Super-lift self-adaptive pre-tightening method and device of operation machine, operation machine and medium

Abstract

The invention relates to the technical field of super-lift control, and discloses a super-lift self-adaptive pre-tightening method and device of an operation machine, the operation machine and a medium. Firstly, a hoisting mechanism is controlled to take up a rope, a pre-tightening oil cylinder is controlled to stretch, and in the super-lift pre-tightening process, the pre-tightening oil cylinder is controlled to stretch; the hoisting parameters of the hoisting mechanism and the state change parameters of the cargo boom are monitored, when the hoisting parameters meet the preset rope unwinding condition, the hoisting mechanism is controlled to stop the rope winding action, pre-tightening is conducted preliminarily, then the pre-tightening oil cylinder is controlled to conduct contraction action till the state change parameters of the cargo boom meet the preset tensioning condition, and the cargo boom is tensioned. Therefore, self-adaptive pre-tightening of the superlift is completed, and the pre-tightening efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of superlifting control, and in particular to a superlifting adaptive pre-tightening method and device for an operating machine, an operating machine and a medium. Background Art

[0002] As a key component to improve the performance of large-tonnage lifting machinery, the superlift device is a basic configuration on large-tonnage lifting machinery. Before lifting, the wire rope in the superlift device needs to be pre-tightened to prevent the boom from bending or swaying to ensure the lifting performance of the boom.

[0003] At present, there are two modes of superlift pretensioning: fixed-force tensioning and fixed-length tensioning. In principle, the fixed-length tensioning mode can ensure that the boom does not bend sideways after pretensioning, which is better than the fixed-force tensioning principle. However, because each arm section combination corresponds to a fixed tensioning target value, the fixed-length tensioning effect that relies on the fixed target value cannot be guaranteed in the face of tensile deformation of the superlift wire rope, differences in the booms of different vehicles, and shared superlifting by the main engine. Summary of the invention

[0004] In view of this, the present invention provides an ultra-lifting adaptive pre-tensioning method, device, operating machinery and medium for an operating machinery to solve the problem that traditional fixed-force tensioning and fixed-length tensioning methods are heavily dependent on fixed target values ​​and cannot guarantee the tensioning effect in different application scenarios.

[0005] In a first aspect, the present invention provides a super-lifting adaptive pre-tightening method for an operating machine, wherein the operating machine comprises a lifting arm and a super-lifting device mounted on the lifting arm, wherein the super-lifting device comprises a hoisting mechanism and a pre-tightening cylinder, and the method comprises:

[0006] Control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch, so as to perform super lifting pre-tightening;

[0007] During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the boom are monitored; among which, the hoisting parameters include the super-lifting hoisting motor pressure and the hoisting angle change value, and the state change parameters include the boom head and tail angle change value, the boom tension and the pre-tightening cylinder compression percentage;

[0008] When it is monitored that the winch parameters meet the preset rope-releasing conditions, the winch mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameters of the boom meet the preset tensioning conditions; the preset rope-releasing conditions are that the winch angle change value is less than the winch angle change threshold, and / or the winch motor pressure reaches the maximum pressure threshold; the preset tensioning conditions are that the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold; the boom head-to-tail angle is used to characterize the angle between the line connecting the head end and the tail end of the boom and the horizontal plane, and the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold;

[0009] If the state change parameters do not meet the preset tensioning conditions, the pretensioning cylinder is controlled to retract until the state change parameters of the boom are monitored to meet the preset tensioning conditions, thus completing the super-lift pretensioning.

[0010] Beneficial effect: The present invention first controls the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, and in the super-lifting pre-tightening process, monitors the hoisting parameters of the hoisting mechanism and the state change parameters of the boom. When the hoisting parameters meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and pre-tightening is performed initially. Then, the pre-tightening cylinder is controlled to perform the contraction action until the state change parameters of the boom meet the preset tensioning conditions, thereby completing the super-lifting adaptive pre-tightening and improving the pre-tightening efficiency.

[0011] In an optional embodiment, the hoisting mechanism includes a left super-lifting hoist and a right super-lifting hoist; controlling the hoisting mechanism to perform a rope-collecting action includes:

[0012] Determine the hoisting angles corresponding to the left super hoist and the right super hoist respectively; wherein the hoisting angle is used to represent the angle between the super hoist wire rope and the horizontal plane;

[0013] According to the hoisting angle, the hoisting angle difference between the left super hoisting and the right super hoisting is obtained;

[0014] Based on the winch angle difference, the left super-lift winch and the right super-lift winch are controlled to perform synchronous rope retracting action.

[0015] Beneficial effect: In the embodiment of the present invention, the hoisting mechanism includes a left super-lifting hoist and a right super-lifting hoist. Since the hoisting angles corresponding to the two super-lifting hoists are different, if the difference is too large, it is not conducive to the safe operation of the operating machinery. Therefore, according to the hoisting angle difference between the left and right super-lifting hoists, the left and right super-lifting hoists are controlled to perform synchronous rope retraction action, effectively perform super-lifting pre-tightening, and are conducive to improving operation safety.

[0016] In an optional embodiment, the hoisting parameters also include an absolute hoisting position used to characterize the degree of extension and contraction of the wire rope, and the absolute hoisting position is determined according to the number of drum turns and the drum rotation angle corresponding to the hoisting encoder; when the hoisting parameters are monitored to meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, including:

[0017] When it is monitored that the hoisting angle change values ​​corresponding to the left super hoist and the right super hoist are both less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold, based on the hoisting absolute position, it is determined whether the left super hoist and the right super hoist are hoisted to the same position;

[0018] If the left super hoisting winch and the right super hoisting winch have been hoisted to the same position, the left super hoisting winch and the right super hoisting winch are controlled to stop the synchronous rope retracting action.

