Crane and its control method

Abstract

The present application relates to the field of lifting equipment, and in particular to a crane and a method for controlling the same. The crane comprises: a body comprising a chassis and a turntable rotatably disposed on the chassis; a superlift device comprising a superlift jib, a suspension pulling member, and a balancing mechanism, wherein the balancing mechanism comprises a superlift counterweight and a pushing device, wherein a first end of both the superlift jib and the pushing device is connected to the turntable, the suspension pulling member is connected to a second end of the superlift jib and the superlift counterweight, and the second end of the pushing device is connected to the superlift counterweight to adjust the distance between the superlift counterweight and the center of rotation of the turntable; and a hovering device configured to support the superlift counterweight above the ground when the crane is in a no-load state, wherein a first end of the hovering device is connected to the turntable and a second end of the hovering device is not connected to the superlift jib. Based on this, the crane's rotation and travel functions can be implemented more conveniently in an unloaded state while transporting the superlift counterweight.

Description

Technology Field

[0001] This application is based on Chinese application No. 202110465902.2 filed on April 28, 2021, and claims priority thereto, and the entirety of said application is incorporated by reference.

[0002] This application relates to the field of lifting equipment, and in particular to a crane and a method for controlling the same. Background Technology

[0003] Some cranes are equipped with a super-lift jib to enhance the force applied to the boom. In addition, when equipped with a super-lift jib, a super-lift counterweight and a pushing device are typically provided for the super-lift jib. During the process of lifting heavy objects with such a crane, the super-lift counterweight is lifted off the ground, and the distance from the slewing center of the turntable changes according to the operation of the pushing device to obtain different stabilization moments to increase the stability of the entire vehicle and prevent overturning.

[0004] In a no-load state (i.e., when the crane is not lifting a heavy object), if the superlift counterweight is not lifted off the ground, the crane cannot rotate or travel. Therefore, in order to enable the crane to rotate or travel in a no-load state while transporting the superlift counterweight, the relevant technology is equipped with a hovering device under the superlift jib, and both ends of the hovering device are connected to a turntable and the superlift jib, respectively, to transport the weight of the superlift counterweight in a no-load state, so that the superlift counterweight is lifted off the ground and rotates and travels in a no-load state while transporting the superlift counterweight.

[0005] Although the hovering device in the aforementioned related technology can meet rotation and driving requirements in an unloaded state while transporting a superlift counterweight, it has the problem that its structure is large and complex, it is prone to interference with the superlift jib and pushing device, and it is also very difficult to assemble and has low assembly efficiency. The problem to be solved

[0006] The present invention aims to provide a crane and a control method thereof that can more conveniently achieve rotation and travel functions of the crane in an unloaded state while having a superlift counterweight. means of solving the problem

[0007] To achieve the above objective, the present application provides a crane comprising the following:

[0008] A body comprising a chassis and a turntable, wherein the turntable is rotatably disposed on the chassis;

[0009] A superlift device comprising a superlift jib, a suspension pulling member, and a balancing mechanism, wherein the balancing mechanism comprises a superlift counterweight and a pushing device, and a first end of both the superlift jib and the pushing device is connected to the turntable, and the suspension pulling member is connected to a second end of the superlift jib and the superlift counterweight, and the second end of the pushing device is connected to the superlift counterweight to adjust the distance between the superlift counterweight and the slewing center of the turntable; and

[0010] A hovering device configured to support the superlift counterweight above the ground when the crane is in a no-load state, wherein the first end of the hovering device is connected to the turntable and the second end of the hovering device is not connected to the superlift jib.

[0011] In some embodiments, the second end of the hovering device is detachably coupled to the balancing mechanism.

[0012] In some embodiments, the second end of the hovering device is detachably connected to the balancing mechanism.

[0013] In some embodiments, a hook is provided at the second end of the hovering device, and the hovering device is detachably connected to the balancing mechanism through the hook.

[0014] In some embodiments, the balancing mechanism includes a lifting cylinder and a positioning shaft, the lifting cylinder is connected to a superlift counterweight and drives the superlift counterweight to rise and fall, and the positioning shaft is positioned in the lifting cylinder and fitted into the hook to provide a connection between the balancing mechanism and the hovering device.

[0015] In some embodiments, the opening of the hook faces upward.

[0016] In some embodiments, the hovering device further includes a support beam, a tray, a connecting rod, or a hovering cylinder.

[0017] In some embodiments, the first end of the hovering device is hinged to the turntable, or the first end of the hovering device is welded to the turntable.

[0018] In some embodiments, the crane comprises a first sensing device configured to detect a force applied to a suspension pulling member and a hovering device to determine the weight of a superlift counterweight; and / or the crane comprises a mast, a superlift pulling member, and a second sensing device, wherein a first end of the mast is connected to the turntable and a second end of the mast is connected to the superlift jib by the superlift pulling member, and the second sensing device is configured to detect a force on the superlift pulling member.

[0019] In some embodiments, the first sensing device includes a tension sensor, a pressure sensor, or an oil pressure sensor; and / or the second sensing device includes a tension sensor.

[0020] Based on the crane of the embodiment of the present application, the present application also provides a control method comprising the following:

[0021] A step of controlling the pushing device to reduce the distance between the superlift counterweight and the slewing center of the turntable to a preset value; and

[0022] A step of controlling the balancing mechanism to be coupled with the hovering device to support the superlift counterweight on the ground with the hovering device so that the crane can rotate or travel in a no-load state while transporting the superlift counterweight.

[0023] In some embodiments, the step of controlling the balancing mechanism to be coupled with the hovering device comprises the following:

[0024] A step of controlling the superlift counterweight to fall onto the hovering device; or

[0025] A step of connecting the second end of the hovering device to a balancing mechanism.

[0026] In some embodiments, the step of controlling the balancing mechanism to be coupled with the hovering device comprises the following:

[0027] A step of controlling the superlift counterweight to fall onto the tray of the hovering device; or

[0028] A step of controlling the positioning shaft of the balancing mechanism disposed in the lifting cylinder to fall onto the hook of the hovering device; or

[0029] A step of connecting the second end of the connecting rod or the second end of the hovering cylinder of the hovering device to the pushing device.

[0030] In some embodiments, the step of controlling the positioning shaft of the balancing mechanism disposed in the lifting cylinder to fall onto the hook of the hovering device comprises the following:

[0031] A step of controlling the lifting cylinder to lower the superlift counterweight so that the positioning shaft falls onto the hook and is inserted into the hook.

[0032] In some embodiments, in the step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3), the superlift counterweight (22) and the heavy object lifted by the crane (10) are controlled to descend alternately, wherein the first of two conditions is satisfied that the force F1 applied to the superlift pulling member (27) of the crane (10) reaches a maximum limit value Fmax or the load rate of the crane (10) reaches a maximum value, and the first of two conditions is satisfied that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, and the lowering of the lifted heavy object is completed until the balancing mechanism (2a) is coupled with the hovering device (3). The load rate of the crane (10) is the ratio of the actual load of the crane (10) to the rated load of the crane (10).

