Safety control method of crawler type mechanical equipment and crawler type mechanical equipment

Abstract

The present application discloses a safety control method for crawler mechanical equipment and crawler mechanical equipment. The crawler mechanical equipment includes a main luffing wire rope, a mast and a superlifting mast. The superlifting mast is hinged to the mast, and the main luffing wire rope is connected to the mast. It is used to control the angle change of the mast by retracting and releasing the main luffing wire rope to control the angle change of the superlifting mast. The method includes: reading the initial working condition information of the crawler mechanical equipment; determining the maximum safe angle of the superlifting mast according to the initial working condition information; determining the set angle range of the superlifting mast according to the maximum safe angle; obtaining the angle of the superlifting mast in real time; judging whether the angle is within the set angle range; and limiting the retracting of the main luffing wire rope when the superlifting mast angle is within the set angle range. In this way, by calculating and controlling the maximum angle of the superlifting mast, the possibility of the superlifting mast tilting backward can be reduced, thereby reducing the safety risk.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a safety control method for crawler-type mechanical equipment and crawler-type mechanical equipment. Background Art

[0002] During the installation of a crawler crane, it is necessary to pull up the main boom jib in a horizontal state, which can be achieved through the following steps: flip the mast toward the front of the crane through the telescopic movement of the mast lifting cylinder; during the forward flipping of the mast, the luffing winch wire rope needs to be released. During this process, it is necessary to ensure that the tension exerted by the luffing winch wire rope on the mast is not too large to avoid bending and deformation of the mast; when the mast is flipped to a certain angle, stop the extension of the mast lifting cylinder; continue to release the luffing winch wire rope, and the mast continues to rotate forward under the action of gravity; in order to prevent the upward pulling force exerted on the mast by the luffing winch wire rope being less than the mast's own gravity, the luffing winch rope-releasing action should be stopped after the mast rotates to a certain angle. This angle is the front limit angle of the mast, connect the mast head pull plate with the boom of the main arm, perform the luffing winch rope-collecting action, pull up the boom of the main arm, and complete the boom installation.

[0003] During the installation and rotation of the crawler crane in the super-lifting condition, when the super-lifting mast and the main arm pull plate are not connected and the mast lifting cylinder is not in place, if the super-lifting mast is too far in front of the turntable, the super-lifting mast may tip over. At present, the super-lifting mast can only be judged by the operator based on experience, without any relevant safety restrictions or prompts. Therefore, there are safety risks in the control of crawler cranes in the prior art. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a safety control method for crawler mechanical equipment and crawler mechanical equipment, so as to solve the problem of safety risks in the control of crawler cranes in the prior art.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a safety control method for crawler-type mechanical equipment, characterized in that the crawler-type mechanical equipment includes a main luffing wire rope, a mast and a superlift mast, the superlift mast is hinged to the mast, and the main luffing wire rope is connected to the mast, and is used to control the angle change of the mast by taking up and releasing the main luffing wire rope to control the angle change of the superlift mast, and the method includes:

[0006] Read the initial working condition information of crawler mechanical equipment;

[0007] Determine the maximum safe angle of the superlift mast based on the initial working condition information;

[0008] Determine the setting angle range of the superlift mast based on the maximum safety angle;

[0009] Get the angle of the superlift mast in real time;

[0010] Determine whether the angle is within the set angle range;

[0011] When the angle is within the set angle range, the main luffing wire rope is restricted to be retracted.

[0012] In the embodiment of the present application, the initial working condition information includes: the superlift mast length, the mast length and the main luffing pull plate length.

[0013] In the embodiment of the present application, according to the initial working condition information, determining the maximum safe angle of the superlift mast includes:

[0014] Determine the initial angle of the superlift mast;

[0015] gradually increasing the initial angle at preset intervals to obtain a plurality of candidate angles;

[0016] For any candidate angle among the multiple candidate angles, according to the superlift mast length, the mast length and the main luffing plate length, the mast moment, the main luffing plate moment and the superlift mast moment corresponding to the any candidate angle are determined;

[0017] The maximum safe angle is determined according to the mast moment, main luffing plate moment and superlift mast moment corresponding to multiple candidate angles.

[0018] In the embodiment of the present application, according to the superlift mast length, the mast length and the main luffing plate length, determining the mast moment, the main luffing plate moment and the superlift mast moment corresponding to any candidate angle includes:

[0019] Determine the first coordinate of the connection hinge point between the top of the superlift mast and the main arm pull plate according to the superlift mast length and the superlift mast angle;

[0020] Determine the second coordinate of the connection hinge point between the main luffing pull plate and the top of the superlift mast according to the first coordinate;

[0021] Determine the third coordinate of the connection hinge point between the main luffing plate and the mast according to the second coordinate;

[0022] Determine the mast angle based on the mast length and the third coordinate;

[0023] Determine the mast moment based on the mast angle and mast center of gravity;

[0024] Determine the main luffing plate moment according to the second coordinate, the third coordinate, the weight of the main luffing plate and the center of gravity of the main luffing plate;

[0025] The superlift mast moment is determined based on the total weight of the superlift mast, the superlift mast center of gravity and any candidate angle.

[0026] In the embodiment of the present application, determining the maximum safe angle according to the mast moment, main luffing plate moment and superlift mast moment corresponding to the multiple candidate angles includes:

[0027] Obtain the mast moment corresponding to any candidate angle, the total moment after the main luffing plate moment and the superlift mast moment are added;

[0028] The maximum candidate angle corresponding to the total torque being greater than zero is determined as the maximum safe angle.

[0029] In the embodiment of the present application, determining the setting angle range of the superlift mast according to the maximum safety angle includes:

[0030] Multiply the maximum safety angle by the set coefficient to obtain the safety threshold;

[0031] Before the main luffing wire rope starts to be retracted, the angle range is set to be less than the safety threshold;

[0032] During the process of retracting the main luffing wire rope, the angle range is set to be greater than or equal to the safety threshold and less than or equal to the maximum safety angle.

