A control method and system for dynamic load balancing during the entire tower crane jacking process

Abstract

This invention discloses a control method for dynamic load balancing throughout the entire tower crane lifting process, executed by a main controller. The method includes: S1, positioning the standard section to the introduction device; S2, acquiring the current output torque value one at the connection between the top of the tower body and the superstructure; S3, determining whether the current torque value one is less than or equal to an allowable value; if it is less than the allowable value, lifting to a designated position; S4, acquiring the current torque value two at the connection between the climbing frame and the superstructure; S5, determining whether the current torque value two is less than or equal to an allowable value; if it is less than the allowable value, determining whether the standard section has been introduced into place; if it has, the lifting cylinder actuates, the superstructure falls into place, and the lifting process is completed. This invention also discloses a control system for dynamic load balancing throughout the entire tower crane lifting process. This application uses multiple sets of pin shaft sensor groups to output and adjust the load in real time throughout the entire tower crane lifting process, realizing dynamic balancing control throughout the lifting process.

Description

Technical Field

[0001] This invention relates to a control method and system for dynamic load balancing throughout the entire process of tower crane jacking, belonging to the field of tower crane jacking balancing technology. Background Technology

[0002] The torque balancing during tower crane jacking is of paramount importance, directly impacting the safety of the jacking operation. Failure to balance can result in minor damage to the mechanism, reducing the tower crane's structural strength, or even complete overturning, endangering the lives of operators and causing significant economic losses. For large-tonnage tower cranes, the position of the guide section during jacking significantly affects the balancing torque; therefore, the impact of the guide section on balancing must be taken into account to ensure the smooth and safe execution of the jacking operation.

[0003] The current tower crane jacking and leveling method mainly relies on manual operation and control. The leveling weight and leveling range are selected according to the leveling torque of the specific model. Then, the operator makes corresponding adjustments based on experience or with simple auxiliary equipment such as inclinometers. The accuracy is low and there is no specific quantitative form.

[0004] First, the balancing weight and balancing range are selected based on the balancing torque of the specific machine model. Then, adjustments are made according to the operator's experience or with the help of simple auxiliary equipment such as inclinometers. This method has low precision and no specific quantitative form.

[0005] Secondly, the impact of introducing standard sections on the balancing process was not considered in the tower crane top lifting and balancing. Summary of the Invention

[0006] The purpose of this invention is to provide a control method and system for dynamic load balancing throughout the entire process of tower crane jacking, in order to solve the shortcomings of existing technologies that mainly rely on manual operation and control, and make corresponding adjustments based on the operator's experience or simple auxiliary equipment such as inclinometers, resulting in low accuracy and no specific quantitative form.

[0007] A control method for dynamic load balancing during the entire tower crane jacking process, executed by a main controller, the method comprising:

[0008] S1. Position the standard section into the inlet device;

[0009] S2. Obtain the current output torque value at the connection between the top of the tower and the upper structure.

[0010] S3. Determine if the current torque value is less than or equal to the allowable value. If it is less than the allowable value, lift the machine to the specified position.

[0011] S4. Obtain the current torque value at the connection between the climbing frame and the upper structure.

[0012] S5. Determine whether the current torque value is less than or equal to the allowable value. If it is less than the allowable value, determine whether the section has been introduced into place. If it has, the lifting cylinder will activate, the upper structure will fall into place, and the lifting process will be completed.

[0013] Furthermore, determine whether the current torque value is less than or equal to the allowable value. If it is less than the allowable value, select whether to start jacking. If it is greater than the allowable value, the tower crane will start automatically adjusting the position of the load.

[0014] Further, determine whether the amount of automatic movement exceeds the allowable value;

[0015] If the automatic movement amount is greater than the allowable value, confirm whether to continue. If you choose to continue, return to step S2. If you choose to end, switch to manual mode.

[0016] Further, determine whether the automatic movement amount is greater than the allowable value. If the automatic movement amount is less than the allowable value, then execute step S2.

[0017] Further, determine whether the current torque value is less than or equal to the allowable value. If it is greater, the tower crane will start to automatically adjust the position of the load. Then determine whether the automatic movement exceeds the allowable value. If it is less than the allowable value, execute step S4. If it is greater than the allowable value, select to continue and execute step S4. Select to end and switch to manual mode.

[0018] Further, step S2 includes:

[0019] The real-time torque value of the tower crane's superstructure is calculated based on the force values ​​at the measuring points by a sensor array installed at the connection between the top of the tower and the superstructure.

[0020] Further, step S4 includes:

[0021] The real-time torque value of the tower crane's upper structure is calculated based on the force values ​​at the measuring points by a sensor array installed at the connection between the climbing frame and the upper structure.

[0022] Furthermore, the sensor group includes at least two pin-type sensors.

[0023] A control system for dynamic load balancing throughout the entire tower crane jacking process, the system comprising:

[0024] Data acquisition module one is used to acquire the current output torque value at the connection between the top of the tower and the upper structure.

[0025] Data acquisition module two is used to acquire the current output torque value at the connection between the climbing frame and the upper structure.

