Method for monitoring lateral load of crane based on hyperstatic structure

Abstract

This invention relates to the field of engineering machinery technology and discloses a method for monitoring the lateral load of a crane based on a superlift structure. The superlift structure includes a support arm and an auxiliary arm mounted on the support arm with two side ends. The support arm is mounted above the crane's undercarriage structure in a manner that maintains a plane with the crane's main boom. The two side ends of the auxiliary arm are respectively connected to the main boom head of the crane via main boom tension members. The method includes: detecting a first angle and a second angle between the two side ends of the auxiliary arm and the corresponding main boom tension members; and, if the first angle and the second angle are equal, detecting a first tension and a second tension of the two corresponding main boom tension members, thereby monitoring the lateral load of the crane. This invention fills the gap in the prior art regarding the lack of monitoring of the main boom's lateral load.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, specifically to a method for monitoring the lateral load of a crane based on a superlift structure. Background Technology

[0002] Currently, in the construction of some cranes with large lifting heights, the main boom length exceeds 100 meters. At this point, the lateral load on the boom (i.e., the out-of-plane load of the luffing plane) usually determines the lifting performance. Furthermore, during ultra-high-altitude operations, lateral load is often one of the main factors affecting the safety of lifting operations. However, current crawler cranes only use force limiters to monitor the real-time size of the load, and there is no good way to effectively monitor the magnitude of the lateral load in real time. This often leads to safety risks during large-tonnage, high-height lifting, making the lateral load a safety blind spot and affecting the safety and reliability of the crane. Similarly, truck-mounted all-terrain cranes also lack real-time dynamic lateral load monitoring solutions, and therefore often use straight boom superlifts and eccentric adjustment devices to improve the overall stability of the boom, which is complex to operate. Summary of the Invention

[0003] The purpose of this invention is to provide a method for monitoring the lateral load of a crane based on a super-lift structure, which can at least partially solve the above-mentioned technical problems.

[0004] To achieve the above objectives, the present invention provides a method for monitoring the lateral load of a crane based on a superlift structure. The superlift structure includes a support arm and an auxiliary arm mounted on the support arm and having two side ends. The support arm is mounted above the crane's undercarriage structure in a manner that keeps it coplanar with the main boom of the crane. The two side ends of the auxiliary arm are respectively connected to the main boom head of the crane via main boom tension members. Furthermore, the crane lateral load monitoring method includes: detecting a first angle and a second angle between the two side ends of the auxiliary arm and the corresponding main boom tension members; and when the first angle and the second angle are equal, detecting a first tension and a second tension of the corresponding two main boom tension members, so that the crane lateral load is monitored based on the first tension and the second tension.

[0005] Preferably, the crane lateral load monitoring method further includes: adjusting the length of the main boom tension member before detecting the first tension and the second tension, so that the first included angle and the second included angle are equal.

[0006] Preferably, adjusting the length of the main boom tension member includes: applying a preload to a tension member adjustment module installed on the main boom tension member, so as to adjust the length of the main boom tension member through the tension member adjustment module.

[0007] Preferably, monitoring the crane lateral load based on the first tensile force and the second tensile force includes calculating the crane lateral load F based on the following formula:

[0008] F=(T1-T2)*sinθ

[0009] In the formula, T1 and T2 are the first and second tension forces, respectively, and θ = 90° - β1 or θ = 90° - β2, where β1 and β2 are the first and second included angles, respectively.

[0010] Preferably, the support arm is a straight arm, and one end of the straight arm is fixed to the lower structure of the crane or to the main arm of the crane.

[0011] Preferably, the auxiliary arm is a horizontal arm or a V-shaped arm.

[0012] Preferably, when the support arm is a straight arm and the auxiliary arm is a horizontal arm, the auxiliary arm is installed at the end point of the other end of the support arm to form a T-shaped structure.

