Intelligent disassembly and assembly of counterweight connection method and system for crane

Abstract

The application discloses a crane intelligent dismounting and mounting counterweight connecting method and system, adopts a rotary encoder and a rotary angle pre-detection proximity switch, a rotary table locking and detection mode, compared with a rotary angle encoder or a sensor detection rotary angle mode, is safer and more reliable, has a higher counterweight connecting success rate, can realize crane counterweight one-key connection or dismounting, does not need personnel participation in an intermediate process, is more humanized and has a higher counterweight dismounting efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to an intelligent dismounting and mounting counterweight connection method and system for a crane, and belongs to the technical field of engineering machinery. BACKGROUND

[0002] In the working process of the crane, in order to ensure the balance of the crane and avoid overturning due to the shift of the center of gravity during hoisting operation, a counterweight needs to be connected to the tail of the slewing ring of the crane. A large-tonnage crane has many counterweights, which need to be removed from the slewing ring during the transfer process and transferred to the chassis or transported separately, and then connected to the slewing ring of the crane according to the tonnage of the hoisted goods at the working site.

[0003] The commonly used counterweight of the crane is an up-lifting combined counterweight, which mainly moves vertically through the counterweight oil cylinder rod. When different combined counterweights are hung, the length of the downward extension of the oil cylinder rod is adjusted to realize the positioning and fixing of the counterweight, as shown in FIG. Figure 1 Before connecting the counterweight, the counterweight block to be installed is hung up and placed on the frame positioning block, which is usually located in front of the center of rotation of the crane (the forward direction of the crane is the front direction), and is symmetrically arranged along the center line. The stacking order of each combined counterweight follows the stacking order requirement of the movable counterweight. The conventional connection method is as follows:

[0004] (1) The counterweight oil cylinder is completely retracted, the crane is controlled to rotate at a low speed, the counterweight oil cylinder is centered with the Figure 1 “counterweight oil cylinder extension position”, at this time the angle of rotation of the slewing ring is defined as the first rotation angle, the length of the extension of the counterweight oil cylinder is adjusted to make it reach the height level with the “counterweight connection stand opening”.

[0005] (2) Counterclockwise rotation, the counterweight oil cylinder is turned to be centered with the “counterweight oil cylinder lifting position”, at this time the angle of rotation of the slewing ring is defined as the second rotation angle, the counterweight oil cylinder is controlled to lift, the counterweight oil cylinder is retracted, the counterweight is lifted to be separated from the frame, and it is confirmed that the upper surface of the movable counterweight is attached to the lower surface of the tail of the slewing ring or the lower surface of the fixed counterweight (if there is a fixed counterweight) is attached tightly. Then the counterweight is successfully installed, and the counterweight dismounting is the same.

[0006] The existing counterweight connection method is mainly divided into indoor control counterweight connection and outdoor control counterweight connection according to the control position. Indoor control is that the operator controls the lifting and rotation of the external counterweight oil cylinder through the control panel and / or control handle in the control room to realize the connection of the counterweight; outdoor control usually adopts a wired remote control box or a wireless remote control mode, and the operator needs to stand outside the control room to operate and observe the relative position of the counterweight oil cylinder and the counterweight mounting hole at a close distance, and manually observe and judge whether the oil cylinder is lifted to the position to realize the dismounting and mounting of the counterweight.

[0007] The outdoor operation mode is more intuitive for the operator, but is greatly affected by weather (such as rainy and snowy weather) and the environment near the vehicle body, and is poor in safety and humanization. The indoor operation environment is more comfortable, but is currently manually operated and judged, relies on the experience and observation of the operator, is limited by the operation field of view, is high in requirements for the operation proficiency and vision of the operator, is prone to cause fatigue of the operator, is poor in operation accuracy, and is low in work efficiency and safety of the counterweight dismounting and mounting. SUMMARY

[0008] To solve the problems in the prior art, the present application provides an intelligent dismounting and mounting counterweight connection method and system for a crane, which solves the problems of low work efficiency and safety in the prior art.

