Superlifting adaptive pre-tightening method and device for operating machinery, operating machinery and medium

Abstract

The present invention relates to the field of super-lifting control technology, and discloses a super-lifting adaptive pre-tightening method, device, working machinery and medium for a working machine. The present invention first controls a hoisting mechanism to perform a rope-retracting action and a pre-tightening cylinder to perform a stretching action, and during 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-retracting action, and preliminary pre-tightening is performed. Then, the pre-tightening cylinder is controlled to perform a 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.

Description

Technical Field

[0001] The present 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] The superlift device is a key component that improves the performance of large-tonnage lifting machinery and is a basic feature of large-tonnage lifting machinery. Before lifting, the wire rope inside the superlift device must be pre-tensioned to prevent the boom from bending and flexing, ensuring the crane's lifting performance.

[0003] At present, there are two modes of superlift pretensioning: fixed-force tensioning and fixed-length tensioning. The fixed-length tensioning mode can, in principle, ensure that the boom will not bend sideways after pretensioning, which is better than the fixed-force tensioning principle. However, because each arm segment 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 machine. 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 method for adaptive pre-tightening of a super-lifting machine, wherein the machine comprises a boom and a super-lifting device mounted on the boom, wherein the super-lifting device comprises a hoisting mechanism and a pre-tightening cylinder. The method comprises:

[0006] Control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch the rope to perform super-lift 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; the hoisting parameters include the super-lift 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 pre-tensioning cylinder is controlled to retract until the state change parameters of the boom are monitored to meet the preset tensioning conditions, completing the super-lift pre-tensioning.

[0010] Beneficial effect: The present invention first controls the hoisting mechanism to perform the rope-retracting 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-retracting 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 and right super hoisting winches, respectively; wherein the hoisting angle is used to represent the angle between the super hoisting winch 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 retraction action.

[0015] Beneficial Effects: In this 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 differ, a large difference can be detrimental to the safe operation of the operating machine. Therefore, based on the hoisting angle difference between the left and right super-lifting winches, the left and right super-lifting winches are controlled to synchronize the rope retraction, effectively implementing super-lifting pre-tensioning and improving operational safety.

[0016] In an optional embodiment, the hoisting parameters also include an absolute hoisting position used to characterize the degree of wire rope expansion and contraction, and the absolute hoisting position is determined based on 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-retracting 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, it is determined based on the hoisting absolute position 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 an embodiment of the present invention, when it is determined that the super-lifting winch has reached the limit position based on the hoisting angle change value and / or the hoisting 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-tightened state, the left and right super-lifting winches are controlled to stop synchronously retracting the rope, and the initial pre-tightening of the super-lifting is adaptively achieved.

[0020] In an optional embodiment, before controlling the hoisting mechanism to perform the rope retracting 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 boom segment combination, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle. The boom tail angle represents 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 unlatching 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 performing pre-tightening action in combination with parameters such as the operating conditions, arm section combination, boom tail angle, and super-lifting deployment angle, an unlatching command and an extension command of the super-lifting pre-tightening cylinder 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 embodiment, determining whether the structural parameters meet the preset pre-tightening conditions includes:

[0026] When it is detected that the current operating condition is the super-lifting condition, the current arm segment combination is consistent with the arm segment combination corresponding to the super-lifting condition, the tail angle of the crane arm 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-tightening 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-lifting deployment angle to judge whether the operating machinery can perform pre-tightening action, the standardization and safety of the pre-tightening process are guaranteed.

[0028] In an optional embodiment, after completing the super-lift 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 super-lift pre-tightening is successful, the pre-tightening target value of the current boom section combination, such as the super-lift winch number of turns, super-lift winch angle and other winch 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 retracting action and the pre-tightening cylinder to perform the stretching action, the method further includes:

[0032] Sending rope retraction instructions and latching instructions to the winch mechanism to make the winch mechanism latch and perform rope retraction;

[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 incomplete unlatching, thereby standardizing the operating process of super-lifting pre-tightening and improving safety during pre-tightening.

