Self-inspection method, self-inspection system and engineering machinery for suspended movable counterweights

Abstract

This application relates to the field of engineering machinery technology, and discloses a method, system, and engineering machinery for self-inspection of the weight of a suspended movable counterweight. The method for self-inspection of the weight of a suspended movable counterweight detects the pressure in the rod chamber of the lifting cylinder, records the actual lifting time of the movable counterweight at different pressure values ​​in the rod chamber, and then determines the weight of the movable counterweight being lifted by the lifting cylinder by comparing the actual lifting time and the change in pressure value in the rod chamber. This achieves automatic identification of the movable counterweight's weight. By matching the weight determined based on the pressure value in the rod chamber with the manually set weight, the manually set weight can be corrected, effectively avoiding the risk of vehicle rollover due to incorrect manual setting of the counterweight weight, and greatly improving operational reliability.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery technology, specifically relating to a method, system and engineering machinery for self-inspection of the weight of a suspended movable counterweight. Background Technology

[0002] For the needs of relocation and lifting operations, modern medium and large tonnage truck cranes often employ a suspended movable counterweight structure. The suspended counterweight loading and unloading mechanism consists of two counterweight lifting cylinders, two hydraulic locks, and other auxiliary components. When the movable counterweight is lifted, oil enters the rod-side chamber of the lifting cylinder and returns oil to the rodless side; when the movable counterweight is lowered, oil enters the rodless side chamber and returns oil to the rod-side chamber. During on-site lifting operations, the movable counterweight must first be assembled before installation. When lifting, the operator needs to assemble the corresponding counterweight according to the rated lifting capacity table, then use the counterweight loading and unloading mechanism to install the assembled movable counterweight into place, and finally select the corresponding counterweight weight in the torque limiter system.

[0003] In existing technologies, the assembly and setting of counterweights are typically done manually, and the weight of the movable counterweight is not automatically detected after it is assembled. Different counterweight weights result in significantly different maximum lifting capacities for the crane. Manually setting the counterweight in the torque limiter system is problematic; if the set counterweight does not match the actual assembled counterweight, the crane risks tipping over during operation, posing a significant safety hazard. Summary of the Invention

[0004] The purpose of this application is to provide a method, system and engineering machinery for self-inspection of the weight of a suspended movable counterweight, in order to solve the dangerous problems such as tipping caused by the mismatch between the set counterweight weight and the actual combined counterweight weight due to human error in the prior art.

[0005] To achieve the above objectives, this application provides a method for self-checking the weight of a suspended movable counterweight, comprising:

[0006] S100: The counterweight lifting cylinder is lifted by controlling the lifting solenoid valve;

[0007] S200: Obtain the pressure value of the rod chamber during the lifting process of the counterweight lifting cylinder, wherein the lifting process of the counterweight lifting cylinder is divided into a free stroke stage, a stable lifting stage, and a lifting-to-position stage, and the pressure value of the rod chamber corresponding to the free stroke stage is defined as P1, the pressure value of the rod chamber corresponding to the stable lifting stage is P2, and the pressure value of the rod chamber corresponding to the lifting-to-position stage is P3, where P1 < P2 < P3;

[0008] S300: When the pressure value of the rod chamber rises directly from P1 to P2 or P3, it is recorded as the first actual lifting time. If the first actual lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the movable counterweight, it is determined that the weight of the movable counterweight being lifted at this time is 0.

[0009] S400: When the pressure value of the rod chamber rises from P2 to P3, it is recorded as the second actual lifting time. If the second actual lifting time is greater than the second preset time that is the least in the stable lifting stage, the weight of the movable counterweight being lifted at this time is determined to be M.

[0010] S500: When the pressure value of the rod chamber is equal to P3, and the total lifting time of the counterweight lifting cylinder is greater than the minimum third preset time when the movable counterweight is lifted into place, the weight matching of the movable counterweight is performed according to step S300 or step S400.

[0011] As a further improvement to the above technical solution:

[0012] In some embodiments, step S300 further includes:

[0013] S310: When the pressure value in the rod chamber is equal to P1, and when the lifting solenoid valve completes one cycle of energization and de-energization, record the first pre-lifting time and wait to accumulate it with the next first pre-lifting time;

[0014] S320: If the total duration accumulated from the first pre-lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the active counterweight, it is determined that the weight of the active counterweight being lifted at this time is 0.

