Control method, controller, control device and crane for crane

Abstract

The present invention relates to the technical field of engineering machinery, and discloses a control method, a controller, a control device and a crane for a crane. The control method comprises: receiving an instruction to change the amplitude of a super-lifting device to a first target angle; limiting the angle of the boom to below a first preset angle; setting the first ratchet and the second ratchet to an unlocked state, so that the first steel wire rope and the second steel wire rope are in a loose rope state; obtaining a first tension value of the first steel wire rope and a second tension value of the second steel wire rope; when the first tension value and the second tension value are both zero, folding the first mast and the second mast until the super-lifting angle formed by the first mast and the second mast is lower than the second preset angle; changing the amplitude of the first mast and the second mast to the first target angle. The present invention can prevent the operator from destroying the balance of the whole machine due to misoperation during the hoisting process, can reduce the loss of structural parts, reduce the failure rate of the crane, and ensure that the operation process of the super-lifting condition is safe and controllable.

Description

Technical Field

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

[0002] At present, the market demand for construction machinery, especially various cranes, is increasing day by day. Cranes refer to multi-action lifting machinery that can lift and carry heavy objects vertically and horizontally within a certain range. For large-tonnage truck cranes, due to the significant increase in lifting weight, a slight lateral bending of the boom head during long-arm lifting can easily cause various safety accidents. Therefore, it is usually necessary to install a super-lifting device on the basic arm. The two super-lifting masts each lead a wire rope to pull the boom head, giving the boom head a force in the opposite direction to ensure that the lateral bending of the boom head is controlled within a reasonable range. The super-lifting device is a device that can improve the stress condition of the components and the stability of the whole machine, and improve the lifting performance of the crane. The super-lifting condition refers to the operating condition of a crane with a super-lifting device. At present, there is a lack of safety restrictions on the super-lifting condition. If the operator makes a mistake in the lifting process, it may destroy the balance of the whole machine, resulting in an accident, and the safety is low. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, an embodiment of the present invention provides a control method, a controller, a control device and a crane for a crane.

[0004] In order to achieve the above-mentioned object, the first aspect of the present invention provides a control method for a crane, the crane includes a boom, the boom includes a basic boom, a super-lifting device is arranged on the basic boom, the super-lifting device includes a first mast, a second mast, a first steel wire rope, a second steel wire rope, a first ratchet and a second ratchet, the first end of the first mast is arranged on the basic boom, the first end of the first steel wire rope is connected to the second end of the first mast, the second end of the first steel wire rope is connected to the head of the boom, the second mast and the second steel wire rope are respectively symmetrically arranged with the first mast and the first steel wire rope relative to the boom, and the first ratchet and the second ratchet are used to respectively control the retraction and release of the first steel wire rope and the second steel wire rope; the control method comprises:

[0005] receiving an instruction to luff the superlift device to a first target angle;

[0006] limiting the angle of the boom to below a first preset angle;

[0007] The first ratchet and the second ratchet are set to an unlocked state, so that the first steel wire rope and the second steel wire rope are in a loose rope state;

[0008] Obtain a first tension value of the first steel wire rope and a second tension value of the second steel wire rope;

[0009] When the first tension value and the second tension value are both zero, the first mast and the second mast are retracted until the super-tension angle formed by the first mast and the second mast is lower than a second preset angle;

[0010] The first mast and the second mast are luffed to a first target angle.

[0011] In an embodiment of the present invention, the control method further includes:

[0012] receiving an instruction for instructing the superlift device to swing to a second target angle;

[0013] Make sure the crane is unloaded and in an empty hook state;

[0014] Obtain a first tension value and a second tension value;

[0015] When the first tension value and the second tension value are both within the preset tension range of the empty hook, setting the first ratchet and the second ratchet to a disengaged state;

[0016] Re-acquire the first tension value and the second tension value;

[0017] When the first tension value and the second tension value are both zero, the first mast and the second mast are swung until the super-tension angle reaches a second target angle.

[0018] In an embodiment of the present invention, the control method further includes:

[0019] After the first mast and the second mast are both swung to a second target angle, the first ratchet and the second ratchet are controlled to collect the ropes;

[0020] When the first pulling force value and the second pulling force value are both within the preset pulling force range of the empty hook, the first ratchet and the second ratchet are set to a locked state.

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

[0022] When the first pulling force value and / or the second pulling force value is not zero, the unlocking action of the first ratchet and the second ratchet is re-executed.

[0023] In an embodiment of the present invention, the control method further includes:

[0024] Receiving instructions for entering into a target superlifting condition for hoisting operation;

[0025] Acquiring locking signals of the first ratchet and the second ratchet;

[0026] When the first ratchet and / or the second ratchet is unlocked, the lifting capacity of the crane is limited to the empty hook weight.