[0033] In the embodiment of the present application, the crawler-type mechanical equipment further includes a superlift mast angle sensor, which is disposed on the superlift mast. Real-time acquisition of the superlift mast angle includes:

[0034] The angle of the superlift mast is obtained by a superlift mast angle sensor.

[0035] In the embodiment of the present application, the crawler-type mechanical equipment further includes an interaction device, and reading the initial working condition information of the crawler-type mechanical equipment includes:

[0036] When the crawler-type mechanical equipment is powered on, read the working condition information of the crawler-type mechanical equipment before the last power failure;

[0037] Sending working condition confirmation information to the interactive device according to the working condition information;

[0038] When the operating condition confirmation instruction fed back by the interactive device is received, the operating condition information is determined as the initial operating condition information.

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

[0040] Sending security confirmation information to the interactive device;

[0041] When receiving the safety confirmation command, the rope retraction restriction of the main luffing wire rope is released.

[0042] A second aspect of the present application provides a controller, comprising:

[0043] a memory configured to store instructions; and

[0044] A processor is configured to call instructions from a memory and implement the safety control method of a crawler-type mechanical equipment according to any one of the above claims when executing the instructions.

[0045] A third aspect of the present application provides a crawler-type mechanical equipment, comprising:

[0046] Mast;

[0047] Super-lift mast, hinged to the mast;

[0048] The main luffing wire rope is connected to the mast and is used to control the angle change of the mast by reeling in and releasing the main luffing wire rope, so as to control the angle change of the superlift mast;

[0049] According to the controller above.

[0050] In the embodiment of the present application, the crawler-type mechanical equipment further includes:

[0051] The interactive device communicates with the controller and is used to receive working condition confirmation instructions and safety confirmation instructions.

[0052] In a fourth aspect of the present application, a machine-readable storage medium is provided, on which instructions are stored, the instructions being used to enable a machine to execute a safety control method for a crawler-type mechanical equipment according to any one of the above claims.

[0053] Through the above technical solution, by reading the initial working condition information of the crawler mechanical equipment, the maximum safe angle of the superlift mast is determined according to the initial working condition information, the setting angle range of the superlift mast is determined according to the maximum safe angle, the angle of the superlift mast is obtained in real time, and it is determined whether the angle is within the setting angle range. When the angle is within the setting angle range, the main luffing wire rope is restricted to be retracted. In this way, by calculating the maximum safe angle of the superlift mast and limiting the flipping angle of the superlift mast, the dangerous situation of the superlift mast flipping back in the crawler mechanical equipment is reduced, thereby reducing the safety risk.

[0054] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0056] Figure 1 A schematic diagram shows a structure diagram of a super-lifting luffing pulley block and a main arm pull plate connected under an installation condition according to an embodiment of the present application;

[0057] Figure 2 A schematic diagram shows a structure diagram of a super-lifting luffing pulley block and a main arm pull plate not connected under an installation condition according to an embodiment of the present application;

[0058] Figure 3 A flowchart of a safety control method for a crawler-type mechanical equipment according to an embodiment of the present application is schematically shown;

[0059] Figure 4 The structure diagram of a superlift mast, a mast and a main luffing plate according to an embodiment of the present application is schematically shown;

[0060] Figure 5 Schematically shows the embodiment of the present application Figure 2 A partial enlarged view of the connection between the main luffing plate and the superlift mast;

[0061] Figure 6 Schematically shows the embodiment of the present application Figure 4 A partial enlarged view of the connection between the main luffing plate and the superlift mast;

[0062] Figure 7 Schematically shows the embodiment of the present application Figure 2 A partial enlarged view of the connection between the main luffing wire rope and the mast;

[0063] Figure 8 A structural block diagram of a controller according to an embodiment of the present application is schematically shown;

[0064] Fig. 9 A flow chart of a safety control method for tracked mechanical equipment according to a specific embodiment of the present application is schematically shown.

[0065] Description of Reference Numerals

[0066] 101 Main luffing wire rope 102 Mast

[0067] 103 Superlift Mast 104 Superlift Mast Tilt Sensor

[0068] 105 Super lift anti-tilt cylinder 106 Mast lifting cylinder

[0069] 107 Super lifting and luffing pulley block 108 Main arm pull plate

[0070] 109 Main boom DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0072] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the 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 embodiments of the present 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 embodiments 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 diagram shows a structure diagram of a super-lifting luffing pulley block and a main arm pull plate connected under an installation condition according to an embodiment of the present application; Figure 2 The structure diagram of the super-lifting luffing pulley block and the main arm pull plate when they are not connected under an installation condition according to an embodiment of the present application is schematically shown. Figure 1 and Figure 2As shown, the crawler mechanical equipment includes a main luffing wire rope 101, a mast 102, a super-lifting mast 103, a super-lifting mast angle sensor 104, a super-lifting anti-tilt cylinder 105, a mast jacking cylinder 106, a super-lifting luffing pulley block 107, a main arm pull plate 108, and a main arm 109. Among them, the super-lifting mast 103 and the mast 102 are hinged, and the main luffing wire rope 101 and the mast 102 are connected. The angle change of the mast 102 is controlled by the main luffing wire rope 101 to control the angle change of the super-lifting mast 103. The super-lifting mast angle sensor 104 is installed on the bottom arm of the super-lifting mast 103. The super-lifting anti-tilt cylinder 105 is used to prevent the super-lifting mast from tipping over. The mast jacking cylinder 106 is used to cooperate with the mast jacking mechanism. The super-lifting luffing pulley block 107 is used to connect with the main arm pull plate. The main arm pulling plate 108 is connected to the super-lifting luffing pulley block to complete the pulling-up action of the main arm 109.

