Power transmission control method of crane

Abstract

The invention relates to the technical field of power transmission control, in particular to a power transmission control method of a crane, which comprises the following steps: acquiring an image of a hoisted object and determining a hoisting mode; in the corresponding hoisting mode, whether the first hoisting process meets a preset standard or not is judged based on the complexity of force on a steel wire rope connected with the hoisted object; on the basis of the adjusted first hoisting process, whether the second hoisting process meets a preset standard or not is judged according to the deviation angle of the sling; based on the adjusted second hoisting process, whether a third hoisting process meets a preset standard or not is judged according to the vibration amplitude of the hoisted object; and under the condition that the first hoisting process, the second hoisting process and the third hoisting process meet the preset standard, whether the hoisting process of the crane meets the preset standard or not under the condition that wind resistance exists is judged based on the inclination angle of the hoisted object. The control accuracy and reliability of the hoisting process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission control, and in particular to a power transmission control method for a crane. Background Art

[0002] With the rapid development of electronic technology, computer technology, power electronics technology, and communication and network technology, the power transmission control system of cranes has achieved a transformation from traditional mechanical control to intelligent and automated control. Modern cranes widely use advanced control equipment such as PLC and variable frequency speed control devices, combined with a variety of transmission control methods and advanced control strategies such as fuzzy control and neural network control, to achieve precise control of motor speed and torque to meet different load characteristics and speed regulation requirements. The application of these technologies not only improves the operating efficiency and stability of cranes, but also enhances their safety and reliability, providing strong support for efficient operations under various complex working conditions.

[0003] Chinese Patent Publication No.: CN104002674B discloses a power transmission system, control method and single-engine truck crane, the system includes an engine and a speed adjustment component, a transmission mechanism and a hydraulic pump, characterized in that it also includes: a speed ratio adjustment mechanism, arranged between the transmission mechanism and the hydraulic pump, for adjusting the speed ratio from the engine to the hydraulic pump according to a speed ratio control signal; a controller, connected to the speed adjustment component, the electronic control unit of the engine and the speed ratio adjustment mechanism, for sending a speed control signal and a speed ratio control signal to the electronic control unit of the engine and the speed ratio adjustment mechanism respectively according to the speed adjustment signal of the speed adjustment component. Compared with the existing fixed speed ratio transmission mode, the invention can make the engine still work in a good economic area when the hydraulic pump is at a medium and high speed by adjusting the speed ratio, maintaining an appropriate engine load rate, so as to obtain better fuel economy.

[0004] It can be seen that the power transmission system, control method and single-engine truck crane have the following problems: Although the invention can achieve better fuel economy by adjusting the speed ratio so that the engine still operates in a good economic area when the hydraulic pump is running at medium and high speeds, and maintaining an appropriate engine load rate, the invention lacks monitoring of the adjustment process and cannot ensure whether the speed ratio adjustment meets the standard, making it difficult to ensure the accuracy and reliability of the engine load rate. Summary of the invention

[0005] To this end, the present invention provides a power transmission control method for a crane to overcome the problem in the prior art that there is a lack of monitoring of the power regulation process, thereby failing to ensure that the power transmission regulation process meets the standards and it is difficult to ensure the control accuracy and reliability of the lifting process.

[0006] To achieve the above object, the present invention provides a power transmission control method for a crane, comprising:

[0007] Determine the weight ratio of the hoisted object to the rated load by trial hoisting, and determine the hoisting mode based on the weight ratio, wherein the hoisting mode includes a first hoisting mode and a second hoisting mode;

[0008] In the corresponding hoisting mode, whether the first hoisting process meets the preset standard is determined based on the complexity of the force on the wire rope connected to the hoisted object, and the acceleration rate of the hoisted object or the hoisting height of the first hoisting process is adjusted based on the complexity difference under the condition that the first hoisting process does not meet the preset standard;

[0009] Based on the adjusted first hoisting process, determining whether the second hoisting process meets the preset standard according to the offset angle of the sling, and if the second hoisting process does not meet the preset standard, determining to adjust the preset speed or adjust the torque based on the offset angle difference;