[0019] Beneficial effect: In the embodiment of the present invention, when it is judged that the super-lifting winch has reached the limit position according to the winching angle change value and / or the winch motor pressure of the left and right super-lifting winches, it is then judged whether the left and right super-lifting winches are hoisted to the same position. If the left and right super-lifting winches have been hoisted to the same position, it means that the wire rope has initially reached the pre-tightened state. Therefore, the left and right super-lifting winches are controlled to stop synchronously retracting the rope, so as to adaptively realize the initial pre-tightening of the super-lifting.

[0020] In an optional embodiment, before controlling the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, the method further includes:

[0021] Acquire structural parameters of the operating machine; wherein the structural parameters include the current operating condition, the current arm section combination of the boom, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle, and the boom tail angle is used to represent the angle between the boom tail end and the horizontal plane;

[0022] Determine whether the structural parameters meet the preset preload conditions;

[0023] If the structural parameters meet the preset pre-tightening conditions, an unlocking command is sent to the super-lifting device to control the winch mechanism to retract the rope, and a super-lifting pre-tightening cylinder extension command is sent to the super-lifting device to control the pre-tightening cylinder to perform a stretching action.

[0024] Beneficial effect: In the embodiment of the present invention, after determining that the operating machinery is capable of pre-tightening in combination with parameters such as the operating conditions, arm section combination, boom tail angle, and super-lifting deployment angle, an unlatching command and a super-lifting pre-tightening cylinder extension command are sent to the super-lifting device to formally perform super-lifting pre-tightening, thereby ensuring the safety of the pre-tightening process and improving the standardization of the pre-tightening operation.

[0025] In an optional implementation, determining whether the structural parameters meet the preset pre-tightening conditions includes:

[0026] When it is detected that the current operating condition is a superlift condition, the current boom section combination is consistent with the boom section combination corresponding to the superlift condition, the tail angle of the boom is greater than the tail angle threshold, and the deployment angle difference between the current deployment angle and the target deployment angle is less than the deployment angle difference threshold, it is determined that the structural parameters meet the preset preload conditions.

[0027] Beneficial effect: In the embodiment of the present invention, by judging the structural parameters of the operating machinery, combining the operating conditions, arm section combination, boom tail angle and super-lift deployment angle to judge whether the operating machinery can perform the pre-tightening action, the standardization and safety of the pre-tightening process are ensured.

[0028] In an optional implementation, after completing the superlift pre-tightening, the method further includes:

[0029] Record and store the winch parameters corresponding to the current boom section combination.

[0030] Beneficial effect: After the superlift pre-tightening is successful, the pre-tightening target value of the current boom section combination, such as the superlift hoisting circle number, superlift hoisting angle and other hoisting parameters, can be recorded, so that when the main boom working condition pre-tightening is selected next time, it can be directly tightened according to the last pre-tightening target value, thereby improving the pre-tightening efficiency.

[0031] In some optional embodiments, before controlling the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, the method further includes:

[0032] Sending a rope-collecting command and a latch-unlatching command to the winch mechanism, so that the winch mechanism can unlatch and perform the rope-collecting action;

[0033] When it is detected that the winch mechanism has completed unlatching, a stretching instruction is sent to the pre-tightening cylinder to make the pre-tightening cylinder perform a stretching action.

[0034] Beneficial effect: After detecting that the winch mechanism has completed unlatching, the present invention sends a stretching instruction to the pre-tightening cylinder to prevent the pre-tightening process of the super-lifting device from being affected by the unlatching, thereby standardizing the operation process of super-lifting pre-tightening and improving the safety during pre-tightening.

[0035] In a second aspect, the present invention provides a super-lifting adaptive pre-tightening device for an operating machine, the operating machine comprising a lifting arm and a super-lifting device mounted on the lifting arm, the super-lifting device comprising a hoisting mechanism and a pre-tightening cylinder, the device comprising:

[0036] The first processing module is used to control the winch mechanism to perform the rope retracting action and the pre-tightening cylinder to perform the stretching action, so as to perform the super lifting pre-tightening;

[0037] The second processing module is used to monitor the hoisting parameters of the hoisting mechanism and the state change parameters of the crane arm during the pre-tightening process; wherein the hoisting parameters include the pressure of the super-lifting hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the head and tail angle of the crane arm, the tension of the crane arm and the compression percentage of the pre-tightening cylinder;

[0038] The third processing module is used to control the hoisting mechanism to stop the rope collection action and determine whether the state change parameter of the boom meets the preset tensioning condition when it is monitored that the hoisting parameter meets the preset rope-releasing condition; the preset rope-releasing condition is that the hoisting angle change value is less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold; the preset tensioning condition is that the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold; the boom head-to-tail angle is used to characterize the angle between the line connecting the head end and the tail end of the boom and the horizontal plane, and the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold;

[0039] The fourth processing module is used to control the pre-tensioning cylinder to retract if the state change parameter does not meet the preset tensioning condition, until it is monitored that the state change parameter of the lifting arm meets the preset tensioning condition, thereby completing the super-lifting pre-tensioning.

[0040] In a third aspect, the present invention provides an operating machine, comprising a lifting arm and a super-lifting device installed on the lifting arm, the super-lifting device comprising a hoisting mechanism and a pre-tensioning cylinder, and the operating machine further comprising a controller; the controller comprises a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the super-lifting adaptive pre-tensioning method of the operating machine according to the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0041] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the super-lifting adaptive pre-tensioning method for a working machine according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1is a schematic structural diagram of a working machine according to an embodiment of the present invention;

[0044] Figure 2 is a flow chart of a superlifting adaptive pretensioning method according to an embodiment of the present invention;

[0045] Figure 3 is a structural block diagram of a working machine information collection system according to an embodiment of the present invention;

[0046] Figure 4 is a flow chart of another super-lifting adaptive pre-tightening method according to an embodiment of the present invention;

[0047] Figure 5 is a flow chart of another super-lifting adaptive pre-tightening method according to an embodiment of the present invention;

[0048] Figure 6 is a flow chart of another super-lifting adaptive pre-tightening method according to an embodiment of the present invention;

[0049] Figure 7 is a schematic diagram of a flow chart of a synchronous rope collection positioning algorithm according to an embodiment of the present invention;

[0050] Figure 8 is a structural block diagram of a superlift adaptive pretensioning device according to an embodiment of the present invention;

[0051] Fig. 9 Schematic diagram of the hardware structure of the controller according to the embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0053] As a key component to improve the performance of large-tonnage lifting machinery, the superlift device is a basic configuration on large-tonnage lifting machinery. Before lifting, the wire rope in the superlift device needs to be pre-tightened to prevent the boom from bending or swaying to ensure the lifting performance of the boom.