[0075] In the installation condition, when the super lifting and luffing pulley block 107 and the main arm pull plate 108 are not connected, the state is as follows: Figure 2 As shown. At this time, the super-lifting anti-tilt cylinder 105 has just fallen into the groove or has not fallen into the groove, and cannot withstand the force of the super-lifting mast 103 tipping over, so the role of the super-lifting anti-tilt cylinder 105 can be ignored. If the mast jacking cylinder 106 is not lifted into place at this time, the mast jacking cylinder 106 cannot play a supporting role when the main luffing wire rope 101 is retracted. When the super-lifting mast angle is too large, when the main luffing wire rope 101 is retracted, the mast 102 will drive the super-lifting mast 103 to move, and the super-lifting mast 103 will tip over.

[0076] Figure 3 The flowchart of a safety control method for a crawler-type mechanical equipment according to an embodiment of the present application is schematically shown. Figure 3 As shown, an embodiment of the present application provides a method for safety control of a tracked mechanical equipment, which may include the following steps.

[0077] Step 301: read the initial working condition information of the crawler mechanical equipment.

[0078] In the embodiment of the present application, the working condition is the working state of the equipment under conditions directly related to its action. The working condition information includes but is not limited to: installation working condition, super lifting working condition, etc. By determining the working condition information, the crawler mechanical equipment enters the correct working condition state. In one example, when the control system is powered on for the first time, the working condition information of the control system before the power is off is read, that is, the initial working condition information in the embodiment of the present application.

[0079] Step 302: Determine the maximum safe angle of the superlift mast according to the initial working condition information.

[0080] In the embodiment of the present application, the maximum safety angle α maxThat is, the maximum angle allowed by the superlift mast. When installing the main boom bottom section, sometimes due to the inappropriate position of the auxiliary crane, the superlift mast angle α needs to be increased to make enough space for the installation of the main boom. At this time, the superlift mast angle α becomes larger and the mast lifting cylinder is forgotten to be pushed out, which is most likely to cause the superlift mast to tip over. Therefore, by determining the maximum angle α of the superlift mast max , limit the occurrence of overturning of the superlift mast and reduce safety hazards.

[0081] In one example, the superlift mast length Lb, mast length Lw, and main luffing plate length Ll corresponding to each working condition are fixed and unique. When the working condition information is determined, the superlift mast length Lb, mast length Lw, and main luffing plate length Ll are all known data. The mast moment Mw, main luffing plate moment Ml, and superlift mast moment M_cq are determined based on the superlift mast length Lb, mast length Lw, and main luffing plate length Ll; then the maximum safety angle α of the superlift mast is determined based on the mast moment Mw, main luffing plate moment Ml, and superlift mast moment M_cq. max .

[0082] Step 303: Determine the setting angle range of the superlift mast according to the maximum safety angle.

[0083] In the embodiment of the present application, the angle range is the range of the super mast angle α that can be reached. During the calculation process, a certain safety threshold must be reserved. The safety threshold is the maximum or minimum value allowed within the safety range. In one example, the safety threshold is calculated by the maximum safety angle α. max It is obtained by multiplying the set coefficient Rate. To ensure that a safety threshold is reserved, the set coefficient Rate must be less than 1.0. The larger the set coefficient Rate, the smaller the safety margin, and the smaller the set coefficient Rate, the larger the safety margin. However, the set coefficient Rate cannot be too small. If the set coefficient Rate is too small, it will affect the normal installation of the main boom system. Before the main luffing wire rope begins to be retracted, the angle range is set to be less than the safety threshold; during the process of retracting the main luffing wire rope, the angle range is set to be greater than or equal to the safety threshold and less than or equal to the maximum safety angle α max .

[0084] Step 304: Obtain the angle of the superlift mast in real time.

[0085] In the embodiment of the present application, the superlift mast angle α is the angle of the superlift mast in front of the boom of the main boom system. The superlift mast angle α can be obtained by a superlift mast angle sensor installed on the bottom boom of the superlift mast. The change of the superlift mast angle α is controlled by the rope-reeling and rope-releasing actions of the main luffing wire rope. When the main luffing wire rope is reeled in, the superlift mast angle α increases; when the main luffing wire rope is released, the superlift mast angle α decreases.

[0086] In one example, when the superlifting luffing pulley block and the main arm pull plate are not connected, the main luffing wire rope controls the superlifting mast angle α by pulling in and out, and the superlifting mast inclination sensor detects the superlifting mast angle α in real time.

[0087] Step 305: Determine whether the angle is within the set angle range.

[0088] In the embodiment of the present application, the angle refers to the angle α of the superlift mast measured by the superlift mast angle sensor; the set angle range refers to the range in which the superlift mast angle α is allowed to reach. During the calculation process, a certain safety threshold must be reserved. The safety threshold is the maximum or minimum value allowed within the safety range. By judging whether the angle is within the set angle range, it can be determined whether it is necessary to limit the retraction of the main variable-length wire rope to prevent safety accidents.

[0089] In one example, before the main luffing wire rope starts to be retracted, it is determined whether the superlift mast angle α is less than the safety threshold; during the main luffing wire rope retraction process, it is determined whether the superlift mast angle α is greater than or equal to the safety threshold and less than or equal to the maximum safety angle α max .

[0090] Step 306: When the angle is within the set angle range, the main luffing wire rope is restricted to be retracted.

[0091] In the embodiment of the present application, when the angle is within the set angle range, it indicates that there may be a safety risk. For example, before the main luffing wire rope starts to be reeled in, when the super mast angle α is less than the safety threshold, and during the main luffing wire rope reeling in, when the super mast angle α is greater than or equal to the safety threshold and less than or equal to the maximum safety angle α max , indicating that the superlift mast may have a risk of tilting backward. When it is determined that the superlift mast angle α meets the set angle range, the main luffing wire rope retraction is restricted, that is, the main luffing wire rope retraction is suspended.