[0027] In the embodiment of the present invention, the superlifting working condition is in a corresponding relationship with the superlifting angle, and the control method further includes:

[0028] When the first ratchet and the second ratchet are both locked, determining a set opening angle range corresponding to the target superlifting condition according to the target superlifting condition and the corresponding relationship;

[0029] Get the current opening angle of the super lifting device;

[0030] When the current opening angle is not within the set opening angle range, the crane's lifting capacity is limited to the empty hook weight.

[0031] In an embodiment of the present invention, the control method further includes:

[0032] When the current opening angle is within the set opening angle range, obtaining a first tension value and a second tension value;

[0033] When the first pulling force value and / or the second pulling force value exceeds the pulling force limit value, the main winch of the crane is prohibited from performing the lifting action.

[0034] In an embodiment of the present invention, the control method further includes:

[0035] When both the first tension value and the second tension value do not exceed the tension limit value, calculating the difference between the first tension value and the second tension value;

[0036] When the difference is less than the preset difference, it is determined to enter the target superlifting condition hoisting operation.

[0037] In an embodiment of the present invention, the control method further includes:

[0038] When the difference is not less than the preset difference, the crane is prohibited from performing the rotation action.

[0039] In an embodiment of the present invention, the control method further includes:

[0040] When the current opening angle is not within the set opening angle range, or the first ratchet and / or the second ratchet are not locked, determining that the super-lifting device is in a non-working state;

[0041] It is prohibited to carry out lifting operations under target super-lifting conditions when the load is not in operation.

[0042] In an embodiment of the present invention, the super-lifting device also includes a first pull plate and a second pull plate, the first end of the first pull plate is connected to the second end of the first mast, the second end of the first pull plate is arranged on the revolving platform of the crane, and the second pull plate and the first pull plate are symmetrically arranged relative to the boom.

[0043] A second aspect of the present invention provides a controller configured to execute the above-mentioned control method for a crane.

[0044] A third aspect of the present invention provides a control device for a crane, comprising:

[0045] A first angle sensor, used to detect the angle of the boom;

[0046] The second angle sensor is used to detect the luffing angle of the superlifting device;

[0047] The third angle sensor is used to detect the super-lifting angle of the super-lifting device;

[0048] A tension sensor, used to detect a first tension value of the first steel wire rope and a second tension value of the second steel wire rope respectively; and

[0049] The controller described above.

[0050] A fourth aspect of the present invention provides a crane, comprising the above-mentioned control device.

[0051] A fifth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for a crane.

[0052] The superlifting device is a device that can improve the stress condition of crane components and the stability of the whole machine, and improve the lifting performance of the crane. For a crane with a superlifting device, if the superlifting device is arbitrarily changed due to negligence, misoperation or unfamiliarity of the operator, it will destroy the stress condition of the crane components and the stability of the whole machine, and easily cause accidents. Therefore, in the present technical scheme, before the superlifting device changes its length, the angle of the boom, the tension of the wire rope, and the superlifting angle are restricted, which can avoid the superlifting device from performing the length change action in a dangerous state and reduce the occurrence of accidents. After the boom angle is lower than the first preset angle, the first ratchet and the second ratchet are in the unlocked state, the first wire rope and the second wire rope are in the loose rope state, and the superlifting angle is lower than the second preset angle, the superlifting device is allowed to change its length, which can avoid the operator from destroying the balance of the whole machine due to misoperation during the lifting process, reduce the loss of structural parts, reduce the failure rate of the crane, and ensure that the operation process of the superlifting condition is safe and controllable. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0054] Figure 1 A schematic front view of the installation of a superlift device according to an embodiment of the present invention is shown;

[0055] Figure 2A side view schematically shows the installation of a superlift device according to an embodiment of the present invention;

[0056] Figure 3 A schematic top view of the installation of a superlift device according to an embodiment of the present invention is shown;

[0057] Figure 4 A flow chart of a control method for a crane according to an embodiment of the present invention is schematically shown;

[0058] Figure 5 A control flow chart of the luffing action of the superlifting device according to an embodiment of the present invention is schematically shown;

[0059] Figure 6 A control flow chart of the swinging action of the superlifting device according to an embodiment of the present invention is schematically shown;

[0060] Figure 7 A control flow chart of a target superlifting condition hoisting operation according to an embodiment of the present invention is schematically shown.

[0061] Description of Reference Numerals

[0062] 10- first mast; 11- second mast;

[0063] 12-first steel wire rope; 13-second steel wire rope;

[0064] 14-first ratchet; 15-second ratchet;

[0065] 16- basic arm; 17- luffing action of super lifting device;

[0066] 18-luffing cylinder of super lifting device; 19-first pulling plate;

[0067] 20-super lifting angle; 21-swing cylinder of super lifting device;

[0068] 22-swinging action of the super lifting device; 23-mounting hole;

[0069] 24-head of the boom; 25-second boom section;

[0070] 26-the third arm; 27-the fourth arm. DETAILED DESCRIPTION

[0071] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here 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.

