Tower crane and control method, device and processor therefor

Abstract

The embodiment of the present application provides a tower crane and a control method and device thereof, and belongs to the field of construction machinery. The tower crane comprises a tower body, a lifting arm and a balance arm, a fixed balance weight is arranged on the balance arm, a luffing trolley is arranged on the lifting arm, and the control method comprises the following steps: determining a lifting load torque of the tower crane; determining whether the hoisted object falls off; and in the case that it is determined that the hoisted object falls off, controlling at least part of the fixed balance weight to fall off from the balance arm according to the lifting load torque. Through the above technical scheme, in the case that the lifting load of the tower crane suddenly changes (for example, the hoisted object falls off), at least part of the fixed balance weight is timely caused to fall off from the balance arm, so that the moment of forces on the lifting arm side and the balance arm side is balanced, and the risk of overturning of the tower crane is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of construction machinery, and in particular to a control method and control device for a tower crane, a tower crane, a processor, and a machine-readable storage medium. BACKGROUND

[0002] A tower crane (also known as a tower machine or tower crane) is widely used in the construction industry due to its large operating space and large lifting weight. A tower crane generally includes a tower body and an upper assembly. The upper assembly can include a lifting arm and a balance arm, the lifting arm is used to lift a hoisted object, and the balance arm is used to balance the weight to balance the moment of the lifting arm. In some large tower crane applications (such as applications in bridges, nuclear power facilities, etc.), the hoisted object is usually very heavy, so the weight of the counterweight on the balance arm side is also very heavy. When the hoisted object falls off, the tower body will generate a large overturning moment, which will have a strong impact on the tower body, and the tower crane will have a risk of tipping over. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method, processor, control device, tower crane, and machine-readable storage medium for a tower crane.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a tower crane, the tower crane including a tower body, a lifting arm, and a balance arm, the balance arm being provided with a fixed counterweight, and the lifting arm being provided with a luffing trolley, the control method comprising:

[0005] determining a hoisting load moment of the tower crane;

[0006] determining whether the hoisted object has fallen off; and

[0007] in a case where it is determined that the hoisted object has fallen off, controlling at least part of the fixed counterweight to fall off from the balance arm according to the hoisting load moment.

[0008] In the embodiments of the present application, determining the hoisting load moment of the tower crane comprises:

[0009] obtaining a weight of the hoisted object and a luffing amplitude of the luffing trolley;

[0010] determining the hoisting load moment of the tower crane according to the weight and the luffing amplitude.

[0011] In the embodiments of the present application, the fixed counterweight includes multiple parts, and controlling at least part of the fixed counterweight to fall off from the balance arm according to the hoisting load moment comprises:

[0012] determining a first weight of the fixed counterweight that needs to fall off according to the hoisting load moment;

[0013] determining one or more portions from the plurality of portions according to the first weight, wherein the weight of the one or more portions is closest to the first weight; and

[0014] controlling the one or more portions to fall off from the counterbalance arm.

[0015] In the embodiment of the present application, the first weight required for the fixed counterweight to fall off according to the load moment includes:

[0016] determining a second weight required for generating a moment of the same size as the load moment at the fixed counterweight;

[0017] determining the second weight as the first weight.

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

[0019] determining whether the weight of the hoisted object exceeds a preset weight before the hoisted object falls off; and

[0020] determining whether the hoisted object falls off includes: determining whether the hoisted object falls off in the case that the weight exceeds the preset weight.

[0021] In the embodiment of the present application, the top of the tower body is provided with a mounting seat, the mounting seat includes a counterbalance arm side main beam and a hoist arm side main beam, the counterbalance arm side main beam is provided with a first connecting lug plate hinged with a counterbalance arm side mounting hole of the upper assembly, the hoist arm side main beam is provided with a second connecting lug plate, the second connecting lug plate and the hoist arm side mounting hole of the upper assembly are hinged through a hoist arm side pin shaft to form a quick-release type hinge, the hoist arm side pin shaft is connected with a driving mechanism for driving the hoist arm side pin shaft to move along the axial direction thereof to realize or release the hinge between the second connecting lug plate and the hoist arm side mounting hole of the upper assembly.

[0022] The control method further includes: in the case that it is determined that the hoisted object falls off, controlling the driving mechanism to drive the hoist arm side pin shaft to move along the axial direction thereof to release the hinge between the second connecting lug plate and the hoist arm side mounting hole of the upper assembly.

[0023] In the embodiment of the present application, the control of the at least part of the fixed counterweight to fall off from the counterbalance arm according to the load moment includes:

[0024] determining whether the inclination angle of the hoist arm exceeds a preset angle;

[0025] in the case that the inclination angle exceeds the preset angle, controlling the at least part of the fixed counterweight to fall off from the counterbalance arm according to the load moment.

[0026] In the embodiment of the present application, the determination of the hoisted object falling off includes:

[0027] in the case that the detected weight of the hoisted object suddenly drops, determining that the hoisted object falls off;

[0028] In the case that the detected moment of the hoist arm suddenly drops, it is determined that the hoisting object is dropped; or

[0029] In the case that the hoist arm tilting rate exceeds the preset rate, it is determined that the hoisting object is dropped.

