Super lifting device, crane and control method of crane

Abstract

The application relates to the technical field of engineering machinery, and discloses a super-lifting device, a crane and a control method of the crane. The super-lifting device comprises a lifting arm, a super-lifting mast, a first connecting piece, a second connecting piece, a limiting mechanism and a pre-tightening device. When the lifting arm is elongated, the arm head of the lifting arm pulls the super-lifting mast to rotate around a hinge point through the first connecting piece, so that the lifting amplitude of the super-lifting mast is realized, the traditional lifting amplitude cylinder is omitted, the structure is simple, the overall weight is reduced, the problem that the lifting arm center of gravity of the super-lifting device is high when the traditional lifting amplitude cylinder is arranged is solved, and the load lifting stability is improved. When the lifting amplitude of the super-lifting mast reaches a preset lifting amplitude angle, the limiting mechanism fixes the super-lifting mast at the preset lifting amplitude angle, the arrangement of the hydraulic cylinder is reduced, the layout is simplified, the weight is reduced, the cost is saved, the reliability is high, and the stability is good. The second connecting piece is pulled through the pre-tightening device, the pre-tightening of the second connecting piece is realized, the stability of the structure is improved, and the load lifting performance of the lifting arm is ensured.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to a super-lift device, a crane, and a crane control method. Background Technology

[0002] Cranes, as commonly used engineering machinery, are widely used for lifting goods. Large-tonnage cranes are typically equipped with superlift devices to improve their lifting performance. These devices are usually located on an angled superlift mast of the boom, and a tensioning device connects the top of the superlift mast to the boom. This provides a force to the boom in the direction of the superlift mast through the superlift mast and the tensioning device, preventing the boom from becoming unstable due to excessive deflection during lifting and ensuring the boom's lifting capacity.

[0003] However, in existing superlift devices, the superlift mast is driven by a boom lifting cylinder to lift the superlift mast relative to the boom. After the superlift mast rotates to a preset angle relative to the boom, it is then supported and fixed by the boom lifting cylinder. The boom lifting cylinder bears a large load, which seriously affects its service life. In addition, the boom lifting cylinder is located on the boom and has a large weight. During the lifting process, the center of gravity of the boom is high, the lifting stability is poor, and the lifting performance is affected. Summary of the Invention

[0004] In view of this, the present invention provides a super-lift device, a crane, and a control method for the crane to solve the problem of high center of gravity of the boom and poor lifting stability during the lifting process of the super-lift device.

[0005] In a first aspect, the present invention provides a super-lifting device, comprising: a lifting arm, one end of which is configured as a boom head and the other end as a boom tail, the lifting arm being axially extendable; a super-lifting mast, one end of which is hinged to the lifting arm and the other end being a free end; a first connecting member, the first end of which is connected to the super-lifting mast and the second end of which is connected to the boom head; a second connecting member, the first end of which is connected to the super-lifting mast and the second end of which is connected to the boom tail; a limiting mechanism disposed on the lifting arm, the limiting mechanism having a limiting state that fixes the relative position of the super-lifting mast and the lifting arm and an unlocking state that allows the super-lifting mast to rotate relative to the lifting arm, the limiting mechanism switching from the unlocking state to the limiting state when the lifting angle of the super-lifting mast relative to the lifting arm is a preset lifting angle; and a pre-tensioning device disposed at the boom tail, the pre-tensioning device being connected to the second connecting member, the pre-tensioning device being capable of pulling the second connecting member to move relative to the lifting arm to tension the second connecting member.

[0006] Beneficial effects: The first connecting piece connects the boom head to the superlift mast, and the second connecting piece connects the boom tail to the superlift mast, forming a double-triangular stability structure. By extending the boom axially, the boom head pulls the superlift mast around the hinge point via the first connecting piece, thus achieving the flapping of the superlift mast. This eliminates the need for a traditional flapping cylinder to drive the superlift mast's rotation relative to the boom, simplifying the structure, reducing overall weight, and solving the problem of a high center of gravity of the boom during lifting when a flapping cylinder is used. This improves lifting stability. Furthermore, when the superlift mast flaps to the preset flapping angle, the limit mechanism switches from the unlocked state to the limited state. In the pre-positioned state, the super-lift mast can be fixed at a preset lifting angle. By fixing the relative position between the super-lift mast and the boom, compared with the traditional method of supporting the super-lift mast with lifting cylinders, this not only reduces the number of hydraulic cylinders, simplifies the layout, reduces weight, and saves costs, but also has high reliability and good stability. Furthermore, after the super-lift mast and the boom are relatively fixed, the second connecting piece is pulled by the pre-tightening device. The end of the second connecting piece connected to the pre-tightening device can move relative to the boom, thereby achieving pre-tightening of the second connecting piece, improving the stability of the structure, improving the stress between the super-lift mast and the boom, and ensuring the lifting performance of the boom.

[0007] In one optional embodiment, the free end of the superlift mast is provided with a first pulley and a first slide rail extending in a first direction. The first pulley is provided with a pulley slider that slides with the first slide rail. The first connecting member passes around the first pulley, and the second connecting member is connected to the pulley slider. When tensioned, the second connecting member pulls the first pulley to move relative to the superlift mast to tension the first connecting member.

[0008] Beneficial effects: Through the sliding cooperation between the pulley slider on the first pulley and the first slide rail, the first pulley can be slidably connected to the super-lift mast. The second connecting piece is connected to the first pulley. When the second connecting piece is tensioned under the pull of the pre-tensioning device, the second connecting piece pulls the first pulley to move in the first direction. In turn, the first pulley applies a tension force along the first direction to the first connecting piece wrapped around it, thereby tensioning the first connecting piece. This improves the force between the top of the super-lift mast and the boom head, further ensuring the stability of the lifting process. That is, through the action of the pre-tensioning device, not only the second connecting piece can be tensioned, but the first connecting piece can also be tensioned simultaneously, achieving synchronous tensioning of the boom head and boom tail. The adjustment process is convenient to operate, eliminating the need to set up a separate pre-tensioning device at the first connecting piece, simplifying the structure, reducing the overall weight, and saving costs.

[0009] In one optional embodiment, the superlift mast is provided with a limiting hole, and the limiting mechanism includes a drive unit and a limiting rod. The drive unit and the limiting rod are disposed on the lifting arm. When the superlift mast is extended to a preset angle relative to the lifting arm, the drive unit drives the limiting rod to insert into the limiting hole to fix the relative position of the superlift mast and the lifting arm.

[0010] Beneficial effects: By setting a drive unit to drive the limit rod, the degree of automation is high, and the movement of the limit rod can be realized, thereby switching the limit rod between not being inserted into the limit hole and being inserted into the limit hole, realizing the switching of the limit mechanism between the unlocked state and the limit state. When the limit rod located on the lifting arm is inserted into the limit hole on the superlift mast, the relative position of the superlift mast and the lifting arm is fixed, and the superlift mast can no longer rotate around the hinge point, thereby realizing the fixation of the superlift mast. Moreover, the cooperation method between the limit rod and the limit hole is simple in structure, convenient in operation, and highly reliable.

[0011] In one optional embodiment, the pretensioning device includes: a movable component movably connected to the lifting boom, the movable component being connected to the second connecting member; and a drive unit disposed on the lifting boom, the drive unit driving the movable component to move on the lifting boom to tension the second connecting member.

[0012] Beneficial effects: The pre-tightening device is located at the tail of the boom. The drive unit drives the moving component to move on the boom away from the super-lift mast, thereby tightening the second connecting piece and achieving pre-tightening of the second connecting piece. Furthermore, the drive unit has a high degree of automation and is easy to operate.

[0013] Secondly, the present invention also provides a crane, including the aforementioned super-lifting device. Since the crane includes the super-lifting device and has the same effects as the super-lifting device, it will not be described again here.