[0026] The signal processing module is used to receive signals from data acquisition module 1 and data acquisition module 2, amplify the signals, and send them to the main controller.

[0027] The main controller is used to determine whether the current output torque value 1 obtained by data acquisition module 1 and the current output torque value 2 obtained by data acquisition module 2 meet the allowable value.

[0028] The execution module is used to receive instructions from the main controller and control the lifting cylinder according to the instructions from the main controller.

[0029] Furthermore, the first data acquisition module is a sensor group one installed at the connection between the top of the tower and the upper structure, and the second data acquisition module is a sensor group two installed at the connection between the climbing frame and the upper structure.

[0030] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention uses multiple sets of pin shaft sensor groups to output and adjust the load in real time throughout the entire process of tower crane jacking, thereby realizing dynamic balancing control throughout the jacking process;

[0031] This invention improves the dynamic load balance during the balancing process by real-time acquisition of the torque value of the change in the position of the standard section during the tower crane jacking process through a second sensor group at the connection between the climbing frame and the superstructure. Attached Figure Description

[0032] Figure 1 This is a flowchart of the dynamic load balance control process for the entire tower crane lifting process of the present invention;

[0033] Figure 2 This is a schematic diagram of the tower crane of the present invention;

[0034] Figure 3 This is a schematic diagram of the system of the present invention. Implementation

[0035] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0036] like Figure 1 As shown, a control method for dynamic load balancing during the entire tower crane jacking process is disclosed, executed by the main controller. The method includes:

[0037] S1. Position the standard section into the inlet device;

[0038] S2. Obtain the current output torque value at the connection between the top of the tower and the upper structure.

[0039] S3. Determine if the current torque value is less than or equal to the allowable value. If it is less than the allowable value, lift the machine to the specified position.

[0040] S4. Obtain the current torque value at the connection between the climbing frame and the upper structure.

[0041] S5. Determine whether the current torque value is less than or equal to the allowable value. If it is less than the allowable value, determine whether the section has been introduced into place. If it has, the lifting cylinder will activate, the upper structure will fall into place, and the lifting process will be completed.

[0042] In this embodiment, the tower crane of this application is equipped with two pin-shaft sensor groups. Pin-shaft sensor group two is installed at the connection between the climbing frame and the upper structure, and pin-shaft sensor group one is installed at the connection between the top of the tower body and the upper structure. Each sensor group can calculate the real-time torque of the upper structure of the tower crane based on the force value at the measuring point. This application uses two sets of sensor groups, but is not limited to two sets. Figure 1 The control methods will be explained in detail below:

[0043] Step 1: When starting the jacking operation, the tower crane will position the standard section onto the lead-in device;

[0044] Step 2: Zero the pin shaft sensor group 2. At this time, sensor group 2 only bears the weight of the climbing frame.

[0045] Step 3: Select the balancing weight and balancing range according to the balancing torque of the specific machine model;

[0046] Step 4: Pin shaft sensor group one outputs the current torque value 1. At this time, sensor group one bears the weight of the entire upper structure.

[0047] Step 5: Determine whether the current torque value is less than or equal to the allowable value. If it is less than the allowable value, the operator can choose whether to start the lifting process.

[0048] Step 6: If the value is greater than the allowable value, the tower crane will start to automatically adjust the position of the load and start to judge whether the automatic movement exceeds the allowable value. If the automatic movement is less than the allowable value, step 4 will be executed. If the value is greater than the allowable value, the operator can choose whether to continue. If the operator chooses to continue, step 4 will be executed. If the operator chooses to end, the crane will switch to manual mode.

[0049] Step 7: If the operator selects to start lifting in step 5, the controller controls the lifting cylinder to start lifting. Once the cylinder is lifted to the designated position, the standard section begins to be introduced.

[0050] Step 8: The second pin sensor group outputs the current torque value 2. At this time, the second sensor group bears the weight of the entire upper structure. In this embodiment, by collecting the torque value of the change in the position of the introduced section during the tower crane jacking process in real time by the second sensor group at the connection between the climbing frame and the upper structure, the dynamic balance of the load during the balancing process is improved.

[0051] Step 9: Determine if the current torque value is less than or equal to the allowable value. If it is less than the allowable value, further determine if the standard section has been introduced into place. If the standard section has been introduced into place, the operator can choose whether to continue to the next step. If it is greater than the allowable value, the tower crane will start to automatically adjust the position of the lifting load.

[0052] Step 10: Determine if the automatic movement amount exceeds the allowable value; if it is less than the allowable value, proceed to step 8.

[0053] If the value is greater than the allowable value, the operator can choose whether to continue. If the operator chooses to continue, step 8 will be executed.

[0054] If the operator selects to end, the system will switch to manual mode;

[0055] Step 11: Zero the pin-shaft sensor group 1. At this time, sensor group 1 does not bear any weight.

[0056] Step 12: The lifting cylinder is activated, and the upper structure falls into place. At this time, sensor group 1 bears the weight of the entire upper structure, while sensor group 2 only bears the weight of the climbing frame. The lifting operation is then completed.

