Amplitude synchronous control system, method, device and crane

Abstract

The present disclosure provides a luffing synchronous control system, method, device and crane, and relates to the technical field of mechanical control. The luffing synchronous control system comprises a first measuring device configured to measure a rope end position offset in each group of at least one group of hoist mechanisms on the crane; a second measuring device configured to measure a drum rotation amount of each hoist mechanism in the at least one group of hoist mechanisms; and a controller configured to determine a rope payout amount of each hoist mechanism according to the drum rotation amount of each hoist mechanism, and to perform luffing synchronous control on the at least one group of hoist mechanisms according to the rope end position offset in each group of the at least one group of hoist mechanisms and the rope payout amount of each hoist mechanism. The above system can improve the accuracy and reliability of luffing synchronous control of the crane.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical control technology, and in particular to a variable amplitude synchronous control system, method, apparatus and crane. Background Technology

[0002] With the continuous development of the hoisting industry, cranes have evolved from single-boom cranes to multi-boom cranes. Compared with single-boom cranes, multi-boom cranes have a larger luffing stroke and bear a greater load on the load-bearing components, which makes a single luffing mechanism unable to meet the system application requirements. Therefore, multi-boom cranes adopt a combined working method of multiple luffing mechanisms.

[0003] In multi-luffing mechanism combined operation, the synchronization accuracy of the multi-luffing mechanism is required to be high. If the luffing winches are not synchronized, it will cause imbalance of the pulley blocks used for luffing or lifting. This situation may affect the life of the actuators and wire ropes in the crane, or even cause lateral load on the boom and affect the safety of the entire machine.

[0004] Most luffing synchronization control methods in related technologies calculate the wire rope output length by detecting the rotation angle of each luffing winch's drum. Then, based on the deviation in the wire rope output length, closed-loop adjustments are made to the motor speed, pump variables, etc., to eliminate the output deviation and achieve luffing synchronization. Alternatively, some related technologies use cameras or wire sensors to visually detect the synchronous movement position of each wire rope end (or rope tip). Summary of the Invention

[0005] This disclosure provides a variable amplitude synchronous control system, method, apparatus, and crane.

[0006] According to one aspect of this disclosure, a variable-amplitude synchronous control system is proposed, comprising: a first measuring device for measuring the rope end position offset in each of at least one set of winch mechanisms on a crane, each set comprising two winch mechanisms, the rope end position offset in each set including the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected; a second measuring device for measuring the drum rotation of each of the at least one set of winch mechanisms; and a controller configured to: determine the amount of rope output of each winch mechanism based on the drum rotation of each winch mechanism; and perform variable-amplitude synchronous control on the at least one set of winch mechanisms based on the rope end position offset in each of the at least one set of winch mechanisms and the amount of rope output of each winch mechanism.

[0007] In some embodiments, the controller performs variable amplitude synchronization control on the at least one group of winches based on the rope end position offset in each group of the at least one group of winches and the rope output of each winch. This includes instructing the controller to adjust the operating parameters of the at least one group of winches when the rope end position offset in each group of the at least one group of winches is not less than a first group offset threshold, or when the deviation between the rope output of each winch and a reference rope output is not less than a first rope output deviation threshold.

[0008] In some embodiments, the controller performs amplitude synchronization control on the at least one group of winches based on the rope end position offset in each group of the at least one group of winches and the rope output of each winch. This further includes: determining whether the rope end position offset in each group of the at least one group of winches is less than a first group offset threshold; and if the rope end position offset in each group of the at least one group of winches is less than the first group offset threshold, determining whether the deviation between the rope output of each winch and a reference rope output is less than a first rope output deviation threshold.

[0009] In some embodiments, the luffing synchronization control system further includes: a first luffing balancing device, disposed on the turntable of the crane, for connecting the rope ends of the two winches in each group into one unit.

[0010] In some embodiments, the first variable amplitude balancing device includes: a pulley; a balancing rope wound around the pulley, with one end connected to the rope end of one winch mechanism in each group and the other end connected to the rope end of another winch mechanism in each group.

[0011] In some embodiments, the first variable amplitude balancing device includes: a connecting portion for connecting the rope end of the winch mechanism in each group; and a sliding balancing assembly including a slide rail and a guide rail, the guide rail being connected to the connecting portion and configured to move along the slide rail under the drive of the winch mechanism in each group.

[0012] In some embodiments, the at least one set of winches includes two sets of winches, and the luffing synchronization control system further includes: a third measuring device for measuring the inter-set offset of the two sets of winches, wherein the inter-set position offset of the two sets of winches includes the offset of at least one set of winches relative to a second reference position when the rope ends of the two sets of winches are connected; wherein, the controller performs luffing synchronization control on the at least one set of winches based on the rope end position offset within each set of the at least one set of winches and the rope output of each winch, including: performing luffing synchronization control on the two sets of winches based on the inter-set offset of the two sets of winches, the rope end position offset within each set of the two sets of winches, and the rope output of each winch.

[0013] In some embodiments, the controller performs amplitude synchronization control on the two sets of winches based on the inter-group offset of the two sets of winches, the rope end position offset within each of the two sets of winches, and the rope output of each of the two sets of winches. This includes: when the inter-group offset of the two sets of winches is not less than a first inter-group offset threshold, the rope end position offset within each of the two sets of winches is not less than a first intra-group offset threshold, or the deviation between the rope output of each of the two sets of winches and a reference rope output is not less than a first rope output deviation threshold, the controller instructs the operating parameters of the two sets of winches to be adjusted.

[0014] In some embodiments, the controller's amplitude synchronization control of the two sets of winches based on the inter-group offset of the two sets of winches, the rope end position offset within each of the two sets of winches, and the rope output of each of the two sets of winches further includes: determining whether the inter-group offset of the two sets of winches is less than a first inter-group offset threshold; if the inter-group offset of the two sets of winches is less than the first inter-group offset threshold, determining whether the rope end position offset within each of the two sets of winches is less than a first intra-group offset threshold; and if the rope end position offset within each of the two sets of winches is less than the first intra-group offset threshold, determining whether the deviation between the rope output of each of the two sets of winches and a reference rope output is less than a first rope output deviation threshold.

[0015] In some embodiments, the luffing synchronization control system further includes: a second luffing balancing device, disposed on the turntable of the crane, for connecting the rope ends of the two sets of winches, and configured to move under the drive of the two sets of winches.

[0016] In some embodiments, the second balancing device includes: a connecting portion for connecting the rope ends of the two sets of winches; a sliding balancing assembly including a slide rail and a guide rail, the guide rail being connected to the connecting portion and configured to move along the slide rail under the drive of the two sets of winches; wherein the inter-set offset is determined according to the movement of the guide rail.

[0017] In some embodiments, the luffing synchronization control system further includes an alarm module for sending an alarm message when it is detected that the rope end of at least one of the at least one set of winches has moved to a restricted position.

[0018] In some embodiments, the alarm module is a limit switch.

[0019] In some embodiments, each of the at least one set of hoisting mechanisms is driven coaxially by two motor reducers, the two motor reducers adopt a master-slave control mode, and all the master motor reducers corresponding to the at least one set of hoisting mechanisms adopt a parallel control mode.

[0020] In some embodiments, the first measuring device is a displacement sensor, and the second measuring device is an incremental encoder.

