A power transmission control method for a crane

Abstract

The present invention relates to the technical field of power transmission control, and particularly to a power transmission control method for a crane. An image of the hoisted object is acquired to determine the hoisting mode. In the corresponding hoisting mode, it is determined whether the first hoisting process meets the preset standard based on the complexity of the force on the steel wire rope connected to the hoisted object. Based on the adjusted first hoisting process, it is determined whether the second hoisting process meets the preset standard according to the deviation angle of the sling. Based on the adjusted second hoisting process, it is determined whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object. Under the condition that the first hoisting process, the second hoisting process, and the third hoisting process meet the preset standard, it is determined whether the hoisting process of the crane meets the preset standard under the condition that there is wind resistance based on the inclination angle of the hoisted object. The present invention improves the control accuracy and reliability of the hoisting process.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission control, and particularly to a power transmission control method for a crane. Background Art

[0002] With the rapid development of electronic technology, computer technology, power electronics technology, and communication and network technology, the power transmission control system of cranes has realized the transformation from traditional mechanical control to intelligent and automatic control. Modern cranes widely adopt advanced control devices such as PLCs and variable frequency speed regulation devices, combined with various transmission control methods and advanced control strategies, such as fuzzy control and neural network control, to achieve precise control of the motor speed and torque, and meet different load characteristics and speed regulation requirements. The application of these technologies not only improves the operation efficiency and stability of cranes, but also enhances their safety and reliability, providing strong support for efficient operation under various complex working conditions.

[0003] Chinese Patent Publication No.: CN104002674B discloses a power transmission system, a control method, and a single-engine truck crane. The system includes an engine and a speed adjustment component, a transmission mechanism, and a hydraulic pump. It is characterized in that it further includes: a speed ratio adjustment mechanism arranged between the transmission mechanism and the hydraulic pump for adjusting the speed ratio from the engine to the hydraulic pump according to a speed ratio control signal; a controller connected to the speed adjustment component, the electronic control unit of the engine, and the speed ratio adjustment mechanism for respectively sending a speed control signal and a speed ratio control signal to the electronic control unit of the engine and the speed ratio adjustment mechanism according to the speed adjustment signal of the speed adjustment component. Compared with the existing fixed-value speed ratio transmission method, this invention can make the hydraulic pump work in a better economic region when the engine is at medium and high speeds by adjusting the speed ratio, maintaining an appropriate engine load rate, so as to obtain better fuel economy.

[0004] It can be seen that the power transmission system, control method, and single-engine truck crane have the following problems: Although this invention can make the hydraulic pump work in a better economic region when the engine is at medium and high speeds by adjusting the speed ratio, maintaining an appropriate engine load rate, and can obtain better fuel economy, this invention lacks monitoring of the adjustment process and cannot ensure whether the adjustment of the speed ratio meets the standard, thus making it difficult to ensure the accuracy and reliability of the engine load rate. Summary of the Invention

[0005] Therefore, the present invention provides a power transmission control method for a crane to overcome the problems in the prior art that there is a lack of monitoring of the power adjustment process, so that it cannot be ensured that the power transmission adjustment process meets the standard, and it is difficult to ensure the control accuracy and reliability during the hoisting process.

[0006] To achieve the above object, the present invention provides a power transmission control method for a crane, including:

[0007] Lifting the object to be lifted to determine the weight ratio between the weight of the lifted object and the rated load, and determining the lifting mode based on the weight ratio, where the lifting mode includes a first lifting mode and a second lifting mode;

[0008] In the corresponding lifting mode, determining whether the first lifting process meets the preset standard based on the complexity of the force on the steel wire rope connected to the lifted object, and adjusting the acceleration rate of the lifted object or the lifting height of the first lifting process based on the complexity difference under the condition that the first lifting process does not meet the preset standard;

[0009] Based on the adjusted first lifting process, determining whether the second lifting process meets the preset standard according to the offset angle of the sling, and adjusting the preset rate or adjusting the torque based on the offset angle difference under the condition that the second lifting process does not meet the preset standard;

[0010] Based on the adjusted second lifting process, determining whether the third lifting process meets the preset standard according to the vibration amplitude of the lifted object, and adjusting the deceleration rate or adjusting the lifting duration of the second lifting process based on the frequency difference under the condition that the third lifting process does not meet the preset standard;

