A crane oversling tensioning method, system and crane

Abstract

This invention belongs to the field of crane control technology, specifically relating to a crane super-lift tensioning method, system, and crane. The method includes: driving the boom to extend; simultaneously controlling a first super-lift winch mechanism and a second super-lift winch mechanism to release rope synchronously as the boom extends, ensuring that the difference in the amount of rope released by the first and second super-lift winch mechanisms is less than a first length difference, and that the difference between the angle between the boom head and the horizontal plane and the angle between the boom root and the horizontal plane is small; when the boom extends to a preset boom length, the first and second super-lift winch mechanisms stop releasing rope and lock; driving the boom to extend to a target boom length, thus tensioning the winch ropes of both the first and second super-lift winch mechanisms. This invention is simple in process, has low hardware costs, and ensures that the boom is in a good state with minimal lateral bending and deflection after super-lift tensioning, thereby maximizing lifting performance.

Description

Technical Field

[0001] This invention belongs to the field of crane control technology, specifically relating to a crane over-lifting tensioning method, system, and crane. Background Technology

[0002] Cranes, especially wheeled cranes, are widely used in urban construction, factory equipment hoisting, and wind power installation as mobile lifting and handling engineering machinery. With the increasing demand for crane lifting capacity and boom length, superlift devices are widely used in cranes with a lifting capacity of 300 tons and above in order to improve lifting performance and reduce boom deformation.

[0003] As a key component of a crane, the superlift device plays a crucial role in improving its performance. The main function of the superlift device is to alter the boom's condition through the combined force of the wire rope and the rear balancing device, ultimately enhancing its lifting capacity. The main evaluation indicators for the boom's condition are the lateral bending in the left-right direction and the vertical deflection.

[0004] Before lifting a load, cranes equipped with superlift devices need to tension the superlift wire rope to keep the boom under tension and maximize lifting performance. Therefore, superlift wire rope tensioning technology is increasingly becoming a key technology for improving crane performance, enhancing crane technology, and improving user experience, and is receiving high attention and in-depth research from crane manufacturers.

[0005] Existing solutions for super-tensioning technology:

[0006] The constant-force tensioning method involves tensioning via a super-lift winch drum and a tensioning cylinder. When the super-lift device locks, the tension in the super-lift wire rope is considered successful if it remains within a certain range. However, to meet the required tension, this method typically requires a larger displacement winch motor or tensioning cylinder, increasing hardware costs. Furthermore, constant-force tensioning indirectly determines and controls the super-lift tension, lacking effective control over the lateral bending of the boom.

[0007] The fixed-length tensioning method determines the target length of the superlift wire rope through theoretical calculations or manual calibration. When the superlift device is locked, the actual length of the superlift wire rope is controlled within a certain range of the target length, indicating successful superlift tensioning. This method indirectly judges and controls the superlift tension state. While it can effectively control lateral bending, obtaining the target length requires extensive calculations, manual calibration, or verification, resulting in high time and workload. Furthermore, because the boom is susceptible to environmental factors such as temperature, the target length also needs to be adjusted accordingly. Theoretically simple, it is technically challenging to implement.

[0008] The constant force and constant length tensioning method, which combines the above two methods, has high hardware costs, high time costs, a large workload, and is technically difficult to implement.

[0009] Therefore, there is an urgent need to provide a tensioning method that is simple in process, low in hardware cost, and can directly and efficiently ensure good control of boom lateral bending and deflection. Summary of the Invention

[0010] To address the shortcomings of existing technologies, this invention provides a crane super-lift tensioning method, system, and crane. The process is simple, the hardware cost is low, and it can ensure that the boom is in a good state with small lateral bending and deflection after super-lift tensioning, thereby maximizing lifting performance.

[0011] To address the shortcomings of existing technologies, the technical solution provided by this invention is as follows:

[0012] A method for tensioning a crane overlift includes,

[0013] S1: Drive the boom to extend, and simultaneously control the first and second super-lift winches to release the rope synchronously as the boom extends, and control the difference in the amount of rope released by the first and second super-lift winches to be less than the first length difference value, and the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference;

[0014] S2: When the boom extends to the preset boom length, the first super-lift winch mechanism and the second super-lift winch mechanism stop releasing the rope and lock.

[0015] S3: Drive the boom to extend to the target boom length, so that the winch ropes of the first super-lift winch mechanism and the second super-lift winch mechanism are tensioned.