[0014] Thirdly, the present invention provides a crane control method applied to the aforementioned crane. The crane includes a boom, a super-lift mast, a first connecting member, a pre-tensioning device, a second connecting member, and a limiting mechanism. The first connecting member is connected between the super-lift mast and the boom head. The pre-tensioning device is disposed at the boom tail of the boom. The second connecting member is connected between the super-lift mast and the pre-tensioning device. The crane control method includes the following steps: acquiring a boom extension signal of the super-lift mast; controlling the boom to extend according to the boom extension signal, so as to pull the super-lift mast to rotate around the hinge point where the super-lift mast and the boom are hinged through the first connecting member; acquiring the boom extension angle of the super-lift mast; when the boom extension angle is equal to a preset boom extension angle, controlling the boom to stop extending and controlling the limiting mechanism to fix the super-lift mast to maintain the super-lift mast at the preset boom extension angle; controlling the pre-tensioning device to actuate to tension the second connecting member.

[0015] Beneficial effects: When the superlift mast needs to perform the flapping operation, the boom is controlled to extend. By controlling the extension of the boom, the first connecting piece between the superlift mast and the boom head pulls the superlift mast to rotate circumferentially around the hinge point until the flapping angle of the superlift mast reaches the preset flapping angle. Then, the position of the superlift mast is fixed by the limiting mechanism. Next, the second connecting piece on the other side of the superlift mast is pre-tightened by the pre-tightening device. The flapping, fixing and pre-tightening of the superlift mast are realized in sequence. The whole process has good continuity, and the setting of the flapping cylinder is eliminated, simplifying the layout, reducing the overall weight of the device, lowering the center of gravity of the whole machine during lifting, and improving stability.

[0016] In one alternative embodiment, the free end of the superlift mast is provided with a first pulley that is movable relative to the superlift mast, the first connector is wound around the first pulley, and the second connector is connected to the first pulley. After the step of controlling the pretensioning device to actuate and tension the second connector, the control method further includes: the second connector pulling the first pulley to move relative to the superlift mast in a first direction to tension the first connector.

[0017] Beneficial effects: The pre-tensioning device pulls the first pulley along the first direction through the second connecting member, and then the first pulley pulls the first connecting member along the first direction, thereby further tensioning the first connecting member. That is, through the action of the pre-tensioning device, the tensioning of the first connecting member and the second connecting member is achieved simultaneously, ensuring that the mast can provide tension in both the direction of the boom head and the direction of the boom tail during subsequent hoisting, thus ensuring hoisting performance. There is no need to set up additional pre-tensioning cylinders or other equipment to pre-tension the first connecting member, which simplifies the structure, reduces weight, and simplifies the control program.

[0018] In one optional embodiment, a winch mechanism is provided on the super-lift mast, the winch mechanism releases the first connecting member, and before the step of controlling the extension of the lifting boom according to the lifting signal, the control method further includes: acquiring the current lifting condition; obtaining a preset extension length of the lifting boom based on the current lifting condition; controlling the winch mechanism to release the first connecting member of a preset length matching the preset extension length according to the preset extension length; and controlling the latching structure of the winch mechanism to lock the length of the first connecting member to the preset length.

[0019] Beneficial effects: The length of the first connector is always kept at the preset length L to ensure that a stable tension is provided to the superlift mast during the superlift mast flapping process, and a stable tension is provided to the boom during the hoisting process when the superlift mast is fixed in position.

[0020] In one optional embodiment, there are two superlift masts, each of which is connected to a first connector and a second connector. There is one pretensioning device. In the step of controlling the boom extension according to the boom extension signal to pull the superlift mast around the hinge point where the superlift mast and the boom are hinged via the first connector, the boom extension is controlled according to the boom extension signal, simultaneously pulling the two first connectors so that the two superlift masts rotate synchronously around the hinge point where the superlift mast and the boom are hinged via the two first connectors. In the step of controlling the pretensioning device to tension the second connectors, the pretensioning device is controlled to tension the two second connectors simultaneously.

[0021] Beneficial effects: By controlling the extension of the boom, the two first connecting parts can be pulled simultaneously, thereby pulling the two super-lift masts to complete the boom lifting action synchronously. The synchronization is good, avoiding the situation of asynchronous control signals that exists when the two boom lifting cylinders are controlled separately in the traditional way. By controlling the action of the pretensioning device, the two second connecting parts can be tensioned simultaneously, which also has good synchronization.

[0022] In one optional embodiment, the limiting mechanism includes a drive unit and a limiting rod disposed on the lifting boom, and a limiting hole is provided on the super-lift mast. The step of controlling the limiting mechanism to fix the super-lift mast includes: controlling the drive unit to operate, and the drive unit driving the limiting rod to insert into the limiting hole to fix the relative position of the super-lift mast and the lifting boom.

[0023] Beneficial effects: By simply controlling the operation of the drive unit, the limit rod can be driven to insert into the limit hole. The control program for the drive unit is simple and low in cost.

[0024] In one optional embodiment, the pretensioning device includes a drive unit and a moving component. The drive unit is disposed on the lifting boom, and the moving component is movably connected to the lifting boom. The second connecting member is connected to the moving component. In the step of controlling the pretensioning device to actuate and tension the second connecting member, the drive unit is controlled to drive the moving component to move on the lifting boom in a direction away from the super-lift mast. The moving component pulls the second connecting member relative to the lifting boom to tension the second connecting member.

[0025] Beneficial effects: The tensioning of the second connector can be achieved simply by controlling the drive unit to move the moving component. Furthermore, the first connector can be tensioned by pulling the first pulley through the second connector. Therefore, the control procedure for the entire tensioning process is simple and easy to operate. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a structural diagram of the super-starting device according to an embodiment of the present invention;

[0028] Figure 2 for Figure 1 The front view of the super-lift device is shown;

[0029] Figure 3 This is a schematic diagram of the structure of the super-lift mast and lifting arm in the undeployed state according to an embodiment of the present invention;

[0030] Figure 4 for Figure 3 A schematic diagram of the state structure of the super-lift mast and boom during the deployment process;

[0031] Figure 5 for Figure 3 A structural schematic diagram of the super-lift mast and boom in their extended state;

[0032] Figure 6 for Figure 5 A partially enlarged schematic diagram showing the extended mast and boom of the superlift crane.

[0033] Figure 7 This is a schematic diagram of the structure of the super-lift mast according to an embodiment of the present invention;

[0034] Figure 8 for Figure 7A schematic diagram of the structure at the top of the super-lift mast is shown;

[0035] Figure 9 for Figure 7 The side view of the super-lift mast shown;

[0036] Figure 10 This is a schematic diagram of the hoisting mechanism according to an embodiment of the present invention;

[0037] Figure 11 for Figure 1 The side view of the super-lift device shown;

[0038] Figure 12 This is a schematic diagram of the retracted state of the limiting mechanism according to an embodiment of the present invention;

[0039] Figure 13 for Figure 12 A schematic diagram of the limiting mechanism in its limiting state;

[0040] Figure 14 for Figure 1 A partially enlarged schematic diagram of the tail section of the lifting device shown;

[0041] Figure 15 for Figure 14 A magnified view of part A in the diagram;

[0042] Figure 16 This is a flowchart of a crane control method according to an embodiment of the present invention;

[0043] Figure 17 This is a structural block diagram of the control device of the super-starting device according to an embodiment of the present invention;

[0044] Figure 18 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. Lifting boom; 101. Boom head; 102. Boom tail; 103. Guide section; 104. Strip opening; 105. Limiting plate; 111. Base boom; 112. First telescopic boom; 113. Second telescopic boom; 2. Overhead mast; 201. Hinge point; 202. First slide rail; 203. Limiting hole; 204. Limiting block; 3. First pulley; 301. Pulley slider; 401. First connecting piece; 402. Second connecting piece Components; 5. Pre-tightening device; 501. Drive unit; 502. Moving component; 503. Guide component; 504. Limiting component; 505. Connecting plate; 506. Rotating component; 509. First connecting shaft; 510. Second connecting shaft; 6. Hoisting mechanism; 601. Latch structure; 7. Limiting component; 8. Limiting mechanism; 801. Drive unit; 802. Connecting rod; 803. Slider; 804. Second slide rail; 805. Limiting rod. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] The following is combined with Figures 1 to 18 The following describes embodiments of the present invention.

