Control device for tower crane and tower crane

Abstract

The present invention discloses a control device for a tower crane and a tower crane. The control device comprises: an energy storage component, which is arranged at a limit position detection position of the tower crane; a limit position detection mechanism, which is arranged at the limit position detection position and electrically connected to the energy storage component; and a controller, which is arranged in a control room of the tower crane and is connected to the limit position detection mechanism via a wireless signal. The controller is configured to: determine whether the tower crane is in a working state; determine whether the limit position detection mechanism is triggered; determine whether the tower crane is in a dangerous state; and control the tower crane to stop operating. The control device can directly, accurately and efficiently detect whether a component in the tower crane has run to a limit position, thereby improving the safety performance of the tower crane.

Description

Technical Field

[0001] The present invention relates to the technical field of tower cranes, and in particular to a control device for a tower crane and the tower crane. Background Art

[0002] During operation, a tower crane will have multiple extreme positions, among which the extreme positions such as the hook lifting top, the front limit of the luffing trolley, and the rear limit of the luffing trolley will involve safety issues. However, since the luffing trolley and hook of a general tower crane cannot be powered, it is impossible to directly detect the lifting and luffing extreme positions of the tower crane at these positions. Most tower cranes in the existing technology use the mechanical contacts of the multifunctional limiter on the drum part to indirectly detect the above extreme positions. However, the use of the multifunctional limiter requires manual calibration, resulting in the accuracy of the data detected by this method being affected by human factors. In addition, the related materials are prone to component connection failures due to frequent adjustments, which not only affects the extreme position detection but may also cause dangerous situations such as the hook hitting the top or the luffing trolley derailing. Summary of the Invention

[0003] The purpose of the present invention is to provide a control device for a tower crane and a tower crane. The control device for a tower crane and the tower crane have a simple scheme and can directly and efficiently detect whether any component in the tower crane has run to an extreme position, thereby improving the safety performance of the tower crane.

[0004] In order to achieve the above object, the present invention provides a control device for a tower crane in a first aspect, the control device comprising:

[0005] Energy storage components are arranged at the extreme position detection position of the tower crane;

[0006] A limit position detection mechanism, which is arranged at the limit position detection location and is electrically connected to the energy storage component;

[0007] The controller is installed in the control room of the tower crane and is connected to the limit position detection mechanism via a wireless signal. The controller is configured as follows:

[0008] Make sure the tower crane is in working condition;

[0009] Determine that the limit position detection mechanism is triggered;

[0010] Determining that the tower crane is in a hazardous condition;

[0011] Control the tower crane to stop operation.

[0012] In an embodiment of the present invention, the limit position detection mechanism includes:

[0013] A first limit position detector is provided on the luffing trolley of the tower crane and is used to detect the front limit position and / or the rear limit position of the luffing trolley;

[0014] The second limit position detector is arranged on the luffing trolley and located above the hook of the tower crane, and is used to detect the upper limit position of the hook.

[0015] In an embodiment of the present invention, the first limit position detector includes an I-shaped movable rod, a first elastic member and a first travel switch. Part of the first elastic member is fixed to the front end or rear end of the variable amplitude trolley, the movable rod is passed through the first elastic member and can move forward and backward, and the first travel switch is arranged at the front end or rear end of the movable rod and is triggered by the collision of the movable rod.

[0016] In an embodiment of the present invention, the first limit position detector includes a trigger baffle and a first travel switch. The trigger baffle is arranged at the front limit or the rear limit and has an inclined portion. The first travel switch is triggered by the collision of the inclined portion.

[0017] In an embodiment of the present invention, the second limit position detector includes a second elastic member, a third elastic member, a pull wire, a movable plate and a second travel switch. The second elastic member and the third elastic member are arranged in parallel and spaced apart, and the upper ends of each are connected to the bottom of the variable amplitude trolley. The movable plate is arranged at the lower end of the second elastic member, one end of the pull wire is connected to the lower end of the third elastic member, and the other end of the pull wire passes over the hook and is connected to the movable plate. The second travel switch is arranged below the movable plate and is triggered by the collision of the movable plate.

[0018] In an embodiment of the present invention, the second limit position detector includes a gravity member having a hollow inner cavity, a first connecting chain, a second elastic member and a second travel switch, the hook is located below the gravity member, the lifting rope connected to the hook passes through the hollow inner cavity, the lower end of the first connecting chain is connected to the gravity member, the upper end of the first connecting chain is connected to the bottom of the second travel switch, and the second elastic member is connected to the top of the second travel switch.