[0054] There are two modes of superlift pretensioning: fixed force tensioning and fixed length tensioning. The fixed length mode uses the fixed length tensioning target value to pull to the specified position for superlift pretensioning. In principle, it can ensure that the boom does not bend after pretensioning, which is better than the fixed force principle. However, because each arm section combination corresponds to a fixed tensioning target value, the fixed length tensioning effect that relies on the fixed target value cannot be guaranteed in the case of stretching deformation of the superlift wire rope, interchange of the superlift device, differences in the superlift wire rope, differences in the crane arm, differences in the booms of different vehicles, and superlifting shared by the main machine.

[0055] Therefore, an embodiment of the present invention provides an adaptive pre-tensioning scheme for super-lifting of a working machine to solve the defect of low pre-tensioning efficiency of the super-lifting device in the prior art due to unreasonable control during the pre-tensioning process, and to achieve efficient pre-tensioning control of the super-lifting device.

[0056] According to an embodiment of the present invention, there is provided an operating machine, which includes a lifting arm 101, a super lifting device 102 installed on the lifting arm, and a controller 103 ( Figure 1 (not shown in the figure), wherein the super-lifting device 102 includes a hoisting mechanism and a pre-tightening cylinder, wherein the hoisting mechanism may include a drum motor, a locking mechanism, a drum and a wire rope (i.e., a tensioning rope).

[0057] The controller 103 controls the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action to perform the super-lift pre-tightening. During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the crane arm 101 are monitored. When the hoisting parameters are monitored to meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameters of the crane arm 101 meet the preset tensioning conditions. If the state change parameters do not meet the preset tensioning conditions, the pre-tightening cylinder is controlled to perform the contraction action until the state change parameters of the crane arm are monitored to meet the preset tensioning conditions, and the super-lift pre-tightening is completed.

[0058] For details about the specific working principle and working process of the controller 103, please refer to the detailed description of the method embodiment below, which will not be repeated here.

[0059] According to an embodiment of the present invention, an embodiment of an ultra-lifting adaptive pre-tensioning method for a working machine is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0060] In this embodiment, a superlifting adaptive preload method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is, for example, a single chip microcomputer, an MCU, etc. Figure 2: is a flow chart of a superlifting adaptive pretensioning method for a working machine according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0061] Step S201, controlling the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, so as to perform super-lifting pre-tightening.

[0062] Specifically, during the super-lifting pre-tensioning process, the winch mechanism will perform a rope-retracting action, and at the same time the pre-tensioning cylinder will also stretch, so that the wire rope of the super-lifting device is gradually tightened.

[0063] It should be noted that the hoisting mechanism is a mechanical device that drives the drum to rotate and wind the wire rope through the drum motor to achieve lifting, dragging, traction and other operations. When the electric drum motor is started, the power is transmitted to the drum to make it rotate at a low speed, and the wire rope is wound on the drum. As the drum rotates, the wire rope is gradually tightened or loosened, thereby achieving the lifting, dragging or traction of heavy objects. The preload cylinder is a pressure storage element that can preload other components.

[0064] In some optional embodiments, a rope-collecting instruction and a latch-unlatching instruction may be sent to the winch mechanism so that the winch mechanism can unlatch and perform the rope-collecting action. When it is detected that the winch mechanism has completed the latching (the latch is in place and the latching signal is normal), a stretching instruction is sent to the pre-tensioning cylinder so that the pre-tensioning cylinder performs a stretching action to prevent the pre-tensioning process of the super-lifting device from being affected by the latch being not in place, thereby standardizing the operation process of the super-lifting pre-tensioning and improving the safety during pre-tensioning. In addition, in the process of controlling the stretching of the pre-tensioning cylinder, the compression percentage of the pre-tensioning cylinder is detected. When it is detected that the compression percentage of the pre-tensioning cylinder meets the preset percentage condition, the subsequent steps are executed, wherein the preset percentage condition may be 90%<pre-tensioning cylinder compression percentage<95%.

[0065] Step S202: During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the boom are monitored.

[0066] Specifically, Figure 3 As shown, various sensors such as pressure sensors, encoders, angle sensors, and super-lifting proportional valves can be installed on the operating machine to monitor various operating parameters of the operating machine during the super-lifting action.

[0067] In the embodiment of the present application, the hoisting mechanism includes a left super-lifting hoist and a right super-lifting hoist, and the hoisting parameters include the super-lifting hoisting motor pressure, the hoisting angle change value and the hoisting absolute position used to characterize the degree of expansion and contraction of the wire rope, and the hoisting absolute position is determined according to the number of drum turns and the drum rotation angle corresponding to the hoisting encoder. Among them, the hoisting encoder converts the position of the object into an electrical signal for output. In the hoisting equipment, the hoisting encoder is usually installed on the main shaft connected to the drum. When the drum rotates, the main shaft will also rotate, thereby driving the sensor element inside the encoder to detect the position.

[0068] Specifically, the state change parameters of the boom include the change value of the boom head and tail angle, the boom tension and the compression percentage of the preload cylinder. The boom head and tail angle is used to characterize the angle between the line connecting the head end and the tail end of the boom and the horizontal plane, where the head end of the boom refers to the end away from the ground, and the tail end refers to the end close to the ground. The compression percentage of the preload cylinder can be obtained through the over-lifting proportional valve, which is a device that can control the pressure according to the size and proportion of the input signal.

[0069] Step S203, when it is monitored that the hoisting parameters meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameters of the boom meet the preset tensioning conditions.