[0010] Based on the adjusted second hoisting process, determining whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object, and adjusting the deceleration rate or the hoisting time of the second hoisting process based on the frequency difference if the third hoisting process does not meet the preset standard;

[0011] Under the condition that the first hoisting process, the second hoisting process and the third hoisting process meet the preset standard, determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object;

[0012] The operation route of the first hoisting mode is that after the hoisting object is hoisted to a preset height, the crane boom moves the hoisting object to a preset position at a constant speed with a preset torque based on the preset height and the slewing support as the origin, and the crane engine controls the hoisting object to decelerate and descend so as to place the hoisting object at the preset position;

[0013] The operation route of the second lifting mode is to use the slewing support as the origin. The crane arm lifts the hoisted object to a preset height with a preset torque, moves the hoisted object to a deceleration point at a preset speed, and the crane engine controls the hoisted object to decelerate and descend so as to place the hoisted object at a preset position.

[0014] Further, the process of determining the hoisting mode based on the weight ratio includes:

[0015] If the weight ratio is greater than a preset weight ratio, determining to adopt the first hoisting mode;

[0016] If the weight ratio is less than or equal to the preset weight ratio, it is determined to adopt the first lifting mode.

[0017] Furthermore, the process of determining whether the first hoisting process meets a preset standard based on the complexity includes:

[0018] If the complexity is greater than a preset complexity, the first hoisting process does not meet the preset standard;

[0019] If the complexity is less than or equal to the preset complexity, the first lifting process meets the preset standard.

[0020] Further, the process of adjusting the acceleration rate of the hoisted object based on the complexity difference includes:

[0021] Determine a first complexity comparison result in which the complexity difference is greater than a preset complexity difference;

[0022] Determining and adjusting the acceleration rate of the hoisted object based on the first complexity comparison result;

[0023] Among them, several adjustment methods are set for the acceleration rate of the hoisted object, and each adjustment method has a different adjustment range for the acceleration rate of the hoisted object.

[0024] Further, the process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes:

[0025] Determine a second complexity comparison result in which the complexity difference is less than or equal to a preset complexity difference;

[0026] Determining, based on the second complexity comparison result, to adjust the hoisting height of the first hoisting process;

[0027] Among them, several adjustment methods are set for the hoisting height, and each adjustment method has a different adjustment range for the hoisting height.

[0028] Further, the process of determining whether the second lifting process meets the preset standard based on the offset angle of the lifting rope includes:

[0029] If the offset angle of the sling is greater than a preset offset angle, it is determined that the second lifting process does not meet the preset standard;

[0030] If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second lifting process meets the preset standard.

[0031] Further, the process of determining and adjusting the preset rate based on the offset angle difference includes:

[0032] Determine a first angle comparison result in which the offset angle difference is less than or equal to a preset offset angle difference;

[0033] Determining to adjust the preset rate based on the first angle comparison result;

[0034] Among them, several adjustment methods are set for the preset rate, and each adjustment method has a different adjustment range for the preset rate.

[0035] Furthermore, the process of determining the adjustment torque based on the offset angle difference includes:

[0036] Determine a second angle comparison result in which the offset angle difference is greater than a preset offset angle difference;

[0037] determining to adjust the torque based on the second angle comparison result;

[0038] Among them, several adjustment methods are set for the torque, and each adjustment method has a different adjustment range for the torque.

[0039] Further, under the condition that the vibration amplitude of the hoisted object is greater than a preset vibration amplitude, it is determined that the third hoisting process does not meet the preset standard, and the deceleration rate is adjusted based on a first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference, and the hoisting time of the second hoisting process is adjusted based on a second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference.

[0040] Further, the process of determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object includes:

[0041] If the tilt angle is greater than a preset tilt angle, it is determined that the hoisting process of the crane does not meet the preset standard;

[0042] If the tilt angle is less than or equal to the preset tilt angle, it is determined that the hoisting process of the crane meets the preset standard.