[0030] The second aspect of the present application provides a processor configured to execute the above-mentioned control method for a tower crane.

[0031] The third aspect of the present application provides a control device for a tower crane, the tower crane comprising a tower body, a hoist arm and a balance arm, the balance arm being provided with a fixed counterweight, and the hoist arm being provided with a luffing trolley, the control device comprising:

[0032] an execution mechanism for executing an action to make at least part of the fixed counterweight fall off the balance arm; and

[0033] the above-mentioned processor.

[0034] In the embodiments of the present application, the control device further comprises:

[0035] a weight detection device configured to detect the weight of the hoisting object;

[0036] a luffing amplitude sensor configured to detect the luffing amplitude of the luffing trolley.

[0037] In the embodiments of the present application, the fixed counterweight comprises a plurality of parts, the weights of the plurality of parts being the same, or the weights of the plurality of parts being increased one by one.

[0038] In the embodiments of the present application, the control device further comprises:

[0039] an inclination sensor configured to detect the inclination of the hoist arm.

[0040] In the embodiments of the present application, the top of the tower body is provided with a mounting seat, the mounting seat comprising a balance arm side main beam and a hoist arm side main beam, the balance arm side main beam being provided with a first connecting lug plate hinged to the balance arm side mounting hole of the upper assembly, and the hoist arm side main beam being provided with a second connecting lug plate, the second connecting lug plate and the hoist arm side mounting hole of the upper assembly being hingedly connected through a hoist arm side pin shaft in a quick-release manner.

[0041] The control device further comprises a driving mechanism connected with the hoist arm side pin shaft, for driving the hoist arm side pin shaft to move along its axial direction to realize or release the hinging between the second connecting lug plate and the hoist arm side mounting hole of the upper assembly.

[0042] In the embodiments of the present application, the fixed counterweight comprises a plurality of counterweight blocks, each counterweight block being provided with an lifting lug, and the execution mechanism comprises:

[0043] The hierarchical locking mechanism comprises a plurality of pin shafts mounted to the upper assembly and respectively extended to be inserted into the lifting lugs.

[0044] The driving device is used to drive the pin shaft to extend or retract.

[0045] The fourth aspect of the present application provides a tower crane, comprising:

[0046] a tower body;

[0047] a jib, wherein an amplitude-changing trolley is arranged on the jib;

[0048] a balance arm, wherein a fixed counterweight is arranged on the balance arm; and

[0049] The control device for the tower crane.

[0050] The fifth aspect of the present application provides a machine-readable storage medium, wherein instructions are stored on the machine-readable storage medium, and the instructions, when executed by a processor, cause the processor to implement the control method for the tower crane.

[0051] Through the above technical solution, in the case that the load of the tower crane suddenly changes (for example, the hoisted object falls off), at least part of the fixed counterweight is timely dropped from the balance arm to balance the moment of force on the jib side and the balance arm side, thereby reducing the risk of overturning of the tower crane.

[0052] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

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

[0054] Figure 1 The flowchart of the control method for the tower crane according to the embodiments of the present application is schematically shown;

[0055] Figure 2 The structure diagram of the upper assembly and the tower body connection system of the tower crane in the embodiments of the present application is schematically shown;

[0056] Figure 3 The structure diagram of the driving mechanism in the embodiments of the present application is schematically shown;

[0057] Figure 4 The structure diagram of the mounting seat in the embodiments of the present application is schematically shown;

[0058] Figure 5A schematic block diagram of a control device for a tower crane according to an embodiment of the present application is shown schematically;

[0059] Figure 6 A structural schematic diagram of an actuator according to an embodiment of the present application is shown schematically;

[0060] Figure 7 is Figure 6 A top view of the fixed structure in the DETAILED DESCRIPTION

[0061] The specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to explain and illustrate the present application, and are not intended to limit the present application.

[0062] It should be noted that if the present application has a description of directionality (such as up, down, left, right, front, back, etc.), the directionality is only used to explain the relative position relationship, movement, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality also changes accordingly.

[0063] If the present application has a description of "first", "second", etc., the description of "first", "second", etc. is only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection claimed by the present application.

[0064] In addition, "sling load falling" involved in the present application can refer to the case of "sudden unloading of the jib", which can include but is not limited to, for example, broken rope, sling unhooking, and although the rope is not broken or unhooked, the sling accelerates and falls.

[0065] In some large or even super large tower crane applications (for example, in nuclear power, bridge, wind turbine installation and other scenarios), especially in the application of walking (for example, track type) tower cranes, the weight of the counterweight on the side of the balance arm for matching the hoisting load will be large. In the hoisting process of such a tower crane, if the hoisted object suddenly falls off (for example, rope breakage or unhooking), the overturning moment received by the tower crane will be large, which will bring the risk of overturning to the tower crane (especially the track type tower crane). In view of this, as the general inventive concept of the present application, a scheme is proposed that the fixed counterweight on the side of the balance arm can be unloaded, so as to balance the moment on the side of the hoisting arm and the side of the balance arm when the hoisted object suddenly falls off.