[0033] In some embodiments, in the step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the slewing center of the turntable (12) to a preset value, until the distance between the superlift counterweight (22) and the slewing center of the turntable (12) is reduced to a preset value, the operation of reducing the amplitude of the superlift counterweight (22) and the operation of lowering the weight are performed alternately, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is taken as the termination condition for each operation of lowering the weight, and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is taken as the superlift counterweight (22) Each operation that reduces the amplitude is used as a termination condition, and reducing the amplitude of the superlift counterweight (22) is to reduce the distance between the superlift counterweight (22) and the center of rotation of the turntable (12).

[0034] In some embodiments, a control method comprising the following:

[0035] A step of lifting the superlift counterweight (22) from the ground prior to the step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the slewing center of the turntable (12) to a preset value;

[0036] A control method wherein the step of lifting the superlift counterweight (22) from the ground is to control the superlift counterweight (22) and the lifting weight to be lifted to rise alternately until the superlift counterweight (22) is removed from the ground, and the first of two conditions is satisfied, either the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or the load rate reaches a maximum value, and the first of two conditions is satisfied, either the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, and the first of two conditions is satisfied, either the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, and the first of two conditions is satisfied, and the end of each operation of lifting the superlift counterweight is to be lifted.

[0037] In some embodiments, a control method comprising the following:

[0038] A step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the slewing center of the turntable (12) to a preset value, and a step of lifting the lifted heavy object from the ground after the step of lifting the superlift counterweight (22) from the ground;

[0039] The step of lifting the lifting object from the ground is to alternately perform the operation of increasing the amplitude of the superlift counterweight (22) and the operation of lifting the object until the lifting object is removed from the ground, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is set as the end condition for each operation of increasing the amplitude of the superlift counterweight (22), and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is set as the end condition for each operation of lifting the object, wherein increasing the amplitude of the superlift counterweight (22) is the distance between the superlift counterweight (22) and the slewing center of the turntable (12). It is to increase.

[0040] By providing the hovering device in which only the first end is connected to the turntable and the second end is separated from the superlift jib, not only is the suspension and stay of the superlift counterweight implemented in a no-load state, but the structure is simple and assembly efficiency is high, allowing the rotation and driving functions of the crane to be implemented more conveniently when the superlift counterweight is mounted.

[0041] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. Effects of the invention

[0042] According to the present invention, by providing a hovering device in which only the first end is connected to the turntable and the second end is separated from the superlift jib, not only is the suspension and stay of the superlift counterweight implemented in a no-load state, but the structure is simple and assembly efficiency is high, so the rotation and travel functions of the crane can be implemented more conveniently while the superlift counterweight is mounted. Brief explanation of the drawing

[0043] To more clearly explain the embodiments of the present application or technical solutions in the prior art, a brief introduction to the drawings used in describing the embodiments or prior art will be provided below. Clearly, the drawings described below are merely some embodiments of the present application, and those skilled in the art will be able to obtain other drawings based on these drawings without creative effort. Figure 1 is an overall structural diagram of a crane that is not equipped with a hovering device in the related technology. Figure 2 is a partial structural diagram of a crane equipped with a hovering device in the relevant technology. Figure 3 shows the installation process diagram of the crane hovering device illustrated in Figure 2. FIG. 4 is a structural diagram of a crane according to an embodiment of the present application. Figure 5 is a diagram showing the state when the superlift counterweight of the crane shown in Figure 4 is combined with a hovering device. Figure 6 is a structural diagram of the hovering device of Figure 4. Figure 7 shows a state diagram of a crane in which the positioning shaft has not yet been fitted into the hook. Figure 8 is an enlarged view of part I of Figure 7. Figure 9 shows the state diagram of the crane when the positioning shaft is inserted into the hook. Figure 10 is an enlarged view of part II of Figure 9. FIG. 11 is a first variation of the present application. FIG. 12 is a second variation of the present application. FIG. 13 shows a flowchart of a control method according to an embodiment of the present application. Specific details for implementing the invention

[0044] The technical solutions of the embodiments of this application will be described clearly and completely below, together with the drawings attached to the embodiments of this application. Clearly, the described embodiments are only some, not all, of the embodiments of this application. The following description of at least one exemplary embodiment is actually only illustrative and does not serve as any limitation to this application and its application or use. Based on the embodiments of this application, all other embodiments obtained by a person skilled in the art without creative work will fall within the scope of protection of this application.

[0045] Technologies, methods, and equipment known to a person skilled in the art in the relevant technical field may not be discussed in detail, but where appropriate, said technologies, methods, and equipment should be considered part of the specification.

[0046] It should be understood that in describing this application, the use of terms such as "first" and "second" to define parts and components is for convenience in distinguishing said parts and components. Unless otherwise specified, said terms do not have a special meaning and should not be interpreted as a limitation on the scope of protection of this application.

[0047] In describing this application, it is necessary to understand directional or positional relationships indicated by directional terms such as "forward," "rear," "upward," "downward," "left," "right," "side," "vertical," "perpendicular," and "horizontal." "Upward" and "downward" are generally determined by the directional or positional relationship of the crane when it is traveling normally; the crane's direction of travel is "forward," the crane's direction of reverse is "rear," and when facing "forward," the up, down, left, and right directions are up, down, left, and right.

[0048] In addition, the technical features accompanying the various embodiments of the present application described below may be combined with one another as long as they do not conflict with one another.

[0049] FIG. 1 shows the structure of some crane in the relevant technology. As shown in FIG. 1, the crane (10) includes a body (1) and a superlift device (2).

[0050] The body (1) includes a chassis (11), a turntable (12), a boom (13), a cleaver (16), a mast (14), a mast luffing device (17), and a turntable counterweight (15). The chassis (11) is configured to support and mount the engine and other components of the crane (1) and to enable the driving function of the entire vehicle. If the crane (10) is a crawler crane, the chassis (11) is a crawler chassis. The turntable (12) is rotatably positioned on the chassis (10) and drives the components mounted thereon to rotate. The turntable counterweight (15) is positioned on the turntable (12) and serves to balance the heavy load being lifted to prevent the crane (10) from overturning. The first end of the boom (13) (also called a jib or main boom) is connected to the turntable (12) so that the boom (13) can rotate under the drive of the turntable (12). The second end of the boom (13) is equipped with the cleaver (16) for lifting heavy objects to achieve the lifting function of the crane (10). The first end of the mast (14) is connected to the turntable (12) so that it rotates under the drive of the turntable (12). The second end of the mast (14) is connected to the turntable (12) through the mast luffing device (17) (e.g., a pulley block) so that the mast (14) can be luffed under the action of the mast luffing device (17).