[0009] To achieve the above-mentioned object, the present application adopts the following technical solution:

[0010] An intelligent dismounting and mounting counterweight connection method for a crane comprises the following steps:

[0011] In response to a counterweight installation operation button signal, the current state of the crane is checked, if the counterweight connection condition is not met, the automatic counterweight connection is not allowed, otherwise the counterweight cylinder is controlled to rise;

[0012] In response to the signals of the turret locking detection switch S201 and the turret unlocking detection switch S202, it is judged whether the locking mechanism is unlocked from the starting position, if not, the locking mechanism is controlled to be automatically unlocked, otherwise the turret is controlled to rotate;

[0013] In response to the detection value of the rotation angle encoder, the current rotation angle is analyzed and the rotation speed is controlled;

[0014] In response to the signal of the first rotation angle detection switch S203, it is judged whether the turret has rotated to the first rotation angle position, if yes, the locking mechanism is controlled to be locked in the first locking hole;

[0015] The counterweight cylinder rod is controlled to descend, the limit position detection switch S206 signal is received, it is judged whether the counterweight cylinder has descended to the specified position, if the counterweight cylinder has descended to the specified position, the counterweight cylinder is controlled to stop descending;

[0016] In response to the signals of the turret locking detection switch S201 and the turret unlocking detection switch S202, it is judged whether the locking mechanism is unlocked from the first locking hole, if not, the locking mechanism is controlled to be automatically unlocked, otherwise the turret is controlled to rotate counterclockwise at a low speed;

[0017] In response to the signal of the second rotation angle detection switch S204, it is judged whether the turret has rotated to the second rotation angle position, if yes, the locking mechanism is controlled to be locked in the second locking hole;

[0018] The counterweight oil cylinder rod is lifted, and the lifting limit detection switch S205 signal is received to determine whether the counterweight oil cylinder has been lifted to the top. If the counterweight oil cylinder has been lifted to the top, the counterweight oil cylinder is stopped.

[0019] Further, the step of analyzing the current rotation angle and controlling the rotation speed in response to the rotation angle encoder detection value includes:

[0020] If the rotation angle encoder detects that the turntable is in the safe rotation angle range, the high rotation speed of the turntable is controlled, otherwise the low rotation speed of the turntable is controlled.

[0021] Further, the safe rotation angle range is 0~170° and 195°~360°, and the 0° angle corresponds to the turntable angle in the car receiving state.

[0022] Further, the intelligent disassembly and assembly of the counterweight hanging method for the crane further includes the following steps:

[0023] After a fixed time interval, the locking mechanism is determined to be in the locked state in response to the turntable locking detection switch S201 and the turntable unlocking detection switch S202 signal; and the turntable is determined to be in the car receiving state in response to the rotation angle encoder detection value;

[0024] If the locking mechanism is in the locked state and the turntable is in the car receiving state, the rotation angle encoder is controlled to zero.

[0025] An intelligent disassembly and assembly of the counterweight hanging system for the crane includes a counterweight assembly (4), a counterweight oil cylinder (5), a turntable, a locking mechanism, a rotation encoder B201, a locking detection switch S201, an unlocking detection switch S202, a lifting limit detection switch S205, a lowering limit detection switch S206 and a controller.

[0026] The rotation encoder B201 is used to detect the rotation angle of the turntable and send the rotation angle signal to the controller.

[0027] The counterweight oil cylinder (5) is used to lift the counterweight assembly (4).

[0028] The locking mechanism is arranged on the turntable and is used to control the rotation of the turntable.

[0029] The locking detection switch S201 and the unlocking detection switch S202 are used to detect whether the locking mechanism is unlocked.

[0030] The lifting limit detection switch S205 and the lowering limit detection switch S206 are used to detect the lifting and lowering positions of the counterweight oil cylinder (5).