[0019] In an embodiment of the present invention, the second limit position detector includes a connecting plate located above the hook, a connecting rod and a second travel switch, the upper end of the connecting rod is clamped inside the boom trolley, the lower end of the connecting rod passes through the bottom plate of the boom trolley and is fixed to the connecting plate, and the second travel switch is arranged inside the boom trolley and is triggered by the collision of the connecting rod.

[0020] In an embodiment of the present invention, the second limit position detector includes a second elastic member located above the hook and narrow at the top and wide at the bottom, a connecting rod and a second travel switch. The upper end of the connecting rod is clamped inside the boom trolley, the lower end of the connecting rod passes through the bottom plate of the boom trolley and is connected to the upper end of the second elastic member. The second travel switch is arranged inside the boom trolley and is triggered by the collision of the connecting rod.

[0021] In an embodiment of the present invention, the control device further includes:

[0022] A signal transmitting module is provided at the extreme position detection location;

[0023] A processor is provided at the extreme position detection location and is signal-connected to the extreme position detection mechanism and the signal transmission module;

[0024] The signal receiving module is connected to the signal transmitting module via wireless signals and is connected to the controller via a CAN bus;

[0025] The processor is configured to:

[0026] Control the signal transmission module to perform self-diagnosis operations and determine whether the signal transmission block is in a normal state;

[0027] When the signal transmitting module is in a normal state, determining that the limit position detection mechanism is triggered;

[0028] The control signal transmitting module sends information that the limit position detection mechanism is triggered to the signal receiving module;

[0029] The controller is further configured to:

[0030] The receiving signal receiving module sends information indicating that the limit position detection mechanism is triggered;

[0031] It was determined that the tower crane was in a dangerous condition.

[0032] A second aspect of the present invention provides a tower crane, comprising the above-mentioned control device for a tower crane.

[0033] Through the above technical solution, an energy storage component and an extreme position detection mechanism are set at the extreme position detection point of the tower crane to realize direct detection of the extreme position of the tower crane. The detection result is highly accurate, which is conducive to improving the accuracy of control; after the extreme position detector is triggered, the information that the tower crane is in a dangerous state is remotely sent to the controller in the control room in the form of a wireless signal, so that the controller can control the tower crane to stop operating to avoid danger, thereby improving the safety performance of the tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 1 is a schematic diagram of the composition of a control device in an embodiment of the present invention;

[0035] Figure 2 It is a first limit position detector of the first structural form in the embodiment of the present invention;

[0036] Figure 3 It is a first limit position detector of the second structural form in the embodiment of the present invention;

[0037] Figure 4 It is the second limit position detector (expanded state) of the first structural form in the embodiment of the present invention;

[0038] Figure 5 It is the second limit position detector (folded state) of the first structural form in the embodiment of the present invention;

[0039] Figure 6 It is a second limit position detector of the second structural form in the embodiment of the present invention;

[0040] Figure 7 It is a second limit position detector of the third structural form in the embodiment of the present invention;

[0041] Figure 8 This is the second limit position detector of the fourth structural form in the embodiment of the present invention.

[0042] Description of Reference Numerals

[0043] 1 Energy storage component 2 Limit position detection mechanism

[0044] 201 First limit position detector 2011 Movable rod

[0045] 2012 The first elastic member 2013 The first travel switch

[0046] 2014 First mounting bracket 202 Second limit position detector

[0047] 2021 Second elastic member 2022 Third elastic member

[0048] 2023 Pull Wire 2024 Movable Board

[0049] 2025 Second travel switch 2026 Gravity part

[0050] 2027 First connecting chain 2028 Connecting plate

[0051] 2029 Connecting rod 20210 Second mounting bracket

[0052] 20211 Third mounting bracket 20212 First support rod

[0053] 20213 Second support rod 203 trigger baffle

[0054] 3 Controller 4 Signal Transmitter Module

[0055] 5 Signal receiving module 6 Processor DETAILED DESCRIPTION

[0056] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0057] It should be noted that if the implementation methods of this application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship and movement status of the various components under a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0058] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0059] In an embodiment of the present invention, a novel control device for a tower crane is provided, which is applicable to a tower crane, such as Figure 1 As shown, the control device includes an energy storage component 1, an extreme position detection mechanism 2, and a controller 3, wherein the energy storage component 1 is arranged at the extreme position detection location of the tower crane; the extreme position detection mechanism 2 is arranged at the extreme position detection location and electrically connected to the energy storage component 1; the controller 3 is arranged in the control room of the tower crane and is connected to the extreme position detection mechanism 2 via a wireless signal, and the controller 3 is configured as follows:

[0060] Make sure the tower crane is in working condition;

[0061] Determining that the limit position detection mechanism 2 is triggered;

[0062] Determining that the tower crane is in a hazardous condition;

[0063] Control the tower crane to stop operation.