[0051] The super-lift device (2) is positioned on the body (1) to improve lifting performance by improving the force applied to the parts and the stability of the entire machine. As illustrated in FIG. 1, the super-lift device (2) includes a super-lift jib (21), a balancing mechanism (2a), a suspension pulling member (26), and a super-lift pulling member (27). The balancing mechanism (2a) includes a super-lift counterweight (22) and a pushing device (23). A first end of the super-lift jib (21) is connected to the turntable (12) and rotates under the drive of the turntable (12). The second end of the superlift jib (21) is connected to the second end of the boom (13) on one hand through the superlift luffing device (18) (e.g., pulley block), to the second end of the mast (14) on the other hand through the superlift pulling member (27), and to the superlift counterweight (22) on the other hand through the suspension pulling member (26). The pushing device (23) has a first end connected to the turntable (12) and a second end connected to the superlift counterweight (22), and different stabilization moments are obtained by changing the amplitude of the superlift counterweight (22) (i.e., implementing the luffing of the superlift counterweight) by adjusting the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) (also called the moment radius or moment arm of the superlift counterweight (22)).

[0052] Referring to FIG. 4, the pushing device (23) has a structural form and includes a first pushing arm (231) and a second pushing arm (232). The second pushing arm (232) is connected to the turntable (12) through the first pushing arm (231), and the second pushing arm (232) is connected to the superlift counterweight (22). The second pushing arm (232) is hinge-connected to the first pushing arm (231), and generally, a pushing drive mechanism is connected between the second pushing arm (232) and the first pushing arm (231), and the pushing drive mechanism implements adjustment of the moment radius of the superlift counterweight (22) by changing the angle of the second pushing arm (232). The above pushing drive mechanism may include a pushing cylinder (not shown), and the pushing cylinder extends and retracts to change the angle of the second pushing arm (232) to implement amplitude adjustment of the superlift counterweight (22).

[0053] The superlift jib (21) is generally of a truss-type structure and is configured to increase the clamping angle between a pulling member, such as a pulling plate or a pulling cable, and the boom (13) in order to increase the force applied to the boom (13). This increases the carrying capacity of the boom (13) and improves the lifting performance of the crane (10).

[0054] The superlift counterweight (22) above forms a counterweight system of the entire vehicle together with the aforementioned turntable counterweight (15) and the vehicle body counterweight not shown, and maintains the balance of the hoist weight (i.e., the weight of the lifted object) by mainly using weight ballasts to achieve moment balance of the entire machine and maintain the safety of the entire machine.

[0055] The counterweight system generally matches the load lifted by the cleaver (16). Under working conditions, the product of the hoist weight and the amplitude of the boom (13) is the hoist moment under those working conditions. To achieve balance of the crane (10), it is necessary to add a counterweight system to the rear of the turntable (12) to balance the hoist moment. In a large tonnage train, the hoist moment is too large, so the hoist moment cannot be balanced solely by the counterbalance of the body counterweight and the turntable counterweight (15). Therefore, the superlift counterweight (22) is added, and the moment radius of the superlift counterweight (22) is adjusted by the pushing device (23) to provide different stabilization moments to achieve balance of the entire vehicle.

[0056] When the crane (10) performs a lifting operation, the superlift counterweight (22) is lifted from the ground, and in this case, the crane (10) can travel and rotate normally. However, when the crane (10) shown in FIG. 1 is not lifting a load (i.e., in a no-load state), the weight of the superlift counterweight (22) is forced to press down on the ground, and in this case, the crane (10) cannot travel or rotate. Therefore, in this case, the crane (10) cannot travel or rotate in a no-load state while transporting the superlift counterweight (22), and in order to achieve travel and rotation of the crane (10) in a no-load state, the superlift counterweight (22) must generally be completely removed, but this clearly limits the usability of the crane (10) and affects the work efficiency of the crane (10).

[0057] Considering the above situation, the crane (10) illustrated in FIG. 1 is improved in some related technology by adding a hovering device (3) to the crane (10). The hovering device (3) is configured to support the entire weight of the superlift counterweight (22) in a no-load state, thereby enabling the crane (10) to achieve driving and rotating functions in a no-load state while transporting the superlift counterweight (22).

[0058] FIG. 2 shows a partial structural diagram of a crane equipped with a hovering device in the relevant technology. For clarity, FIG. 2 shows only a part of the structure of the crane (10).

[0059] As illustrated in FIG. 2, the hovering device (3) in the crane (10) is a connecting frame connected to the rear of the mast (14) and the turntable (12), and both ends of the hovering device (3) are connected to the turntable (12) and the superlift jib (21), respectively. In this way, the hovering device (3) can withstand pressure, support the entire weight of the superlift counterweight (22) in an unloaded state, and release the force applied to the superlift jib (21) by the superlift counterweight (22).

[0060] Based on the above structure, on the one hand, when lifting a heavy object, the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) is increased by the pushing device (23) to obtain a larger stabilizing moment and balance the hoist moment, and on the other hand, in a no-load state, the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) is reduced by the pushing device (23) to prevent the crane (10) from tipping backward, and the superlift counterweight (22) is supported on the ground (4) by the hovering device (3) to keep the superlift counterweight (22) away from the ground, thereby allowing the crane (10) to travel and rotate in a no-load state while transporting the superlift counterweight (22).

[0061] As described above, based on the equipped hovering device (3), driving and rotation functions can be achieved in a no-load state while transporting the superlift counterweight (22). Since the superlift counterweight (22) does not need to be removed, it is more convenient to use and has less impact on work efficiency.

[0062] However, the aforementioned hovering device (3) has a large structure, is heavy, and is expensive. Additionally, the structure is relatively complex because the superlift pulling member (27) (e.g., a pulling plate) is positioned within the hovering device (3) between the mast (14) and the superlift jib (21). Furthermore, the aforementioned hovering device (3) creates a statically indeterminate structure on the upper part of the superlift jib (21), making force transmission complex. At the same time, the aforementioned hovering device (3) is prone to interfering with the superlift jib (21), the mast (14), and the pushing device (23) during movement, which affects the smoothness of operation and causes significant difficulties in design. Also, referring to FIG. 3, assembly efficiency is low because the hovering device (3) must first be mounted on the superlift jib (21) and then the superlift jib (21) must be lifted to the working position.

[0063] When using the aforementioned hovering device (3), it can be seen that there are problems such as a complex structure, high cost, low assembly efficiency, easy interference, and difficult design.

[0064] Considering the above situation, the present application improves the structure of the crane (10) so that rotation and driving functions can be achieved more conveniently in a no-load state while transporting the superlift counterweight.

[0065] FIGS. 4 to 12 illustrate the structure of a crane (10) in the present application.

[0066] Referring to FIGS. 4 through 12, in an embodiment of the present application, the crane (10) still includes a hovering device (3), and the first end of the hovering device (3) is still connected to a turntable (12), but the second end of the hovering device (3) is no longer connected to a superlift jib (21).

[0067] Since the aforementioned hovering device (3) can still support the superlift counterweight (22) on the ground (4) and carry the entire weight of the superlift counterweight (22) in a no-load state, the superlift counterweight (22) can be maintained away from the ground and the superlift counterweight (22) can be stopped and maintained at the rear of the turntable (12). In this way, all the weight of the superlift counterweight (22) is carried by the hovering device (3), the suspension pulling member (26) is in a relaxed state, the pulling force of the superlift jib (21) applied by the superlift counterweight (22) is released, and the entire vehicle reaches a balanced state again in a no-load state, so that the crane (10) can drive and rotate while carrying the superlift counterweight (22) without removing the superlift counterweight (22). Accordingly, the equipped hovering device (3) can still achieve the function of driving and rotating in a no-load state while transporting the superlift counterweight, which improves the ease of use of the crane (10).