[0031] The controller is connected with the rotary encoder B201, the locking detection switch S201, the unlocking detection switch S202, the ascending limit position detection switch S205 and the descending limit position detection switch S206, and the controller controls the rotation table, the locking mechanism and the counterweight oil cylinder according to the detection information of the rotary encoder B201, the locking detection switch S201, the unlocking detection switch S202, the ascending limit position detection switch S205 and the descending limit position detection switch S206.

[0032] Further, the intelligent counterweight dismounting and mounting hooking system for the crane further comprises a first rotary angle detection switch S203 and a second rotary angle detection switch S204.

[0033] The first rotary angle detection switch S203 and the second rotary angle detection switch S204 are respectively connected with the controller, and the first rotary angle detection switch S203 and the second rotary angle detection switch S204 are respectively used for detecting whether the rotation table moves to the first rotary angle and the second rotary angle.

[0034] Further, the locking mechanism is a locking pin device or a gear meshing locking device.

[0035] Further, the locking detection switch S201, the unlocking detection switch S202, the first rotary angle detection switch S203, the second rotary angle detection switch S204, the ascending limit position detection switch S205 and the descending limit position detection switch S206 are one of an inductive sensor / proximity switch, a photoelectric sensor, an ultrasonic distance measuring sensor and a laser distance measuring sensor.

[0036] A computer readable storage medium, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to realize the steps of the intelligent counterweight dismounting and mounting hooking method for the crane.

[0037] An electronic device comprises:

[0038] A memory is configured to store a computer program / instruction;

[0039] A processor is configured to execute the computer program / instruction to realize the steps of the intelligent counterweight dismounting and mounting hooking method for the crane.

[0040] The present application has the following beneficial effects:

[0041] 1. The intelligent counterweight dismounting and mounting function realizing method for the crane adopts the rotary encoder and the rotary angle pre-detection proximity switch, the rotation table locking and detection mode, and compared with the mode of separately adopting the rotary angle encoder or the sensor to detect the rotary angle, the mode is safer and more reliable, and the counterweight hooking success rate is higher.

[0042] 2. The intelligent counterweight dismounting function implementation method for the crane provided by the application can realize one-key connection or dismounting of the crane counterweight, and personnel is not required to participate in the intermediate process, which is more humanized and has higher counterweight dismounting efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 is a schematic diagram of the combined counterweight connection system of the application;

[0044] Figure 2 is a top view of the counterweight connection system of the application;

[0045] Figure 3 is a schematic diagram of main components of the counterweight connection system of the application;

[0046] Figure 4 is a 0° angle schematic diagram of the counterweight connection system of the application;

[0047] Figure 5 is a first rotation angle schematic diagram of the counterweight connection system of the application;

[0048] Figure 6 is a second rotation angle schematic diagram of the counterweight connection system of the application;

[0049] Figure 7 is a flowchart of the counterweight connection method of the application.

[0050] Meaning of reference signs in the drawing: 1 - counterweight oil cylinder lifting position; 2 - counterweight oil cylinder extension position; 3 - counterweight connection stand opening; 4 - counterweight assembly; 5 - counterweight oil cylinder; 6 - counterweight oil cylinder positioning block; 7 - locking detection switch S201; 8 - unlocking detection switch S202; 9 - first rotation angle detection switch S203; 10 - second rotation angle detection switch S204; 11 - lifting limit detection switch S205; 12 - lowering limit detection switch S206; 13 - 0° angle locking hole; 14 - first locking hole; 15 - second locking hole; 16 - rotation angle encoder B201. DETAILED DESCRIPTION

[0051] The technical solutions of the application will be described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and the specific features in the embodiments are detailed descriptions of the technical solutions of the application, rather than limitations of the technical solutions of the application, and the technical features in the embodiments and the embodiments can be combined with each other without conflict.

[0052] Embodiment one

[0053] The embodiment discloses an intelligent dismounting and connection system for a crane counterweight, as shown in Figures 1 to 6The main components include counterweight assembly, counterweight cylinder, slewing ring, locking mechanism and vehicle control system. The main electrical components include slewing encoder B201 for detecting slewing angle, locking detection switch S201, unlocking detection switch S202, first slewing angle detection switch S203, second slewing angle detection switch S204, upper limit position detection switch S205, lower limit position detection switch S206, counterweight mounting operation button S1, counterweight dismounting operation button S2 (the buttons S1 and S2 can be shared), and crane controller. In addition, the above detection signals and switch signals can be sent to the display after being processed by the controller, and the operator can observe the current counterweight state and prompt information through the display.