[0049] According to embodiments of the present invention, in one aspect, a super-lifting device is provided, such as... Figures 1 to 15 As shown, the super-lift device includes: lifting arm 1, super-lift mast 2, first connecting member 401, second connecting member 402, limiting mechanism 8, and pre-tightening device 5. The lifting boom 1 has a boom head 101 at one end and a boom tail 102 at the other end, and the lifting boom 1 can extend and retract along its axial direction; the super-lift mast 2 has one end hinged to the lifting boom 1 and the other end is a free end; the first end of the first connecting member 401 is connected to the super-lift mast 2 and the second end is connected to the boom head 101; the first end of the second connecting member 402 is connected to the super-lift mast 2 and the second end is connected to the boom tail 102; the limiting mechanism 8 is provided on the lifting boom 1, and the limiting mechanism 8 has a limiting state that fixes the relative position of the super-lift mast 2 and the lifting boom 1 and an unlocking state that allows the super-lift mast 2 to rotate relative to the lifting boom 1; the pre-tensioning device 5 is provided at the boom tail 102, and the second connecting member 402 is connected to the pre-tensioning device 5, and the pre-tensioning device 5 can pull the second connecting member 402 to move relative to the lifting boom 1 to tension the second connecting member 402.

[0050] In this embodiment of the superlift device, the first connector 401 connects the boom head 101 of the boom 1 to the superlift mast 2, and the second connector 402 connects the boom tail 102 of the boom 1 to the superlift mast 2, forming a double-triangular stability structure. By extending the boom 1 axially, the boom head 101 of the boom 1 pulls the superlift mast 2 around the hinge point 201 via the first connector 401, thus achieving the flapping of the superlift mast 2. This eliminates the need for a traditional flapping cylinder to drive the superlift mast 2 to rotate relative to the boom 1, resulting in a simpler structure, reduced overall weight, and solving the problem of a high center of gravity of the boom during hoisting when a flapping cylinder is used in traditional superlift devices. This improves hoisting stability. Furthermore, when the superlift mast 2 flaps to the preset flapping angle, the limiting mechanism... 8. Switching from the unlocked state to the limit state allows the super-lift mast 2 to be fixed at a preset lifting angle. By fixing the relative position between the super-lift mast 2 and the lifting arm 1, compared with the traditional method of supporting the super-lift mast 2 through lifting cylinders, not only are the hydraulic cylinders reduced, simplifying the layout, reducing weight, and saving costs, but also the reliability and stability are high. Furthermore, after the super-lift mast 2 and the lifting arm 1 are relatively fixed, the second connecting piece 402 is pulled by the pre-tightening device 5. The end of the second connecting piece 402 connected to the pre-tightening device 5 can move relative to the lifting arm 1, thereby achieving pre-tightening of the second connecting piece 402, improving the stability of the structure, improving the force between the super-lift mast 2 and the lifting arm 1, and ensuring the lifting performance of the lifting arm 1.

[0051] It should be noted that the boom 1 is connected to the chassis or other supporting body of the lifting machinery. The boom tail 102 is rotatably connected to the supporting body, and the boom head 101 is a free end to achieve the lifting of the boom 1. The boom 1 can extend and retract along its axis, meaning that one end of the boom head 101 can move along the axis of the boom 1 to move away from or towards the boom tail 102. The super-lift mast 2 is hinged to the boom 1 through the hinge point 201. During operation, the boom 1 extends, and the first connecting piece 401 connected at the boom head 101 pulls the super-lift mast 2 to rotate and open relative to the boom 1, completing the flapping action. In the non-operating state, the boom 1 shortens, and the super-lift mast 2 retracts relative to the boom 1 until it fits against the boom 1 to reduce the space occupied and facilitate parking or transportation. During the flapping process of the super-lift mast 2, the length of the first connecting piece 401 remains unchanged to achieve the pulling of the super-lift mast 2.

[0052] Preferably, the preset flapping angle is 90°. When the superlift mast 2 is in flapping mode, it is raised from a horizontal position (0°) with the boom 1 to a position perpendicular to the boom 1 (90°).

[0053] Preferably, the lifting boom 1 includes a base boom 111, a first telescopic boom 112 and a second telescopic boom 113 connected in sequence. The first telescopic boom 112 can extend relative to the base boom 111, and the second telescopic boom 113 can extend relative to the first telescopic boom 112. The boom head 101 is the end of the second telescopic boom 113 away from the base boom 111, and the boom tail 102 is the end of the base boom 111 away from the first telescopic boom 112 and the second telescopic boom 113.

[0054] Specifically, the first connector 401 is lightweight and easy to connect, facilitating the winding of connectors. Preferably, the first connector 401 is a steel wire rope, which is easy to wind, has high strength, and high reliability. The second connector 402 is a steel tension plate, which has high strength and good stability.

[0055] In this embodiment, further combined Figures 1 to 9 As shown, the free end of the super-lift mast 2 is provided with a first pulley 3 and a first slide rail 202 extending along a first direction. The first pulley 3 is provided with a pulley slider 301 that slides with the first slide rail 202. A first connecting member 401 passes around the first pulley 3, and a second connecting member 402 is connected to the pulley slider 301. When tensioned, the second connecting member 402 pulls the first pulley 3 to move relative to the super-lift mast 2 along the first direction to tension the first connecting member 401. Through the sliding engagement of the pulley slider 301 on the first pulley 3 and the first slide rail 202, the first pulley 3 and the super-lift mast 2 can be slidably connected. The second connecting member 402 is connected to the first pulley 3. When the second connecting member 402 is tensioned under the pull of the pre-tensioning device 5, the second connecting member 402 pulls the first pulley 3 to move in the first direction. Then, the first pulley 3 applies a tension force along the first direction to the first connecting member 401 wrapped around it, thereby tensioning the first connecting member 401. This improves the force between the top of the super-lift mast 2 and the boom head 101 of the lifting arm 1, further ensuring the stability of the lifting process. That is, through the action of the pre-tensioning device 5, not only can the second connecting member 402 be tensioned, but the first connecting member 401 can also be tensioned simultaneously. This achieves simultaneous tensioning of the boom head 101 and the boom tail 102. The adjustment process is convenient to operate, and there is no need to set up a separate pre-tensioning device at the first connecting member 401. This simplifies the structure, reduces the overall weight, and saves costs.

[0056] It should be noted that the first direction refers to Figure 7The "first direction" indicated by the middle arrow is perpendicular to the axis of the superlift mast 2. When the superlift mast 2 and the boom 1 are perpendicular to each other, the first direction points along the axis of the boom 1 to the boom tail 102. The first connecting piece 401 is connected to the superlift mast 2 after passing around the first pulley 3. During the movement of the first pulley 3 along the first direction, the first pulley 3 applies a pulling force to the first connecting piece 401, which can achieve tensioning of the first connecting piece 401. The pre-tensioning device 5 is located at the boom tail 102, that is, on the side pointed to by the first direction of the superlift mast 2. The pre-tensioning device 5 pulls the second connecting piece 402 in the first direction, and then the second connecting piece 402 can pull the first pulley 3 to move along the first direction.