[0016] Preferably, the method further includes determining the angle A between the boom head and the horizontal plane after the winch ropes of the first and second super-lift winches are tensioned. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root +A2, if yes, then the over-tensioning is successful; otherwise, the over-tensioning fails; where A1 is the first angle difference and A2 is the second angle difference.

[0017] Preferably, the difference in rope release amount between the first super-lift winch mechanism and the second super-lift winch mechanism is less than a first length difference, including:

[0018] While the boom extends, the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism are detected. Based on the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference value.

[0019] Preferably, the angle A between the head of the control boom and the horizontal plane is... Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4, including,

[0020] Real-time detection of the angle A between the boom head and the horizontal plane Top Angle A between the boom root and the horizontal plane Root ,

[0021] When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4;

[0022] When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

[0023] A crane super-lift tensioning system includes a boom drive system, a boom length detector, a boom head angle detector, a boom root angle detector, a first super-lift winch mechanism, a second super-lift winch mechanism, a first super-lift winch rope length detector, a second super-lift winch rope length detector, and a controller.

[0024] The boom length detector is used to detect the boom length and upload the boom length to the controller;

[0025] The boom head angle detector is used to detect the angle A between the boom head and the horizontal plane. Top And the angle A between the boom head and the horizontal plane. Top Upload to the controller;

[0026] The boom root angle detector is used to detect the angle A between the boom root and the horizontal plane. Root And the angle A between the base of the boom and the horizontal plane. Root Upload to the controller;

[0027] The first super-lift winch rope length detector is used to detect the amount of rope released by the first super-lift winch mechanism and upload the amount of rope released by the first super-lift winch mechanism to the controller.

[0028] The second super-lift winch rope length detector is used to detect the amount of rope released by the second super-lift winch mechanism and upload the amount of rope released by the second super-lift winch mechanism to the controller.

[0029] The controller is used for,

[0030] The boom drive system is controlled to extend the boom, while simultaneously controlling the first and second super-lift winches to release the rope synchronously as the boom extends. The difference in the amount of rope released by the first and second super-lift winches is controlled to be less than a first length difference, and the angle A between the boom head and the horizontal plane is controlled. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference;

[0031] When the boom drive system drives the boom to extend to the preset boom length, it controls the first super-lift winch mechanism and the second super-lift winch mechanism to stop releasing the rope and lock them.

[0032] The boom drive system is controlled to extend the boom to the target boom length, thereby tensioning the winch ropes of the first and second super-lift winches.

[0033] Preferably, the first super-lift winch mechanism includes a first super-lift winch drum, a first super-lift winch motor, and a first super-lift winch ratchet;

[0034] The first super-lift winch drum is used for winding and unwinding the winch rope;

[0035] The first super-lift hoist motor is used to drive the first super-lift hoist drum to rotate;

[0036] The first super-lift hoist ratchet is used to lock the first super-lift hoist drum;

[0037] The second super-lift hoisting mechanism includes a second super-lift hoisting drum, a second super-lift hoisting motor, and a second super-lift hoisting ratchet;

[0038] The second super-lift winch drum is used for winding and unwinding the winch rope;

[0039] The second super-lift hoist motor is used to drive the second super-lift hoist drum to rotate;

[0040] The second super-lift hoist ratchet is used to lock the second super-lift hoist drum.

[0041] Preferably, the controller is used for,

[0042] While the first super-lift winch mechanism and the second super-lift winch mechanism release rope synchronously as the boom extends, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled according to the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism, so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference.

[0043] as well as,

[0044] When the boom extends to the preset boom length, the first super-lift winch motor and the second super-lift winch motor are stopped rotating. The first super-lift winch drum is locked by the first super-lift winch ratchet, and the second super-lift winch drum is locked by the second super-lift winch ratchet.

[0045] Preferably, the controller is used for,

[0046] As the first and second super-lift winches simultaneously release the rope following the boom extension, it is determined that A... Root -A3≤A Top ≤A Root Is +A4 true?

[0047] When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4;

[0048] When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. TopAngle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

[0049] Preferably, the controller is further configured to, after the winch ropes of the first and second super-lift winches are tensioned, determine the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root +A2, if yes, then the over-tensioning is successful; otherwise, the over-tensioning fails; where A1 is the first angle difference and A2 is the second angle difference.

[0050] A crane including the aforementioned crane super-lift tensioning system.

[0051] The beneficial effects of this invention are:

[0052] This invention achieves tensioning through a strategy of equal length and fixed angle. This process only involves measuring the boom length, boom angle, and winch rope length, as well as controlling the winch motor speed and boom extension speed. It does not involve complex calculations, saving a lot of calculations, manual calibration or verification. The process is simple and can directly and efficiently ensure that the boom's lateral bending and deflection are well controlled.

