Tower crane and control method

Abstract

The application belongs to the technical field of building and provides a tower crane and a control method, which comprise the design of a first lifting arm, a second lifting arm and a third lifting arm, and the power combination of a sliding member, a first fixed pulley and a second fixed pulley. The tower crane and the control method provided by the application greatly reduce the overall volume of the tower crane by using the foldable first lifting arm and the third lifting arm and the extendable second lifting arm, and simplify the installation process. In addition, the length of the overall lifting arm can be adjusted by the cooperation of the second lifting arm and the third lifting arm, so that the tower crane can be applied to various application environments. Moreover, the length changes brought by the second lifting arm and the third lifting arm are powered by the same traction mechanism, thereby saving costs and avoiding the interference risk brought by multiple power sources.

Description

Technical Field

[0001] This invention belongs to the field of building technology, and in particular relates to a tower crane and its control method. Background Technology

[0002] Tower cranes are widely used in building construction. However, existing tower cranes have large jib arms that require overall assembly and installation, resulting in low installation efficiency. Furthermore, the jib length is typically fixed, making it difficult to adapt to the diverse construction needs of different scenarios. Summary of the Invention

[0003] The purpose of this invention is to provide a tower crane and its control method to solve the problems in the prior art where the tower crane boom is large and difficult to install, and the fixed length cannot meet the construction needs.

[0004] This invention provides a tower crane, comprising a tower body and a tower arm, the tower arm being rotatably connected to the tower body; the tower arm includes a first jib, a second jib, and a third jib, a first end of the first jib being rotatably connected to the tower body, the second jib being slidably connected to the first jib and capable of sliding along the length of the first jib, and the third jib being rotatably connected to the second jib; the tower arm further includes a sliding member, a first fixed pulley, and a second fixed pulley, the sliding member being slidably connected to the first and second jibs, the first fixed pulley being connected to the first jib, and the second fixed pulley being connected to the third jib, the first fixed pulley being located on the side of the first jib away from the first end of the first jib, and the distance from the second fixed pulley to the first end of the first jib being greater than the distance from the sliding member to the first end of the first jib; It also includes a deployment device, which comprises a traction mechanism and a pull rope. One end of the pull rope is connected to the traction mechanism, and the other end of the pull rope passes sequentially around the first fixed pulley and the second fixed pulley and is connected to the sliding member. The tower arm includes an initial state and a fully deployed state. In the initial state, the second boom is retracted and the third boom is folded. In the deployed state, the second boom extends and / or the third boom rotates to a horizontal position. The traction mechanism, in conjunction with the pull rope and the first fixed pulley, the second fixed pulley, and the sliding member, drives the extension of the second boom and / or the rotation of the third boom. When the tower arm is in the fully deployed state, the second fixed pulley is located above the first boom. When the tower arm is in the initial state, the second fixed pulley is located below the first boom.

[0005] In one embodiment, in the initial and / or unfolded state, the second fixed pulley is located on the side of the line connecting the first fixed pulley and the sliding member away from the first boom.

[0006] In one embodiment, during the transition from the initial state to the deployed state, the second fixed pulley is always located on the side of the line connecting the first fixed pulley and the sliding member that is away from the first boom.

[0007] In one embodiment, from the initial state to the unfolded state, the first fixed pulley is always located between the second fixed pulley and the sliding member in the horizontal direction.

[0008] In one embodiment, the length of the first boom is d1, the extension length of the second boom is d2, and the length of the third boom is d3. When d2 ≥ d3, the total length D of the boom is within the interval [D1, D4], and when d2 < d3, the total length D of the boom is within the interval [D1, D2] ∪ [D3, D4].

[0009] In one embodiment, the horizontal distance from the first fixed pulley to the main body of the tower is greater than the horizontal distance from the second end of the second boom to the main body of the tower in the extended state, so that the second boom can be fully extended.

[0010] In one embodiment, a fourth boom is also included, which is extendably connected to the third boom.

[0011] In one embodiment, the second fixed pulley is rotatably connected to the third boom, and the second fixed pulley is further rotated in the deployed state to the side of the third boom away from the main tower body.

[0012] In one embodiment, the second fixed pulley is connected to the third boom via a second connecting rod, which is a telescopic rod.

[0013] The present invention also provides a control method for a tower crane, used to control the deployment of the tower boom in the tower crane, characterized in that the control method for the tower crane includes: S1 drives the traction device to pull the rope to pull the sliding member, and the sliding member drives the first boom to rotate so that the first boom is perpendicular to the tower body and fixes the first boom. S2 drives the traction device to pull the rope to pull the sliding member. The sliding member slides within the first boom and the second boom to drive the second boom to move away from the first boom and fix the second boom. S3 drives the traction device to pull the rope to pull the sliding component. The rope also drives the second fixed pulley to move towards the direction of the first fixed pulley. The second fixed pulley drives the third boom to unfold. S4 rotates the second connecting rod, positioning the second fixed pulley on the right side of the fourth boom, driving the traction device to pull the rope to move the sliding component, thus extending the fourth boom.