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

[0036] The first processing module is used to control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch the rope to perform super-lift 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 boom during the pre-tightening process; wherein the hoisting parameters include the pressure of the super-lift hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the boom fore-aft angle, the boom tension 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-collecting action when it is monitored that the hoisting parameters meet the preset rope-releasing conditions, and to determine whether the state change parameters of the boom meet the preset tensioning conditions; the preset rope-releasing conditions are 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 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;

[0039] The fourth processing module is used to control the pre-tightening cylinder to retract 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-tightening.

[0040] In the third aspect, the present invention provides an operating machine, which 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 operating machine also includes a controller; the controller includes a memory and a processor, and the memory and the processor are communicatively connected to each other, and computer instructions are stored in the memory. The processor executes the computer instructions to execute the super-lifting adaptive pre-tightening method of the operating machine according to the above-mentioned first aspect or any corresponding embodiment thereof.

[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-tightening 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 embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

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

[0044] Figure 2 1 is a flow chart of a superlift adaptive pre-tightening method according to an embodiment of the present invention;

[0045] Figure 3 is a structural block diagram of an operating machinery 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 1 is a flow chart of another super-lifting adaptive pre-tightening method according to an embodiment of the present invention;

[0048] Figure 6 1 is a flow chart of another super-lifting adaptive pre-tightening method according to an embodiment of the present invention;

[0049] Figure 7 1 is 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 pre-tightening device according to an embodiment of the present invention;

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

[0052] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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 making creative efforts shall fall within the scope of protection of the present invention.

[0053] The superlift device is a key component that improves the performance of large-tonnage lifting machinery and is a basic feature of large-tonnage lifting machinery. Before lifting, the wire rope inside the superlift device must be pre-tensioned to prevent the boom from bending and flexing, ensuring the crane's lifting performance.

[0054] There are two modes for superlift pretensioning: fixed-force tensioning and fixed-length tensioning. The fixed-length mode utilizes a fixed-length tensioning target value, pulling the boom to a specified position for superlift pretensioning. In principle, this ensures that the boom will not bend after pretensioning, which is superior to the fixed-force principle. However, because each boom section combination corresponds to a fixed tensioning target value, fixed-length tensioning, which relies on a fixed target value, can easily lead to the failure of the fixed-length tensioning effect that relies on a fixed target value in situations such as stretching deformation of the superlift wire rope, interchangeable superlift devices, differences in superlift wire ropes, differences in booms, differences between different vehicles, and shared superlifts by mainframes.

[0055] Therefore, an embodiment of the present invention provides an adaptive pre-tightening solution for super-lifting of an operating machine to solve the defect of low pre-tightening efficiency of the super-lifting device in the prior art due to unreasonable control during the pre-tightening process, and to achieve efficient pre-tightening 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 retract the rope and the pretensioning cylinder to stretch it, thereby performing superlift pretensioning. During the pretensioning process, the hoisting mechanism's hoisting parameters and the state change parameters of the boom 101 are monitored. When the hoisting parameters meet the preset rope release conditions, the hoisting mechanism is controlled to stop retracting the rope and determine whether the state change parameters of the boom 101 meet the preset tensioning conditions. 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 meet the preset tensioning conditions, completing the superlift pretensioning.

[0058] For details about the specific working principle and workflow 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 a super-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 super-lifting adaptive pre-tightening method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is a single chip microcomputer, MCU, etc. Figure 2FIG. 1 is a flow chart of a super-lifting adaptive pre-tightening 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: Control the hoisting mechanism to retract the rope and the pre-tightening cylinder to stretch the rope to perform super-lift pre-tightening.

[0062] Specifically, during the super-lifting pre-tightening process, the winch mechanism will retract the rope, and at the same time the pre-tightening cylinder will also stretch, so that the wire rope of the super-lifting device will be gradually tightened.

[0063] It's important to note that a hoisting mechanism is a mechanical device that uses a drum motor to rotate and wind a wire rope, enabling lifting, dragging, or hauling operations. When the electric drum motor is activated, power is transmitted to the drum, causing it to rotate at a low speed. The wire rope is then wound around the drum. As the drum rotates, the wire rope is gradually tightened or loosened, enabling the lifting, dragging, or hauling of heavy objects. A preload cylinder is a pressure storage element that preloads other components.