[0070] Specifically, if the hoisting parameters meet the preset rope-releasing conditions, it means that the wire rope has been initially tightened. At this time, the hoisting mechanism is controlled to stop retracting the rope, and based on the state change parameters of the boom and the preset tensioning conditions, it is further determined whether the pre-tensioning action is completed.

[0071] Specifically, the preset rope-releasing condition is that the winch angle change value is less than the winch angle change threshold, and / or the winch motor pressure reaches the maximum pressure threshold. The preset tensioning condition is that the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold, wherein the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold.

[0072] Step S204: If the state change parameter does not meet the preset tensioning condition, the pre-tensioning cylinder is controlled to perform a contraction action until the state change parameter of the boom is monitored to meet the preset tensioning condition, thereby completing the super-lift pre-tensioning.

[0073] Specifically, if the state change parameter does not meet the preset tensioning condition, it means that the pre-tensioning action has not been fully completed. The pre-tensioning cylinder is controlled to gradually contract to tension the wire rope until the state change parameter of the boom meets the preset tensioning condition.

[0074] The super-lifting adaptive pre-tensioning method for the operating machinery provided in the present embodiment first controls the hoisting mechanism to perform the rope-collecting action and the pre-tensioning cylinder to perform the stretching action, and during the super-lifting pre-tensioning process, monitors the hoisting parameters of the hoisting mechanism and the state change parameters of the boom. When the hoisting parameters meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and preliminarily pre-tightens. Then, the pre-tightening cylinder is controlled to perform the contraction action until the state change parameters of the boom meet the preset tensioning conditions, thereby completing the super-lifting adaptive pre-tightening and improving the pre-tightening efficiency.

[0075] In this embodiment, a superlifting adaptive preload method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is, for example, a single chip microcomputer, an MCU, etc. Figure 4 : is a flow chart of a superlifting adaptive pretensioning method for a working machine according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0076] Step S401, controlling the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, so as to perform super-lifting pre-tightening.

[0077] Specifically, the hoisting mechanism includes a left super hoisting and a right super hoisting, and the above step S401 includes:

[0078] Step S4011, determining the hoisting angles corresponding to the left super hoisting and the right super hoisting respectively.

[0079] Specifically, the hoisting angle is used to characterize the angle between the super-lifting hoisting wire rope and the horizontal plane, and the hoisting angles corresponding to the left super-lifting hoist and the right super-lifting hoist can be obtained by an angle sensor.

[0080] Step S4012, according to the hoisting angle, obtain the hoisting angle difference between the left super hoisting and the right super hoisting.

[0081] Specifically, the difference between the hoisting angle corresponding to the left super hoisting and the hoisting angle corresponding to the right super hoisting is calculated to obtain the hoisting angle difference.

[0082] Step S4013, based on the winch angle difference, control the left super-lift winch and the right super-lift winch to perform a synchronous rope-collecting action, and control the pre-tightening cylinder to perform a stretching action to perform super-lift pre-tightening.

[0083] Specifically, the left and right super-lifting winches are used to synchronously retract the ropes according to the difference in the super-lifting winch angles.

[0084] In the embodiment of the present invention, the hoisting mechanism includes a left super-lifting winch and a right super-lifting winch. Since the hoisting angles corresponding to the two super-lifting winches are different, if the difference is too large, it is not conducive to the safe operation of the operating machine. Therefore, according to the hoisting angle difference between the left and right super-lifting winches, the left and right super-lifting winches are controlled to perform synchronous rope retraction action, effectively perform super-lifting pre-tightening, and are conducive to improving operation safety.

[0085] Step S402: During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the crane arm are monitored. Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0086] Step S403, when it is monitored that the hoisting parameters meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameters of the boom meet the preset tensioning conditions.

[0087] Specifically, the above step S403 includes:

[0088] Step S4031, when it is monitored that the hoisting angle change values ​​corresponding to the left super-lifting winch and the right super-lifting winch are respectively less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold, based on the absolute position of the winch, determine whether the left super-lifting winch and the right super-lifting winch are hoisted to the same position.

[0089] Specifically, the hoisting angle change value can be calculated based on the hoisting angle within a preset time. For example, when the hoisting angle change value of the left and right super-lifting winches within 3 seconds is monitored to be less than 5°, and / or the hoisting motor pressure reaches the set maximum pressure threshold, it means that the hoisting mechanism has reached the limit position. Then, based on the absolute position of the hoisting, it is determined whether the left and right super-lifting winches are hoisted to the same position.

[0090] For example, the area where the absolute position of the left and right super-lifting winch encoders is smaller is used as a reference to determine whether the left and right sides of the single-side wire rope are in the same position. When the following conditions are met, it means that the left and right super-lifting winches have been hoisted to the same position:

[0091] ((LN*360+LA)MOD 12)+6 <LX<((LN*360+LA)MOD 12)+12

[0092] ((RN*360+RA)MOD 12)+6 <RX<((RN*360+RA)MOD 12)+12

[0093] Among them, LX is the absolute position of the current left super-start winch, RX is the absolute position of the current right super-start winch, LN is the number of drum turns corresponding to the left super-start winch, LA is the drum rotation angle corresponding to the left super-start winch, RN is the number of drum turns corresponding to the right super-start winch, and RA is the drum rotation angle corresponding to the right super-start winch. Among them, one turn of the super-start winch is 360°.

[0094] Step S4032, if the left super hoisting winch and the right super hoisting winch have been hoisted to the same position, then control the left super hoisting winch and the right super hoisting winch to stop the synchronous rope retracting action.

[0095] For example, if the left and right super-lifting winches meet the above conditions, the left and right super-lifting winches can be controlled to release the ropes and send a latch closing command to the super-lifting device to lock the locking mechanism of the winch mechanism to achieve the purpose of collecting the ropes.

[0096] In an embodiment of the present invention, when it is determined that the super-lifting winch has reached the limit position based on the winching angle change value and / or winch motor pressure of the left and right super-lifting winches, it is then determined whether the left and right super-lifting winches are hoisted to the same position. If the left and right super-lifting winches have been hoisted to the same position, indicating that the wire rope has initially reached a pre-tensioned state, the left and right super-lifting winches are controlled to stop synchronously retracting the rope, thereby adaptively achieving initial pre-tensioning of the super-lifting.

