A luffing movement method for superlifting counterweight, luffing movement system and crane

Abstract

The present application provides a luffing movement method, luffing movement system and crane of a superlifting counterweight, and relates to the technical field of cranes, wherein the luffing movement method first detects whether the initial ground clearance of the superlifting counterweight is within a ground clearance reference range, and if it is detected that the initial ground clearance exceeds the ground clearance reference range, the superlifting counterweight lifting cylinder is controlled to move the superlifting counterweight to a position where the ground clearance is consistent with the set ground clearance; then, based on the size relationship between the initial superlifting radius and the target superlifting radius, the superlifting counterweight luffing cylinder is controlled to move the superlifting counterweight to a position where the superlifting radius is consistent with the target superlifting radius, and at the same time, the superlifting counterweight lifting cylinder is controlled to extend or contract, so that the superlifting counterweight is always maintained at the set ground clearance during the luffing movement process; in this way, the operator does not need to switch back and forth between the lifting action and the luffing action, and the operation is simple.

Description

Technical Field

[0001] The present application relates to the technical field of cranes, and in particular to a luffing movement method of a superlift counterweight, a luffing movement system and a crane. Background Art

[0002] The normal operation of a crane is inseparable from the counterweights that match it. The heavier the objects lifted by the crane, the larger the tonnage of the counterweights required. Therefore, in order to increase the lifting capacity, super-large tonnage cranes need to be equipped with enough super-lifting counterweights.

[0003] In the process of moving the superlift counterweight to the destination, it is necessary to ensure that the height of the superlift counterweight above the ground is maintained within a certain range during the movement. In the prior art, the operator is required to simultaneously operate the luffing action handle and the lifting action handle to control the superlift counterweight to move to the destination at a certain height above the ground. In this way, the operator needs to switch back and forth between the lifting action and the luffing action, which makes the operation complicated. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a method for luffing movement of a super-lifting counterweight, a luffing movement system and a crane, by controlling the luffing cylinder of the super-lifting counterweight to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time controlling the extension or contraction of the super-lifting counterweight lifting cylinder, so that the super-lifting counterweight always maintains the set height above the ground during the luffing movement process. In this way, the operator does not need to switch back and forth between the lifting action and the luffing action, and the operation is simple.

[0005] In a first aspect, an embodiment of the present application provides a method for luffing movement of a superlift counterweight, the method comprising:

[0006] Obtaining a preset set ground clearance, a ground clearance reference range, and a target superlift radius, as well as an initial ground clearance and an initial superlift radius of the superlift counterweight, wherein the set ground clearance is within the ground clearance reference range;

[0007] If it is detected that the initial ground clearance exceeds the ground clearance reference range, the super-lift counterweight lifting cylinder is controlled to move the super-lift counterweight to a position where the ground clearance is consistent with the set ground clearance;

[0008] Based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight luffing cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight always maintains the set height above the ground during the luffing movement.

[0009] Preferably, based on the size relationship between the initial superlift radius and the target superlift radius, the superlift counterweight luffing cylinder is controlled to luff the superlift counterweight to a position where the superlift radius is consistent with the target superlift radius, and at the same time, the superlift counterweight lifting cylinder is controlled to extend or contract so that the superlift counterweight is always maintained at the set height above the ground during the luffing movement. The luffing movement method includes:

[0010] During the luffing movement process in which the superlift counterweight is always maintained at the set height above the ground, obtaining the real-time height of the superlift counterweight above the ground;

[0011] If it is detected that the real-time height above the ground exceeds the reference range of height above the ground, an alarm signal is issued, and the super-lifting counterweight luffing cylinder is controlled to stop moving the super-lifting counterweight.

[0012] Preferably, after obtaining the preset set ground clearance, ground clearance reference range and target superlift radius, as well as the initial ground clearance and initial superlift radius of the superlift counterweight, the luffing movement method further comprises:

[0013] If it is detected that the initial height above the ground is within the reference range of the height above the ground, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight luffing cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight always maintains the initial height above the ground during the luffing movement.