[0014] This invention provides a tower crane and its control method. By utilizing foldable first and third booms, as well as an extendable second boom, the overall size of the tower crane is significantly reduced, simplifying the installation process. Furthermore, the cooperation of the second and third booms allows for adjustment of the overall boom length, enabling the tower crane to be used in various application environments. Moreover, the length changes brought about by the second and third booms are all powered by the same traction mechanism, saving costs and avoiding the interference risks associated with multiple power sources. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the tower crane in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the initial state structure of the tower arm in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the extended state of the second boom in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the partially unfolded structure of the third boom in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the fully deployed structure of the third boom in Embodiment 1 of the present invention; Figure 6 This is a cross-sectional structural diagram of the first boom and the second boom in Embodiment 1 of the present invention; Figure 7 This is the invention Figure 5 Enlarged schematic diagram of the structure at point A in the diagram; Figure 8 This is the invention Figure 5 An enlarged structural diagram of another embodiment at point A in the diagram; Figure 9 This is the invention Figure 3 Enlarged schematic diagram of the structure at point B in the diagram; Figure 10 This is a flowchart of the tower crane control method in Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the folded state structure of the fourth tower arm in Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of the deployed state structure of the fourth tower arm in Embodiment 2 of the present invention; Figure 13 This is a schematic diagram of the structure of the second connecting rod in Embodiment 2 of the present invention; Figure 14 This is a flowchart of the tower crane control method in Embodiment 2 of the present invention; Figure 15 This is a schematic diagram of the structure of the first connecting rod in another embodiment of the present invention; Figure 16 This is a schematic diagram of the first state of the damping structure of the second and third booms in Embodiment 1 of the present invention; Figure 17 This is a schematic diagram of the second state of the damping structure of the second and third booms in Embodiment 1 of the present invention; Figure 18 This is a schematic diagram of the third state of the damping structure of the second and third booms in Embodiment 1 of the present invention; Figure 19 This is a schematic diagram of the first retracted state of the tower crane in Embodiment 1 of the present invention; Figure 20 This is a schematic diagram of the second retracted state of the tower crane in Embodiment 1 of the present invention; Figure 21 This is a schematic diagram of the third state of the retraction of the tower crane in Embodiment 1 of the present invention.

[0016] Figure label: 100. Tower crane; 110. Tower body; 111. Truss unit; 112. Connecting arm; 120. Tower arm; 121. First boom; 1211. First base plate; 1212. Limiting groove; 1213. Guide rail structure; 122. Second boom; 1221. Second base plate; 1222. Second iron core; 1223. Second coil; 1224. Limiting structure; 1225. Guide block; 123. Third boom; 1231. Third iron core; 1232. Third coil; 1233. Fixing component; 124. Sliding component; 241. Connecting ear; 1242. Sliding body; 1243. First coil; 125. First fixed pulley; 126. Second fixed pulley; 127. Slide groove; 128. First connecting rod; 1281. First part; 1282. Second part; 129. Second connecting rod; 1291. First rod; 1292. Second rod; 1293. Linear drive mechanism; 130. Balance arm; 141. Traction mechanism; 142. Pull rope; 150. Fourth boom; 151. Damping groove; 152. Sliding member; 153. Connecting rod. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on the other component or may have an intervening component present. When a component is referred to as "connected to" another component, it can be directly connected to the other component or may have an intervening component present.

[0019] It should also be noted that the directional terms such as left, right, up, and down in this embodiment are only relative concepts or are based on the normal use of the product, and should not be considered as restrictive.

[0020] Example 1 This embodiment provides a tower crane 100, such as Figure 1 As shown, it includes a tower body 110 and a tower arm 120. The tower body 110 is used to support the tower arm 120. The tower body 110 includes multiple truss units 111, which are connected end to end to form the tower body 110. Two adjacent truss units 111 are fastened together by bolts.

[0021] like Figures 2 to 5 As shown, the tower arm 120 includes a first jib 121, a second jib 122, and a third jib 123. The first jib 121 is rotatably connected to the tower body 110 and can rotate relative to the tower body 110. For ease of description, when the first jib 121, the second jib 122, and the third jib 123 are fully extended, the end closer to the tower body 110 is referred to as the first end, and the end farther from the tower body 110 is referred to as the second end. The first end of the first jib 121 is also detachably connected to the tower body 110, for example, by bolts or by a flange. In one embodiment, the tower body 110 includes a connecting arm 112, and the first end of the first boom 121 is connected to the connecting arm 112 to realize the connection between the first boom 121 and the tower body. It also includes a first flange and a second flange, and the first ends of the connecting arm 112 and the first boom 121 are both located between the first flange and the second flange. A rotating shaft passes through the first flange and the second flange to further lock the connecting arm 112 and the first boom 121.

[0022] like Figures 2 to 3 As shown, the second boom 122 is slidably connected to the first boom 121 and can slide along the length of the first boom 121. The second boom 122 can be inserted into or sleeved on the first boom 121. The second boom 122 can slide relative to the first boom 121 to extend or retract from the first boom 121, thereby increasing or decreasing the overall boom length to adapt to different operating environments. When the second boom 122 moves away from the tower body 110, the second boom 122 extends from the first boom 121, increasing the length of the boom 120. When the second boom 122 moves closer to the tower body 110, the second boom 122 retracts, shortening the length of the boom 120.

[0023] like Figures 3 to 5As shown, the third boom 123 is rotatably connected to the second boom 122. One end (first end) of the third boom 123 is hinged or pivotally connected to the second end of the second boom 122, and the other end (second end) of the third boom 123 can rotate around the second boom 122. The first end of the third boom 123 is detachably connected to the second boom 122, for example, by bolt fastening, snap-fit ​​connection, or connection via electromagnet. The second end of the third boom 123 can rotate away from the first boom 121 to unfold the third boom 123, and the second end of the third boom 123 can rotate towards the first boom 121 to fold the third boom 123.

[0024] Tower arm 120 includes the initial state and the fully deployed state. Please return to... Figure 2 When the tower arm 120 is in its initial state, the second boom 122 retracts to fit onto the first boom 121, and the second end of the third boom 123 is fixed to the bottom end of the second boom 122 and positioned close to the first end of the first boom 121; as shown Figure 5 As shown, when the tower arm 120 is in the fully extended state, the second boom 122 extends from the first boom 121, and the second end of the third boom 123 rotates to a horizontal state relative to the second boom 122. The second end of the third boom 123 is located at the second end position away from the first boom 121, thereby giving the tower arm 120 the maximum tower arm length. To ensure accuracy, the initial state of tower arm 120 is as follows: Figure 2 The corresponding state is that the second boom 122 is not extended, and the third boom 123 is still in the folded state.