[0066] Figure 1 A flowchart of a control method for a tower crane according to an embodiment of the present application is schematically shown. As shown in the figure, Figure 1 In the embodiment of the present application, a control method for a tower crane is provided, the tower crane can include a tower body, a hoisting arm and a balance arm, a fixed counterweight is arranged on the balance arm, and a luffing trolley is arranged on the hoisting arm. Taking the control method executed by a processor as an example, the control method can include the following steps.

[0067] In step S110, the hoisting load moment of the tower crane is determined.

[0068] Specifically, in the embodiment of the present application, determining the hoisting load moment of the tower crane can include:

[0069] The weight of the hoisted object and the luffing amplitude of the luffing trolley are obtained;

[0070] The hoisting load moment of the tower crane is determined according to the weight of the hoisted object and the luffing amplitude.

[0071] Specifically, in an example, the weight of the hoisted object applied to the hoisting arm can be detected by a weight detection device. For example, an example of the weight detection device can include a load cell, which can be arranged at the hook for detecting the weight of the hoisted object. In another example, the weight of the to-be-hoisted object can be obtained in advance. For example, the weight of the to-be-hoisted object can be obtained by machine vision. For example, a mark can be attached on the to-be-hoisted object, the mark has the weight information of the to-be-hoisted object printed thereon, the image of the mark can be obtained, and the weight information of the to-be-hoisted object can be obtained by semantic recognition. In still another example, a pre-planned hoisting task can be obtained, which can include the weight of the to-be-hoisted object and the hoisting path and other information.

[0072] In an example, the amplitude of the luffing carriage (i.e. the distance from the luffing carriage to the center of the tower crane) can be detected by a position sensor (e.g. a rotary encoder or a pull wire sensor). In another example, a pre-planned hoisting task can be obtained, which can include the weight of the hoisted object and the hoisting path, etc., so as to obtain the amplitude of the luffing carriage. In yet another example, the hoisting position can be obtained based on a positioning technology (e.g. RTK), so as to obtain the amplitude of the luffing carriage.

[0073] After the amplitude of the luffing carriage is determined, the force arm of the gravity of the hoisted object relative to the center of the tower crane (the position of the center of the tower crane is known) can be determined, and the moment of the hoisted object can be determined according to the weight of the hoisted object and the force arm. Here, the load of the tower crane (hoisting load) can include the sum of the weight of the hoisted object and the weight of the hook and the hoisting rope, and the weight of the hook and the hoisting rope can be predetermined, so that the hoisting load can be obtained by obtaining the weight of the hoisted object, and the hoisting moment (lifting moment) can be obtained according to the hoisting load and the force arm. If the jib is not horizontal, an inclination sensor can be used to detect the inclination θ of the jib, and at this time, the hoisting force arm is the amplitude of the luffing carriage multiplied by cos θ.

[0074] In another embodiment of the present application, the lifting moment can be directly measured by a moment sensor.

[0075] In step S120, it is determined whether the hoisted object is dropped. Specifically, in an example, the weight of the hoisted object can be obtained from a weight detection device (e.g. a load cell), and if the hoisted object is dropped, the weight detected by the weight detection device drops suddenly, at which time it can be determined that the hoisted object is dropped. In another example, the moment of the jib can be obtained from a moment sensor, and if the moment detected by the moment sensor drops suddenly, at which time it can be determined that the hoisted object is dropped. In yet another example, the jib can be tilted upward relative to the tower body. In this case, the tilt angle of the jib can be detected by a tilt sensor, and if the hoisted object is dropped, the moment on the side of the counterweight arm is greater than the moment on the side of the jib, and the jib can be tilted upward relative to the tower body, and the tilting rate of the jib can be determined according to the detected tilt angle of the jib, and when the tilting rate exceeds a preset rate, it can be determined that the hoisted object is dropped.

[0076] In step S130, at least part of the fixed counterweight is controlled to be dropped from the counterweight arm according to the hoisting moment in the case where it is determined that the hoisted object is dropped.

[0077] Specifically, in the embodiments of the present application, if it is determined that the hoisted object is falling off, the fixed counterweight can be entirely detached from the balance arm. An actuator can be arranged on the upper part, and when it is required to detach the fixed counterweight, the actuator can be controlled to act so as to detach the fixed counterweight from the balance arm. The structure, function and working principle of the actuator will be described in detail below.

[0078] In another embodiment of the present application, the fixed counterweight can include multiple parts, for example, multiple counterweights, and the weight (hereinafter referred to as the first weight) required to be detached from the fixed counterweight can be determined according to the hoisted torque. Specifically, the weight required to generate a torque of the same size as the hoisted torque at the fixed counterweight can be determined, and this weight is the first weight. Then, one or more parts (one or more counterweights) closest to the first weight can be determined (selected) from the multiple parts (multiple counterweights) according to the first weight. That is, the optimal solution is selected from the parts so that the weight of the part to be detached is closest to the first weight. After the one or more parts are determined, if the hoisted object falls off, the actuator is controlled to act so as to detach the determined (selected) one or more parts from the balance arm.