[0011] Under the condition that the first lifting process, the second lifting process, and the third lifting process meet the preset standard, determining whether the lifting process of the crane meets the preset standard under the condition of wind resistance based on the tilt angle of the lifted object;

[0012] Among them, the operation route of the first lifting mode is to lift the lifted object to a preset height, and then the crane boom takes the slewing bearing as the origin and moves the lifted object to a position above the preset position at a preset torque at a constant speed, and the crane engine controls the lifted object to decelerate and descend to place the lifted object at the preset position;

[0013] The operation route of the second lifting mode is to take the slewing bearing as the origin, and when the crane boom lifts the lifted object to a preset height at a preset torque, move the lifted object to a deceleration point at a preset rate, and the crane engine controls the lifted object to decelerate and descend to place the lifted object at the preset position.

[0014] Further, the process of determining the lifting mode based on the weight ratio includes:

[0015] If the weight ratio is greater than the preset weight ratio, it is determined to adopt the first lifting mode;

[0016] If the weight ratio is less than or equal to the preset weight ratio, it is determined to adopt the first lifting mode.

[0017] Further, the process of determining whether the first hoisting process meets the preset standard based on the complexity includes:

[0018] If the complexity is greater than the preset complexity, the first hoisting process does not meet the preset standard;

[0019] If the complexity is less than or equal to the preset complexity, the first hoisting process meets the preset standard.

[0020] Further, the process of adjusting the acceleration rate of the hoisted object based on the complexity difference includes:

[0021] Determine the first complexity comparison result that the complexity difference is greater than the preset complexity difference;

[0022] Determine the acceleration rate of adjusting the hoisted object based on the first complexity comparison result;

[0023] Wherein, several adjustment methods are set for the acceleration rate of the hoisted object, and the adjustment range of each adjustment method for the acceleration rate of the hoisted object is different.

[0024] Further, the process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes:

[0025] Determine the second complexity comparison result that the complexity difference is less than or equal to the preset complexity difference;

[0026] Determine the hoisting height of adjusting the first hoisting process based on the second complexity comparison result;

[0027] Wherein, several adjustment methods are set for the hoisting height, and the adjustment range of each adjustment method for the hoisting height is different.

[0028] Further, the process of determining whether the second hoisting process meets the preset standard based on the offset angle of the sling includes:

[0029] If the offset angle of the sling is greater than the preset offset angle, it is determined that the second hoisting process does not meet the preset standard;

[0030] If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second hoisting process meets the preset standard.

[0031] Further, the process of determining the adjustment of the preset rate based on the offset angle difference includes:

[0032] Determine the first angle comparison result that the offset angle difference is less than or equal to the preset offset angle difference;

[0033] Determine to adjust the preset rate based on the first angle comparison result;

[0034] Wherein, several adjustment methods are set for the preset rate, and the adjustment range of each adjustment method for the preset rate is different.

[0035] Further, the process of determining the adjustment torque based on the offset angle difference includes:

[0036] Determine the second angle comparison result that the offset angle difference is greater than the preset offset angle difference;

[0037] Determine to adjust the torque based on the second angle comparison result;

[0038] Wherein, several adjustment methods are set for the torque, and the adjustment range of each adjustment method for the torque is different.

[0039] Further, under the condition that the vibration amplitude of the lifted object is greater than the preset vibration amplitude, it is determined that the third lifting process does not meet the preset standard, and the deceleration rate is adjusted based on the first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference, and the lifting duration of the second lifting process is adjusted based on the second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference.

[0040] Further, the process of determining whether the lifting process of the crane meets the preset standard under the condition that wind resistance exists based on the tilt angle of the lifted object includes:

[0041] If the tilt angle is greater than the preset tilt angle, it is determined that the lifting process of the crane does not meet the preset standard;

[0042] If the tilt angle is less than or equal to the preset tilt angle, it is determined that the lifting process of the crane meets the preset standard.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention determines the lifting mode based on the obtained weight ratio, accurately divides the lifting route for different lifting modes, adopts the first lifting mode for the case of a large weight ratio, and adopts the second lifting mode for the case of a small weight ratio, thereby improving the lifting efficiency while ensuring the lifting stability; in the determined lifting mode, the lifting process is divided into three stages, analyzes the lifting characteristics of any stage and determines whether it meets the standard, and determines the adjustment parameters based on each difference under the condition that the lifting process does not meet the standard, thereby accurately adjusting, improving the accuracy of power transmission control, and determining whether the lifting process meets the standard under the condition that wind resistance exists based on the tilt angle of the lifted object under the condition that the lifting process meets the standard, thereby improving the accuracy of the power transmission adjustment process and improving the control accuracy and reliability of the lifting process.