[0072] It should be noted that if the implementation methods of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0073] In addition, if there are descriptions involving "first", "second", etc. in the implementation methods of this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various implementation methods can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0074] Figure 1 A schematic front view of the installation of a superlift device according to an embodiment of the present invention is shown; Figure 2 A side view schematically shows the installation of a superlift device according to an embodiment of the present invention; Figure 3 The figure schematically shows a top view of the installation of a superlift device according to an embodiment of the present invention.

[0075] See also Figure 3 , Figure 3 The schematic diagram shows a crane boom including four booms, wherein the crane boom includes a basic boom 16 (i.e., a first boom 16), a second boom 25, a third boom 26, and a fourth boom 27. The basic boom 16 can be understood as the first boom. Figure 1 In the embodiment, except the basic arm 16, other section arms are all retracted. Generally, for a crane, the shortest length that the boom can reach is approximately equal to (slightly greater than) the length of the basic arm 16.

[0076] Can be combined Figure 1 , Figure 2 as well as Figure 3From the perspective of the basic arm 16, a super-lifting device is provided, and the super-lifting device includes a first mast 10, a second mast 11, a first steel wire rope 12, a second steel wire rope 13, a first ratchet 14, and a second ratchet 15. The first end of the first mast 10 is provided on the basic arm 16, the first end of the first steel wire rope 12 is connected to the second end of the first mast 10, and the second end of the first steel wire rope 12 is connected to the head 24 of the boom. The second mast 11 and the second steel wire rope 13 are symmetrically arranged with the first mast 10 and the first steel wire rope 12 relative to the boom, respectively. The first end of the second mast 11 is provided on the basic arm 16, the first end of the second steel wire rope 13 is connected to the second end of the second mast 11, and the second end of the second steel wire rope 13 is connected to the head 24 of the boom. The first ratchet 14 and the second ratchet 15 are used to control the retraction and release of the first steel wire rope 12 and the second steel wire rope 13, respectively.

[0077] See also Figure 1 and Figure 2 The super-lifting device includes a mounting hole 23, through which the super-lifting device can be fixedly sleeved on the basic arm 16. Figure 2 As shown, the first mast 10 and the second mast 11 can be combined into a whole. For cranes with larger tonnage, due to the significant increase in lifting weight, a slight lateral bending of the arm head 24 during the long arm lifting process can easily cause various safety accidents. Therefore, it is usually necessary to add a super lifting device to the basic arm 16, which can be comprehensively referred to in Figure 1 , Figure 2 as well as Figure 3 In the super lifting device, each of the two masts leads a wire rope to pull the arm head 24, giving the arm head 24 a force in the opposite direction to ensure that the lateral curvature of the arm head is controlled within a reasonable range. The super lifting device can improve the stress condition of the components and the stability of the whole machine, and improve the lifting performance of the crane.

[0078] exist Figure 1 In the figure, reference numeral 17 schematically shows the luffing action of the superlifting device. The luffing action of the superlifting device can be understood as the first mast 10 and the second mast 11 simultaneously rotating with their respective first ends as base points. Figure 1 In the embodiment, the first mast 10 and the second mast 11 are both perpendicular to the basic arm 16. At this time, when the super lifting device performs the luffing action, the angle between the first mast 10 (or the second mast 11) and the basic arm 16 will be less than 90 degrees, until the angle between the first mast 10 (or the second mast 11) and the basic arm 16 is about 0 degrees. Figure 1 In the state, when the super-lifting device performs the variable-length lifting action, the angle between the first mast 10 (or the second mast 11) and the basic arm 16 will be greater than 90 degrees, until the angle between the first mast 10 (or the second mast 11) and the basic arm 16 is about 180 degrees.

[0079] exist Figure 2In the figure, reference numeral 22 schematically shows the swinging action of the superlifting device. Figure 2 As shown, the angle formed by the first mast 10 and the second mast 11 can be understood as the super-lifting angle 20. The swinging action of the super-lifting device includes retracting the first mast 10 and the second mast 11, at which time the super-lifting angle 20 will decrease. The swinging action of the super-lifting device includes opening the first mast 10 and the second mast 11, at which time the super-lifting angle 20 will increase.

[0080] The super-lifting condition can be understood as the operating condition of a crane with a super-lifting device. In the super-lifting condition, if there are no restrictions on the angle of the boom, the tension of the super-lifting wire rope, and the super-lifting angle, the super-lifting device will perform the luffing action. At this time, the super-lifting luffing action at a dangerous angle and under a large tension is prone to cause accidents. During the hoisting process of an ultra-large tonnage crane, if there is no restriction on the super-lifting action, manual operation can perform super-lifting luffing and ratchet unlocking and other actions. If the operator is not familiar with the operation, or due to the operator's negligence and misoperation, it may damage the stress condition of the crane components and the stability of the entire machine, resulting in structural damage and easily causing accidents.