[0025] The extended state of the tower arm 120 is... Figure 3 The corresponding state is that the second boom 122 is extended and the third boom 123 is still folded. Therefore, before the tower boom 120 is fully extended, it also includes a semi-extended state, in which the second boom 122 is extended and the third boom 123 is still folded, or the second boom 122 is not extended and the third boom 123 is open.

[0026] In this embodiment, as Figure 5As shown, the length of the first boom 121 is d1, the length of the second boom 122 is d2 (if the second boom 122 is not fully extended from the first boom 121, then d2 refers to the extended length of the second boom 122), and the length of the third boom 123 is d3. The movement of the third boom 123 is independent of the second boom 122. That is, even if the second boom 122 is not extended (i.e., the extended length d2 is 0) or is not fully extended (i.e., extended by a certain length d2), the third boom 123 can still rotate around the second end of the second boom 122 as the center. This allows the total length D of the tower boom 120 to have more possible combinations. Therefore, the total length D of the tower boom 120 includes D1 (the first boom 121 is open, the second boom 122 is not extended, and the third boom 123 is not open, D1...). The four possible options are: D1 (first boom 121 open, second boom 122 extended, third boom 123 not open, D2=d1+d2), D3 (first boom 121 open, second boom 122 not extended, third boom 123 open, D3=d1+d3), and D4 (first boom 121 open, second boom 122 extended, third boom 123 open, D4=d1+d2+d3). Since the length of d2 is variable, the total length D of the tower boom 120 can be optionally located within the intervals [D1, D2] and [D3, D4]. When d2≥d3, the total length D of the tower boom 120 can be optionally located within the interval [D1, D4]. When d2<d3, the total length D of the tower boom 120 can be optionally located within the interval [D1, D2]∪[D3, D4].

[0027] In another embodiment, the second end of the third boom 123 is detachably locked to the first end side or middle area of ​​the second boom 122 (or the connection position between the first end of the third boom 123 and the second end of the second boom 122 can be directly restricted). An openable buckle structure or a detachable steel cable is selected. The third boom 123 is restricted to a folded state. When it is necessary to open the third boom 123, the second end of the third boom 123 is unlocked, so that the third boom 123 can rotate. When it is not necessary to open the third boom 123, the third boom 123 slides with the second boom 122.

[0028] In another embodiment, the third boom 123 is equipped with an electromagnet that is attracted to the second boom 122 (the second boom 122 itself or its interior is coated with a magnetic material such as a magnet, or a material that can be attracted by magnetism such as iron), so that the third boom 123 cannot be opened when energized. When it is necessary to open the third boom 123, the rotation of the third boom 123 can be unlocked by turning off the power.

[0029] like Figure 5As shown, the tower arm 120 also includes a sliding member 124, a first fixed pulley 125 and a second fixed pulley 126. The sliding member 124 is slidably connected to the first boom 121 and the second boom 122. The first fixed pulley 125 is connected to the first boom 121, and the second fixed pulley 126 is connected to the third boom 123. The first fixed pulley 125 is located on the side of the first boom 121 away from the main tower body 110, that is, on the side of the second end of the first boom 121, and is located above the first boom 121. The tower crane 100 also includes a deployment device, which comprises a traction mechanism 141 and a pull rope 142. One end of the pull rope 142 is connected to the traction mechanism 141, and the other end of the pull rope 142 passes over a first fixed pulley 125 and a second fixed pulley 126 and connects to a sliding member 124. The traction mechanism 141 is connected to the end of the pull rope 142 away from the sliding member 124. The traction mechanism 141 is mounted on a counterweight boom 130, which is located on the side of the tower body 110 away from the boom. The traction mechanism 141 can be a winch or an induction motor. One end of the pull rope 142 is connected to the traction mechanism 141, and the other end of the pull rope 142 passes over the first fixed pulley 125 and the second fixed pulley 126 in sequence and connects to the sliding member 124. The traction mechanism 141 pulls the sliding member 124 through the pull rope 142 to deploy the tower boom 120.

[0030] In this embodiment, the sliding member 124 is pulled by the pull rope 142, thereby causing the second boom 122 to extend; when the sliding member 124 is limited, and the rotation between the second boom 122 and the third boom 123 is unlocked, the second fixed pulley 126 is pulled upward by the pull rope 142, thereby causing the third boom 123 to rotate and unfold. The specific implementation method is as follows: like Figure 6 As shown, the first boom 121 and the second boom 122 are provided with sliding grooves 127, which are arranged along the length of the first boom 121. The sliding grooves 127 in the first boom 121 and the second boom 122 are connected. The sliding member 124 is located in the sliding groove 127 and can slide within the sliding groove 127. The sliding member 124 can be bolted to the inner wall of the sliding groove 127. That is, the inner side wall of the sliding groove 127 is provided with a limiting groove, and the side wall of the sliding member 124 is provided with a bolt. The bolt is inserted into the limiting groove, so that the sliding member 124 moves along the limiting groove and will not disengage from the position of the sliding groove 127.

[0031] In this embodiment, when the slider 124 is pulled to the end of the groove 127 and abuts against the inner wall of the groove 127, the slider 124 is limited by the force in the original direction. If the slider 124 is pulled further, the inner wall of the end of the groove 127 will be subjected to a force along the original direction of the slider 124, which can drive the second boom 122 to extend. In this embodiment, the second boom 122 cannot move further after it is fully extended, so the slider 124 is further limited. At this time, the rotation of the third boom 123 can be unlocked, so that the third boom 123 can be opened.