[0064] Specifically, the extreme positions of the tower crane include at least the front limit, rear limit and upper limit of the boom trolley and the hook. It is difficult for large energy equipment such as an electrical box to directly power the extreme position detection mechanism 2 at the above-mentioned extreme positions to meet its working requirements. Therefore, in this embodiment, the energy storage component 1 is a battery arranged close to the extreme position detection mechanism 2, so as to provide electric energy for the extreme position detection mechanism 2 to perform detection work at the extreme position at a close distance, so that the extreme position detection mechanism 2 can directly measure the extreme position, making the measurement result more accurate and reliable. Among them, the types of batteries include wind power batteries, solar cells or wireless charging batteries; the cab of the tower crane is its control room, and the controller 3 is arranged in the cab and can be directly powered by the electrical box. During the operation of the tower crane, in order to avoid danger to its components (such as the luffing trolley and / or the hook) (such as the luffing trolley and / or the hook derailing), the limit position detection mechanism 2 can be triggered after detecting that the above-mentioned components have reached their corresponding limit positions. Since there is a long distance between the limit position and the cab, it is not convenient to use signal lines for signal transmission. Therefore, the limit position detection mechanism 2 sends an alarm message to the controller 3 via a wireless signal. After receiving the alarm message, the controller 3 determines that the tower crane is in a dangerous state and controls the tower crane to stop operating immediately, thereby improving the safety performance of the tower crane and reducing the cost of safety accidents.

[0065] In one embodiment of the present invention, the limit position detection mechanism 2 includes:

[0066] The first limit position detector 201 is provided on the luffing trolley of the tower crane and is used to detect the front limit position or the rear limit position of the luffing trolley;

[0067] The second limit position detector 202 is provided on the luffing trolley and located above the hook of the tower crane, and is used to detect the upper limit position of the hook.

[0068] Specifically, the limit positions in this embodiment are the front limit, rear limit, and upper limit of the luffing trolley. To facilitate the detection of the above-mentioned limit positions, a first limit position detector 201 is provided at the front and rear ends of the luffing trolley. The two first limit position detectors 201 respectively detect the front limit and rear limit of the luffing trolley to avoid the risk of derailment of the luffing trolley. A second limit position detector 202 is provided above the hook at the bottom of the luffing trolley to detect the upper limit of the hook to avoid the risk of the hook hitting the top. In addition, the energy storage component 1 is also provided on the luffing trolley to facilitate the close-range power supply to the first limit position detector 201 and the second limit position detector 202, thereby shortening the power supply line.

[0069] Furthermore, the first limit position detector 201 and the second limit position detector 202 in this embodiment can adopt electronic distance detectors or mechanical limit switches, among which the mechanical limit switch has lower requirements for the installation position and installation environment and is less affected by the magnetic field; the electronic distance detector has reliable detection results and can operate for a long time with low power consumption. The distance detector includes millimeter wave radar, ultrasonic radar, infrared reflection sensor or inductive proximity switch, etc. The performance comparison of the above-mentioned various types of distance detectors is shown in Table 1. In one embodiment of the present invention, the distance detector is preferably a millimeter wave radar, and a relay is used in the circuit of the millimeter wave radar to switch it. When the tower crane is in the off state (that is, the power-off state), the millimeter wave radar is controlled to be turned off to reduce power consumption.

[0070] Table 1 Performance comparison of various distance detectors

[0071]

[0072] In another embodiment of the present invention, the first limit position detector 201 and the second limit position detector 202 both include a reed switch (i.e., a reed pipe) and a magnet. The magnet in the first limit position detector 201 is arranged at the corresponding positions of the front limit and rear limit of the luffing trolley on the boom of the tower crane, and the reed switch in the first limit position detector 201 is arranged at the front and rear ends of the luffing trolley. When the front or rear end of the luffing trolley approaches the reed switch at the corresponding positions of the front limit and rear limit, the first limit position detector 201 can be triggered; the magnet in the second limit position detector 202 is arranged at the position corresponding to the upper limit of the hook on the luffing trolley, and the reed switch in the second limit position detector 202 is arranged on the hook. When the hook approaches the reed switch at the corresponding position of the upper limit, the second limit position detector 202 can be triggered.

[0073] In one embodiment of the present invention, the first limit position detector 201 includes an I-shaped movable rod 2011, a first elastic member 2012 and a first limit switch 2013. Part of the first elastic member 2012 is fixed to the front end or rear end of the variable amplitude trolley, the movable rod 2011 is passed through the first elastic member 2012 and can move forward and backward, and the first limit switch 2013 is set at the front end or rear end of the movable rod 2011 and is triggered by the collision of the movable rod 2011.