[0044] Furthermore, the present invention determines whether the first hoisting process meets the preset standard based on the complexity of the force on the steel wire rope connected to the hoisted object. The faster the fluctuation frequency of the force on the steel wire rope, the more unstable the hoisting process, indicating that it is more likely to be dangerous. The present invention monitors the fluctuation frequency of the force to characterize the complexity of the force, so as to timely adjust the acceleration rate or hoisting height when potential danger may exist, avoid danger, improve the accuracy of the power transmission adjustment process, improve the safety of the hoisting process, and further improve the control accuracy and reliability of the hoisting process.

[0045] Furthermore, the present invention determines whether the second hoisting process meets the preset standard based on the offset angle of the sling. The second hoisting process is a process of moving at a constant speed at a preset height and has inertia in the horizontal direction. The offset angle of the sling characterizes the stability of the hoisted object during the hoisting process. The larger the offset angle, the more unstable the hoisted object and the more likely it is to be dangerous. Based on the difference in the offset angle, the preset rate or torque is determined, thereby improving the accuracy of the power transmission adjustment process, improving the safety of the hoisting process, and further improving the control accuracy and reliability of the hoisting process.

[0046] Furthermore, the present invention determines whether the third hoisting process meets the preset standard based on the vibration amplitude of the hoisted object. The third hoisting process is a descending process. During the descending process, due to the action of gravity, if the descending speed is too fast, the hoisted object will vibrate. Based on the difference in the vibration amplitude, the deceleration rate or the hoisting duration of the second hoisting process is determined, thereby improving the accuracy of the power transmission adjustment process, improving the safety of the hoisting process, and further improving the control accuracy and reliability of the hoisting process.

[0047] Furthermore, the present invention considers the influence of wind resistance when the hoisting process meets the standard. Under the condition of large wind resistance, it determines whether the hoisting process meets the preset standard based on the inclination angle of the hoisted object. The greater the wind resistance, the greater the impact on the hoisting process and the more likely it is to be dangerous. When the wind resistance exceeds a certain value, the operation should be stopped in time to avoid danger, thereby improving the control accuracy and reliability of the hoisting process. Description of the Drawings

[0048] Figure 1 It is a flowchart of the power transmission control method of the crane in the embodiment of the present invention;

[0049] Figure 2 It is a flowchart of determining whether the first hoisting process meets the preset standard in the embodiment of the present invention;

[0050] Figure 3 It is a flowchart of determining whether the second hoisting process meets the preset standard in the embodiment of the present invention;

[0051] Figure 4 This is a flowchart for determining whether the hoisting process of a crane in an embodiment of the present invention meets a preset standard. Specific Embodiments

[0052] In order to make the objectives and advantages of the present invention more clearly understood, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0054] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0055] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Please refer to Figure 1 as shown, which is a flowchart of the power transmission control method of the crane in an embodiment of the present invention.

[0057] An embodiment of the present invention provides a power transmission control method for a crane, characterized by including:

[0058] Step S1: Determine the weight ratio of the hoisted object to the rated load during a trial hoist, and determine the hoisting mode based on the weight ratio, where the hoisting mode includes a first hoisting mode and a second hoisting mode;

[0059] Step S2: In the corresponding hoisting mode, determine whether the first hoisting process meets the preset standard based on the complexity of the force on the steel wire rope connected to the hoisted object. Under the condition that the first hoisting process does not meet the preset standard, adjust the acceleration rate of the hoisted object or the hoisting height of the first hoisting process based on the complexity difference;

[0060] Step S3: Based on the adjusted first hoisting process, determine whether the second hoisting process meets the preset standard according to the deviation angle of the sling. Under the condition that the second hoisting process does not meet the preset standard, determine and adjust the preset rate or torque based on the deviation angle difference;

[0061] Step S4: Based on the adjusted second hoisting process, determine whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object. Under the condition that the third hoisting process does not meet the preset standard, determine and adjust the deceleration rate or the hoisting duration of the second hoisting process based on the vibration amplitude difference;

[0062] Step S5: Under the condition that the first hoisting process, the second hoisting process, and the third hoisting process meet the preset standard, determine whether the hoisting process of the crane meets the preset standard under the condition that there is wind resistance based on the inclination angle of the hoisted object.