[0021] According to a second aspect of this disclosure, a luffing synchronization control method is proposed, comprising: acquiring the rope end position offset in each group of at least one set of winches on a crane, and the drum rotation amount of each winch in the at least one set of winches, wherein each group includes two winches, and the rope end position offset in each group includes the offset of the rope end of at least one of the two winches relative to a first reference position when the rope ends of the two winches are connected; determining the rope output amount of each winch based on the drum rotation amount of each winch; and performing luffing synchronization control on the at least one set of winches based on the rope end position offset in each group of at least one set of winches and the rope output amount of each winch.

[0022] According to a third aspect of this disclosure, a luffing synchronization control device is proposed, comprising: an acquisition module configured to acquire a rope end position offset within each of at least one set of winch mechanisms on a crane, and a drum rotation amount of each of the at least one set of winch mechanisms, each set comprising two winch mechanisms, the rope end position offset within each set including an offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected; a determination module configured to determine the amount of rope output of each winch mechanism based on the drum rotation amount of each winch mechanism; and a control module configured to perform luffing synchronization control on the at least one set of winch mechanisms based on the rope end position offset within each of the at least one set of winch mechanisms and the amount of rope output of each winch mechanism.

[0023] According to a fourth aspect of this disclosure, another amplitude synchronization control device is proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the amplitude synchronization control method as described above based on instructions stored in the memory.

[0024] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the above-described amplitude synchronization control method.

[0025] According to a sixth aspect of this disclosure, a crane is provided, including the luffing synchronization control system as described above, or the luffing synchronization control device as described above.

[0026] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0028] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0029] Figure 1 This is a schematic diagram of the luffing structure of a crane according to some embodiments of the present disclosure;

[0030] Figure 2 This is a schematic diagram of the luffing structure of a crane according to some embodiments of the present disclosure;

[0031] Figure 3 This is a schematic diagram of the composition structure of a variable amplitude synchronous control system according to some embodiments of the present disclosure;

[0032] Figure 4 This is a schematic diagram of the composition structure of a variable amplitude synchronous control system according to some embodiments of the present disclosure;

[0033] Figure 5 This is a schematic diagram of the structure of a variable amplitude balancing device according to some embodiments of the present disclosure;

[0034] Figure 6 This is a schematic diagram showing the installation position of a first measuring device and a limit switch according to some embodiments of the present disclosure;

[0035] Figure 7 This is a schematic diagram showing the installation position of a third measuring device and a limit switch according to some embodiments of the present disclosure;

[0036] Figure 8 This is a schematic diagram of the control modes of the main motor reducer according to some embodiments of the present disclosure;

[0037] Figure 9 This is a schematic diagram of the control modes of a motor reducer according to some embodiments of the present disclosure;

[0038] Figure 10 This is a flowchart illustrating a variable amplitude synchronization control method according to some embodiments of the present disclosure;

[0039] Figure 11 This is a flowchart illustrating a variable amplitude synchronization control method according to other embodiments of the present disclosure;

[0040] Figure 12 This is a schematic diagram of the structure of a variable amplitude synchronization control device according to some embodiments of the present disclosure;

[0041] Figure 13 This is a schematic diagram of the structure of a variable amplitude synchronization control device according to other embodiments of the present disclosure;

[0042] Figure 14 This is a schematic diagram of the structure of a computer system according to some embodiments of the present disclosure. Detailed Implementation

[0043] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0044] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0045] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0046] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0047] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0049] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0050] Before crane operation, the boom typically needs to be assembled on the ground, and then raised to the working angle using the luffing mechanism. The luffing mechanism usually includes a luffing winch, a luffing pulley block, and a boom tie plate. The luffing winch adjusts the length of the luffing pulley block by winding and unwinding the wire rope, and then raises the boom via the boom tie plate connected to the luffing pulley block. In addition, a mast is installed between the wire rope and the boom tie plate. The mast is a supporting connection between the boom tie plate and the wire rope, and is crucial for the crane's luffing operations, self-assembly and disassembly, and boom raising.

[0051] In related technologies, the scheme of amplitude control based on the amount of rope output from the drum has the following shortcomings: due to the deviation in the diameter of each drum and the different tension of the wire rope, the accuracy and reliability of the final calculated output rope length are not high.

[0052] In related technologies, the solution of intuitively detecting the synchronous movement position of the luffing wire rope head based on cameras or wire sensors has the following shortcomings: Since the rope head is located at the top of the mast, when a luffing synchronization failure occurs, the mast needs to be lowered or a person needs to climb the mast for repair, which is difficult to repair and increases safety hazards.

[0053] In view of this, this disclosure proposes a luffing control system, method, device and crane, which can improve the accuracy and reliability of luffing synchronization control, reduce maintenance difficulty and improve maintenance convenience.

[0054] Figure 1 and Figure 2 This is a schematic diagram of the luffing structure of a crane according to some embodiments of the present disclosure. The following is in conjunction with... Figure 1 and Figure 2 The luffing structure is explained using a four-arm crane as an example.

[0055] like Figure 1 and Figure 2 As shown, the luffing structure 3 of the crane is located on the turntable 1, and it specifically includes four winch mechanisms, namely luffing winch 1 31, luffing winch 2 32, luffing winch 3 33, and luffing winch 4 34.

[0056] In some embodiments, multiple luffing winches (i.e., winch mechanisms) are driven by motors. For example, each luffing winch is driven by two motors, which are installed on the left and right sides of the luffing winch. For example, luffing winch 1 31 is driven by two motors 1 71, luffing winch 2 32 is driven by two motors 2 72, luffing winch 3 33 is driven by two motors 3 73, and luffing winch 4 34 is driven by two motors 4 74.

[0057] In other embodiments, multiple luffing winches are hydraulically driven.

[0058] Multiple luffing winch wire ropes 6 are guided by guide devices 4 at the top of the mast 2 to the area below the mast and connected to a luffing balancing device 5 located on the turntable. In some examples, the luffing balancing device 5 is installed below the turntable 1.

[0059] The wire rope 6 includes the wire rope 61 of the luffing winch 1, the wire rope 62 of the luffing winch 2, the wire rope 63 of the luffing winch 3, and the wire rope 64 of the luffing winch 4.

[0060] The guiding device 4 includes a guide pulley 41 and a guide pulley 42. Wire ropes 61 and 62 are guided to the area below the mast via the guide pulley 41 and are connected to the luffing balancing device 5. Wire ropes 63 and 64 are guided to the area below the mast via the guide pulley 42 and are connected to the luffing balancing device 5.

[0061] In this embodiment of the present disclosure, by setting a luffing balancing device 5 on the turntable of the crane and connecting the wire ropes of multiple luffing winches to the luffing balancing device, not only can the effect of luffing synchronization be achieved from the perspective of mechanical structure design, but also by guiding the rope ends of the wire ropes to the bottom of the mast, it is easier to carry out maintenance in case of failure, reducing maintenance difficulty and improving the safety of luffing synchronization control.

[0062] It should be noted that this disclosure uses a four-winch mechanism as an example to illustrate the luffing structure of a crane, but this does not mean that the luffing control method, device, and system proposed in the embodiments of this disclosure are only applicable to four-winch mechanisms. In fact, the luffing control method, device, and system proposed in the embodiments of this disclosure are applicable not only to four-winch mechanisms, but also to two-winch mechanisms, eight-winch mechanisms, and so on.

[0063] Figure 3This is a schematic diagram illustrating the composition of a variable amplitude synchronous control system according to some embodiments of the present disclosure. For example... Figure 3 As shown, the variable amplitude synchronous control system 300 of this embodiment includes a first measuring device 310, a second measuring device 320, and a controller 330.

[0064] The first measuring device 310 is used to measure the offset of the rope end position in each of at least one set of hoisting mechanisms on the crane.