[0092] In one example, the maximum safe angle is α max , before the main luffing wire rope starts to be reeled in, it is determined that the superlift mast angle α satisfies α <Rate*α max , and during the main luffing wire rope retraction process, the superlift mast angle α is judged to meet Rate*α max ≤α≤α max In this case, the retraction of the main luffing wire rope is restricted, that is, the retraction of the main luffing wire rope is suspended.

[0093] Through the above technical solution, by reading the initial working condition information of the crawler mechanical equipment, the maximum safe angle of the superlift mast is determined according to the initial working condition information, the setting angle range of the superlift mast is determined according to the maximum safe angle, the angle of the superlift mast is obtained in real time, and it is determined whether the angle is within the setting angle range. When the angle is within the setting angle range, the main luffing wire rope is restricted to be retracted. In this way, by calculating the maximum safe angle of the superlift mast and limiting the flipping angle of the superlift mast, the dangerous situation of the superlift mast flipping back in the crawler mechanical equipment is reduced, thereby reducing the safety risk.

[0094] In the embodiment of the present application, the crawler-type mechanical equipment further includes an interaction device, and reading the initial working condition information of the crawler-type mechanical equipment includes:

[0095] When the crawler-type mechanical equipment is powered on, read the working condition information of the crawler-type mechanical equipment before the last power failure;

[0096] Sending working condition confirmation information to the interactive device according to the working condition information;

[0097] When the operating condition confirmation instruction fed back by the interactive device is received, the operating condition information is determined as the initial operating condition information.

[0098] Specifically, the interactive device refers to a human-machine interactive interface. When a crawler crane is in superlift condition, during the installation process, there are no relevant safety restrictions and prompts for questions such as whether the working condition is selected correctly, the angle of the superlift mast, whether the main arm pull plate is connected, and whether the mast lifting cylinder is extended. By installing an interactive device, the above issues are further prompted and confirmed to reduce the occurrence of dangerous accidents. When the crawler machinery is powered on, the processor reads the working condition information of the crawler machinery before the last power failure, and sends the read working condition information to the interactive device for confirmation. After the instruction is confirmed, the working condition information is determined as the initial working condition information.

[0099] In one example, when the crawler-type mechanical equipment is powered on, the processor reads the working condition information of the crawler-type mechanical equipment before the last power failure, and obtains the working condition information as "installation working condition". The read working condition "installation working condition" is sent to the interactive device for confirmation. After the "installation working condition" is confirmed, the "installation working condition" is determined as the initial working condition information.

[0100] In the embodiment of the present application, the initial operating condition information may include:

[0101] Superlift mast length, mast length, main luffing plate length.

[0102] Figure 4 The structure diagram of a superlift mast, a mast and a main luffing plate according to an embodiment of the present application is schematically shown. Figure 4As shown, the superlift mast is connected to the mast, the mast is connected to the main luffing plate, and the main luffing plate is connected to the superlift mast. The length of the superlift mast is Lb, the length of the mast is Lw, and the length of the main luffing plate is Ll.

[0103] In the embodiment of the present application, step 302, determining the maximum safe angle of the superlift mast according to the initial working condition information, may include:

[0104] Determine the initial angle of the superlift mast;

[0105] gradually increasing the initial angle at preset intervals to obtain a plurality of candidate angles;

[0106] For any candidate angle among the multiple candidate angles, according to the superlift mast length, the mast length and the main luffing plate length, the mast moment, the main luffing plate moment and the superlift mast moment corresponding to the any candidate angle are determined;

[0107] The maximum safe angle is determined according to the mast moment, main luffing plate moment and superlift mast moment corresponding to multiple candidate angles.

[0108] Specifically, the maximum safe angle is determined by the mast moment, main boom plate moment and super-lift mast moment corresponding to multiple candidate angles. Among them, the candidate angles are determined according to a preset angle interval. For example, the initial angle of the super-lift mast is preset to be 50°, and the preset interval is 1°. First, the initial angle is gradually increased by a preset interval of 1° to obtain candidate angles such as 51°, 52°, and 53°. Secondly, the super-lift mast moment, mast moment and main boom plate moment corresponding to each candidate angle are calculated according to the super-lift mast length, mast length and main boom plate length. Finally, the maximum safe angle is determined based on the super-lift mast moment, mast moment and main boom plate moment corresponding to each candidate angle.

[0109] In the embodiment of the present application, according to the superlift mast length, the mast length and the main luffing plate length, determining the mast moment, the main luffing plate moment and the superlift mast moment corresponding to any candidate angle includes:

[0110] Determine the first coordinate of the connection hinge point between the top of the superlift mast and the main arm pull plate according to the superlift mast length and the superlift mast angle;

[0111] Determine the second coordinate of the connection hinge point between the main luffing pull plate and the top of the superlift mast according to the first coordinate;

[0112] Determine the third coordinate of the connection hinge point between the main luffing plate and the mast according to the second coordinate;

[0113] Determine the mast angle based on the mast length and the third coordinate;

[0114] Determine the mast moment based on the mast angle and mast center of gravity;

[0115] Determine the main luffing plate moment according to the second coordinate, the third coordinate, the weight of the main luffing plate and the center of gravity of the main luffing plate;

[0116] The superlift mast moment is determined based on the total weight of the superlift mast, the superlift mast center of gravity and any candidate angle.