[0063] Specifically, the operation route of the first hoisting mode is to hoist the hoisted object to a preset height, and then the crane boom takes the slewing support as the origin and moves the hoisted object uniformly to above the preset position with a preset torque based on the preset height. The crane engine controls the hoisted object to decelerate and descend to place the hoisted object at the preset position;

[0064] The operation route of the second hoisting mode is to take the slewing support as the origin. Under the condition that the crane boom hoists the hoisted object to the preset height with a preset torque, move the hoisted object to the deceleration point at a preset rate. The crane engine controls the hoisted object to decelerate and descend to place the hoisted object at the preset position.

[0065] Specifically, the preset height and preset rate under different hoisting modes are determined according to the actual construction requirements, and are not specifically limited.

[0066] Specifically, the present invention determines the hoisting mode based on the obtained weight ratio, accurately divides the hoisting route for different hoisting modes, adopts the first hoisting mode for the case of a large weight ratio, and adopts the second hoisting mode for the case of a small weight ratio, thereby improving the hoisting efficiency while ensuring the hoisting stability; in the determined hoisting mode, the hoisting process is divided into three stages, analyzes the hoisting characteristics of any stage and determines whether it meets the standard. Under the condition that the hoisting process is determined not to meet the standard, determine the adjustment parameters based on each difference, thereby accurately adjusting, improving the accuracy of power transmission control, and determining whether the hoisting process meets the standard under the condition that there is wind resistance based on the inclination angle of the hoisted object under the condition that the hoisting process meets the standard, thereby improving the accuracy of the power transmission adjustment process and improving the control accuracy and reliability of the hoisting process.

[0067] Specifically, the process of determining the hoisting mode based on the weight ratio includes:

[0068] If the weight ratio is greater than 80% of the preset weight ratio, it is determined to adopt the first lifting mode;

[0069] If the weight ratio is less than or equal to 80% of the preset weight ratio, it is determined to adopt the first lifting mode.

[0070] Specifically, for the problem that the lifting process of a lifting object with too large a weight is unstable and prone to shaking, resulting in potential risks for the crane, a more precise lifting route is divided to ensure the stability of the large-weight lifting object during the lifting process, thereby ensuring the safety of the lifting.

[0071] Please refer to Figure 2 as shown, which is a flowchart for determining whether the first lifting process meets the preset standard in an embodiment of the present invention.

[0072] Specifically, the process of determining whether the first lifting process meets the preset standard based on the complexity includes:

[0073] If the complexity is greater than the preset complexity of 10, the first lifting process does not meet the preset standard;

[0074] If the complexity is less than or equal to the preset complexity of 10, the first lifting process meets the preset standard.

[0075] Specifically, the complexity is determined as follows: The force fluctuation frequency on each steel wire rope is plotted as a fluctuation curve and compared with the standard fluctuation curve. The difference in peak value and frequency difference between the determined fluctuation peak value and the peak value of the standard fluctuation curve are determined. Based on the sum of the product of the peak value difference and the weight coefficient and the product of the frequency peak value and the weight coefficient, the complexity is determined. Among them, the force on the steel wire rope only records the force along the direction of the steel wire rope. The standard fluctuation curve is the force fluctuation curve of the steel wire rope in the first lifting process where the type of the actual lifting object is the same, the weight difference is less than 1%, the wind resistance is within the allowable range, and the vibration amplitude of the lifting object is less than 1% of the hook.

[0076] Specifically, the process of adjusting the acceleration rate of the lifting object based on the complexity difference includes:

[0077] Determine the first complexity comparison result where the complexity difference is greater than the preset complexity difference of 3;

[0078] Based on the first complexity comparison result, determine to adjust the acceleration rate of the lifting object;

[0079] Among them, several adjustment methods are set for the acceleration rate of the lifting object, and each adjustment method has a different adjustment range for the acceleration rate of the lifting object.

