A tower crane jacking automatic balancing control method and tower crane

Abstract

The present invention discloses a tower crane jacking automatic balancing control method and a tower crane, the control method comprising lifting an appropriate load according to the current machine model, arm length and counterweight state; selecting a lifting balancing torque according to the lifted load; automatically adjusting the load amplitude according to the required balancing torque and the current load; real-time monitoring whether the current weight amplitude parameter is within the allowable range; if the current weight amplitude parameter is greater than the set allowable value, an alarm reminder is issued, and the operator checks and judges according to the alarm prompt information to determine whether to further adjust the weight amplitude parameter or whether the balancing requirement is currently met; when the balancing requirement is met, the jacking working mode is entered to allow the jacking cylinder to operate. The present invention can arbitrarily lift an appropriate load, not limited to the recommended load, and has stronger on-site adaptability. The balancing state is monitored by a variety of detection methods, and the load amplitude is automatically adjusted according to the data deviation, which is more accurate and intelligent.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering machinery control, and in particular relates to a tower crane jacking automatic balancing control method and a tower crane. Background Art

[0002] When the current tower crane is performing jacking and trimming, the recommended load weight and amplitude are generally given according to the current model's trim torque calculation data, and the trimming is performed manually by the driver. Some tower cranes are equipped with inclination sensors that can detect the inclination of the crane arm as a basis for judgment, or experienced operators can visually observe the trimming status to determine whether the trimming requirements are met. If there is no load with the recommended load weight on site, it is impossible to operate according to the recommended data, and the trimming needs to rely on the experience of the driver and operator. In addition, the detection method is relatively simple, generally using an inclinometer or simple visual inspection, which is not very accurate and lacks guidance for the driver to adjust the trim. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a tower crane jacking automatic balancing control method and a tower crane, in order to solve the problem of inaccurate manual operation of tower crane jacking balancing at present, and further solve the problem of a relatively single balancing state detection method.

[0004] The present invention is implemented according to the following technical solutions:

[0005] In the first aspect, the present invention provides a tower crane automatic balancing control method for lifting, the method comprising: lifting an appropriate load according to the current machine model, arm length and counterweight status; selecting the lifting balancing torque according to the lifted load; automatically adjusting the load amplitude according to the required balancing torque and the current load; real-time monitoring whether the current weight amplitude parameter is within an allowable range; if the current weight amplitude parameter is greater than the set allowable value, an alarm is issued, and the operator checks and judges according to the alarm prompt information to determine whether the weight amplitude parameter is further adjusted or the current balancing requirements are met; when the balancing requirements are met, the lifting working mode is entered to allow the lifting cylinder to operate.

[0006] In one embodiment, the weight amplitude parameters include: current torque, tilt angle and pin deviation.

[0007] In one embodiment, the current torque, tilt angle and pin deviation are obtained through a torque sensor, a tilt sensor installed on the top of the tower crane, and a sleeve pin sensor and a lifting pin sensor installed at the connection between the sleeve and the lower support.

[0008] In one embodiment, the real-time monitoring of whether the current weight amplitude parameter is within the allowable range specifically includes: first monitoring whether the deviation between the current torque and the balancing torque is within the allowable range; on the basis that the current torque is within the allowable range, monitoring and judging whether the inclination angle and the pin shaft deviation are within the allowable range.

[0009] In one embodiment, when the balancing requirements are met, the jacking working mode is entered and the jacking cylinder is allowed to move. Specifically, the weight amplitude parameter information is observed on the jacking balancing interface on the driver's cab display screen, and the jacking working mode is entered by confirming the balancing button to allow the jacking cylinder to move.

[0010] In a second aspect, the present invention provides a tower crane, on which is provided a device for executing any one of the above-mentioned tower crane jacking automatic balancing control methods.

[0011] In a third aspect, the present invention provides a computer device including a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the above-mentioned tower crane jacking automatic balancing control method.

[0012] In a fourth aspect, the present invention provides a storage medium storing computer-readable instructions, wherein when the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the above-mentioned tower crane jacking automatic balancing control method.