[0014] Preferably, after the alarm signal is issued if it is detected that the real-time height above the ground exceeds the height above the ground reference range, and the super-lifting counterweight luffing cylinder is controlled to stop moving the super-lifting counterweight, the luffing movement method further comprises:

[0015] If it is detected that the alarm signal is the first alarm signal, the super-lift counterweight lifting cylinder is controlled to move the super-lift counterweight back to a position where the height above the ground is consistent with the set height above the ground;

[0016] If it is detected that the alarm signal is the second alarm signal, the mode is switched to the manual mode of amplitude variation movement.

[0017] Preferably, the superlift counterweight is provided with a ground clearance threshold, wherein the ground clearance reference range is set within the ground clearance threshold.

[0018] In a second aspect, an embodiment of the present application provides a variable-length movement system based on the variable-length movement method described in the first aspect, wherein the variable-length movement system includes a length sensor, an angle sensor, a controller, a super-lift counterweight variable-length cylinder, and a super-lift counterweight lifting cylinder;

[0019] The length sensor, the angle sensor, the superlift counterweight luffing cylinder and the superlift counterweight lifting cylinder are respectively connected to the controller;

[0020] The length sensor, the angle sensor and the superlift counterweight variable amplitude oil cylinder are arranged on the superlift counterweight variable amplitude strut, and the superlift counterweight lifting oil cylinder is arranged on the superlift mast and is used to be connected with the superlift counterweight;

[0021] The length sensor is used to detect the length of the superlift counterweight luffing cylinder and send the value of the length of the superlift counterweight luffing cylinder to the controller, and the angle sensor is used to detect the angle between the superlift counterweight luffing cylinder and the extension line of the frame, and send the value of the angle to the controller;

[0022] The controller is used to receive the value of the length and the value of the angle, and calculate the real-time ground clearance of the superlift counterweight, as well as the telescopic direction and telescopic rate of the superlift counterweight luffing cylinder and the superlift counterweight lifting cylinder;

[0023] The controller is used to obtain a preset set ground clearance, a ground clearance reference range and a target super-lift radius, and when it is detected that the real-time ground clearance is within the ground clearance reference range, controls the super-lift counterweight lifting cylinder to lift the super-lift counterweight to a position where the ground clearance is consistent with the set ground clearance, and based on the size relationship between the initial super-lift radius and the target super-lift radius, controls the super-lift counterweight luffing cylinder and the super-lift counterweight lifting cylinder to operate simultaneously, and moves the super-lift counterweight at the set ground clearance to a position where the super-lift radius is consistent with the target super-lift radius.

[0024] Preferably, it also includes a display screen, which is connected to the controller and is arranged in the cab, and is used to display the initial ground clearance and the initial super-lift radius, as well as the real-time ground clearance of the super-lift counterweight during the luffing movement process in which the super-lift counterweight always remains at the set ground clearance.

[0025] Preferably, the luffing movement system also includes a switching switch, which is arranged on a control panel or a display screen in the cab, and is connected to the controller for switching the superlift counterweight luffing movement mode, wherein the superlift counterweight luffing movement mode includes an automatic luffing movement mode and a manual luffing movement mode.

[0026] In a third aspect, an embodiment of the present application provides a crane, comprising the variable-length movement system of the superlift counterweight described in the second aspect.

[0027] Preferably, the crane comprises a super-lifting counterweight luffing handle and a super-lifting counterweight lifting handle, and the super-lifting counterweight luffing handle and the super-lifting counterweight lifting handle are respectively connected to the controller;

[0028] The superlift counterweight luffing handle and the superlift counterweight lifting handle are used to send received user action instructions to the controller.

[0029] The embodiments of the present application provide a method for variable-length movement of a super-lifting counterweight, a variable-length movement system and a crane, wherein the variable-length movement method first detects whether the initial ground clearance of the super-lifting counterweight is within a ground clearance reference range, and if it is detected that the initial ground clearance exceeds the ground clearance reference range, the super-lifting counterweight lifting cylinder is controlled to move the super-lifting counterweight to a position where the ground clearance is consistent with the set ground clearance; then, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight variable-length cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight is always maintained at the set ground clearance during the variable-length movement process; in this way, the operator does not need to switch back and forth between the lifting action and the variable-length action, and the operation is simple.