[0080] Specifically, denote the difference between the complexity difference and the preset complexity difference as the first complexity difference;

[0081] If the first complexity difference is less than or equal to the preset first complexity difference 1, select the first acceleration rate correction coefficient 0.95 to correct the acceleration rate;

[0082] If the first complexity difference is greater than the preset first complexity difference 1, select the first acceleration rate correction coefficient 0.9 to correct the acceleration rate.

[0083] Specifically, the process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes:

[0084] Determine the second complexity comparison result that the complexity difference is less than or equal to the preset complexity difference 3;

[0085] Determine the hoisting height for adjusting the first hoisting process based on the second complexity comparison result;

[0086] Among them, several adjustment methods are set for the hoisting height, and each adjustment method has a different adjustment range for the hoisting height.

[0087] Specifically, denote the difference between the preset complexity difference and the complexity difference as the second complexity difference;

[0088] If the second complexity difference is less than or equal to the preset second complexity difference 0.8, select the first hoisting height correction coefficient 0.98 to correct the hoisting height;

[0089] If the second complexity difference is greater than the preset second complexity difference 0.8, select the second hoisting height correction coefficient 0.93 to correct the hoisting height.

[0090] Specifically, the present invention determines whether the first hoisting process meets the preset standard based on the complexity of the force on the steel wire rope connected to the hoisted object. The first hoisting process is the ascending process. The faster the fluctuation frequency of the force on the steel wire rope, the more unstable the hoisting process, and the easier it is to have danger. The present invention monitors the fluctuation frequency of the force to characterize the complexity of the force, so as to adjust the acceleration rate or the hoisting height in time when there may be potential danger. The greater the acceleration rate, the more difficult it is to ensure the stability of the hoisted object. The higher the hoisting height, the more easily the stability of the hoisted object is affected. Reducing the acceleration rate or making a small adjustment within the allowable range of the lifting height can increase the stability of the hoisted object.

[0091] Please refer to Figure 3 as shown, which is the flowchart for the embodiment of the present invention to determine whether the second hoisting process meets the preset standard.

[0092] Specifically, the process of determining whether the second hoisting process meets the preset standard based on the offset angle of the sling includes:

[0093] If the offset angle of the sling is greater than the preset offset angle, it is determined that the second hoisting process does not meet the preset standard;

[0094] If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second hoisting process meets the preset standard.

[0095] Specifically, the preset offset angle is determined according to the model and maximum load of the crane, and no specific limitation is made.

[0096] Specifically, the process of determining the adjustment of the preset rate based on the offset angle difference includes:

[0097] Determine the first angle comparison result that the offset angle difference is less than or equal to the preset offset angle difference of 20°;

[0098] Based on the first angle comparison result, determine the adjustment of the preset rate;

[0099] Among them, several adjustment methods are set for the preset rate, and each adjustment method has a different adjustment range for the preset rate.

[0100] Specifically, calculate the first difference percentage between the offset angle difference and the preset offset angle difference;

[0101] If the first difference percentage is greater than the preset first difference percentage of 10%, it is determined to adjust the preset rate using the first preset rate adjustment coefficient of 0.85;

[0102] If the first difference percentage is less than or equal to the preset first difference percentage of 10%, it is determined to adjust the preset rate using the second preset rate adjustment coefficient of 0.9;

[0103] Specifically, the process of determining the adjustment of the torque based on the offset angle difference includes:

[0104] Determine the second angle comparison result that the offset angle difference is greater than the preset offset angle difference;

[0105] Based on the second angle comparison result, determine the adjustment of the torque;

[0106] Among them, several adjustment methods are set for the torque, and each adjustment method has a different adjustment range for the torque.

[0107] Specifically, calculate the second difference percentage between the preset offset angle difference and the offset angle difference;

[0108] If the second difference percentage is greater than the preset second difference percentage of 15%, it is determined to adjust the torque using the first preset torque adjustment coefficient of 0.88;

[0109] If the second difference percentage is less than or equal to the preset second difference percentage of 15%, it is determined to adjust the torque using the second preset torque adjustment coefficient of 0.9;

[0110] Specifically, the present invention determines whether the second hoisting process meets the preset standard based on the offset angle of the sling. The second hoisting process is a process of moving at a constant speed at a preset height and has inertia in the horizontal direction. The offset angle of the sling characterizes the stability of the hoisted object during the hoisting process. The larger the offset angle, the more unstable the hoisted object is and the more likely it is to be dangerous. The preset speed or torque is adjusted based on the magnitude of the difference in the offset angle. The greater the preset speed, the more difficult it is to maintain the stability of the torque of the hoisted object. The preset speed and torque are appropriately reduced to ensure the stability of the hoisted object.