[0032] In another embodiment, the second boom 122 includes an electromagnet. When energized, the second boom 122 is attracted to the first boom 121 (the first boom 121 itself or its interior is coated with a magnetic material such as a magnet, or a material that can be magnetically attracted, such as iron). When de-energized, the second boom 122 can slide under force. However, when energized, the first boom 121 and the second boom 122 are fixed together, allowing the third boom 123 to open without waiting for the second boom 122 to fully extend, thus providing more options for the length of the boom 120. It is understood that in other embodiments, the second boom 122 can also be locked or released from the first boom 121 by bolt fastening or snap-fit ​​connection.

[0033] In this embodiment, as Figure 5 As shown, the first fixed pulley 125 is located on the side of the first boom 121 away from the tower body 110. The first fixed pulley 125 is connected to the first boom 121 via a connector, which in this embodiment is preferably a rod, namely a first connecting rod 128. Specifically, the first end of the first connecting rod 128 is disposed on the first boom 121, and the second end is fixed with the first fixed pulley 125. The first connecting rod 128 is inclined upward from the first end to the second end, so that the first fixed pulley 125 is fixed above the second end of the first boom 121 near the second end of the first boom 121.

[0034] The second fixed pulley 126 is connected to the third boom 123 via a connector. In this embodiment, the second connecting rod 129 is preferred. The second fixed pulley 126 is located on the side of the slide groove 127 away from the first boom 121. That is, when the sliding member 124 is at any position in the slide groove 127, the second fixed pulley 126 is always located on the side of the sliding member 124 away from the first end of the first boom 121. This ensures that after the pull rope 142 passes around the second fixed pulley 126, it always exerts a force on the sliding member 124 away from the first end of the first boom 121 (in the initial state, it is a force away from the main body of the tower), thereby preventing the second boom 122 from being unable to extend.

[0035] To ensure the tower crane can be fully extended, in the extended state, the second fixed pulley 126 is located on the side away from the first jib 121 along the line connecting the first fixed pulley 125 and the sliding member 124. When the tower crane 120 is in the extended state, as... Figure 5 As shown, the first fixed pulley 125 is located within the longitudinal space between the sliding member 124 and the second fixed pulley 126. The second fixed pulley 126 is located to the right of line l1 (i.e., away from the first boom 121) connecting the connection point of the rope 142 and the sliding member 124 and the tangent point of the outer contour of the first fixed pulley 125. The second fixed pulley 126 is also located above the second boom 122. When the boom 120 is in its initial state, as shown... Figure 3 As shown, the second fixed pulley 126 is located on the side of the sliding member 124 away from the main tower body 110, and the second fixed pulley 126 is also located on the lower side of the second boom 122, that is, the second boom 122 is located on the side away from the first boom 121 in the height direction. In the initial state and during the process from the initial state to the unfolded state, the second fixed pulley 126 is always located on the side away from the first boom 121 of the line connecting the first fixed pulley 125 and the sliding member 124. Therefore, after the sliding member 124 is locked and the second fixed pulley 126 is unlocked to form a movable pulley, the resultant force of the pull rope 142 is always upward, thereby driving the third boom 123 to rotate normally to the horizontal state.

[0036] Limited by the unfolded state, such as Figure 5 As shown, the first fixed pulley 125 extends beyond the second boom 122 at the projection position of the straight line where the first boom 121 is located. That is, the horizontal distance from the first fixed pulley 125 to the tower body 110 is greater than the horizontal distance from the second end of the second boom 122 to the tower body 110 in the extended state. In other words, the horizontal distance H1 from the first fixed pulley 125 to the tower body 110 is ≥ d1 + d2, thereby ensuring that the second boom 122 can be fully extended. In another embodiment, the horizontal distance from the first fixed pulley 125 to the tower body 110 is greater than the sum of the length of the first boom 121 in the extended state and the predetermined extension distance of the second end of the second boom 122.

[0037] In one implementation, during the deployment of the tower arm 120, such as Figure 2 , Figure 3 As shown, the locking slider 124 is in the slide groove 127. The traction mechanism 141 pulls the pull rope 142. Under the guidance of the first fixed pulley 125 and the second fixed pulley 126, the pull rope 142 pulls the first boom 121 to be raised through the traction slider 124. After the first boom 121 is perpendicular to the tower body 110, the first boom 121 is locked to the tower body 110 to realize the deployment of the first boom 121 and complete the basic construction of the tower crane.

[0038] When it is necessary to extend the length of the tower boom 120, that is, when it is necessary to extend the second boom 122, such as Figure 3 and Figure 4 As shown, the slider 124 is unlocked, allowing it to slide within the groove 127. The pull rope 142 is pulled to continue pulling the slider 124, causing it to slide until it abuts against the end face of the groove 127 within the second boom 122. The slider 124 then pushes the end face of the groove 127 to pull the second boom 122 out, thus unfolding the second boom 122.

[0039] If the tower arm length needs to be further extended by 120, Figure 4 and Figure 5 As shown, the connection between the third boom 123 and the second boom 122 is unlocked (that is, the rotation of the third boom 123 is unlocked), and the pull rope 142 is pulled. Since the sliding member 124 has abutted against the end face of the slide groove 127, the sliding member 124 can no longer drive the second boom 122 to move linearly. The sliding member 124 is fixed as the end of the pull rope 142. At this time, the second fixed pulley 126 can move because the third boom 123 is unlocked, and becomes a movable pulley. The tension of the traction mechanism 141 on the pull rope 142 is converted into a pulling force on the second fixed pulley 126, which drives the third boom 123 to unfold.

[0040] In this way, the combination of sliding connection between the first boom 121 and the second boom 122, and rotational connection between the third boom 123 and the second boom 122, enables the composite folding of the tower boom 120. The combination of the first fixed pulley 125, the second fixed pulley 126 and the sliding member 124 allows the traction mechanism 141 to drive the first boom 121, the second boom 122 and the third boom 123 to unfold in multiple stages by pulling the pull rope 142, making the installation and length adjustment of the tower boom 120 more convenient and more adaptable.