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A flow chart of a method for variable-length movement of a superlift counterweight provided in an embodiment of the present application;

[0033] Figure 2 A flow chart of another method for variable-length movement of a superlift counterweight provided in an embodiment of the present application;

[0034] Figure 3 A flow chart of another method for variable-length movement of a superlift counterweight provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a variable-length moving system for a superlift counterweight provided in an embodiment of the present application;

[0036] Figure 5A schematic diagram of the structure of a crane provided in an embodiment of the present application;

[0037] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0039] In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0040] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0041] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation", "connection", and "connection" 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 connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In a first aspect, the present application provides a method for variable-length movement of a superlift counterweight, such as Figure 1 As shown in , the variable amplitude movement method includes:

[0043] S110, obtaining a preset set ground clearance, a ground clearance reference range, and a target superlift radius, as well as an initial ground clearance and an initial superlift radius of the superlift counterweight, wherein the set ground clearance is within the ground clearance reference range.

[0044] In an embodiment of the present application, the superlift counterweight is provided with a ground clearance threshold, and the ground clearance threshold represents the range between the maximum value and the minimum value of the superlift counterweight's ground clearance, wherein the ground clearance reference range is set within the ground clearance threshold.

[0045] Specifically, during the luffing process of the superlift counterweight, it is necessary to ensure that the superlift counterweight is at a certain distance from the ground, and then set the ground clearance. This set ground clearance can be modified, and the specific value depends on the actual situation. The set ground clearance is within the ground clearance reference range, and the ground clearance reference range is set within the ground clearance threshold. Therefore, the set ground clearance cannot exceed the ground clearance threshold when modified, wherein the ground clearance reference range represents the range of fluctuations within the set ground clearance, and this fluctuation range is very small. The ground clearance threshold represents the range between the maximum and minimum values ​​of the superlift counterweight's ground clearance; if the set ground clearance is not set or the set ground clearance exceeds the ground clearance threshold, the set ground clearance is considered to be equal to the system default value.

[0046] Specifically, the initial superlifting radius represents the distance between the center position of the superlifting counterweight and the center position of the crane turntable when the superlifting counterweight is preparing for luffing, and the target superlifting radius represents the distance between the center position of the superlifting counterweight and the center position of the crane turntable when the superlifting counterweight is at the luffing destination.

[0047] S120, if it is detected that the initial height above the ground exceeds the reference range of the height above the ground, control the super-lift counterweight lifting cylinder to move the super-lift counterweight to a position where the height above the ground is consistent with the set height above the ground.

[0048] In this step, before the superlift counterweight changes its length, it is necessary to first detect the height above the ground of the superlift counterweight. Since there may be errors in the detection, or the actual height above the ground of the superlift counterweight is close to the set height above the ground, these reasons do not affect the length variation of the superlift counterweight. Therefore, when judging whether the initial height above the ground of the superlift counterweight meets the requirements, the height above the ground reference range is used as a reference. When the initial height above the ground exceeds the height above the ground reference range, the initial height above the ground does not meet the length variation requirements, and it is necessary to control the superlift counterweight lifting cylinder to move the superlift counterweight to a position where the height above the ground is consistent with the set height above the ground.

[0049] S130, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, control the super-lifting counterweight boom cylinder to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and simultaneously control the super-lifting counterweight lifting cylinder to extend or contract, so that the super-lifting counterweight always maintains the set height above the ground during the boom movement process.

[0050] In this step, the luffing direction of the superlifting counterweight is determined according to the size relationship between the initial superlifting radius and the target superlifting radius, so that the superlifting counterweight continuously approaches the luffing destination. At this time, it is necessary to control the superlifting counterweight luffing cylinder to move the superlifting counterweight to a position where the superlifting radius is consistent with the target superlifting radius. During the luffing process, it is also necessary to simultaneously control the extension or contraction of the superlifting counterweight lifting cylinder. The synergistic effect between the superlifting counterweight luffing cylinder and the superlifting counterweight lifting cylinder ensures that the superlifting counterweight always maintains a set ground clearance during the luffing movement.