[0065] Each group includes two winch mechanisms, and the rope end position offset within each group includes the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected. In some embodiments, the first reference position is the position of the rope end or the rope end connector when the two winch mechanisms in each group are in a synchronized state. For example, the center point of the rope end connector (such as a balance rope or other connecting component) of the two winch mechanisms in each group is used as the reference point.

[0066] In some embodiments, the first measuring device is a displacement sensor. For example, the first measuring device is at least one of a drawstring sensor, a laser rangefinder, a magnetostrictive displacement sensor, and a grating ruler sensor.

[0067] In some embodiments, the amplitude synchronization control system 300 further includes a first amplitude balancing device ( Figure 3 (Not shown), mounted on the turntable of the crane, is used to connect the rope ends of the two winches in each group into one unit.

[0068] In some examples, the first luffing balancing device includes: a pulley; a balancing rope wound around the pulley, with one end connected to the rope end of one winch in each group and the other end connected to the rope end of another winch in each group.

[0069] For example, when the crane is a double-boom crane, at least one set of winch mechanisms is specifically a set of winch mechanisms, and correspondingly, a first luffing balancing device can be set up. In this example, the rope ends of the wire ropes of the two winch mechanisms within a set are connected together by a balancing rope, and then the balancing rope is wound around a pulley. Further, in this example, the position of the rope ends of the wire ropes of the two winch mechanisms in the horizontal direction when the two winch mechanisms are in a synchronized state can be used as the first reference position. For example, assuming a coordinate system is constructed with the horizontal direction as the x-axis, the x-coordinate of the rope ends of the wire ropes of the two winch mechanisms when the two winch mechanisms are in a synchronized state can be used as the first reference position. During the luffing synchronization control process, the positional offset between the two winch mechanisms and the first reference position is measured by a first measuring device, and this is used as the rope end position offset within each set.

[0070] For example, when the crane is a four-arm crane, at least one set of hoisting mechanisms specifically includes two sets of hoisting mechanisms: a first set and a second set. Correspondingly, two first luffing balancing devices can be installed. In this example, the ends of the wire ropes of hoisting mechanisms 1 and 2 in the first set are connected together by a balancing rope 1, and then the balancing rope 1 is wound around a pulley 1. Similarly, the ends of the wire ropes of hoisting mechanisms 3 and 4 in the second set are connected together by a balancing rope 2, and then the balancing rope 2 is wound around a pulley 2. Further, in this example, the horizontal position of the wire rope ends of hoisting mechanisms 1 and 2 when they are synchronized can be used as the first reference position for the first set; and the horizontal position of the wire rope ends of hoisting mechanisms 3 and 4 when they are synchronized can be used as the first reference position for the second set. During the variable amplitude synchronous control process, the positional offset between the winch mechanism in each of the two sets of winch mechanisms and the corresponding first reference position is measured by the first measuring device, and the offset is used as the rope end position offset in each set.

[0071] In other examples, the first variable amplitude balancing device includes: a connecting part for connecting the rope end of the winch mechanism in each group; and a sliding balancing assembly including a slide rail and a guide rail, the guide rail being connected to the connecting part and configured to move along the slide rail under the drive of the winch mechanism in each group.

[0072] For example, when the crane is a double-boom crane, at least one set of hoisting mechanisms is specifically a set of hoisting mechanisms, and correspondingly, a first luffing balancing device can be set up. In this example, the rope ends of the wire ropes of the two hoisting mechanisms in one set are connected together through the connecting part of the first luffing balancing device; by setting up a sliding balancing component, it is convenient to observe the synchronization of the two hoisting mechanisms. In this example, the position of the guide rail along the horizontal direction when the two hoisting mechanisms are in a synchronized state can be used as the first reference position. For example, assuming a coordinate system is constructed with the horizontal direction as the x-axis, the x-coordinate of the guide rail when the two hoisting mechanisms are in a synchronized state can be used as the first reference position. During the luffing synchronization control process, the positional offset between the guide rail and the first reference position is measured by a first measuring device, and this is used as the rope end position offset in each set.

[0073] In this embodiment of the present disclosure, by setting a first luffing balancing device on the turntable of the crane and connecting the wire ropes of the hoisting structure in each group into a whole through the first luffing balancing device, not only can the luffing synchronization effect between the hoisting mechanisms in the group be achieved from the perspective of mechanical structure design, but also, by guiding the rope end of the wire rope to the bottom of the mast, it is easier to carry out maintenance in case of failure, reducing maintenance difficulty and improving the safety of luffing synchronization control.

[0074] The second measuring device 320 is used to measure the drum rotation of each of at least one set of hoisting mechanisms.

[0075] In some embodiments, the second measuring device is an incremental encoder.

[0076] In some examples, the crane is a double-boom crane, with at least one set of winches specifically being a single set of winches. Accordingly, two incremental encoders are provided to measure the drum rotation of the two winches within the set.

[0077] In some examples, the crane is a four-arm crane, with at least one set of hoisting mechanisms specifically being two sets of hoisting mechanisms. Accordingly, four incremental encoders are provided to measure the drum rotation of the four hoisting mechanisms within the two sets.

[0078] The controller 330 is configured to: determine the amount of rope output for each winch based on the amount of drum rotation of each winch; and perform variable amplitude synchronous control on at least one set of winches based on the rope end position offset within each of the at least one set of winches and the amount of rope output for each winch.

[0079] In some embodiments, the controller 330 performs variable amplitude synchronization control on at least one group of winches, including: instructing adjustments to the operating parameters of at least one group of winches when the rope end position offset within each group is not less than a first group offset threshold, or when the deviation between the rope output of each winch and a reference rope output is not less than a first rope output deviation threshold; and terminating the control process when the rope end position offset within each group is less than the first group offset threshold and the deviation between the rope output of each winch and the reference rope output is less than the first rope output deviation threshold. Without affecting the implementation of this disclosure, the first group offset threshold and the first rope output deviation threshold can be flexibly set according to requirements.

[0080] In some embodiments, when the controller 330 performs luffing synchronization control on at least one set of winches, it first determines whether the winches are synchronized based on the rope end position offset, and then determines whether the winches are synchronized based on the amount of rope output of the winches.

[0081] For example, controller 330 first determines whether the rope end position offset in each group of at least one set of winches is less than a first group offset threshold; if the rope end position offset in each group of at least one set of winches is not less than the first group offset threshold, it instructs to adjust the operating parameters of at least one set of winches; if the rope end position offset in each group of at least one set of winches is less than the first group offset threshold, it determines whether the deviation between the rope output of each winch and the reference rope output is less than a first rope output deviation threshold; if the deviation between the rope output of each winch and the reference rope output is not less than the first rope output deviation threshold, it instructs to adjust the operating parameters of at least one set of winches; if the deviation between the rope output of each winch and the reference rope output is less than the first rope output deviation threshold, it terminates the current control process.

[0082] In other embodiments, when the controller performs luffing synchronization control on at least one set of winches, it first determines whether the winches are synchronized based on the amount of rope delivered by the winch mechanism, and then determines whether the winches are synchronized based on the rope end position offset.

[0083] In this embodiment, by combining two measurement methods—measuring the drum rotation of the winch mechanism to determine the amount of rope output and directly measuring the rope end position offset—and combining the measured rope output and rope end position offset to perform luffing synchronization control of the winch mechanism, the accuracy and reliability of luffing synchronization control can be improved, the synchronization of the winch mechanism's rope winding and unwinding actions can be enhanced, and thus the accuracy and safety of the crane's luffing process can be improved. Furthermore, by setting up a first luffing balancing device, not only can the luffing synchronization effect be achieved from a mechanical structural design perspective, but also, by guiding the wire rope end to below the mast, maintenance is facilitated in case of malfunction, reducing maintenance difficulty and improving the safety of luffing synchronization control.

