a first pull-to-damp or a relatively large second pull-to-damp, so as to allow the boom 2 to bear relatively small resistance during the lifting process and to avoid lifting or shaking caused by unexpected factors during the falling-back process.
The control of the compression damping can be achieved in the same control manner as the pull damping described above. Specifically, the pressing damping oil passage may include pressing damping control oil passages L2 (two) connected between the rodless chamber of the damping cylinder 3 and the accumulator group. The (one of) the pressing-to-damping control oil passages L2 is provided with a second cartridge valve 11 controlled by the relief valve 10, and the second cartridge valve 11 is provided to allow only the hydraulic oil in the rodless chamber to flow to the accumulator group through the pressing-to-damping control oil passage L2. The relief valve 10 is set to a high pressure state to avoid a reverse pressure shock generated when the boom is lifted up to the limit lifting position by utilizing the characteristic that the second cartridge valve 11 has a large through-flow capacity. By providing the second cartridge valve 11, a larger flow of hydraulic oil can be allowed to flow from the rodless chamber to the rod-like chamber during the return of the boom 2.
The illustrated preferred embodiment is further provided with another pressing-damping control oil passage L2, and the pressing-damping control oil passage L2 may be provided (e.g., by a check valve) to allow only the hydraulic oil in the rodless chamber to flow to the rod-like chamber through the pressing-damping control oil passage L2, whereby the hydraulic oil discharged from the rodless chamber can be replenished into the rod-like chamber during retraction of the damping cylinder 3. The fourth inverse proportion relief valve 12 is provided in the pressure damping control oil passage L2. The third proportional relief valve 12 may be controlled to reduce the current when the boom 2 is lifted up to a first predetermined lift position with respect to the tower 1 or when the damping cylinder 3 is extended to a predetermined length in other scenarios, so that the damping cylinder 3 is switched from a first pressing damping to a larger second pressing damping.
Conversely, during at least part of the return of the boom 2 from the extreme raised position to the initial working position, or during at least part of the retraction of the damping cylinder 3 in other situations, the energizing current of the third proportional relief valve 12 may be increased such that the compression damping of the damping cylinder 3 is decreased from the second compression damping, such that the damping cylinder 3 is controllably retracted under boom or other external forces.
Thus, by controlling the energizing current of the third proportional relief valve 12, the pressing damping oil passage can be made to have the first pressing damping or the relatively large second pressing damping, or be decreased from the second pressing damping, to allow the boom 2 to be supported by the damping cylinder 3 when the lift-up process is to the limit lift-up position, and to control the movement speed of the boom 2 during the fall-back process.
When the boom 2 is in the initial working position, the energizing current of the third inverse proportion overflow valve 12 is set so that the pressing damping is kept to be the first pressing damping, therefore, the damping cylinder 3 cannot apply large acting force to the boom and the tower body, the boom is kept in contact with the tower body under the action of forward tilting bending moment, and risks caused by slow lifting and accumulation of the boom during normal working are avoided. By providing a second cartridge valve 11 controlled by the overflow valve 10, and the overflow valve 10 is set to a high pressure, the oil circuit in which it is located only acts when it is lifted up to the limit, which has the advantage of a large through-flow capacity compared to the third proportional overflow valve 12, which is advantageous in avoiding pressure shocks when the boom is reversed. In normal operation, the oil cylinder has small speed and small hydraulic oil flow, and the pressing damping is controlled by the third proportional relief valve 12.
As described above, the pull-to damping oil path and the press-to damping oil path may further include an oil path through which the damping cylinder 3 is connected to the accumulator, wherein the accumulator may supplement hydraulic oil into the rodless chamber or the rod-containing chamber of the damping cylinder 3 or collect excess hydraulic oil discharged from the rodless chamber or the rod-containing chamber during the lifting or falling-back of the boom 2. Specifically, as shown in fig. 3, the hydraulic control circuit of the boom-up control system or the damping cylinder includes an accumulator group (e.g., a first accumulator 14 and a second accumulator 15) that is unidirectionally communicated to the rodless chamber of the damping cylinder 3 through a first oil-compensating oil passage L3 and unidirectionally communicated to the rod-containing chamber of the damping cylinder 3 through a second oil-compensating oil passage L4.