[0015] S330: If the total duration of the first pre-lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the active counterweight, it is determined that the weight of the active counterweight being lifted at this time is 0.

[0016] In some embodiments, step S300 further includes:

[0017] S340: If the first pre-lifting time or the total time accumulated from the first pre-lifting time is less than the minimum first preset time for the counterweight lifting cylinder to exit the active counterweight, wait for the lifting solenoid valve to be energized again and execute step S310.

[0018] In some embodiments, step S400 further includes:

[0019] S410: When the pressure value in the rod chamber is equal to P2, and when the lifting solenoid valve completes one cycle of energization and de-energization, record the second pre-lifting time and wait to accumulate it with the next second pre-lifting time;

[0020] S420: If the second pre-lift duration in the first stage is greater than the minimum second preset duration in the stable lifting stage, determine that the weight of the active counterweight being lifted at this time is M;

[0021] S430: If the total duration of the second pre-lifting duration is greater than the minimum second preset duration in the stable lifting phase, the weight of the active counterweight being lifted at this time is determined to be M.

[0022] In some embodiments, step S400 further includes:

[0023] S440: If the second pre-lift duration is less than the minimum second preset duration in the stable lifting phase, wait for the lifting solenoid valve to be energized again and execute step S410.

[0024] In some embodiments, multiple counterweight lifting cylinders are provided, and the pressure value of the rod chamber of each counterweight lifting cylinder is equal;

[0025] Step S200 further includes: performing mutual verification based on the pressure value of the rod chamber of each of the counterweight lifting cylinders.

[0026] A second aspect of this application provides a suspended movable counterweight self-testing system, which applies the suspended movable counterweight self-testing method according to the first aspect described above. The suspended movable counterweight self-testing system includes:

[0027] A pressure detector is used to monitor the pressure value in the rod chamber of the counterweight lifting cylinder;

[0028] The controller is configured to acquire the pressure value, calculate the current weight information of the active counterweight based on the pressure value, and perform weight matching; and

[0029] A torque limiter is used for safety control based on the weight information of the counterweight.

[0030] In some embodiments, as a further improvement to the above technical solution:

[0031] The formula for calculating the weight M of the movable counterweight is:

[0032] F=P2×π(R 2 -r 2 )-Fc; M=n×F÷g;

[0033] Wherein, F is the tension borne by the counterweight lifting cylinder, P2 is the pressure value of the rod chamber during the stable lifting stage, π is pi, R is the inner radius of the rod chamber, r is the outer radius of the piston rod, Fc is the back pressure of the hydraulic system, n is the number of counterweight lifting cylinders, and g is the gravity coefficient.

[0034] In some embodiments, the suspended movable counterweight weight self-testing system further includes a human-machine interaction module, which is electrically connected to the controller and has a display.

[0035] The display is used to show the pressure value of the rod chamber during the lifting process of the counterweight lifting cylinder and the current weight information of the movable counterweight.

[0036] The third aspect of this application provides an engineering machine, including a suspended movable counterweight weight self-checking system provided according to the second aspect.

[0037] Compared to existing technologies, this embodiment provides a self-inspection method, self-inspection system, and engineering machinery for suspended movable counterweights. The self-inspection method detects the pressure in the rod chamber of the lifting cylinder, records the actual lifting time of the movable counterweight at different pressure values, and then determines the weight of the movable counterweight being lifted by the lifting cylinder by comparing the actual lifting time and the change in pressure in the rod chamber. This achieves automatic identification of the movable counterweight's weight. By matching (comparing) the weight determined based on the pressure value in the rod chamber with the manually set weight, the manually set weight can be corrected, effectively avoiding the risk of vehicle rollover due to incorrect manual setting of the counterweight weight, and greatly improving operational reliability.

[0038] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0040] Figure 1 A flowchart illustrating a method for self-checking the weight of a suspended movable counterweight provided in this application embodiment;

[0041] Figure 2This application provides a curve showing the pressure change in the rod chamber of a counterweight lifting cylinder when lifting a movable counterweight.

