Crane lifting rope position calibration method and system and crane

Abstract

The invention provides a crane lifting rope position calibration method and system and a crane, and the crane lifting rope position calibration method comprises the following steps: S10, lifting a lifting hook to a cut-off action position of an anti-overwinding switch, enabling the lifting hook to stop moving, and obtaining the length LA of a lifting rope between a winch and the lifting hook in a current state; s20, according to the LA, the number NA of remaining winding turns and / or the number NB of remaining unwinding turns of the hoisting rope on the winch in the current state are / is calculated; and S30, according to the NA and / or the NB, the number of remaining turns of the lifting rope and / or the number of unrolling turns of the lifting rope in the current state are / is calibrated for a lifting rope position sensor on the winch. According to the crane lifting rope position calibration method, the lifting rope on the winch does not need to be completely released, the operation steps and the calibration mode are simplified, the consumption of manpower and material resources is reduced, the calibration cost is saved, and the operation is safer.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a method and system for calibrating the position of a crane hoisting rope, and a crane. Background Art

[0002] In order to obtain the hook height, cranes currently on the market usually install an angle detection device on the hoisting drum. The angle detection device detects the rotation angle and / or number of rotations of the drum, and calculates the length of the wire rope on the hoist and the hook height based on this.

[0003] In order to make the number of turns detected by the angle detection device correspond to the actual number of turns of the drum, so as to accurately calculate the length of the wire rope and the hook height, the angle detection device needs to be calibrated. At present, the calibration method for the angle detection device is generally to put the wire rope on the drum to the last three turns (that is, only three turns of wire rope are left on the drum), and then calibrate the angle detection device to three turns.

[0004] However, the above method requires a longer boom and more magnifications to release all the wire rope on the drum, leaving only three turns of wire rope on the drum. This method is not only inconvenient to operate (especially on large-tonnage cranes, the wire rope is very long, and the length of the wire rope can reach hundreds of meters or even thousands of meters), but also consumes more manpower and material resources, resulting in higher calibration costs. At the same time, the operation is dangerous. Summary of the invention

[0005] The object of the present invention is to provide a crane rope position calibration method and system and a crane, aiming to solve or at least partially solve the deficiencies of the above-mentioned background technology. The crane rope position calibration method can simplify the calibration method and save calibration costs.

[0006] The present invention provides a method for calibrating the position of a crane rope, comprising the following steps:

[0007] S10: Lift the hook to the cut-off position of the anti-overwinding switch to stop the hook from moving and obtain the length L of the rope between the winch and the hook in the current state. A ;

[0008] S20: According to the L A , calculate the remaining winding number N of the hoisting rope in the current state A and / or number of unwinding turns N B ;

[0009] S30: According to the N A and / or the N B , calibrate the rope position sensor on the winch to determine the number of remaining rope turns and / or the number of unwinding rope turns in the current state.

[0010] Furthermore, in the above step S10, the L A =L X +L K , L X is the length of the rope between the winch and the fixed pulley block in the current state, L K It is the length of the suspension rope between the fixed pulley block and the movable pulley block in the current state.

[0011] Furthermore, the L K =L S *k,L S is the single-strand rope length of the suspension rope between the fixed pulley block and the movable pulley block in the current state, and k is the rope threading ratio of the suspension rope between the fixed pulley block and the movable pulley block.

[0012] Furthermore, the L X =L1+L2, L1 is the length of the suspension rope between the winch and the rope pulley in the current state, and L2 is the length of the suspension rope between the rope pulley and the fixed pulley block; the method for obtaining L1 includes:

[0013] Get the inclination angle α of the boom, based on the α and the length L of the boom T And the distance L between the bottom of the boom and the winch G , calculate and obtain the L1.

[0014] Furthermore, in the above step S20, according to the L A , calculate the remaining winding number N of the hoisting rope in the current state A , including:

[0015] S21: According to the L A , calculate the remaining winding length L of the hoisting rope in the current state B Among them, L B =L 总 -L A , L 总 is the total length of the sling;

[0016] S22: According to the L B , get the remaining winding number N of the hoisting rope in the current state A .