[0053] This invention replaces the winch drum drive with an extension arm drive and uses a tensioning cylinder drive for tensioning, thus ensuring a sufficiently large tension force.

[0054] This invention determines the boom status based on the angles of the boom root and head. Compared with the original indirect determination based on fixed force and fixed length, it is not limited by the boom luffing angle and is more direct and efficient.

[0055] In this invention, the hardware cost is low. The first and second super-lift winch motors only need to drive the first and second super-lift winch drums to rotate, and do not need to be used for winch rope tensioning. Therefore, the displacement is greatly reduced, saving hardware costs. At the same time, because the displacement is small, the relative rotation speed is high, the winch rope winding / unwinding speed is fast, and the effect of following the boom extension and retraction is good. The motor output torque is small, which is sufficient to ensure that the super-lift rope is taut and not enough to pull the boom to bend. Attached Figure Description

[0056] Figure 1 A flowchart of the crane overlift tensioning method;

[0057] Figure 2 A schematic diagram of a boom when the angle between the boom head and the horizontal plane is equal to the angle between the boom root and the horizontal plane;

[0058] Figure 3 A schematic diagram of a boom when the angle between the boom head and the horizontal plane is greater than the angle between the boom root and the horizontal plane;

[0059] Figure 4 A schematic diagram of a boom when the angle between the boom head and the horizontal plane is smaller than the angle between the boom root and the horizontal plane;

[0060] Figure 5 This is a schematic diagram of the boom bending to the left.

[0061] Figure 6 This is a schematic diagram of the boom bending to the right.

[0062] Wherein, 1 is the boom; 2 is the winch rope; 21 is the winch rope of the first super-lift winch mechanism; 22 is the winch rope of the second super-lift winch mechanism; A Top A is the angle between the boom head and the horizontal plane. Root It is the angle between the base of the boom and the horizontal plane. Detailed Implementation

[0063] The present invention will be further described below with reference to the embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0064] This invention provides a method for tensioning a crane overlift, see [link to relevant documentation]. Figure 1 and Figure 2 It includes the following steps:

[0065] S1: Drive the boom to extend, and simultaneously control the first and second super-lift winches to release the rope synchronously as the boom extends, and control the difference in the amount of rope released by the first and second super-lift winches to be less than the first length difference value, and the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference. The purpose of this step is to make the winch ropes of the first and second super-lift winch mechanisms extend synchronously with the boom and be in a taut state.

[0066] Specifically, the method for controlling the difference in rope release amount between the first super-lift winch mechanism and the second super-lift winch mechanism to be less than the first length difference is as follows:

[0067] While the boom extends, the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism are detected. Based on the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference value.

[0068] The first length difference satisfies:

[0069]

[0070] Where ΔL is the first length difference; a is the first length parameter; b is the first coefficient; L1 is the first boom length limit; and L is the current boom length.

[0071] Specifically, control the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root The method for adding A4 is:

[0072] Real-time detection of the angle A between the boom head and the horizontal plane Top Angle A between the boom root and the horizontal plane Root ,

[0073] When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4;

[0074] When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

[0075] Values ​​A3 and A4 can be determined based on experience, or different values ​​can be set according to different boom lengths. Of course, when determining values ​​based on boom length, the boom length also needs to be monitored in real time.

[0076] S2: When the boom extends to the preset boom length, the first and second super-lift winches stop releasing the rope and lock. At this time, the amount of rope released by the first and second super-lift winches is the same.

[0077] S3: Extend the boom to the target boom length, tensioning the winch ropes of the first and second super-lift winches. Because the first and second super-lift winches are locked at this time, further extension will tension the winch ropes of the first and second super-lift winches, ensuring that the force on the winch ropes is greater than or equal to the force under tension before tensioning.

[0078] S4: After the winch ropes of the first and second super-lift winches are tensioned, determine the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root If A2 is selected, the over-tensioning is considered successful; otherwise, the over-tensioning fails. Here, A1 is the first angle difference, and A2 is the second angle difference. A1 and A2 can be determined empirically or based on different boom lengths. However, when using values ​​based on boom length, real-time monitoring of the boom length is necessary to determine whether tensioning is successful. If tensioning fails, the preset boom length needs to be adjusted. When the angle A1 between the boom head and the horizontal plane is... Top If the length is too large, the preset length of the boom can be adjusted; when the angle A between the boom head and the horizontal plane... Top The preset length of the boom can be adjusted when the length is too small.