[0041] like Figure 5 As shown, the tower arm 120 also includes a first connecting rod 128 and a second connecting rod 129. The first connecting rod 128 is welded or bolted to the first boom 121. The first connecting rod 128 is inclined relative to the first boom 121, that is, the first connecting rod 128 and the first boom 121 have an angle. The first connecting rod 128 extends at least partially to the side of the first boom 121 away from the tower body 110, that is, the end of the first connecting rod 128 away from the first boom 121 extends to the side of the first boom 121 away from the tower body 110. The first fixed pulley 125 is installed on the portion of the first connecting rod 128 that extends beyond the first boom 121 or on the end of the first connecting rod 128 away from the first boom 121. In this way, it can be ensured that the first fixed pulley 125 is always located on the right side of the sliding member 124 (that is, on the side of the sliding member 124 away from the first boom 121).

[0042] The second connecting rod 129 is welded or bolted to the third boom 123. The second connecting rod 129 is inclined relative to the third boom 123. The second fixed pulley 126 is installed at the first end of the second connecting rod 129 near the third boom 123.

[0043] In particular, considering that in the initial state, the third boom 123 extends downwards from the first end toward the tower body 110, if the second connecting rod 129 is set in the same direction, the rope 142 will pass through the first fixed pulley 125, reach the second fixed pulley 126, and turn toward the sliding member 124. At this point, the rope angle at the second fixed pulley 126 will be too small, which is not conducive to the opening of the third boom 123. Therefore, in this embodiment, one end of the second connecting rod 129 is connected to the third boom 123, and the other end is inclined toward the first end of the third boom 123. In the unfolded state, the second connecting rod 129 is located above the tower arm 120.

[0044] In this way, when the tower arm 120 is in the initial state, the second connecting rod 129 is located on the lower side of the second boom 122. During the unfolding of the third boom 123, the tension of the pull rope 142 can be converted into the lifting force of the second fixed pulley 126, thereby converting the second fixed pulley 126 into a movable pulley. When the tower arm 120 is in the unfolded state, the second connecting rod 129 is located on the upper side of the second boom 122 and on the lower side of the first connecting rod 128, thereby preventing the pull rope 142 from getting tangled.

[0045] In another embodiment, in order to make the rope angle at the position of the second fixed pulley 126 sufficiently large, it can also be defined that from the initial state to the unfolded state, in the horizontal direction, the first fixed pulley 125 is always located between the second fixed pulley 126 and the sliding member 124.

[0046] like Figure 6 As shown, the first boom 121 is located inside the second boom 122. The first boom 121 includes two guide rail structures 1213, which are respectively disposed on both sides of the width direction of the first boom 121. The guide rail structures 1213 are disposed along the length direction of the first boom 121. The second boom 122 includes a guide slider 1225, which is located inside the guide rail structure 1213 and can slide within the guide rail structure 1213 to realize the sliding connection between the first boom 121 and the second boom 122. In this way, the second boom 122 can move only along the length direction of the first boom 121, which increases the stability of the sliding connection between the first boom 121 and the second boom 122.

[0047] like Figure 6As shown, the first boom 121 includes a first base plate 1211, and the second boom 122 includes a second base plate 1221. The second base plate 1221 has a sliding groove 127 arranged along the length of the second boom 122. The opening of the sliding groove 127 faces the first base plate 1211 and passes through the first base plate 1211. The sliding member 124 is located in the sliding groove 127 and can slide in the sliding groove 127. The sliding member 124 is at least partially exposed on the side of the first base plate 1211 away from the second boom 122. The part of the sliding member 124 connected to the pull rope 142 passes through the upper side of the first base plate 1211. Specifically, the slider 124 includes a connecting ear 1241 and a slider body 1242. The connecting ear 1241 is disposed on the slider body 1242. The slider body 1242 is at least partially attached to the lower end face of the first base plate 1211, so that the first base plate 1211 can limit the slider body 1242 and increase the sliding stability of the slider body 1242. The connecting ear 1241 extends out of the first base plate 1211, and the pull rope 142 is connected to the connecting ear 1241.

[0048] like Figure 6 As shown, the sliding member 124 includes a first iron core and a first coil 1243. A coil cavity is formed on the side wall of the sliding member 124 body to form the first iron core. The first coil 1243 is wound around the side wall of the first iron core, preferably within the coil cavity. The bottom wall of the first iron core is in contact with the bottom wall of the slide groove 127. The bottom wall of the slide groove 127 itself is a magnetic material such as a magnet or its inner wall is coated with a magnetic material such as a magnet, or a material that can be magnetically attracted such as iron. When the first coil 1243 is energized, the first iron core generates a magnetic attraction force on the slide groove 127 to fix the sliding member 124 within the slide groove 127 (that is, to fix it to the second boom 122). When it is necessary to lock the slider 124, the first coil 1243 is energized, causing the first iron core to adhere to the bottom wall of the slide groove 127, thereby fixing the slider 124. Then, pulling the slider 124 can pull the second boom 122. When it is necessary to unlock the slider 124, the current to the first coil 1243 is turned off, causing the magnetic attraction between the first iron core and the slide groove 127 to disappear, thereby allowing the slider 124 to slide within the slide groove 127.

[0049] Similarly, such as Figure 7As shown, the second boom 122 includes a second iron core 1222 and a second coil 1223. The second coil 1223 is wound around the side wall of the second iron core 1222. The top wall of the second iron core 1222 is in contact with the bottom wall of the first boom 121. The bottom wall of the first boom 121 is made of a magnetically attractive material. When the second coil 1223 is energized, the second iron core 1222 generates a magnetic attraction force on the slide groove 127 to fix the first boom 121 and the second boom 122 together. When it is necessary to lock the first boom 121 and the second boom 122, the second coil 1223 is energized, causing the second iron core 1222 to be attracted to the bottom wall of the first boom 121, thereby fixing the first boom 121 and the second boom 122; when it is necessary to unlock the first boom 121 and the second boom 122, the current to the second coil 1223 is cut off, causing the magnetic attraction between the second iron core 1222 and the first boom 121 to disappear, thereby releasing the first boom 121 and the second boom 122.