[0054] The whole counterweight assembly hanging structure is as shown in Figure 2The counterweight is mounted as an example. For convenience of description, the default parking state of the rotating table is 0°, the rotating table rotates to the rear of the vehicle, i.e. the second rotating angle is the counterweight cylinder lifting position, the first rotating angle is the counterweight cylinder extension position, and the actual situation can be adjusted. The rotating table locking mechanism can be locked at least three rotating angle positions of the rotating table, which are 0°, the second rotating angle and the first rotating angle. Locking pin holes are designed on the frame directly below the corresponding rotating angle rotating table locking pins, the locking pins are inserted into the locking pin holes, and the rotating table is locked at the corresponding angle. The locking state of the rotating table is detected by the locking detection switch S201 and the unlocking detection switch S202 installed on the locking mechanism. When the rotating table is locked, the state of the locking detection switch S201 is 1, and the state of the unlocking detection switch S202 is 0. When the rotating table locking pin is lifted, i.e. the rotating table is separated from the frame, the state of the locking detection switch S201 changes from 1 to 0, and the state of the unlocking detection switch S202 changes from 0 to 1. At this time, the rotating can be performed. The rotating angle is detected by the rotating angle encoder B201, and the controller receives the B201 detection signal to determine the current rotating angle. In order to prevent the angle from being inaccurate due to the error of the rotating encoder signal or the damage of the sensor, the first rotating angle detection switch S203 and the second rotating angle detection switch S204 are added. When the rotating angle approaches the first rotating angle, the first rotating angle can be set to ±5° according to the rotating direction, and the actual situation can be adjusted. The controller controls the rotating speed to slow down, and when the angle basically reaches the first rotating angle, the state of the detection switch S203 changes from 0 to 1, and at this time the counterweight cylinder reaches the counterweight cylinder extension position 2; continue to rotate to basically reach the second rotating angle, the state of the detection switch S203 changes from 1 to 0, and the state of the detection switch S204 changes from 0 to 1, and at this time the counterweight cylinder reaches the counterweight cylinder lifting position. The lifting and lowering positions of the counterweight cylinder are detected by the lifting limit detection switch S205 and the lowering limit detection switch S206. Since the counterweight hanging column gap position 3 is determined, the counterweight cylinder lowering position is determined, S206 can use an inductive proximity switch, and S205 can use a pressure switch. When the counterweight cylinder is lowered to the counterweight hanging column gap position 3, the state of the detection switch S206 changes from 0 to 1, and when the counterweight cylinder is lifted to the limit position, the state of the switch S205 changes from 0 to 1. In order to further ensure the accuracy of the angle position of the counterweight cylinder, prevent the angle from being deviated, and prevent the counterweight cylinder from being damaged or the counterweight block from falling, a mechanical locking judgment is added, i.e. when the detection switch detects the rotating angle to the first and second rotating angle positions, the rotating table is first locked, i.e. the state of the unlocking detection switch S202 changes from 1 to 0 and the state of the locking detection switch S201 changes from 0 to 1, and then the controller allows the counterweight cylinder to perform lifting and lowering actions.