[0013] Preferably, when the support arm is a straight arm and the auxiliary arm is a horizontal arm, the auxiliary arm is mounted on the support arm at a non-endpoint position in a manner perpendicular to the support arm to form a cross-shaped structure.

[0014] Preferably, when the support arm is a straight arm and the auxiliary arm is a V-shaped arm, the V-shaped top of the auxiliary arm is connected to the support arm to form a Y-shaped structure.

[0015] Preferably, the other end of the support arm is connected to the main boom head of the crane via a main boom tension member; and / or the two side ends of the auxiliary arm are also connected to the undercarriage structure via undercarriage tension members.

[0016] Through the above technical solution, the crane lateral load monitoring method of the present invention is based on a spatial super-lift structure and uses the fusion of angle detection and tension detection to realize a real-time dynamic monitoring scheme for the lateral load of the main boom based on the tension on the tension component, thus filling the gap in the existing technology for monitoring the lateral load of the main boom.

[0017] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1This is a flowchart illustrating the crane lateral load monitoring method based on a superlift structure according to an embodiment of the present invention;

[0020] Figures 2(a)-2(c) This is a schematic diagram of the T-shaped super-start structure according to an embodiment of the present invention;

[0021] Figures 3(a)-3(b) This is a schematic diagram of the cross-shaped super-lift structure according to an embodiment of the present invention;

[0022] Figures 4(a)-4(b) This is a schematic diagram of the Y-shaped super-lift structure according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram illustrating the principle of a crane lateral load monitoring method applied in an example of an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the lateral load force analysis of the main boom in an example of an embodiment of the present invention; and

[0025] Figure 7 This is a schematic diagram of the process for monitoring the lateral load of a crane in an example of an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures

[0027] 1. Support boom; 2. Auxiliary boom; 3. Main boom; 4. Undercarriage structure; 5. Main boom tension component; 6. Counterweight tension component; 7. Counterweight; 8. Lifting device; 9. Undercarriage tension component; 10. Angle sensor; 11. Tension sensor; 12. Luffing pulley block; 13. Pretensioning module. Detailed Implementation

[0028] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0029] It should be noted that, in the embodiments of the present invention, unless otherwise stated, the directional terms used, such as "horizontal" and "vertical," are based on the orientation or positional relationship shown by the corresponding outlines in the figures. These terms are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and should not be construed as limiting the embodiments of the present invention. Furthermore, in practice, they can be understood in conjunction with the actual structure of the crane. Additionally, in the embodiments of the present invention, "A above B" indicates that A and B are in contact or not in contact, but "A on B" indicates that A and B are in contact. Moreover, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In addition, it should be noted that in the embodiments of the present invention, the terms "installation", "assembly", "connection", etc. should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a direct connection, a connection through an intermediate structure, or a communication connection. Those skilled in the art can understand it in combination with the specific scenario.

[0031] Figure 1 This is a flowchart illustrating the crane lateral load monitoring method based on a super-lift structure according to an embodiment of the present invention, wherein reference... Figure 2(a)-Figure 4(b) The super-lift structure includes a support arm 1 and an auxiliary arm 2 mounted on the support arm 1 and having two side ends. The support arm 1 is mounted above the crane's lower structure 4 in a manner that maintains a plane with the crane's main boom 3. The two side ends of the auxiliary arm 2 are respectively connected to the crane's main boom head via main boom tension members 5. The following will also refer to... Figure 2(a)-Figure 4(b) A detailed example of the super-giant structure will be provided, but will not be repeated here.

[0032] It should be noted that, in the embodiments of the present invention, reference is made to... Figure 2(a)-Figure 4(b) "Side end" and "main arm head" can refer to the end point of the corresponding arm or a segment of the corresponding arm. Those skilled in the art can understand them in conjunction with the specific scenario.

[0033] Back Figure 1 The crane lateral load monitoring method of this invention may include the following steps:

[0034] Step S110: Detect the first included angle and the second included angle between the two side ends of the auxiliary arm and the corresponding main arm tension member, respectively.