[0017] Furthermore, the above step S22 specifically includes:

[0018] According to the formula L B =π*D1*N1+π*D2*N2+…+π*D K *N K , calculate N1, N2, ..., N K ; then N A=N1+N2+…+N K ; Among them, D1, D2, ..., D K N1, N2, ..., N is the winding diameter of each layer of hoisting rope on the winch. K It is the actual number of winding turns of each layer of hoisting rope on the winch.

[0019] The present invention also provides a crane rope position calibration system based on the crane rope position calibration method as described above, the crane rope position calibration system comprising:

[0020] A winch and a hook, wherein the winch and the hook are connected via a lifting rope;

[0021] A rope position sensor is arranged on the hoist, and the rope position sensor is used to detect the number of rotations and / or the rotation angle of the hoist;

[0022] an anti-overwinding switch, used for generating a cut-off signal when the hook is lifted to a cut-off action position of the anti-overwinding switch;

[0023] A control unit, connected to the winch, the anti-overwinding switch and the rope position sensor respectively; the control unit is used to perform calibration operations;

[0024] When performing the calibration operation, the control unit controls the winch to operate so as to lift the hook, and controls the winch to stop operating after receiving the cut-off signal of the anti-overwinding switch, thereby stopping the movement of the hook; then the control unit calculates the remaining number of windings N of the hoist rope on the winch in the current state. A and / or number of unwinding turns N B , and according to the N A and / or the N B The rope position sensor is calibrated to determine the number of remaining rope turns and / or the number of unwinding rope turns in the current state.

[0025] Furthermore, it also includes:

[0026] A calibration control switch is connected to the control unit; the calibration control switch is used to send a calibration instruction to the control unit, and the control unit performs a calibration operation after receiving the calibration instruction from the calibration control switch.

[0027] Furthermore, it also includes:

[0028] The arm inclination detection device is connected to the control unit; the arm inclination detection device is used to detect the inclination angle α of the arm, and the control unit is used to detect the inclination angle α of the arm according to the α and the length L of the arm. T and the distance L between the bottom end of the boom and the winch G, calculate and obtain the length L1 of the suspension rope between the winch and the rope pulley.

[0029] The present invention also provides a crane, comprising the crane rope position calibration system as described above.

[0030] The method for calibrating the position of the crane rope provided by the present invention, during calibration, the hook is lifted to the cut-off action position of the anti-overwinding switch, at which time the anti-overwinding switch generates a cut-off signal to stop the hoisting winch and further stop the hook from moving; in this special position, since the setting position of the anti-overwinding switch is fixed, the position of the hook is also known, so that the length L of the rope between the hoisting winch and the hook can be conveniently calculated in combination with the working conditions and structural parameters of the crane. A , and according to L A Calculate the remaining number of windings N of the hoisting rope in the current state A and / or the number of unwinding turns of the hoisting rope on the winch N B , and then according to N A and / or N B The rope position sensor is calibrated to determine the number of remaining rope turns and / or the number of unwinding rope turns in the current state. The crane rope position calibration method does not require all the ropes on the winch to be released, simplifies the operation steps and calibration method, reduces the consumption of manpower and material resources, saves calibration costs, and is safer to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the structure of a crane in an embodiment of the present invention.

[0032] Figure 2 It is a structural schematic diagram when the hook has not yet reached the cutting action position of the anti-overwinding switch in the embodiment of the present invention.

[0033] Figure 3 It is a structural schematic diagram when the hook reaches the cutting action position of the anti-overwinding switch in an embodiment of the present invention.

[0034] Figure 4 The figure is a schematic diagram of the calculation principle of the length of the suspension rope between the winch and the rope pulley in the embodiment of the present invention.

[0035] Figure 5 Schematic diagram of a calculation model for the winding length and number of winding turns of a hoisting rope in an embodiment of the present invention.

[0036] Figure 6 It is a structural block diagram of a crane rope position calibration system in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0038] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular sequence or order.