[0057] The balancing process in this application employs a combination of automatic and manual modes, ensuring safety and accuracy.

[0058] The second aspect:

[0059] like Figure 3 As shown, the present invention also discloses a control system for dynamic load balancing throughout the entire tower crane jacking process, the system comprising:

[0060] Data acquisition module one is used to acquire the current output torque value at the connection between the top of the tower and the upper structure.

[0061] Data acquisition module two is used to acquire the current output torque value at the connection between the climbing frame and the upper structure.

[0062] The signal processing module is used to receive signals from data acquisition module 1 and data acquisition module 2, amplify the signals, and send them to the main controller.

[0063] The main controller is used to determine whether the current output torque value 1 obtained by data acquisition module 1 and the current output torque value 2 obtained by data acquisition module 2 meet the allowable value.

[0064] The execution module is used to receive instructions from the main controller and control the lifting cylinder according to the instructions from the main controller.

[0065] Furthermore, the first data acquisition module is a sensor group one installed at the connection between the top of the tower and the upper structure, and the second data acquisition module is a sensor group two installed at the connection between the climbing frame and the upper structure, specifically as follows: Figure 2 As shown, pin-shaft sensor group two is installed at the connection between the climbing frame and the upper structure, while pin-shaft sensor group one is installed at the connection between the top of the tower body and the upper structure. Each sensor group can calculate the real-time torque of the tower crane's upper structure based on the force value at the measuring point. This application uses two sets of sensor groups, but is not limited to two sets.

[0066] In this application, multiple sets of pin shaft sensor groups are used to output and adjust the load in real time throughout the entire tower crane lifting process, so as to realize dynamic balancing control of the entire lifting process.

[0067] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for dynamic balance of loads in the whole process of jacking a tower crane, executed by a main controller, characterized in that, The method comprises: S1, positioning the marker segment to the introduction device; S2, obtaining a current output torque value one at the top of the tower body and the upper structure connection; S3, judging whether the current torque value one is less than or equal to the allowable value, if less than the allowable value, jacking to the specified position; S4, obtaining a current torque value two at the climbing frame and the upper structure connection; S5, judging whether the current torque value two is less than or equal to the allowable value, if less than the allowable value, judging whether the marker segment is introduced to the position, if to the position, the upper structure falls to the position, and the jacking process is completed; The step S2 comprises: calculating the real-time torque value one of the upper structure of the tower crane according to the stress value of the measuring point through the sensor group installed at the top of the tower body and the upper structure connection; The step S4 comprises: calculating the real-time torque value two of the upper structure of the tower crane according to the stress value of the measuring point through the sensor group installed at the climbing frame and the upper structure connection.

2. The control method for dynamic balance of whole jacking process load of tower crane according to claim 1, characterized in that, judging whether the current torque value one is less than or equal to the allowable value, if less than the allowable value, selecting whether to start jacking, if greater than the allowable value, the tower crane will start to automatically adjust the position of the hoisting weight.

3. The control method for dynamic balance of the whole jacking process load of the tower crane according to claim 2, characterized in that, judging whether the automatic movement amount is greater than the allowable value; if the automatic movement amount is greater than the allowable value, confirming whether to continue, if selecting to continue, returning to the step S2, if selecting to end, switching to the manual mode.

4. The control method for dynamic balance of load during whole jacking process of tower crane according to claim 3, characterized in that, judging whether the automatic movement amount is greater than the allowable value, if the automatic movement amount is less than the allowable value, executing the step S2.

5. The control method for dynamic balance of whole process load lifting of tower crane according to claim 1, characterized in that, judging whether the current torque value two is less than or equal to the allowable value, if greater than the allowable value, the tower crane will start to automatically adjust the position of the hoisting weight, then judging whether the automatic movement amount exceeds the allowable value, if less than the allowable value, executing the step S4, if greater than the allowable value, selecting to continue to execute the step S4, selecting to end, and switching to the manual mode.

6. The control method for dynamic balance of whole jacking process load of tower crane according to claim 1, characterized in that, The sensor group comprises at least two pin shaft sensors.

7. A control system for dynamic balance of loads in the whole process of jacking a tower crane, characterized in that, The system comprises: a data acquisition module one for obtaining a current output torque value one at the top of the tower body and the upper structure connection; a data acquisition module two for obtaining a current output torque value two at the climbing frame and the upper structure connection; a signal processing module for receiving signals of the data acquisition module one and the data acquisition module two, and sending the signals to the main controller after amplification; a main controller for judging whether the current output torque value one obtained by the data acquisition module one and the current output torque value two obtained by the data acquisition module two satisfy the allowable value; an execution module for receiving instructions of the main controller, and controlling the jacking oil cylinder according to the instructions of the main controller.

8. The control system for dynamic balance of the whole jacking process load of tower crane according to claim 7, characterized in that, The data acquisition module one is a sensor group one installed at the top of the tower body and the upper structure connection, and the data acquisition module two is a sensor group two installed at the climbing frame and the upper structure connection.

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