[0043] Compared with the prior art, the beneficial effects of the present invention are: the present invention determines the lifting mode based on the acquired weight ratio, accurately divides the lifting routes according to different lifting modes, adopts the first lifting mode for the case of a large weight ratio, and adopts the second lifting mode for the case of a small weight ratio, thereby improving the lifting efficiency while ensuring the lifting stability; under the determined lifting mode, the lifting process is divided into three stages, the lifting characteristics of any stage are analyzed and determined whether they meet the standards, and adjustment parameters are determined based on each difference under the condition that the lifting process is determined not to meet the standards, so as to accurately adjust and improve the accuracy of power transmission control, and under the condition that the lifting process meets the standards, it is determined whether the lifting process meets the standards based on the inclination angle of the hoisted object under the condition that there is wind resistance, thereby improving the accuracy of the power transmission adjustment process and improving the control accuracy and reliability of the lifting process.

[0044] Furthermore, the present invention determines whether the first lifting process meets the preset standards based on the complexity of the force on the wire rope connected to the hoisted object. The faster the fluctuation frequency of the force on the wire rope, the more unstable the lifting process is, and the more likely it is to cause danger. The present invention characterizes the complexity of the force by monitoring the fluctuation frequency of the force, so as to adjust the acceleration rate or the lifting height in time when potential danger may exist to avoid danger, thereby improving the accuracy of the power transmission adjustment process, improving the safety of the lifting process, and further improving the control accuracy and reliability of the lifting process.

[0045] Furthermore, the present invention determines whether the second lifting process meets the preset standards based on the offset angle of the sling. The second lifting process is a process of moving at a preset height at a uniform speed, and there is inertia in the horizontal direction. The offset angle of the sling characterizes the stability of the hoisted object during the lifting process. The larger the offset angle, the more unstable the hoisted object is, and it is prone to danger. The preset rate or torque is adjusted based on the difference in the offset angle, thereby improving the accuracy of the power transmission adjustment process, improving the safety of the lifting process, and further improving the control accuracy and reliability of the lifting process.

[0046] Furthermore, the present invention determines whether the third hoisting process meets the preset standards based on the vibration amplitude of the hoisted object. The third hoisting process is a descending process. Due to the effect of gravity during the descending process, if the descending speed is too fast, it will cause the hoisted object to shake. The deceleration rate or the hoisting time of the second hoisting process is determined based on the vibration amplitude difference, thereby improving the accuracy of the power transmission adjustment process, improving the safety of the hoisting process, and further improving the control accuracy and reliability of the hoisting process.

[0047] Furthermore, the present invention takes into account the influence of wind resistance when the hoisting process meets the standards. Under the condition of large wind resistance, it determines whether the hoisting process meets the preset standards based on the inclination angle of the hoisted object. The greater the wind resistance, the greater the impact on the hoisting process and the more likely it is to cause danger. When the wind resistance exceeds a certain value, the operation must be stopped in time to avoid danger, thereby improving the control accuracy and reliability of the hoisting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flow chart of a power transmission control method for a crane according to an embodiment of the present invention;

[0049] Figure 2 A flowchart of an embodiment of the present invention for determining whether a first hoisting process meets a preset standard;

[0050] Figure 3 A flowchart of an embodiment of the present invention for determining whether the second hoisting process meets a preset standard;

[0051] Figure 4 The present invention is a flowchart of an embodiment of the present invention for determining whether a hoisting process of a crane meets a preset standard. DETAILED DESCRIPTION

[0052] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0054] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0055] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] See also Figure 1 As shown, it is a flow chart of the power transmission control method of the crane according to an embodiment of the present invention.

[0057] An embodiment of the present invention provides a power transmission control method for a crane, which is characterized by comprising:

[0058] Step S1, determining the weight ratio of the hoisted object to the rated load by trial hoisting, and determining a hoisting mode based on the weight ratio, wherein the hoisting mode includes a first hoisting mode and a second hoisting mode;

[0059] Step S2, in a corresponding hoisting mode, determining whether the first hoisting process meets a preset standard based on the complexity of the force on the wire rope connected to the hoisted object, and adjusting the acceleration rate of the hoisted object or the hoisting height of the first hoisting process based on the complexity difference under the condition that the first hoisting process does not meet the preset standard;

[0060] Step S3, based on the adjusted first hoisting process, judging whether the second hoisting process meets the preset standard according to the offset angle of the sling, and if the second hoisting process does not meet the preset standard, judging to adjust the preset speed or adjust the torque based on the offset angle difference;

[0061] Step S4, based on the adjusted second hoisting process, judging whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object, and if the third hoisting process does not meet the preset standard, judging and adjusting the deceleration rate based on the vibration amplitude difference, or adjusting the hoisting time of the second hoisting process;

[0062] Step S5, under the condition that the first hoisting process, the second hoisting process and the third hoisting process meet the preset standard, determine whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object.