[0084] Figure 4 This is a schematic diagram of the composition and structure of a variable amplitude synchronous control system according to some embodiments of the present disclosure. Figure 4 As shown, the variable amplitude synchronous control system 400 includes a first measuring device 410, a second measuring device 420, a third measuring device 430, and a controller 440.

[0085] A first measuring device 410 is used to measure the rope end position offset within each of at least one set of winch mechanisms on a crane. Each set includes two winch mechanisms, and the rope end position offset within each set includes the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected.

[0086] In some embodiments, the first reference position is the position of the rope end or rope end connector when the two winches in each group are in a synchronized state. For example, the center point of the rope end connector (such as a balance rope or other connecting component) of the two winches in each group is used as the reference point.

[0087] In some embodiments, at least one set of hoisting mechanisms includes two sets of hoisting mechanisms.

[0088] In some embodiments, the first measuring device is a displacement sensor. For example, the first measuring device is at least one of a drawstring sensor, a laser rangefinder, a magnetostrictive displacement sensor, and a grating ruler sensor.

[0089] In some embodiments, the luffing synchronization control system 400 further includes a first luffing balancing device, disposed on the turntable of the crane, for connecting the rope ends of the two winches in each group into one unit.

[0090] The second measuring device 420 is used to measure the drum rotation of each of at least one set of hoisting mechanisms.

[0091] In some embodiments, the second measuring device 420 is an incremental encoder.

[0092] In some examples, the crane is a four-arm crane, with at least one set of hoisting mechanisms specifically being two sets of hoisting mechanisms. Accordingly, four incremental encoders are provided to measure the drum rotation of the four hoisting mechanisms within the two sets.

[0093] The third measuring device 430 is used to measure the inter-group offset of the two sets of winches. The inter-group offset of the two sets of winches includes the offset of at least one of the two sets of winches relative to the second reference position when the rope ends of the two sets of winches are connected.

[0094] In some embodiments, the second reference position is the position of the two sets of winches or the connecting member between the two sets of winches when they are in a synchronized state. For example, the center point of the connecting member between the two sets of winches (such as a slide balancing device) can be used as the reference point.

[0095] For example, when the crane is a four-arm crane, the crane has two sets of hoisting mechanisms, and the third measuring device measures the inter-set offset between the two sets of hoisting mechanisms.

[0096] For example, when the crane is an eight-arm crane, the crane has four sets of hoisting mechanisms. The third measuring device measures the inter-group offset between the first and second sets of hoisting mechanisms, and measures the inter-group offset between the third and fourth sets of hoisting mechanisms.

[0097] In some embodiments, the third measuring device 430 is a displacement sensor. For example, the third measuring device is at least one of a drawstring sensor, a laser rangefinder, a magnetostrictive displacement sensor, and a grating ruler sensor.

[0098] In some embodiments, the amplitude synchronization control system 400 further includes a second amplitude balancing device. Figure 4 (Not shown in the image). The second luffing balancing device is installed on the turntable of the crane and is used to connect the rope ends of the two sets of winches, and is configured to move under the drive of the two sets of winches.

[0099] In some examples, the second balancing device includes: a connecting portion for connecting the rope ends of the two sets of winches; and a sliding balancing assembly including a slide rail and a guide rail, the guide rail being connected to the connecting portion and configured to move along the slide rail under the drive of the two sets of winches. In these examples, the inter-set offset is determined based on the movement of the guide rail.

[0100] In this embodiment of the present disclosure, by setting a first luffing balancing device and a second luffing balancing device on the turntable of the crane, and by connecting the wire ropes of the hoisting structures in each group through the first luffing balancing device and connecting the two groups of hoisting mechanisms through the second luffing balancing device, not only can the luffing synchronization effect between the hoisting mechanisms within and between groups be achieved from the perspective of mechanical structure design, but also by guiding the rope ends of the wire ropes to the bottom of the mast, it is easier to carry out maintenance in case of failure, reducing maintenance difficulty and improving the safety of luffing synchronization control.

[0101] The controller 440 is configured to: determine the amount of rope output for each winch based on the amount of drum rotation of each winch; and perform amplitude synchronization control on the winch mechanisms based on the inter-group offset of the winch mechanisms, the rope end position offset within each group, and the amount of rope output for each winch mechanism.

[0102] In some embodiments, at least one set of winch mechanisms is two sets of winch mechanisms, and the controller 440 performs variable amplitude synchronous control on at least one set of winch mechanisms, including: when the inter-group offset of the two sets of winch mechanisms is not less than a first inter-group offset threshold, the rope end position offset within each of the two sets of winch mechanisms is not less than a first intra-group offset threshold, or the deviation between the rope output amount of each of the two sets of winch mechanisms and the reference rope output amount is not less than a first rope output amount deviation threshold, the controller instructs to adjust the operating parameters of the two sets of winch mechanisms.

[0103] In some embodiments, when the controller 440 performs variable amplitude synchronization control on the two sets of winch mechanisms, it first determines whether the winch mechanisms are synchronized based on the inter-group offset of the two sets of winch mechanisms, then determines whether the winch mechanisms are synchronized based on the rope end position offset within each group, and finally determines whether the winch mechanisms are synchronized based on the amount of rope output of the winch mechanism.

[0104] For example, the controller first determines whether the inter-group offset of the two sets of winches is less than a first inter-group offset threshold; if the inter-group offsets of the two sets of winches are not both less than the first inter-group offset threshold, it instructs adjustments to the operating parameters of the two sets of winches; if the inter-group offsets of the two sets of winches are both less than the first inter-group offset threshold, it determines whether the rope end position offset within each of the two sets of winches is less than the first group offset threshold; if the rope end position offset within each of the two sets of winches is not both less than the first group offset threshold... If the displacement threshold is met, the operating parameters of both sets of winches are adjusted. If the rope end position offset in each of the two sets of winches is less than the offset threshold in the first set, it is determined whether the deviation between the rope output of each winch and the reference rope output is less than the first rope output deviation threshold. If the deviation between the rope output of the winch and the reference rope output is not less than the first rope output deviation threshold, the operating parameters of both sets of winches are adjusted. Otherwise, the luffing control process ends.

[0105] In some embodiments, the controller 440 is configured to employ a multi-stage amplitude synchronous control method.

[0106] For example, when the inter-group offset is between the first inter-group offset threshold and the second inter-group offset threshold, the operating parameters of the hoisting mechanism are automatically adjusted; when the inter-group offset is greater than the second inter-group offset threshold, adjustment instruction information is output so that the user can manually adjust the hoisting mechanism in a timely manner according to the adjustment instruction information.

[0107] For example, when the rope end position offset within each group is between the offset threshold in the first group and the offset threshold in the second group, the operating parameters of the winch mechanism are automatically adjusted; when the rope end position offset within each group is greater than the offset threshold in the second group, adjustment instruction information is output so that the user can manually adjust the winch mechanism in a timely manner according to the adjustment instruction information.

[0108] In this embodiment of the disclosure, by adopting a multi-level variable amplitude synchronous control method, the precision of variable amplitude synchronous control can be further improved, and the efficiency of variable amplitude synchronous control can be improved while taking into account the safety of variable amplitude synchronous control.