[0074] Specifically, in order to detect the front limit and rear limit of the luffing trolley, the front and rear ends of the luffing trolley are both provided with a first mounting bracket 2014, such as Figure 2As shown, the first limit switch 2013 is fixed on the first mounting bracket 2014, the first elastic member 2012 is arranged in the horizontal direction and the tail of the first elastic member 2012 is fixed to the first mounting bracket 2014, the first elastic member 2012 is a spring, the movable rod 2011 is I-shaped and passes through the inside of the first elastic member 2012, and the first limit switch 2013 is provided with a rotating rod whose upper and lower ends can rotate around the rotation center and can trigger the first limit switch 2013. Furthermore, the luffing trolley moves back and forth on the boom of the tower crane, so the front limit and rear limit of the luffing trolley are both on the boom of the tower crane. In order to form a limit position detection coordination with the first limit position detector 201, baffles are provided at the corresponding positions of the front limit and rear limit of the luffing trolley on the boom. If the luffing trolley reaches the front limit or the rear limit, the front end of the movable rod 2011 will collide with the baffle and move toward the position of the first travel switch 2013 under the action of the baffle, so that the rear end of the movable rod 2011 collides with the upper end of the rotating rod, the rotating rod rotates and triggers the first travel switch 2013 to close. The closure of the first travel switch 2013 indicates that the first limit position detector 201 is triggered; after the luffing trolley moves away from the baffle, the movable rod 2011 moves toward a position away from the first travel switch 2013 and away from the rotating rod under the action of the first elastic member 2012, and the rotating rod rotates back to its initial position, causing the first travel switch 2013 to be disconnected.

[0075] In another embodiment of the present invention, the first limit position detector 201 includes a trigger baffle 203 and a first travel switch 2013. The trigger baffle 203 is set at the front limit or the rear limit and has an inclined portion. The first travel switch 2013 is triggered by the collision of the inclined portion.

[0076] Specifically, if Figure 3 As shown, trigger baffles 203 are provided at positions corresponding to the front and rear limit positions of the luffing trolley on the upper arm. The trigger baffles 203 include a horizontal portion and an inclined portion. The inclined portion is provided at one end of the horizontal portion near the first travel switch 2013 and is inclined upward. The first travel switch 2013 is provided with a rotating rod, both of which can rotate around a rotation center and trigger the first travel switch 2013. If the luffing trolley reaches the front or rear limit position, the inclined portion of the collision baffle will collide with the upper end of the rotating rod, causing the rotating rod to rotate and trigger the first travel switch 2013 to close. The closure of the first travel switch 2013 indicates that the first limit position detector 201 is triggered. After the luffing trolley moves away from the baffle, the rotating rod rotates back to its initial position, causing the first travel switch 2013 to open. This structural form of the first limit position detector 201 has the advantages of simple structure and low cost.

[0077] In one embodiment of the present invention, the second limit position detector 202 includes a second elastic member 2021, a third elastic member 2022, a pull wire 2023, a movable plate 2024 and a second travel switch 2025. The second elastic member 2021 and the third elastic member 2022 are arranged in parallel and spaced apart, and the upper ends of each are connected to the bottom of the variable amplitude trolley. The movable plate 2024 is arranged at the lower end of the second elastic member 2021, one end of the pull wire 2023 is connected to the lower end of the third elastic member 2022, and the other end of the pull wire 2023 passes over the top of the hook and is connected to the movable plate 2024. The second travel switch 2025 is arranged below the movable plate 2024 and is triggered by the collision of the movable plate 2024.