[0081] The control method for a crane in an embodiment of the present invention can solve the above problems. Figure 4 The flowchart of the control method for a crane according to an embodiment of the present invention is schematically shown. Figure 4 As shown, in one embodiment of the present invention, a control method for a crane is provided, comprising the following steps:

[0082] Step 401, receiving an instruction to change the amplitude of the superlift device to a first target angle;

[0083] Step 402, limiting the angle of the boom to below a first preset angle;

[0084] Step 403, setting the first ratchet 14 and the second ratchet 15 to an unlocked state, so that the first steel wire rope 12 and the second steel wire rope 13 are in a loose rope state;

[0085] Step 404, obtaining a first tension value of the first steel wire rope 12 and a second tension value of the second steel wire rope 13;

[0086] Step 405, when the first tension value and the second tension value are both zero, the first mast 10 and the second mast 11 are folded in until the super-tension angle 20 formed by the first mast 10 and the second mast 11 is lower than the second preset angle;

[0087] Step 406: luffing the first mast 10 and the second mast 11 to a first target angle.

[0088] After the installers have installed the left and right super-lifts as required, they will get on the vehicle, turn on the power and start the vehicle. At this time, if the instruction to change the boom length to the first target angle is received, the crane will start self-checking; after the self-check is fault-free, the operating handle will change the boom length until the boom angle is less than 10° (that is, the first preset angle can be 10°); the first ratchet 14 and the second ratchet 15 will be controlled to unlock, and the indicator light will be on when the unlocking is in place; after the controller self-checks that the first tension value of the first wire rope 12 and the second tension value of the second wire rope 13 are both 0, the left and right masts of the super-lift device (that is, the first mast 10 and the second mast 11) can be folded. If the first tension value and / or the second tension value is not 0 at this time, the unlocking action of the first ratchet 14 and the second ratchet 15 needs to be repeated. After the left and right masts of the super-lifting device are folded in, the controller receives the signal of the super-lifting angle. The second preset angle can range from 3° to 5°. When the super-lifting angle is less than 5°, the super-lifting device can be safely adjusted to the predetermined position (i.e., the first target angle), thereby ending the adjustment process of the super-lifting device.

[0089] If the variable-length action is performed when the super-lifting angle is greater than 5°, the super-lifting wire rope may get tangled, which may easily cause an accident. Therefore, if the super-lifting angle is greater than 5°, the left and right masts of the super-lifting device need to be retracted again. In actual situations, due to errors in the angle sensor and other reasons, when the swing cylinder is retracted to the bottom, the super-lifting angle may not reach 0°, so a 3° fault tolerance is given. In this way, in one embodiment, the premise for performing the variable-length action of the super-lifting device is: the angle of the boom is less than 10°, the first ratchet 14 and the second ratchet 15 are in an unlocked state, the first wire rope 12 and the second wire rope 13 are in a loose rope state, the first tension value and the second tension value are both zero, and the super-lifting angle formed by the first mast 10 and the second mast 11 is between 3° and 5°. Figure 5 A flow chart schematically shows the luffing action of the superlifting device according to an embodiment of the present invention, which can be seen in Figure 5 .

[0090] That is to say, there are risks in performing the amplitude change action when any of the following conditions occurs: the angle of the boom is greater than 10°, the first ratchet 14 and the second ratchet 15 are in a locked state, the tension value of the wire rope is not zero, and the over-tension angle is greater than 5°.

[0091] The superlifting device is a device that can improve the stress condition of crane components and the stability of the whole machine, and improve the lifting performance of the crane. For a crane with a superlifting device, if the superlifting device is arbitrarily changed due to negligence, misoperation or unfamiliarity of the operator, it will destroy the stress condition of the crane components and the stability of the whole machine, and easily cause accidents. Therefore, in the present technical scheme, before the superlifting device changes its length, the angle of the boom, the tension of the wire rope, and the superlifting angle are restricted, which can avoid the superlifting device from performing the luffing action in a dangerous state and reduce the occurrence of accidents. After the angle of the boom is lower than the first preset angle, the first ratchet 14 and the second ratchet 15 are in the unlocked state, the first wire rope 12 and the second wire rope 13 are in the loose rope state, and the superlifting angle 20 is lower than the second preset angle, the luffing action of the superlifting device is allowed to be performed, which can avoid the operator from destroying the balance of the whole machine due to misoperation during the lifting process, reduce the loss of structural parts, reduce the failure rate of the crane, and ensure that the operation process of the superlifting condition is safe and controllable.