[0039] The directional words such as up, down, left, right, front, back, top, bottom, etc. (if any) involved in the specification and claims of the present invention are defined by the positions of the structures in the drawings and the positions of the structures relative to each other, and are only for the clarity and convenience of expressing the technical solution. It should be understood that the use of directional words should not limit the scope of protection claimed in this application.

[0040] like Figures 1 to 3 As shown, an embodiment of the present invention provides a method for calibrating the position of a crane rope, comprising the following steps:

[0041] S10: Lift the hook 2 to the cut-off position of the anti-overwinding switch 51, stop the hook 2 from moving, and obtain the length L of the rope 3 between the winch 1 and the hook 2 in the current state. A (That is, the unwinding length of the hoisting rope 3 on the winch 1 at this time);

[0042] S20: According to the L A , calculate the remaining number of windings N of the hoisting rope 3 on winch 1 in the current state A ;

[0043] S30: According to the N A , the rope position sensor 11 on the hoisting winch 1 is calibrated to determine the remaining number of rope turns in the current state (ie, the actual number of turns of the rope 3 on the hoisting winch 1 at this time).

[0044] In another embodiment, in the above step S20, the L A , calculate the number of unwinding turns N of the hoisting rope 3 on winch 1 in the current state B At this time, the above step S30 is: according to the N B , the rope position sensor 11 on the hoisting winch 1 is calibrated with the number of unwinding turns of the rope in the current state (ie the number of turns of the rope 3 actually unwound by the hoisting winch 1 at this time).

[0045] In another embodiment, in the above step S20, the L A , and calculate the remaining winding number N of the hoisting rope 3 on winch 1 in the current state A and the number of unwinding turns N of the hoisting rope 3 on the winch 1 B At this time, the above step S30 is: according to the NA and the N B , the rope position sensor 11 on the winch 1 is calibrated to determine the number of remaining rope turns and the number of unwinding rope turns in the current state.

[0046] The method for calibrating the position of the crane rope provided by the embodiment of the present invention, during calibration, the hook 2 is lifted to the cut-off action position of the anti-overwinding switch 51, at which time the anti-overwinding switch 51 generates a cut-off signal to stop the hoist 1 (the existing cranes are generally equipped with an anti-overwinding switch 51), thereby stopping the movement of the hook 2; in this special position, since the setting position of the anti-overwinding switch 51 is fixed, the position of the hook 2 is also known at this time, so that the length L of the rope 3 between the hoist 1 and the hook 2 can be conveniently calculated in combination with the working conditions and structural parameters of the crane. A (When the hook 2 is at other positions, since the position of the hook 2 cannot be directly obtained, it is necessary to measure the height of the hook 2 and other parameters to calculate the position of the hook 2, which increases the complexity of the operation). A Calculate the remaining number of windings N of the hoist rope 3 on winch 1 in the current state A and / or the number of unwinding turns N of the hoisting rope 3 on the winch 1 B , and then according to N A and / or N B The rope position sensor 11 is calibrated to determine the number of rope remaining turns and / or rope unwinding turns in the current state. The crane rope position calibration method does not require all ropes 3 on the winch 1 to be released, simplifies the operation steps and calibration method, reduces the consumption of manpower and material resources, saves calibration costs, and is safer to operate.

[0047] Furthermore, if Figures 1 to 3 As shown, in this embodiment, in the above step S10, the L A =L X +L K Among them, L X is the length of the suspension rope 3 between the winch 1 and the fixed pulley block 42 in the current state, L K It is the length of the suspension rope 3 between the fixed pulley block 42 and the movable pulley block 43 in the current state.

[0048] Furthermore, if Figures 1 to 3 As shown, in this embodiment, the L K =L S *k; where L S is the length of a single strand of the rope 3 between the fixed pulley block 42 and the movable pulley block 43 in the current state (since the hook 2 is connected to the movable pulley block 43, the fixed pulley block 42 is set at the top of the boom 4, L SIt is also approximately the distance / height difference between the hook 2 and the top of the boom 4. At the same time, since the hook 2 is in the cut-off position of the anti-overwinding switch 51 at this time, the L S is a fixed value, the L S It can be obtained based on the structural parameters of the crane without additional measurement), k is the threading ratio of the suspension rope 3 between the fixed pulley block 42 and the movable pulley block 43, and k can be obtained based on the working condition of the crane. Therefore, according to the working condition and structural parameters of the crane, the L can be calculated K .