[0051] The variable-length movement method of the super-lifting counterweight provided in the embodiment of the present application first detects whether the initial ground clearance height of the super-lifting counterweight is within a ground clearance height reference range. If it is detected that the initial ground clearance height exceeds the ground clearance height reference range, the super-lifting counterweight lifting cylinder is controlled to move the super-lifting counterweight to a position where the ground clearance height is consistent with the set ground clearance height; then, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight variable-length cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight is always maintained at the set ground clearance height during the variable-length movement process; in this way, the operator does not need to switch back and forth between the lifting action and the variable-length action, and the operation is simple.

[0052] Furthermore, if Figure 2 As shown, after S130, the variable amplitude movement method includes:

[0053] S140, obtaining a real-time ground clearance of the superlift counterweight during the luffing movement process in which the superlift counterweight is always maintained at the set ground clearance;

[0054] S150: If it is detected that the real-time height above the ground exceeds the reference range of the height above the ground, an alarm signal is issued, and the super-lifting counterweight luffing cylinder is controlled to stop moving the super-lifting counterweight.

[0055] In this step, during the luffing movement process in which the super-lifting counterweight is always maintained at a set ground height, the real-time ground height of the super-lifting counterweight is monitored. If the change in the real-time ground height exceeds the ground height reference range, an alarm signal is generated and the super-lifting counterweight luffing cylinder is controlled to stop moving the super-lifting counterweight at the same time, so as to remind the operator that the crane has a fault and needs to be troubleshooted.

[0056] Preferably, after S110, the variable amplitude movement method further includes:

[0057] S160. If it is detected that the initial height above the ground is within the reference range of the height above the ground, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight luffing cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight always maintains the initial height above the ground during the luffing movement.

[0058] In this step, if the initial ground clearance of the super-lifting counterweight is within the ground clearance reference range before the super-lifting counterweight is luffed, it means that the initial ground clearance of the super-lifting counterweight no longer needs to be adjusted when the super-lifting counterweight is luffed. At this time, when the super-lifting counterweight is luffed to a position where the super-lifting radius is consistent with the target super-lifting radius, the super-lifting counterweight lifting cylinder is controlled to extend or contract so that the super-lifting counterweight always maintains the initial ground clearance during the luffing movement.

[0059] Preferably, after S150, the variable amplitude movement method further includes:

[0060] S170: If it is detected that the alarm signal is the first alarm signal, control the super-lift counterweight lifting cylinder to move the super-lift counterweight back to a position where the height above the ground is consistent with the set height above the ground.

[0061] In this step, the first alarm signal indicates that the crane fault can be cleared and does not affect the automatic mode of the luffing movement of the super-lifting counterweight. Furthermore, after the fault is eliminated, the super-lifting counterweight lifting cylinder can be controlled to move the super-lifting counterweight back to a position where the height above the ground is consistent with the set height above the ground, and then steps S120 to S170 are repeated. In addition, the mode can also be switched to the manual mode of the luffing movement.

[0062] S180: If it is detected that the alarm signal is the second alarm signal, switch to the variable amplitude movement manual mode.

[0063] In this step, the second alarm signal indicates that some faults of the crane can be cleared, but there is still a problem with the automatic mode of the luffing movement of the super-lifting counterweight. At this time, it is necessary to switch to the manual mode of the luffing movement. Under the command of the on-site commander, the driver operates the super-lifting counterweight luffing handle and the super-lifting counterweight lifting handle respectively to control the super-lifting counterweight luffing movement to a position where the super-lifting radius is consistent with the target super-lifting radius.