An oil-filled oil path L5 is connected between the rod cavity of the damping cylinder 3 and the accumulator group, hydraulic oil discharged from the rod cavity can be filled into the accumulator group through the oil-filled oil path L5, the oil-filled oil path L5 forms a part of the pull-to damping oil path, and a fourth inverse proportion overflow valve 13 can be arranged on the oil-filled oil path. Thus, it is possible to have different pull-in damping by controlling the energizing current of the fourth inverse proportion relief valve 13. In particular, the fourth inverse proportion overflow valve 13 has a relatively large third electrical current when the boom 2 is in or lifted from the initial operating position, thereby remaining with a small first pull-in damping; conversely, the fourth reverse ratio relief valve 13 has a fourth electrical current that is less than the aforementioned third electrical current to maintain a greater second pull-up damping when the boom 2 is raised relative to the body 1 to a limit up position and/or during a reset from the limit up position to the initial operating position.
It will be appreciated that in the illustrated preferred embodiment, the rodless chamber pressing against the damping control oil passage L2 also acts as an oil-filled oil passage for filling the accumulator group with oil for the damping cylinder 3. Part of the hydraulic oil discharged from the rodless chamber of the damping cylinder 3 can flow to the rod-like chamber through the pressing damping control oil passage L2, and the surplus hydraulic oil is charged into the accumulator group through the oil passage that is connected by-to the accumulator group.
In the lifting or resetting process of the crane boom 2, the damping cylinder 3 has different volume differences of rod cavities in different telescopic strokes, and the action speed of the damping cylinder 3 is faster when suddenly unloaded, so that the required oil supplementing flow is large. For this purpose, the accumulator group may be provided to include a first accumulator 14 and a second accumulator 15, the capacity, charging pressure and operating pressure of the second accumulator 15 being greater than the capacity, charging pressure and operating pressure of the first accumulator 14. Thus, when the lift angle of the boom 2 exceeds the first predetermined lift position, i.e., during the lift of the boom 2 to the first predetermined lift position, the continued lift from the first predetermined lift position to the limit lift position, and the reset from the limit lift position to the first predetermined lift position, the second accumulator 15 is communicated to the rodless chamber; while under other conditions the first accumulator 14 is connected to the rodless chamber.
This can be achieved by providing hydraulic valves such as the first reversing cartridge valve 16 and the second reversing cartridge valve 17 in the oil passage portions of the first accumulator 14 and the second accumulator 15 that are connected to the first oil supply line L3, the second oil supply line L4, and the oil charge line L5. The first reversing valve 16 and the second reversing valve 17 may also be configured to be electromagnetic control, so that the second accumulator 15 with a larger capacity may be connected to the damping cylinder 3 when the lifting angle of the boom 2 exceeds the first predetermined lifting position by controlling the power-off state thereof, and the first accumulator 14 with a smaller capacity may be connected to the damping cylinder 3 under other conditions. By arranging different energy accumulators, the hydraulic oil can supplement sufficient oil to the rodless cavity of the damping oil cylinder without sucking air in the quick lifting process of the crane boom, and in a normal working state, the first energy accumulator 14 supplements leakage of the damping oil cylinder to maintain low pressure in the damping oil cylinder so as to avoid hydraulic thrust acting on the crane boom and the tower body caused by pressure difference between two cavities of the damping oil cylinder. Therefore, the operating pressure of the first accumulator 14 should be set small.
In the hydraulic control circuit of the boom raising control system or the damping cylinder according to a preferred embodiment of the present invention, there may be further provided a hydraulic pump 18 and a proportional relief valve 19 for controlling the outlet pressure of the hydraulic pump 18. Specifically, during the return of the boom 2 from the limit raising position to the initial working position, the oil outlet of the hydraulic pump 18 is controlled to be communicated to the rod cavity of the damping cylinder 3, and the energizing current of the proportional relief valve 19 is reduced, so that the outlet pressure of the hydraulic pump 18 is reduced, and the acceleration falling back of the boom caused by the increase of the pressure in the rod cavity is avoided.