[0057] In this embodiment, the super-lift device further includes a winch mechanism 6, which is mounted on the super-lift mast 2. The winch mechanism 6 is adapted to retract and extend the first connecting member 401. The first end of the first connecting member 401 is connected inside the winch mechanism 6, and the second end of the first connecting member 401 passes around the first pulley 3 and is connected to the boom head 101. Specifically, the connecting member 4 is a steel wire rope, and the winch mechanism 6 is adapted to retract and extend the steel wire rope. By retracting and extending the steel wire rope through the winch mechanism 6, the length of the steel wire rope can be adjusted according to actual needs when the boom 1 extends or shortens according to actual working conditions. The steel wire rope forms a triangular stable structure with the boom 1 and the super-lift mast 2, which is simple in structure and has good stability. After the wire rope is released by the winch mechanism 6, it passes around the first pulley 3 and connects to the boom head 101. Compared with the folding of the pull plate in the transmission, the operation of the wire rope by the winch mechanism 6 is simpler and more convenient, and the disassembly and assembly are relatively easy. In addition, by using the method of winding the wire rope on the first pulley 3, it is not easy for the rope to jump, which helps to improve the stability of the wire rope and further improve the reliability and safety of the overall device.

[0058] Preferably, the winch mechanism 6 is a winch box, in which the wire rope is wound. The wire rope is wound and released through the winch box, which is stable and easy to operate. At the same time, the winch box also provides a certain degree of protection for the wire rope.

[0059] In this embodiment, as Figure 10As shown, the hoisting mechanism 6 has a latching structure 601, which limits the extension length of the first connecting member 401. Specifically, the first connecting member 401 passes through the latching structure 601, which has an open state and a locked state. When the latching structure 601 is in the open state, the hoisting mechanism 6 can retract or extend the first connecting member 401 to change its length. When the latching structure 601 is in the locked state, the first connecting member 401 is locked, and the hoisting mechanism 6 no longer retracts or extends the first connecting member 401; the extension length of the first connecting member 401 from the hoisting mechanism 6 remains unchanged. It should be noted that during the extension of the boom 1 to pull the super-lift mast 2 relative to the boom 1 via the first connecting member 401, the latching structure 601 is in the locked state, and the length of the first connecting member 401 remains unchanged.

[0060] In this embodiment, there are two super-lift masts 2, and two first connectors 401 and two second connectors 402, each corresponding to one of the two super-lift masts 2. The first ends of the two first connectors 401 are connected to the boom head 101, and the second ends of the two second connectors 402 are connected to the pre-tensioning device 5. When the boom 1 extends, the two first connectors 401 can be pulled simultaneously, thereby simultaneously pulling the two super-lift masts 2 to rotate relative to the boom 1, realizing the synchronous completion of the boom-raising action of the two super-lift masts 2. The synchronization is good, avoiding the situation of asynchronous control signals of the traditional boom-raising cylinder, and ensuring the reliability of the boom-raising process. There is one pre-tensioning device 5, and the two second connectors 402 are connected to the same pre-tensioning device 5. When the pre-tensioning device 5 is activated, the two second connectors 402 can be tensioned simultaneously. The same pre-tensioning device 5 provides good synchronization of pre-tensioning of the two second connectors 402, and can also ensure the pre-tensioning of the two connectors 402. In the case of a fixed length, the symmetrical guiding function of the second connecting parts 402 on the two super-lift masts 2 optimizes the force on the lifting boom 1 and improves the lifting performance. Furthermore, the two second connecting parts 402 are tensioned by a pre-tensioning device 5. Compared with the traditional structure that requires a tensioning cylinder for each of the two second connecting parts 402 on the two super-lift masts 2, the pre-tensioning device 5 in this embodiment reduces the overall weight of the super-lift device, achieving lightweighting. It also lowers the center of gravity of the whole machine during lifting, improves stability, reduces the burden on the hydraulic cylinders that support the lifting boom 1, extends their service life, and reduces costs.

[0061] It should be noted that the ends of the two super-lift masts 2 connected to the lifting arm 1 are close to each other, and the ends of the two super-lift masts 2 away from the lifting arm 1 are separated from each other along the circumference of the lifting arm 1. The two super-lift masts 2 are symmetrical about the plane of symmetry between them, and the plane of symmetry is in the same direction as the axis of the lifting arm 1. The pre-tensioning device 5 is located on the plane of symmetry between the two super-lift masts 2.

[0062] In this embodiment, as Figures 11 to 13 As shown, the super-lift mast 2 is provided with a limiting hole 203. The limiting mechanism 8 includes a drive unit 801 and a limiting rod 805. The drive unit 801 and the limiting rod 805 are mounted on the lifting arm 1. When the super-lift mast 2 is extended to a preset angle relative to the lifting arm 1, the drive unit 801 drives the limiting rod 805 to insert into the limiting hole 203 to fix the relative position of the super-lift mast 2 and the lifting arm 1. It should be noted that when the limiting rod 805 is inserted into the limiting hole 203, the limiting mechanism 8 is in a limited state; when the limiting rod 805 is not inserted into the limiting hole 203, the limiting mechanism 8 is in an unlocked state. By setting the drive unit 801 to drive the limit rod 805, the automation level is high, and the movement of the limit rod 805 can be realized, thereby switching the limit rod 805 between not being inserted into the limit hole 203 and being inserted into the limit hole 203, realizing the switching of the limit mechanism 8 between the unlocked state and the limit state. When the limit rod 805 located on the lifting arm 1 is inserted into the limit hole 203 on the super-lift mast 2, the relative position of the super-lift mast 2 and the lifting arm 1 is fixed, and the super-lift mast 2 can no longer rotate around the hinge point 201, thereby realizing the fixation of the super-lift mast 2. Moreover, the cooperation method between the limit rod 805 and the limit hole 203 is simple in structure, convenient in operation, and highly reliable. Preferably, a limit block 204 is fixedly connected to the super-lift mast 2, and the limit block 204 has a limit hole 203.

[0063] In this embodiment, the limiting mechanism 8 further includes a connecting rod 802, a slider 803, and a second slide rail 804. One end of the connecting rod 802 is hinged to the driving unit 801, and the other end is hinged to the slider 803. A limiting rod 805 is connected to the slider 803. The slider 803 and the limiting rod 805 are movably disposed in the second slide rail 804. The limiting rod 805 has a retracted state and an extended state. The driving unit 801 drives the slider 803 to move along the second slide rail 804 through the connecting rod 802, thereby driving the limiting rod 805 to switch between the retracted state and the extended state. When the limiting rod 805 is in the retracted state, the limiting mechanism 8 is in the unlocked state; when the limiting rod 805 is in the extended state, the limiting rod 805 is inserted into the limiting hole 203, and the limiting mechanism 8 is in the limiting state. The drive unit 801 drives the connecting rod 802 to move, and the connecting rod 802 pushes the slider 803 to move along the second slide rail 804. The limiting rod 805 connected to the slider 803 moves along the second slide rail 804 with the slider 803, thereby realizing the switching of the limiting rod 805 between the retracted state and the extended state. The cooperation method of the slide rail and slider is simple in structure, highly reliable, and has low friction. The second slide rail 804 provides guidance for the movement of the limiting rod 805. The limiting hole 203 corresponds to the second slide rail 804, ensuring that the limiting rod 805 can be accurately inserted into the limiting hole 203 when it is extended, thereby improving the reliability of the limiting and improving the safety of the overall device.

[0064] In this embodiment, there are two super-lift masts 2, each with a corresponding limiting hole 203. Correspondingly, there are two connecting rods 802, two sliders 803, and two second slide rails 804 to achieve separate engagement with the two limiting holes 203. There is one drive unit 801, with the two connecting rods 802 simultaneously hinged to one drive unit 801. One drive unit 801 simultaneously pushes the two connecting rods 802 to move, thereby synchronously driving the two limiting rods 805 to move, so as to synchronously limit the two super-lift masts 2. The synchronization is good and the cost can be saved.

[0065] Preferably, the drive unit 801 is a telescopic cylinder, the telescopic direction of which is perpendicular to the extension direction of the second slide rail 804. The drive unit is located on the line of symmetry of the two connecting rods 802 to synchronously drive the two limiting rods 805. Optionally, the telescopic cylinder can be a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, etc.