[0079] See Figure 3 and Figure 4 When the angles between the boom head and the horizontal plane and the boom root and the horizontal plane differ significantly, the boom 1 deflection is large. This invention continuously monitors the differences in the angles between the boom head and the horizontal plane and the boom root and the horizontal plane during boom extension and rope release by the first and second super-lift winches. When the difference is too large, the difference is reduced by adjusting the speed of the first and second super-lift winch motors and / or the boom extension speed, ensuring that the length of the winch rope 2 matches the boom length of the boom 1. This guarantees that the boom deflection is small after tensioning.

[0080] See Figure 5 and Figure 6When the length of the winch rope 21 of the first super-lift winch mechanism is less than the length of the winch rope 22 of the second super-lift winch mechanism, the boom will bend to the left; conversely, the boom will bend to the right. This invention continuously monitors the rope release amounts of the first and second super-lift winches while the boom extends and the ropes are released by both mechanisms. By controlling the rotational speeds of the first and second super-lift winch motors, the rope release amounts of the first and second super-lift winches are matched, thus preventing the boom from bending to the side.

[0081] In this invention, tensioning is achieved by extending the boom in S2. This utilizes the boom drive system of the invention, reducing the need for large-displacement winch motors or tension cylinders required in existing ultra-tight winch mechanisms, thus saving hardware costs.

[0082] Meanwhile, the small-displacement design of the super-lift winch motor ensures high motor speed and excellent tracking performance, allowing the super-lift winch to better keep up with the extension and retraction speeds. Furthermore, the small displacement of the super-lift winch motor results in a lower pulling torque, eliminating the risk of excessive pulling or backward tilting of the boom. The high motor speed and excellent tracking performance also ensure timely rope retraction when the super-lift is released, preventing issues such as insufficient rope tension, rope tangling on the winch drum, and rope wear caused by delayed retraction.

[0083] The release procedure for the superlift is the reverse of the tensioning procedure. First, the boom retracts, the winch ropes of the first and second superlift winch mechanisms loosen, and the boom deflection naturally increases. After the boom loosens, the boom retraction stops. Second, the first and second superlift winch mechanisms unlock. Then, the boom continues to retract, and simultaneously, the first and second superlift winch mechanisms retract their ropes in sync with the boom retraction.

[0084] The present invention provides a crane super-lift tensioning system, including a boom drive system, a boom length detector, a boom head angle detector, a boom root angle detector, a first super-lift winch mechanism, a second super-lift winch mechanism, a first super-lift winch rope length detector, a second super-lift winch rope length detector, and a controller.

[0085] The boom length detector is used to detect the boom length and upload it to the controller;

[0086] The boom head angle detector is used to detect the angle A between the boom head and the horizontal plane. Top And the angle A between the boom head and the horizontal plane. Top Upload to the controller;

[0087] The boom root angle detector is used to detect the angle A between the boom root and the horizontal plane. Root And the angle A between the base of the boom and the horizontal plane. Root Upload to the controller;

[0088] The first super-lift winch rope length detector is used to detect the amount of rope released by the first super-lift winch mechanism and upload the amount of rope released by the first super-lift winch mechanism to the controller.

[0089] The second super-lift winch rope length detector is used to detect the amount of rope released by the second super-lift winch mechanism and upload the amount of rope released by the second super-lift winch mechanism to the controller.

[0090] The controller is used for,

[0091] The boom drive system is controlled to extend the boom, while simultaneously controlling the first and second super-lift winches to release the rope synchronously as the boom extends. The difference in the amount of rope released by the first and second super-lift winches is controlled to be less than a first length difference, and the angle A between the boom head and the horizontal plane is controlled. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference;

[0092] When the boom drive system drives the boom to extend to the preset boom length, it controls the first super-lift winch mechanism and the second super-lift winch mechanism to stop releasing the rope and lock them.

[0093] The boom drive system is controlled to extend the boom to the target boom length, thereby tensioning the winch ropes of the first and second super-lift winches.

[0094] Specifically, the first super-lift winch mechanism includes a first super-lift winch drum, a first super-lift winch motor, and a first super-lift winch ratchet; the first super-lift winch drum is used to wind up and unwind the winch rope; the first super-lift winch motor is used to drive the first super-lift winch drum to rotate; and the first super-lift winch ratchet is used to lock the first super-lift winch drum.