[0078] Specifically, if Figure 4As shown, a second mounting bracket 20210 and a third mounting bracket 20211 are respectively provided on both sides of the bottom of the luffing trolley, and a first support rod 20212 and a second support rod 20213 are respectively provided below the second mounting bracket 20210 and the third mounting bracket 20211. The first support rod 20212 and the second support rod 20213 both have cylindrical cavities inside, and the second elastic member 2021 and the third elastic member 2022 are respectively arranged in the cylindrical cavities of the first support rod 20212 and the second support rod 20213. The second elastic member 2021 and the third elastic member 2022 are both springs, and the upper ends of the second elastic member 2021 and the third elastic member 2022 are respectively connected to the second mounting bracket 20210 and the third mounting bracket 20211. The three mounting brackets 20211 are connected. The bottoms of the cylindrical cavities of the first and second support rods 20212 and 20213 are respectively provided with a first pulley and a second pulley. In this embodiment, a movable plate 2024 is disposed at the lower end of the second elastic member 2021. A second limit switch 2025 is spaced apart below the movable plate 2024. The second limit switch 2025 is provided with a vertical trigger lever. One end of a cable 2023 is connected to the lower end of the third elastic member 2022. The other end passes through the second pulley and the first pulley in sequence before being connected to the movable plate 2024. The cable 2023 (in this embodiment, a steel wire rope) passes above the hook as it passes around the second and first pulleys. Furthermore, the lengths of the first and second support rods 20212 and 20213 and the positions of the first and second pulleys are adapted to the upper limit position of the hook, so that when the hook reaches the upper limit position, it contacts the cable 2023 between the first and second pulleys. If the hook reaches the upper limit, it will drive the cable 2023 between the first pulley and the second pulley to move upward, thereby pulling the second elastic member 2021 and the third elastic member 2022 to extend. When the second elastic member 2021 extends, the movable plate 2024 moves downward and closes the second travel switch 2025 by squeezing the trigger rod. After the hook moves downward and leaves the upper limit, the hook and the cable 2023 are no longer in contact. Under the action of the second elastic member 2021, the baffle moves toward a position away from the second travel switch 2025 and away from the trigger rod. The trigger rod returns to its initial position, disconnecting the second travel switch 2025. This type of second limit position detector 202 has the advantages of low installation tolerance requirements (because when the hook moves to the upper limit, the collision contact range of the cable 2023 and the hook is large), easy manufacturing and installation, and low cost.

[0079] Furthermore, in this embodiment, the first support rod 20212 and the second support rod 20213 are rotatably connected to the second mounting bracket and the third mounting bracket, respectively, so that the first support rod 20212 and the second support rod 20213 can be folded up when the second limit position detector 202 is not in use, such as Figure 5 As shown, the above components are prevented from being damaged during upright transportation.

[0080] In another embodiment of the present invention, the second limit position detector 202 includes a gravity piece 2026 with a hollow inner cavity, a first connecting chain 2027, a second elastic piece 2021 and a second limit switch 2025, the hook is located below the gravity piece 2026, the lifting rope connected to the hook passes through the hollow inner cavity, the lower end of the first connecting chain 2027 is connected to the gravity piece 2026, the upper end of the first connecting chain 2027 is connected to the bottom of the second limit switch 2025, and the second elastic piece 2021 is connected to the top of the second limit switch 2025.

[0081] Specifically, if Figure 6 As shown, the weight member 2026 is a weight with a hollow interior, the second travel switch 2025 is located at the bottom of the luffing trolley and above the hook, the first connecting chain 2027 is an iron chain, and the second elastic member 2021 is a spring. When the hook moves upward, the weight member 2026 also moves upward. If the hook moves upward to the upper limit, the weight member 2026 and the first connecting chain 2027 no longer exert a downward pulling force on the second travel switch, causing the second travel switch 2025 to close under the pulling force of the second elastic member 2021 above it. The weight of the weight member 2026 is greater than the pulling force of the second elastic member 2021. Therefore, after the hook moves downward and leaves the upper limit, the weight member 2026 drives the first connecting chain 2027 to pull the second travel switch 2025 downward, turning it off.

[0082] In another embodiment of the present invention, the second limit position detector 202 includes a connecting plate 2028 located above the hook, a connecting rod 2029 and a second limit switch 2025, the upper end of the connecting rod 2029 is clamped inside the boom trolley, the lower end of the connecting rod 2029 passes through the bottom plate of the boom trolley and is fixed to the connecting plate 2028, and the second limit switch 2025 is arranged inside the boom trolley and is triggered by the collision of the connecting rod 2029.

[0083] Specifically, if Figure 7 As shown, the connecting plate 2028 is arranged in the horizontal direction, the connecting rod 2029 can move up and down in the vertical direction, and the second travel switch 2025 is provided with a rotating rod at both ends, which can rotate around the rotation center and trigger the second travel switch 2025. When the hook reaches the upper limit, it will drive the connecting plate 2028 and the connecting rod 2029 to move upward, and the connecting rod 2029 will push the rotating rod to close the second travel switch 2025. After the hook moves downward and leaves the upper limit, the connecting plate 2028 and the connecting rod 2029 move downward, and the connecting rod 2029 no longer acts on the rotating rod. The rotating rod returns to its initial position and the second travel switch 2025 is opened.

[0084] Furthermore, the second limit position detector 202 also includes a second connecting chain and a third connecting chain. The upper ends of the second connecting chain and the third connecting chain are connected to the bottom of the variable amplitude trolley, and the lower ends of the second connecting chain and the third connecting chain are respectively connected to the two sides of the connecting plate 2028 to prevent the connecting plate 2028 from accidentally falling from a high altitude and injuring people.