[0079] In an example, it is assumed that the fixed counterweight includes three parts (three counterweights), and the weight of each part is 100 tons. If the first weight is 90 tons, the weight of one part in the fixed counterweight is closest to the first weight. In this case, if the hoisted object falls off, the actuator can be controlled to act so as to detach one part in the fixed counterweight from the balance arm. If the first weight is 170 tons, the weights of two parts in the fixed counterweight are closest to the first weight. In this case, if the hoisted object falls off, the actuator can be controlled to act so as to detach two parts in the fixed counterweight from the balance arm. In the example, the multiple parts of the fixed counterweight can be equal in weight.

[0080] In another example, assume that the fixed counterweight includes a first part, a second part and a third part, and their weights are 50 tons, 100 tons and 150 tons respectively. If the first weight is 60 tons, the first part is closest to the first weight. In this case, if the hoist load falls off, the actuator can be controlled to act to drop the first part from the balance arm. If the first weight is 140 tons, there are two matching schemes, i.e. the first part and the second part, or the third part alone. In this case, if the hoist load falls off, the actuator can be controlled to act to drop the first part and the second part from the balance arm, or to drop the third part from the balance arm. In a further example, if the flexibility of subsequent balance arm side configuration adjustment or the operation convenience is taken into account, in this case the actuator can be controlled to act to drop the third part from the balance arm. In this example, the weights of the multiple parts of the fixed counterweight can be incrementally increased one by one. Further, the weights of the multiple parts can be in an arithmetic progression or a geometric progression.

[0081] In some application scenarios, if the weight of the hoist load is not very heavy, the structure of the tower crane is sufficient to withstand the impact of the moment generated by the balance arm when the hoist load falls off, and the fixed counterweight self-dropping function does not need to be started. In view of this, in the embodiments of the present application, the control method can further include:

[0082] determining whether the weight of the hoist load exceeds a preset weight before the hoist load falls off;

[0083] If the weight of the hoist load exceeds the preset weight, the step of determining (judging) whether the hoist load falls off can be entered.

[0084] Specifically, in an example, the preset weight can be 40%-70% of the rated load of the tower crane.

[0085] In the embodiments of the present application, when the hoist load falls off, the lifting arm can be allowed to be raised, that is, if the superstructure on the lifting arm side is fixedly connected (for example, hinged) with the tower body, the fixed connection can be released when the hoist load falls off. In view of this, the embodiments provide a connection mode of the superstructure and the tower body and related control.

[0086] Figure 2 The structure of the superstructure and tower body connection system of the tower crane in the embodiments of the present application is schematically shown. Figure 3 The structure of the driving mechanism in the embodiments of the present application is schematically shown. Figure 4 The structure of the mounting seat in the embodiments of the present application is schematically shown. As Figures 2 to 4As shown in the embodiment of this application, the superstructure and tower body connection system may include the tower body and the superstructure 2. The superstructure 2 is divided into a lifting arm and a counterweight arm by the tower body. A mounting base 1 is provided on the top of the tower body. The mounting base 1 includes a counterweight arm side main beam 11 and a lifting arm side main beam 12. A first connecting ear plate 13 is provided on the counterweight arm side main beam 11. The first connecting ear plate 13 is hinged to the counterweight arm side mounting hole (not shown in the figure) of the superstructure through a pin. A second connecting ear plate 14 is provided on the lifting arm side main beam 12. The second connecting ear plate 14 and the lifting arm side mounting hole (not shown in the figure) of the superstructure form a quick-release hinge through the lifting arm side pin 15, so that the hinge between the second connecting ear plate 14 and the lifting arm side mounting hole of the superstructure can be realized or released.

[0087] In the above technical solution, "quick-release hinge" can refer to the fact that the boom-side pin 15 can pass through the through hole of the second connecting ear plate 14 and the boom-side mounting hole of the upper structure, thereby forming a hinged connection between the second connecting ear plate and the boom of the upper structure. Alternatively, the boom-side pin 15 can be removed from the through hole of the second connecting ear plate 14 and the boom-side mounting hole of the upper structure, thus releasing the hinged connection between the second connecting ear plate and the boom of the upper structure. When the tilt angle of the boom is greater than the preset angle, it can be considered that there is a possibility of the hoisted object falling off. The boom-side pin 15 can be removed from the through hole of the second connecting ear plate 14 and the boom-side mounting hole of the upper structure, releasing the hinged connection between the second connecting ear plate and the boom of the upper structure. This allows the upper structure to rise around the pin between the first connecting ear plate 13 and the counterweight arm of the upper structure in the event of sudden unloading of the tower crane.