[0035] For example, refer to Figure 2(a)-Figure 4(b) The auxiliary arm has two side ends, and each side end has an angle with the corresponding main arm tension member, namely the first angle β1 and the second angle β2. The first angle β1 and the second angle β2 can be detected by installing angle sensors on or between the corresponding side end arm or main arm tension member.

[0036] Step S120: When the first included angle and the second included angle are equal, the first tension and the second tension of the corresponding two main boom tension members are detected respectively, so that the lateral load of the crane is monitored based on the first tension and the second tension.

[0037] For example, a first tension T1 and a second tension T2 can be detected by a tension sensor.

[0038] By applying the angle sensor and the tension sensor in steps S110 and S120, it can be seen that the crane lateral load monitoring method of this embodiment integrates multi-sensor monitoring technology.

[0039] In a preferred embodiment, between steps S110 and S120, the method may further include adjusting the length of the main boom tension member so that the first included angle and the second included angle are equal. In a more preferred embodiment, a preload may be applied to a tension member adjustment module mounted on the main boom tension member 5 to adjust the length of the main boom tension member via the tension member adjustment module.

[0040] For example, the tension adjustment module can be a luffing pulley block, installed on the main boom tension component 5, used to adjust the length of the main boom tension component 5. Accordingly, the luffing pulley block allows the length of the main boom tension component 5 to be dynamically adjusted according to changes in lateral load during hoisting. As a further example, a pre-tensioning module is adapted to the luffing pulley block and used to provide pre-tensioning force to the luffing pulley block to improve the stability of the tension on the main boom tension component. The pre-tensioning module can be a winch, such as an electric winch (or motor winch) or a hydraulic winch.

[0041] Before further detailing the implementation of the method for monitoring the lateral load of a crane based on a first tension T1 and a second tension T2 according to the embodiments of the present invention, it is necessary to first introduce the super-lift structure targeted by the method of the embodiments of the present invention. Figure 2(a)-Figure 4(b) The embodiments of the present invention can employ the following three types of super-start structures.

[0042] I. T-type super-lift structure.

[0043] Figures 2(a) and 2(b) are schematic diagrams of the T-type super-lift structure according to an embodiment of the present invention. As shown in Figures 2(a) and 2(b), the super-lift device of the crane includes a support arm 1 and an auxiliary arm 2 mounted on the support arm 1 and having two side ends, wherein: the support arm 1 is mounted above the lower structure 4 of the crane in a manner that keeps it in the same plane as the main arm 3 of the crane; the two side ends of the auxiliary arm 2 are respectively connected to the main arm head of the crane through the main arm tension member 5.

[0044] In a preferred embodiment, both the support arm 1 and the auxiliary arm 2 can be truss arms. Additionally, considering the characteristics of crane superlifting, the auxiliary arm 2 can also be connected to a rear counterweight 7 via a counterweight tension member 6. However, in this embodiment of the invention, the main boom tension member 5 and the counterweight tension member 6 can be tension plates or cables.

[0045] In Figure 2(a), the support arm 1 is a straight arm, and one end of the straight arm is fixed to the lower structure 4 of the crane; in Figure 2(b), one end of the straight arm is fixed to the main arm 3 of the crane. That is, in this embodiment of the invention, the straight arm can be installed above the lower structure 4 by either directly fixing it to the lower structure or fixing it to the main arm 3 on the lower structure.

[0046] As shown in the figure, the auxiliary arm 2 can be a horizontal arm, and the auxiliary arm 2 is installed at the end point of the other end of the support arm 1 to form a T-shaped structure. It should be noted that the "straight arm" and "horizontal arm" in this embodiment of the invention are relative concepts. Taking the scenario where the T-shaped structure is perpendicular to the horizontal plane as an example, the straight arm can be a vertical arm that is perpendicular to the horizontal plane to provide support, while the horizontal arm can be a horizontal arm that is parallel to the horizontal plane to assist in the connection with the head of the main arm. Similarly, for the case where the T-shaped structure is inclined relative to the horizontal plane, the straight arm is the arm that contacts the undercarriage structure on the horizontal plane to provide support, while the horizontal arm is the arm that can be connected to the head of the main arm by relying on the support of the straight arm.