[0085] In another embodiment of the present invention, the second limit position detector 202 includes a second elastic member 2021 located above the hook and narrow at the top and wide at the bottom, a connecting rod 2029 and a second limit switch 2025. The upper end of the connecting rod 2029 is clamped inside the boom trolley, and the lower end of the connecting rod 2029 passes through the bottom plate of the boom trolley and is connected to the upper end of the second elastic member 2021. The second limit switch 2025 is arranged inside the boom trolley and is triggered by the collision of the connecting rod 2029.

[0086] Specifically, if Figure 8 As shown, the second elastic member 2021 is a spring and is narrow at the top and wide at the bottom. The bottom of the second elastic member 2021 has sufficient width to ensure sufficient contact area between the second elastic member 2021 and the hook when the hook accidentally reaches the upper limit. The connecting rod 2029 can move up and down in the vertical direction. The second limit switch 2025 is provided with a rotating rod, both ends of which can rotate around the rotation center and trigger the second limit switch 2025. When the hook reaches the upper limit, it will drive the second elastic member 2021 and the connecting rod 2029 to move upward. The connecting rod 2029 then pushes the rotating rod to close the second limit switch 2025. After the hook moves downward and leaves the upper limit, the second elastic member 2021 and the connecting rod 2029 move downward. The connecting rod 2029 no longer acts on the rotating rod, and the rotating rod returns to its initial position, and the second limit switch 2025 is opened.

[0087] In another embodiment of the present invention, the control device further comprises:

[0088] The signal transmitting module 4 is arranged at the extreme position detection position;

[0089] The processor 6 is provided at the limit position detection location and is signal-connected to the limit position detection mechanism 2 and the signal transmitting module 4;

[0090] The signal receiving module 5 is connected to the signal transmitting module 4 via wireless signals and is connected to the controller 3 via a CAN bus;

[0091] Processor 6 is configured to:

[0092] Control the signal transmitting module 4 to perform self-diagnosis operation and determine whether the signal transmitting module 4 is in a normal state;

[0093] When the signal transmitting module 4 is in a normal state, it is determined that the limit position detecting mechanism 2 is triggered;

[0094] The control signal transmitting module 4 sends information that the limit position detection mechanism 2 is triggered to the signal receiving module 5;

[0095] The controller 3 is further configured to:

[0096] Receive the information sent by the signal receiving module 5 that the limit position detection mechanism 2 is triggered;

[0097] It was determined that the tower crane was in a dangerous condition.

[0098] Specifically, the control device also includes a processor 6, which is electrically connected to the energy storage component 1, and is connected to the limit position detection mechanism 2, the signal transmitting module 4, and the controller signal. When the limit position detection mechanism 2 is triggered, the signal transmitting module 4 can be controlled to send information to the signal receiving module 5 that the limit position detector is triggered and the tower crane is in a dangerous state; the signal transmitting module 4 is arranged on the luffing trolley and powered by the energy storage component 1, and is also connected to the processor 6 signal; the signal receiving module 5 is arranged in the cab, for receiving the information sent by the signal transmitting module 4 and transmitting it to the controller 3 through the CAN bus.

[0099] From the time the limit position detection mechanism 2 is triggered to the time the controller 3 controls the tower crane to stop operating, the time spent in the above period is 150ms. The processor 6, signal transmitting module 4 and signal receiving module 5 are in working state only during the above period, and are in dormant state for the rest of the time. Therefore, in order to ensure that the signal transmitting module 4 and the signal receiving module 5 do not fail or lose power before starting work, the processor 6 needs to control the signal transmitting module 4 to perform self-diagnosis operation and obtain self-diagnosis results after the limit position detection mechanism 2 is triggered. If the self-diagnosis result shows that the signal transmitting module 4 is in a normal working state, the signal transmitting module 4 is controlled to send information that the limit position detection mechanism 2 is triggered to the signal receiving module 5. After receiving the above information, the signal receiving module 5 sends it to the controller 3 via the CAN bus, and the controller 3 then controls the tower crane to stop operating.

[0100] Furthermore, the processor 6 is further configured to:

[0101] Controlling the signal transmitting module 4 to perform a self-diagnosis operation and determining whether the signal transmitting module 4 is in a normal state includes:

[0102] Get the power-on status and operation status of the tower crane;

[0103] Get the current position of the luffing trolley and / or hook;

[0104] Determine the self-diagnosis frequency based on the power-on status, operating status, and current position of the luffing trolley and / or hook;

[0105] Sending diagnostic information to the signal receiving module 5 based on the self-diagnosis frequency to the control signal transmitting module 4;

[0106] When it is determined that the signal receiving module 5 receives the diagnosis information, it is determined that the signal transmitting module 4 is in a normal state.