[0055] Example Two

[0056] The embodiment discloses an intelligent dismounting and mounting method for a counterweight of a crane, and specifically comprises the following steps:

[0057] As Figure 7As shown, the counterweight installation process is as follows: press the counterweight installation operation button S1, the crane controller checks the current state, if not qualified counterweight hanging conditions, such as the boom angle is too low to lift from the boom, the system exists fault alarm, etc., not allowed to automatically counterweight hanging, the display increases the reminder "not meet the counterweight automatic installation conditions, please raise the arm, please check the system × × fault" etc. When the counterweight hanging conditions are met, taking the initial rotation angle of 0° and the turret lock pin as an example, first, to ensure safety, the counterweight cylinder is raised to prevent the cylinder rod from being damaged due to the counterweight cylinder not fully retracted. After determining that the counterweight cylinder is fully retracted through the detection switch, the controller controls the turret lock pin to be unlocked according to the current detection state. When the controller detects that the turret lock detection switch S201 state changes from 1 to 0 and the turret unlock detection switch S202 state changes from 0 to 1, it indicates that the unlocking is successful. Then the controller controls the turret to rotate. The controller receives the detection value of the rotation angle encoder, analyzes and judges the current rotation angle. When it is away from the pre-detection position, the rotation speed is high. When it reaches a certain rotation angle (safety rotation angle), the rotation speed is reduced. When it approaches the first rotation angle, the rotation speed is further reduced. When the first rotation angle detection switch S203 state changes from 0 to 1, the rotation stops. The controller controls the turret lock pin to be locked downward in the first locking hole. At this time, the turret unlock detection switch S202 state changes from 1 to 0 and the turret lock detection switch S201 state changes from 0 to 1, indicating that the turret locking is successful. At this time, the counterweight cylinder stops at the position directly above the counterweight cylinder extension position 2 of the counterweight block. The controller starts to control the counterweight cylinder rod to descend. During the descent process, the counterweight cylinder lift detection switch S205 state changes from 1 to 0 and the counterweight cylinder descent limit detection switch S206 state changes from 0 to 1, indicating that the counterweight cylinder has descended to the specified position. At this time, the counterweight cylinder bottom hanging position is flush with the counterweight hanging column gap on the counterweight block, and the counterweight cylinder stops descending. The controller controls the turret lock pin to be unlocked from the first locking hole. When it is detected that the turret lock detection switch S201 state changes from 1 to 0 and the turret unlock detection switch S202 state changes from 0 to 1, it indicates that the unlocking is successful. The controller controls the turret to rotate counterclockwise at a low speed. When it is detected that the rotation angle approaches the second rotation angle, the first rotation angle detection switch S203 state changes from 1 to 0 and the second rotation angle detection switch S204 state changes from 0 to 1, the rotation stops. The controller controls the turret lock pin to be locked downward in the second locking hole. The turret unlock detection switch S202 state changes from 1 to 0 and the turret lock detection switch S201 state changes from 0 to 1, indicating that the turret locking is successful. At this time, the counterweight cylinder stops at the counterweight cylinder hanging position 1 of the counterweight block. The controller controls the counterweight cylinder rod to rise. During the rising process, the counterweight cylinder descent detection switch S206 state changes from 1 to 0 and the counterweight cylinder lift detection switch S205 state changes from 0 to 1, indicating that the counterweight cylinder has risen to the top and the counterweight upper plane is flush with the turret tail lower plane or the fixed counterweight (if there is a fixed counterweight) lower plane.The controller controls the counterweight oil cylinder to stop, and transmits a counterweight hanging completion signal to the display, and the display displays that the counterweight is successfully mounted.

[0058] Optionally, the detection switch mentioned in the patent can adopt, but is not limited to, an inductive sensor / proximity switch, and can also adopt a photoelectric sensor and an ultrasonic, laser and other distance measurement sensors. The detection switch states 0 and 1 can also be adjusted according to the actual sensor type.

[0059] Preferably, in order to further improve the intelligent counterweight dismounting efficiency and safety, the 0-360° rotation angle is divided into several regions, such as 0-170° and 195°-360° as safe rotation angles. In the safe angle range, the counterweight oil cylinder is not allowed to lift, and the rotation electromagnetic valve current value is increased, so that the turntable rotates at a faster speed. In the non-safe angle range, the rotation electromagnetic valve current value is reduced, and the turntable rotates at a lower speed. When approaching the predetermined angle (the predetermined angle refers to the first rotation angle, the second rotation angle and the 0° angle mentioned above), in order to ensure safety, the rotation speed is further reduced.