[0109] In some examples, under automatic adjustment, a proportional-integral-derivative (PID) controller is used to perform closed-loop adjustment of the parameters of the winch mechanism's drive unit, thereby adjusting the winch mechanism's operating parameters. For example, in motor-driven mode, the speed of the motor driving the winch mechanism is adjusted; in hydraulic-driven mode, the parameters of the hydraulic pump driving the winch mechanism are adjusted.

[0110] In some embodiments, the luffing synchronization control system further includes an alarm module for sending an alarm message when it detects that the rope end of at least one hoisting mechanism has moved to a restricted position.

[0111] In some examples, the alarm module is a limit switch.

[0112] For example, a limit position is set for the rope end movement of each hoisting mechanism within a group, and a limit switch is installed at this limit position. When the rope end of the hoisting mechanism in each group reaches this limit position, the limit switch sends an alarm message to the controller. After receiving the alarm message, the controller outputs adjustment instructions so that the user can manually adjust the hoisting mechanism in a timely manner according to the adjustment instructions.

[0113] For example, a limit position is set for the movement of the rope end between two sets of winches, and a limit switch is installed at this limit position. When the rope end of one of the winches reaches the limit position, the limit switch sends an alarm message to the controller. After receiving the alarm message, the controller outputs adjustment instructions so that the user can manually adjust the winch mechanism in a timely manner according to the adjustment instructions.

[0114] In this embodiment of the disclosure, by setting a limit switch, on the one hand, it can assist in judging whether the winch mechanism is synchronized, which helps to achieve the synchronization of the winch mechanism's rope winding and unwinding actions, and improve the accuracy and safety during the luffing process; on the other hand, it can play a redundant control role when the first to third measuring devices malfunction, further improving the safety during the luffing process.

[0115] In this embodiment, by combining the first to third measuring devices and performing luffing synchronization control on the hoisting mechanism based on the measurement results of the first to third measuring devices, the accuracy and reliability of luffing synchronization control can be improved, the synchronization of the hoisting mechanism's rope winding and unwinding actions can be enhanced, and thus the accuracy and safety of the crane's luffing process can be improved. Furthermore, by setting up a first luffing balancing device and a second luffing balancing device, not only can the effect of luffing synchronization be achieved from the mechanical structure design, but also, by guiding the wire rope end to below the mast, maintenance is facilitated in case of failure, reducing maintenance difficulty and improving the safety of luffing synchronization control.

[0116] The following combination Figures 5 to 9 The structure involved in the luffing synchronous control system of a four-arm crane is described.

[0117] Figure 5 This is a schematic diagram of the structure of a luffing balancing device according to some embodiments of the present disclosure. In the luffing synchronization control system of a four-arm crane, the luffing balancing device includes a first luffing balancing device and a second luffing balancing device 54.

[0118] The first luffing balancing device includes a first balancing rope 511, a second balancing rope 512, and a balancing pulley block 52. The first balancing rope 511 connects the end of the wire rope 61 of the luffing winch 1 to the end of the wire rope 62 of the luffing winch 2, and is wound around the balancing pulley block 52. The second balancing rope 512 connects the end of the wire rope 631 of the luffing winch 3 to the end 53 of the wire rope 64 of the luffing winch 4, and is wound around the balancing pulley block 52.

[0119] The second variable amplitude balancing device 54 includes a guide rail 541 and a slide rail 542. The guide rail 541 is connected to the balancing pulley block 52 and is configured to move along the slide rail 542 under the drive of two sets of hoisting mechanisms.

[0120] In this embodiment of the disclosure, by setting up an amplitude balancing device, not only can the effect of amplitude synchronization be achieved from the mechanical structure design, but also by guiding the end of the wire rope to the bottom of the mast, it is easier to carry out maintenance in case of failure, reducing maintenance difficulty and improving the safety of amplitude synchronization control.

[0121] Figure 6 This is a schematic diagram showing the installation position of a first measuring device and a limit switch according to some embodiments of the present disclosure.

[0122] like Figure 6 As shown, the first measuring device is mounted on the mounting plates on both sides of the balance pulley block 52, and is used to measure the rope end position offset within each block. In some embodiments, the first measuring device includes a rope sensor 91 and a rope sensor 92. The rope sensor 91 measures the rope end position offset L1 of the luffing winch 1 in the first block. The rope sensor 92 measures the rope end position offset L3 of the second block of winches. Since the luffing winch 1 and the luffing winch 2 are connected by a balance rope, the sum of their rope end position offsets L1 and L2 is a constant. Therefore, only one rope sensor 91 is needed to determine L1 and L2. Similarly, only one rope sensor 92 is needed to determine L3 and L4.

[0123] Limit switches, mounted on mounting plates on both sides of the balance pulley block 52, are used to send an alarm message when the rope end of the winch mechanism is detected to have moved to a limited position. In some embodiments, the limit switches include limit switch S1 81, limit switch S2 82, limit switch S3 83, and limit switch S4 84. Specifically, limit switch S1 81 sends an alarm message when the rope end of the luffing winch 1 is detected to have moved to a limited position; limit switch S2 82 sends an alarm message when the rope end of the luffing winch 2 is detected to have moved to a limited position; limit switch S3 83 sends an alarm message when the rope end of the luffing winch 3 is detected to have moved to a limited position; and limit switch S4 84 sends an alarm message when the rope end of the luffing winch 4 is detected to have moved to a limited position.

[0124] In this embodiment, by setting a first measuring device, the offset of the rope end position within each group is measured. This facilitates subsequent combination with the offset between groups and the amount of rope output for amplitude synchronization control, thereby improving the accuracy, reliability, and safety of amplitude synchronization control. Furthermore, by setting limit switches, the safety of the amplitude change process can be further improved.

[0125] Figure 7 This is a schematic diagram showing the installation position of a third measuring device and a limit switch according to some embodiments of the present disclosure.

[0126] like Figure 7 As shown, the third measuring device is mounted on the mounting plates on both sides of the slide balance device and is used to measure the inter-group offset. The inter-group offset is determined by the movement of the guide rail 541 on the slide rail 542.

[0127] In some embodiments, the third measuring device includes a drawstring sensor 10 for measuring the offset L12 of the first group of luffing winches relative to the second reference position. Since the first group of luffing winches is connected to the second group of luffing winches, the sum of the inter-group offsets L12 and L34 is a constant value. Therefore, only one drawstring sensor is needed to determine the inter-group offsets L12 and L34.

[0128] Limit switches, mounted on mounting plates on both sides of the slide balance device, are used to send an alarm message when the entire rope end of each hoisting mechanism (or the guide rail corresponding to each hoisting mechanism) is detected to have moved to a limited position. In some embodiments, the limit switches include limit switches S12 and S11, used to send an alarm message when the guide rail corresponding to the first luffing hoist is detected to have moved to a limited position. Furthermore, the limit switches include limit switch S34, used to send an alarm message when the guide rail corresponding to the second luffing hoist is detected to have moved to a limited position.

[0129] In this embodiment, by setting a third measuring device, the inter-group offset is measured, which facilitates subsequent combination with the rope end position offset within each group and the amount of rope output for amplitude synchronization control, thereby improving the accuracy, reliability, and safety of amplitude synchronization control. Furthermore, by setting limit switches, the safety of the amplitude change process can be further improved.

[0130] Figure 8 This is a schematic diagram of the control mode of a main motor reducer according to some embodiments of the present disclosure. Figure 9 This is a schematic diagram illustrating the control modes of a slave motor reducer according to some embodiments of this disclosure. For example... Figure 8 and Figure 9 As shown in some embodiments of this disclosure, the four luffing winches are driven by motors. Each luffing winch is coaxially driven by two motor reducers, and the two motor reducers adopt a master-slave control mode.