[0064] In some optional embodiments, a rope retraction instruction and a latching instruction can be sent to the winch mechanism to cause the winch mechanism to unlatch and perform the rope retraction action. When it is detected that the winch mechanism has completed latching (the latch is in place and the latching signal is normal), a stretching instruction is sent to the pre-tightening cylinder to cause the pre-tightening cylinder to perform a stretching action, thereby preventing the pre-tightening process of the super-lifting device from being affected by the latching being not in place, thereby standardizing the operational process of super-lifting pre-tightening and improving the safety during pre-tightening. In addition, in the process of controlling the stretching of the pre-tightening cylinder, the compression percentage of the pre-tightening cylinder is detected. When it is detected that the compression percentage of the pre-tightening cylinder meets the preset percentage condition, the subsequent steps are executed, wherein the preset percentage condition can be 90% < pre-tightening 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, if 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-lift hoist and a right super-lift hoist. The hoisting parameters include the super-lift hoist motor pressure, the hoist angle change value, and the hoist absolute position used to represent the degree of wire rope expansion and contraction. The hoist absolute position is determined based on the number of drum turns and the drum rotation angle corresponding to the hoist encoder. The hoist encoder converts the position of an object into an electrical signal for output. In hoisting equipment, the hoist encoder is typically mounted on a main shaft connected to the drum. When the drum rotates, the main shaft also rotates, driving the sensor element inside the encoder to detect the position.

[0068] Specifically, the boom state parameters include the change in boom nose-to-tail angle, boom tension, and preload cylinder compression percentage. The boom nose-to-tail angle represents the angle between the horizontal plane and the line connecting the boom's nose and tail ends (the nose end is the end away from the ground, and the tail end is the end closer to the ground). The preload cylinder compression percentage can be obtained using an overload-actuated proportional valve, a device that controls pressure based on the magnitude and ratio of an 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-retracting action, and it is determined whether the state change parameters of the boom meet the preset tensioning conditions.

[0070] Specifically, if the winch parameters meet the preset rope-releasing conditions, it means that the wire rope has been initially tightened. At this time, the winch 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 conditions are: the winch angle change is less than a winch angle change threshold, and / or the winch motor pressure reaches a maximum pressure threshold. The preset tensioning conditions are: the boom nose-to-tail angle change is greater than a first nose-to-tail angle change threshold and the boom tension is greater than a tension threshold, or the boom nose-to-tail angle change is greater than a second nose-to-tail angle change threshold and the pre-tensioning cylinder compression percentage is less than a compression percentage threshold, wherein the second nose-to-tail angle change threshold is less than the first nose-to-tail angle change threshold.

[0072] Step S204: 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, thereby completing the super-lift pre-tightening.

[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 this embodiment first controls the hoisting mechanism to perform the rope-retracting 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-retracting action and perform preliminary pre-tensioning, and then the pre-tensioning 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-tensioning and improving the pre-tensioning efficiency.

[0075] In this embodiment, a super-lifting adaptive pre-tightening method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is a single chip microcomputer, MCU, etc. Figure 4 FIG. 1 is a flow chart of a super-lifting adaptive pre-tightening 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: Control the hoisting mechanism to retract the rope and the pre-tightening cylinder to stretch the rope to perform super-lift pre-tightening.

[0077] Specifically, the hoisting mechanism includes a left super hoisting mechanism and a right super hoisting mechanism. 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-lift hoisting wire rope and the horizontal plane, and the hoisting angles corresponding to the left super-lift hoist and the right super-lift hoist can be obtained by an angle sensor.

[0080] Step S4012: Obtain the hoisting angle difference between the left super hoist and the right super hoist according to the hoisting angle.

[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, the left super-lift winch and the right super-lift winch are controlled to perform a synchronous rope-retracting action, and the pre-tightening cylinder is controlled to perform a stretching action to perform super-lift pre-tightening.

[0083] Specifically, the left and right super-lift winches are used to perform synchronous rope-collecting actions based on the difference in the super-lift winch angles.

[0084] In this embodiment of the present invention, the hoisting mechanism includes a left super-lift winch and a right super-lift winch. Since the hoisting angles corresponding to the two super-lift winches differ, a significant difference can compromise the safe operation of the machine. Therefore, based on the hoisting angle difference between the left and right super-lift winches, the left and right super-lift winches are controlled to synchronize their rope retraction, effectively pre-tightening the super-lift, thereby improving operational safety.