[0063] Specifically, the operation route of the first hoisting mode is that after the hoisting object is hoisted to a preset height, the crane boom moves the hoisting object to above a preset position at a uniform speed with a preset torque based on the preset height and the slewing support as the origin, and the crane engine controls the hoisting object to decelerate and descend so as to place the hoisting object at the preset position;

[0064] The operation route of the second lifting mode is to use the slewing support as the origin. The crane arm lifts the hoisted object to a preset height with a preset torque, moves the hoisted object to a deceleration point at a preset speed, and the crane engine controls the hoisted object to decelerate and descend so as to place the hoisted object at a preset position.

[0065] Specifically, the preset height and preset speed under different lifting modes are determined according to actual construction requirements and are not specifically limited.

[0066] Specifically, the present invention determines the lifting mode based on the acquired weight ratio, accurately divides the lifting routes according to different lifting modes, adopts the first lifting mode for the case of a large weight ratio, and adopts the second lifting mode for the case of a small weight ratio, thereby improving the lifting efficiency while ensuring the lifting stability; under the determined lifting mode, the lifting process is divided into three stages, and the lifting characteristics of any stage are analyzed to determine whether they meet the standards. Under the condition that the lifting process is determined to be non-compliant with the standards, adjustment parameters are determined based on each difference, so as to accurately perform adjustments, thereby improving the accuracy of power transmission control, and under the condition that the lifting process meets the standards, it is determined whether the lifting process meets the standards based on the inclination angle of the hoisted object under the condition that there is wind resistance, thereby improving the accuracy of the power transmission adjustment process and improving the control accuracy and reliability of the lifting process.

[0067] Specifically, the process of determining the lifting mode based on the weight ratio includes:

[0068] If the weight ratio is greater than 80% of the preset weight ratio, determining to adopt the first hoisting mode;

[0069] If the weight ratio is less than or equal to 80% of the preset weight ratio, it is determined to adopt the first hoisting mode.

[0070] Specifically, in order to address the problem that the lifting process of heavy objects is unstable and prone to shaking, which poses potential risks to the crane, more precise lifting routes are divided to ensure the stability of heavy objects during the lifting process, thereby ensuring the safety of the lifting.

[0071] See also Figure 2 As shown, it is a flow chart of an embodiment of the present invention for determining whether the first hoisting process meets the preset standard.

[0072] Specifically, the process of determining whether the first hoisting process meets the preset standard based on the complexity includes:

[0073] If the complexity is greater than a preset complexity of 10, then the first hoisting process does not meet the preset standard;

[0074] If the complexity is less than or equal to the preset complexity of 10, the first lifting process meets the preset standard.

[0075] Specifically, the complexity is determined as follows: the fluctuation frequency of the force on each wire rope is plotted into a fluctuation curve, and compared with the standard fluctuation curve, the difference between the fluctuation peak value and the peak value of the standard fluctuation curve and the frequency difference are determined, and the complexity is determined based on the product of the peak difference and the weight coefficient, and the sum of the product of the frequency peak value and the weight coefficient, wherein the force on the wire rope only records the force along the direction of the wire rope, and the standard fluctuation curve is a fluctuation curve of the force on the wire rope during the first lifting process when the wind resistance is within the allowable range and the vibration amplitude of the lifting object is less than 1% of the hook.

[0076] Specifically, the process of adjusting the acceleration rate of the hoisted object based on the complexity difference includes:

[0077] Determine a first complexity comparison result in which the complexity difference is greater than a preset complexity difference 3;

[0078] Determining and adjusting the acceleration rate of the hoisted object based on the first complexity comparison result;

[0079] Among them, several adjustment methods are set for the acceleration rate of the hoisted object, and each adjustment method has a different adjustment range for the acceleration rate of the hoisted object.