[0131] In master-slave control mode, one of the two coaxially connected motor reducers is the master motor reducer (or master frequency converter), and the other is the slave motor reducer (or slave frequency converter). The master motor reducer operates in speed control mode, and the four master motor reducers are controlled in parallel. The slave motor reducer operates in torque control mode.

[0132] In this embodiment, by rigidly connecting two motor reducers via a synchronous shaft, the speeds of the two motors can be kept as consistent as possible. Furthermore, by employing a master-slave control mode for the two motor reducers driving a luffing winch and performing parallel control on the four master motor reducers, the rotational speed and torque of the motor reducers can be kept as consistent as possible, thereby helping to improve the luffing synchronization of the four winch mechanisms.

[0133] Figure 10 This is a flowchart illustrating a variable amplitude synchronization control method according to some embodiments of the present disclosure. Figure 10 As shown, the variable amplitude synchronous control method includes steps S101 to S103.

[0134] In step S101, the rope end position offset in each of at least one set of hoisting mechanisms on the crane and the drum rotation of each hoisting mechanism in at least one set of hoisting mechanisms are obtained.

[0135] Each group includes two winch mechanisms, and the rope end position offset within each group includes the offset of the rope end of at least one of the two winch mechanisms relative to the first reference position when the rope ends of the two winch mechanisms are connected.

[0136] In some embodiments, step S101 includes: receiving the rope end position offset in each of at least one set of winches from a first measuring device, and receiving the drum rotation amount of each winch from a second measuring device.

[0137] In some embodiments, the first measuring device is a displacement sensor, such as a pull-string sensor; the second measuring device is an incremental encoder.

[0138] In some embodiments, a first luffing balancing device is used to connect the rope ends of two winch mechanisms within each group into one unit; a second luffing balancing device is used to connect the two groups of winch mechanisms. The first and second luffing balancing devices are mounted on the crane's turntable.

[0139] In step S102, the amount of rope output for each winch mechanism is determined based on the amount of drum rotation of each winch mechanism.

[0140] In some embodiments, when the second measuring device is an incremental encoder, the rope quantity can be calculated as follows: based on the drum rotation amount measured by the incremental encoder, the encoder single-turn accuracy, the transmission ratio of the mechanism, the drum diameter, the number of turns of the single-layer winding of the drum, and the diameter of the wire rope, the number of layers, the number of turns, and the exit rope diameter of the wire rope are determined; based on the number of layers, the number of turns, and the exit rope diameter of the wire rope, the total length of the wire rope wound on the drum (i.e., the rope quantity of the hoisting mechanism) is calculated.

[0141] In some embodiments, the amount of rope delivered by the winch mechanism is calculated according to steps a1 to a5.

[0142] In step a1, the total number of turns of the wire rope is calculated.

[0143]

[0144] Where T is the total number of turns of the wire rope, S is the single-turn accuracy of the incremental encoder, and G is the transmission ratio of the hoisting mechanism.

[0145] In step a2, the number of layers, the number of turns, and the diameter of the exit rope of the layer where the wire rope is located are calculated.

[0146]

[0147] l t =T%st

[0148] l d =D+(l n -1)*2*d

[0149] Among them, l nThis indicates the number of layers in the wire rope, T is the total number of turns of the wire rope, st is the number of turns per layer on the drum, [] indicates rounding operation, l t Indicates the number of turns in the layer where the wire rope is located, l d The output diameter of the layer containing the wire rope is indicated by d, the diameter of the wire rope is indicated by D, and % indicates the remainder operation.

[0150] In step a3, the exit diameter of each layer of wire rope is calculated.

[0151] D i =D+(i-1)*2*d

[0152] Among them, D i Let represent the diameter of the wire rope exiting the i-th layer, D represent the diameter of the drum, i represent the number of layers, and the value of i is an integer between 1 and T-1. d represents the diameter of the wire rope.

[0153] In step a4, the length of the wire rope when each layer is fully wound is calculated.

[0154] L i =π*D i *st

[0155] Among them, L i D represents the length of the wire rope when the i-th layer is fully wound. i denoted by , where represents the diameter of the exit rope of the i-th layer of wire rope, and ...

[0156] In step a5, the amount of rope delivered by the winch mechanism is calculated.

[0157]

[0158] Where L represents the amount of rope delivered by the hoisting mechanism, L i This represents the length of the wire rope when the i-th layer is fully wound, where i represents the layer number and is an integer between 1 and T-1. d Indicates the diameter of the wire rope exiting the layer where it is located, l t This indicates the number of turns in the layer where the wire rope is located.

[0159] In step S103, at least one set of winches is subjected to amplitude synchronization control based on the rope end position offset in each set of at least one set of winches and the amount of rope output of each winch.

[0160] In some embodiments, step S103 includes: instructing to adjust the operating parameters of at least one group of winches if the rope end position offset within each group of at least one group of winches is not less than a first group offset threshold, or if the deviation between the rope output amount of each winch and a reference rope output amount is not less than a first rope output deviation threshold; and ending the control flow if the rope end position offset within each group of at least one group of winches is less than the first group offset threshold, and the deviation between the rope output amount of each winch and the reference rope output amount is less than the first rope output deviation threshold. Without affecting the implementation of this disclosure, the first group offset threshold and the first rope output deviation threshold can be flexibly set according to requirements.

[0161] In some embodiments, when performing luffing synchronization control on at least one set of winches, the synchronization of the winches is first determined based on the rope end position offset, and then the synchronization of the winches is determined based on the amount of rope output of the winches.

[0162] In the embodiments disclosed herein, the above methods can improve the accuracy and reliability of crane luffing synchronization control, reduce maintenance difficulty, and improve maintenance convenience.

[0163] Figure 11 This is a flowchart illustrating a variable amplitude synchronization control method according to other embodiments of the present disclosure. Figure 11 As shown, the amplitude synchronization control method includes steps S111 to S114.

[0164] In step S111, the inter-group offset of the two sets of hoisting mechanisms on the crane, the rope end position offset within each of the two sets of hoisting mechanisms, and the drum rotation of each of the two sets of hoisting mechanisms are obtained.

[0165] In this embodiment of the disclosure, the variable amplitude synchronous control method is described using two sets of hoisting mechanisms as an example.

[0166] Each group includes two winch mechanisms, and the rope end position offset within each group includes the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected. In some embodiments, the first reference position is the position of the rope end or the rope end connector when the two winch mechanisms in each group are in a synchronized state. For example, the center point of the rope end connector (such as a balance rope or other connecting component) of the two winch mechanisms in each group is used as the reference point.

[0167] The inter-group offset of the two sets of winches includes the offset of at least one of the two sets of winches relative to the second reference position when the rope ends of the two sets of winches are connected. In some embodiments, the second reference position is the position of the two sets of winches or the connecting member between the two sets of winches when they are in a synchronized state. For example, the center point of the connecting member between the two sets of winches (such as a slide balancing device) is used as the reference point.

[0168] In some embodiments, a first luffing balancing device is used to connect the rope ends of two winch mechanisms within each group into one unit; a second luffing balancing device is used to connect the two groups of winch mechanisms. The first and second luffing balancing devices are mounted on the crane's turntable.

[0169] In some embodiments, step S111 includes: receiving the rope end position offset within each of the two sets of winches from a first measuring device; receiving the drum rotation amount of each of the two sets of winches from a second measuring device; and receiving the inter-set offset of the two sets of winches on the crane from a third measuring device.

[0170] In some embodiments, the first measuring device and the third measuring device are displacement sensors. For example, the first measuring device and the third measuring device are at least one of a drawstring sensor, a laser rangefinder, a magnetostrictive displacement sensor, and a grating ruler sensor.

