Crane and crane control method

Abstract

The invention relates to a crane and a crane control method. The crane comprises a bearing part, a cargo boom, a lifting hook, a winch system, a positioning system and a controller. The cargo boom is mounted on the bearing component in a pitching swinging manner and comprises a boom head positioned at one end, far away from the bearing part, of the cargo boom. The lifting hook is hung on the boom head of the cargo boom. The winch system is mounted on the bearing part and is configured to drive the lifting hook to lift. The positioning system comprises a first positioning part mounted on the lifting hook so as to detect the position of the lifting hook in the three-dimensional coordinate system. The controller is in signal connection with the winch system and the positioning system and is configured to control the winch system to act according to the position change of the first positioning part so as to adjust the lifting hook to a preset position. The problem of low precision caused by structural deformation of a frame, the cargo boom, a superlift and the like when the position of the lifting hook is calculated by utilizing the length and the pitching angle of the cargo boom in the related technology is solved.

Description

technical field

[0001] The invention relates to the field of engineering machinery, in particular to a crane and a control method for the crane. Background technique

[0002] figure 1 A schematic diagram of the structure of a crane is shown, such as figure 1 As shown, the crane includes a vehicle frame 1, a turntable 9 rotatably installed on the vehicle frame 1, a boom 4 mounted on the turntable 9 rotatably pitching and swinging, a hydraulic cylinder 2 for driving the boom 4 to pitch and swing, The reel 7 installed on the turntable 9 , the wire rope 6 wound on the reel 7 at one end and the suspension hook 5 connected to the other end of the wire rope 6 . The reel 7 and the wire rope 6 form a winch system that drives the lifting hook 5 up and down.

[0003] When the jib 4 of the crane performs the telescopic action, it is generally necessary to operate the winch system to move up and down to ensure that the distance between the hook 5 and the ground or the arm head (the en...

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