[0117] Figure 5 Schematically shows the embodiment of the present application Figure 2 A partial enlarged view of the connection between the main luffing plate and the superlift mast. Figure 6 Schematically shows the embodiment of the present application Figure 4 A partial enlarged view of the connection between the main luffing plate and the superlift mast. Figure 2 As shown, the default installation hinge point of the superlift mast and mast is Figure 2 The plane is coincident, with the installation hinge of the superlift mast and the mast as the origin, along the front of the boom is horizontally positive, and vertically upward is vertically positive. Figure 5 and Figure 6 As shown, the first coordinate may be the coordinate of point A, and the second coordinate may be the coordinate of point B. The first coordinate A (Xb, Yb) of the connection hinge between the top of the superlift mast and the main arm pull plate is determined according to the superlift mast length Lb and the superlift mast angle α. The first coordinate A (Xb, Yb) satisfies:

[0118]

[0119] Among them, the superlift mast length Lb is a known parameter, and α is the superlift mast angle, which is measured by the superlift mast angle sensor.

[0120] Specifically, the second coordinate B (Xl1, Yl1) of the connection hinge between the main luffing plate and the top of the superlift mast is determined according to the coordinate A (Xb, Yb) of point A. The second coordinate B (Xl1, Yl1) satisfies:

[0121]

[0122] Wherein, Hab is the height dimension of point A and point B along the axis of the superlift mast. Lab is the lateral dimension of point A and point B along the axis of the superlift mast. α is the superlift mast angle, which is measured by the superlift mast angle sensor.

[0123] Figure 7 Schematically shows the embodiment of the present application Figure 2 A partial enlarged view of the connection between the main luffing wire rope and the mast. Figure 7As shown, the third coordinate can be the coordinate of point C. According to the coordinate of point B (Xl1, Yl1), the third coordinate C (Xl2, Yl2) of the connection hinge between the main luffing plate and the mast can be determined. The coordinate of point C is the intersection of two circles. There are two intersections, and the one with the smaller horizontal coordinate Xl2 is taken. Specifically, with B (Xl1, Yl1) as the center of the circle and the main luffing plate length Ll (unit meter) as the radius, the first circle is determined. With the installation hinge of the mast as the center of the circle and the mast length Lw (unit meter) as the radius, the second circle is determined. Find the two intersection points (Xc, Yc) and (Xd, Yd) of the two circles, and take the point with the smaller horizontal coordinate as the coordinate C (Xl2, Yl2) of the hinge point of the mast end of the main luffing plate. (Xl1-Xl2) 2 +(Yl1-Yl2) 2 =Ll 2 ;Xl2 2 +Yl2 2 =Lw 2 .

[0124] The mast angle β is determined according to the coordinates of point C (Xl2, Yl2) and the mast length Lw. Specifically, Among them, Xl2 is the horizontal coordinate of point C, and Lw is the length of the mast.

[0125] like Figure 2 As shown, the horizontal coordinate from the center of gravity of the mast to the origin (the mast installation hinge point) is Xw, Xw = X_wg × cosβ. Where X_wg is the distance from the center of gravity of the mast to the mast installation hinge point (in meters). Thus, the mast moment Mw = Ww × Xw is calculated. Where Ww is the weight of the mast, a known parameter (in tons).

[0126] like Figure 2 As shown, the horizontal coordinate of the center of gravity of the main luffing plate is Xl (unit: meter), Xl = (Xl1 + Xl2) / 2. Among them, Xl1 is the horizontal coordinate of the main luffing plate super-lifting mast end hinge point (point B) (unit: meter); Xl2 is the horizontal coordinate of the main luffing plate mast end hinge point (point C) (unit: meter). Thus, the main luffing plate moment Ml is calculated, Ml = Wl × Xl. Among them, Wl is the weight of the main luffing plate, a known parameter (unit: ton).

[0127] like Figure 2 As shown, the distance from the center of gravity of the superlift mast to the installation hinge of the superlift mast is X_cq (unit: meter); the total weight of the superlift mast is Wcq (unit: ton); α is the superlift mast angle, which is measured by the superlift mast angle sensor. Thus, the moment M_cq of the superlift mast is calculated. M_cq = Wcq × X_cq × cosα.

[0128] In the embodiment of the present application, determining the maximum safe angle according to the mast moment, main luffing plate moment and superlift mast moment corresponding to the multiple candidate angles includes:

[0129] Obtain the mast moment corresponding to any candidate angle, the total moment after the main luffing plate moment and the superlift mast moment are added;

[0130] The maximum candidate angle corresponding to the total torque being greater than zero is determined as the maximum safe angle.

[0131] Specifically, the maximum safe angle is α max , refers to the maximum angle allowed by the superlift mast when the superlift luffing pulley block is not connected to the main arm pull plate. max , the superlift mast is in danger of tipping over. For any candidate angle, the corresponding mast moment Mw, main luffing plate moment Ml and superlift mast moment Mcq can be calculated. The superlift mast angle α is preset to an initial value, and gradually increased in units of 1°. The maximum value of α when Mw+Ml+Mcq>0 is taken as α max In one example, the initial value of the superlift mast angle α is 50°, and it is gradually increased in units of 1°. The maximum value of α when Mw+Ml+M_cq>0 is taken as α max .

[0132] In the embodiment of the present application, determining the setting angle range of the superlift mast according to the maximum safety angle includes:

[0133] Multiply the maximum safety angle by the set coefficient to obtain the safety threshold;

[0134] Before the main luffing wire rope starts to be retracted, the angle range is set to be less than the safety threshold;

[0135] During the process of retracting the main luffing wire rope, the angle range is set to be greater than or equal to the safety threshold and less than or equal to the maximum safety angle.

[0136] Specifically, to ensure safety, a certain safety threshold should be reserved during calculation. The safety threshold is the maximum or minimum value allowed within the safety range. The safety threshold is calculated by the maximum safety angle α max It is obtained by multiplying the set coefficient Rate. To ensure that a safety threshold is reserved, the set coefficient Rate must be less than 1.0. The larger the set coefficient Rate, the smaller the safety margin, and the smaller the set coefficient Rate, the larger the safety margin. However, the set coefficient Rate cannot be too small. If the set coefficient Rate is too small, it will affect the normal installation of the main boom system. Before the main luffing wire rope begins to be retracted, the angle range is set to be less than the safety threshold; during the process of retracting the main luffing wire rope, the angle range is set to be greater than or equal to the safety threshold and less than or equal to the maximum safety angle α max By setting the angle range, the danger of overturning of the mast in crawler machinery is reduced, thereby reducing safety risks.