[0068] In addition, the second end of the hovering device (3) is not connected to the superlift jib (21) but is always separated from the second end of the superlift jib (21), so the structure is simpler, and the hovering device (3) can be designed to be smaller and does not need to be too large, which helps reduce weight and cost. At the same time, the hovering device (3) does not make the top of the superlift jib (21) statically indeterminate, so power transmission is simplified. In addition, the hovering device (3) is unlikely to interfere with the superlift jib (21), mast (14), and pushing device (23) during movement, which helps improve work efficiency and reduce design difficulty. In addition, during installation, the hovering device (3) only needs to be connected to the turntable (12). For example, the first end of the hovering device (3) may be hinged to the turntable (12) by a number of pin shafts, or the first end of the hovering device (3) may be welded to the turntable (12). Then, since there is no need to implement the lifting operation of the superlift jib during the entire assembly process of the hovering device (3), the assembly efficiency is higher.

[0069] As described above, according to the above configuration, the rotation and driving functions in a no-load state while transporting the superlift counterweight in this embodiment can be achieved based on a simple structure and low cost, and since the assembly efficiency is higher, the rotation and driving functions of the crane (10) in a no-load state while transporting the superlift counterweight can be achieved more conveniently.

[0070] In an embodiment in which the hovering device (3) achieves the hovering function of the superlift counterweight, in some embodiments, the second end of the hovering device (3) is individually coupled to the balancing mechanism (2a), and when the second end of the hovering device (3) is coupled to the balancing mechanism (2a), the weight of the superlift counterweight (22) is entirely carried by the hovering device (3) and not by the superlift jib (21), so that the force applied to the superlift jib (21) by the superlift counterweight (22) disappears and the balance of the entire vehicle is achieved in a no-load state; And when the second end of the hovering device (3) is separated from the balancing mechanism (2a), the hovering device (3) does not support the superlift counterweight (22), and at this time, the superlift counterweight (22) separated from the hovering device (3) can change the distance from the center of rotation of the turntable (12) under the action of the pushing device (23), thereby conveniently providing different stabilization moments.

[0071] The detachable coupling between the second end of the hovering device (3) and the balancing mechanism (2a) can be achieved in a manner where they only come into contact with each other and have no connection, or in a manner where they are detachably connected.

[0072] For example, referring to FIG. 12, in some embodiments, the hovering device (3) includes a tray (34). A first end of the tray (34) is connected to the turntable (12), and a second end of the tray (34) is a free end. In this case, the connection between the second end of the hovering device (3) and the balancing mechanism (2a) is a connection that only contacts each other and has no connection relationship. In a no-load state, the superlift counterweight (22) can fall onto the tray (34) and be supported by the tray (34), so that the weight of the superlift counterweight (22) is completely pressed against the tray (34) and carried by the tray (34). When the load is lifted, the superlift counterweight (22) can conveniently move out of the tray (34) to provide the necessary stabilization moment for the entire vehicle.

[0073] As another example, referring to FIGS. 4 through 10, in some embodiments, a second end of the hovering device (3) is provided with a hook (32), and the hovering device (3) is detachably connected to a balancing mechanism (2a) by the hook (32). In this case, the connection between the second end of the hovering device (3) and the balancing mechanism (2a) is a connection based on a detachable connection relationship. In a no-load state, the balancing mechanism (2a) can be connected to the hook (32), so the entire weight of the superlift counterweight (22) is carried by the hovering device (3). When the load is lifted, the balancing mechanism (2a) can be conveniently separated from the hovering device (3) by releasing the hooking relationship between the balancing mechanism (2a) and the hook (32), so that the superlift counterweight (22) can conveniently detach from the hovering device (3) to provide the necessary stabilization moment for the entire vehicle.

[0074] Referring to FIGS. 7 through 10, the opening of the hook (32) may face upward. In this way, the balancing mechanism (2a) can be separated from the hook (32) and inserted into the hook (32) simply by raising and lowering the balancing mechanism (2a), making it simple and convenient.

[0075] As illustrated in FIGS. 7 through 10, in some embodiments, the balancing mechanism (2a) includes a lifting cylinder (24) and a positioning shaft (25). The lifting cylinder (24) is connected to the superlift counterweight (22) and drives the superlift counterweight (22) to rise and fall. The positioning shaft (25) is positioned on the lifting cylinder (24) and rises and falls together with the superlift counterweight (22) when the lifting cylinder (24) drives the superlift counterweight (22) to rise and fall. Accordingly, when the detachable connection between the hovering device (3) and the balancing mechanism (2a) is implemented based on the hook (32), the connection between the balancing mechanism (2a) and the hovering device (3) can be achieved by clamping the positioning shaft (25) to the hook (32). Additionally, when the opening of the hook (32) faces upward, the positioning shaft (25) can be conveniently inserted into the hook (32) or separated from the hook (32) during the lowering or raising process of the superlift counterweight (22) at a predetermined distance from the center of rotation, and since no other operation is required, the coupling and separation of the balancing mechanism (2a) and the hovering device (3) are achieved more efficiently.

[0076] Additionally, referring to FIG. 10, in some embodiments, the inner surface of the hook (32) (i.e., the surface for inserting the balancing mechanism (2a)) is an inclined surface, in which case the inclined surface has a slide way for a part of the balancing mechanism (2a) (e.g., a positioning shaft (25)) configured to be inserted into the hook (32). In this way, since a certain degree of comprehensiveness is provided regarding the precision of the position where the part of the balancing mechanism (2a) configured to be fitted into the hook (32) (e.g., positioning shaft (25)) enters the hooking point, even if the size of the superlift counterweight (22) (e.g., distance from the center of rotation)) deviates from a preset value, the part of the balancing mechanism (2a) configured to be fitted into the hook (32) (e.g., positioning shaft (25)) can still smoothly enter the hook (32) to achieve hovering of the superlift counterweight (22) on the hovering device (3). A specific degree of inclination can be designed according to the magnitude of the deviation of the amplitude of the superlift counterweight (22).

[0077] It should be understood that the part of the balancing mechanism (2a) configured to be coupled with the hovering device (3) is not limited to the positioning shaft (25) described above. For example, as shown in FIG. 12, if the hovering device (3) includes the tray (34), the part of the balancing mechanism (2a) configured to be coupled with the hovering device (3) is the superlift counterweight (22). Alternatively, the part of the balancing mechanism (2a) configured to be coupled with the hovering device (3) may be the pushing device (23). For example, referring to FIG. 11, in some embodiments, the hovering device (3) includes a connecting rod (33) or a hovering cylinder (not shown), a first end of the connecting rod (33) or the hovering cylinder is connected to the turntable (12), and a second end of the connecting rod (33) or the hovering cylinder is connected to the pushing device (23) (specifically, it may be a first pushing arm (231)), in which case the part of the balancing mechanism (2a) configured to be coupled with the hovering device (3) is the pushing device (23).