[0088] like Figure 4 As shown, the second connecting lug 14 can be composed of two lugs arranged side by side, and a pressure-bearing pad 16 can be provided in the middle of the second connecting lug 14, such as... Figure 2 As shown, when the upper structure is mounted on the mounting base 1, when the boom side is under pressure, the bottom of the boom side structure of the upper structure directly presses against the pressure bearing plate 16. Therefore, no pressure is directly applied to the boom side pin 15, thus preventing the boom side pin 15 from passing through the through hole of the second connecting ear plate 14 and the boom side mounting hole of the upper structure, or from being removed from the through hole of the second connecting ear plate 14 and the boom side mounting hole of the upper structure. The pressure bearing plate 16 ensures that the boom side pin 15 is not stressed when the boom side is under pressure, and removing the boom side pin 15 does not affect the normal operation of the tower crane.

[0089] In this embodiment of the application, the control method may further include: upon determining that the hoisted object has fallen, controlling the drive mechanism to release the hinged connection between the counterweight boom side of the upper structure and the tower body. Specifically, a drive mechanism can be provided to drive the boom-side pin 15 to pass through or disengage from the through hole of the second connecting lug 14 and the boom-side mounting hole of the upper structure.Figure 2 and Figure 4 As shown in FIG. 1 and FIG. 2, the driving mechanism can be a telescopic driving mechanism, the driving mechanism can include a piston rod 21 and a cylinder barrel, the piston rod 21 is fixedly connected with the boom side main beam 12, the cylinder barrel is fixedly connected with the boom side pin shaft 15, the piston rod 21 and the cylinder barrel move relative to each other, in the case that the cylinder barrel moves towards the piston rod 21, the boom side pin shaft 15 is disengaged from the through hole of the second connecting lug plate 14 and the upper-mounted boom side mounting hole, in the case that the cylinder barrel moves away from the piston rod 21, the boom side pin shaft 15 extends into the through hole of the second connecting lug plate 14 and the upper-mounted boom side mounting hole, so that the boom side pin shaft 15 moves along the axial direction thereof.

[0090] In the embodiment of the present application, the cylinder barrel is located in the boom side pin shaft 15 and is fixedly connected with the boom side pin shaft 15, a flange plate 24 is mounted on the port of the cylinder barrel, and the piston rod 21 penetrates through the flange plate 24 and is connected with the piston in the cylinder barrel. A sealing ring is generally needed to be mounted between the flange plate 24 and the port of the cylinder barrel to seal the cylinder barrel.

[0091] Further, the driving mechanism can be a hydraulic driving mechanism, specifically, as shown in FIG. 3 and FIG. 4, a hydraulic cylinder can be used, the piston rod 21 and the cylinder barrel are the constituent structures of the hydraulic cylinder, the hydraulic cylinder further includes a piston, one end of the piston rod 21 extends into the cylinder barrel and is connected with the piston, the piston divides the cylinder barrel into a rod cavity and a rodless cavity, the rod cavity and the rodless cavity are respectively connected with a hydraulic pump 23 through an oil pipe 22, so as to realize the relative movement between the piston rod 21 and the cylinder barrel. Figure 3

[0092] Alternatively, the driving mechanism can be a pneumatic driving mechanism, specifically, a pneumatic cylinder can be used, the piston rod 21 and the cylinder barrel are the constituent structures of the pneumatic cylinder, the pneumatic cylinder further includes a piston, one end of the piston rod 21 extends into the cylinder barrel and is connected with the piston, the piston divides the cylinder barrel into a rod cavity and a rodless cavity, the rod cavity and the rodless cavity are respectively connected with a pneumatic pump through a gas pipe, so as to realize the relative movement between the piston rod 21 and the cylinder barrel.

[0093] Alternatively, the driving mechanism can be an electric driving mechanism, specifically, a linear motor can be used to realize the relative movement between the piston rod 21 and the cylinder barrel.

[0094] In the embodiment of the present application, as shown in FIG. 5 and FIG. 6, a fixed plate 17 can be arranged on the boom side main beam 12, the fixed plate 17 is provided with an opening, the end of the piston rod 21 penetrates through the opening of the fixed plate 17, and a nut 25 is used to fixedly connect the end of the piston rod 21 with the fixed plate 17, so as to realize that the piston rod 21 is fixed and the cylinder barrel moves relative to the piston rod 21. Figure 2 Figure 3

[0095] ​​​Further, a pin shaft guide rail 18 can be installed between the fixed plate 17 and the second connecting lug plate 14, the cross-sectional shape of the pin shaft guide rail 18 is adapted to the cross-sectional shape of the boom side pin shaft 15, generally semicircular, and the pin shaft guide rail 18 can support the boom side pin shaft 15 during movement of the boom side pin shaft 15.

[0096] In the embodiment of the present application, as shown in Figure 4 The first connecting lug plate 13 is composed of two lug plates arranged side by side, and a U-shaped groove 19 can be arranged in the middle of the first connecting lug plate 13. In the case of installing the superstructure on the mounting seat 1, when the balance arm side bears pressure, the structure bottom of the balance arm side of the superstructure directly presses on the U-shaped groove 19, increasing the number of shear surfaces between the balance arm side and the first connecting lug plate 13, thereby reducing the size of the pin shaft, and a relatively small size pin shaft can be used, while meeting the requirement that the superstructure can rotate around the balance arm side pin shaft.