[0042] Figure 3 This application provides a curve showing the pressure change of the rod chamber of a counterweight lifting cylinder during unloaded lifting.

[0043] Figure 4 A flowchart of another method for self-checking the weight of a suspended movable counterweight provided in an embodiment of this application;

[0044] Figure 5 A flowchart of another method for self-checking the weight of a suspended movable counterweight provided in an embodiment of this application;

[0045] Figure 6 This is a modular schematic diagram of another suspended movable counterweight self-checking system provided in an embodiment of this application.

[0046] Explanation of reference numerals in the attached figures

[0047] 100. Pressure detector;

[0048] 200. Controller;

[0049] 300. Torque limiter;

[0050] 400. Human-computer interaction module. Detailed Implementation

[0051] The specific embodiments of this application 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 this application.

[0052] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0053] Example 1

[0054] Please see Figure 1 , Figure 2 and Figure 3 This embodiment provides a method for self-checking the weight of a suspended movable counterweight. Suspended movable counterweights are commonly used in truck cranes. The counterweight loading and unloading mechanism in a truck crane consists of a counterweight lifting cylinder, two hydraulic locks, and other auxiliary components. When the movable counterweight is lifted, oil enters the rod-side chamber of the counterweight lifting cylinder and returns oil to the rodless chamber; when the movable counterweight is lowered, oil enters the rodless chamber of the counterweight lifting cylinder and returns oil to the rod-side chamber.

[0055] Furthermore, the movable counterweight includes an upper movable counterweight, intermediate movable counterweights, and a lower movable counterweight. Therefore, the movable counterweight can be a single lower movable counterweight, or a combination of a lower movable counterweight and an upper movable counterweight, or multiple intermediate movable counterweights. Thus, the weight of the movable counterweight needs to be rationally configured according to the on-site lifting conditions. However, the assembly of movable counterweights is mostly done manually on-site, and then the assembled movable counterweight is lifted into position by the counterweight lifting cylinder in the counterweight loading and unloading mechanism. Finally, it is manually adjusted by the torque limiter at 300 (see [reference]). Figure 6 Select the corresponding counterweight weight. Understandably, if the counterweight weight is set incorrectly, the entire crane may tip over.

[0056] To address the aforementioned issues, the self-checking method for the weight of a suspended movable counterweight provided in this embodiment includes the following steps:

[0057] S100: The counterweight lifting cylinder is raised by controlling the lifting of the counterweight lifting cylinder via a lifting solenoid valve. Each counterweight lifting cylinder is equipped with a lifting solenoid valve, which controls the flow of hydraulic oil into and out of the counterweight lifting cylinder, thereby controlling the lifting or extension of the counterweight lifting cylinder.

[0058] S200: Obtain the pressure value of the rod chamber during the lifting process of the counterweight lifting cylinder. The lifting process of the counterweight lifting cylinder is divided into a free stroke stage, a stable lifting stage, and a lifting position stage. The pressure value of the rod chamber corresponding to the free stroke stage is defined as P1, the pressure value of the rod chamber corresponding to the stable lifting stage is P2, and the pressure value of the rod chamber corresponding to the lifting position stage is P3, where P1 < P2 < P3.