[0097] Step S4033, determine whether the boom nose-to-tail angle change value is greater than the first nose-to-tail angle change threshold and whether the boom pulling force is greater than the pulling force threshold, or determine whether the boom nose-to-tail angle change value is greater than the second nose-to-tail angle change threshold and whether the preload cylinder compression percentage is less than the compression percentage threshold.

[0098] Specifically, due to the drooping of the boom head end caused by gravity, the boom will be bent. When the wire rope is tightened, the boom head end will bend, causing the boom head-to-tail angle to change. Generally speaking, the tighter the wire rope is pulled, the greater the change in the boom head-to-tail angle will be, and the greater the degree of the head-to-tail angle will be.

[0099] Exemplarily, when judging whether the state parameters of the boom meet the preset tensioning conditions, it is judged whether the change value of the boom's head-to-tail angle is greater than the first head-to-tail angle change threshold of 0.5° and whether the boom's pulling force is greater than the pulling force threshold of 15KN, or, it is judged whether the change value of the boom's head-to-tail angle is greater than the second head-to-tail angle change threshold of -2° and whether the compression percentage of the preload cylinder is less than the compression percentage threshold of 3%.

[0100] Step S4034, if the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or if the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the preload cylinder compression percentage is less than the compression percentage threshold, it is determined that the boom state change parameters meet the preset tensioning conditions.

[0101] For example, if the boom head and tail angle change value is greater than the first head and tail angle change threshold of 0.5° and the boom pulling force is greater than the pulling force threshold of 15KN, or if the boom head and tail angle change value is greater than the second head and tail angle change threshold of -2° and the preload cylinder compression percentage is less than the compression percentage threshold of 3%, it indicates that the superlift preload is successful. Among them, the second head and tail angle change threshold is less than the first head and tail angle change threshold.

[0102] Specifically, if the preset tensioning condition is not met, it means that the pre-tensioning has not been successful, but because the hoisting mechanism has reached the limit position, step S404 is executed at this time, and the pre-tensioning cylinder continues to retract to further tighten the wire rope until the preset tensioning condition is met.

[0103] In the embodiment of the present invention, the change value of the boom head and tail angle, the boom tension and the compression percentage of the pre-tightening cylinder are combined to determine whether the super-lifting is pre-tightened successfully, which facilitates the super-lifting adaptive pre-tightening, thereby improving the pre-tightening efficiency of the super-lifting.

[0104] Step S404: If the state change parameter does not meet the preset tensioning condition, the pre-tightening cylinder is controlled to retract until the state change parameter of the boom is monitored to meet the preset tensioning condition, and the super-lift pre-tightening is completed. Figure 2 Step S204 of the illustrated embodiment will not be described in detail here.

[0105] The super-lifting adaptive pre-tightening method of the operating machinery provided in this embodiment controls the left and right super-lifting winches to synchronously retract the rope and the pre-tightening cylinder to stretch according to the hoisting angle difference of the left and right super-lifting winches. During the super-lifting pre-tightening process, the hoisting angle change value and / or hoisting motor pressure of the left and right super-lifting winches, the boom head and tail angle change value, the boom tension and the pre-tightening cylinder compression percentage and other parameters are monitored. When the hoisting angle change value and / or the hoisting motor pressure meet the preset rope release conditions, the hoisting mechanism is controlled to stop the rope retracting action to complete the initial pre-tightening of the super-lifting. Then, the pre-tightening cylinder is controlled to retract until the boom head and tail angle change value, the boom tension and the pre-tightening cylinder compression percentage meet the preset tensioning conditions, thereby completing the super-lifting adaptive pre-tightening with high pre-tightening efficiency.

[0106] In this embodiment, a superlifting adaptive preload method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is, for example, a single chip microcomputer, an MCU, etc. Figure 5 : is a flow chart of a superlifting adaptive pretensioning method for a working machine according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0107] Step S501, obtaining structural parameters of the operating machine.

[0108] Specifically, the structural parameters include the current operating condition, the current boom section combination of the boom, the boom tail angle, the current deployment angle of the superlift device and the target deployment angle. The boom tail angle is used to characterize the angle between the tail end of the boom and the horizontal plane.

[0109] Step S502, determining whether the structural parameters meet the preset pre-tightening conditions.

[0110] Specifically, when it is detected that the current operating condition is a super-lifting condition, the current boom segment combination is consistent with the boom segment combination corresponding to the super-lifting condition, the tail angle of the boom is greater than the tail angle threshold, and the deployment angle difference between the current deployment angle and the target deployment angle is less than the deployment angle difference threshold, it is determined that the structural parameters meet the preset pre-tensioning conditions.

[0111] Exemplarily, if the target combination of boom sections is consistent with the actual combination, the selected working condition is the superlift condition, the boom tail angle satisfies ≥X (X is generally above 78°), the superlifting amplitude is in place, and the superlifting deployment angle is within the target angle ±Y (Y is generally 1°), it is determined that the structural parameters meet the preset preload conditions.

[0112] In an embodiment of the present invention, the structural parameters of the operating machinery are judged, combined with the operating conditions, arm section combination, boom tail angle and super-lift deployment angle to determine whether the operating machinery can perform the pre-tightening action, thereby ensuring the standardization and safety of the pre-tightening process.

[0113] Step S503, if the structural parameters meet the preset pre-tightening conditions, send an unlocking command to the super-lifting device to control the winch mechanism to perform the rope-collecting action, and send an extension command to the super-lifting pre-tightening cylinder to control the pre-tightening cylinder to perform the stretching action.

[0114] Exemplarily, if the structural parameters meet the preset pre-tensioning conditions, the super-lifting rope is controlled and an unlatching command is sent to it, so that the locking mechanism of the hoisting mechanism opens. The controller detects that the unlatching signal is normal and sends a super-lifting pre-tensioning cylinder command. The controller detects that the compression percentage of the pre-tensioning cylinder meets the conditions and executes step S504.