[0050] It is understood that, in another embodiment, such as Figure 8 As shown, the second boom 122 includes a limiting structure 1224, which is disposed on the second base plate 1221. The limiting structure 1224 is a protruding structure. A limiting groove 1212 is formed on the bottom wall of the first base plate 1211. The limiting groove 1212 is located on the first base plate 1211 near the second end of the first boom 121. The limiting structure 1224 and the limiting groove 1212 are in a limiting engagement. The limiting engagement means that when the limiting structure 1224 slides into the limiting groove 1212, the limiting groove 1212 can restrict the displacement of the limiting structure 1224, thereby preventing the first boom 121 and the second boom 122 from sliding relative to each other. In this way, when the first end of the second boom 122 slides to a position close to the first end of the first boom 121, the limiting structure 1224 slides into the limiting groove 1212, thereby stopping the first boom 121 and the second boom 122, thus preventing the first boom 121 from slipping off the second boom 122.

[0051] Furthermore, such as Figure 9 As shown, the third boom 123 also includes a third iron core 1231 and a third coil 1232. One end of the third iron core 1231 is connected to the third boom 123, and the third coil 1232 is wound around the third iron core 1231. The bottom wall of the second boom 122 is made of a magnetically attractive material. When it is necessary to lock the third boom 123 and the second boom 122, after energizing the third coil 1232, the third iron core 1231 attracts the second boom 122 tightly, thus fixing the second boom 122 and the third boom 123 to each other, thereby locking the rotation of the third boom 123. When it is necessary to unlock the third boom 123 and the second boom 122, the current in the third coil 1232 is disconnected, eliminating the magnetic attraction between the third iron core 1231 and the second boom 122, thereby allowing the third boom 123 to rotate relative to the second boom 122.

[0052] In this embodiment, the rotation of the third boom 123 can be locked first, so that the pull rope 142 is pulled to extend the second boom 122 to a predetermined length, and then the third boom 123 can be unlocked and rotated to unfold the third boom 123; or the first boom 121 and the second boom 122 can be locked first, the third boom 123 can be rotated to unfold, and then the pull rope 142 can be pulled to extend the second boom 122. In other words, multiple control methods can be achieved by pulling the rope 142.

[0053] This embodiment also provides a control method for the tower crane 100, such as... Figure 10 As shown, the control method for the tower crane 100 used to control the deployment of the jib 120 is as follows: S1 drives the traction device to pull the rope 142 to pull the sliding member 124. The sliding member 124 drives the first boom 121 to rotate so that the first boom 121 is perpendicular to the tower body 110, and fixes the first boom 121. In step S1, the first boom 121 and the second boom 122 are locked, the second boom 122 and the third boom 123 are locked, the sliding member 124 is locked in the slide groove 127, the traction device pulls the pull rope 142, the pull rope 142 drives the first boom 121 to rotate through the sliding member 124 locked in the slide groove 127 until the first boom 121 is perpendicular to the tower body 110, and then the connection between the first boom 121 and the tower body is fixed by flange or bolts to maintain the vertical state of the first boom 121 and the tower body.

[0054] S2 drives the traction device to pull the rope 142 to pull the slider 124. The slider 124 drives the second boom 122 to move away from the first boom 121 so that the second boom 122 is fully extended or locked after reaching a predetermined distance. In step S2, the second boom 122 and the first boom 121 are unlocked, allowing the second boom 122 to move along the straight line of the first boom 121. The sliding member 124 is unlocked, and the sliding member 124 is pulled by the drive traction device, causing the sliding member 124 to slide in the slide groove 127. When the sliding member 124 abuts against the end face of the slide groove 127 in the length direction, the sliding member 124 pushes the second boom 122 to extend until the second boom 122 approaches the end of the first boom 121. Then the second boom 122 and the first boom 121 are locked.

[0055] S3 continues to drive the traction device to pull the rope 142 to pull the sliding member 124. The rope 142 drives the second fixed pulley 126 to move towards the direction of the first fixed pulley 125. The second fixed pulley 126 drives the third boom 123 to unfold to the predetermined position.

[0056] In step S3, the third boom 123 and the second boom 122 are unlocked, allowing the third boom 123 to rotate relative to the second boom 122. The sliding member 124 is locked, and the sliding member 124 is pulled by the drive traction device. The second fixed pulley 126 can move because the third boom 123 is unlocked, and becomes a movable pulley. The tension of the traction mechanism 141 on the pull rope 142 is converted into a pulling force on the second fixed pulley 126, which drives the third boom 123 to unfold.

[0057] It should be noted that, for step S1, since the tower crane necessarily has a basic boom, the first boom 121 in this embodiment can be non-folding, that is, step S1 can be omitted. For steps S2 and S3, steps S2 and S3 can also be interchanged. After unfolding the first boom 121, the third boom 123 can be unfolded first, and then the second boom 122 can be unfolded.

[0058] Example 2 The only difference between this embodiment and Embodiment 1 is that a fourth boom 150 is added, which makes the total length of the tower boom 120 more adaptable. The fourth boom 150 adopts the same extension method as the second boom 122 and the first boom 121, that is, the fourth boom 150 can extend from the second end of the third boom 123.