[0059] It should be noted that during the process of the counterweight lifting cylinder lifting the movable counterweight, the pressure curve of the rod chamber of the counterweight lifting cylinder is as follows: Figure 2 As shown. Combined with Figure 2The time segment corresponding to time t0 is the opening stage of the balance valve controlled by the lifting solenoid valve, during which the pressure in the rod chamber rises sharply and then falls; the time segment corresponding to time t1 is the free stroke stage of the counterweight lifting cylinder, during which the pressure value (P1) in the rod chamber remains stable, the counterweight is not lifted, and the pressure in the rod chamber is relatively small; the time segment corresponding to time t2 is the stage where the movable counterweight is lifted, during which the pressure in the rod chamber rises sharply with the lifting stroke (time); the time segment corresponding to time t3 is the stage where the movable counterweight is steadily lifted, during which the pressure value (P2) in the rod chamber remains stable, and the movable counterweight fully acts on the counterweight lifting cylinder. On the piston rod of the cylinder, the pressure in the rod chamber tends to stabilize. Understandably, the pressure in the rod chamber is determined by the weight of the moving counterweight being lifted. The segment corresponding to time period t4 is the section where the moving counterweight is close to its position. At this time, the moving counterweight is in contact with the fixed counterweight (the fixed counterweight is fixedly installed on the counterweight mounting bracket of the counterweight lifting mechanism, and the piston rod of the counterweight lifting cylinder passes through the fixed counterweight to lift the moving counterweight). The pressure in the rod chamber rises sharply with the rising stroke (time) of the moving counterweight. The segment corresponding to time period t5 is the stage where the moving counterweight is fully lifted into position. At this time, the balance valve overflows, and the pressure value (P3) in the rod chamber is determined by the pressure value set by the overflow valve of the counterweight lifting circuit of the hydraulic system.

[0060] Therefore, the lifting process of the counterweight lifting cylinder can be divided into three stable stages: the free stroke stage, the stable lifting stage, and the lifting to the final position stage. The pressure in the rod chamber corresponding to each of these three stages will have three relatively stable pressure values: P1, P2, and P3. The P1 value is relatively small, determined by the opening pressure of the counterweight lifting cylinder's balance valve and the friction of the counterweight lifting cylinder itself. The P3 value is relatively large, determined by the set pressure of the lifting oil circuit overflow valve. The magnitude of the P2 value is mainly determined by the weight of the movable counterweight being lifted. The pressure value in the rod chamber can be estimated through design for each movable counterweight combination.

[0061] During the disassembly of the movable counterweight, the counterweight loading and unloading mechanism first controls the counterweight lifting cylinder to lower the movable counterweight to the ground via a lifting solenoid valve, and then controls the lifting cylinder to raise it so that the piston rod of the lifting cylinder completely retracts from the movable counterweight. The pressure curve of the rod chamber when the counterweight lifting cylinder is lifting under no-load is shown below. Figure 3 As shown. Combined with Figure 3The pressure change of the piston rod of the counterweight lifting cylinder from the start of lifting to the complete retraction of the current active counterweight is as follows: The segment corresponding to time t0 is the opening stage of the balance valve controlled by the lifting solenoid valve. At this time, the pressure in the rod chamber rises sharply and then falls; The segment corresponding to time t1' is the free stroke stage of the counterweight lifting cylinder. During this free stroke stage, the pressure value (P1) in the rod chamber remains stable. At this time, the piston rod retracts from the active counterweight, and the pressure in the rod chamber is relatively small; The segment corresponding to time t4' is the stage where the piston rod retracts and approaches the end position. At this time, the end structure of the piston rod contacts the fixed counterweight, and the pressure in the rod chamber rises sharply with the piston rod's upward stroke (time); The segment corresponding to time t5' is the stage where the piston rod is completely retracted. At this time, the balance valve overflows, and the pressure value (P3) in the rod chamber is determined by the pressure value set by the relief valve of the counterweight lifting circuit of the hydraulic system.

[0062] It should also be noted that in the above-mentioned overshooting of the lifting cylinder for lifting the movable counterweight and the unloaded lifting, the pressure values ​​P1 and P3 in the rod chamber are the same.

[0063] S300: When the pressure value in the rod chamber rises directly from P1 to P2 or P3, it is recorded as the first actual lifting time. If the first actual lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the active counterweight, it is determined that the weight of the active counterweight being lifted at this time is 0.

[0064] Understandably, in step S300 above, timing begins when the pressure value in the rod chamber of the counterweight lifting cylinder equals P1, and stops when the pressure value in the rod chamber rises to P2 or P3. This duration is defined as the first actual lifting time. Specifically, the process of the pressure value in the rod chamber rising from P1 to P2 represents the piston rod of the counterweight lifting cylinder moving from its free stroke stage to the stable lifting stage of the movable counterweight. This indicates that a movable counterweight is installed on the piston rod, but since this stroke is the free stroke of the piston rod, the detected movable counterweight weight should be 0. The process of the pressure value in the rod chamber rising from P1 to P3 represents the piston rod of the counterweight lifting cylinder moving directly from its free stroke stage to the lifting position stage, without a stable lifting stage of the movable counterweight. Therefore, it can be determined that no counterweight is suspended on the piston rod, resulting in an unloaded reset, and thus the movable counterweight weight can also be determined to be 0.