[0107] Specifically, when the tower crane has been powered on and awakened and the handle of the tower crane has been moved, and the current position of the luffing trolley and / or the hook is in the deceleration zone (the luffing trolley and / or the hook are in the deceleration zone, which means that even if the signal transmitting module 4 fails, the tower crane is not in a dangerous state at this time), the self-diagnosis frequency is 1Hz, that is, the processor 6 controls the signal transmitting module 4 to send diagnostic information to the signal receiving module 5 once every 1s. After performing the above operation, the self-diagnosis result can be obtained in 3s. Since the luffing trolley and / or the hook are in the deceleration zone, even if the signal transmitting module 4 fails, the luffing trolley and / or the hook have a sufficient safety distance, and there is no safety risk to the tower crane;

[0108] When the tower crane has been powered on and awakened and the handle of the tower crane has been moved, and the current position of the luffing trolley and / or the hook is in the non-deceleration zone, the self-diagnosis frequency is 0.005Hz, and the processor 6 controls the signal transmitting module 4 to send diagnostic information to the signal receiving module 5 once every 1000s. Since the luffing trolley and / or the hook are in the non-deceleration zone, that is, the luffing trolley and / or the hook are far enough away from their respective limit positions, the above operation is a timed continuous diagnosis. Even if the signal transmitting module 4 fails, the luffing trolley and / or the hook have a sufficient safety distance, and there is no safety risk to the tower crane;

[0109] When the tower crane has been powered on and awakened and the handle of the tower crane is not in motion, that is, the luffing trolley and / or the hook are in a stopped state, the self-diagnosis frequency is 0.005Hz, and the processor 6 controls the signal transmitting module 4 to send diagnostic information to the signal receiving module 5 once every 1000s. Since the luffing trolley and / or the hook are stopped, the above operation is also a timed continuous diagnosis. Even if the signal transmitting module 4 fails, the luffing trolley and / or the hook have a sufficient safety distance, and there is no safety risk to the tower crane;

[0110] When the tower crane is not powered on, that is, in a dormant state, the self-diagnosis frequency is 0.003 Hz, and the processor 6 controls the signal transmitting module 4 to send diagnostic information to the signal receiving module 5 every 120 seconds. However, when the tower crane is powered on, there are 120 seconds between the first self-diagnosis operation and the signal transmitting module 4 failing to prevent the luffing trolley and / or hook from moving beyond their respective limit positions. Therefore, a power-off function can be added to the signal transmitting module 4 and the signal receiving module 5 to save the fault status. If the controller 3 detects a previously saved fault status during the tower crane startup, the tower crane controller must detect that the signal transmitting module 4 is in a normal state before performing any handle operation, further reducing the safety risks of the tower crane.

[0111] In this embodiment, the diagnostic information is a diagnostic packet, and the mechanism of the diagnostic packet is to send three heartbeat packets continuously. If all three heartbeat packets are lost during the sending of a diagnostic message, it means that the signal transmitting module 4 has failed; if all three heartbeat packets are successfully received by the signal receiving module 5, it means that the signal transmitting module 4 is in a normal state; if the heartbeat packet is lost once or twice, the diagnostic information needs to be resent. If the number of times the diagnostic information is sent and resent exceeds twice, it means that the signal transmitting module 4 has failed.

[0112] Another embodiment of the present invention provides a novel tower crane, which includes the above-mentioned control device for a tower crane.

[0113] The present invention provides a control device for a tower crane and a tower crane. An energy storage component and a limit position detection mechanism are provided at the limit position detection position of the tower crane, so as to realize direct detection of the limit position of the tower crane. The detection result has high accuracy, which is conducive to improving the accuracy of control. After the limit position detector is triggered, the information that the tower crane is in a dangerous state is remotely transmitted to a controller in a control room in the form of a wireless signal, so that the controller can control the tower crane to stop operating, avoid danger, and improve the safety performance of the tower crane.

[0114] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more controllers (CPUs), input / output interfaces, network interfaces, and memory.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0120] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0122] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control device for a tower crane, characterized in that: The control device comprises: An energy storage component (1) is arranged at a limit position detection position of the tower crane; A limit position detection mechanism (2), arranged at the limit position detection location and electrically connected to the energy storage component (1); A signal transmitting module (4) is arranged at the extreme position detection location; A controller (3) is provided in a control room of the tower crane and is connected to the extreme position detection mechanism (2) via a wireless signal. The controller (3) is configured as follows: Determining that the tower crane is in working condition; Determining that the limit position detection mechanism (2) is triggered; determining that the tower crane is in a dangerous condition; controlling the tower crane to stop operating; and, When the tower crane is turned on, a fault state of the signal transmission module (4) saved after power failure is detected through inspection; The tower crane is controlled so that handle operation can only be performed when it is detected that the signal transmitting module (4) is in a normal state.