[0078] Additionally, as can be seen from the above description, the connection between the balancing mechanism (2a) and the hovering device (3) can be achieved by controlling the superlift counterweight (22) to fall onto the hovering device (3) (e.g., when the hovering device (3) includes the tray (34)), or by connecting the second end of the hovering device (3) to the balancing mechanism (2a) (e.g., when the hovering device (3) includes the hook (32) or the connecting rod (33).

[0079] The embodiments illustrated in FIGS. 4 to 12 are further described below.

[0080] An embodiment illustrated in FIGS. 4 to 10 will be described first.

[0081] As illustrated in FIGS. 4 to 10, in the first embodiment, the crane (10) is a crawler crane and includes a body (1), a super-lift device (2), and a hovering device (3).

[0082] As illustrated in FIG. 4, the body (1) includes a chassis (11), a turntable (12), a boom (13), a mast (14), and a mast luffing device (17). The turntable (12) is rotatably positioned on the chassis (11). A turntable counterweight (15) (omitted and not shown in FIG. 4 through 10) is positioned on the turntable (12). Both the first end of the boom (13) and the mast (14) are connected to the front of the turntable (12). A cleaver (16) (omitted and not shown in FIG. 4 through 10) is provided at the second end of the boom (13). The second end of the mast (14) is connected to the turntable (12) through the mast roughing device (17) (e.g., pulley block).

[0083] Referring to FIGS. 4, 8, and 10, it can be seen that the super-lift device (2) includes a super-lift jib (21), a balancing mechanism (2a), a suspension pulling member (26), and a super-lift pulling member (27). The balancing mechanism (2a) includes a super-lift counterweight (22), a pushing device (23), and a lifting cylinder (24). The pushing device (23) includes a first pushing arm (231), a second pushing arm (232), and a pushing cylinder (not shown in FIGS. 4 through 10). As shown in FIG. 4, the first end of the super-lift jib (21) is connected to the front of the turntable (12). The second end of the super lift jib (21) is connected to the second end of the boom (13) on one side through the super lift luffing device (18) (e.g., pulley block), to the second end of the mast (14) on the other side through the super lift pulling member (27), and to the super lift counterweight (22) on the other side through the suspension pulling member (26). The first pushing arm (231) is hinged to the rear part of the turntable (12) and is connected to the super lift counterweight (22) through the second pushing arm (232) which is hinged to the first pushing arm (231).The cylinder barrel and cylinder rod of the pushing cylinder are each connected to the first pushing arm (231) and the second pushing arm (232), respectively, so that when the pushing cylinder expands and contracts, the distance from the superlift counterweight (22) to the center of rotation of the turntable (12) changes, thereby changing the amplitude of the superlift counterweight (22). As illustrated in FIGS. 4, 8, and 10, the cylinder barrel of the lifting cylinder (24) is connected to the superlift counterweight (22), and the cylinder rod of the lifting cylinder (24) is connected to the second pushing arm (232), so that the pushing device (23) is connected to the superlift counterweight (22) through the lifting cylinder (24), and the lifting cylinder (24) is driven to move the superlift counterweight (22) up and down by extension and contraction, thereby enabling the adjustment of the ground clearance of the superlift counterweight (22). The cylinder barrel of the lifting cylinder (24) is equipped with a positioning shaft (25). When the lifting cylinder (24) is extended to drive the superlift counterweight (22) downward, the cylinder barrel of the lifting cylinder (24) is lowered and the positioning shaft (25) is lowered together.

[0084] As illustrated in FIGS. 4 and 6, the hovering device (3) is positioned below the pushing device (3) and includes a support beam (31) and a hook (32). A first end of the support beam (31) is connected to the rear portion of the turntable (12) through a hinge hole (311). A second end of the support beam (31) extends rearward from the turntable (12) to form a free end. The hook (32) is positioned at the second end of the support beam (31) to be connected to the aforementioned positioning shaft (25), thereby achieving a detachable connection between the hovering device (3) and the superlift structure (2a) to enable unloaded hovering of the superlift counterweight (22). An opening of the hook (32) faces upward, and the opening of the hook (32) has an incline.

[0085] FIGS. 4 and FIGS. 5 respectively show the state in which the superlift counterweight (22) is not hovered on the hovering device (3) and the state in which the superlift counterweight (22) is hovered on the hovering device (3). In the process of transitioning from FIG. 4 to FIG. 5, the amplitude of the superlift counterweight (22) can be adjusted by the pushing device (23), and the superlift counterweight (22) is moved to a position where its moment radius is equal to a preset value, so that the positioning shaft (25) is positioned approximately directly above the hook (32). Then, as shown in FIGS. 7 to 10, the lifting cylinder (24) is extended. Since the length of the suspension pulling member (26) is fixed, when the lifting cylinder (24) is extended, the cylinder barrel of the lifting cylinder (24) moves downward together, and the positioning shaft (25) located on the cylinder barrel of the lifting cylinder (24) moves down from a position above the hook (32) (see FIG. 8) to a position where it is inserted into the hook (32) (see FIG. 10). At this time, the hovering device (3) carries the entire weight of the superlift counterweight (22), the suspension pulling member (26) is relaxed and not subjected to stress, and the pulling force of the superlift jib (21) applied by the superlift counterweight (22) is released.

[0086] As described above, in this embodiment, the function of driving and rotating in an unloaded state while transporting the superlift counterweight can be achieved simply by adding the hovering device (3) to the rear part of the turntable (12). Since there is no need to change the structure of parts such as the superlift jib (21), the mast (14), the suspension pulling member (26), and the mast luffing device (17) or to connect the second end of the hovering device (3) to other parts during assembly, the structure is simple and inexpensive, and assembly and work efficiency are improved.

[0087] As illustrated in FIG. 6, in this embodiment, the support beam (31) is a truss-type structure, but it should be understood that the support beam (31) may be in other structural forms such as a box-type structure or a Type I structure.

[0088] Next, the second embodiment illustrated in FIG. 11 will be described.

[0089] As illustrated in FIG. 11, the second embodiment differs from the first embodiment described above primarily in that the structure of the hovering device (3) is different. Specifically, in the second embodiment, the hovering device (3) no longer includes the support beam (31) described above but includes a connecting rod (33). The first end of the connecting rod is connected to the rear portion of the turntable (12), and the second end of the connecting rod (33) is detachably connected to the first pushing arm (231). In this way, when hovering is not required, the second end of the connecting rod (33) remains separated from the first pushing arm (231), allowing the superlift counterweight (22) to normally provide a stabilization moment; And when hovering is required, by simply connecting the second end of the connecting rod (33) to the first pushing arm (231), the connecting rod (33) supports the entire weight of the superlift counterweight (22), thereby achieving a no-load hovering function.

[0090] Alternatively, the connecting rod (33) may be replaced with a hovering cylinder. The second end of the hovering cylinder is always connected to the first pushing arm (231), and by controlling the hovering cylinder to lock when hovering is required, the superlift counterweight (22) is supported by the hovering cylinder to achieve a no-load hovering function.

[0091] Next, the third embodiment illustrated in FIG. 12 will be described.