[0066] In this embodiment, as Figures 14 to 15 As shown, the pretensioning device 5 includes a moving component and a drive unit 501. The moving component is movably connected to the lifting boom 1, and a second connecting member 402 is connected to the moving component. The drive unit 501 is disposed on the lifting boom 1 and drives the moving component to move on the lifting boom 1 to tension the second connecting member 402. The pretensioning device 5 is disposed at the boom tail 102. By driving the moving component on the lifting boom 1 in a direction away from the super-lift mast 2 through the drive unit 501, the moving component is able to tighten the second connecting member 402, thereby achieving pretensioning of the second connecting member 402. Furthermore, the drive unit 501 has a high degree of automation and is easy to operate. It should be noted that the pretensioning device 5 is driven by a drive unit 501. Compared with the traditional structure that requires a tensioning cylinder for each of the second connecting parts 402 on the two super-lift masts 2, the single drive unit 501 in this embodiment reduces the overall weight of the super-lift device, achieving lightweighting. It also lowers the center of gravity of the machine during lifting, improves stability, reduces the burden on the hydraulic cylinders that support the lifting boom 1, extends their service life, and reduces costs.

[0067] In this embodiment, the lifting device further includes a rotating assembly, which includes a connecting plate 505 and a rotating member 506. The connecting plate 505 is rotatably connected to the moving assembly to change the angle between the connecting plate 505 and the axis of the lifting arm 1. The rotating member 506 is rotatably connected to the side of the connecting plate 505 away from the moving member 502. The rotation plane of the rotating member 506 is parallel to the plane of the connecting plate 505. A second connecting member 402 is connected to the rotating member 506 to adjust the angle between the second connecting member 402 and the lifting arm 1. It should be noted that the connecting plate 505 can rotate relative to the moving assembly in the plane along the lifting direction of the lifting arm 1, i.e., perpendicular to the plane. Figure 14 The orientation of the surface on which the pre-tightening device 5 is installed on the middle boom 1 is adjusted to change the angle between the plane of the connecting plate 505 and the axis of the boom 1, thereby adapting to changes in the angle between the second connecting member 402 and the axis of the boom 1. This ensures that the plane of the connecting plate 505 is always parallel to the extension direction of the second connecting member 402. Furthermore, by setting a rotating member 506 to rotate in a plane parallel to the connecting plate 505, adaptive adjustment of the second connecting member 402 along the width direction is achieved. This realizes three rotational degrees of freedom in space at the connection position between the pre-tightening device 5 and the second connecting member 402, improving the force on the second connecting member 402 and the moving component, ensuring stable tension of the second connecting member 402 by the moving component, and improving the overall reliability of the device.

[0068] In this embodiment, there are two second connecting members 402, one moving member 502, and two rotating members 506, with each rotating member 506 connected to a second connecting member 402. The two rotating members 506 are connected to the moving member 502 along the width direction, so that the second connecting members 402 on the two lifting masts 2 are simultaneously connected to the same pre-tensioning device 5. In this embodiment, the lifting arm 1 is provided with a guide portion 103 extending along the axial direction of the lifting arm 1. The moving component includes a moving member 502 slidably connected to the guide portion 103, and the moving member 502 is provided with a guide member 503. The guide portion 103 provides guidance for the movement of the guide member 503. By sliding the movable part 502 along the guide part 103, the movable component moves along the axis of the lifting arm 1 on the lifting arm 1, thereby achieving the pre-tightening effect on the second connecting part 402. Furthermore, the guiding effect of the guide part 103 ensures that the moving direction of the guide part 503 is fixed, thereby ensuring the stability of the movable component pulling the second connecting part 402 and ensuring the reliability of the pre-tightening process.

[0069] Specifically, the connecting plate 505 is rotatably connected to the movable member 502, and the rotating member 506 is rotatably connected to the side of the connecting plate 505 away from the movable member 502.

[0070] Specifically, the connecting plate 505 and the moving part 502 are connected by a first connecting shaft 509, enabling the connecting plate 505 to rotate within the luffing plane of the boom 1; the rotating part 506 is connected to the connecting plate 505 by a second connecting shaft 510, enabling the rotating part 506 to rotate and swing perpendicular to the luffing plane of the boom 1. Preferably, both the first connecting shaft 509 and the second connecting shaft 510 are pins; the rotating part 506 is a universal joint, which offers good flexibility and high reliability.

[0071] In this embodiment, the guide portion 103 is a groove, and the guide member 503 is a slider, which is slidably disposed in the groove. The groove is formed at the tail 102 of the lifting arm 1, and the extension direction of the groove is the same as the axial direction of the lifting arm 1. The slider extends into the groove and can slide along the groove. Through the cooperation between the slider and the groove, the guide member 503 and the guide portion 103 are stably cooperated. The structure is simple, stable, low in cost, and highly reliable.

[0072] In this embodiment, a strip-shaped opening 104 extending axially along the lifting arm 1 is provided on the side wall of the chute. The moving assembly also includes a limiting member 504, which passes through the slider and can slide along the strip-shaped opening 104. A limiting plate 105 corresponding to the strip-shaped opening 104 is provided on the outer side of the chute to limit the limiting member 504. It should be noted that along... Figure 14 In the "width direction" indicated by the middle arrow, the slide has two spaced-apart sidewalls, forming a groove between them. A strip-shaped opening 104 is formed on the sidewall, allowing the slide to communicate with the outer sidewall. This facilitates the installation of the limiting member 504 into the slide and connecting it to the slider through the strip-shaped opening 104. The sliding of the limiting member 504 along the strip-shaped opening 104 drives the guide member 503 to move within the slide. At the same time, by setting a limiting plate 105 on the outer side of the slide to block the strip-shaped opening 104, the limiting member 504 can be prevented from coming out of the strip-shaped opening 104, ensuring the stability of the limiting member 504 during movement, thereby ensuring the stability and reliability of the moving component during movement.

[0073] Preferably, the limiting member 504 is a pin, which passes through the guide member 503 and slides in conjunction with the strip opening 104. The pin structure is simple, reliable, and low in cost. More preferably, the limiting plate 105 is elongated and extends along the axial direction of the lifting arm 1. The end of the pin facing the limiting plate 105 has a connecting groove that mates with the limiting plate 105. The pin is slidably connected to the limiting plate 105 through the connecting groove. During the movement of the moving member, the connecting groove always mates with the limiting plate 105, further improving the guiding effect on the guide member 503 and enhancing the stability of the movement process.

[0074] In other embodiments, the guide portion 103 can also be a slide rail, and the slider can be slidably disposed on the slide rail, which can also enable the guide member 503 to slide along the guide portion 103, providing guidance for the movement of the moving component on the lifting arm 1.

[0075] In this embodiment, there are two guide portions 103, which are arranged parallel to each other and spaced apart. The moving member 502 is provided with two guide members 503, each guide member 503 cooperating with one guide portion 103. Specifically, the two guide portions 103 are arranged along... Figure 14The guide sections 103, indicated by the middle arrow, are spaced apart in the "width direction" and located near the edge of the lifting boom 1. The parallel and spaced-apart guide sections 103 further improve the reliability of the guiding process, enhance the stability of the moving components along the guide sections 103, thereby improving the accuracy of the pre-tensioning adjustment process and the overall reliability of the device.