[0137] In one example, the maximum safe angle is α max , set the coefficient Rate to 0.9. Then, before the main luffing wire rope starts to be retracted, the setting angle range is α<0.9*α max ; During the main luffing wire rope retraction process, the angle range is set to 0.9*α max ≤α≤α max .

[0138] In the embodiment of the present application, the functions of the interaction device also include:

[0139] Sending security confirmation information to the interactive device;

[0140] When receiving the safety confirmation command, the rope retraction restriction of the main luffing wire rope is released.

[0141] Specifically, the interactive device refers to the human-machine interactive interface. When a crawler crane is under superlifting conditions, during the installation process, there are no relevant safety restrictions and prompts for questions such as whether the working condition selection is correct, the angle of the superlifting mast, whether the main arm pull plate is connected, and whether the mast lifting cylinder is extended. By installing an interactive device, the above issues are further prompted and confirmed to reduce the occurrence of dangerous accidents. After restricting the retraction of the main luffing wire rope, the processor sends a safety confirmation message to the interactive device, and upon receiving the safety confirmation command, the restriction on the retraction of the main luffing wire rope is lifted.

[0142] In one example, after limiting the retraction of the main luffing wire rope, the processor sends a safety confirmation message to the interactive device, which includes "The superlift mast is in danger of flipping backwards! Please confirm whether the main arm pull plate is connected! Please note whether the mast lifting cylinder is extended! The above has been confirmed?" Upon receiving the safety confirmation instruction, the restriction on the retraction of the main luffing wire rope is released. Safety confirmation is performed through the interactive device to improve the safety of the superlift mast flipping process.

[0143] Figure 8 The structure block diagram of a controller according to an embodiment of the present application is schematically shown. Figure 8 As shown, an embodiment of the present application provides a controller, which may include:

[0144] Memory 810, configured to store instructions; and

[0145] The processor 820 is configured to call instructions from the memory and implement the above-mentioned safety control method for crawler-type mechanical equipment when executing the instructions.

[0146] Specifically, in the embodiment of the present application, the processor 820 may be configured to:

[0147] Read the initial working condition information of crawler mechanical equipment;

[0148] Determine the maximum safe angle of the superlift mast based on the initial working condition information;

[0149] Determine the setting angle range of the superlift mast based on the maximum safety angle;

[0150] Get the angle of the superlift mast in real time;

[0151] Determine whether the angle is within the set angle range;

[0152] When the angle is within the set angle range, the main luffing wire rope is restricted to be retracted.

[0153] In the embodiment of the present application, the initial working condition information includes: the superlift mast length, the mast length and the main luffing pull plate length.

[0154] Furthermore, the processor 820 may be further configured to:

[0155] According to the initial working condition information, the maximum safe angle of the superlift mast is determined including:

[0156] Determine the initial angle of the superlift mast;

[0157] gradually increasing the initial angle at preset intervals to obtain a plurality of candidate angles;

[0158] For any candidate angle among the multiple candidate angles, according to the superlift mast length, the mast length and the main luffing plate length, the mast moment, the main luffing plate moment and the superlift mast moment corresponding to the any candidate angle are determined;

[0159] The maximum safe angle is determined according to the mast moment, main luffing plate moment and superlift mast moment corresponding to multiple candidate angles.

[0160] Furthermore, the processor 820 may be further configured to:

[0161] According to the superlift mast length, mast length and main luffing plate length, the mast moment, main luffing plate moment and superlift mast moment corresponding to any candidate angle are determined as follows:

[0162] Determine the first coordinate of the connection hinge point between the top of the superlift mast and the main arm pull plate according to the superlift mast length and the superlift mast angle;

[0163] Determine the second coordinate of the connection hinge point between the main luffing pull plate and the top of the superlift mast according to the first coordinate;

[0164] Determine the third coordinate of the connection hinge point between the main luffing plate and the mast according to the second coordinate;

[0165] Determine the mast angle based on the mast length and the third coordinate;

[0166] Determine the mast moment based on the mast angle and mast center of gravity;

[0167] Determine the main luffing plate moment according to the second coordinate, the third coordinate, the weight of the main luffing plate and the center of gravity of the main luffing plate;

[0168] The superlift mast moment is determined based on the total weight of the superlift mast, the superlift mast center of gravity and any candidate angle.

[0169] Furthermore, the processor 820 may be further configured to:

[0170] The maximum safe angle is determined based on the mast moment, main luffing plate moment and superlift mast moment corresponding to multiple candidate angles, including:

[0171] Obtain the mast moment corresponding to any candidate angle, the total moment after the main luffing plate moment and the superlift mast moment are added;

[0172] The maximum candidate angle corresponding to the total torque being greater than zero is determined as the maximum safe angle.

[0173] Furthermore, the processor 820 may be further configured to:

[0174] The setting angle range of the superlift mast is determined based on the maximum safety angle, including:

[0175] Multiply the maximum safety angle by the set coefficient to obtain the safety threshold;

[0176] Before the main luffing wire rope starts to be retracted, the angle range is set to be less than the safety threshold;

[0177] During the process of retracting the main luffing wire rope, the angle range is set to be greater than or equal to the safety threshold and less than or equal to the maximum safety angle.

[0178] In the embodiment of the present application, the crawler-type mechanical equipment further includes a superlift mast angle sensor, which is disposed on the superlift mast. Real-time acquisition of the superlift mast angle includes:

[0179] The angle of the superlift mast is obtained by a superlift mast angle sensor.