[0092] As illustrated in FIG. 12, in the third embodiment, the hovering device (3) does not include the support beam (31) and the hook (32) of the first embodiment, the connecting rod (33) or the hovering cylinder of the second embodiment, but includes a tray (34). The tray (34) is approximately L-shaped, the vertical portion is connected to the rear portion of the turntable (12) and extends downward from the turntable (12), and the horizontal portion extends horizontally backward from the vertical portion. When hovering is required, the amplitude of the superlift counterweight (22) is first reduced to a preset value under the drive of the pushing device (23), and the superlift counterweight (22) is lowered by the drive of the lifting cylinder (24) until it falls onto the horizontal portion of the tray (34), so that the weight of the superlift counterweight (22) is completely pressed against the tray (34) and completely transported by the tray, thereby achieving a no-load hovering function.

[0093] As can be seen from the above description, the crane (10) of the embodiments according to the present application can conveniently achieve the no-load hovering function of the superlift counterweight (22).

[0094] In the embodiments described above, the crane (10) further includes a detection device that detects the center of gravity of the entire vehicle, providing data support for the stability calculation of the entire machine, and can achieve a smooth operation process by easily controlling the execution of operations such as raising / lowering, luffing, and hovering of the heavy object and the superlift counterweight (22).

[0095] For example, in some embodiments, the crane (10) includes a first sensing device. The first sensing device determines the weight of the superlift counterweight (22) by detecting the force applied to the suspension pulling member (26) and the hovering device (3). Determining the weight of the superlift counterweight (22) based on the force detection results of the suspension pulling member (26) and the hovering device (3) allows for more accurate weight detection of the superlift counterweight (22) than determining the weight of the superlift counterweight (22) based solely on the force detection results of the hovering device (3). This is because the former prevents the accuracy of the weight detection result of the superlift counterweight (22) from being affected when the weight of the superlift counterweight (22) is not completely pressed against the hovering device (3) due to hovering errors. The first sensing device may include two sensors. The two sensors above correspond to the suspension pulling member (26) and the hovering device (3), respectively, and detect the force applied to the suspension pulling member (26) and the hovering device (3), respectively. The sensor that detects the force applied to the suspension pulling member (26) may be referred to as the first sensor. The first sensor may include a tension sensor or an oil pressure sensor. The tension sensor is positioned on the suspension pulling member (26) to directly detect the tension applied to the suspension pulling member (26). The oil pressure sensor is positioned on the lifting cylinder (24) to detect the oil pressure of the lifting cylinder (24) and indirectly detects the force applied to the suspension pulling member (26). The second sensor may include a pressure sensor. The pressure sensor is positioned on the hovering device (3) to directly detect the pressure applied to the hovering device (3).

[0096] As another example, in some embodiments, the crane (10) includes a second sensing device. The second sensing device detects a force applied to the superlift pulling member (27). The second sensing device may be placed on the superlift pulling member (27) and may include, in particular, a tension sensor.

[0097] Referring to FIG. 13, based on the crane (10) of the above embodiments, the present application also provides a control method comprising the following:

[0098] A step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the rotation center of the turntable (12) to a preset value; and

[0099] A step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3) to support the superlift counterweight (22) on the ground (24) with the hovering device (3) so that the crane (10) can rotate or travel in a no-load state while transporting the superlift counterweight (22).

[0100] The reduction of the preset value includes not only cases where the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) is exactly the same as the preset value, but also cases where the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) is not the same as the preset value but is outside the allowable range, thereby providing a failure tolerance rate for the amplitude change process of the superlift counterweight (22).

[0101] Controlling the balancing mechanism (2a) to be coupled with the hovering device (3) may involve controlling the superlift counterweight (22) to fall onto the hovering device (3). For example, in the embodiment illustrated in FIG. 12, coupling between the balancing mechanism (2a) and the hovering device (3) may be achieved by controlling the superlift counterweight (22) to fall onto the tray (34) of the hovering device (3). Alternatively, controlling the balancing mechanism (2a) to be coupled with the hovering device (3) may involve connecting a second end of the hovering device (3) to the balancing mechanism (2a). For example, in the embodiment illustrated in FIG. 11, coupling between the balancing mechanism (2a) and the hovering device (3) may be achieved by connecting a second end of the connecting rod (33) of the hovering device (3) to the pushing device (23). As another example, in the embodiment illustrated in FIGS. 4 to 10, the coupling between the balancing mechanism (2a) and the hovering device (3) can be achieved by controlling the positioning shaft (25) of the balancing mechanism (2a), which is positioned in the lifting cylinder (24), to fall into the hook (32) of the hovering device (3). Specifically, when controlling the positioning shaft (25) to fall into the hook (32), the lifting cylinder (24) controls the superlift counterweight (22) to drive downward so that the positioning shaft (25) falls into the hook (32) and is inserted into the hook (32).

[0102] Additionally, in the step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3), the lifting weight lifted by the superlift counterweight (22) and the crane (10) is controlled to descend alternately, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) of the crane (10) reaches a maximum limit value Fmax or that the load rate of the crane (10) reaches a maximum value—is set as the end condition for each descending process of the superlift counterweight (22), and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is set as the end condition for each descending process of the lifting weight lifted, and the lifting weight lifted completes its descent until the balancing mechanism (2a) is coupled with the hovering device (3). That is, in the process, the superlift counterweight (22) is controlled to descend, and the superlift counterweight (22) is controlled to terminate the descent when the force F1 acting on the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value; subsequently, the lifting weight is controlled to descend, and the lifting weight is controlled to terminate the descent when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit (related to the weight of the superlift counterweight (22) and can be determined according to the detection result of the first detection device).Then, the superlift counterweight (22) is controlled to descend again, and the process is repeated until the superlift counterweight (22) falls firmly onto the hovering device (3) and the lifted heavy object is completely removed, at which time the crane (10) is in a no-load state and the superlift counterweight (22) is in a hovering state, so that the crane (10) can perform no-load rotation and travel while transporting the superlift counterweight (22). The force F1 applied to the superlift pulling member (27) can be determined by the second sensing device. The load rate of the crane (10) is the ratio of the actual load of the crane (10) to the rated load of the crane (10). Here, the actual load and the rated load each mean the actual load carried by the boom (13) and the rated load carried by the boom (13), that is, the actual load applied by the lifted weight and the rated load applied by the lifted weight.

[0103] As described above, the alternating operation between the superlift counterweight (22) and the lifting object may occur after the pushing device (23) reduces the moment radius of the superlift counterweight (22) to a preset value and then the process of combining the counterweight (2a) and the hovering device (3) may occur, or it may occur during the process in which the pushing device (23) reduces the moment radius of the superlift counterweight (22) to a preset value and during the process in which the lifting object is lifted before the pushing device (23) reduces the moment radius of the superlift counterweight (22) to a preset value.