[0171] In some embodiments, the second measuring device is an incremental encoder.

[0172] In step S112, the amount of rope output for each winch mechanism is determined based on the amount of drum rotation of each winch mechanism.

[0173] In some embodiments, when the second measuring device is an incremental encoder, the rope quantity can be calculated as follows: based on the drum rotation amount measured by the incremental encoder, the encoder single-turn accuracy, the transmission ratio of the mechanism, the drum diameter, the number of turns of the single-layer winding of the drum, and the diameter of the wire rope, the number of layers, the number of turns, and the exit rope diameter of the wire rope are determined; based on the number of layers, the number of turns, and the exit rope diameter of the wire rope, the total length of the wire rope wound on the drum (i.e., the rope quantity of the hoisting mechanism) is calculated.

[0174] In step S113, the amplitude synchronization control of the two sets of winches is performed based on the inter-group offset, the rope end position offset within each group, and the rope output of each winch mechanism.

[0175] In some embodiments, step S113 includes: instructing to adjust the operating parameters of the two sets of winches when the inter-group offset of the two sets of winches is not less than a first inter-group offset threshold, the rope end position offset within each of the two sets of winches is not less than a first intra-group offset threshold, or the deviation between the rope output amount of each winch and the reference rope output amount is not less than a first rope output amount deviation threshold.

[0176] In some examples, the inter-group offset between the two sets of hoisting mechanisms includes a single measurement. For example, such as... Figure 7 As shown, the inter-group offset includes a single measurement determined based on the movement of one guide rail. In other examples, the inter-group offset of the two hoisting mechanisms includes two measurements, for example, as... Figure 7 As shown, the inter-group offset includes two measurements determined based on the movement of the two guide rails.

[0177] In some embodiments, when performing luffing synchronization control on two sets of winch mechanisms, the synchronization of the winch mechanisms is first determined based on the inter-group offset of the two sets of winch mechanisms, then the synchronization of the winch mechanisms is determined based on the rope end position offset within each set, and finally the synchronization of the winch mechanisms is determined based on the amount of rope output of the winch mechanism.

[0178] For example, step S113 includes: first determining whether the inter-group offset of the two sets of hoisting mechanisms is less than a first inter-group offset threshold; if the inter-group offset of the two sets of hoisting mechanisms is not less than the first inter-group offset threshold, instructing to adjust the operating parameters of the two sets of hoisting mechanisms; if the inter-group offset of the two sets of hoisting mechanisms is less than the first inter-group offset threshold, determining whether the rope end position offset within each set of the two sets of hoisting mechanisms is less than the first intra-group offset threshold; if the rope end position offset within each set of the two sets of hoisting mechanisms is not less than the first... If the intra-group offset threshold is met, the operating parameters of both sets of winches are adjusted. If the rope end position offset in each of the two sets of winches is less than the first intra-group offset threshold, it is determined whether the deviation between the rope output of each winch and the reference rope output is less than the first rope output deviation threshold. If the deviation between the rope output of the winch and the reference rope output is not less than the first rope output deviation threshold, the operating parameters of both sets of winches are adjusted. Otherwise, the luffing control process ends.

[0179] In some embodiments, a multi-level amplitude synchronous control method is adopted in step S113.

[0180] For example, when the inter-group offset is between the first inter-group offset threshold and the second inter-group offset threshold, the operating parameters of the hoisting mechanism are automatically adjusted; when the inter-group offset is greater than the second inter-group offset threshold, adjustment instruction information is output so that the user can manually adjust the hoisting mechanism in a timely manner according to the adjustment instruction information.

[0181] For example, when the rope end position offset within each group is between the offset threshold in the first group and the offset threshold in the second group, the operating parameters of the winch mechanism are automatically adjusted; when the rope end position offset within each group is greater than the offset threshold in the second group, adjustment instruction information is output so that the user can manually adjust the winch mechanism in a timely manner according to the adjustment instruction information.

[0182] In the embodiments disclosed herein, the above methods can further improve the accuracy and reliability of crane luffing synchronization control, reduce maintenance difficulty, and improve maintenance convenience.

[0183] Figure 12 This is a schematic diagram of the structure of a variable amplitude synchronization control device according to some embodiments of the present disclosure. Figure 12 As shown, the variable amplitude synchronization control device 120 includes an acquisition module 121, a determination module 122, and a control module 123.

[0184] The acquisition module 121 is configured to acquire the rope end position offset in each of at least one set of winches on the crane, and the drum rotation of each of at least one set of winches.

[0185] Each group includes two winch mechanisms, and the rope end position offset within each group includes the offset of the rope end of at least one of the two winch mechanisms relative to the first reference position when the rope ends of the two winch mechanisms are connected.

[0186] The determining module 122 is configured to determine the amount of rope output for each winch based on the amount of drum rotation of each winch mechanism.

[0187] The control module 123 is configured to perform amplitude synchronization control on at least one set of winches based on the rope end position offset in each of the at least one set of winches and the amount of rope output of each winch.

[0188] In some embodiments, at least one set of hoisting mechanisms includes two sets of hoisting mechanisms. In these embodiments, the acquisition module 121 is further configured to acquire the inter-set offset of the two sets of hoisting mechanisms on the crane; the control module 123 is configured to perform luffing synchronization control on the two sets of hoisting mechanisms based on the inter-set offset of the two sets of hoisting mechanisms, the rope end position offset within each of the two sets of hoisting mechanisms, and the rope output of each of the two sets of hoisting mechanisms. The inter-set offset of the two sets of hoisting mechanisms includes the offset of at least one set of hoisting mechanisms relative to a second reference position when the rope ends of the two sets of hoisting mechanisms are connected.

[0189] In some embodiments, the amplitude synchronization control device 120 further includes other modules required for implementing the amplitude synchronization control method as described above.

[0190] In the embodiments of this disclosure, the above-mentioned device can improve the accuracy, reliability and safety of crane luffing synchronization control.

[0191] In some embodiments of this disclosure, a crane is also provided, including the luffing synchronization control system or the luffing synchronization control device as described above.

[0192] Figure 13 This is a schematic diagram of the structure of a variable amplitude synchronization control device according to other embodiments of the present disclosure.

[0193] like Figure 13 As shown, the welding control device 130 includes a memory 131 and a processor 132 coupled to the memory 131. The memory 131 is used to store instructions for executing embodiments of the amplitude synchronization control method. The processor 132 is configured to execute the amplitude synchronization control method in any of the embodiments of this disclosure based on the instructions stored in the memory 131.

[0194] Figure 14 This is a schematic diagram of the structure of a computer system according to some embodiments of the present disclosure.

[0195] like Figure 14 As shown, the computer system 140 can be represented in the form of a general computing device. The computer system 140 includes a memory 141, a processor 142, and a bus 143 connecting different system components.

[0196] The memory 141 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for executing at least one of the corresponding embodiments of the amplitude synchronization control method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0197] The processor 142 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the acquisition module, the determination module, and the control module, can be implemented by the central processing unit (CPU) running instructions in the memory to execute the corresponding steps, or by dedicated circuitry to execute the corresponding steps.

[0198] Bus 143 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0199] The computer system 140 may also include an input / output interface 144, a network interface 145, and a storage interface 146. These interfaces 144, 145, and 146, as well as the memory 141 and processor 142, can be connected via a bus 143. The input / output interface 144 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 145 provides a connection interface for various networked devices. The storage interface 146 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0200] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0201] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0202] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0203] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0204] The luffing synchronization system, method, device, and crane described in the above embodiments can improve the accuracy, reliability, and safety of luffing synchronization control.