[0065] Furthermore, the heights of different combinations of movable counterweights vary, resulting in different piston rod retraction strokes and therefore different retraction times. To address this, a minimum retraction time for the piston rod of the counterweight lifting cylinder can be determined before shipment based on different combinations of movable counterweights and experiments. This minimum time is defined as the first preset time and set in the program.

[0066] S400: When the pressure value in the rod chamber rises from P2 to P3, it is recorded as the second actual lifting time. If the second actual lifting time is greater than the second preset time that is the least in the stable lifting phase, the weight of the active counterweight being lifted at this time is determined to be M.

[0067] Understandably, in step S400 above, timing begins when the pressure value in the rod chamber of the counterweight lifting cylinder equals P2, and stops when the pressure value in the rod chamber rises to P3. This duration is defined as the second actual lifting time. The process of the pressure value in the rod chamber rising from P2 to P3 represents the stable lifting phase of the piston rod of the counterweight lifting cylinder lifting the movable counterweight. This indicates that the pressure value in the rod chamber stabilizes at P2 when the piston rod lifts the movable counterweight (which can be detected by the pressure detector 100). Therefore, the weight M of the current movable counterweight can be calculated from the pressure value P2. The specific calculation formula is as follows:

[0068] F = P² × π (R) 2 -r 2 )-Fc (1)

[0069] M=n×F÷g (2)

[0070] Where F is the tension borne by the counterweight lifting cylinder, P2 is the pressure value of the rod chamber during the stable lifting stage, π is pi, R is the inner radius of the rod chamber, r is the outer radius of the piston rod, Fc is the back pressure of the hydraulic system, n is the number of counterweight lifting cylinders, and g is the gravity coefficient.

[0071] It should be noted that when the counterweight is lifted by oil entering the rod chamber, the oil in the rodless chamber returns directly to the oil tank through the control valve group, and the pressure in the rodless chamber is determined by the back pressure (Fc) of the hydraulic system. Therefore, the tension F borne by the counterweight lifting cylinder is first calculated based on the current pressure value P2 of the rod chamber using the above formula (1). The calculated tension F is the tension of one of the counterweight lifting cylinders. Then, the weight M of the currently moving counterweight is calculated using formula (2) based on the tension and the number of counterweight lifting cylinders.

[0072] In this embodiment, two counterweight lifting cylinders are used as an example, so n=2. The two counterweight lifting cylinders are arranged side by side and have the same structure. Therefore, the pressure values ​​of the rod chambers of the two counterweight lifting cylinders remain equal during operation. Thus, step S200 also includes cross-checking the pressure values ​​of the rod chambers of each counterweight lifting cylinder to ensure the accuracy of the data, and simultaneously determining whether the counterweight lifting cylinders or related components are damaged.

[0073] In some embodiments, multiple counterweight lifting cylinders are provided, such as three, four, or other numbers. The pressure value in the rod chamber of each counterweight lifting cylinder is equal. It should be understood that the above is merely illustrative and is not intended to limit the scope of protection of this application.

[0074] Furthermore, the heights of different weight combinations of movable counterweights vary, resulting in different distances between the top of the movable counterweight and the fixed counterweight, and consequently, different durations for the piston rod during the stable lifting phase. Therefore, it is necessary to test and confirm the stable lifting duration for different weight combinations of movable counterweights to determine the minimum duration as the second preset duration, which is then set in the program.

[0075] S500: When the pressure value in the rod chamber is equal to P3, and the total lifting time of the counterweight lifting cylinder is greater than the minimum third preset time for the movable counterweight to be lifted into place, the weight matching of the movable counterweight is performed according to step S300 or step S400. The aforementioned minimum third preset time can also be determined by testing and then set in the program.