[0095] The second super-lift winch mechanism includes a second super-lift winch drum, a second super-lift winch motor, and a second super-lift winch ratchet; the second super-lift winch drum is used to wind up and unwind the winch rope; the second super-lift winch motor is used to drive the second super-lift winch drum to rotate; and the second super-lift winch ratchet is used to lock the second super-lift winch drum.

[0096] The controller is used for,

[0097] While the first super-lift winch mechanism and the second super-lift winch mechanism release rope synchronously as the boom extends, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled according to the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism, so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference.

[0098] as well as,

[0099] When the boom extends to the preset boom length, the first super-lift winch motor and the second super-lift winch motor are stopped rotating. The first super-lift winch drum is locked by the first super-lift winch ratchet, and the second super-lift winch drum is locked by the second super-lift winch ratchet.

[0100] The controller is used to determine A while the first and second super-lift winches are simultaneously releasing the rope as the boom extends. Root -A3≤A Top ≤A Root Is +A4 true?

[0101] When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4;

[0102] When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

[0103] The controller is also used to determine the angle A between the boom head and the horizontal plane after the winch ropes of the first and second super-lift winches are tensioned. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root +A2, if yes, then the over-tensioning is successful; otherwise, the over-tensioning fails; where A1 is the first angle difference and A2 is the second angle difference.

[0104] In this invention, the first super-lift winch motor and the second super-lift winch motor only need to drive the first super-lift winch drum and the second super-lift winch drum to rotate, and do not need to be used for winch rope tensioning. Therefore, the displacement is greatly reduced. Because the displacement is small, the relative rotation speed is fast, the winch rope winding / unwinding speed is fast, and the effect of following the boom extension and retraction is good. The motor output torque is small, which is converted into super-lift rope tension, which is sufficient to ensure that the super-lift rope is in a taut state and is not enough to pull the boom to bend.

[0105] In this invention, the boom length detector, boom head angle detector, boom root angle detector, first super-lift winch rope length detector, and second super-lift winch rope length detector are not limited to any type. For example, the first super-lift winch rope length detector can be converted to the unwinding rope length by detecting the number of turns of the first super-lift winch drum, or it can be converted to the number of turns of the winch drum based on the speed ratio by detecting the number of teeth of the first super-lift winch motor, and then converted to the unwinding rope length; or it can directly detect the amount of winch rope winding and unwinding.

[0106] In this invention, the winch rope is not limited to materials such as steel or nylon, nor is it limited to styles such as rope or chain. The two super-lift winch motors are not limited to hydraulic or electric drives. The boom extension and retraction are not limited to cylinder-driven or rope-driven mechanisms.

[0107] This invention also provides a crane, including the aforementioned crane super-lift tensioning system. This crane eliminates the need for a super-lift tensioning cylinder, a super-lift tension sensor, a large-displacement super-lift winch motor, super-lift wire rope target length calculation and calibration, and super-lift winch ratchet tooth count detection. By equal-length winding / unwinding of the super-lift winch rope, following the boom's extension and retraction, the lateral bending of the boom is controlled; by extending the boom tensioning, sufficient super-lift tension is ensured; and by detecting the boom head and root angles, the boom deflection is controlled, thus ensuring that after super-lift tensioning, the boom is in a relatively ideal state (small lateral bending, small deflection).

[0108] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0110] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0112] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0113] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for tensioning a crane during overlift, characterized in that, include, S1: Drive the boom to extend, and simultaneously control the first and second super-lift winches to release the rope synchronously as the boom extends, and control the difference in the amount of rope released by the first and second super-lift winches to be less than the first length difference value, and the angle A between the boom head and the horizontal plane. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference; S2: When the boom extends to the preset boom length, the first super-lift winch mechanism and the second super-lift winch mechanism stop releasing the rope and lock. S3: Drive the boom to extend to the target boom length, so that the winch ropes of the first super-lift winch mechanism and the second super-lift winch mechanism are tensioned. The angle A between the head of the control boom and the horizontal plane Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4, including, Real-time detection of the angle A between the boom head and the horizontal plane Top Angle A between the boom root and the horizontal plane Root , When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

2. The crane over-lift tensioning method according to claim 1, characterized in that, This also includes determining the angle A between the boom head and the horizontal plane after the winch ropes of the first and second super-lift winches are tensioned. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root +A2, if yes, then the over-tensioning is successful; otherwise, the over-tensioning fails; where A1 is the first angle difference and A2 is the second angle difference.