[0080] Specifically, the difference between the complexity difference and the preset complexity difference is recorded as a first complexity difference;

[0081] If the first complexity difference is less than or equal to the preset first complexity difference 1, a first acceleration rate correction coefficient of 0.95 is selected to correct the acceleration rate;

[0082] If the first complexity difference is greater than a preset first complexity difference of 1, a first acceleration rate correction coefficient of 0.9 is selected to correct the acceleration rate.

[0083] Specifically, the process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes:

[0084] Determine a second complexity comparison result in which the complexity difference is less than or equal to a preset complexity difference value 3;

[0085] Determining, based on the second complexity comparison result, to adjust the hoisting height of the first hoisting process;

[0086] Among them, several adjustment methods are set for the hoisting height, and each adjustment method has a different adjustment range for the hoisting height.

[0087] Specifically, the difference between the preset complexity difference and the complexity difference is recorded as the second complexity difference;

[0088] If the second complexity difference is less than or equal to the preset second complexity difference of 0.8, the first hoisting height correction coefficient of 0.98 is selected to correct the hoisting height;

[0089] If the second complexity difference is greater than a preset second complexity difference of 0.8, a second hoisting height correction coefficient of 0.93 is selected to correct the hoisting height.

[0090] Specifically, the present invention determines whether the first lifting process meets the preset standards based on the complexity of the force on the wire rope connected to the lifting object. The first lifting process is an ascending process. The faster the fluctuation frequency of the force on the wire rope, the more unstable the lifting process is, and the more likely it is to cause danger. The present invention characterizes the complexity of the force by monitoring the fluctuation frequency of the force, so as to timely adjust the acceleration rate or the lifting height when there may be potential danger. The greater the acceleration rate, the more difficult it is to ensure the stability of the lifting object, and the higher the lifting height, the more easily the stability of the lifting object is affected. Reducing the acceleration rate or making slight adjustments within the allowable range of the lifting height can increase the stability of the lifting object.

[0091] See also Figure 3 As shown, it is a flow chart of an embodiment of the present invention for determining whether the second hoisting process meets the preset standard.

[0092] Specifically, the process of determining whether the second lifting process meets the preset standard based on the offset angle of the sling includes:

[0093] If the offset angle of the sling is greater than a preset offset angle, it is determined that the second lifting process does not meet the preset standard;

[0094] If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second lifting process meets the preset standard.

[0095] Specifically, the preset offset angle is determined according to the model and maximum load of the crane, and is not specifically limited.

[0096] Specifically, the process of determining and adjusting the preset rate based on the offset angle difference includes:

[0097] Determine a first angle comparison result in which the offset angle difference is less than or equal to a preset offset angle difference of 20°;

[0098] Determining to adjust the preset rate based on the first angle comparison result;

[0099] Among them, several adjustment methods are set for the preset rate, and each adjustment method has a different adjustment range for the preset rate.

[0100] Specifically, a first difference percentage between the offset angle difference and a preset offset angle difference is calculated;

[0101] If the first difference percentage is greater than the preset first difference percentage of 10%, it is determined that the preset rate is adjusted by using the first preset rate adjustment coefficient of 0.85;

[0102] If the first difference percentage is less than or equal to the preset first difference percentage of 10%, it is determined that the preset rate is adjusted by using the second preset rate adjustment coefficient of 0.9;

[0103] Specifically, the process of determining the adjustment torque based on the offset angle difference includes:

[0104] Determine a second angle comparison result in which the offset angle difference is greater than a preset offset angle difference;

[0105] determining to adjust the torque based on the second angle comparison result;

[0106] Among them, several adjustment methods are set for the torque, and each adjustment method has a different adjustment range for the torque.