[0064] Specifically, the process of the variable amplitude movement method of the superlift counterweight provided in the embodiment of the present application is as follows: Figure 3As shown, according to the actual use of the crane, the parameters are pre-set, and the parameters include the set ground clearance and the target super-lifting radius. After the parameter setting is completed, the "super-lifting counterweight movement mode" switch is turned on, wherein the super-lifting counterweight movement mode includes the luffing movement automatic mode and the luffing movement manual mode. Then, after turning on the luffing movement automatic mode switch, the luffing movement system is in the luffing movement automatic mode, and the driver pulls the super-lifting counterweight luffing handle to the target direction, and then the luffing movement system automatically detects whether the initial ground clearance is within the ground clearance reference range. If so, it is only necessary to operate the super-lifting counterweight luffing action handle to luff to the luffing destination. At this time, the super-lifting counterweight lifting cylinder and the super-lifting counterweight luffing cylinder work together, and the luffing movement system automatically controls the super-lifting counterweight lifting cylinder to lift or lower according to the sensor detection data, and matches the lifting speed of the super-lifting counterweight lifting cylinder with the luffing speed, so that the super-lifting counterweight ground clearance keeps the initial ground clearance unchanged during the luffing process. If not, the super-lifting counterweight lifting cylinder acts first to move the super-lifting counterweight to the set ground clearance.

[0065] Furthermore, during the luffing movement process, the real-time ground clearance is monitored to see whether it is within the ground clearance reference range. If so, the superlift counterweight lifting cylinder and the superlift counterweight luffing cylinder are controlled to decelerate the luffing speed when approaching the luffing destination, and the luffing movement action is automatically stopped when reaching the luffing destination, wherein the luffing movement action includes the superlift counterweight luffing action and the superlift counterweight lifting action; if not, the luffing movement system alarms and controls the superlift counterweight lifting cylinder and the superlift counterweight luffing cylinder to stop, so that the on-site commander can troubleshoot the problem. If the problem is successfully eliminated, If the fault is successful and does not affect the automatic mode of luffing movement, the super-lifting counterweight luffing handle is turned to the target direction again, and the initial ground clearance is checked whether it is within the reference range of ground clearance, or the luffing movement can be switched to the manual mode. If some of the faults are successfully eliminated and the automatic mode of luffing movement is affected at the same time, it can only be switched to the manual mode of luffing movement. Under the command of the on-site commander, the driver operates the super-lifting counterweight luffing handle and the super-lifting counterweight lifting handle respectively to control the super-lifting counterweight to move to the luffing destination until the commander issues an order to reach the luffing destination and the driver manually stops the action.

[0066] In summary, the luffing movement method of the super-lifting counterweight provided in the embodiment of the present application eliminates the need for the operator to switch back and forth between the lifting action and the luffing action, and the operation is simple; the automatic luffing movement mode does not require additional observers, reducing the use of personnel; there is no need for repeated adjustments, and one-click adjustment can be achieved, saving time.

[0067] In a second aspect, the embodiment of the present application provides a variable amplitude movement system based on the variable amplitude movement method described in the first aspect, such as Figure 4As shown in , the luffing movement system 400 includes a length sensor 410, an angle sensor 420, a controller 430, a super-lift counterweight luffing cylinder 440 and a super-lift counterweight lifting cylinder 450;

[0068] The length sensor 410, the angle sensor 420, the super-lift counterweight luffing cylinder 440 and the super-lift counterweight lifting cylinder 450 are respectively connected to the controller 430;

[0069] The length sensor 410, the angle sensor 420 and the superlift counterweight luffing oil cylinder 440 are arranged on the superlift counterweight luffing strut, and the superlift counterweight lifting oil cylinder 450 is arranged on the superlift mast and is used to connect with the superlift counterweight;

[0070] The length sensor 410 is used to detect the length of the super-lifting counterweight luffing cylinder 440 and send the value of the length of the super-lifting counterweight luffing cylinder 440 to the controller 430. The angle sensor 420 is used to detect the angle between the super-lifting counterweight luffing cylinder 440 and the extension line of the frame, and send the value of the angle to the controller 430.