In the boom raising control system, it is necessary to determine whether to increase the pressing damping of the damping cylinder 3 and select the first accumulator 14 or the second accumulator 15 for oil replenishment, etc. according to the raising position of the boom 2, and thus a corresponding sensor needs to be provided for monitoring. For example, an angle sensor for monitoring the lift angle of the boom 2 may be provided, or the lift angle of the boom may be monitored by a sensor such as a wire encoder for monitoring the extension length of the damping cylinder 3. Therefore, when the boom 2 is suddenly unloaded, the energization state of the hydraulic valve in the hydraulic control circuit is not required to be changed at the unloading moment, but the pressing damping of the damping cylinder 3 is controlled according to the lifting angle signal of the boom 2 monitored by the sensor, and the like, so that the requirement on the sensitivity of the sensor is reduced on the basis of meeting the safety control requirement.
Referring again to fig. 1 and 2, a dump weight 5 may be mounted on the counterweight arm 4, and the dump weight 5 may be locked in an installation position by a dump lock mechanism and may be driven to release the dump weight 5 from the installation position to disengage from the counterweight arm 4 to inhibit lifting movement of the boom 2. To this end, the boom-up control system of the present invention may be configured to control the dump locking mechanism to unlock at least a portion of the dump counterweight 5 when the boom 2 is raised to the second predetermined raised position with respect to the tower 1 such that the unlocked dump counterweight 5 is disengaged from the balance arm 4.
Generally, the tower crane can achieve the aim of improving the anti-overturning performance of the tower crane by enhancing the overall and local structural strength of the tower body or adjusting mass distribution and the like. Therefore, although the boom-up control system of the present invention can prevent the occurrence of a capsizing accident by controlling the pressing damping of the damping cylinder 3, etc., it may be redundant for light loads and may affect the progress of construction. Thus, depending on the lifting moment generated by the lifted load 6, it is possible to selectively control whether the lifting of the boom 2 is allowed in the event of sudden unloading. For this purpose, a latch for preventing the lifting of the boom 2 may be connected to the tower body 1, and when the lifting moment of the boom 2 is smaller than a predetermined value (e.g. 25000 tons), the mechanical structure of the tower crane is used to bear the impact caused by sudden unloading; when the lifting moment reaches or exceeds the predetermined value, the latch is driven to escape from the blocking position to allow the lifting of the boom 2, thereby achieving the anti-roll purpose by controlling the pressing damping and pulling damping of the damping cylinder 3.
The invention also provides a tower crane provided with the suspension arm lifting control system, which can be designed to be capable of lifting loads with large weight and has good anti-overturning performance. In addition, as described above, the present invention also provides a hydraulic control circuit of a damping cylinder which is controlled to have different pressing dampers according to a telescopic state of the damping cylinder, that is, in an initial state, a pressing damping oil path for discharging hydraulic oil in a rodless chamber of the damping cylinder has a first pressing damper, and when the damping cylinder is extended to a predetermined length, the pressing damping oil path is switched to have a second pressing damper, which is greater than the first pressing damper, so that an adverse retraction of the damping cylinder under an external force can be avoided. The preferred embodiment of the hydraulic control circuit and its advantages have been described in detail above and will not be repeated here.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including combinations of individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.
