Crane rope position calibration method and system and crane

Abstract

This invention provides a method and system for calibrating the position of a crane hoisting rope, and a crane in general. The method for calibrating the position of a crane hoisting rope includes: S10: raising the hook to the cut-off position of the anti-overwinding switch to stop the hook from moving, and obtaining the length L of the hoisting rope between the winch and the hook in the current state. A S20: According to the L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A and / or the number of unwinding turns N B S30: According to the N A and / or the N mentioned above B This method calibrates the remaining number of rope turns and / or the number of unwound rope turns on the hoisting rope position sensor in the current state. This crane rope position calibration method eliminates the need to unwind all the rope from the hoisting winch, simplifying the operation and calibration process, reducing manpower and material costs, saving calibration costs, and making operation safer.

Description

Technical Field

[0001] This invention relates to the field of crane technology, and in particular to a crane hoisting rope position calibration method and system, and a crane. Background Technology

[0002] Currently, most cranes on the market use an angle detection device installed on the winch drum to obtain the hook height. This device detects the drum's rotation angle and / or number of rotations, from which the length of the wire rope extending from the winch and the hook height are calculated.

[0003] To ensure that the number of rotations detected by the angle detection device corresponds to the actual number of rotations of the drum, thus accurately calculating the wire rope length and hook height, the angle detection device needs to be calibrated. Currently, the calibration method for angle detection devices generally involves releasing the wire rope to the last three rotations on the drum (i.e., only three rotations of wire rope remain on the drum), and then calibrating the angle detection device to three rotations.

[0004] However, the above method requires a long boom and a high boom ratio to unload all the wire rope from 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 where the wire rope is very long, reaching hundreds or even thousands of meters), but also consumes a lot of manpower and resources, resulting in high calibration costs, and the operation is also somewhat dangerous. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system for calibrating the position of a crane lifting rope, and a crane in general, to address or at least partially address the shortcomings of the prior art. This crane lifting rope position calibration method simplifies the calibration process and saves calibration costs.

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

[0007] S10: Raise the hook to the cut-off position of the overwind switch to stop the hook movement, and obtain the length L of the hoisting rope between the winch and the hook in the current state. A ;

[0008] S20: According to the L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A and / or the number of unwinding turns N B ;

[0009] S30: According to the N A and / or the N mentioned above B The position sensor on the hoisting rope is calibrated to determine the number of remaining turns of the rope and / or the number of unwound turns of the rope in the current state.

[0010] Furthermore, in step S10 above, the L A =L X +L K L X L represents the length of the hoisting rope between the winch and the fixed pulley block in the current state. K This represents 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 length of a single strand of the rope wound between the fixed pulley block and the movable pulley block in the current state, and k is the rope threading ratio between the fixed pulley block and the movable pulley block.

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

[0013] The tilt angle α of the boom is obtained based on α and the length L of the boom. T and the distance L between the bottom of the boom and the winch G L1 is calculated.

[0014] Furthermore, in step S20 above, according to the L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A Specifically, it includes:

[0015] S21: According to the L A Calculate the remaining winding length L of the hoisting rope under the current condition. B ; among which, L B =L 总 -L A L 总 This refers to the total length of the suspension rope;

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

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

[0018] According to 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 are the winding diameters of the hoisting ropes at each level. K This refers to the actual number of turns of the hoisting ropes on each layer of the winch.

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

[0020] A winch and a hook, the winch and the hook being connected by a hoisting rope;

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

[0022] An overwind switch is used to generate a cut-off signal when the hook is raised to the cut-off position of the overwind switch;

[0023] The control unit is connected to the winch, the overwind switch, and the rope position sensor, respectively; the control unit is used to perform calibration operations.

[0024] During calibration, the control unit controls the winch to lift the hook, and upon receiving a cut-off signal from the anti-overwind switch, controls the winch to stop operating, thereby stopping the hook's movement. Then, the control unit calculates the remaining number of turns N of the hoisting rope on the winch in the current state. A and / or the number of unwinding turns N B And according to the N A and / or the N mentioned above B The remaining number of rope turns and / or the number of unwinding turns of the rope in the current state are calibrated for the rope position sensor.

[0025] Furthermore, it also includes:

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

[0027] Furthermore, it also includes:

[0028] A boom tilt angle detection device is connected to the control unit; the boom tilt angle detection device is used to detect the tilt angle α of the boom, and the control unit is used to determine the tilt angle based on α and the length L of the boom. T and the distance L between the bottom end of the boom and the winch. GThe length L1 of the hoisting rope between the winch and the rope pulley is calculated.

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

[0030] The crane hoisting rope position calibration method provided by this invention involves raising the hook to the cut-off position of the overwinding prevention switch. At this point, the overwinding prevention switch generates a cut-off signal, stopping the winch and consequently stopping the hook's movement. In this specific position, since the overwinding prevention switch is fixed, the hook's position is also known. Therefore, the length L of the hoisting rope between the winch and the hook can be easily calculated by combining the crane's operating conditions and structural parameters. A And according to L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A and / or the number of unwinding turns N of the hoisting rope B Therefore, it is possible to determine the relationship between N and N. A and / or N B The method calibrates the remaining number of rope turns and / or the number of unwound rope turns in the current state using the rope position sensor. This crane rope position calibration method eliminates the need to unwrap all the rope from the winch, simplifying the operation and calibration process, reducing manpower and material costs, saving calibration costs, and making operation safer. Attached Figure Description

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

[0032] Figure 2 This is a schematic diagram of the structure when the hook has not yet reached the cut-off position of the anti-overwinding switch in an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram of the structure when the hook reaches the cut-off position of the anti-overwinding switch in an embodiment of the present invention.