[0085] Step S402: During the pre-tightening process, the hoisting parameters of the hoisting mechanism and the state change parameters of the boom 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-retracting 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 both 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 hoist, determine whether the left super-lifting winch and the right super-lifting winch are hoisted to the same position.

[0089] Specifically, the winch angle change can be calculated based on the winch angle within a preset time period. For example, if the winch angle change of the left or right super-lift winch is less than 5° within 3 seconds, and / or the winch motor pressure reaches the set maximum pressure threshold, it indicates that the winch mechanism has reached its limit position. Then, based on the winch absolute position, it is determined whether the left and right super-lift winches have been hoisted to the same position.

[0090] For example, the area where the absolute position of the left and right super-lift winch encoders is smaller is used as a reference to 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-lift 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] Where LX is the absolute position of the current left super-lift winch, RX is the absolute position of the current right super-lift winch, LN is the number of drum revolutions corresponding to the left super-lift winch, LA is the drum rotation angle corresponding to the left super-lift winch, RN is the number of drum revolutions corresponding to the right super-lift winch, and RA is the drum rotation angle corresponding to the right super-lift winch. One revolution of the super-lift winch is 360°.

[0094] In step S4032, if the left super hoist and the right super hoist have been hoisted to the same position, the left super hoist and the right super hoist are controlled 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 hoisting angle change value and / or the hoisting motor pressure of the left and right super-lifting winches, it is then determined whether the left and right super-lifting winches have been 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-tightened state, the left and right super-lifting winches are controlled to stop synchronously retracting the rope, and the initial pre-tightening of the super-lifting is adaptively achieved.

[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 tension is greater than the tension 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, gravity causes the boom head to sag, causing the boom to bend. When the wire rope is tightened, the boom head will tilt, causing the boom's nose-to-tail angle to change. Generally speaking, the tighter the wire rope is, the greater the change in the boom's nose-to-tail angle, and the greater the tilt.

[0099] For example, 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 pre-tightening 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 pre-tightening 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 angle change is greater than a first threshold of 0.5° and the boom tension is greater than a tension threshold of 15 kN, or if the boom angle change is greater than a second threshold of -2° and the preload cylinder compression percentage is less than a compression percentage threshold of 3%, then the overload preload is successful. The second threshold of the angle change is less than the first threshold of the angle change.

[0102] Specifically, if the preset tensioning condition is not met, it means that the pre-tensioning has not been successful, but since 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 an 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 and thus improves 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, thus completing the super-lift pre-tightening. Figure 2 Step S204 of the illustrated embodiment will not be described in detail here.

[0105] The present embodiment provides an adaptive pre-tensioning method for super-lifting of a working machine. Based on the winch angle difference between the left and right super-lift winches, the method controls the left and right super-lift winches to synchronously retract the ropes and the pre-tensioning cylinder to stretch. During the super-lifting pre-tensioning process, the method monitors parameters such as the winch angle change and / or winch motor pressure, boom fore-aft angle change, boom tension, and pre-tensioning cylinder compression percentage. When the winch angle change and / or winch motor pressure meet preset rope-releasing conditions, the winch mechanism is controlled to stop retracting the rope, completing the initial super-lift pre-tensioning. The pre-tensioning cylinder is then controlled to retract until the boom fore-aft angle change, boom tension, and pre-tensioning cylinder compression percentage meet preset tensioning conditions, thereby completing the adaptive pre-tensioning of the super-lifting process with high pre-tensioning efficiency.

[0106] In this embodiment, a super-lifting adaptive pre-tightening method for a working machine is provided, which can be used for example Figure 1 The controller 103 shown is a single chip microcomputer, MCU, etc. Figure 5 FIG. 1 is a flow chart of a super-lifting adaptive pre-tightening 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: Acquire the structural parameters of the working machine.

[0108] Specifically, the structural parameters include the current operating conditions, 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. The boom tail angle is used to characterize the angle between the tail end of the boom and the horizontal plane.

[0109] Step S502: Determine 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 arm segment combination is consistent with the arm 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] For example, if the target combination of arm segments is consistent with the actual combination, the selected working condition is the super-lifting condition, the tail angle of the boom satisfies ≥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°), it is determined that the structural parameters meet the preset pre-tightening conditions.