[0076] Compared to existing technologies, the self-checking method for suspended movable counterweights provided in this embodiment detects the pressure in the rod chamber of the lifting cylinder, records the actual lifting time of the movable counterweight at different pressure values, and then determines the weight of the movable counterweight being lifted by the lifting cylinder by comparing the actual lifting time and the change in pressure in the rod chamber. This achieves automatic identification of the movable counterweight's weight. By matching (comparing) the weight determined based on the pressure value in the rod chamber with the manually set weight, the manually set weight can be corrected, effectively avoiding the risk of vehicle rollover due to incorrect manual setting of the counterweight weight, and greatly improving operational reliability.

[0077] Example 2

[0078] Please see Figure 1 , Figure 4 and Figure 5 This embodiment provides a method for self-checking the weight of a suspended movable counterweight. This embodiment is an improvement on the technology of Embodiment 1 described above. The difference between this embodiment and Embodiment 1 is as follows:

[0079] In this embodiment, steps S100 to S500 of the above embodiment remain unchanged, and will not be described in detail here.

[0080] Specifically, step S300 above also includes:

[0081] S310: When the pressure value in the rod chamber is equal to P1, and each time the lifting solenoid valve completes one cycle of energization and de-energization, record the first pre-lifting duration and wait to accumulate it with the next first pre-lifting duration.

[0082] S320: If the first pre-lifting time is longer than the minimum first preset time for the piston rod of the counterweight lifting cylinder to retract from the active counterweight, it is determined that the weight of the active counterweight being lifted is 0.

[0083] S330: If the total duration accumulated during the first pre-lifting period is greater than the minimum first preset duration for the piston rod of the counterweight lifting cylinder to retract from the active counterweight, it is determined that the weight of the active counterweight being lifted at this time is 0.

[0084] S340: If the first pre-lifting time is less than the minimum first preset time for the counterweight lifting cylinder to retract the active counterweight, wait for the lifting solenoid valve to be energized again and execute step S310.

[0085] It should be noted that crane operators do not lift the assembled movable counterweight into position all at once during actual operation. Instead, multiple trial lifts (pre-lifts) are performed before the actual lifting to ensure the movable counterweight is installed stably and to ensure operational safety. Specifically, trial lifts are achieved by controlling the on / off state of the lifting solenoid valve. When the lifting solenoid valve is energized, oil enters the rod chamber; when the lifting solenoid valve is de-energized, oil entry into the rod chamber stops.

[0086] Understandably, the stroke length of the piston rod varies each time a lifting attempt is made, thus requiring time accumulation for judgment, thereby improving the accuracy of the weight judgment of the movable counterweight. Furthermore, the determination of the aforementioned minimum first preset time has been explained in detail in Embodiment 1, and will not be repeated here.

[0087] In this embodiment, step S400 further includes:

[0088] S410: When the pressure value in the rod chamber is equal to P2, and each time the lifting solenoid valve completes one cycle of energization and de-energization, record the second pre-lifting time and wait to accumulate it with the next second pre-lifting time.

[0089] S420: If the second pre-lift duration of the first lift is greater than the minimum second preset duration in the stable lift phase, determine that the weight of the active counterweight being lifted at this time is M.

[0090] S430: If the total duration of the second pre-lifting time is greater than the minimum second preset duration in the stable lifting phase, determine that the weight of the active counterweight being lifted at this time is M.

[0091] S440: If the second pre-lift duration of the first lift or the total duration of the second pre-lift duration is less than the minimum second preset duration in the stable lift phase, wait for the lift solenoid valve to be energized again and execute step S410.

[0092] It should be noted that during actual operation, crane operators do not lift the assembled movable counterweight into position all at once. Instead, they conduct multiple trial lifts (pre-lifts) before lifting and also multiple trial lifts (pre-lifts) during the stable lifting phase to ensure that the movable counterweight is installed stably and to ensure operational safety.

[0093] Similarly, when the pressure value in the rod chamber is P2, the stroke length of the piston rod varies during each lifting attempt. Therefore, time accumulation is required for judgment, thereby improving the accuracy of the weight determination of the movable counterweight. Furthermore, the determination of the minimum second preset time has been explained in detail in Embodiment 1 and will not be repeated here.