[0047] As shown in Figures 2(a) and 2(b), the T-shaped superlift structure of this embodiment can improve the parallel geometric relationship between the main boom 3 of the crane and the load 8 it lifts. At the same time, the T-shaped superlift is connected to the counterweight 7 to form a double-triangle stable form, which increases the stability of the entire boom and thus improves the performance of the crane.

[0048] In a preferred embodiment, as shown in Figures 2(a) and 2(b), the other end of the support arm 1 can also be connected to the main boom head of the crane via the main boom tension member 5 to increase the stability of the entire boom. However, it is understood that, if the stability of the entire boom meets the requirements, as shown in the assembly diagram of another T-type super-lift shown in Figure 2(c), the main boom tension member 5 between the other end of the support arm 1 and the main boom head of the crane can be removed, and the stability of the entire boom can be maintained mainly by the connection between the two side ends of the auxiliary arm 2 and the main boom head of the crane based on the main boom tension member 5. It should be noted that Figure 2(c) is mainly intended to show that the main boom tension member 5 may not be connected between the other end of the support arm 1 and the main boom head of the crane, therefore, for the purpose of clarity, some components in Figure 2(a) or Figure 2(b) are not shown.

[0049] In a more preferred embodiment, the two side ends of the auxiliary arm 2 are also connected to the lower structure 4 via the lower pull member 9 to further increase the stability of the entire boom.

[0050] The T-type super-lift structure of this invention is applicable to various types of cranes and has at least the following three advantages:

[0051] First, current crawler cranes all employ in-plane superlift structures, meaning they use a single truss boom design, and no spatial superlift structure has been proposed or implemented. Based on this, current crawler cranes have the following limitations: insufficient lateral load-bearing capacity of the in-plane superlift structure, resulting in an inability to meet the safety requirements for large-tonnage lifting during ultra-high-altitude operations. However, the spatial T-shaped superlift design of this invention, compared to existing in-plane truss boom superlift structures, utilizes the left and right main boom tension members 5 to jointly provide main boom tension, and through an out-of-plane spatial force combination (main boom tension and the gravity of the counterweight 7, etc.), it can balance the lateral loads (such as wind damage, load sway, rotational inertia, etc., which can also be simply referred to as lateral loads) on the main boom, thereby improving the crane's lateral load-bearing capacity.

[0052] Secondly, while superlift applications exist in other types of existing cranes, such as truck-mounted all-terrain cranes, these superlift structures are relatively complex, typically involving numerous truss connections. In contrast, the connection design between the horizontal auxiliary arm and the vertical support arm in the T-type superlift of this invention is relatively simple and convenient, achieved through hinged connections or welding of the various members, resulting in a regular overall shape.

[0053] Third, compared to other types of super-giant structures, the T-shaped super-giant has a better load-bearing capacity, which can be explained mathematically. Specifically, the shortest line between a point and a straight line is the perpendicular line from the point to the straight line. The connection distance from the two ends of the T-shaped super-giant to the straight arm of the super-giant is the shortest. Therefore, under the same load, its lever arm is the shortest, and the load-bearing moment of the super-giant extending out of the plane is the smallest. Thus, with the same structural material strength, the T-shaped super-giant has a better load-bearing capacity than super-giant shapes of other shapes.

[0054] In summary, the spatial T-shaped superlift structure of this invention helps to improve the lateral load capacity of the crane, thereby increasing the stability of the entire boom. Therefore, the T-shaped superlift is the optimal superlift structure for the crane lateral load monitoring method of this invention. The following description of the implementation details of this method for monitoring the crane's lateral load based on a first tension T1 and a second tension T2 will use the T-shaped superlift as an example.