[0013] Beneficial effects of the present invention:

[0014] 1. It can carry any appropriate load, not limited to the recommended load, and has stronger on-site adaptability;

[0015] 2. Automatically adjust the load range according to the required balancing torque, convenient and quick;

[0016] 3. Multiple detection methods monitor the balancing status and automatically adjust the load range according to data deviation, which is more accurate and intelligent;

[0017] 4. Give clear alarm prompts to guide operators to check and judge, and make the final decision, which is more accurate and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are part of the present invention and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the accompanying drawings described below are only some embodiments. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0019] Figure 1 A flowchart of a tower crane automatic balancing control method provided by an embodiment of the present invention;

[0020] Figure 2 A specific implementation flow chart of a tower crane jacking automatic balancing control method provided by a preferred embodiment of the present invention.

[0021] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. Implementation

[0022] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0023] The driver performs manual trimming according to the recommended load and amplitude. The balance is determined based on the tilt sensor data and visual observation. First, manual operation is more troublesome and requires the specified weight to be hoisted and operated to the specified amplitude. If the recommended load is not available on site, the guidance of the recommended trim will be poor. Second, the trimming detection is relatively simple, generally using an inclinometer or simple visual inspection, which is not very accurate and relies more on the operator's experience. Based on the above technical problems, such as Figure 1 As shown, the present invention proposes a tower crane jacking automatic balancing control method, the method steps comprising:

[0024] Step S100: lifting an appropriate load according to the current aircraft model, arm length and counterweight status;

[0025] Step S200: Selecting the lifting and balancing torque according to the hoisted load;

[0026] Step S300: Automatically adjust the load range according to the required balancing torque and the current load;

[0027] In the embodiment of the present application, the weight amplitude parameters include: current torque, tilt angle and pin deviation.

[0028] Furthermore, the front torque, tilt angle and pin deviation are obtained through the torque sensor, the inclination sensor installed on the top of the tower crane, and the sleeve pin sensor and the lifting pin sensor installed at the connection between the sleeve and the lower support.

[0029] Step S400: Real-time monitoring of whether the current weight amplitude parameter is within the allowable range;

[0030] In the embodiment of the present application, the current weight amplitude parameter is monitored to see whether it is within the allowable range. Figure 2 As shown,

[0031] Specifically, it includes: firstly, monitoring whether the deviation between the current torque and the balancing torque is within the allowable range; on the basis that the current torque is within the allowable range, monitoring and judging whether the inclination angle and the pin shaft deviation are within the allowable range.

[0032] Step S500: If the current weight amplitude parameter is greater than the set allowable value, an alarm is issued, and the operator

[0033] Personnel check and judge according to the alarm prompt information to determine whether to further adjust the weight amplitude parameters or whether the current balancing requirements have been met;

[0034] Step S600: When the balancing requirements are met, the lifting working mode is entered and the lifting cylinder is allowed to operate.

[0035] In the embodiment of the present application, when the balancing requirements are met, the jacking working mode is entered, and the jacking cylinder is allowed to move.

[0036] Specifically: observe the weight amplitude parameter information on the jacking and balancing interface on the driver's cab display screen, and enter the jacking working mode by confirming the balancing button to allow the jacking cylinder to move.

[0037] This method determines the required balancing torque according to the current machine model, arm length, and counterweight status. It can hoist any appropriate load, enter the automatic mode through the jacking balancing screen on the display screen, and automatically adjust the amplitude to enter the allowable range of balancing. An inclination sensor is installed on the top of the tower crane, and a pin sensor is installed at the connection between the sleeve and the lower support. The detection data is connected to the tower crane PLC controller. Real-time monitoring is performed to determine whether the current torque is within the allowable range of the balancing torque, as well as the inclination sensor data and the pin sensor data, and the current amplitude is automatically adjusted according to the monitoring data. When the adjustment cannot be fully met and any data deviation is greater than the set allowable value, an alarm reminder is issued. The operator checks and judges according to the alarm prompt information to determine whether to make further adjustments or confirm that the current balancing requirements have been met. The above data information can be observed on the jacking balancing interface of the driver's cab display screen, and the jacking working mode is entered by confirming the balancing button to allow the jacking cylinder to move. This method is convenient and fast, has strong adaptability, rich detection methods and clear prompts, and can well guide operators to perform balancing operations.