[0180] Furthermore, the processor 820 may be further configured to:

[0181] The crawler-type mechanical equipment also includes an interactive device, and the initial working condition information of the crawler-type mechanical equipment is read including:

[0182] When the crawler-type mechanical equipment is powered on, read the working condition information of the crawler-type mechanical equipment before the last power failure;

[0183] Sending working condition confirmation information to the interactive device according to the working condition information;

[0184] When the operating condition confirmation instruction fed back by the interactive device is received, the operating condition information is determined as the initial operating condition information.

[0185] Furthermore, the processor 820 may be further configured to:

[0186] The safety control methods of crawler machinery also include:

[0187] Sending security confirmation information to the interactive device;

[0188] When receiving the safety confirmation command, the rope retraction restriction of the main luffing wire rope is released.

[0189] An embodiment of the present application also 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 method for controlling a boom.

[0190] Through the above technical solution, by reading the initial working condition information of the crawler mechanical equipment, the maximum safe angle of the superlift mast is determined according to the initial working condition information, the setting angle range of the superlift mast is determined according to the maximum safe angle, the angle of the superlift mast is obtained in real time, and it is determined whether the angle is within the setting angle range. When the angle is within the setting angle range, the main luffing wire rope is restricted to be retracted. In this way, by calculating the maximum safe angle of the superlift mast and limiting the flipping angle of the superlift mast, the dangerous situation of the superlift mast flipping back in the crawler mechanical equipment is reduced, thereby reducing the safety risk.

[0191] like Figure 1 As shown, an embodiment of the present invention further provides a crawler-type mechanical equipment, which may include:

[0192] Mast 102;

[0193] A superlift mast 103 is hinged to the mast 102;

[0194] The main luffing wire rope 101 is connected to the mast 102 and is used to control the angle change of the mast 102 by retracting and releasing the main luffing wire rope 101, so as to control the angle change of the superlift mast 103;

[0195] A superlift luffing inclination sensor 104 is installed on the bottom arm of the superlift mast 103;

[0196] The super-lifting anti-backward tilting cylinder 105 is used to prevent the super-lifting mast from tipping backward;

[0197] The mast lifting cylinder 106 is used in conjunction with the mast lifting mechanism;

[0198] Super lifting and luffing pulley block 107, used for connecting with the main arm pull plate;

[0199] The main arm pull plate 108 is connected to the super-lifting luffing pulley block to complete the pulling action of the main arm 109;

[0200] The main arm 109 and

[0201] According to the controller above.

[0202] In the embodiment of the present application, the main luffing wire rope 101, the mast 102, the super-lifting mast 103, the super-lifting mast angle sensor 104, the super-lifting anti-tilt cylinder 105, the mast lifting cylinder 106, the super-lifting luffing pulley block 107, the main arm pull plate 108, and the main arm 109. Among them, the super-lifting mast 103 and the mast 102 are hinged, and the main luffing wire rope 101 and the mast 102 are connected. The angle change of the mast 102 is controlled by the main luffing wire rope 101 by retracting and releasing the rope to control the angle change of the super-lifting mast 103. The super-lifting mast angle sensor 104 is installed on the bottom arm of the super-lifting mast 103. In the installation condition, when the super-lifting luffing pulley block 107 and the main arm pull plate 108 are not connected, the state at this time is as follows Figure 2 As shown. At this time, the super-lifting anti-tilt cylinder 105 has just fallen into the groove or has not fallen into the groove, and cannot withstand the force of the super-lifting mast 103 tipping over, so the role of the super-lifting anti-tilt cylinder 105 can be ignored. If the mast jacking cylinder 106 is not lifted into place at this time, the mast jacking cylinder 106 cannot play a supporting role when the main luffing wire rope 101 is retracted. When the super-lifting mast angle is too large, when the main luffing wire rope 101 is retracted, the mast 102 will drive the super-lifting mast 103 to move, and the super-lifting mast 103 will tip over.

[0203] Through the above technical solution, by reading the initial working condition information of the crawler mechanical equipment, the maximum safe angle of the superlift mast is determined according to the initial working condition information, the setting angle range of the superlift mast is determined according to the maximum safe angle, the angle of the superlift mast is obtained in real time, and it is determined whether the angle is within the setting angle range. When the angle is within the setting angle range, the main luffing wire rope is restricted to be retracted. In this way, by calculating the maximum safe angle of the superlift mast and limiting the flipping angle of the superlift mast, the dangerous situation of the superlift mast flipping back in the crawler mechanical equipment is reduced, thereby reducing the safety risk.

[0204] Fig. 9 The flowchart of the safety control method for crawler-type mechanical equipment according to a specific embodiment of the present application is schematically shown. Fig. 9 As shown, in a specific embodiment, the method may include:

[0205] S1. When the control system is powered on for the first time, obtain the operating condition information before the system is powered off;

[0206] S2. Determine the prompt of the manual interaction interface: "Please click to confirm whether the current working condition is correct";

[0207] S3. If the manual interaction interface prompts correctly, calculate the maximum angle of the superlift mast according to the working condition information;

[0208] S4. When the manual interaction interface prompts incorrectly, a working condition selection menu pops up for the operator to select the current working condition;

[0209] S5, reading the current superlift mast angle sensor signal α;

[0210] S6. Determine whether α is satisfied when the main luffing wire rope starts to be retracted. <Rate*α max ; During the process of main luffing wire rope retraction, whether Rate*α is satisfied max ≤α≤α max ;

[0211] S7: When the angle meets the set range, the main luffing winch wire rope is restricted from being retracted, and any forced contact switch cannot release this restriction;

[0212] S8. The human-computer interaction page prompts: "Over-lifting the mast is dangerous! Please confirm whether the main arm pull plate is connected! Please note whether the mast lifting cylinder is extended! Have you confirmed the above?";

[0213] S9. When the prompt message on the human-machine interaction page has been confirmed, remove the restriction on the main luffing winch wire rope retraction.