[0092] In one embodiment, the control method further includes:

[0093] receiving an instruction for instructing the superlift device to swing to a second target angle;

[0094] Make sure the crane is unloaded and in an empty hook state;

[0095] Obtain a first tension value of the first steel wire rope 12 and a second tension value of the second steel wire rope 13;

[0096] When the first tension value and the second tension value are both within the preset tension range of the empty hook, the first ratchet 14 and the second ratchet 15 are set to an unlocked state, so that the first steel wire rope 12 and the second steel wire rope 13 are in a loose rope state;

[0097] Re-acquire the first tension value and the second tension value;

[0098] When the first tension value and the second tension value are both zero, the first mast 10 and the second mast 11 are swung until the super-tension angle 20 reaches a second target angle.

[0099] In one embodiment, the control method further includes:

[0100] After the first mast 10 and the second mast 11 are both swung to the second target angle, the first ratchet 14 and the second ratchet 15 are controlled to reel in the rope;

[0101] When both the first tension value and the second tension value are within the preset tension range of the empty hook, the first ratchet 14 and the second ratchet 15 are set to a locked state.

[0102] Figure 6A control flow chart of the swinging action of the superlifting device according to an embodiment of the present invention is schematically shown, which can be seen in Figure 6 . When receiving an instruction for instructing the super-lifting device to swing to the second target angle; unload the load as required to ensure that the crane is in an empty hook condition; the controller self-checks the tension value of the wire rope; if the first tension value and the second tension value are both within the empty hook preset tension range at this time, the first ratchet 14 and the second ratchet 15 are set to an unlocked state, so that the first wire rope 12 and the second wire rope 13 are in a loose rope state; when the ratchet is unlocked in place, the indicator light is on; the controller re-acquires the tension value of the wire rope, and when the first tension value and the second tension value are both zero, the first mast 10 and the second mast 11 are executed until the super-lifting angle is the second target angle; if the first tension value and / or the second tension value is not 0, the unlocking action needs to be repeated. Afterwards, the first ratchet 14 and the second ratchet 15 retract the rope, and when the first tension value and the second tension value are both within the empty hook preset tension range, the first ratchet 14 and the second ratchet 15 are set to a locked state to complete the super-lifting swing action process.

[0103] If the ratchet unlocking and other related actions are performed without confirming the load situation, the ratchet unlocking when the load is light may cause the boom bending degree to suddenly change and impact the structural parts, thereby damaging the boom structural parts. Therefore, in an embodiment of the present invention, it is determined that the load of the crane is unloaded and the crane enters an empty hook state, and the first tension value of the first wire rope 12 and the second tension value of the second wire rope 13 are obtained. Since the first tension value of the first wire rope 12 and the second tension value of the second wire rope 13 are related to the load weight, in general, the tension value of the wire rope when the load is hung will be greater than the tension value when the hook is empty. When the first tension value and the second tension value are both within the preset tension range of the empty hook, it can be further determined that the load of the crane is unloaded and the crane enters an empty hook state, thereby improving accuracy. Only then are the first ratchet 14 and the second ratchet 15 set to an unlocked state to ensure operational safety.

[0104] In this embodiment, when the first tension value and the second tension value are both zero, it can be further determined that the first steel wire rope 12 and the second steel wire rope 13 are in a loose rope state, thereby improving accuracy.

[0105] Similarly, if the operator, due to negligence, unfamiliarity or misoperation, performs the swinging action of the super-lifting device when the load has not been unloaded, the crane has not yet determined to enter the empty hook state, or the tension value of the wire rope is still greater than zero, it is easy to damage the super-lifting components and cause safety hazards. Therefore, in the present technical solution, before the super-lifting device swings, the operating conditions of the crane, the tension of the wire rope and other conditions are restricted, which can avoid the super-lifting device from performing the swinging action in a dangerous state and reduce the occurrence of accidents. After the load of the crane is unloaded and enters the empty hook state, the first ratchet 14 and the second ratchet 15 are in the unlocked state, and the first tension value and the second tension value are both zero, the swinging action of the super-lifting device is allowed to be performed, which can avoid the operator from destroying the balance of the whole machine due to misoperation during the lifting process, reduce the loss of structural parts, reduce the failure rate of the crane, and ensure that the operation process of the super-lifting condition is safe and controllable.

[0106] In one embodiment, the control method further includes:

[0107] Receiving instructions for entering into a target superlifting condition for hoisting operation;

[0108] Obtaining locking signals of the first ratchet 14 and the second ratchet 15, wherein the locking signals include two conditions: locked and unlocked;

[0109] When the first ratchet 14 and / or the second ratchet 15 are unlocked, the lifting capacity of the crane is limited to the empty hook weight.

[0110] In one embodiment, the superlifting condition is in correspondence with the superlifting angle, and the control method further includes:

[0111] When the first ratchet 14 and the second ratchet 15 are both locked, a set opening angle range corresponding to the target super-lifting condition is determined according to the target super-lifting condition and the corresponding relationship;

[0112] Get the current opening angle of the super lifting device;

[0113] When the current opening angle is not within the set opening angle range, the crane's lifting capacity is limited to the empty hook weight.