[0049] Furthermore, if Figures 1 to 4 As shown, in this embodiment, the L X =L1+L2; wherein L1 is the length of the suspension rope 3 between the winch 1 and the rope pulley 41 in the current state, and L2 is the length of the suspension rope 3 between the rope pulley 41 and the fixed pulley group 42.

[0050] The method for obtaining L1 includes: obtaining the inclination angle α of the boom 4 (the inclination angle α refers to the inclination angle of the boom 4 relative to the horizontal direction), based on the α and the length L of the boom 4 T And the distance L between the bottom end of the boom 4 and the winch 1 G , the L1 is calculated. The inclination angle α can be obtained according to the original boom inclination detection device 53 on the crane, and the length L of the boom 4 T And the distance L between the bottom end of the boom 4 and the winch 1 G It can be obtained according to the structural parameters of the crane through the trigonometric function relationship: L1 2 =L G 2 +L T 2 -2L G *L T *cos(180°-α) to calculate L1. It should be noted that since the length of the boom 4 is very long, the size of the winch 1 and the rope pulley 41 is very small compared to the length of the boom 4. Therefore, when calculating, the winch 1 and the rope pulley 41 can be treated as points and the boom 4 can be treated as a line segment, that is, L1, L G and L T A simple triangular structure is formed to simplify the calculation, and the error of this calculation method is very small.

[0051] Meanwhile, L2 can be calculated according to the working condition and structural parameters of the crane, that is, L2 is also a known condition, and no additional measurement is required. In some working conditions, L2 is a line segment; in other working conditions, L2 is composed of multiple line segments.

[0052] Furthermore, if Figure 1 and Figure 5 As shown, in this embodiment, in the above step S20, according to the L A , calculate the remaining number of windings N of the hoisting rope 3 on winch 1 in the current state A , including:

[0053] S21: According to the L A , calculate the remaining winding length L of the hoist rope 3 on the winch 1 in the current state B Among them, L B =L 总 -L A , L 总 is the total length of the suspension rope 3 (the total length L of the suspension rope 3 总 is a known condition, which can be obtained according to the product parameters of the sling 3);

[0054] S22: According to the L B , get the remaining winding number N of the hoisting rope 3 on winch 1 in the current state A .

[0055] Of course, in other embodiments, the number of unwinding turns N of the hoisting rope 3 on the winch 1 may also be calculated first. B , and then according to the total number of circles N of the hoisting rope 3 on the winch 1 总 (The total number of circles N 总 It can be obtained based on the product parameters of winch 1 and rope 3) and calculated to get N A ; That is, N A =N 总 -N B Of course, N can also be calculated in other ways. A .

[0056] Furthermore, if Figure 1 and Figure 5 As shown, in this embodiment, the above step S22 specifically includes:

[0057] According to the formula L B =π*D1*N1+π*D2*N2+…+π*D K *N K , calculate N1, N2, ..., N K ; then N A =N1+N2+…+N K . Among them, π is the ratio of circumference to circumference; D1, D2, ..., D K is the winding diameter of each layer of the hoisting rope 3 on the winch 1, that is, D K is the winding diameter of the Kth layer of the hoisting rope 3 on the winch 1 (the hoisting rope 3 will be wound on the drum of the winch 1 layer by layer), D1, D2, ..., D K It can be obtained according to the product parameters of winch 1 and hoist rope 3; N1, N2, ..., NK is the actual number of windings of each layer of the hoisting rope 3 on the winch 1, that is, N K is the actual number of windings of the Kth layer of the hoisting rope 3 on the winch 1, where K is a positive integer.

[0058] In another embodiment, the above step S22 specifically includes:

[0059] Pre-establishing a first relation comparison table between the winding length and the number of winding turns of the hoisting rope 3 on the winch 1;

[0060] According to the L B , by querying the first relationship comparison table, the remaining winding number N of the hoisting rope 3 on the winch 1 in the current state is obtained A .