[0060] Preferably, the counterweight hanging rotation direction can be automatically selected by the controller according to the current state of the crane, such as automatically selecting the direction that can quickly reach the counterweight hanging position according to the current angle value, so as to improve the working efficiency. If a rotation virtual wall is set, the rotation virtual wall angle is automatically selected by default. The rotation direction can also be selected by the operator according to the actual conditions of the site.

[0061] Preferably, after a period of time, when the crane is located in the front (i.e. in the parking state, the turntable is located at the 0° angle), the turntable locking pin is locked, and the rotation encoder can be zeroed synchronously through the controller program, so as to prevent the angle measurement from being inaccurate due to the zero point drift or cumulative measurement error of the encoder working for a long time.

[0062] Preferably, for the crane whose turntable can be locked at any 360° angle, such as gear meshing locking and non-locking pin locking, the method is also applicable. At this time, after the second rotation angle and the first rotation angle are detected, the locking pin locking is changed to the gear meshing locking, and the detection switches S201 and S202 can also detect the locking and unlocking states.

[0063] Optionally, the detection switches S203 and S204 can not be assembled, and the first rotation angle and the second rotation angle can also be recognized by the rotation angle encoder B201.

[0064] Embodiment Three

[0065] Based on the same inventive concept as Embodiment Two, this embodiment introduces a computer storage medium, the storage medium storing at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by a processor to implement the intelligent disassembly and assembly of the counterweight of the crane provided in Embodiment Two above.

[0066] Embodiment Four

[0067] Based on the same inventive concept as Embodiment Two, this embodiment discloses an electronic device, the electronic device comprising a processor and a memory, the memory storing at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by the processor to implement the intelligent disassembly and assembly of the counterweight of the crane.

[0068] Those skilled in the art will understand that embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) having computer usable program code embodied therein.

[0069] The present application is described in reference to flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce an apparatus that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0070] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flowcharts and / or block diagrams.

[0071] These computer program instructions can also be loaded into a computer or other programmable data processing devices, so that a series of operational steps are performed on the computer or other programmable data processing devices to generate a computer-implemented process, so that the instructions executed on the computer or other programmable data processing devices provide a process for implementing the functions specified in the flowchart Figure 1 one flow or multiple flows and / or the functions specified in the block Figure 1 one flow or multiple flows and / or the functions specified in the block

[0072] The above description is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method for intelligent disassembly and assembly of a hoist with a counterweight connection, characterized in that, The method comprises the following steps: In response to the counterweight installation operation button signal, the current state of the crane is checked, if the counterweight hooking condition is not met, automatic counterweight hooking is not allowed, otherwise the counterweight oil cylinder is controlled to rise; In response to the turret locking detection switch S201 and the turret unlocking detection switch S202 signals, it is judged whether the locking mechanism is unlocked from the starting position, if not, the locking mechanism is automatically unlocked, otherwise the turret is controlled to rotate counterclockwise at low speed; In response to the rotation angle encoder detection value, the current rotation angle is analyzed and the rotation speed is controlled; In response to the first rotation angle detection switch S203 signal, it is judged whether the turret has rotated to the first rotation angle position, if yes, the locking mechanism is controlled to be locked in the first locking hole; The counterweight oil cylinder rod is controlled to descend, the descending limit detection switch S206 signal is received, and it is judged whether the counterweight oil cylinder has descended to the specified position, if the counterweight oil cylinder has descended to the specified position, the counterweight oil cylinder is controlled to stop descending; In response to the turret locking detection switch S201 and the turret unlocking detection switch S202 signals, it is judged whether the locking mechanism is unlocked from the first locking hole, if not, the locking mechanism is automatically unlocked, otherwise the turret is controlled to rotate counterclockwise at low speed; In response to the second rotation angle detection switch S204 signal, it is judged whether the turret has rotated to the second rotation angle position, if yes, the locking mechanism is controlled to be locked in the second locking hole; The counterweight oil cylinder rod is controlled to rise, the ascending limit detection switch S205 signal is received, and it is judged whether the counterweight oil cylinder has risen to the top, if the counterweight oil cylinder has risen to the top, the counterweight oil cylinder is controlled to stop.