Claims (12)
1. Boom lifting control system for a tower crane, characterized by comprising a tower body (1), a boom and a damping cylinder (3) connected between the tower body (1) and a boom (2) of the boom, the boom being connected to the top end of the tower body (1) by a pivot shaft to allow the boom to rotate about the pivot shaft relative to the tower body (1) such that the boom (2) lifts, the damping cylinder (3) being connected with a pressing damping oil path for hydraulic oil discharge in a rodless cavity and a pulling damping oil path for hydraulic oil discharge in a rod cavity, the pressing damping oil path having a first pressing damping, the pulling damping oil path having a first pulling damping, wherein,
when the boom (2) is lifted to a first preset lifting position relative to the tower body (1), the pressing damping oil path is switched to have a second pressing damping which is larger than the first pressing damping, so that the boom (2) is supported by the damping oil cylinder (3) to prevent the boom (2) from resetting to an initial working position,
during the lifting of the lifting arm (2) from the initial working position relative to the tower body (1), the pull-to-damp oil path is kept to have the first pull-to-damp; during the return of the boom (2) from the limit raising position to the initial operating position, the pull-to-damp oil passage is switched and maintained with a second pull-to-damp greater than the first pull-to-damp,
the boom lifting control system further comprises a self-discharging counterweight (5) locked on the balance arm (4) by a self-discharging locking mechanism, and when the boom (2) lifts up to a second preset lifting position relative to the tower body (1), the self-discharging locking mechanism releases the locking of at least part of the self-discharging counterweight (5) so that the self-discharging counterweight (5) falls off from the balance arm (4).
2. Boom raising control system for a tower crane according to claim 1, wherein the compression damping generated by said compression damping oil circuit decreases from said second compression damping during a return of said boom (2) from said extreme raising position to said initial operating position.
3. Boom up control system for a tower crane according to claim 1, characterized in that the pull-up damping oil circuit comprises a pull-up damping control oil circuit (L1) connected between the rod and rodless chambers, wherein the pull-up damping control oil circuit (L1) is arranged to allow hydraulic oil only to flow from the rod chamber to the rodless chamber and is provided with a first cartridge valve (8) or a second inverse proportional relief valve (9) controlled by a first inverse proportional relief valve (7),
the first or second reverse proportional relief valve (7, 9) has a first energizing current to maintain the first pull-in damping when the boom (2) is in or lifted from the initial operating position;
when the boom (2) is lifted relative to the tower (1) to the limit lifting position and/or during the resetting from the limit lifting position to the initial working position, the first inverse proportion overflow valve (7) or the second inverse proportion overflow valve (9) has a second energizing current which is smaller than the first energizing current so as to keep the second pulling damping.
4. Boom up-lifting control system for a tower crane according to claim 1, characterized in that it further comprises an accumulator group connected to said rodless chamber in one way by a first oil supplementing circuit (L3) and to said rod chamber in one way by a second oil supplementing circuit (L4), said pull-up damping circuit comprising an oil supplementing circuit (L5) allowing hydraulic oil in said rod chamber to charge said accumulator group, a fourth inverse proportional relief valve (13) being provided on said oil supplementing circuit (L5),
the fourth inverse proportion overflow valve (13) has a third electrical current to maintain the first pull-in damping when the boom (2) is in or lifted from the initial operating position;
the fourth reverse-proportional overflow valve (13) has a fourth electrical current, which is smaller than the third electrical current, to maintain the second pull-up damping when the boom (2) is lifted relative to the tower (1) to the limit lifting position and/or during a reset from the limit lifting position to the initial operating position.
5. Boom raising control system for a tower crane according to claim 4, characterised in that the accumulator battery comprises a first accumulator (14) and a second accumulator (15) of a capacity, charging pressure and working pressure greater than the first accumulator (14),
the second energy accumulator (15) is communicated with the rodless cavity in the process of lifting the lifting arm (2) to the first preset lifting position, continuing lifting from the first preset lifting position to the limit lifting position and resetting from the limit lifting position to the first preset lifting position; under other conditions, the first accumulator (14) is connected to the rodless cavity.
6. Boom raising control system for a tower crane according to claim 4, characterised in that the pressure damping oil circuit comprises a pressure damping control oil circuit (L2) connected between the accumulator package and the rodless chamber, wherein the pressure damping control oil circuit (L2) is arranged to allow hydraulic oil only to flow from the rodless chamber to the accumulator package and is provided with a second cartridge valve (11) or a third proportional relief valve (12) controlled by a relief valve (10),
when the boom (2) is in the initial operating position, the energizing current of the third proportional relief valve (12) is set such that the pressing damping is maintained as the first pressing damping; when the boom (2) is lifted to the first preset lifting position relative to the tower body (1), the energizing current of the third inverse proportional overflow valve (12) is reduced so as to be switched to have the second pressing damping;
the third proportional relief valve (12) is energized with an increasing current during at least part of the return of the boom (2) from the limit up position to the initial operating position, such that the compression damping decreases from the second compression damping.