[0097] When the hoisted object falls off (the boom is unloaded), the moment of the balance arm side is greater than that of the boom side, and the boom starts to rise. It is desirable that the fixed counterweight be unloaded before the boom rises to an elevation angle, otherwise there may be a risk of overturning of the tower crane. A preset angle smaller than the elevation angle can be set, and when the inclination angle of the boom exceeds the preset angle, at least part of the fixed counterweight can be controlled to fall off the balance arm. In an example, the preset angle can be in the range of 4° to 8°. In this embodiment, the fixed counterweight is unloaded when the inclination angle of the boom exceeds the preset angle instead of controlling at least part of the fixed counterweight to fall off the balance arm when the hoisted object is detected to fall off, which can effectively avoid the problem of the fixed counterweight being unloaded due to false detection of the hoisted object falling off.

[0098] The embodiment of the present application provides a processor configured to execute the control method for the tower crane of any of the above embodiments.

[0099] Figure 5 A schematic block diagram of a control device for a tower crane according to an embodiment of the present application is schematically shown. As shown in Figure 5 In the embodiment of the present application, the control device can execute the control method for the tower crane of the above embodiments. Specifically, the control device can include:

[0100] an execution mechanism 530 configured to perform an action to cause at least part of the fixed counterweight to fall off the balance arm; and

[0101] a processor 540 configured to execute the control method for the tower crane of any of the above embodiments.

[0102] In the embodiment of the present application, the control device can further include:

[0103] The weight detection device 510 is configured to detect the weight of the load.

[0104] The amplitude sensor 520 is configured to detect the amplitude of the amplitude trolley.

[0105] Specifically, in the embodiments of the present application, examples of the weight detection device can include, but are not limited to, a load cell, a tension sensor, etc. Examples of the amplitude sensor can include, but are not limited to, a rotary encoder, a pull wire sensor, etc. Examples of the processor can include, but are not limited to, a single-chip microcomputer, a microprocessor, a digital signal processor (DSP), a programmable logic controller (PLC), a field programmable gate array (FPGA), etc.

[0106] In the embodiments of the present application, the control device can further include a torque sensor configured to detect the torque of the hoist arm. The processor 540 can determine the hoist torque based on the torque detected by the torque sensor.

[0107] In the embodiments of the present application, the fixed counterweight can include a plurality of portions. Controlling at least a portion of the fixed counterweight to detach from the balance arm based on the hoist torque can include:

[0108] determining a first weight that the fixed counterweight needs to detach based on the hoist torque;

[0109] determining one or more portions from the plurality of portions based on the first weight, wherein the one or more portions have weights closest to the first weight; and

[0110] controlling the one or more portions to detach from the balance arm.

[0111] In the embodiments of the present application, determining a first weight that the fixed counterweight needs to detach based on the hoist torque can include:

[0112] determining a second weight that is needed to generate a torque of the same size as the hoist torque at the fixed counterweight;

[0113] determining the second weight as the first weight.

[0114] In the embodiments of the present application, in an example, the plurality of portions of the fixed counterweight have the same weight. In another example, the weights of the plurality of portions increase one by one. For example, the weights of the plurality of portions can form an arithmetic progression or a geometric progression.

[0115] In the embodiments of the present application, the control device can further include:

[0116] The inclination sensor 550 is configured to detect the inclination of the boom.

[0117] In the embodiment of the present application, as shown in Figures 2 to 4 The top of the tower body is provided with a mounting seat, which includes a balance arm side main beam and a boom side main beam. The balance arm side main beam is provided with a first connecting lug plate hinged to the balance arm side mounting hole of the superstructure, and the boom side main beam is provided with a second connecting lug plate. The second connecting lug plate and the boom side mounting hole of the superstructure are hingedly connected through a boom side pin shaft in a quick-release manner.

[0118] The control device can further include a driving mechanism 560 connected to the boom side pin shaft, configured to drive the boom side pin shaft to move along its axial direction to achieve or release the hinging between the second connecting lug plate and the boom side mounting hole of the superstructure.

[0119] The processor 540 can be further configured to, in the case where it is determined that the hoisted object is falling off, control the driving mechanism to drive the boom side pin shaft to move along its axial direction to release the hinging between the second connecting lug plate and the boom side mounting hole of the superstructure.

[0120] The specific structure and functions of the driving mechanism 560 are described above and will not be repeated here. Figure 3

[0121] The structure, functions and working process of the actuator are described in detail below.