[0076] In this embodiment, the drive unit 501 is a telescopic cylinder. One end of the telescopic cylinder is connected to the lifting arm 1, and the other end cooperates with the moving part 502 to push the moving part 502 to move along the guide part 103, thereby realizing the movement of the moving assembly away from the super-lift mast 2 by extending the telescopic cylinder. Specifically, one end of the telescopic cylinder is fixed to the lifting arm 1, and the other end is connected to the moving part 502 through a pin to realize the stable movement of the moving part 502 driven by the telescopic cylinder. Before pre-tightening, the pre-tightening device 5 is placed horizontally on the lifting arm 1. During the pre-tightening process, the telescopic cylinder extends, pushing the moving assembly to slide along the guide part 103. The telescopic cylinder extends and retracts along the axial direction of the lifting arm 1. During the extension of the telescopic cylinder, it pushes the moving part 502 to move away from the super-lift mast 2, thereby providing a pulling force to the second connecting part 402, realizing the pre-tightening of the second connecting part 402. The telescopic cylinder drive method is simple, reliable, and has good stability. Specifically, the telescopic cylinder can be a hydraulic cylinder, pneumatic cylinder, or electric cylinder, etc., preferably a hydraulic cylinder, which has high driving force and good stability.

[0077] Preferably, the extension length of the guide portion 103 along the axial direction of the boom 1 is equal to the stroke of the telescopic cylinder. During the pre-tensioning process, the telescopic cylinder extends its entire stroke, just enough to push the moving member 502 to the end of the guide portion 103, thereby tensioning the second connecting member 402. It should be noted that the length of the guide portion 103 is pre-calculated to ensure that the second connecting member 402 is just tensioned when the moving member 502 moves to the end of the guide portion 103 away from the mast 2.

[0078] In this embodiment, the super-lifting device further includes a limiting part 7, which is disposed on the lifting arm 1. When the angle between the super-lifting mast 2 and the lifting arm 1 is a preset angle, the limiting part 7 abuts against the super-lifting mast 2 to limit further rotation of the super-lifting mast 2. The limiting part 7 is fixed on the lifting arm 1 and located on the side of the super-lifting mast 2 near the arm head 101. During the lifting process, the super-lifting mast 2 gradually approaches the limiting part 7. When the super-lifting mast 2 reaches the preset lifting angle, it abuts against the limiting part 7. The limiting part 7 limits the super-lifting mast 2, preventing it from rotating further around the lifting arm 1, thus avoiding the lifting angle of the super-lifting mast 2 exceeding the preset angle and ensuring safety. Preferably, the limiting part 7 is a limiting plate, which has a simple structure, low cost, and is easy to install.

[0079] In this embodiment, the winch mechanism 6 installed on the super-lift mast 2 performs the winding and unwinding action of the wire rope. The winch mechanisms 6 installed on the two super-lift masts 2 respectively can realize the individual control of the two wire ropes, and the ropes are neatly arranged.

[0080] In this embodiment, the traditional method of pre-tightening the second connecting parts 402 connected to the two super-lift masts 2 by two independent pre-tightening cylinders is eliminated. Instead, a single pre-tightening device 5 is used to pre-tighten both second connecting parts 402 simultaneously. This method has a relatively simple layout, high synchronization of pre-tightening control over the two second connecting parts 402, symmetrical guidance function, and improved pre-tightening efficiency.

[0081] In this embodiment, a drive unit 501 is provided for driving, which makes the overall device lightweight, lowers the center of gravity of the whole machine during hoisting, and improves stability.

[0082] In this embodiment, the space of the super-starting device is used for reasonable arrangement, and the layout is simple.

[0083] According to an embodiment of the present invention, another aspect provides a crane including the aforementioned lifting device. Cranes include, but are not limited to, truck cranes, crawler cranes, tire cranes, gantry cranes, and so on.

[0084] According to an embodiment of the present invention, in another aspect, a crane control method is also provided, such as... Figure 16 As shown, the crane control method includes the following steps:

[0085] Step S101: Obtain the amplitude start signal of the super-lift mast 2.

[0086] The start signal can be manually operated by the control system. The control system sends the start signal through the controller. Once the start signal is sent, it means that the super-lift mast 2 needs to perform the start operation.

[0087] Step S102: Control the extension of the boom 1 according to the boom start signal, so as to pull the super-lift mast 2 to rotate around the hinge point 201 where the super-lift mast 2 is hinged to the boom 1 through the first connector 401.

[0088] It should be noted that after receiving the boom raising signal of the super-lift mast 2, the control system controls the extension of the boom 1. During the extension of the boom 1, the end of the first connecting piece 401 connected to the boom head 101 moves with the boom head 101. Since the length of the first connecting piece 401 is fixed, the boom 1 can pull the super-lift mast 2 to rotate around the hinge point 201 through the torque of the first connecting piece 401 along the hinge point 201. The angle between the super-lift mast 2 and the boom 1 gradually increases as the boom 1 extends. When the boom 1 switches to the working state, it needs to extend. The first connecting piece 401 is connected to one end of the telescopic boom head 101 of the boom 1 and the super-lift mast 2. The inherent extension action of the boom 1 drives the super-lift mast 2 to raise its wings, replacing the traditional method of using a wing-raising cylinder to drive the super-lift mast 2 to raise its wings. This eliminates the need for an additional wing-raising cylinder on the boom 1, simplifies the layout, reduces the overall weight of the super-lift device, lowers the center of gravity of the entire machine during lifting, and improves stability. The extension of the boom 1 can be achieved by controlling the hydraulic cylinder through a controller.

[0089] Step S103: Obtain the starting angle of the super-lift mast 2.

[0090] The boom angle refers to the angle between the axis of the super-lift mast 2 and the axis of the lifting boom 1. Further combined with... Figure 3 As shown, when the superlift mast 2 is not in the boom lifting mode, the boom 1 is in the retracted state, with both the first telescopic boom 112 and the second telescopic boom 113 retracted into the base boom 111. The superlift mast 2 is attached to the boom 1, and the angle between the superlift mast 2 and the boom 1 is 0°. During the extension of the boom 1, further... Figure 4 As shown, the starting angle gradually increases from 0°, at which point the second connector 402 is in a state of not being fully opened.

[0091] Specifically, a rotary encoder is installed on the boom 1 to detect the boom angle of the superlift mast 2 during the boom-raising process. To prevent the superlift mast 2 from exceeding 90°, a limiting part 7 is designed on the superlift base at the connection between the superlift mast 2 and the boom 1 for limiting.

[0092] Step S104: When the lifting angle is equal to the preset lifting angle, control the lifting arm 1 to stop extending and control the limiting mechanism 8 to fix the superlift mast 2 so as to keep the superlift mast 2 at the preset lifting angle.

[0093] When the preset launching angle is the angle of the super-lift mast 2 that needs to be fixed and extended, the included angle between the super-lift mast 2 and the lifting boom 1 is preferably 90°, further combined with Figure 5As shown, the axis of the super-lift mast 2 is perpendicular to the axis of the boom 1, and the second connecting piece 402 is also fully extended to provide tension to the super-lift mast 2 and the boom 1. By controlling the limiting mechanism 8 to fix the super-lift mast 2, the relative position of the super-lift mast 2 and the boom 1 can be kept stable, thereby improving the stability of the boom 1 during subsequent lifting processes.

[0094] Step S105: Control the pre-tightening device 5 to tension the second connecting piece 402.

[0095] The pre-tensioning device 5 is installed at the tail 102 of the boom 1. The second connector 402 and the first connector 401 are located on opposite sides of the super-lift mast 2. By controlling the action of the pre-tensioning device 5 to tension the second connector 402, the super-lift mast 2 and the tail 102 of the boom 1 can be tightened, improving the force between the two, thereby ensuring that the super-lift mast 2 provides tension to the boom 1 during subsequent lifting, and ensuring lifting performance.