[0094] Example 3

[0095] Please see Figures 1 to 5 This embodiment provides a suspended movable counterweight weight self-checking system. The suspended movable counterweight weight self-checking system applies the suspended movable counterweight weight self-checking method provided in Embodiment 1 or Embodiment 2 above.

[0096] Please refer to the following: Figure 6 In this embodiment, the suspended movable counterweight weight self-checking system includes a pressure detector 100, a controller 200, and a torque limiter 300, wherein the controller 200 is electrically connected to both the pressure detector 100 and the torque limiter 300. The pressure detector 100 is used to monitor the pressure value in the rod chamber of the counterweight lifting cylinder. The controller 200 is used to acquire the pressure value and calculate the current weight information of the movable counterweight based on the pressure value, as well as to perform weight matching; the torque limiter 300 is used for safety control based on the weight information of the counterweight.

[0097] Optionally, the pressure detector 100 can be a pressure sensor or a pressure gauge. The pressure gauge can also be a remote-controlled pressure gauge.

[0098] Optionally, the controller 200 may be selected as a PLC controller.

[0099] Furthermore, the controller 200 calculates the weight M of the current active counterweight based on the pressure value P2 of the rod chamber of the counterweight lifting cylinder during the stable lifting phase. Specifically, formulas (1) and (2) in Embodiment 1 above are used, and will not be repeated in this embodiment.

[0100] Furthermore, the suspended movable counterweight self-checking system also includes a human-machine interface module 400, which is electrically connected to the controller 200 and has a display. The display shows the pressure value in the rod chamber during the lifting process of the counterweight lifting cylinder and the current weight information of the movable counterweight. When the self-checked movable counterweight weight does not match the manually set weight, the torque limiter 300 displays automatically identified normal and abnormal information on the display based on the received counterweight weight information, and performs logical control and alarm prompts according to safety policies. This reminds the operator to confirm and prevent safety accidents such as overload and tipping.

[0101] Furthermore, this embodiment also provides an engineering machinery, including the suspended movable counterweight weight self-checking system provided in Embodiment 3 above. The engineering machinery is a crane.

[0102] Thus, the suspended movable counterweight weight self-detection system provided in this embodiment, by adding a rod chamber pressure detector 100 to the counterweight lifting cylinder, feeds back the pressure signal to the controller 200. The controller 200 then calculates and matches the actual weight of the current counterweight based on the rod chamber pressure signal and sends it to the torque limiter 300. The torque limiter 300 then displays the automatically identified counterweight weight information on the display screen based on the received counterweight weight information, compares it with the manually set counterweight weight, and finally performs logic control and alarm prompts according to safety policies. Compared with the prior art, this embodiment can automatically detect and identify the counterweight weight after the movable counterweight is assembled, which can effectively avoid the danger of the entire vehicle tipping over due to incorrect manual setting of the counterweight weight, and greatly improve the reliability of crane lifting operations.

[0103] It should be noted that, in this application, unless otherwise stated, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0104] The counterweight loading and unloading mechanism, pressure detector 100 and torque limiter 300 are well known to those skilled in the art and are not part of the core improvements of this application, so they will not be described in detail here.

[0105] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0106] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0107] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0108] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for self-checking the weight of a suspended movable counterweight, characterized in that, include: S100: The counterweight lifting cylinder is lifted by controlling the lifting solenoid valve; S200: Obtain the pressure value of the rod chamber during the lifting process of the counterweight lifting cylinder, wherein the lifting process of the counterweight lifting cylinder is divided into a free stroke stage, a stable lifting stage, and a lifting-to-position stage, and the pressure value of the rod chamber corresponding to the free stroke stage is defined as P1, the pressure value of the rod chamber corresponding to the stable lifting stage is P2, and the pressure value of the rod chamber corresponding to the lifting-to-position stage is P3, where P1 < P2 < P3; S300: When the pressure value of the rod chamber rises directly from P1 to P2 or P3, it is recorded as the first actual lifting time. If the first actual lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the movable counterweight, it is determined that the weight of the movable counterweight being lifted at this time is 0. S400: When the pressure value of the rod chamber rises from P2 to P3, it is recorded as the second actual lifting time. If the second actual lifting time is greater than the second preset time that is the least in the stable lifting stage, the weight of the movable counterweight being lifted at this time is determined to be M. S500: When the pressure value of the rod chamber is equal to P3, and the total lifting time of the counterweight lifting cylinder is greater than the minimum third preset time when the movable counterweight is lifted into place, the weight matching of the movable counterweight is performed according to step S300 or step S400.