[0107] Specifically, calculating a second difference percentage between the preset offset angle difference and the offset angle difference;

[0108] If the second difference percentage is greater than the preset second difference percentage of 15%, it is determined that the torque is adjusted by using the first preset torque adjustment coefficient of 0.88;

[0109] If the second difference percentage is less than or equal to the preset second difference percentage of 15%, it is determined that the torque is adjusted by using a second preset torque adjustment coefficient of 0.9;

[0110] Specifically, the present invention determines whether the second lifting process meets the preset standard based on the offset angle of the sling. The second lifting process is a process of moving at a preset height at a uniform speed, and there is inertia in the horizontal direction. The offset angle of the sling characterizes the stability of the hoisted object during the lifting process. The larger the offset angle, the more unstable the hoisted object is, and it is prone to danger. The preset rate or torque is adjusted based on the difference in the offset angle. The larger the preset rate and the greater the torque, the more difficult it is to maintain the stability of the hoisted object. The preset rate and torque are appropriately reduced to ensure the stability of the hoisted object.

[0111] Specifically, under the condition that the vibration amplitude of the hoisted object is greater than the preset vibration amplitude, it is determined that the third hoisting process does not meet the preset standard, and the deceleration rate is adjusted based on the first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference of 10 cm, and the hoisting time of the second hoisting process is adjusted based on the second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference of 10 cm.

[0112] Specifically, the preset vibration amplitude is determined according to the actual height of the hook, and is required to be less than 1% of the height of the hook, without specific limitation.

[0113] Specifically, calculating a first amplitude difference percentage between the vibration amplitude difference and the preset vibration amplitude difference;

[0114] If the first amplitude difference percentage is greater than the preset first amplitude difference percentage of 5%, it is determined that the first deceleration rate adjustment coefficient of 0.92 is used to adjust the deceleration rate;

[0115] If the first amplitude difference percentage is less than or equal to the preset first amplitude difference percentage of 5%, it is determined that the second deceleration rate adjustment coefficient of 0.93 is used to adjust the deceleration rate;

[0116] Specifically, calculating a second amplitude difference percentage between the preset vibration amplitude difference and the vibration amplitude difference;

[0117] If the second amplitude difference percentage is greater than the preset second amplitude difference percentage of 8%, it is determined that the first hoisting time adjustment coefficient of 0.95 is used to adjust the hoisting time;

[0118] If the second amplitude difference percentage is less than or equal to the preset second amplitude difference percentage of 8%, it is determined to use the second hoisting time adjustment coefficient of 0.98 to adjust the hoisting time.

[0119] Specifically, the present invention determines whether the third hoisting process meets the preset standards based on the vibration amplitude of the hoisted object. The third hoisting process is a descending process. Due to the effect of gravity during the descending process, if the descending speed is too fast, it will cause the hoisted object to shake. The deceleration rate or the hoisting time of the second hoisting process is determined based on the vibration amplitude difference. Appropriately reducing the deceleration rate or appropriately reducing the hoisting time of the second hoisting process helps to keep the hoisted object stable.

[0120] See also Figure 4 As shown, it is a flow chart of an embodiment of the present invention for determining whether the hoisting process of a crane meets the preset standard.

[0121] Specifically, the process of determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object includes:

[0122] If the tilt angle is greater than a preset tilt angle, it is determined that the hoisting process of the crane does not meet the preset standard;

[0123] If the tilt angle is less than or equal to the preset tilt angle, it is determined that the hoisting process of the crane meets the preset standard.

[0124] Specifically, the preset tilt angle is determined according to the model of the crane and the size and weight of the hoisted object, and is not specifically limited.

[0125] Specifically, the present invention takes into account the influence of wind resistance when the hoisting process meets the standards. Under the condition of large wind resistance, it determines whether the hoisting process meets the preset standards based on the inclination angle of the hoisted object. The greater the wind resistance, the greater the impact on the hoisting process, and the more likely it is to cause danger. When the wind resistance exceeds a certain value, the operation must be stopped in time to avoid danger.