[0071] The controller 430 is used to receive the value of the length and the value of the angle, and calculate the real-time ground clearance of the superlift counterweight, as well as the telescopic direction and telescopic rate of the superlift counterweight luffing cylinder 440 and the superlift counterweight lifting cylinder 450;

[0072] The controller 430 is used to obtain a preset set ground clearance, a ground clearance reference range and a target super-lifting radius, and when it is detected that the real-time ground clearance is within the ground clearance reference range, the controller controls the super-lifting counterweight lifting cylinder to lift the super-lifting counterweight to a position where the ground clearance is consistent with the set ground clearance, and based on the size relationship between the initial super-lifting radius and the target super-lifting radius, controls the super-lifting counterweight variable-length cylinder 440 and the super-lifting counterweight lifting cylinder 450 to operate simultaneously, and moves the super-lifting counterweight at the set ground clearance to a position where the super-lifting radius is consistent with the target super-lifting radius.

[0073] In the embodiment of the present application, a length sensor and an angle sensor installed on the super-lifting counterweight luffing strut are used to detect the length change of the super-lifting counterweight luffing cylinder 440 and the angle change between the super-lifting counterweight luffing cylinder 440 and the extension line of the frame; through the detected length value and angle value, the controller 430 calculates the current super-lifting radius (current amplitude) and real-time ground clearance of the super-lifting counterweight through corresponding mathematical function calculations; when the system is in the automatic luffing movement mode, at the beginning of the luffing movement, if the initial ground clearance is not within the reference range of the ground clearance, the system automatically controls the super-lifting counterweight lifting cylinder to move the super-lifting counterweight to the set ground clearance, and then starts the luffing movement. During the luffing movement of the super-lifting counterweight, the ground clearance of the super-lifting counterweight remains unchanged during the luffing process; in the automatic luffing movement mode, when the super-lifting counterweight moves with luffing, when the super-lifting radius approaches the target super-lifting radius, the system will decelerate in advance and stop after reaching the target super-lifting radius. The system also has a ground clearance threshold (maximum and minimum ground clearance of the super-lift counterweight). During the luffing movement process, if the ground clearance exceeds this ground clearance threshold, the system will automatically send out an alarm signal and cut off related actions.

[0074] Preferably, it also includes a display screen 460, which is connected to the controller 430 and is arranged in the cab for displaying the initial ground clearance and the initial super-lift radius, as well as displaying the real-time ground clearance of the super-lift counterweight during the variable-length movement process in which the super-lift counterweight is always maintained at the set ground clearance.

[0075] In an embodiment of the present application, the initial ground clearance and target superlift radius of the superlift counterweight during the luffing movement can be set and displayed on the display screen. In addition, the real-time ground clearance of the superlift counterweight can be displayed on the display screen during the luffing movement process in which the superlift counterweight always maintains the set ground clearance.

[0076] Preferably, the luffing movement system 400 also includes a switching switch 470, which is arranged on a control panel or a display screen of the cab, and the switching switch 470 is connected to the controller 430, and is used to switch the super-lifting counterweight luffing movement mode, wherein the super-lifting counterweight luffing movement mode includes an automatic luffing movement mode and a manual luffing movement mode.

[0077] In an embodiment of the present application, a superlift counterweight movement mode switching switch is added to the control panel in the driver's cab or a soft key switch is added to the display screen to switch the superlift counterweight movement mode to the automatic mode of variable-length movement or the manual mode of variable-length movement.

[0078] The embodiment of the present application provides a variable-length movement system for a superlift counterweight, including a length sensor, an angle sensor, a controller, a superlift counterweight variable-length oil cylinder, a superlift counterweight lifting oil cylinder, a display screen and a switching switch. By adding corresponding length sensors and angle sensors, the superlift radius (amplitude) and the height above the ground of the superlift counterweight are calculated. When the operator operates the variable-length movement of the superlift counterweight, the system automatically controls the superlift counterweight lifting oil cylinder to rise or fall, so that the height above the ground of the superlift counterweight remains unchanged during the variable-length movement process. During the variable-length movement of the superlift counterweight, the operator does not need to switch back and forth between the lifting action and the variable-length action, and the operation is simple; the automatic variable-length movement mode does not require additional observers, reducing the use of personnel; there is no need for repeated adjustments, and one-click adjustment is in place, saving time.

[0079] In a third aspect, an embodiment of the present application provides a crane, such as Figure 5 As shown, the crane 500 includes the luffing movement system of the superlift counterweight described in the second aspect.