[0115] In the embodiment of the present invention, after determining that the operating machinery is capable of pre-tightening in combination with parameters such as the operating conditions, arm section combination, boom tail angle, and super-lift deployment angle, an unlatching command and an extension command of the super-lift pre-tightening cylinder are sent to the super-lift device, and then the super-lift pre-tightening is formally carried out, thereby ensuring the safety of the pre-tightening process and improving the standardization of the pre-tightening operation.

[0116] Step S504, control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch, so as to perform super-lift pre-tightening. Figure 4 Step S401 of the illustrated embodiment will not be described in detail here.

[0117] Step S505: During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the crane arm are monitored. Figure 4 Step S402 of the illustrated embodiment will not be described in detail here.

[0118] Step S506: When the monitoring hoisting parameters meet the preset rope-releasing conditions, the hoisting mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameters of the boom meet the preset tensioning conditions. Figure 4 Step S403 of the illustrated embodiment will not be described in detail here.

[0119] Step S507: If the state change parameter does not meet the preset tensioning condition, the pre-tightening cylinder is controlled to retract until the state change parameter of the boom is monitored to meet the preset tensioning condition, and the super-lift pre-tightening is completed. Figure 4 Step S404 of the illustrated embodiment will not be described in detail here.

[0120] Step S508, recording and storing the hoisting parameters corresponding to the current boom section combination.

[0121] Specifically, after the super-lifting pre-tightening is successful, the pre-tightening target value of the current boom section combination can be recorded, such as the super-lifting winch number of turns, the super-lifting winch rotation angle and other winch parameters, so that the next time the main boom working condition is selected for pre-tightening, it can be directly tightened according to the last pre-tightening target value, thereby improving the pre-tightening efficiency.

[0122] The super-lifting adaptive pre-tightening method for the operating machinery provided in this embodiment formally performs super-lifting pre-tightening after determining that the operating machinery is capable of pre-tightening, thereby ensuring the safety of the pre-tightening process. Then, according to the winch angle difference of the left and right super-lifting winches, the left and right super-lifting winches are controlled to perform synchronous rope-collecting action and the pre-tightening cylinder is controlled to perform stretching action, and during the super-lifting pre-tightening process, the parameters in the pre-tightening process are monitored. When the winch angle change value and / or the winch motor pressure meet the preset rope-releasing conditions, the winch mechanism is controlled to stop the rope-collecting action to complete the initial pre-tightening of the super-lifting. Then, the pre-tightening cylinder is controlled to perform a contraction action until the change value of the boom head and tail angle, the boom tension and the compression percentage of the pre-tightening cylinder meet the preset tensioning conditions, thereby completing the adaptive pre-tightening of the super-lifting with high pre-tightening efficiency. After the super-lifting pre-tightening is successful, the winch parameters of the current arm section combination are recorded to facilitate improving the pre-tightening efficiency of the next pre-tightening process.

[0123] The following is a detailed description of the super-lifting adaptive preload of the working machine of the present invention in conjunction with a specific application example. Figure 6 As shown, the application example mainly includes the following steps:

[0124] Step 1: Before the pre-tightening action begins, determine whether the operating machine meets the following conditions: the boom tail angle meets ≥X (X is generally above 78°), the super-lifting width is in place, and the super-lifting deployment angle is within the target angle ±Y (Y is generally 1°). If so, proceed to step 2.

[0125] Step 2, the controller controls the super-lifting rope collection and sends an unlatching command to the super-lifting device. The controller detects the unlatching signal and enters step 3 normally.

[0126] Step 3, the controller sends a command to extend and lift the preload cylinder. The controller detects that the compression percentage of the preload cylinder meets the conditions (for example, 90%<preload cylinder compression percentage<95%), and then proceeds to step 4.

[0127] Step 4: The controller executes the super hoisting synchronous rope retraction positioning algorithm, such as Figure 7 As shown, the algorithm includes the following process:

[0128] Step 4.1, with the left and right super hoisting angle difference, perform the left and right super hoisting synchronous rope retraction action. Determine whether the super hoisting has reached the limit position: if the hoisting angle change value of the left and right super hoisting is less than 5° within 3s or the high side pressure of the super hoisting motor reaches the set maximum pressure threshold, then go to step 4.2 when it reaches the limit position.

[0129] Step 4.2, using the smaller absolute position of the left and right winch encoders as a reference, determine whether the left and right wire ropes are in the same position. When the following conditions are met, it means that the left and right super hoist winches have been hoisted to the same position:

[0130] ((LN*360+LA)MOD 12)+6 <LX<((LN*360+LA)MOD 12)+12

[0131] ((RN*360+RA)MOD 12)+6 <RX<((RN*360+RA)MOD 12)+12

[0132] Among them, LX is the absolute position of the current left super-lifting winch, RX is the absolute position of the current right super-lifting winch, LN is the number of drum turns corresponding to the left super-lifting winch, LA is the drum rotation angle corresponding to the left super-lifting winch, RN is the number of drum turns corresponding to the right super-lifting winch, and RA is the drum rotation angle corresponding to the right super-lifting winch.

[0133] Step 4.3, if the left and right super-lifting winches have been hoisted to the same position, the super-lifting synchronous rope retracting algorithm is terminated.

[0134] Step 5, control the super-lifting rope and issue the latch closing command. When it is detected that the head and tail angle is tilted > 0.5° and the tension is > 15KN, go to step 7; otherwise, go to step 6.

[0135] Step 6, control the retraction of the preload cylinder. When retracting the preload cylinder, if it is detected that the head and tail angle is tilted more than 0.5° and the tension is more than 15KN, or the compression percentage of the preload cylinder is less than 3% and the head and tail angle is tilted more than -2°, stop retracting the preload cylinder and proceed to step 7.

[0136] Step 7: The superlift pre-tightening is successful, and the pre-tightening target value of the current boom section combination, such as the number of superlift winch turns N and the superlift winch rotation angle A and other parameters, is recorded.