[0114] In one embodiment, the control method further includes:

[0115] When the current opening angle is within the set opening angle range, obtaining a first tension value and a second tension value;

[0116] When the first tension value and / or the second tension value exceeds the tension limit value, the main winch of the crane is prohibited from performing a lifting action, wherein the main winch is used to control the ascent and descent of the crane hook and the load.

[0117] In one embodiment, the control method further includes:

[0118] When both the first tension value and the second tension value do not exceed the tension limit value, calculating the difference between the first tension value and the second tension value;

[0119] When the difference is less than the preset difference, it is determined to enter the target superlifting condition hoisting operation.

[0120] When the difference between the first tension value and the second tension value is too large, the boom will be biased, which may easily cause an accident; the turntable of the crane is unbalanced, which may easily damage the slewing structure. Therefore, in one embodiment of the present invention, the control method further includes: when the difference is not less than the preset difference, prohibiting the crane from performing the slewing action, so that the slewing structure can be protected and the operation safety of the crane can also be protected.

[0121] Figure 7 The control flow chart of the target super-lifting condition hoisting operation according to an embodiment of the present invention is schematically shown, which can be seen in Figure 7 Limiting the crane's lifting capacity to the empty hook weight can be understood as prohibiting the crane's hook from hanging loads. Commonly, the opening angle range is usually set between 60 degrees and 80 degrees, that is, under normal circumstances, the first mast 10 and the second mast 11 are each opened between 30 degrees and 40 degrees. The super-lifting condition is in a corresponding relationship with the super-lifting angle. The specific setting of the super-lifting angle can be determined according to the specific super-lifting condition.

[0122] In the embodiment of the present invention, the status information of components such as pressure sensors, tension sensors, and angle sensors can be transmitted through the CAN bus. The super-lifting controller determines the super-lifting status based on the sensor signal, and then determines whether to send super-lifting swing, amplitude change, and unlocking signals. At the same time, the on-board controller receives the left and right tension signals sent by the super-lifting controller to determine whether to make a rotation or main winch action.

[0123] If the current opening angle is not within the set opening angle range, or the ratchet is not locked, there is no limit on the lifting weight, which is equivalent to allowing superlifting operation when the superlift is not working, which will cause greater risks in crane operation. Figure 7 If the current opening angle is not within the set opening angle range, or the ratchet is not locked, the lifting weight is limited to the empty hook weight, that is, the crane hook is prohibited from hanging loads to ensure operation safety.

[0124] In one embodiment, the control method also includes: when the current opening angle is not within the set opening angle range, or the first ratchet 14 and / or the second ratchet 15 are not locked, determining that the super-lifting device is in a non-working state, the controller self-checks and determines that the above situation does not belong to the super-lifting condition, and prohibiting the target super-lifting condition lifting operation when the super-lifting device is in the non-working state.

[0125] In an embodiment of the present invention, the super-lifting device also includes a first pull plate 19 and a second pull plate, the first end of the first pull plate 19 is connected to the second end of the first mast 10, the second end of the first pull plate 19 is arranged on the revolving platform of the crane, the second pull plate and the first pull plate 19 are symmetrically arranged relative to the boom, the first end of the second pull plate is connected to the second end of the second mast 11, and the second end of the second pull plate is arranged on the revolving platform of the crane.

[0126] The present invention proposes a safety control method for the super-lifting working condition of an ultra-large tonnage truck crane, and makes comprehensive restrictions on the super-lifting amplitude change, swing, and crane hoisting and rotation functions. Under the condition that the crane hardware is the same, the present invention can effectively eliminate the hidden dangers caused by improper operation of the load impacting the main arm, the super-lifting not working during the lifting process, and the super-lifting being damaged due to excessive lifting weight, thereby effectively reducing the loss of structural parts and the failure rate of the crane. The present invention increases the self-judgment of the crane controller, uses the working condition data collected by each sensor, and makes restrictions on the corresponding dangerous actions through the logic judgment of the controller to ensure the safety and controllability of the super-lifting working process.

[0127] An embodiment of the present invention provides a controller, which is configured to execute any one of the control methods for a crane in the above embodiments.

[0128] The crane includes a boom, the boom includes a basic boom, a super-lifting device is arranged on the basic boom, the super-lifting device includes a first mast, a second mast, a first steel wire rope, a second steel wire rope, a first ratchet and a second ratchet, the first end of the first mast is arranged on the basic arm, the first end of the first steel wire rope is connected to the second end of the first mast, the second end of the first steel wire rope is connected to the head of the boom, the second mast and the second steel wire rope are symmetrically arranged with the first mast and the first steel wire rope relative to the boom, and the first ratchet and the second ratchet are used to respectively control the retraction and release of the first steel wire rope and the second steel wire rope.