[0122] Figure 6 The structure of the actuator according to the embodiment of the present application is schematically shown in the structure diagram; Figure 7 is Figure 6 the top view of the fixed structure in Figure 6 and Figure 7 The actuator 530 can include a hierarchical locking mechanism 609. The fixed counterweight 4 can include a plurality of balance blocks 4a, which can be provided with lifting lugs. The hierarchical locking mechanism 609 includes a plurality of pin shafts 613 (e.g., electrically controlled or hydraulic pin shafts) mounted to the superstructure 2 (balance arm side) and respectively protruding to be inserted into the lifting lugs, so as to stop the corresponding balance blocks 4a from falling off. During the hoisting process of the superstructure 2, the hierarchical locking mechanism 609 is controlled to make the corresponding electrically controlled or hydraulic pin shafts 613 protrude or retract, thereby allowing a corresponding number of balance blocks 4a matching the current load torque to fall off from the superstructure 2, so as to relatively accurately suppress the upward swing of the boom.

[0123] ​The actuator 530 can further include a driving device (not shown in the figure) for driving the electric or hydraulic pin shaft 613 to extend or retract. In one example, the driving device can be an electric driving device, which can include a motor and a screw mechanism, the screw mechanism can be connected with the electric pin shaft 613, or the pin shaft 613 can be provided as a screw. In another example, the driving device can be a hydraulic driving device, which can include a motor, a hydraulic pump, a hydraulic circuit, a hydraulic motor and a cylinder, the piston rod of the cylinder can be connected with the hydraulic pin shaft 613. The motor is used to drive the hydraulic pump to work, the hydraulic pump is communicated with the hydraulic motor through the hydraulic oil circuit, and the hydraulic motor is used to pump oil to the cylinder to drive the piston of the cylinder to move.

[0124] In the initial installation state, each counterweight block 4a fixing the counterweight 4 can be locked by the step locking mechanism 9 respectively. When the hoisted object falls off, the processor 540 can determine the counterweight block 4a that needs to fall off as described in the above embodiment, and control the corresponding electric or hydraulic pin shaft 613 to act to release the locking of the counterweight block 4a that needs to fall off, so that it falls off from the balance arm.

[0125] Although the above embodiment describes a specific example of the actuator, those skilled in the art can understand that other devices or mechanisms capable of controlling the falling off of different counterweights respectively are also applicable and belong to the protection scope of the present application.

[0126] In the case where the driving device is a hydraulic driving device, since the process from starting the motor of the hydraulic driving device to the movement of the cylinder needs to establish oil pressure, in order to be able to control the falling off of the counterweight in time, the motor can be started in advance when a certain condition is reached. Specifically, in the embodiment of the present application, the motor can be powered when the inclination angle of the hoisting arm reaches another preset angle, which can be smaller than the preset angle described above for controlling the falling off of at least part of the fixed counterweight.

[0127] In the embodiment of the present application, the processor can be further configured to:

[0128] determine that the hoisted object falls off in the case where the weight of the hoisted object is determined to suddenly drop according to the weight of the hoisted object obtained from the weight detection device;

[0129] determine that the hoisted object falls off in the case where the moment of the hoisting arm is determined to suddenly drop according to the moment of the hoisting arm obtained from the moment sensor; or

[0130] determine that the hoisted object falls off in the case where the upward tilting rate of the hoisting arm exceeds a preset rate according to the inclination angle of the hoisting arm obtained from the inclination angle sensor.

[0131] Specifically, the preset rate can be determined according to actual conditions, or a simulation software can be used to simulate the process of the tower crane jib up when the hoisted object falls off, and a jib up rate is determined as the preset rate for judging whether the hoisted object falls off.

[0132] In the embodiments of the present application, a tower crane can include:

[0133] a tower body;

[0134] a jib, the jib being provided with a luffing trolley;

[0135] a balance arm, the balance arm being provided with a fixed balance weight; and

[0136] the control device for the tower crane in any of the above embodiments.

[0137] In the embodiments of the present application, the tower crane can include a fixed tower crane and a traveling tower crane. The traveling tower crane can include a caterpillar tower crane.

[0138] In the embodiments of the present application, a machine readable storage medium is provided, the machine readable storage medium storing instructions, the instructions being executed by a processor to enable the processor to implement the control method for the tower crane in any of the above embodiments.

[0139] Through the above embodiments, at least part of the fixed balance weight is timely dropped from the balance arm when the tower crane load changes suddenly (for example, the hoisted object falls off), so as to balance the moments of the jib side and the balance arm side, and reduce the risk of overturning of the tower crane.

[0140] It should be noted that the terms “comprising”, “including”, or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles, or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in such processes, methods, articles, or devices. Without more limitations, the element defined by the statement “comprising a” does not exclude the presence of additional identical elements in the process, method, article, or device including the element.

[0141] The above is only an embodiment of the present application and is not intended to limit the present application. The present application can have various changes and modifications for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for a tower crane, characterized in that, The tower crane comprises a tower body, a hoisting arm and a balance arm, the balance arm is provided with a fixed counterweight, the fixed counterweight comprises a plurality of parts, the hoisting arm is provided with a luffing trolley, and the control method comprises the following steps: Determine the lifting load moment of the tower crane; Determine whether the hoisted object falls off; and In the case where it is determined that the hoisted object falls off, control at least part of the fixed counterweight to fall off from the balance arm according to the lifting load moment; The control of at least part of the fixed counterweight to fall off from the balance arm according to the lifting load moment comprises: Determine the first weight of the fixed counterweight that needs to fall off according to the lifting load moment; Determine one or more parts from the plurality of parts according to the first weight, wherein the weight of the one or more parts is closest to the first weight; and Control the one or more parts to fall off from the balance arm.