[0096] By performing the above steps, when the superlift mast 2 needs to perform the flapping operation, the lifting arm 1 is controlled to extend. By controlling the extension of the lifting arm 1, the first connecting piece 401 connected between the superlift mast 2 and the arm head 101 of the lifting arm 1 pulls the superlift mast 2 to rotate circumferentially around the hinge point 201 until the flapping angle of the superlift mast 2 reaches the preset flapping angle. Then, the position of the superlift mast 2 is fixed by controlling the limiting mechanism 8. Next, the second connecting piece 402 on the other side of the superlift mast 2 is pre-tightened by controlling the pre-tightening device 5. The flapping, fixing and pre-tightening of the superlift mast 2 are realized in sequence. The whole process has good continuity, and the setting of the flapping cylinder is eliminated, simplifying the layout, reducing the overall weight of the device, lowering the center of gravity of the whole machine during hoisting, and improving stability.

[0097] In this embodiment, after step S105, the control method further includes:

[0098] Step S106: The second connector 402 pulls the first pulley 3 to move relative to the mast 2 in the first direction to tension the first connector 401.

[0099] The first pulley 3 is located at the free end of the superlift mast 2, i.e. the top of the superlift mast 2. The first connecting piece 401, which bypasses the first pulley 3, connects the boom head 101 of the lifting arm 1 to the top of the superlift mast 2. The second connecting piece 402 connects the boom tail 102 of the lifting arm 1 to the top of the superlift mast 2. Both the first connecting piece 401 and the second connecting piece 402 are connected to the first pulley 3. The pre-tensioning device 5 pulls the first pulley 3 along the first direction via the second connecting member 402, and then the first pulley 3 pulls the first connecting member 401 along the first direction, thereby further tensioning the first connecting member 401. That is, through the action of the pre-tensioning device 5, the tensioning of the first connecting member 401 and the second connecting member 402 is achieved simultaneously, ensuring that the mast 2 can provide tension in both the direction of the boom head 101 and the direction of the boom tail 102 during subsequent hoisting, thus ensuring hoisting performance. There is no need to set up additional pre-tensioning cylinders or other equipment to pre-tension the first connecting member 401, which simplifies the structure, reduces weight, and simplifies the control program.

[0100] Specifically, the super-lift mast 2 is provided with a first slide rail 202 extending in a first direction, the first pulley 3 has a pulley slider 301 that slides with the first slide rail, and the second connecting member 402 is connected to the pulley slider 301. In the above steps, the second connecting member 402 pulls the first pulley 3 to move in the first direction, which is achieved by the sliding of the pulley slider 301 on the first pulley 3 along the first slide rail 202 on the super-lift mast 2.

[0101] In this embodiment, before step S102 described above, the control method further includes:

[0102] Step S107: Obtain the current lifting conditions.

[0103] It should be noted that, depending on the different conditions at the construction site, different lifting conditions can be selected for the lifting boom 1. Under different lifting conditions, the boom length of the lifting boom 1 during operation will be different, that is, the extension length of the lifting boom 1 needs to be controlled differently.

[0104] Step S108: Based on the current lifting conditions, obtain the preset extension length of the lifting boom 1, and control the winch mechanism 6 to release the first connecting piece 401 of the preset length that matches it.

[0105] Different lifting conditions correspond to different extension lengths. The preset extension length is the required extension length of the boom 1 under the current lifting condition. Under this lifting condition, the boom 1 maintains this length throughout its operation. Different boom lengths require different lengths of the first connecting member 401. By setting the hoisting mechanism 6 to release the first connecting member 401 to the preset length, it can be ensured that the first connecting member 401 is always in the extended state.

[0106] Step S109: Control the latch structure 601 of the hoisting mechanism 6 to lock the length of the first connecting member 401 to a preset length.

[0107] It should be noted that once the lifting conditions are determined, the preset extension length of the boom 1 is a fixed value, and the preset length of the corresponding first connector 401 is a fixed value L. After the hoisting mechanism 6 releases the first connector 401 of the preset length and locks it through the latching structure 601, the length of the first connector 401 is always maintained at the preset length L, so as to ensure that a stable pulling force is provided to the super-lifting mast 2 during the lifting process, and a stable pulling force is provided to the boom 1 during the hoisting process when the position of the super-lifting mast 2 is fixed.

[0108] Specifically, the first connector 401 is a steel wire rope. When the flapping operation is required, the steel wire rope released by the winch mechanism 6 is first connected to the boom head 101, and the release length of the steel wire rope is locked to the preset length by the latch structure 601 to ensure the stability of the flapping process.

[0109] In this embodiment, in step S102 above, the boom 1 is extended according to the boom start signal, and two first connecting pieces 401 are pulled at the same time, so that the two super-lift masts 2 are pulled synchronously around the hinge point 201 where the super-lift masts 2 are hinged to the boom 1.

[0110] It should be noted that there are two super-lift masts 2, and each super-lift mast 2 is connected to a first connector 401. Both first connectors 401 are connected to the boom head 101 of the boom 1. By controlling the extension of the boom 1, the two first connectors 401 can be pulled at the same time, thereby pulling the two super-lift masts 2 to complete the boom lifting action synchronously. The synchronization is good, avoiding the situation of asynchronous control signals that exists in the traditional method of controlling two boom lifting cylinders separately.

[0111] In step S105 above, the pre-tensioning device 5 is controlled to operate so as to simultaneously tension the two second connecting pieces 402.

[0112] It should be noted that each of the two super-lift masts 2 is connected to a second connecting piece 402, and there is one pre-tensioning device 5. Both second connecting pieces 402 are connected to the pre-tensioning device 5. By controlling the action of the pre-tensioning device 5, the two second connecting pieces 402 can be tensioned simultaneously, with good synchronization.

[0113] In this embodiment, the step of fixing the super-lift mast 2 by the control limiting mechanism 8 includes:

[0114] The control drive unit 801 is activated, and the drive unit 801 drives the limit rod 805 to be inserted into the limit hole 203 to fix the relative position of the lifting mast 2 and the lifting arm 1.

[0115] It should be noted that the limiting mechanism 8 includes a drive unit 801 and a limiting rod 805 mounted on the lifting arm 1. A limiting hole 203 is provided on the lifting mast 2. By simply controlling the drive unit 801, the drive unit 801 can drive the limiting rod 805 to insert into the limiting hole 203. The control program for the drive unit 801 is simple and low in cost.

[0116] Specifically, when the rotary encoder detects that the lifting angle of the super-lift mast 2 is 90°, the limiting mechanism 8 installed at the front end of the basic arm receives the latch signal. The drive unit 801 pushes the connecting rods 802 hinged on both sides, causing the slider 803 to move in the super-lift direction on the second slide rail 804, pushing the limiting rod 805 into the limiting hole 203, so that the super-lift mast 2 remains in a vertical state.

[0117] In this embodiment, in step S105 above, the control drive unit 501 drives the moving assembly to move on the lifting arm 1 in a direction away from the super-lift mast 2. The moving assembly pulls the second connecting member 402 to move relative to the lifting arm 1 to tension the second connecting member 402.

[0118] It should be noted that the pretensioning device 5 includes a drive unit 501 and a moving component. The drive unit 501 is mounted on the lifting arm 1, and the moving component is movably connected to the lifting arm 1. A second connecting member 402 is connected to the moving component. By controlling the operation of the drive unit 501, the drive unit 501 pushes the moving component to move away from the super-lift mast 2, thereby pulling the second connecting member 402 and achieving tensioning of the second connecting member 402. Tensioning of the second connecting member 402 can be achieved simply by controlling the operation of the drive unit 501, which pushes the moving component. Furthermore, the first connecting member can be tensioned by pulling the first pulley 3 through the second connecting member 402. Therefore, the control procedure for the entire tensioning process is simple and easy to operate.

[0119] Specifically, the drive unit 501 is a hydraulic cylinder. The control system controls the hydraulic system to supply hydraulic oil to the hydraulic cylinder, and the extension rod of the hydraulic cylinder extends, thereby pushing the moving component to move away from the lifting mast 2.