[0137] The embodiment of the present application provides an adaptive tensioning method, which automatically senses the pre-tensioning state of the boom and the super-lift through sensors and performs automatic tensioning. After the pre-tensioning is successful, the pre-tensioning data can be saved, so that the next time the main arm working condition is selected for pre-tensioning, the program can directly tighten according to the target value of the last pre-tensioning, and the intermediate process can be uncontrolled, thereby improving the pre-tensioning efficiency.

[0138] In this embodiment, a super-lifting adaptive pre-tightening device for a working machine is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0139] This embodiment provides an ultra-lifting adaptive pre-tightening device for an operating machine, such as Figure 8 As shown, the operating machine includes a lifting arm and a super lifting device installed on the lifting arm, the super lifting device includes a hoisting mechanism and a pre-tightening cylinder, and the device includes:

[0140] The first processing module 801 is used to control the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, so as to perform the super-lifting pre-tightening;

[0141] The second processing module 802 is used to monitor the hoisting parameters of the hoisting mechanism and the state change parameters of the boom during the pre-tightening process; wherein the hoisting parameters include the pressure of the super hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the head and tail angle of the boom, the tension of the boom and the compression percentage of the pre-tightening cylinder;

[0142] The third processing module 803 is used to control the hoisting mechanism to stop the rope collection action and determine whether the state change parameter of the boom meets the preset tensioning condition when it is monitored that the hoisting parameter meets the preset rope-releasing condition; the preset rope-releasing condition is that the hoisting angle change value is less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold; the preset tensioning condition is that the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold; the boom head-to-tail angle is used to characterize the angle between the line connecting the head end and the tail end of the boom and the horizontal plane, and the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold;

[0143] The fourth processing module 804 is used to control the pre-tensioning cylinder to perform a contraction action if the state change parameter does not meet the preset tensioning condition, until the state change parameter of the boom is monitored to meet the preset tensioning condition, thereby completing the super-lift pre-tensioning.

[0144] In some optional embodiments, before controlling the hoisting mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, the device is also used to:

[0145] Acquire structural parameters of the operating machine; wherein the structural parameters include the current operating condition, the current arm section combination of the boom, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle, and the boom tail angle is used to represent the angle between the boom tail end and the horizontal plane;

[0146] Determine whether the structural parameters meet the preset preload conditions;

[0147] If the structural parameters meet the preset pre-tightening conditions, an unlocking command is sent to the super-lifting device to control the winch mechanism to retract the rope, and a super-lifting pre-tightening cylinder extension command is sent to the super-lifting device to control the pre-tightening cylinder to perform a stretching action.

[0148] In some optional embodiments, the device is also used for:

[0149] When it is detected that the current operating condition is a superlift condition, the current boom section combination is consistent with the boom section combination corresponding to the superlift condition, the tail angle of the boom is greater than the tail angle threshold, and the deployment angle difference between the current deployment angle and the target deployment angle is less than the deployment angle difference threshold, it is determined that the structural parameters meet the preset preload conditions.

[0150] In some optional implementations, the first processing module 801 is further configured to:

[0151] Sending a rope-collecting command and a latch-unlatching command to the winch mechanism, so that the winch mechanism can unlatch and perform the rope-collecting action;

[0152] When it is detected that the winch mechanism has completed unlatching, a stretching instruction is sent to the pre-tightening cylinder to make the pre-tightening cylinder perform a stretching action.

[0153] In some optional embodiments, the hoisting mechanism includes a left super hoisting and a right super hoisting; the first processing module 801 is further used for:

[0154] Determine the hoisting angles corresponding to the left super hoist and the right super hoist respectively; wherein the hoisting angle is used to represent the angle between the super hoist wire rope and the horizontal plane;

[0155] According to the hoisting angle, the hoisting angle difference between the left super hoisting and the right super hoisting is obtained;

[0156] Based on the winch angle difference, the left super-lift winch and the right super-lift winch are controlled to perform synchronous rope retracting action.

[0157] In some optional implementations, the hoisting parameters also include the hoisting absolute position used to characterize the degree of expansion and contraction of the wire rope, and the hoisting absolute position is determined according to the number of drum turns and the drum rotation angle corresponding to the hoisting encoder; the third processing module 803 is also used to:

[0158] When it is monitored that the hoisting angle change values ​​corresponding to the left super hoist and the right super hoist are both less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold, based on the hoisting absolute position, it is determined whether the left super hoist and the right super hoist are hoisted to the same position;

[0159] If the left super hoisting winch and the right super hoisting winch have been hoisted to the same position, the left super hoisting winch and the right super hoisting winch are controlled to stop the synchronous rope retracting action.

[0160] In some optional embodiments, the device is also used for:

[0161] Record and store the winch parameters corresponding to the current boom section combination.

[0162] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0163] The ultra-lifting adaptive pretensioning device of the working machinery in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0164] The embodiment of the present invention further provides a controller having the above Figure 8 The superlift adaptive pretensioning device of the working machine shown.

[0165] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a controller provided by an optional embodiment of the present invention, such as Fig. 9 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0166] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0167] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0168] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0169] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0170] The controller further comprises a communication interface 30 for the controller to communicate with other devices or a communication network.

[0171] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0172] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0173] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A super-lifting adaptive pre-tightening method for an operating machine, wherein the operating machine comprises a lifting arm and a super-lifting device mounted on the lifting arm, wherein the super-lifting device comprises a hoisting mechanism and a pre-tightening cylinder, wherein: The method comprises: Control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch, so as to perform super-lift pre-tightening; During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the boom are monitored; wherein the hoisting parameters include the pressure of the super-lifting hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the boom head and tail angle, the boom tension and the compression percentage of the pre-tightening cylinder; When it is monitored that the hoisting parameter meets the preset rope-releasing condition, the hoisting mechanism is controlled to stop the rope-collecting action, and it is determined whether the state change parameter of the boom meets the preset tensioning condition; the preset rope-releasing condition is that the hoisting angle change value is less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold; the preset tensioning condition is that the boom head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the boom tension is greater than the tension threshold, or the boom head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold; the boom head-to-tail angle is used to characterize the angle between the line connecting the head end and the tail end of the boom and the horizontal plane, and the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold; If the state change parameter does not meet the preset tensioning condition, the pre-tensioning cylinder is controlled to perform a contraction action until it is monitored that the state change parameter of the boom meets the preset tensioning condition, thereby completing the super-lift pre-tensioning.