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

[0113] In step S503, 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 an extension command of the super-lifting pre-tightening cylinder is sent to the super-lifting device to control the pre-tightening cylinder to stretch.

[0114] For example, if the structural parameters meet the preset pre-tensioning conditions, the super-lifting rope is controlled and an unlatching command is sent to it to open the locking mechanism of the winch mechanism. 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 an embodiment of the present invention, after determining that the operating machinery is capable of performing pre-tightening action in combination with parameters such as the operating conditions, arm section combination, boom tail angle, and super-lifting deployment angle, an unlatching command and an extension command of the super-lifting pre-tightening cylinder are sent to the super-lifting device, and then the super-lifting pre-tightening is formally performed, 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 the rope 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 boom 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-retracting action and determine 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, thus completing the super-lift pre-tightening. Figure 4 Step S404 of the illustrated embodiment will not be described in detail here.

[0120] Step S508: record and store 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 arm section combination, such as the super-lifting winch number of turns, the super-lifting winch rotation angle and other winch parameters, can be recorded, so that when the main arm 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.

[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 performing the pre-tightening action, 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 a synchronous rope-retracting action and the pre-tightening cylinder is controlled to perform a stretching action. 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-retracting action, thereby completing the initial pre-tightening of the super-lifting. Then, the pre-tightening cylinder is controlled to perform a contraction action 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. 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 with reference to a specific application example. Figure 6 As shown, this 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 and sends an unlatching command to the super-lifting device. The controller detects the unlatching signal and enters step 3 normally.

[0126] In 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 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 processes:

[0128] In step 4.1, the left and right super hoisting winches are synchronously retracted based on the angle difference. Determine whether the super hoisting winches have reached their limit position: if the hoisting angle change of the left and right super hoisting winches is less than 5° within 3 seconds or if the high-side pressure of the super hoisting winch motor reaches the set maximum pressure threshold, then proceed to step 4.2.

[0129] In step 4.2, use the smaller absolute position of the left and right winch encoders as a reference to 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-lift winch, RX is the absolute position of the current right super-lift, LN is the number of drum turns corresponding to the left super-lift winch, LA is the drum rotation angle corresponding to the left super-lift winch, RN is the number of drum turns corresponding to the right super-lift winch, and RA is the drum rotation angle corresponding to the right super-lift winch.

[0133] In step 4.3, if the left and right super-lift winches have been hoisted to the same position, the super-lift synchronous rope retraction algorithm is terminated.

[0134] Step 5, control the super-lifting rope and issue the latch 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 > 0.5° and the tension is > 15KN, or the compression percentage of the preload cylinder is < 3% and the head and tail angle is tilted > -2°, stop retracting the preload cylinder and go to step 7.

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

[0137] This embodiment of the application provides an adaptive tensioning method that uses sensors to automatically sense the pretensioning status of the boom and superlift, and then automatically tensions. After pretensioning is successful, the pretensioning data can be saved. This allows the program to directly tension the main boom the next time it is pretensioned, based on the target value of the previous pretensioning, without requiring any intermediate control, thereby improving pretensioning efficiency.

[0138] This embodiment also provides an adaptive pretensioning device for superlifting of a working machine. This device is used to implement the aforementioned embodiments and preferred implementations, and details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0139] This embodiment provides a super-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. The device includes:

[0140] The first processing module 801 is used to control the winch mechanism to perform a rope retracting action and the pre-tightening cylinder to perform a stretching action to perform super-lift 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. The hoisting parameters include the super-lift hoisting motor pressure and the hoisting angle change value, and the state change parameters include the boom fore-aft angle change value, the boom tension, and the pre-tightening cylinder compression percentage.

[0142] The third processing module 803 is used to control the hoisting mechanism to stop the rope-collecting action when it is monitored that the hoisting parameters meet the preset rope-releasing conditions, and to determine whether the state change parameters of the boom meet the preset tensioning conditions; the preset rope-releasing conditions are that the hoisting angle change value is less than the hoisting angle change threshold, and / or that the hoisting 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 that 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 represent 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-tightening cylinder to retract 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-tightening.