7. Boom lifting control system for a tower crane according to claim 1, further comprising a latch connected to the tower (1) for preventing lifting of the boom (2), which latch is driven out of a blocking position for allowing lifting of the boom (2) when the lifting moment of the boom (2) is not less than a predetermined value.
8. Boom up control system for a tower crane according to claim 1, characterized in that the boom up control system comprises a hydraulic pump (18) and a proportional overflow valve (19) for controlling the outlet pressure of the hydraulic pump (18),
in the process of resetting the lifting arm (2) from the limit lifting position to the initial working position, an oil outlet of the hydraulic pump (18) is communicated to a rod cavity of the damping oil cylinder (3), and the energizing current of the proportional overflow valve (19) is reduced, so that the outlet pressure of the hydraulic pump (18) is reduced.
9. Boom lifting control system for a tower crane according to claim 1, characterized in that it comprises a sensor for monitoring the extension length of the damping cylinder (3) or the lifting angle of the boom (2).
10. A tower crane, characterized in that it is provided with a boom-up control system according to any one of claims 1-9.
11. Hydraulic control circuit for a damping cylinder for use in a boom raising control system according to any one of claims 1-9, characterized by comprising a pressing damping oil circuit connected for discharging hydraulic oil in a rodless chamber of the damping cylinder (3) and a pulling damping oil circuit for discharging hydraulic oil in a rod-like chamber of the damping cylinder (3), the pressing damping oil circuit having a first pressing damping, the pulling damping oil circuit having a first pulling damping, the pressing damping oil circuit being switched to have a second pressing damping that is larger than the first pressing damping when the damping cylinder (3) is extended to a predetermined length, and the pulling damping oil circuit being kept to have the first pulling damping during the damping cylinder (3) is driven to extend; during the damping cylinder (3) being driven to retract, the pull-to damping oil passage is switched to have a second pull-to damping that is greater than the first pull-to damping.
12. The hydraulic control circuit of claim 11, wherein the hydraulic control circuit further comprises a hydraulic control circuit,
the pull-to damping oil path comprises a pull-to damping control oil path (L1) connected between the rod cavity and the rodless cavity, the pull-to damping control oil path (L1) is configured to only allow hydraulic oil to flow from the rod cavity to the rodless cavity and is provided with a first cartridge valve (8) or a second inverse proportion overflow valve (9) controlled by a first inverse proportion overflow valve (7), wherein the first inverse proportion overflow valve (7) or the second inverse proportion overflow valve (9) is electrified to maintain the first pull-to damping during the damping cylinder (3) is driven to extend; during the damping cylinder (3) being driven to retract, the first (7) or second (9) reverse proportional relief valve is de-energized to maintain the second pull-in damping, and/or,
the pressing damping oil path includes a pressing damping control oil path (L2) connected between the rod-shaped chamber, the accumulator group, and the rodless chamber, the pressing damping control oil path (L2) being configured to allow only hydraulic oil to flow from the rodless chamber to the rod-shaped chamber and being provided with a second cartridge valve (11) or a third inverse proportional relief valve (12) controlled by a relief valve (10), wherein when the damping cylinder (3) is extended to a predetermined length, an energizing current of the third inverse proportional relief valve (12) is reduced to switch to have the second pressing damping; in at least part of the stroke in which the damping cylinder (3) is driven to retract, the energizing current of the third proportional relief valve (12) is increased so that the pressing damping is decreased from the second pressing damping.
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| CN202211125196.8A CN115557390B (en) | 2022-09-15 | 2022-09-15 | Boom lifting control system, tower crane and hydraulic control loop of damping cylinder |
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| CN202211125196.8A CN115557390B (en) | 2022-09-15 | 2022-09-15 | Boom lifting control system, tower crane and hydraulic control loop of damping cylinder |
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