[0059] like Figure 11 , Figure 12 As shown, in this embodiment, the second connecting rod 129 is rotatably connected to the third boom 123. A drive motor is also provided at the position where the second connecting rod 129 and the third boom 123 are rotatably connected. The drive motor is used to drive the second connecting rod 129 to rotate, so that the second connecting rod 129 drives the second fixed pulley 126 to move away from the first fixed pulley 125, until the second connecting rod 129 changes from facing the side closer to the tower body to facing the side away from the tower body. The third boom 123 and the fourth boom 150 are both provided with a sliding groove 127. When the third boom 123 is extended to be perpendicular to the tower body 110, the sliding groove 127 in the third boom 123 is connected to the sliding groove in the second boom 122.

[0060] In another embodiment, the second connecting rod 129 is a telescopic rod that can extend to drive the second fixed pulley 126, so that the second fixed pulley 126 is located on the right side of the fourth boom 150.

[0061] Furthermore, assuming the second connecting rod 129 is a telescopic rod, in one embodiment, such as Figure 13As shown, the second connecting rod 129 includes a first rod 1291 and a second rod 1292. The first rod 1291 is rotatably connected to the third boom 123. The second rod 1292 passes through the first rod 1291 and can slide within the first rod 1291. A linear drive mechanism 1293 is also provided inside the first rod 1291. The drive end of the linear drive mechanism 1293 is connected to the second rod 1292. The linear drive mechanism 1293 is used to drive the second rod 1292 to move away from the first rod 1291 to realize the extension and retraction of the second connecting rod 129. The linear drive mechanism 1293 can be a linear motor, a telescopic cylinder, or a lead screw motor.

[0062] Thus, when it is necessary to further extend the length of the tower arm 120, the second connecting rod 129 can be rotated so that the second connecting rod 129 faces away from the tower body. At the same time, the second connecting rod 129 can be extended so that the second fixed pulley 126 is located on the right side of the fourth boom 150. In this way, the second fixed pulley 126 is converted from a movable pulley to a fixed pulley. By pulling the sliding member 124, the fourth boom 150 can be further extended.

[0063] This embodiment also provides a control method for a tower crane 100. The difference between this control method for the tower crane 100 and the control method for the tower crane 100 in Embodiment 1 is that it further includes step S4, rotating the second connecting rod 129 so that the second fixed pulley 126 is located on the right side of the fourth boom 150, and pulling the pull rope 142 through the traction mechanism 141, and the pull rope 142 drives the fourth boom 150 to unfold through the pulling sliding member 124.

[0064] In step S4, the second connecting rod 129 is rotated and extended, so that the second fixed pulley 126 is located on the right side of the fourth boom 150. The sliding member 124 is pulled, so that the sliding member 124 slides into the groove 127 in the fourth boom 150, locking the sliding member 124 in the groove 127. The third boom 123 and the fourth boom 150 are unlocked. The traction mechanism 141 pulls the pull rope 142, and the pull rope 142 pulls the sliding member 124, so that the pull rope 142 can drive the fourth boom 150 to extend. The third boom 123 and the fourth boom 150 are locked, realizing the deployment of the fourth boom 150.

[0065] Furthermore, since the first connecting rod 128 is relatively long, the overall size of the tower crane is affected by the first connecting rod 128. Therefore, in another embodiment, the first connecting rod 128 is configured to be telescopic, referring to... Figure 15The first connecting rod 128 includes a first part 1281 and a second part 1282 that are sleeved together. One end of the first part 1281 is fixed to the first boom 121, and the other end is sleeved on the second part 1282. One end of the second part 1282 is sleeved on the first part 1281, and the other end is fixedly provided with a first fixed pulley 125. When the second part 1282 is fully extended from the first part 1281, the first connecting rod 128 is in the working state. The second part 1282 can be driven by a stepper motor, or it can be extended by a specific gear structure or a rope structure. When it extends to a predetermined position, it can either maintain its extended state by the original extension force, or it can be locked in the predetermined position by a positioning pin. Those skilled in the art can choose as needed.

[0066] In practice, after the third boom 123 is unlocked from the second boom 122, its own weight can easily cause it to rotate directly from a horizontal to a vertical position and swing, leading to overall swaying of the tower crane. Therefore, a damping structure is generally installed. Specifically, refer to... Figure 16-18 The diagram shows the third boom 123 moving away from the second boom 122 until it is fully open. The damping structure includes a damping groove 151 located on the inner side of the bottom of the second boom 122. A sliding member 152 is provided in the damping groove 151. The sliding member 152 experiences greater resistance when sliding in the damping groove 151. The surface of the damping groove 151 is rough on the side closer to the tower body 110, that is, the preset dynamic friction coefficient is larger. The side away from the tower body 110 is smoother or has less damping. The reason for this arrangement is that the process of the third boom 123 rotating from the horizontal state to the vertical state requires overcoming resistance to rotate slowly or must be under the action of external force to rotate. When continuing to move from the vertical state, the damping structure is avoided from introducing additional resistance.

[0067] The sliding member 152 is rotatably connected to the third boom 123 via a connecting rod 153. The connecting rod 153 can rotate relative to the third boom 123, but the connection position of the connecting rod 153 to the third boom 123 is fixed. When the third boom 123 is released from the horizontal position, the sliding member 152 gradually moves away from the main body 110 of the tower under the drive of the third boom 123. When the third boom 123 is fully extended, the sliding member 152 moves to the side of the damping groove 151 away from the main body 110 of the tower. At this time, the connecting rod 153 is also in the horizontal position, and will not affect the movement of the trolley. In other words, the bottom of the second boom 122 and the third boom 123 corresponding to the connecting rod 153 has a receiving groove for accommodating the connecting rod 153. After the third boom 123 is extended, it will drive the connecting rod 153 to be stored in the receiving groove.

[0068] In addition, the tower crane system can be retracted by pulling ropes; specifically, refer to... Figure 19-21 To make it clear, Figure 19-21 The layout of the pull rope 142 for unfolding is omitted, and only the layout of the pull rope 142 for folding is shown. Specifically, one end of the pull rope 142 is connected to the traction mechanism 141, and the other end passes over the conversion pulley at the top of the tower arm and is directly connected to the fixing member 1233 at the end of the third boom 123 (connected to the end of the fourth boom when there is a fourth boom).