[0080] The crane 500 includes a superlift mast 510, a superlift counterweight pull plate 520, a superlift counterweight luffing strut 530, a frame 540 and a control valve 550, wherein the superlift counterweight luffing strut 530 is arranged at one end of the frame 540, and the superlift counterweight luffing strut 530 is provided with a length sensor 410, an angle sensor 420 and a superlift counterweight luffing cylinder 440, wherein the angle sensor 420 is used to detect the angle between the superlift counterweight luffing cylinder 440 and the extension line of the frame 540, and the length sensor 410 is used to detect the superlift counterweight luffing cylinder 440. The length of the cylinder 440, the super-lifting counterweight lifting cylinder 450 is provided on the super-lifting mast 510, the super-lifting counterweight lifting cylinder 450 is connected to the super-lifting counterweight 560 through the super-lifting counterweight pull plate 520, the control valve 550 includes a super-lifting counterweight amplitude control valve and a super-lifting counterweight lifting control valve arranged on the frame 540, the super-lifting counterweight amplitude control valve is connected to the super-lifting counterweight amplitude cylinder 440, the super-lifting counterweight lifting control valve is connected to the super-lifting counterweight lifting cylinder 450, wherein the super-lifting counterweight amplitude control valve and the super-lifting counterweight lifting control valve are respectively connected to the controller 430.

[0081] Furthermore, the super-lifting radius d (amplitude) and the ground height h of the super-lifting counterweight are calculated through the length sensor 410 and the angle sensor 420. When the operator operates the super-lifting counterweight to change its amplitude, the system automatically controls the super-lifting counterweight lifting cylinder 450 to rise or fall, so that the ground height h of the super-lifting counterweight remains unchanged during the amplitude change process.

[0082] Preferably, the crane 500 comprises a super-lifting counterweight luffing handle (not shown in the figure) and a super-lifting counterweight lifting handle (not shown in the figure), and the super-lifting counterweight luffing handle and the super-lifting counterweight lifting handle are respectively connected to the controller 430;

[0083] The superlift counterweight luffing handle and the superlift counterweight lifting handle are used to send received user action instructions to the controller 430 .

[0084] The crane provided in the embodiment of the present application includes all the technical features of the variable-length moving system as described above, and has the technical effects corresponding to all the technical features of the variable-length moving system as described above, which will not be described one by one here.

[0085] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown in , the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0086] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, Figure 1 , Figure 2 and Figure 3 The steps of a method for variable-length movement of a superlift counterweight in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail herein.

[0087] The present application also provides a computer-readable storage medium on which a computer program is stored. The computer program can be executed when the processor runs the computer program. Figure 1 , Figure 2 and Figure 3 The steps of a method for variable-length movement of a superlift counterweight in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail herein.

[0088] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for variable-length movement of a superlift counterweight, characterized in that: The variable amplitude movement method comprises: Obtaining a preset set ground clearance, a ground clearance reference range, and a target superlift radius, as well as an initial ground clearance and an initial superlift radius of the superlift counterweight, wherein the set ground clearance is within the ground clearance reference range; If it is detected that the initial ground clearance exceeds the ground clearance reference range, the super-lift counterweight lifting cylinder is controlled to move the super-lift counterweight to a position where the ground clearance is consistent with the set ground clearance; Based on the size relationship between the initial superlift radius and the target superlift radius, the superlift counterweight luffing cylinder is controlled to move the superlift counterweight to a position where the superlift radius is consistent with the target superlift radius, and at the same time, the superlift counterweight lifting cylinder is controlled to extend or contract, so that the superlift counterweight is always maintained at the set height above the ground during the luffing movement; During the luffing movement process in which the superlift counterweight is always maintained at the set height above the ground, obtaining the real-time height of the superlift counterweight above the ground; If it is detected that the real-time height above the ground exceeds the reference range of the height above the ground, an alarm signal is issued, and the super-lifting counterweight luffing cylinder is controlled to stop moving the super-lifting counterweight; If it is detected that the alarm signal is the first alarm signal, the super-lift counterweight lifting cylinder is controlled to move the super-lift counterweight back to a position where the height above the ground is consistent with the set height above the ground; If it is detected that the alarm signal is the second alarm signal, the mode is switched to the manual mode of amplitude variation movement.