[0055] II. Cross-shaped super-lift structure.

[0056] Figures 3(a) and 3(b) are schematic diagrams of a cross-shaped superlift structure according to an embodiment of the present invention. In contrast to a T-shaped superlift, the auxiliary arm 2 is mounted perpendicularly to the support arm 1 at a non-endpoint position to form a cross-shaped structure. Similar to a T-shaped superlift, in Figure 3(a), the support arm 1 is a straight arm, and one end of the straight arm is fixed to the lower structure 4 of the crane; in Figure 3(b), one end of the straight arm is fixed to the main boom 3 of the crane.

[0057] Both the spatial cross-shaped superlift structure and the T-shaped superlift structure employ a connection design between a horizontal auxiliary arm and a vertical support arm. Therefore, their implementation details and advantages are similar and will not be elaborated upon here. However, it should be noted that, compared to the T-shaped superlift structure, which can eliminate the main boom tension member 5 between the other end of the support arm 1 and the main boom head of the crane as shown in Figure 2(c), the corresponding main boom tension member 5 in the cross-shaped superlift structure plays a greater role in the stability of the entire structure and is therefore preferably retained.

[0058] III. Y-shaped super-lift structure.

[0059] Figures 4(a) and 4(b) are schematic diagrams of the Y-shaped superlift structure according to an embodiment of the present invention. In contrast to the T-shaped structure, the auxiliary arm 2 is a V-shaped arm, and its V-shaped top end is connected to the support arm 1 to form a Y-shaped structure.

[0060] It should be noted that the Y-shaped structure here is not limited to the "Y-shaped" in a strict sense. The Y-shaped structure formed by the V-shaped arm and the straight arm as shown in Figures 4(a) and 4(b) also falls within the protection scope of this invention.

[0061] Similarly, in Figure 4(a), the support arm 1 is a straight arm, and one end of the straight arm is fixed to the lower structure 4 of the crane; in Figure 4(b), one end of the straight arm is fixed to the main arm 3 of the crane.

[0062] However, similar to the cross-shaped super-lift structure, the Y-shaped super-lift structure preferably retains the main boom tension member 5 between the other end of the support arm 1 and the main boom head of the crane, in order to increase the stability of the entire boom.

[0063] Compared to the T-type and cross-type superlifts, which use a connection design between a horizontal auxiliary arm and a vertical support arm, the Y-type superlift, due to the introduction of a V-shaped arm, requires a truss connection between the V-shaped arm and the straight arm, making the process relatively complex. Other implementation details and advantages of the Y-type superlift are similar to those of the T-type superlift described above and will not be repeated here.

[0064] The following describes the implementation details of monitoring the lateral load of the crane based on the first tension T1 and the second tension T2 in step S120 of the method of the embodiment of the present invention, taking a T-type super-lift as an example.

[0065] In the example, Figure 5 This is a schematic diagram illustrating the principle of a crane lateral load monitoring method applied in an example of an embodiment of the present invention, wherein... Figure 5 The components installed on the two main boom tension members 5 are identical, so the following description mainly focuses on the components on one of the main boom tension members 5.

[0066] like Figure 5 As shown, angle sensor 10 is installed at the corresponding position to detect the first included angle β1 and the second included angle β2, while tension sensor 11 is installed on the corresponding main boom tension member to detect the first tension T1 and the second tension T2. ​​Luffing pulley block 12 is installed on the main boom tension member 5 to adjust its length, allowing the length of the main boom tension member 5 to be dynamically adjusted according to changes in side load during hoisting, thereby ensuring that the first included angle β1 and the second included angle β2 are equal. Additionally, pretensioning module 13 is adapted to the luffing pulley block 12 to provide pretensioning force to the luffing pulley block 12, thereby improving the stability of the tension on the main boom tension member. The pretensioning module 13 can be a winch, such as an electric winch (or motor winch) or a hydraulic winch.