2. The method according to claim 1, characterized in that The hoisting mechanism includes a left super hoisting winch and a right super hoisting winch; the hoisting mechanism is controlled to perform a rope-collecting action, including: Determine the hoisting angles corresponding to the left super hoist and the right super hoist respectively; wherein the hoisting angle is used to represent the angle between the super hoist wire rope and the horizontal plane; According to the hoisting angle, a hoisting angle difference between the left super hoisting and the right super hoisting is obtained; Based on the winch angle difference, the left super hoisting winch and the right super hoisting winch are controlled to perform synchronous rope retracting action.

3. The method according to claim 2, characterized in that The hoisting parameters also include the hoisting absolute position used to characterize the degree of expansion and contraction of the wire rope, and the hoisting absolute position is determined according to the number of drum turns and the drum rotation angle corresponding to the hoisting encoder; When it is monitored that the hoisting parameter meets the preset rope-releasing condition, the hoisting mechanism is controlled to stop the rope-collecting action, including: When it is monitored that the hoisting angle change values ​​corresponding to the left super hoist and the right super hoist are both less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold, based on the hoisting absolute position, it is determined whether the left super hoist and the right super hoist are hoisted to the same position; If the left super hoisting winch and the right super hoisting winch have been hoisted to the same position, the left super hoisting winch and the right super hoisting winch are controlled to stop the synchronous rope retracting action.

4. The method according to any one of claims 1 to 3, characterized in that Before controlling the winch mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, the method further includes: Acquire structural parameters of the operating machine; wherein the structural parameters include the current operating condition, the current arm segment combination of the boom, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle, wherein the boom tail angle is used to characterize the angle between the boom tail end and the horizontal plane; Determine whether the structural parameters meet the preset preload conditions; If the structural parameters meet the preset pre-tightening conditions, an unlatching command is sent to the super-lifting device to control the winch mechanism to perform the rope-collecting action, and a super-lifting pre-tightening cylinder extension command is sent to the super-lifting device to control the pre-tightening cylinder to perform the stretching action.

5. The method according to claim 4, characterized in that The determining whether the structural parameters meet the preset pre-tightening conditions includes: When it is detected that the current operating condition is a super-lifting condition, the current boom segment combination is consistent with the boom segment combination corresponding to the super-lifting condition, the tail angle of the boom is greater than the tail angle threshold, and the deployment angle difference between the current deployment angle and the target deployment angle is less than the deployment angle difference threshold, it is determined that the structural parameters meet the preset pre-tensioning conditions.

6. The method according to claim 5, characterized in that After completing the superlift pre-tightening, the method further includes: Record and store the winch parameters corresponding to the current boom section combination.

7. The method according to any one of claims 1 to 3, characterized in that Before controlling the winch mechanism to perform the rope-collecting action and the pre-tightening cylinder to perform the stretching action, the method further includes: Sending a rope-collecting command and a latch-unlatching command to the winch mechanism, so that the winch mechanism can unlatch and perform the rope-collecting action; When it is detected that the winch mechanism has completed unlatching, a stretching instruction is sent to the pre-tightening cylinder to make the pre-tightening cylinder perform a stretching action.

8. An adaptive pre-tightening device for super-lifting of an operating machine, the operating machine comprising a lifting arm and a super-lifting device mounted on the lifting arm, the super-lifting device comprising a hoisting mechanism and a pre-tightening cylinder, characterized in that: The device comprises: The first processing module is used to control the winch mechanism to perform the rope retracting action and the pre-tightening cylinder to perform the stretching action, so as to perform the super lifting pre-tightening; The second processing module is used to monitor the hoisting parameters of the hoisting mechanism and the state change parameters of the crane arm during the pre-tightening process; wherein the hoisting parameters include the pressure of the super-lifting hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the head and tail angle of the crane arm, the tension of the crane arm and the compression percentage of the pre-tightening cylinder; The third processing module is used to control the hoisting mechanism to stop the rope collection action and determine whether the state change parameter of the crane arm meets the preset tensioning condition when it is monitored that the hoisting parameter meets the preset rope-releasing condition; the preset rope-releasing condition is that the hoisting angle change value is less than the hoisting angle change threshold, and / or the hoisting motor pressure reaches the maximum pressure threshold; the preset tensioning condition is that the crane arm head-to-tail angle change value is greater than the first head-to-tail angle change threshold and the crane arm tension is greater than the tension threshold, or the crane arm head-to-tail angle change value is greater than the second head-to-tail angle change threshold and the pre-tightening cylinder compression percentage is less than the compression percentage threshold; the crane arm head-to-tail angle is used to characterize the angle between the line connecting the head end and the tail end of the crane arm and the horizontal plane, and the second head-to-tail angle change threshold is less than the first head-to-tail angle change threshold; The fourth processing module is used to control the pre-tensioning cylinder to retract if the state change parameter does not meet the preset tensioning condition, until it is monitored that the state change parameter of the lifting arm meets the preset tensioning condition, thereby completing the super-lifting pre-tensioning.

9. An operating machine, comprising a lifting arm and a super lifting device mounted on the lifting arm, wherein the super lifting device comprises a hoisting mechanism and a preload cylinder, characterized in that: The working machine further includes a controller; The controller includes a memory and a processor, and the memory and the processor are communicatively connected to each other. Computer instructions are stored in the memory, and the processor executes the super-lifting adaptive pre-tensioning method of the working machinery described in any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the super-lifting adaptive pre-tensioning method for a working machine according to any one of claims 1 to 7.

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