[0126] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A power transmission control method for a crane, characterized in that: include: Determine the weight ratio of the hoisted object to the rated load by trial hoisting, and determine the hoisting mode based on the weight ratio, wherein the hoisting mode includes a first hoisting mode and a second hoisting mode; In the corresponding hoisting mode, whether the first hoisting process meets the preset standard is determined based on the complexity of the force on the wire rope connected to the hoisted object, and the acceleration rate of the hoisted object or the hoisting height of the first hoisting process is adjusted based on the complexity difference under the condition that the first hoisting process does not meet the preset standard; Based on the adjusted first hoisting process, determining whether the second hoisting process meets the preset standard according to the offset angle of the sling, and if the second hoisting process does not meet the preset standard, determining to adjust the preset speed or adjust the torque based on the offset angle difference; Based on the adjusted second hoisting process, determining whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object, and adjusting the deceleration rate or the hoisting time of the second hoisting process based on the frequency difference if the third hoisting process does not meet the preset standard; Under the condition that the first hoisting process, the second hoisting process and the third hoisting process meet the preset standard, determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object; The operation route of the first hoisting mode is that after the hoisting object is hoisted to a preset height, the crane boom moves the hoisting object to a preset position at a constant speed with a preset torque based on the preset height and the slewing support as the origin, and the crane engine controls the hoisting object to decelerate and descend so as to place the hoisting object at the preset position; The operation route of the second lifting mode is to use the slewing support as the origin. The crane arm lifts the hoisted object to a preset height with a preset torque, moves the hoisted object to a deceleration point at a preset speed, and the crane engine controls the hoisted object to decelerate and descend so as to place the hoisted object at a preset position.

2. The power transmission control method of a crane according to claim 1, characterized in that: The process of determining the lifting mode based on the weight ratio includes: If the weight ratio is greater than a preset weight ratio, determining to adopt the first hoisting mode; If the weight ratio is less than or equal to the preset weight ratio, it is determined to adopt the first lifting mode.

3. The power transmission control method of a crane according to claim 2, characterized in that: The process of determining whether the first hoisting process meets the preset standard based on the complexity includes: If the complexity is greater than a preset complexity, the first hoisting process does not meet the preset standard; If the complexity is less than or equal to the preset complexity, the first lifting process meets the preset standard.

4. The power transmission control method of a crane according to claim 3, characterized in that: The process of adjusting the acceleration rate of the hoisted object based on the complexity difference includes: Determine a first complexity comparison result in which the complexity difference is greater than a preset complexity difference; Determining and adjusting the acceleration rate of the hoisted object based on the first complexity comparison result; Among them, several adjustment methods are set for the acceleration rate of the hoisted object, and each adjustment method has a different adjustment range for the acceleration rate of the hoisted object.

5. The power transmission control method of a crane according to claim 3, characterized in that: The process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes: Determine a second complexity comparison result in which the complexity difference is less than or equal to a preset complexity difference; Determining, based on the second complexity comparison result, to adjust the hoisting height of the first hoisting process; Among them, several adjustment methods are set for the hoisting height, and each adjustment method has a different adjustment range for the hoisting height.

6. The power transmission control method of a crane according to claim 5, characterized in that: The process of determining whether the second lifting process meets the preset standard based on the offset angle of the sling includes: If the offset angle of the sling is greater than a preset offset angle, it is determined that the second lifting process does not meet the preset standard; If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second lifting process meets the preset standard.

7. The power transmission control method of a crane according to claim 6, characterized in that: The process of adjusting the preset rate based on the deviation angle difference includes: Determine a first angle comparison result in which the offset angle difference is less than or equal to a preset offset angle difference; Determining to adjust the preset rate based on the first angle comparison result; Among them, several adjustment methods are set for the preset rate, and each adjustment method has a different adjustment range for the preset rate.

8. The power transmission control method of a crane according to claim 6, characterized in that: The process of determining the adjustment torque based on the offset angle difference includes: Determine a second angle comparison result in which the offset angle difference is greater than a preset offset angle difference; Determining to adjust the torque based on the second angle comparison result; Among them, several adjustment methods are set for the torque, and each adjustment method has a different adjustment range for the torque.

9. The power transmission control method of a crane according to claim 8, characterized in that: Under the condition that the vibration amplitude of the hoisted object is greater than the preset vibration amplitude, it is determined that the third hoisting process does not meet the preset standard, and the deceleration rate is adjusted based on the first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference, and the hoisting time of the second hoisting process is adjusted based on the second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference.

10. The power transmission control method of a crane according to claim 9, characterized in that: The process of determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object includes: If the tilt angle is greater than a preset tilt angle, it is determined that the hoisting process of the crane does not meet the preset standard; If the tilt angle is less than or equal to the preset tilt angle, it is determined that the hoisting process of the crane meets the preset standard.

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