[0061] In another embodiment, in the above step S20, according to the L A , calculate the number of unwinding turns N of the hoisting rope 3 on winch 1 in the current state B Specifically, N can be obtained by first calculating it through any of the above methods. A Then, according to the total number of turns N of the hoisting rope 3 on the winch 1, 总 , calculate N B , that is, N B =N 总 -N A It is also possible to pre-establish a second relational comparison table between the unwinding length and the number of unwinding turns of the hoisting rope 3 on the winch 1, and A , by querying the second relationship comparison table, the number of unwinding turns N of the hoisting rope 3 on the winch 1 in the current state is obtained B Of course, N can also be calculated in other ways. B .

[0062] like Figure 1 and Figure 6 As shown, an embodiment of the present invention further provides a crane rope position calibration system based on the above-mentioned crane rope position calibration method, and the crane rope position calibration system includes:

[0063] A winch 1 and a hook 2, wherein the winch 1 and the hook 2 are connected via a lifting rope 3; wherein the lifting rope 3 is generally a steel wire rope;

[0064] A rope position sensor 11 is provided on the hoist 1. The rope position sensor 11 is used to detect the number of rotations and / or the rotation angle of the hoist 1 (specifically, to detect the number of rotations and / or the rotation angle of the drum of the hoist 1);

[0065] The over-winding prevention switch 51 is used to generate a cut-off signal when the hook 2 is lifted to the cut-off action position of the over-winding prevention switch 51;

[0066] The control unit 7 is respectively connected to the winch 1, the overwinding prevention switch 51 and the rope position sensor 11 (specifically, an electrical signal connection); the control unit 7 can be an original control device on the crane or an additional control device; the control unit 7 is used to perform calibration operations;

[0067] When performing the calibration operation, the control unit 7 controls the winch 1 to operate so as to lift the hook 2, and controls the winch 1 to stop operating after receiving the cut-off signal of the anti-overwinding switch 51, thereby stopping the movement of the hook 2; then the control unit 7 calculates the remaining number of windings N of the hoisting rope 3 on the winch 1 in the current state according to the above method. A and / or the number of unwinding turns N of the hoisting rope 3 on the winch 1 B , record N A and / or N B , and according to N A and / or N B The rope position sensor 11 is calibrated to determine the number of remaining rope turns and / or the number of unwound rope turns in the current state (the calibration of the rope position sensor 11 by the control unit 7 means that the control unit 7 resets the number of remaining rope turns and / or the number of unwound rope turns for the rope position sensor 11).

[0068] Furthermore, in this embodiment, the rope position sensor 11 can be specifically an angle detection device, which can detect the rotation angle of the drum, and then obtain the number of rotations of the drum. The angle detection device can also be connected to a display device (not shown), which displays the remaining winding and / or unwinding number of the rope 3 on the winch 1. The specific structure and working principle of the rope position sensor 11 can be referred to the prior art (such as CN201942463U and other patents), which will not be repeated here.

[0069] Furthermore, if Figure 6 As shown, in this embodiment, the crane rope position calibration system also includes:

[0070] The arm inclination detection device 53 is connected to the control unit 7 (specifically, an electrical signal connection); the arm inclination detection device 53 is used to detect the inclination angle α of the arm 4, and the control unit 7 is used to detect the inclination angle α of the arm 4 according to α and the length L of the arm 4 T And the distance L between the bottom end of the boom 4 and the winch 1 G , and the length L1 of the suspension rope 3 between the hoisting winch 1 and the rope pulley 41 is calculated. The specific setting position and working principle of the boom inclination angle detection device 53 can be referred to the prior art, which will not be repeated here.

[0071] Furthermore, if Figure 6 As shown, in this embodiment, the crane rope position calibration system also includes:

[0072] The calibration control switch 52 is connected to the control unit 7 (specifically, an electrical signal connection); the calibration control switch 52 is used to send a calibration instruction to the control unit 7, and the control unit 7 performs the above-mentioned calibration operation after receiving the calibration instruction from the calibration control switch 52.