[0069] When the first boom 121 and the second boom 122 are unlocked and the third boom 123 and the second boom 122 are locked, the tensioning of the pull rope 142 can cause the third boom 123 and the second boom 122 to move simultaneously toward one side of the tower body 110, thereby causing the second boom 122 to retract.

[0070] When the first boom 121 and the second boom 122 are locked (or the second boom 122 is fully retracted), and the third boom 123 and the second boom 122 are unlocked, the third boom 123 reaches a vertical position under its own weight, that is... Figure 20 In this state, pulling the rope 142 will pull the third boom 123 back to the folded state. It should be noted that, to ensure the third boom 123 can be smoothly pulled back, when the third boom 123 is in the vertical position, the line connecting the connection point of the third boom 123 and the second boom 122 to the conversion pulley at the top of the tower arm is always above the line connecting the fixing member 1233 and the conversion pulley at the top of the tower arm, thus allowing the fixing member 1233 to move along the side closest to the tower body 110. It should also be noted that during the retraction process, the rope 142, which was used during the aforementioned extension process, does not disappear (in...). Figure 19-21 (omitted in the original text), that is, the pull rope 142 provides a balancing force, so that the weight of the third boom 123 during the retraction process is overcome by the pull rope 142, so that it will not swing, and therefore no additional damping system is needed during the retraction process.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tower crane, characterized in that, It includes a tower body and a tower arm, wherein the tower arm is rotatably connected to the tower body; The tower arm includes a first boom, a second boom, and a third boom. The first end of the first boom is rotatably connected to the main body of the tower. The second boom is slidably connected to the first boom and can slide along the length of the first boom. The third boom is rotatably connected to the second boom. The tower arm also includes a sliding member, a first fixed pulley, and a second fixed pulley. The sliding member is slidably connected to the first boom and the second boom. The first fixed pulley is connected to the first boom, and the second fixed pulley is connected to the third boom. The first fixed pulley is located on the side of the first boom away from the first end of the first boom. The distance from the second fixed pulley to the first end of the first boom is greater than the distance from the sliding member to the first end of the first boom. It also includes a deployment device, which includes a traction mechanism and a pull rope. One end of the pull rope is connected to the traction mechanism, and the other end of the pull rope passes sequentially around the first fixed pulley and the second fixed pulley and is connected to the sliding member. The tower arm includes an initial state and a fully extended state. In the initial state, the second boom is retracted and the third boom is folded, with the second end of the third boom fixed to the bottom end of the second boom and positioned close to the first end of the first boom. In the extended state, the second boom extends, unlocking the second end of the third boom, and the third boom rotates to a horizontal position. The traction mechanism, in conjunction with the pull rope, the first fixed pulley, the second fixed pulley, and the sliding member, drives the extension of the second boom and / or the rotation of the third boom. When the tower arm is in the fully extended state, the second fixed pulley is located above the first boom; when the tower arm is in the initial state, the second fixed pulley is located below the first boom. The tower arm also includes a fourth boom, which is extendably connected to the third boom; The second fixed pulley is rotatably connected to the third boom. In the unfolded state, the second fixed pulley is further rotated to the side of the third boom away from the tower body. The second fixed pulley is connected to the third boom through a second connecting rod. The second connecting rod is a telescopic rod that can extend to drive the second fixed pulley, so that the second fixed pulley is located on the right side of the fourth boom. The traction mechanism is driven to pull the rope to pull the sliding member so that the rope can drive the fourth boom to extend, thereby unfolding the fourth boom.

2. The tower crane according to claim 1, characterized in that, In the initial and / or deployed state, the second fixed pulley is located on the side of the line connecting the first fixed pulley and the sliding member away from the first boom.

3. The tower crane according to claim 1, characterized in that, During the transition from the initial state to the unfolded state, the second fixed pulley is always located on the side away from the first boom along the line connecting the first fixed pulley and the sliding member.

4. The tower crane according to claim 1, characterized in that, From the initial state to the unfolded state, in the horizontal direction, the first fixed pulley is always located between the second fixed pulley and the sliding member.

5. The tower crane according to claim 1, characterized in that, The length of the first boom is d1, the extension length of the second boom is d2, and the length of the third boom is d3. When d2≥d3, the total length D of the boom is within the interval [D1, D4]. When d2<d3, the total length D of the boom is within the interval [D1, D2]∪[D3, D4].

6. The tower crane according to claim 1, characterized in that, The horizontal distance from the first fixed pulley to the main body of the tower is greater than the horizontal distance from the second end of the second boom to the main body of the tower in the extended state, so that the second boom can be fully extended.

7. A control method for a tower crane, used to control the deployment of the tower boom in a tower crane as described in any one of claims 1-6, characterized in that, The control method for the tower crane includes the following steps: S1. Drive the traction mechanism to pull the rope to pull the sliding member. The sliding member drives the first boom to rotate so that the first boom is perpendicular to the tower body and fixes the first boom. S2. Drive the traction mechanism to pull the rope to pull the sliding member. The sliding member slides in the first boom and the second boom to drive the second boom to move away from the first boom and fix the second boom. S3. Unlock the third boom and drive the traction mechanism to pull the rope to pull the sliding part. The rope also drives the second fixed pulley to move towards the direction of the first fixed pulley. The second fixed pulley drives the third boom to unfold. S4. Rotate the second connecting rod and extend the second connecting rod so that the second fixed pulley is located on the right side of the fourth boom. Drive the traction mechanism to pull the rope to pull the sliding member so that the rope can drive the fourth boom to extend, thereby realizing the deployment of the fourth boom.

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