[0214] Through the above technical solution, by reading the initial working condition information of the crawler mechanical equipment, the maximum safe angle of the superlift mast is determined according to the initial working condition information, the setting angle range of the superlift mast is determined according to the maximum safe angle, the angle of the superlift mast is obtained in real time, and it is determined whether the angle is within the setting angle range. When the angle is within the setting angle range, the main luffing wire rope is restricted to be retracted. In this way, by calculating the maximum safe angle of the superlift mast and limiting the flipping angle of the superlift mast, the dangerous situation of the superlift mast flipping back in the crawler mechanical equipment is reduced, thereby reducing the safety risk.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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 A step that specifies a function in one or more boxes.

[0219] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0220] 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.

[0221] 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 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.

[0222] 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.

[0223] 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 safety control method for crawler-type mechanical equipment, characterized in that: The crawler-type mechanical equipment comprises a main luffing wire rope, a mast and a superlift mast, wherein the superlift mast is hinged to the mast, and the main luffing wire rope is connected to the mast, and is used to control the angle change of the mast by taking up and letting out the main luffing wire rope, so as to control the angle change of the superlift mast, and the method comprises: Reading initial working condition information of the crawler mechanical equipment, wherein the initial working condition information includes: superlift mast length, mast length and main luffing pull plate length; Determining the maximum safety angle of the superlift mast according to the initial working condition information; Determining a setting angle range of the superlift mast according to the maximum safety angle; Acquiring the angle of the superlift mast in real time; Determine whether the angle is within the set angle range; When the angle is within the set angle range, restricting the main luffing steel wire rope to be retracted; Wherein, determining the maximum safety angle of the superlift mast according to the initial working condition information comprises: determining the initial angle of the superlift mast; gradually increasing the initial angle at preset intervals to obtain multiple candidate angles; for any candidate angle among the multiple candidate angles, determining the mast moment, main luffing plate moment and superlift mast moment corresponding to the arbitrary candidate angle according to the superlift mast length, the mast length and the main luffing plate length; determining the maximum safety angle according to the mast moment, main luffing plate moment and superlift mast moment corresponding to the multiple candidate angles.

2. The safety control method according to claim 1, characterized in that: Determining the mast moment, the main luffing plate moment and the superlift mast moment corresponding to the arbitrary candidate angle according to the superlift mast length, the mast length and the main luffing plate length comprises: Determine the first coordinate of the connection hinge point between the top of the superlift mast and the main arm pull plate according to the superlift mast length and the arbitrary candidate angle; Determine the second coordinate of the connection hinge point between the main luffing plate and the top of the superlift mast according to the first coordinate; Determine the third coordinate of the connection hinge point between the main luffing plate and the mast according to the second coordinate; Determining a mast angle according to the mast length and the third coordinate; determining a mast moment based on the mast angle and the mast center of gravity; Determine the main luffing plate moment according to the second coordinate, the third coordinate, the weight of the main luffing plate and the center of gravity of the main luffing plate; The superlift mast moment is determined according to the total weight of the superlift mast, the center of gravity of the superlift mast and the arbitrary candidate angle.

3. The safety control method according to claim 1, characterized in that: Determining the maximum safety angle according to the mast moment, main luffing plate moment and superlift mast moment corresponding to the multiple candidate angles comprises: Respectively obtain the mast moment corresponding to the arbitrary candidate angle, the total moment obtained by adding the main luffing plate moment and the superlift mast moment; The maximum candidate angle corresponding to the total torque being greater than zero is determined as the maximum safe angle.

4. The safety control method according to claim 1, characterized in that: Determining the setting angle range of the superlift mast according to the maximum safety angle includes: Multiplying the maximum safety angle by a set coefficient to obtain a safety threshold; Before the main luffing wire rope starts to be retracted, the set angle range is smaller than the safety threshold; During the process of retracting the main luffing wire rope, the set angle range is greater than or equal to the safety threshold and less than or equal to the maximum safety angle.

5. The safety control method according to claim 1, characterized in that: The crawler-type mechanical equipment further includes a superlift mast angle sensor, which is disposed on the superlift mast. The real-time acquisition of the angle of the superlift mast includes: The angle of the superlift mast is obtained by the superlift mast angle sensor.

6. The safety control method according to claim 1, characterized in that: The crawler-type mechanical equipment further includes an interaction device, and the reading of initial working condition information of the crawler-type mechanical equipment includes: When the crawler-type mechanical equipment is powered on, reading the working condition information of the crawler-type mechanical equipment before the last power failure; Sending working condition confirmation information to the interactive device according to the working condition information; When the operating condition confirmation instruction fed back by the interaction device is received, the operating condition information is determined as initial operating condition information.

7. The safety control method according to claim 6, characterized in that: The method further comprises: Sending security confirmation information to the interactive device; When the safety confirmation instruction is received, the rope retraction restriction of the main luffing wire rope is released.

8. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the safety control method of the crawler-type mechanical equipment according to any one of claims 1 to 7 when executing the instructions.

9. A crawler-type mechanical equipment, characterized in that: include: Mast; a superlift mast, hinged to the mast; A main luffing wire rope is connected to the mast and is used to control the angle change of the mast by retracting and releasing the main luffing wire rope, so as to control the angle change of the superlift mast; A controller according to claim 8.

10. The crawler-type mechanical equipment according to claim 9, characterized in that: Also includes: An interactive device communicates with the controller and is used to receive operating condition confirmation instructions and safety confirmation instructions.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling the machine to execute the safety control method for the crawler-type mechanical equipment according to any one of claims 1 to 7.

Images