2. The self-inspection method for the weight of a suspended movable counterweight according to claim 1, characterized in that, Step S300 further includes: S310: When the pressure value in the rod chamber is equal to P1, and when the lifting solenoid valve completes one cycle of energization and de-energization, record the first pre-lifting time and wait to accumulate it with the next first pre-lifting time; S320: If the first pre-lifting time is longer than the minimum first preset time for the piston rod of the counterweight lifting cylinder to retract from the active counterweight, it is determined that the weight of the active counterweight being lifted is 0. S330: If the total duration of the first pre-lifting time is greater than the minimum first preset time for the piston rod of the counterweight lifting cylinder to exit the active counterweight, it is determined that the weight of the active counterweight being lifted at this time is 0.

3. The self-inspection method for the weight of a suspended movable counterweight according to claim 2, characterized in that, Step S300 further includes: S340: If the first pre-lifting time or the total time accumulated from the first pre-lifting time is less than the minimum first preset time for the counterweight lifting cylinder to exit the active counterweight, wait for the lifting solenoid valve to be energized again and execute step S310.

4. The self-inspection method for the weight of a suspended movable counterweight according to claim 1, characterized in that, Step S400 further includes: S410: When the pressure value in the rod chamber is equal to P2, and when the lifting solenoid valve completes one cycle of energization and de-energization, record the second pre-lifting time and wait to accumulate it with the next second pre-lifting time; S420: If the second pre-lift duration in the first stage is greater than the minimum second preset duration in the stable lifting stage, determine that the weight of the active counterweight being lifted at this time is M; S430: If the total duration of the second pre-lifting duration is greater than the minimum second preset duration in the stable lifting phase, the weight of the active counterweight being lifted at this time is determined to be M.

5. The self-inspection method for the weight of a suspended movable counterweight according to claim 4, characterized in that, Step S400 further includes: S440: If the second pre-lift duration is less than the minimum second preset duration in the stable lifting phase, wait for the lifting solenoid valve to be energized again and execute step S410.

6. The method for self-checking the weight of a suspended movable counterweight according to any one of claims 1-5, characterized in that, The counterweight lifting cylinder is provided in multiple ways, and the pressure value of the rod chamber of each counterweight lifting cylinder is equal. Step S200 further includes: performing mutual verification based on the pressure value of the rod chamber of each of the counterweight lifting cylinders.

7. A suspended movable counterweight self-checking system, characterized in that, The method for self-checking the weight of a suspended movable counterweight according to any one of claims 1-6 is applied, wherein the suspended movable counterweight self-checking system comprises: A pressure detector is used to monitor the pressure value in the rod chamber of the counterweight lifting cylinder; The controller is configured to acquire the pressure value, calculate the current weight information of the active counterweight based on the pressure value, and perform weight matching; and A torque limiter is used for safety control based on the weight information of the counterweight.

8. The suspended movable counterweight self-checking system according to claim 7, characterized in that, The formula for calculating the weight M of the movable counterweight is: F=P2×π(R 2 -r 2 )-Fc;M=n×F÷g; Wherein, F is the tension borne by the counterweight lifting cylinder, P2 is the pressure value of the rod chamber during the stable lifting stage, π is pi, R is the inner radius of the rod chamber, r is the outer radius of the piston rod, Fc is the back pressure of the hydraulic system, n is the number of counterweight lifting cylinders, and g is the gravity coefficient.

9. The suspended movable counterweight self-checking system according to claim 7, characterized in that, The suspended movable counterweight self-testing system also includes a human-machine interaction module, which is electrically connected to the controller and has a display. The display is used to show the pressure value of the rod chamber during the lifting process of the counterweight lifting cylinder and the current weight information of the movable counterweight.

10. An engineering machinery, characterized in that, Includes a suspended movable counterweight self-checking system according to any one of claims 7-9.

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