[0073] Specifically, the calibration control switch 52 can be set in the cockpit of the crane. The calibration control switch 52 can be a physical switch or a virtual switch. The calibration control switch 52 can be a control element such as a button, a knob, a virtual key, etc. set on the crane. In the actual calibration process, various structural parameters of the crane (such as the length L of the boom 4) can be pre-set. T , the distance L between the bottom end of the boom 4 and the winch 1 G The operator generates a calibration instruction after pressing the calibration control switch 52, and the calibration control switch 52 sends the calibration instruction to the control unit 7. The control unit 7 automatically performs the above calibration operation after receiving the calibration instruction, that is, there is no need for manual calculation and calibration, thereby simplifying the calibration work and improving the calibration efficiency and accuracy.

[0074] Furthermore, in this embodiment, the specific steps of the control unit 7 when performing the calibration operation include:

[0075] (1) Figure 2 As shown, under any working condition of the crane (at this time, the hook 2 is generally not lifted to the cut-off position of the anti-overwinding switch 51), the operator presses the calibration control switch 52 to generate a calibration instruction, and the control unit 7 controls the winch 1 to operate after receiving the calibration instruction, so that the hook 2 moves upward. Figure 3 As shown, when the hook 2 is lifted to the cut-off action position of the anti-overwinding switch 51, the hook 2 contacts the anti-overwinding switch 51, causing the anti-overwinding switch 51 to generate a cut-off signal (the anti-overwinding switch 51 generally has two types: normally closed and normally open; the specific structure and working principle of the anti-overwinding switch 51 can be referred to the prior art and will not be repeated here); after receiving the cut-off signal, the control unit 7 controls the winch 1 to stop running, thereby stopping the hook 2 from moving upward.

[0076] (2) The control unit 7 is configured to calculate the crane's structural parameters (e.g., the length L of the boom 4) based on the pre-set structural parameters of the crane. T , the distance L between the bottom end of the boom 4 and the winch 1 G The remaining winding number N of the hoisting rope 3 on the winch 1 in the current state is calculated according to the above calibration method. A and / or number of unwinding turns N B , record N A and / or N B , and according to N A and / or NB The rope position sensor 11 is calibrated with respect to the number of remaining rope turns and / or the number of unwinding rope turns in the current state, thereby completing the calibration operation.

[0077] like Figure 1 As shown, an embodiment of the present invention further provides a crane, comprising the crane rope position calibration system as described above.

[0078] Furthermore, if Figure 1 As shown, in this embodiment, the crane includes a turntable 6, a winch 1, a boom 4, a hook 2 and a rope 3. The winch 1 and the boom 4 are arranged on the turntable 6. The bottom end of the boom 4 is hinged to the turntable 8, and the bottom end of the boom 4 is spaced apart from the winch 1. The hook 2 and the winch 1 are respectively located on opposite sides of the boom 4; the top of the boom 4 is provided with a rope pulley 41 and a fixed pulley block 42, the rope pulley 41 is located on the side of the top of the boom 4 close to the winch 1, and the fixed pulley block 42 is located on the side of the top of the boom 4 close to the hook 2; the hook 2 is provided with a movable pulley block 43, and the movable pulley block 43 and the hook 2 are in a suspended state. One end of the rope 3 is connected to the winch 1 and wound on the winch 1, and the other end of the rope 3 is wound around the rope pulley 41 and then wound between the fixed pulley block 42 and the movable pulley block 43. An over-winding prevention switch 51 is provided at the top of the boom 4 . The over-winding prevention switch 51 is located on one side of the top of the boom 4 close to the hook 2 , and the over-winding prevention switch 51 is located between the fixed pulley block 42 and the hook 2 .

[0079] Furthermore, if Figure 1 As shown, in this embodiment, the crane is a crawler crane, and the crane also includes a crawler chassis (not numbered in the figure), which is located below the turntable 6 and connected to the turntable 6, and the crawler chassis is used to realize the walking and moving function of the crane. The specific structure of the crane can be referred to the existing technology, which will not be repeated here.