[0129] Specifically, the controller can be configured to:

[0130] receiving an instruction to luff the superlift device to a first target angle;

[0131] limiting the angle of the boom to below a first preset angle;

[0132] The first ratchet and the second ratchet are set to an unlocked state, so that the first steel wire rope and the second steel wire rope are in a loose rope state;

[0133] Obtain a first tension value of the first steel wire rope and a second tension value of the second steel wire rope;

[0134] When the first tension value and the second tension value are both zero, the first mast and the second mast are retracted until the super-tension angle formed by the first mast and the second mast is lower than a second preset angle;

[0135] The first mast and the second mast are luffed to a first target angle.

[0136] In an embodiment of the present invention, the controller is further configured to:

[0137] receiving an instruction for instructing the superlift device to swing to a second target angle;

[0138] Make sure the crane is unloaded and in an empty hook state;

[0139] Obtain a first tension value and a second tension value;

[0140] When the first tension value and the second tension value are both within the preset tension range of the empty hook, setting the first ratchet and the second ratchet to a disengaged state;

[0141] Re-acquire the first tension value and the second tension value;

[0142] When the first tension value and the second tension value are both zero, the first mast and the second mast are swung until the super-tension angle reaches a second target angle.

[0143] In an embodiment of the present invention, the controller is further configured to:

[0144] After the first mast and the second mast are both swung to a second target angle, the first ratchet and the second ratchet are controlled to collect the ropes;

[0145] When the first pulling force value and the second pulling force value are both within the preset pulling force range of the empty hook, the first ratchet and the second ratchet are set to a locked state.

[0146] In an embodiment of the present invention, the controller is further configured to:

[0147] When the first pulling force value and / or the second pulling force value is not zero, the unlocking action of the first ratchet and the second ratchet is re-executed.

[0148] In an embodiment of the present invention, the controller is further configured to:

[0149] Receiving instructions for entering into a target superlifting condition for hoisting operation;

[0150] Acquiring locking signals of the first ratchet and the second ratchet;

[0151] When the first ratchet and / or the second ratchet is unlocked, the lifting capacity of the crane is limited to the empty hook weight.

[0152] In the embodiment of the present invention, the superlifting working condition is in a corresponding relationship with the superlifting angle, and the controller is further configured as follows:

[0153] When the first ratchet and the second ratchet are both locked, determining a set opening angle range corresponding to the target superlifting condition according to the target superlifting condition and the corresponding relationship;

[0154] Get the current opening angle of the super lifting device;

[0155] When the current opening angle is not within the set opening angle range, the crane's lifting capacity is limited to the empty hook weight.

[0156] In an embodiment of the present invention, the controller is further configured to:

[0157] When the current opening angle is within the set opening angle range, obtaining a first tension value and a second tension value;

[0158] When the first pulling force value and / or the second pulling force value exceeds the pulling force limit value, the main winch of the crane is prohibited from performing the lifting action.

[0159] In an embodiment of the present invention, the controller is further configured to:

[0160] When both the first tension value and the second tension value do not exceed the tension limit value, calculating the difference between the first tension value and the second tension value;

[0161] When the difference is less than the preset difference, it is determined to enter the target superlifting condition hoisting operation.

[0162] In an embodiment of the present invention, the controller is further configured to:

[0163] When the difference is not less than the preset difference, the crane is prohibited from performing the rotation action.

[0164] In an embodiment of the present invention, the controller is further configured to:

[0165] When the current opening angle is not within the set opening angle range, or the first ratchet and / or the second ratchet are not locked, determining that the super-lifting device is in a non-working state;

[0166] It is prohibited to carry out lifting operations under target super-lifting conditions when the load is not in operation.

[0167] In an embodiment of the present invention, the super-lifting device also includes a first pull plate and a second pull plate, the first end of the first pull plate is connected to the second end of the first mast, the second end of the first pull plate is arranged on the revolving platform of the crane, and the second pull plate and the first pull plate are symmetrically arranged relative to the boom.

[0168] An embodiment of the present invention provides a control device for a crane, comprising:

[0169] A first angle sensor, used to detect the angle of the boom;

[0170] The second angle sensor is used to detect the luffing angle of the superlifting device;

[0171] The third angle sensor is used to detect the super-lifting angle of the super-lifting device;

[0172] A tension sensor, used to detect a first tension value of the first steel wire rope and a second tension value of the second steel wire rope respectively; and

[0173] The controller described above.

[0174] An embodiment of the present invention provides a crane, comprising the above-mentioned control device.

[0175] An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method for a crane.

[0176] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0177] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0178] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0179] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0180] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0181] 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.