[0111] Specifically, under the condition that the vibration amplitude of the hoisted object is greater than the preset vibration amplitude, it is determined that the third hoisting process does not meet the preset standard, and the deceleration rate is adjusted based on the first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference of 10 cm, and the hoisting duration of the second hoisting process is adjusted based on the second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference of 10 cm.

[0112] Specifically, the preset vibration amplitude is determined according to the actual height of the hook and is required to be less than 1% of the hook height, and is not specifically limited.

[0113] Specifically, calculate the first amplitude difference percentage between the vibration amplitude difference and the preset vibration amplitude difference;

[0114] If the first amplitude difference percentage is greater than the preset first amplitude difference percentage of 5%, it is determined to adjust the deceleration rate using the first deceleration rate adjustment coefficient of 0.92;

[0115] If the first amplitude difference percentage is less than or equal to the preset first amplitude difference percentage of 5%, it is determined to adjust the deceleration rate using the second deceleration rate adjustment coefficient of 0.93;

[0116] Specifically, calculate the second amplitude difference percentage between the preset vibration amplitude difference and the vibration amplitude difference;

[0117] If the second amplitude difference percentage is greater than the preset second amplitude difference percentage of 8%, it is determined to adjust the hoisting duration using the first hoisting duration adjustment coefficient of 0.95;

[0118] If the percentage of the second amplitude difference is less than or equal to the preset second amplitude difference percentage of 8%, it is determined to adjust the hoisting duration by using the second hoisting duration adjustment coefficient of 0.98.

[0119] Specifically, the present invention determines whether the third hoisting process meets the preset standard based on the vibration amplitude of the hoisted object. The third hoisting process is a descending process. During the descending process, due to the action of gravity, if the descending speed is too fast, the hoisted object will vibrate. Based on the vibration amplitude difference, the deceleration rate or the hoisting duration of the second hoisting process is determined. Appropriately reducing the deceleration rate or appropriately reducing the hoisting duration of the second hoisting process helps to keep the hoisted object stable.

[0120] Please refer to Figure 4 as shown, which is a flowchart for the present invention to determine whether the hoisting process of the crane meets the preset standard in an embodiment.

[0121] Specifically, the process of determining whether the hoisting process of the crane meets the preset standard based on the tilt angle of the hoisted object under the condition of wind resistance includes:

[0122] If the tilt angle is greater than the preset tilt angle, it is determined that the hoisting process of the crane does not meet the preset standard;

[0123] If the tilt angle is less than or equal to the preset tilt angle, it is determined that the hoisting process of the crane meets the preset standard.

[0124] Specifically, the preset tilt angle is determined according to the model of the crane and the size and weight of the hoisted object, and no specific limitation is made.

[0125] Specifically, the present invention considers the influence of wind resistance when the hoisting process meets the standard, and determines whether the hoisting process meets the preset standard based on the tilt angle of the hoisted object under the condition of large wind resistance. The greater the wind resistance, the greater the influence on the hoisting process, and the easier it is to be dangerous. When the wind resistance exceeds a certain value, the operation should be stopped in time to avoid danger.

[0126] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A power transmission control method for a crane, characterized in that: include: Determine the weight ratio of the hoisted object to the rated load by trial hoisting, and determine the hoisting mode based on the weight ratio, wherein the hoisting mode includes a first hoisting mode and a second hoisting mode; In the corresponding hoisting mode, whether the first hoisting process meets the preset standard is determined based on the complexity of the force on the wire rope connected to the hoisted object, and the acceleration rate of the hoisted object or the hoisting height of the first hoisting process is adjusted based on the complexity difference under the condition that the first hoisting process does not meet the preset standard; Based on the adjusted first hoisting process, determining whether the second hoisting process meets the preset standard according to the offset angle of the sling, and if the second hoisting process does not meet the preset standard, determining to adjust the preset speed or adjust the torque based on the offset angle difference; Based on the adjusted second hoisting process, determining whether the third hoisting process meets the preset standard according to the vibration amplitude of the hoisted object, and adjusting the deceleration rate or the hoisting time of the second hoisting process based on the frequency difference if the third hoisting process does not meet the preset standard; Under the condition that the first hoisting process, the second hoisting process and the third hoisting process meet the preset standard, determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object; The operation route of the first hoisting mode is that after the hoisting object is hoisted to a preset height, the crane boom moves the hoisting object to a preset position at a constant speed with a preset torque based on the preset height and the slewing support as the origin, and the crane engine controls the hoisting object to decelerate and descend so as to place the hoisting object at the preset position; The operation route of the second lifting mode is to use the slewing support as the origin. The crane arm lifts the hoisted object to a preset height with a preset torque, moves the hoisted object to a deceleration point at a preset speed, and the crane engine controls the hoisted object to decelerate and descend so as to place the hoisted object at a preset position.