[0120] According to an embodiment of the present invention, in another aspect, a control device for an over-start device is also provided, which is used to implement the above embodiments and preferred embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0121] like Figure 17 As shown, the control device for the super-lift device includes:

[0122] The first acquisition module 1001 is used to acquire the amplitude signal of the super-lift mast 2;

[0123] The first processing module 1002 is used to control the extension of the boom 1 according to the boom extension signal, so as to pull the super lift mast 2 to rotate around the hinge point 201 where the super lift mast 2 is hinged to the boom 1 through the first connector 401.

[0124] The second acquisition module 1003 is used to acquire the starting angle of the super-lift mast 2;

[0125] The second processing module 1004 is used to control the crane arm 1 to stop extending when the lifting angle is equal to the preset lifting angle, and to control the limiting mechanism 8 to fix the super-lifting mast 2 so as to keep the super-lifting mast 2 at the preset lifting angle.

[0126] The third processing module 1005 is used to control the operation of the pre-tensioning device 5 to tension the second connecting member 402.

[0127] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0128] In this embodiment, the control device of the super-starting device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0129] This invention also provides a computer device having the above-described features. Figure 17 The control device for the super-starting device shown.

[0130] Please see Figure 18 , Figure 18 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 18As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 18 Take a processor 10 as an example.

[0131] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0132] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0133] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0134] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0135] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 18 Taking the example of a connection between China and Israel via a bus.

[0136] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0137] The computer device also includes a communication interface for communicating with other devices or communication networks.

[0138] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0139] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control method for a crane, characterized in that, The crane includes a boom (1), a super-lift mast (2), a first connector (401), a pre-tensioning device (5), a second connector (402), and a limiting mechanism (8). The first connector (401) is connected between the super-lift mast (2) and the boom head (101) of the boom (1). The pre-tensioning device (5) is located at the boom tail (102) of the boom (1). The second connector (402) is connected between the super-lift mast (2) and the pre-tensioning device (5). The free end of the super-lift mast (2) is provided with a first pulley (3) that can move relative to the super-lift mast (2). The first connector (401) is wound around the first pulley (3), and the second connector (402) is connected to the first pulley (3). The control method of the crane includes the following steps: Obtain the amplitude signal of the super-lift mast (2); The boom (1) is extended according to the start signal, so as to pull the super-lift mast (2) to rotate about the hinge point (201) where the super-lift mast (2) is hinged to the boom (1) through the first connector (401); Obtain the starting angle of the super-lift mast (2); When the lifting angle is equal to the preset lifting angle, the lifting arm (1) is controlled to stop extending, and the limiting mechanism (8) is controlled to fix the super-lifting mast (2) so as to keep the super-lifting mast (2) at the preset lifting angle. Control the pre-tightening device (5) to operate, so as to tighten the second connecting member (402); The second connector (402) pulls the first pulley (3) to move relative to the super-lift mast (2) in a first direction to tension the first connector (401). The crane also includes a limiting part (7), which is disposed on the lifting arm (1). When the angle between the super-lift mast (2) and the lifting arm (1) is a preset angle, the limiting part (7) abuts against the super-lift mast (2) to limit the further rotation of the super-lift mast (2).

2. The crane control method according to claim 1, characterized in that, The super-lift mast (2) is equipped with a winch mechanism (6), which releases the first connector (401). Prior to the step of controlling the extension of the boom (1) according to the boom extension signal, the control method further includes: Obtain the current lifting status; Based on the current lifting conditions, the preset extension length of the lifting boom (1) is obtained, and the hoisting mechanism (6) is controlled to release the first connecting piece (401) of a preset length that matches the preset extension length. Control the operation of the latch structure (601) of the hoisting mechanism (6) to lock the length of the first connector (401) to the preset length.

3. The crane control method according to claim 1, characterized in that, The number of superlift masts (2) is two, and each superlift mast (2) is connected to a first connector (401) and a second connector (402). The number of pretensioning devices (5) is one. In the step of controlling the extension of the boom (1) according to the boom extension signal to pull the super-lift mast (2) around the hinge point (201) where the super-lift mast (2) is hinged to the boom (1) according to the boom extension signal, the boom (1) is extended and the two first connectors (401) are pulled at the same time, so that the two super-lift masts (2) are pulled at the same time around the hinge point (201) where the super-lift mast (2) is hinged to the boom (1) according to the two first connectors (401); In the step of controlling the pre-tensioning device (5) to tension the second connector (402), the pre-tensioning device (5) is controlled to tension both second connectors (402) simultaneously.

4. The crane control method according to claim 1, characterized in that, The limiting mechanism (8) includes a drive unit (801) and a limiting rod (805) disposed on the lifting arm (1), and a limiting hole (203) is provided on the super-lift mast (2). The steps of the control limiting mechanism (8) to fix the super-lift mast (2) include: The drive unit (801) is controlled to operate, and the drive unit (801) drives the limiting rod (805) to be inserted into the limiting hole (203) to fix the relative position of the super-lift mast (2) and the lifting arm (1).

5. The crane control method according to claim 1, characterized in that, The pretensioning device (5) includes a drive unit (501) and a moving component. The drive unit (501) is disposed on the lifting arm (1), and the moving component is movably connected to the lifting arm (1). The second connecting member (402) is connected to the moving component. In the step of controlling the pretensioning device (5) to tension the second connector (402), the drive unit (501) is controlled to drive the moving assembly to move on the lifting arm (1) in a direction away from the superlift mast (2), and the moving assembly pulls the second connector (402) relative to the lifting arm (1) to tension the second connector (402).

6. A crane for executing the control method of the crane according to any one of claims 1 to 5, characterized in that, The crane includes a super-lifting device, the super-lifting device comprising: The lifting arm (1) has a head (101) at one end and a tail (102) at the other end, and the lifting arm (1) can extend and retract along its axial direction; A super-lifting mast (2), one end of which is hinged to the lifting arm (1) and the other end is a free end; The first connector (401) has a first end connected to the super-lift mast (2) and a second end connected to the boom head (101); The second connector (402) has a first end connected to the super-lift mast (2) and a second end connected to the boom tail (102); A limiting mechanism (8) is provided on the lifting arm (1). The limiting mechanism (8) has a limiting state that fixes the relative position of the super-lift mast (2) and the lifting arm (1) and an unlocking state that allows the super-lift mast (2) to rotate relative to the lifting arm (1). When the lifting angle of the super-lift mast (2) relative to the lifting arm (1) is a preset lifting angle, the limiting mechanism (8) switches from the unlocking state to the limiting state. A pretensioning device (5) is provided at the tail of the boom (102). The second connector (402) is connected to the pretensioning device (5). The pretensioning device (5) can pull the second connector (402) to move relative to the boom (1) to tension the second connector (402).

7. The crane according to claim 6, characterized in that, The free end of the super-lift mast (2) is provided with a first pulley (3) and a first slide rail (202) extending in a first direction. The first pulley (3) is provided with a pulley slider (301) that slides with the first slide rail (202). The first connector (401) passes around the first pulley (3). The second connector (402) is connected to the pulley slider (301). When tensioned, the second connector (402) pulls the first pulley (3) to move relative to the super-lift mast (2) to tension the first connector (401).

8. The crane according to claim 6, characterized in that, The super-lift mast (2) is provided with a limiting hole (203). The limiting mechanism (8) includes a drive unit (801) and a limiting rod (805). The drive unit (801) and the limiting rod (805) are disposed on the lifting arm (1). When the super-lift mast (2) is extended at a preset angle relative to the lifting arm (1), the drive unit (801) drives the limiting rod (805) to insert into the limiting hole (203) to fix the relative position of the super-lift mast (2) and the lifting arm (1).

9. The crane according to any one of claims 6 to 8, characterized in that, The pre-tightening device (5) includes: A movable component is movably connected to the boom (1), and the second connector (402) is connected to the movable component. A drive unit (501) is disposed on the lifting arm (1). The drive unit (501) drives the moving assembly to move on the lifting arm (1) to tension the second connecting member (402).

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