[0104] For example, in the step of lifting a heavy object, the superlift counterweight (22) and the heavy object being lifted are first lifted alternately until the superlift counterweight (22) is lifted off the ground, and after the superlift counterweight (22) is lifted off the ground, the operation of increasing the amplitude of the superlift counterweight (22) and the operation of lifting the heavy object are controlled to be performed alternately until the heavy object being lifted is lifted off the ground. Additionally, in the step of lifting the superlift counterweight (22) from the ground, the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or the load rate reaches a maximum value—is used as the termination condition for each operation of lifting the heavy object, and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit—is used as the termination condition for each operation of lifting the superlift counterweight. That is, whenever the lifted heavy object is lifted, if the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the current lifting operation for the lifted heavy object is terminated, and instead, the superlift counterweight (22) is lifted. And, when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting the machine's back tipping moments reaches a specified limit value, the current lifting operation on the superlift counterweight (22) is terminated and instead the lifting weight is lifted again, and this process is repeated in this manner until the superlift counterweight (22) is lifted off the ground.After the superlift counterweight (22) is removed from the ground, the operation of increasing the amplitude of the superlift counterweight (22) and the operation of lifting the heavy object are controlled to be performed alternately. In this process, the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is used as the end condition for each operation of increasing the amplitude of the superlift counterweight (22), and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is used as the end condition for each operation of lifting the heavy object. That is, in the process from when the superlift counterweight (22) is off the ground until the lifted weight is off the ground, the moment radius of the superlift counterweight (22) increases, and when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the machine reaches a specified limit value, the current amplitude increase operation of the superlift counterweight (22) ends, and instead, the lifted weight is subsequently lifted. And when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the current lifting operation for the lifted weight ends, and instead, the amplitude of the superlift counterweight (22) increases, and this process is repeated in this manner until the lifted weight is off the ground.

[0105] As another example, in the step where the pushing device (23) reduces the moment radius of the superlift counterweight (22) to a preset value, the operation of reducing the amplitude of the superlift counterweight (22) and the process of lowering the weight can be controlled to be performed alternately. Additionally, in this process, the first of two conditions—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is used as the termination condition for each operation of lowering the weight, and the first of two conditions—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is used as the termination condition for each operation of reducing the amplitude of the superlift counterweight (22).

[0106] After the lifted heavy object is removed from the ground, the lifted heavy object is transported to a target placement location by the crane (10), and then the heavy object is slowly lowered until unloading is completed. The process of lowering the heavy object can be understood as including two processes: before and after reducing the moment radius of the superlift counterweight (22) to a preset value. The process after reducing the moment radius of the superlift counterweight (22) to a preset value is the combined process of the balancing mechanism (2a) and the hovering device (3) described above, and the control process is described above and will not be repeated here. The process after the above-mentioned weight is transferred to the above-mentioned target placement position and before the moment radius of the above-mentioned superlift counterweight (22) is reduced to a preset value is a process of lowering the weight before the balancing mechanism (2a) is combined with the hovering device (3), and in this process, the operation of reducing the amplitude of the above-mentioned superlift counterweight (22) (i.e., the operation of reducing the moment radius of the above-mentioned superlift counterweight (22) or, to put it simply, the operation of reducing the amplitude of the above-mentioned superlift counterweight (22)) and the operation of lowering the weight can be controlled to be performed alternately. Additionally, during the alternating amplitude reduction and lowering process, the condition that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit can be used as each termination condition of the operation to lower the weight, and the condition that the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value can be used as each termination condition of the superlift counterweight amplitude reduction operation.That is, after the weight is transferred to the target placement position, the weight is lowered, and when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting the back tipping moments of the entire machine reaches a specified limit, the current lowering operation is terminated and instead, an operation to reduce the moment radius of the superlift counterweight (22) is performed. Then, when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the current amplitude reduction operation is terminated and the weight is lowered again, and this process is repeated until the moment radius of the superlift counterweight (22) is reduced to a preset value to satisfy the requirements of the hovering operation conditions.

[0107] Next, the entire operation control process of the crane (10) illustrated in FIG. 13 will be explained, using the crane (10) illustrated in FIG. 4 to FIG. 10 as an example.

[0108] The entire operation control process of the crane (10) includes four processes performed in succession: a superlift counterweight ground release process, a heavy load ground release process, a superlift counterweight amplitude reduction process, and a loading and hovering process.

[0109] The term "ground detachment" refers to the process of separating from the support, which is not limited to leaving the ground (4) but may also include leaving the superlift counterweight (22) and other structures supporting the heavy object. For example, the expression "superlift counterweight ground detachment" may mean that the superlift counterweight (22) leaves the ground (4), and may also mean that the superlift counterweight (22) leaves the hovering device (3). As another example, "heavy object ground detachment"

[0110] The expression may mean that the above-mentioned heavy object leaves the ground (4), and may also mean that it leaves another structure supporting the above-mentioned heavy object.

[0111] First, the process of the superlift counterweight being removed from the ground is performed. At the beginning of the operation in which the superlift counterweight (22) is lifted by the crane (10), the superlift counterweight (22) is positioned on the hovering device (3) or the ground (4), and the lifting object is positioned on the ground (4) or another support structure. At this time, the object is lifted, and when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the lifting operation for the object is terminated and subsequently the operation is changed to lifting the superlift counterweight (22). And when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, the lifting operation of the superlift counterweight is terminated and then changed to lifting the weight again, and the process is repeated until the superlift counterweight (22) leaves the hovering device (3) or moves away from the ground.

[0112] Next, the process of removing the heavy object from the ground is performed. After the superlift counterweight (22) leaves the hovering device (3) or leaves the ground (4), the moment radius of the superlift counterweight (22) increases, and when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, the amplitude increase operation of the superlift counterweight ends and is subsequently changed to a lifting operation of the heavy object, and when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the lifting operation of the heavy object ends and is changed again to an increase in the moment radius of the superlift counterweight (22), and this process is repeated until the heavy object leaves the ground.

[0113] Next, the process of reducing the amplitude of the superlift counterweight is performed. After the weight is removed from the ground, the weight is transferred to a target placement location, and after the weight is transferred to the target placement location, the weight is lowered, and when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, the lowering operation of the weight is terminated and the process is changed to reducing the moment radius of the superlift counterweight (22). Then, when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the operation of reducing the amplitude of the superlift counterweight is terminated and the process is changed to lowering the weight again, and this process is repeated until the moment radius of the superlift counterweight (22) is reduced to a preset value that satisfies the requirements of the hovering operation condition.

[0114] Finally, the unloading and hovering process is performed. After the moment radius of the superlift counterweight (22) is reduced to a preset value, the weight is further lowered, and when the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the safety resisting back tipping moments of the entire machine reaches a specified limit, the lowering operation for the weight is terminated and the superlift counterweight (22) is lowered; when the force F1 applied to the superlift pulling member (27) increases to a maximum limit value Fmax or the load rate increases to a maximum value, the lowering operation of the superlift counterweight is terminated and the weight is lowered again; this process is repeated until the positioning shaft (25) is inserted into the hook (32) and the superlift counterweight (22) falls firmly onto the hovering device (3), and until the load of the weight is completely removed, the crane (10) is in a load-free state, the The superlift counterweight (22) is in a hovering state, and thereafter the crane (10) can perform driving and rotational movements in a load-free state while the superlift counterweight is being transported.