2. The variable amplitude movement method according to claim 1, characterized in that: After obtaining the preset set ground clearance, ground clearance reference range and target superlift radius, as well as the initial ground clearance and initial superlift radius of the superlift counterweight, the luffing movement method further includes: If it is detected that the initial height above the ground is within the reference range of the height above the ground, based on the size relationship between the initial super-lifting radius and the target super-lifting radius, the super-lifting counterweight luffing cylinder is controlled to move the super-lifting counterweight to a position where the super-lifting radius is consistent with the target super-lifting radius, and at the same time, the super-lifting counterweight lifting cylinder is controlled to extend or contract, so that the super-lifting counterweight always maintains the initial height above the ground during the luffing movement.

3. The variable amplitude movement method according to claim 1, characterized in that: The superlift counterweight is provided with a ground clearance threshold, wherein the ground clearance reference range is set within the ground clearance threshold.

4. A variable amplitude movement system based on the variable amplitude movement method according to any one of claims 1 to 3, characterized in that: The luffing movement system includes a length sensor, an angle sensor, a controller, a super-lift counterweight luffing cylinder and a super-lift counterweight lifting cylinder; The length sensor, the angle sensor, the superlift counterweight luffing cylinder and the superlift counterweight lifting cylinder are respectively connected to the controller; The length sensor, the angle sensor and the superlift counterweight variable amplitude oil cylinder are arranged on the superlift counterweight variable amplitude strut, and the superlift counterweight lifting oil cylinder is arranged on the superlift mast and is used to be connected with the superlift counterweight; The length sensor is used to detect the length of the superlift counterweight luffing cylinder and send the value of the length of the superlift counterweight luffing cylinder to the controller, and the angle sensor is used to detect the angle between the superlift counterweight luffing cylinder and the extension line of the frame, and send the value of the angle to the controller; The controller is used to receive the value of the length and the value of the angle, and calculate the real-time ground clearance of the superlift counterweight, as well as the telescopic direction and telescopic rate of the superlift counterweight luffing cylinder and the superlift counterweight lifting cylinder; The controller is used to obtain a preset set ground clearance, a ground clearance reference range and a target super-lift radius, and when it is detected that the real-time ground clearance is within the ground clearance reference range, controls the super-lift counterweight lifting cylinder to lift the super-lift counterweight to a position where the ground clearance is consistent with the set ground clearance, and based on the size relationship between the initial super-lift radius and the target super-lift radius, controls the super-lift counterweight luffing cylinder and the super-lift counterweight lifting cylinder to operate simultaneously, and moves the super-lift counterweight at the set ground clearance to a position where the super-lift radius is consistent with the target super-lift radius.

5. The variable amplitude moving system according to claim 4, characterized in that: It also includes a display screen, which is connected to the controller and is arranged in the cab for displaying the initial ground clearance and the initial superlift radius, and displaying the real-time ground clearance of the superlift counterweight during the luffing movement process in which the superlift counterweight is always maintained at the set ground clearance.

6. The variable amplitude moving system according to claim 5, characterized in that: The luffing movement system also includes a switching switch, which is arranged on a control panel or a display screen in the cab. The switching switch is connected to the controller and is used to switch the superlift counterweight luffing movement mode, wherein the superlift counterweight luffing movement mode includes an automatic luffing movement mode and a manual luffing movement mode.

7. A crane, characterized in that: The invention comprises a variable-length movement system for a superlift counterweight as claimed in any one of claims 4 to 6.

8. The crane according to claim 7, characterized in that: The crane comprises a super-lifting counterweight luffing handle and a super-lifting counterweight lifting handle, and the super-lifting counterweight luffing handle and the super-lifting counterweight lifting handle are respectively connected to the controller; The superlift counterweight luffing handle and the superlift counterweight lifting handle are used to send received user action instructions to the controller.

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