2. The control device for a tower crane according to claim 1, characterized in that: The limit position detection mechanism (2) comprises: A first limit position detector (201), arranged on the luffing trolley of the tower crane and used for detecting the front limit position or the rear limit position of the luffing trolley; A second limit position detector (202) is arranged on the luffing trolley and located above the hook of the tower crane, and is used to detect the upper limit position of the hook.

3. The control device for a tower crane according to claim 2, characterized in that: The first limit position detector (201) comprises an I-shaped movable rod (2011), a first elastic member (2012) and a first travel switch (2013); part of the first elastic member (2012) is fixed to the front end or rear end of the variable amplitude trolley; the movable rod (2011) is passed through the first elastic member (2012) and can move forward and backward; the first travel switch (2013) is arranged at the front end or rear end of the movable rod (2011) and is triggered by the collision of the movable rod (2011).

4. The control device for a tower crane according to claim 2, characterized in that: The first limit position detector (201) comprises a trigger baffle (203) and a first travel switch (2013); the trigger baffle (203) is arranged at the front limit or the rear limit and has an inclined portion; the first travel switch (2013) is triggered by collision with the inclined portion.

5. The control device for a tower crane according to claim 3, characterized in that: The second limit position detector (202) comprises a second elastic member (2021), a third elastic member (2022), a pull wire (2023), a movable plate (2024) and a second travel switch (2025); the second elastic member (2021) and the third elastic member (2022) are arranged in parallel and spaced apart, and the upper ends of the respective members are connected to the bottom of the variable amplitude trolley; the movable plate (2024) is arranged at the lower end of the second elastic member (2021); one end of the pull wire (2023) is connected to the lower end of the third elastic member (2022); the other end of the pull wire (2023) passes above the hook and is connected to the movable plate (2024); the second travel switch (2025) is arranged below the movable plate (2024) and is triggered by a collision with the movable plate (2024).

6. The control device for a tower crane according to claim 3, characterized in that: The second limit position detector (202) includes a gravity piece (2026) having a hollow inner cavity, a first connecting chain (2027), a second elastic piece (2021) and a second travel switch (2025), the hook is located below the gravity piece (2026), and the rope connected to the hook passes through the hollow inner cavity, the lower end of the first connecting chain (2027) is connected to the gravity piece (2026), the upper end of the first connecting chain (2027) is connected to the bottom of the second travel switch (2025), and the second elastic piece (2021) is connected to the top of the second travel switch (2025).

7. The control device for a tower crane according to claim 3, characterized in that: The second limit position detector (202) comprises a connecting plate (2028) located above the hook, a connecting rod (2029) and a second travel switch (2025), wherein the upper end of the connecting rod (2029) is clamped inside the boom trolley, and the lower end of the connecting rod (2029) passes through the bottom plate of the boom trolley and is fixed to the connecting plate (2028), and the second travel switch (2025) is arranged inside the boom trolley and is triggered by the collision of the connecting rod (2029).

8. The control device for a tower crane according to claim 3, characterized in that: The second limit position detector (202) comprises a second elastic member (2021) located above the hook and narrow at the top and wide at the bottom, a connecting rod (2029) and a second travel switch (2025), wherein the upper end of the connecting rod (2029) is clamped inside the boom-length-adjusting trolley, the lower end of the connecting rod (2029) passes through the bottom plate of the boom-length-adjusting trolley and is connected to the upper end of the second elastic member (2021), and the second travel switch (2025) is arranged inside the boom-length-adjusting trolley and is triggered by the collision of the connecting rod (2029).

9. The control device for a tower crane according to claim 2, wherein: The control device further comprises: A processor (6) is arranged at the extreme position detection location and is signal-connected to the extreme position detection mechanism (2) and the signal transmission module (4); A signal receiving module (5) is connected to the signal transmitting module (4) via the wireless signal and is connected to the controller (3) via a CAN bus; The processor (6) is configured to: Control the signal transmission module (4) to perform self-diagnosis operation and determine the signal transmission Whether module (4) is in normal state; When the signal transmitting module (4) is in a normal state, determine the The limit position detection mechanism (2) is triggered; Control the signal transmitting module (4) to send the signal to the signal receiving module (5) Information that the limit position detection mechanism (2) is triggered; The controller (3) is further configured to: The limit position detection mechanism (2) receives the signal sent by the signal receiving module (5) Triggering information; It is determined that the tower crane is in a dangerous state.

10. A tower crane, characterized in that: The tower crane comprises the control device for a tower crane according to any one of claims 1-9.

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