[0182] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 disk read-only memory (CD-ROM), digital versatile disk (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 temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0183] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0184] The above are only 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 modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for a crane, characterized in that: The crane comprises a boom, the boom comprises a basic boom, a super-lifting device is arranged on the basic boom, the super-lifting device comprises a first mast, a second mast, a first steel wire rope, a second steel wire rope, a first ratchet and a second ratchet, the first end of the first mast is arranged on the basic boom, the first end of the first steel wire rope is connected to the second end of the first mast, the second end of the first steel wire rope is connected to the head of the boom, the second mast and the second steel wire rope are symmetrically arranged with the first mast and the first steel wire rope relative to the boom, and the first ratchet and the second ratchet are used to control the retraction and extension of the first steel wire rope and the second steel wire rope respectively; The control method comprises: receiving an instruction to luff the superlift device to a first target angle; Limiting the angle of the boom to below a first preset angle; Setting the first ratchet and the second ratchet to an unlocked state so that the first steel wire rope and the second steel wire rope are in a loose rope state; Obtaining a first tension value of the first steel wire rope and a second tension value of the second steel wire rope; When the first tension value and the second tension value are both zero, the first mast and the second mast are folded in until the super-tension angle formed by the first mast and the second mast is lower than a second preset angle; The first mast and the second mast are both luffed to the first target angle.

2. The control method according to claim 1, characterized in that: Also includes: receiving an instruction for instructing the super-lifting device to swing to a second target angle; Determining that the load of the crane is unloaded and the crane enters an empty hook state; Obtaining the first tension value and the second tension value; When the first tension value and the second tension value are both within the preset tension range of the empty hook, setting the first ratchet and the second ratchet to a disengaged state; reacquiring the first tension value and the second tension value; When the first tension value and the second tension value are both zero, the first mast and the second mast are swung until the super-tension angle reaches the second target angle.

3. The control method according to claim 2, characterized in that: Also includes: After the first mast and the second mast are both swung to the second target angle, controlling the first ratchet and the second ratchet to collect the rope; When the first pulling force value and the second pulling force value are both within the preset pulling force range of the empty hook, the first ratchet and the second ratchet are set to a locked state.

4. The control method according to claim 1, characterized in that: Also includes: When the first pulling force value and / or the second pulling force value is not zero, the unlocking action of the first ratchet and the second ratchet is re-executed.

5. The control method according to claim 1, characterized in that: Also includes: Receiving instructions for entering into a target superlifting condition for hoisting operation; Acquiring locking signals of the first ratchet and the second ratchet; When the first ratchet and / or the second ratchet is unlocked, the lifting capacity of the crane is limited to the empty hook weight.

6. The control method according to claim 5, characterized in that: The superlifting working condition is in corresponding relationship with the superlifting angle, and the control method further includes: In a case where both the first ratchet and the second ratchet are locked, determining a set opening angle range corresponding to the target superlifting condition according to the target superlifting condition and the corresponding relationship; Obtaining a current opening angle of the superlifting device; When the current opening angle is not within the set opening angle range, the lifting capacity of the crane is limited to the empty hook weight.

7. The control method according to claim 6, characterized in that: Also includes: When the current opening angle is within the set opening angle range, acquiring the first tension value and the second tension value; When the first pulling force value and / or the second pulling force value exceeds the pulling force limit value, the main hoisting of the crane is prohibited from performing the lifting action.

8. The control method according to claim 7, characterized in that: Also includes: When both the first tension value and the second tension value do not exceed the tension limit value, calculating the difference between the first tension value and the second tension value; When the difference is less than the preset difference, it is determined to enter the target super-lifting condition hoisting operation.

9. The control method according to claim 8, characterized in that: Also includes: When the difference is not less than a preset difference, the crane is prohibited from performing a slewing action.

10. The control method according to claim 6, characterized in that: Also includes: When the current opening angle is not within the set opening angle range, or the first ratchet and / or the second ratchet are not locked, determining that the super-lifting device is in a non-working state; It is prohibited to carry out the target super-lifting condition lifting operation in the non-working state.

11. The control method according to claim 1, characterized in that: The super-lifting device also includes a first pull plate and a second pull plate, wherein the first end of the first pull plate is connected to the second end of the first mast, the second end of the first pull plate is arranged on the rotating platform of the crane, and the second pull plate and the first pull plate are symmetrically arranged relative to the boom.

12. A controller, characterized in that: The method is configured to execute the control method for a crane according to any one of claims 1 to 11.

13. A control device for a crane, characterized in that: include: A first angle sensor, used to detect the angle of the boom; The second angle sensor is used to detect the luffing angle of the superlifting device; A third angle sensor, used for detecting the super-lifting angle of the super-lifting device; A tension sensor, used to detect a first tension value of the first steel wire rope and a second tension value of the second steel wire rope respectively; as well as A controller according to claim 12.

14. A crane, characterized in that: Comprising a control device for a crane according to claim 13.

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