2. The control method according to claim 1, characterized by, The determination of the lifting load moment of the tower crane comprises: Obtain the weight of the hoisted object and the luffing amplitude of the luffing trolley; Determine the lifting load moment of the tower crane according to the weight and the luffing amplitude.

3. The control method according to claim 1, characterized by, The determination of the first weight of the fixed counterweight that needs to fall off according to the lifting load moment comprises: Determine the second weight required to generate a moment of the same size as the lifting load moment at the fixed counterweight; Determine the second weight as the first weight.

4. The control method according to claim 1, characterized by, Further comprising: Determine whether the weight of the hoisted object exceeds a preset weight before the hoisted object falls off; and The determination of whether the hoisted object falls off comprises: in the case where the weight exceeds the preset weight, determine whether the hoisted object falls off. The top of the tower body is provided with a mounting seat, the mounting seat comprises a balance arm side main beam and a hoisting arm side main beam, the balance arm side main beam is provided with a first connecting lug plate hinged with a balance arm side mounting hole of the superstructure, the hoisting arm side main beam is provided with a second connecting lug plate, the second connecting lug plate and the hoisting arm side mounting hole of the superstructure are hingedly connected through a hoisting arm side pin shaft to form a quick-release hinge, the hoisting arm side pin shaft is connected with a driving mechanism for driving the hoisting arm side pin shaft to move along its axial direction to realize or release the hinge between the second connecting lug plate and the hoisting arm side mounting hole of the superstructure; 5. The control method according to claim 4, characterized by The control method further comprises: in the case where it is determined that the hoisted object falls off, controlling the driving mechanism to drive the hoisting arm side pin shaft to move along its axial direction to release the hinge between the second connecting lug plate and the hoisting arm side mounting hole of the superstructure. The control of at least part of the fixed counterweight to fall off from the balance arm according to the lifting load moment comprises:

6. The control method according to claim 1, characterized by, Determine whether the inclination angle of the hoisting arm exceeds a preset angle; In the case where the inclination angle exceeds the preset angle, control at least part of the fixed counterweight to fall off from the balance arm according to the lifting load moment. The determination of whether the hoisted object falls off comprises:

7. The control method according to claim 1, characterized by, In the case where the detected weight of the hoisted object suddenly drops, determine that the hoisted object falls off; In the case where the detected moment of the hoisting arm suddenly drops, determine that the hoisted object falls off; or ​ In a case where the raising rate of the boom exceeds a preset rate, it is determined that the hoist has fallen off.

8. A processor, comprising: The control method for a tower crane is configured to perform any one of claims 1-7.

9. Control device for a tower crane, characterized in that The tower crane comprises a tower body, a boom, and a balance arm provided with a fixed counterweight, and the boom is provided with a luffing trolley, and the control device comprises: an actuator configured to perform an action to cause at least part of the fixed counterweight to fall off the balance arm; and The processor of claim 8.

10. The control device of claim 9, wherein Further comprising: a weight detection device configured to detect the weight of the hoist; a luffing amplitude sensor configured to detect the luffing amplitude of the luffing trolley.

11. The control device of claim 9, wherein The fixed counterweight comprises a plurality of parts, and the weights of the plurality of parts are the same, or the weights of the plurality of parts are sequentially increased.

12. The control device of claim 9, wherein Further comprising: a tilt angle sensor configured to detect the tilt angle of the boom.

13. The control device of claim 9, wherein The top of the tower body is provided with a mounting seat comprising a balance arm side main beam and a boom side main beam, the balance arm side main beam is provided with a first connecting lug plate articulated with the balance arm side mounting hole of the superstructure, and the boom side main beam is provided with a second connecting lug plate, and the second connecting lug plate and the boom side mounting hole of the superstructure are articulated through a boom side pin shaft to form a quick-release type articulation. The control device further comprises a driving mechanism connected with the boom side pin shaft, configured to drive the boom side pin shaft to move along its axial direction to realize or release the articulation between the second connecting lug plate and the boom side mounting hole of the superstructure.

14. The control device of claim 9, wherein The fixed counterweight comprises a plurality of balance blocks, each balance block is provided with an eye, and the actuator comprises: a hierarchical locking mechanism comprising a plurality of pin shafts mounted to the superstructure and respectively protruding to be inserted into the eyes; and a driving device configured to drive the pin shafts to protrude or retract.

15. A tower crane, characterized in that It comprises: a tower body; a boom provided with a luffing trolley; a balance arm provided with a fixed counterweight; and The control device for a tower crane according to any one of claims 9-14.

16. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions, and the instructions, when executed by the processor, cause the processor to implement the control method for a tower crane according to any one of claims 1-7.

Images