[0067] Furthermore, the control module can be configured to perform any one or more of the following associated with the crane lateral load monitoring method of embodiments of the present invention:

[0068] 1) Receive and control the variable amplitude pulley group 12 to operate according to the first included angle β1 and the second included angle β2 detected by the angle sensor 10, so that the first included angle β1 and the second included angle β2 are equal;

[0069] 2) When the first included angle β1 and the second included angle β2 are equal, control the tension sensor 11 to detect the first tension T1 and the second tension T2 of the corresponding two main boom tension members respectively;

[0070] 3) Calculate the lateral load of the crane based on the first tension T1, the second tension T2, the first included angle β1, and the second included angle β2.

[0071] 4) Control the pre-tightening module 13 to apply pre-tightening force.

[0072] Furthermore, regarding point 3), in conjunction with Figure 5 and Figure 6 Because the T-type superlift is a spatial structure, the two main boom tension members form a certain angle θ with the vertical plane containing the main boom (related to β1 or β2). The horizontal component of the tension force on the two main boom tension members can balance the side load of the main boom. For details, please refer to [reference needed]. Figure 6 Understand the force analysis diagram shown.

[0073] Figure 6 This is a schematic diagram of the lateral load force analysis of the main boom in an example of an embodiment of the present invention. Combined with... Figure 6 The lateral load F of the crane can be calculated using the following formula:

[0074] F=(T1-T2)*sinθ (1)

[0075] In the formula, T1 and T2 are the first and second tension forces, respectively, and θ = 90° - β1 or θ = 90° - β2, where β1 and β2 are the first and second included angles, respectively.

[0076] It should be noted that the aforementioned control module can be a specially configured controller, or it can be a host device on the crane operating platform, a remote control, etc.

[0077] Figure 7 This is a schematic flowchart illustrating the monitoring of lateral loads on a crane in an example of an embodiment of the present invention. In this example, the tension member is a tension plate. Initially, β1 equals β2, meaning the lengths of the tension plates corresponding to T1 and T2 are equal, and the system is in a symmetrical equilibrium state. During the lifting process, if a lateral force is applied, it will cause changes in the lengths of the tension plates corresponding to T1 and T2, as well as changes in the angles β1 and β2. Specifically, combined with… Figures 5-7 The crane lateral load monitoring method according to embodiments of the present invention performs the following process:

[0078] S710: First, the angle sensor monitors the angle between the left and right pull plates and the T-shaped lifting cross arm. If β1 is not equal to β2, the winch drives the pulley block to adjust the length of the pull plates so that β1 is equal to β2. If β1 is equal to β2, the tension sensor is activated directly.

[0079] S720: The luffing pulley system adjusts the length of the tie plate (specifically, the distance from the end of the crossarm of the T-type jib to the head of the main boom) via pulleys and wire ropes. If β1 is greater than β2, the pulley system corresponding to the T2 tie plate is adjusted to reduce its length; conversely, if β1 is less than β2, the pulley system corresponding to the T1 tie plate is adjusted to reduce its length. It should be noted that T1 and T2 represent both the corresponding tie plate and the tension on it.

[0080] S730: When the lengths of the left and right pull plates are equal after adjustment, that is, when β1 is less than β2, the tension of pull plates T1 and T2 is monitored by the tension sensor respectively, and the lateral load is calculated by the above formula (1).

[0081] Therefore, by combining the preload module, pulley block and tension sensor, a real-time dynamic monitoring scheme for the lateral load of the main boom can be realized based on the innovative structural form of the T-type superlift, using mechanical model calculation and sensor monitoring fusion.

[0082] In summary, the crane lateral load monitoring method of this invention is based on a spatial super-lift structure. It integrates angle detection and tension detection to adjust the tension on the tension component, thereby providing a real-time dynamic monitoring scheme for the lateral load of the main boom based on the tension on the tension component. This fills the gap in the prior art regarding the lack of lateral load monitoring for the main boom, and improves the safety, reliability, and intelligent control level of crane lifting, especially cranes lifting at greater heights.