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

[0145] Acquire structural parameters of the operating machine; wherein the structural parameters include the current operating condition, the current boom segment combination, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle. The boom tail angle represents 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 unlatching 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 further used to:

[0149] When it is detected that the current operating condition is the super-lifting condition, the current arm segment combination is consistent with the arm segment combination corresponding to the super-lifting condition, the tail angle of the crane arm 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-tightening conditions.

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

[0151] Sending rope retraction instructions and latching instructions to the winch mechanism to make the winch mechanism latch and perform rope retraction;

[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 mechanism and a right super hoisting mechanism; the first processing module 801 is further configured to:

[0154] Determine the hoisting angles corresponding to the left and right super hoisting winches, respectively; wherein the hoisting angle is used to represent the angle between the super hoisting winch 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 reeling action.

[0157] In some optional embodiments, the hoisting parameters further include an absolute hoisting position for characterizing the degree of wire rope expansion and contraction, and the absolute hoisting position is determined based on the number of drum turns and the drum rotation angle corresponding to the hoisting encoder; the third processing module 803 is further configured 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, it is determined based on the hoisting absolute position 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 further used to:

[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 super-lifting adaptive pre-tensioning 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 functions.

[0164] The embodiment of the present invention further provides a controller having the above Figure 8 The super lifting adaptive pre-tensioning device of the working machine shown.

[0165] See also Figure 9 , Figure 9 : is a schematic diagram of the structure of a controller provided by an optional embodiment of the present invention, such as Figure 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 utilize different buses to communicate with each other 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 a 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). Figure 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 an application-specific 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 that can be executed 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 and application programs required for 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 located 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 includes 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 above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, 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 drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. 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 portion 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 form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. 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 that can be accessed by the computer.

[0173] Although the embodiments of the present invention have been described with reference to 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. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for adaptive pre-tightening of a super-lifting machine, wherein the 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, characterized in that: The method comprises: Control the winch mechanism to retract the rope and the pre-tightening cylinder to stretch the rope 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 super-lift hoisting motor pressure and the hoisting angle change value, and the state change parameters include the boom fore-aft angle change value, the boom tension and the pre-tightening cylinder compression percentage; 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; the preset rope-releasing conditions are 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 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; If the state change parameter does not meet the preset tensioning condition, the pre-tightening 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-tightening.

2. The method according to claim 1, characterized in that The hoisting mechanism includes a left super hoisting mechanism and a right super hoisting mechanism; 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 angles are used to represent the angles 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 hoist and the right super hoist are controlled to perform a synchronous rope reeling 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. The hoisting absolute position is determined based on the number of drum turns and the drum rotation angle corresponding to the hoisting encoder. When it is detected that the hoisting parameter meets the preset rope-releasing condition, the hoisting mechanism is controlled to stop the rope-retracting 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 hoist and the right super hoist have been hoisted to the same position, the left super hoist and the right super hoist 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 retracting action and the pre-tightening cylinder to perform the stretching action, the method further includes: Acquiring structural parameters of the operating machine; wherein the structural parameters include the current operating condition, the current boom segment combination, the boom tail angle, the current deployment angle of the superlift device, and the target deployment angle; the boom tail angle is used to represent 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-retracting 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 the super-lifting condition, the current arm segment combination is consistent with the arm segment combination corresponding to the super-lifting condition, the tail angle of the crane arm 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-tightening 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 retracting action and the pre-tightening cylinder to perform the stretching action, the method further includes: Sending rope retraction instructions and latching instructions to the winch mechanism to make the winch mechanism latch and perform rope retraction; 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 boom and a super-lifting device mounted on the boom, 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 retract the rope and the pre-tightening cylinder to stretch the rope to perform super-lift pre-tightening; The second processing module 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-lift hoisting motor and the change value of the hoisting angle, and the state change parameters include the change value of the boom fore-aft angle, the boom tension and the compression percentage of the pre-tightening cylinder; The third processing module is used to control the hoisting mechanism to stop the rope-collecting action when it is monitored that the hoisting parameter meets the preset rope-releasing condition, and to determine 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; The fourth processing module is used to control the pre-tightening cylinder to retract if the state change parameter does not meet the preset tensioning condition, until the state change parameter of the lifting arm is monitored to meet the preset tensioning condition, thereby completing the super-lift pre-tightening.

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 pre-tightening cylinder, wherein: 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 according to 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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