[0115] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application; any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

Claim 1 A crane (10) comprising: a body (1) comprising a chassis (11) and a turntable (12), wherein the turntable (12) is rotatably disposed on the chassis (11); a superlift device (2) comprising a superlift jib (21), a suspension pulling member (26), and a balancing mechanism (2a), wherein the balancing mechanism (2a) comprises a superlift counterweight (22) and a pushing device (23), wherein the first ends of the superlift jib (21) and the pushing device (23) are both connected to the turntable (12), the suspension pulling member (26) is connected to the second end of the superlift jib (21) and the superlift counterweight (22), and the second end of the pushing device (23) is connected to the distance between the superlift counterweight (22) and the slewing center of the turntable (12). Connected to the superlift counterweight (22) for adjustment; and a hovering device (3) configured to support the superlift counterweight (22) on the ground (4) when the crane (10) is in a no-load state, - a first end of the hovering device (3) is connected to the turntable (12), and a second end of the hovering device (3) is not connected to the superlift jib (21), and a hook (32) is provided at the second end of the hovering device (3), and the hovering device (3) is detachably connected to the balancing mechanism (2a) through the hook (32). Claim 2 A crane (10) according to claim 1, wherein the balancing mechanism (2a) comprises a lifting cylinder (24) and a positioning shaft (25), the lifting cylinder (24) is connected to a superlift counterweight (22) and drives the superlift counterweight (22) to rise and fall, and the positioning shaft (25) is positioned on the lifting cylinder (24) and fitted into the hook (32) to implement a connection between the balancing mechanism (2a) and the hovering device (3). Claim 3 A crane (10) in which the opening of the hook (32) of the first paragraph faces upward. Claim 4 A crane (10) according to any one of claims 1 to 3, wherein the hovering device (3) further comprises a support beam (31), a tray (34), a connecting rod (33), or a hovering cylinder. Claim 5 A crane (10) according to any one of claims 1 to 3, wherein the first end of the hovering device (3) is hinge-connected to the turntable (12) or the first end of the hovering device (3) is welded to the turntable (12). Claim 6 In any one of claims 1 to 3, the crane (10) comprises: (i) a first sensing device configured to detect a force applied to the suspension pulling member (26) and the hovering device (3) to determine the weight of the superlift counterweight (22); and (ii) at least one of a mast (14), a superlift pulling member (27), and a second sensing device, wherein the first end of the mast (14) is connected to the turntable (12), the second end of the mast (14) is connected to the superlift jib (21) by the superlift pulling member (27), and the second sensing device is configured to detect a force on the superlift pulling member (27). Claim 7 In paragraph 6, the crane (10) comprises a first sensing device including a tension sensor, a pressure sensor, or an oil pressure sensor. Claim 8 In paragraph 6, the crane (10) wherein the second sensing device includes a tension sensor Claim 9 A method for controlling the crane (10) according to any one of claims 1 to 3, comprising: a step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the slewing center of the turntable (12) to a preset value; and a step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3) to support the superlift counterweight (22) on the ground (24) so ​​that the crane (10) can rotate or travel in a no-load state while transporting the superlift counterweight (22). Claim 10 In claim 9, a control method comprising the step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3), the step of controlling the superlift counterweight (22) to fall over the hovering device (3); or the step of connecting a second end of the hovering device (3) to the balancing mechanism (2a). Claim 11 In claim 9, a control method comprising the step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3), the step of controlling the superlift counterweight (22) to fall onto the tray (34) of the hovering device (3); or controlling the positioning shaft (25) of the balancing mechanism (2a) placed in the lifting cylinder (24) to fall onto the hook (32) of the hovering device (3); or connecting the second end of the connecting rod (33) or the second end of the hovering cylinder of the hovering device (3) to the pushing device (23). Claim 12 In claim 11, a control method comprising the step of controlling the positioning shaft (25) of the balancing mechanism (2a) positioned in the lifting cylinder (24) to fall onto the hook (32) of the hovering device (3), the step of controlling the lifting cylinder (24) to lower the superlift counterweight (22) so that the positioning shaft (25) falls onto the hook (32) and is fitted into the hook (32). Claim 13 In claim 9, in the step of controlling the balancing mechanism (2a) to be coupled with the hovering device (3), the lifting weight lifted by the superlift counterweight (22) and the crane (10) is controlled to descend alternately, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) of the crane (10) reaches a maximum limit value Fmax or that the load rate of the crane (10) reaches a maximum value—is set as the termination condition for each descent process of the superlift counterweight (22), and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is set as the termination condition for each descent process of the lifting weight lifted, and the lifting weight lifted descends until the balancing mechanism (2a) is coupled with the hovering device (3). A control method that completes, wherein the load rate of the crane (10) is the ratio of the actual load of the crane (10) to the rated load of the crane (10). Claim 14 In claim 9, in the step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) to a preset value, until the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) is reduced to a preset value, the operation of reducing the amplitude of the superlift counterweight (22) and the operation of lowering the weight are performed alternately, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) of the crane (10) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is taken as the termination condition for each operation of lowering the weight, and the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is taken as the superlift counterweight (22) A control method in which each operation to reduce the amplitude is used as a termination condition, and reducing the amplitude of the superlift counterweight (22) is to reduce the distance between the superlift counterweight (22) and the center of rotation of the turntable (12). Claim 15 In claim 9, the method comprises the step of lifting the superlift counterweight (22) from the ground prior to the step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the center of rotation of the turntable (12) to a preset value; wherein the step of lifting the superlift counterweight (22) from the ground controls the superlift counterweight (22) and the lifting object to be lifted to rise alternately until the superlift counterweight (22) is removed from the ground, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) of the crane (10) reaches a maximum limit value Fmax or that the load rate reaches a maximum value—is used as the termination condition for each operation of lifting the lifting object, and wherein the safety is specified such that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or the entire machine's back tipping moments are specified. A control method in which the first of two conditions for reaching a limit is satisfied is used as the termination condition for each movement of lifting the superlift counterweight. Claim 16 In claim 15, the step of lifting the lifting weight from the ground is included prior to the step of controlling the pushing device (23) to reduce the distance between the superlift counterweight (22) and the rotation center of the turntable (12) to a preset value, and after the step of lifting the superlift counterweight (22) from the ground; wherein the step of lifting the lifting weight from the ground is performed alternately with the operation of increasing the amplitude of the superlift counterweight (22) and the operation of lifting the weight until the lifting weight is removed from the ground, wherein the first of two conditions is satisfied—that the force F1 applied to the superlift pulling member (27) drops to a minimum limit value Fmin or that the safety resisting back tipping moments of the entire machine reaches a specified limit—is taken as the termination condition for each operation of increasing the amplitude of the superlift counterweight (22), and the force F1 applied to the superlift pulling member (27) is maximum A control method in which the first of two conditions, reaching a limit value Fmax or reaching a maximum load rate, is satisfied is used as the termination condition for each operation of lifting the weight, and increasing the amplitude of the superlift counterweight (22) is increasing the distance between the superlift counterweight (22) and the center of rotation of the turntable (12). Claim 17 delete Claim 18 delete

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