[0083] Taking a crawler crane as an example, the solution of this invention utilizes an innovative super-lift structure, integrating multi-sensor monitoring technology. It proposes a crane super-lift structure design that enhances lateral load-bearing capacity, along with a real-time dynamic monitoring scheme for the main boom's lateral load. This solves the problem of insufficient lateral load-bearing capacity in crawler cranes when attempting to increase lifting height, and addresses the lack of a real-time lateral load monitoring solution for lifting safety. It improves the lifting capacity and safety performance of crawler cranes with lifting heights exceeding 100 meters, and enhances safety monitoring capabilities during ultra-high-height lifting. It should be noted that the cranes targeted by the solution of this invention include, but are not limited to, crawler cranes and truck all-terrain cranes.

[0084] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0085] It should also be noted that the specific technical features described in the above embodiments can be combined in any suitable manner, without contradiction, such as by exchanging the execution order of some steps. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0086] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0087] Those skilled in the art will understand that implementing some steps in the above embodiments (e.g., calculating the lateral load of the crane) can be accomplished by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0088] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A method for monitoring the lateral load of a crane based on a super-lift structure, characterized in that, The super-lift structure includes a support arm and an auxiliary arm mounted on the support arm and having two side ends. The support arm is mounted above the crane's undercarriage structure in a manner that maintains a plane with the crane's main boom. The two side ends of the auxiliary arm are respectively connected to the crane's main boom head via main boom tension members. The crane lateral load monitoring method includes: The first and second included angles between the two side ends of the auxiliary arm and the corresponding main arm tension members are detected respectively; and When the first included angle and the second included angle are equal, the first tension and the second tension of the corresponding two main boom tension members are detected respectively, so that the lateral load of the crane is monitored based on the first tension and the second tension.

2. The crane lateral load monitoring method according to claim 1, characterized in that, The crane lateral load monitoring method also includes: Before detecting the first tension and the second tension, adjust the length of the main boom tension member so that the first included angle and the second included angle are equal.

3. The crane lateral load monitoring method according to claim 2, characterized in that, The adjustment of the length of the main boom tension member includes: A preload is applied to the tension member adjustment module installed on the main boom tension member so that the length of the main boom tension member can be adjusted by the tension member adjustment module.

4. The crane lateral load monitoring method according to claim 1, characterized in that, The lateral loads on the crane, monitored based on the first tensile force and the second tensile force, include: The lateral load of the crane is calculated based on the following formula. F : In the formula, T1 and T2 are the first and second tensile forces, respectively. or ,in and These are the first included angle and the second included angle, respectively.

5. The crane lateral load monitoring method according to any one of claims 1 to 4, characterized in that, The support arm is a straight arm, and one end of the straight arm is fixed to the lower structure of the crane or to the main arm of the crane.

6. The crane lateral load monitoring method according to claim 5, characterized in that, The auxiliary arm is a horizontal arm or a V-shaped arm.

7. The crane lateral load monitoring method according to claim 6, characterized in that, When the support arm is a straight arm and the auxiliary arm is a horizontal arm, the auxiliary arm is installed at the end point of the other end of the support arm to form a T-shaped structure.

8. The crane lateral load monitoring method according to claim 6, characterized in that, When the support arm is a straight arm and the auxiliary arm is a horizontal arm, the auxiliary arm is installed on the support arm at a non-endpoint position in a manner perpendicular to the support arm to form a cross-shaped structure.

9. The crane lateral load monitoring method according to claim 6, characterized in that, When the support arm is a straight arm and the auxiliary arm is a V-shaped arm, the V-shaped top of the auxiliary arm is connected to the support arm to form a Y-shaped structure.

10. The crane lateral load monitoring method according to claim 5, characterized in that, The other end of the support arm is connected to the main boom head of the crane via a main boom tension member; and / or the two side ends of the auxiliary arm are also connected to the undercarriage structure via undercarriage tension members.

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