[0038] The equipment used in the automatic balancing control method for tower crane lifting proposed in the present invention mainly includes a PLC controller, a display screen, a lifting pin sensor, an amplitude encoder, an inclination sensor, a sleeve pin sensor, software and algorithms, etc. The present invention can hoist any load of appropriate weight; automatically adjust the current load amplitude according to the required balancing torque; monitor the inclination sensor and pin sensor data in real time, and automatically adjust the amplitude according to the data deviation; issue an alarm if the current torque deviation, inclination angle, and pin sensor deviation are greater than the allowable value; the operator checks and judges according to the prompt information, and finally decides whether to continue adjusting or whether the requirements are currently met; the operator clicks the confirm balancing button to enter the lifting working mode, allowing the lifting cylinder to act.

[0039] In one embodiment, a tower crane is provided, on which a device for executing any one of the above-mentioned automatic balancing control methods for jacking up an instrumented tower crane is provided.

[0040] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the above-mentioned tower crane jacking automatic balancing control method.

[0041] In one embodiment, a storage medium storing computer-readable instructions is provided. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the above-mentioned tower crane jacking automatic balancing control method.

[0042] For the description of the control method, please refer to the description of the same or similar parts mentioned above, which will not be repeated here.

[0043] The present invention proposes a tower crane jacking automatic balancing control method, which automatically adjusts the load range according to the required balancing torque and the current load. The current balancing state is detected by multiple methods such as the current torque deviation, the tilt angle, the pin sensor deviation, etc. The load range is automatically adjusted according to the data deviation result. When the automatic adjustment cannot meet the requirements, an alarm prompt is issued to guide the operator to check and judge. The jacking working mode is entered only after the operator clicks the confirmation balancing button, allowing the jacking cylinder to act.

[0044] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A tower crane jacking automatic balancing control method, characterized in that: The method includes: Lift appropriate load according to current aircraft model, arm length and counterweight status; Select the lifting and balancing torque according to the load to be lifted; Automatically adjust the load range according to the required balancing torque and current load; Real-time monitoring of whether the current weight amplitude parameters are within the allowable range; If the current weight amplitude parameter is greater than the set allowable value, an alarm will be issued, and the operator will check and judge according to the alarm prompt information to determine whether to further adjust the weight amplitude parameter or whether the current balancing requirements have been met; When the balancing requirements are met, the system enters the lifting mode and allows the lifting cylinder to move; The weight amplitude parameters include: current torque, tilt angle and pin deviation; The current torque, tilt angle and pin deviation are obtained through a torque sensor, a tilt angle sensor installed on the top of the tower crane, and a sleeve pin sensor and a lifting pin sensor installed at the connection between the sleeve and the lower support; The real-time monitoring of whether the current weight amplitude parameter is within the allowable range specifically includes: First, monitor whether the deviation between the current torque and the balancing torque is within the allowable range; On the basis that the current torque is within the allowable range, the tilt angle and the pin shaft deviation are monitored and judged to be within the allowable range; When the balancing requirements are met, the jacking working mode is entered and the jacking cylinder is allowed to move. Specifically, the weight amplitude parameter information is observed on the jacking balancing interface on the driver's cab display screen, and the jacking working mode is entered by confirming the balancing button to allow the jacking cylinder to move.

2. A tower crane, characterized in that: The tower crane is provided with a device for executing the tower crane jacking automatic balancing control method according to claim 1.

3. A computer device comprising a memory and a processor, characterized in that: The memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor executes the steps of the tower crane jacking automatic balancing control method as claimed in claim 1.

4. A storage medium storing computer-readable instructions, characterized in that: When the computer-readable instructions are executed by one or more processors, the one or more processors are caused to execute the steps of the tower crane jacking automatic balancing control method as claimed in claim 1.

Images