[0205] The luffing synchronization system, method, apparatus, and crane according to this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

Claims

1. A variable amplitude synchronous control system, comprising: A first measuring device is used to measure the rope end position offset in each of at least one set of winch mechanisms on a crane, each set including two winch mechanisms, and the rope end position offset in each set including the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected. The second measuring device is used to measure the drum rotation of each of the at least one set of hoisting mechanisms; The first luffing balancing device is installed on the turntable of the crane and is used to connect the rope ends of the two winches in each group into one unit. The controller is configured as follows: The amount of rope output for each winch is determined based on the amount of drum rotation of each winch mechanism. Based on the rope end position offset in each of the at least one set of winches and the amount of rope output of each winch, the at least one set of winches is subjected to amplitude synchronization control.

2. The variable amplitude synchronous control system according to claim 1, wherein, The controller performs amplitude synchronization control on the at least one group of winches based on the rope end position offset within each group of the at least one group of winches and the rope output of each winch, including: If the rope end position offset in each of the at least one set of winches is not less than the offset threshold in the first set, or if the deviation between the rope output of each winch and the reference rope output is not less than the first rope output deviation threshold, the operating parameters of the at least one set of winches are instructed to be adjusted.

3. The variable amplitude synchronous control system according to claim 2, wherein, The controller's variable amplitude synchronization control of the at least one group of winches, based on the rope end position offset within each group and the rope output of each winch, further includes: Determine whether the rope end position offset in each of the at least one set of hoisting mechanisms is less than the offset threshold in the first set. If the rope end position offset in each of the at least one set of winch mechanisms is less than the offset threshold in the first set, determine whether the deviation between the rope output amount and the reference rope output amount of each winch mechanism is less than the first rope output amount deviation threshold.

4. The variable amplitude synchronous control system according to claim 1, wherein, The first amplitude balancing device includes: pulley; A balancing rope is wound around the pulley, with one end connected to the rope end of one winch mechanism in each group and the other end connected to the rope end of another winch mechanism in each group.

5. The variable amplitude synchronous control system according to claim 1, wherein, The first amplitude balancing device includes: A connecting part for connecting the rope end of the hoisting mechanism within each group; A sliding balance assembly includes a slide rail and a guide rail, the guide rail being connected to the connecting portion and configured to move along the slide rail under the drive of a hoisting mechanism within each group.

6. The variable amplitude synchronous control system according to claim 1, wherein, The at least one set of hoisting mechanisms includes two sets of hoisting mechanisms, and the luffing synchronous control system further includes: The third measuring device is used to measure the inter-group offset of the two sets of winches, the inter-group offset of the two sets of winches including the offset of at least one of the two sets of winches relative to the second reference position when the rope ends of the two sets of winches are connected. The controller performs luffing synchronization control on the at least one group of winches based on the rope end position offset within each group and the rope output of each winch mechanism, including: Based on the inter-group offset of the two sets of winches, the rope end position offset within each of the two sets of winches, and the rope output of each of the two sets of winches, the amplitude synchronization control of the two sets of winches is performed.

7. The variable amplitude synchronous control system according to claim 6, wherein, The controller performs amplitude synchronization control on the two sets of winches based on the inter-group offset, the rope end position offset within each of the two sets of winches, and the rope output of each of the two sets of winches, including: If the inter-group offset of the two sets of winches is not less than the first inter-group offset threshold, the rope end position offset within each of the two sets of winches is not less than the first intra-group offset threshold, or the deviation between the rope output amount and the reference rope output amount of each of the two sets of winches is not less than the first rope output deviation threshold, then the operating parameters of the two sets of winches are instructed to be adjusted.

8. The variable amplitude synchronous control system according to claim 7, wherein, The controller's amplitude synchronization control of the two sets of winches, based on the inter-group offset, the rope end position offset within each of the two sets of winches, and the rope output of each of the two sets of winches, further includes: Determine whether the inter-group offset of the two sets of hoisting mechanisms is less than the first inter-group offset threshold. If the inter-group offset of the two sets of winch mechanisms is less than the first inter-group offset threshold, determine whether the rope end position offset within each of the two sets of winch mechanisms is less than the first group offset threshold. If the rope end position offset in each of the two sets of winch mechanisms is less than the offset threshold in the first set, determine whether the deviation between the rope output amount and the reference rope output amount of each winch mechanism in the two sets of winch mechanisms is less than the first rope output amount deviation threshold.

9. The variable amplitude synchronous control system according to claim 6 further includes: The second luffing balancing device is installed on the turntable of the crane, used to connect the rope ends of the two sets of winches, and is configured to move under the drive of the two sets of winches.

10. The variable amplitude synchronous control system according to claim 9, wherein, The second amplitude balancing device includes: A connecting part is used to connect the rope ends of the two sets of winch mechanisms; A sliding balance assembly includes a slide rail and a guide rail, the guide rail being connected to the connecting part and configured to move along the slide rail under the drive of the two sets of winches; The inter-group offset is determined based on the movement of the guide rail.

11. The variable amplitude synchronous control system according to any one of claims 1 to 10, further comprising: An alarm module is used to send an alarm message when it is detected that the rope end of at least one of the at least one set of hoisting mechanisms has moved to a restricted position.

12. The variable amplitude synchronous control system according to claim 11, wherein the alarm module is a limit switch.

13. The variable amplitude synchronous control system according to any one of claims 1 to 10, wherein, Each of the at least one set of hoisting mechanisms is driven coaxially by two motor reducers. The two motor reducers adopt a master-slave control mode, and all the master motor reducers corresponding to the at least one set of hoisting mechanisms adopt a parallel control mode.

14. The variable amplitude synchronous control system according to any one of claims 1 to 10, wherein, The first measuring device is a displacement sensor, and the second measuring device is an incremental encoder.

15. A variable amplitude synchronous control method, comprising: The method obtains the rope end position offset in each of at least one set of winch mechanisms on the crane, and the drum rotation of each winch mechanism in the at least one set of winch mechanisms, wherein each set includes two winch mechanisms, and the rope end position offset in each set includes the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected, wherein the rope ends of the two winch mechanisms in each set are connected by a first luffing balancing device provided on the turntable of the crane. The amount of rope output for each winch is determined based on the amount of drum rotation of each winch mechanism. Based on the rope end position offset in each of the at least one set of winches and the amount of rope output of each winch, the at least one set of winches is subjected to amplitude synchronization control.

16. A variable amplitude synchronization control device, comprising: The acquisition module is configured to acquire the rope end position offset in each of at least one set of winch mechanisms on the crane, and the drum rotation of each winch mechanism in the at least one set of winch mechanisms, wherein each set includes two winch mechanisms, and the rope end position offset in each set includes the offset of the rope end of at least one of the two winch mechanisms relative to a first reference position when the rope ends of the two winch mechanisms are connected, wherein the rope ends of the two winch mechanisms in each set are connected by a first luffing balancing device provided on the turntable of the crane. The determining module is configured to determine the amount of rope output for each winch based on the amount of drum rotation of each winch mechanism. The control module is configured to perform amplitude synchronization control on the at least one set of winches based on the rope end position offset in each of the at least one set of winches and the amount of rope output of each winch.

17. A variable amplitude synchronization control device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the amplitude synchronization control method as described in claim 15 based on instructions stored in the memory.

18. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the amplitude synchronization control method of claim 15.

19. A crane comprising the luffing synchronization control system according to any one of claims 1 to 14, or the luffing synchronization control device according to claim 16.

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