3. The crane over-lift tensioning method according to claim 1, characterized in that, The difference in rope release amount between the first and second super-lift winch mechanisms is less than a first length difference, including: While the boom extends, the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism are detected. Based on the amount of rope released by the first super-lift winch mechanism and the amount of rope released by the second super-lift winch mechanism, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference value.

4. A crane super-lift tensioning system, characterized in that, It includes a boom drive system, a boom length detector, a boom head angle detector, a boom root angle detector, a first super-lift winch mechanism, a second super-lift winch mechanism, a first super-lift winch rope length detector, a second super-lift winch rope length detector, and a controller; The boom length detector is used to detect the boom length and upload the boom length to the controller; The boom head angle detector is used to detect the angle A between the boom head and the horizontal plane. Top And the angle A between the boom head and the horizontal plane. Top Upload to the controller; The boom root angle detector is used to detect the angle A between the boom root and the horizontal plane. Root And the angle A between the base of the boom and the horizontal plane. Root Upload to the controller; The first super-lift winch rope length detector is used to detect the amount of rope released by the first super-lift winch mechanism and upload the amount of rope released by the first super-lift winch mechanism to the controller. The second super-lift winch rope length detector is used to detect the amount of rope released by the second super-lift winch mechanism and upload the amount of rope released by the second super-lift winch mechanism to the controller. The controller is used for, The boom drive system is controlled to extend the boom, while simultaneously controlling the first and second super-lift winches to release the rope synchronously as the boom extends. The difference in the amount of rope released by the first and second super-lift winches is controlled to be less than a first length difference, and the angle A between the boom head and the horizontal plane is controlled. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; where A3 is the third angle difference; A4 is the fourth angle difference; When the boom drive system drives the boom to extend to the preset boom length, it controls the first super-lift winch mechanism and the second super-lift winch mechanism to stop releasing the rope and lock them. The controller controls the boom drive system to extend the boom to the target boom length, tensioning the winch ropes of the first and second super-lift winches. As the first and second super-lift winches simultaneously release the rope following the boom extension, it is determined that A... Root -A3≤A Top ≤A Root Is +A4 true? When A Top ≥A Root At +A4, by simultaneously increasing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or decreasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4; When A Top ≤A Root At point A3, by simultaneously reducing the speed of the first super-lift winch motor, the speed of the second super-lift winch motor, and / or increasing the boom extension speed, the angle A between the boom head and the horizontal plane is adjusted. Top Angle A between the boom root and the horizontal plane Root Satisfy A Root -A3≤A Top ≤A Root +A4.

5. A crane super-lift tensioning system according to claim 4, characterized in that, The first super-lift hoisting mechanism includes a first super-lift hoisting drum, a first super-lift hoisting motor, and a first super-lift hoisting ratchet; The first super-lift winch drum is used for winding and unwinding the winch rope; The first super-lift hoist motor is used to drive the first super-lift hoist drum to rotate; The first super-lift hoist ratchet is used to lock the first super-lift hoist drum; The second super-lift hoisting mechanism includes a second super-lift hoisting drum, a second super-lift hoisting motor, and a second super-lift hoisting ratchet; The second super-lift winch drum is used for winding and unwinding the winch rope; The second super-lift hoist motor is used to drive the second super-lift hoist drum to rotate; The second super-lift hoist ratchet is used to lock the second super-lift hoist drum.

6. A crane super-lift tensioning system according to claim 5, characterized in that, The controller is used for, While the first super-lift winch mechanism and the second super-lift winch mechanism release rope synchronously as the boom extends, the speed of the first super-lift winch motor and the speed of the second super-lift winch motor are controlled according to the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism, so that the difference between the amount of rope released by the first super-lift winch mechanism and the second super-lift winch mechanism is less than the first length difference. as well as, When the boom extends to the preset boom length, the first super-lift winch motor and the second super-lift winch motor are stopped rotating. The first super-lift winch drum is locked by the first super-lift winch ratchet, and the second super-lift winch drum is locked by the second super-lift winch ratchet.

7. A crane super-lift tensioning system according to claim 4, characterized in that, The controller is also used to determine the angle A between the boom head and the horizontal plane after the winch ropes of the first and second super-lift winches are tensioned. Top Angle A between the boom root and the horizontal plane Root Does A satisfy? Root -A1≤A Top ≤A Root +A2, if yes, then the over-tensioning is successful; otherwise, the over-tensioning fails; where A1 is the first angle difference and A2 is the second angle difference.

8. A crane, characterized in that, Includes the crane super-lift tensioning system as described in any one of claims 4-7.

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