2. The intelligent disassembly and assembly of counterweight connection method for cranes according to claim 1, characterized in that, The step of analyzing the current rotation angle and controlling the rotation speed in response to the rotation angle encoder detection value comprises: If the rotation angle encoder detects that the turret is in a safe rotation angle range, the turret is controlled to rotate at a high speed, otherwise the turret is controlled to rotate at a low speed.

3. The intelligent disassembly and assembly of counterweight connection method for cranes according to claim 2, characterized in that, The safe rotation angle range is 0~170° and 195°~360°, and the 0° angle corresponds to the turret angle in the car receiving state.

4. The intelligent disassembly and assembly of counterweight connection method for cranes according to claim 1, characterized in that, Further comprising the following steps: After a fixed time interval, in response to the turret locking detection switch S201 and the turret unlocking detection switch S202 signals, it is judged whether the locking mechanism is in the locked state; in response to the rotation angle encoder detection value, it is analyzed whether the turret is in the car receiving state; If the locking mechanism is in the locked state and the turret is in the car receiving state, the rotation angle encoder is controlled to zero.

5. An intelligent dismounting and assembling counterweight hitch system for a crane, characterized by The method comprises the following steps: The counterweight assembly (4), the counterweight oil cylinder (5), the turret, the locking mechanism, the rotation encoder B201, the locking detection switch S201, the unlocking detection switch S202, the ascending limit detection switch S205, the descending limit detection switch S206 and the controller are provided. The rotation encoder B201 is used to detect the rotation angle of the turret and send the rotation angle signal to the controller. The counterweight oil cylinder (5) is used to lift the counterweight assembly (4). The locking mechanism is arranged on the turret and is used to control the rotation of the turret. The locking detection switch S201 and the unlocking detection switch S202 are used to detect whether the locking mechanism is unlocked. The ascending limit detection switch S205 and the descending limit detection switch S206 are used to detect the ascending and descending positions of the counterweight oil cylinder (5). The controller executes the intelligent disassembly and assembly counterweight connection method of the crane as claimed in any one of claims 1-4, and is connected with the rotary encoder B201, the locking detection switch S201, the unlocking detection switch S202, the ascending limit detection switch S205, and the descending limit detection switch S206. The controller controls the rotation table, the locking mechanism, and the counterweight cylinder according to the detection information of the rotary encoder B201, the locking detection switch S201, the unlocking detection switch S202, the ascending limit detection switch S205, and the descending limit detection switch S206.

6. The intelligent dismounting and assembling counterweight hitching system for cranes according to claim 5, characterized in that, The first rotary angle detection switch S203 and the second rotary angle detection switch S204 are further included. The first rotary angle detection switch S203 and the second rotary angle detection switch S204 are respectively connected with the controller, and are respectively used for detecting whether the rotation table moves to the first rotary angle and the second rotary angle.

7. The intelligent dismounting and assembling counterweight hitching system for cranes according to claim 5, characterized in that, The locking mechanism is a locking pin device or a gear meshing locking device.

8. The intelligent dismounting and assembling counterweight hitching system for cranes according to claim 6, characterized in that, The locking detection switch S201, the unlocking detection switch S202, the first rotary angle detection switch S203, the second rotary angle detection switch S204, the ascending limit detection switch S205, and the descending limit detection switch S206 are one of an inductive sensor / proximity switch, an optical sensor, an ultrasonic distance measurement sensor, and a laser distance measurement sensor.

9. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to realize the steps of the intelligent disassembly and assembly counterweight connection method of the crane as claimed in any one of claims 1-4.

10. An electronic device, comprising: It comprises: a memory for storing the computer program / instruction; a processor for executing the computer program / instruction to realize the steps of the intelligent disassembly and assembly counterweight connection method of the crane as claimed in any one of claims 1-4.

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