2. The power transmission control method of a crane according to claim 1, characterized in that: The process of determining the lifting mode based on the weight ratio includes: If the weight ratio is greater than a preset weight ratio, determining to adopt the first hoisting mode; If the weight ratio is less than or equal to the preset weight ratio, it is determined to adopt the first lifting mode.

3. The power transmission control method of a crane according to claim 2, characterized in that: The process of determining whether the first hoisting process meets the preset standard based on the complexity includes: If the complexity is greater than a preset complexity, the first hoisting process does not meet the preset standard; If the complexity is less than or equal to the preset complexity, the first lifting process meets the preset standard.

4. The power transmission control method of a crane according to claim 3, characterized in that: The process of adjusting the acceleration rate of the hoisted object based on the complexity difference includes: Determine a first complexity comparison result in which the complexity difference is greater than a preset complexity difference; Determining and adjusting the acceleration rate of the hoisted object based on the first complexity comparison result; Among them, several adjustment methods are set for the acceleration rate of the hoisted object, and each adjustment method has a different adjustment range for the acceleration rate of the hoisted object.

5. The power transmission control method of a crane according to claim 3, characterized in that: The process of adjusting the hoisting height of the first hoisting process based on the complexity difference includes: Determine a second complexity comparison result in which the complexity difference is less than or equal to a preset complexity difference; Determining, based on the second complexity comparison result, to adjust the hoisting height of the first hoisting process; Among them, several adjustment methods are set for the hoisting height, and each adjustment method has a different adjustment range for the hoisting height.

6. The power transmission control method of a crane according to claim 5, characterized in that: The process of determining whether the second lifting process meets the preset standard based on the offset angle of the sling includes: If the offset angle of the sling is greater than a preset offset angle, it is determined that the second lifting process does not meet the preset standard; If the offset angle of the sling is less than or equal to the preset offset angle, it is determined that the second lifting process meets the preset standard.

7. The power transmission control method of a crane according to claim 6, characterized in that: The process of adjusting the preset rate based on the deviation angle difference includes: Determine a first angle comparison result in which the offset angle difference is less than or equal to a preset offset angle difference; Determining to adjust the preset rate based on the first angle comparison result; Among them, several adjustment methods are set for the preset rate, and each adjustment method has a different adjustment range for the preset rate.

8. The power transmission control method of a crane according to claim 6, characterized in that: The process of determining the adjustment torque based on the offset angle difference includes: Determine a second angle comparison result in which the offset angle difference is greater than a preset offset angle difference; Determining to adjust the torque based on the second angle comparison result; Among them, several adjustment methods are set for the torque, and each adjustment method has a different adjustment range for the torque.

9. The power transmission control method of a crane according to claim 8, characterized in that: Under the condition that the vibration amplitude of the hoisted object is greater than the preset vibration amplitude, it is determined that the third hoisting process does not meet the preset standard, and the deceleration rate is adjusted based on the first difference comparison result that the vibration amplitude difference is greater than the preset vibration amplitude difference, and the hoisting time of the second hoisting process is adjusted based on the second difference comparison result that the vibration amplitude difference is less than or equal to the preset vibration amplitude difference.

10. The power transmission control method of a crane according to claim 9, characterized in that: The process of determining whether the hoisting process of the crane meets the preset standard under the condition of wind resistance based on the inclination angle of the hoisted object includes: If the tilt angle is greater than a preset tilt angle, it is determined that the hoisting process of the crane does not meet the preset standard; If the tilt angle is less than or equal to the preset tilt angle, it is determined that the hoisting process of the crane meets the preset standard.

Images