[0080] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for calibrating the position of a crane rope, characterized in that: The following steps are involved: S10: Lift the hook to the cut-off position of the anti-overwinding switch to stop the hook from moving and obtain the length L of the rope between the winch and the hook in the current state. A ; S20: According to the L A , calculate the remaining winding number N of the hoisting rope in the current state A and / or number of unwinding turns N B ; S30: According to the N A and / or the N B , calibrate the rope position sensor on the winch to determine the number of remaining rope turns and / or the number of unwinding rope turns in the current state.

2. The crane rope position calibration method according to claim 1, characterized in that: In the above step S10, the L A =L X +L K , L X is the length of the rope between the winch and the fixed pulley block in the current state, L K It is the length of the suspension rope between the fixed pulley block and the movable pulley block in the current state.

3. The crane rope position calibration method according to claim 2, characterized in that: The L K =L S *k,L S is the single-strand rope length of the suspension rope between the fixed pulley block and the movable pulley block in the current state, and k is the rope threading ratio of the suspension rope between the fixed pulley block and the movable pulley block.

4. The crane rope position calibration method according to claim 2, characterized in that: The L X =L1+L2, L1 is the length of the suspension rope between the winch and the rope pulley in the current state, and L2 is the length of the suspension rope between the rope pulley and the fixed pulley block; The method for obtaining L1 includes: Get the inclination angle α of the boom, based on the α and the length L of the boom T And the distance L between the bottom of the boom and the winch G , calculate and obtain the L1.

5. The crane rope position calibration method according to claim 1, characterized in that: In the above step S20, according to the L A , calculate the remaining winding number N of the hoisting rope in the current state A , including: S21: According to the L A , calculate the remaining winding length L of the hoisting rope in the current state B Among them, L B =L 总 -L A , L 总 is the total length of the sling; S22: According to the L B , get the remaining winding number N of the hoisting rope in the current state A .

6. The crane rope position calibration method according to claim 5, characterized in that: The above step S22 specifically includes: According to the formula L B =π*D1*N1+π*D2*N2+…+π*D K *N K , calculate N1, N2, ..., N K ; then N A =N1+N2+…+N K ; Among them, D1, D2, ..., D K N1, N2, ..., N is the winding diameter of each layer of hoisting rope on the winch. K It is the actual number of winding turns of each layer of hoisting rope on the winch.

7. A crane rope position calibration system based on the crane rope position calibration method according to any one of claims 1 to 6, characterized in that: The crane rope position calibration system comprises: A winch and a hook, wherein the winch and the hook are connected via a lifting rope; A rope position sensor is arranged on the hoist, and the rope position sensor is used to detect the number of rotations and / or the rotation angle of the hoist; an anti-overwinding switch, used for generating a cut-off signal when the hook is lifted to a cut-off action position of the anti-overwinding switch; A control unit, connected to the winch, the anti-overwinding switch and the rope position sensor respectively; the control unit is used to perform calibration operations; When performing the calibration operation, the control unit controls the winch to operate so as to lift the hook, and controls the winch to stop operating after receiving the cut-off signal of the anti-overwinding switch, thereby stopping the movement of the hook; then the control unit calculates the remaining number of windings N of the hoist rope on the winch in the current state. A and / or number of unwinding turns N B , and according to the N A and / or the N B The rope position sensor is calibrated to determine the number of remaining rope turns and / or the number of unwinding rope turns in the current state.

8. The crane rope position calibration system according to claim 7, characterized in that: Also includes: A calibration control switch is connected to the control unit; the calibration control switch is used to send a calibration instruction to the control unit, and the control unit performs a calibration operation after receiving the calibration instruction from the calibration control switch.

9. The crane rope position calibration system according to claim 7, characterized in that: Also includes: The arm inclination detection device is connected to the control unit; the arm inclination detection device is used to detect the inclination angle α of the arm, and the control unit is used to detect the inclination angle α of the arm according to the α and the length L of the arm. T and the distance L between the bottom end of the boom and the winch G , calculate and obtain the length L1 of the suspension rope between the winch and the rope pulley.

10. A crane, characterized in that: It comprises a crane rope position calibration system as described in any one of claims 7 to 9.

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