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

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

[0036] Figure 6 This is a structural block diagram of the crane hoisting rope position calibration system in an embodiment of the present invention. Detailed Implementation

[0037] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0038] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and claims of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

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

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

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

[0042] S20: According to the L A Calculate the remaining number of turns N of the hoisting rope 3 under the current state. A ;

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

[0044] In another embodiment, step S20 above may also be based on the L A Calculate the number of unwinding turns N of the hoisting rope 3 on winch 1 under the current condition. B At this point, step S30 above is: according to the N B The position sensor 11 of the hoisting rope on the hoisting 1 is calibrated to determine the number of rope unwinding turns in the current state (i.e., the number of rope 3 actually unwound by the hoisting 1 at this time).

[0045] In another embodiment, step S20 above may also be based on the L A Simultaneously calculate the remaining number of turns N of the hoisting rope 3 under the current state. A The number of unwinding turns N of the hoisting rope 3 on winch 1 B At this point, step S30 above is: according to the NA and the N B The remaining number of rope turns and the number of unwinding turns of the rope on the hoist 11 are calibrated in the current state.

[0046] The crane hoisting rope position calibration method provided in this embodiment of the invention involves raising the hook 2 to the cut-off position of the anti-overwinding switch 51. At this time, the anti-overwinding switch 51 generates a cut-off signal, causing the winch 1 to stop operating (existing cranes are generally equipped with an anti-overwinding switch 51), thereby stopping the hook 2 from moving. 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. Therefore, the length L of the hoisting rope 3 between the winch 1 and the hook 2 can be easily calculated by combining the crane's working conditions and structural parameters. A (When hook 2 is in other positions, its position cannot be directly obtained; parameters such as its height must be measured to calculate its position, increasing operational complexity.) And based on L... A Calculate the remaining number of turns N of the hoisting rope 3 in the current state. A And / or the number of unwinding turns N of the hoisting rope 3 on winch 1 B Therefore, it is possible to determine the relationship between N and N. A and / or N B The rigging position sensor 11 is calibrated to determine the remaining number of rigging turns and / or the number of unwound rigging turns in the current state. This crane rigging position calibration method eliminates the need to unwrap all the rigging rope 3 from the winch 1, simplifying the operation and calibration process, reducing manpower and material costs, saving calibration costs, and making operation safer.

[0047] Furthermore, such as Figures 1 to 3 As shown, in this embodiment, in step S10 above, the L A =L X +L K ; among which, L X L is the length of the hoisting rope 3 between the winch 1 and the fixed pulley block 42 in the current state. K 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, such as Figures 1 to 3 As shown, in this embodiment, the L K =L S *k; where L S The length of a single strand of the lifting rope 3 wound 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, and the fixed pulley block 42 is located at the top of the boom 4, L) SThis is also approximately the distance / height difference between the hook 2 and the top of the boom 4. Meanwhile, since the hook 2 is in the cut-off position of the anti-overwinding switch 51 at this time, the L... S For a fixed value, this L S The value of L can be obtained from the crane's structural parameters (no additional measurement is required). k is the rope threading ratio of the hoisting rope 3 between the fixed pulley block 42 and the movable pulley block 43, and k can be obtained based on the crane's operating conditions. Therefore, based on the crane's operating conditions and structural parameters, the value of L can be calculated. K .

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

[0050] The method for obtaining L1 includes: obtaining the tilt angle α of the boom 4 (the tilt angle α refers to the tilt angle of the boom 4 relative to the horizontal direction), and based on α and the length L of the boom 4... T and the distance L between the bottom of boom 4 and winch 1 G L1 is calculated. The tilt angle α can be obtained from the existing boom tilt angle detection device 53 on the crane, and the length L of the boom 4 is... T and the distance L between the bottom of boom 4 and winch 1 G It can be obtained from the structural parameters of the crane, through trigonometric function relationships: L1 2 =L G 2 +L T 2 -2L G *L T L1 can be calculated using *cos(180°-α). It should be noted that because the boom 4 is very long, the dimensions of the winch 1 and the rope pulley 41 are very small compared to the length of the boom 4. Therefore, in the calculation, the winch 1 and the rope pulley 41 can be treated as points, and the boom 4 can be treated as a line segment, i.e., L1, L... G and L T It forms a simple triangular structure, which simplifies the calculation, and the error of this calculation method is very small.

[0051] Meanwhile, L2 can be calculated based on the crane's operating conditions and structural parameters; that is, L2 is also a known condition and does not require additional measurement. Under certain operating conditions, L2 is a single line segment; under other operating conditions, L2 is composed of multiple line segments.

[0052] Furthermore, such as Figure 1 and Figure 5 As shown, in this embodiment, in step S20 above, according to the L A Calculate the remaining number of turns N of the hoisting rope 3 under the current state. A Specifically, it includes:

[0053] S21: According to the L A Calculate the remaining winding length L of the hoisting rope 3 on winch 1 under the current state. B ; among which, L B =L 总 -L A L 总 The total length of rope 3 (total length L of rope 3) 总 (Given the known conditions, this can be obtained from the product parameters of rope 3);

[0054] S22: According to the L B Get the remaining number of turns N of the hoisting rope 3 in the current state. A .

[0055] Of course, in other embodiments, the number N of unwinding turns of the hoisting rope 3 on winch 1 can also be calculated first. B Then, based on the total number N turns of the hoisting rope 3 on winch 1... 总 (the total number of laps N) 总 N can be calculated based on the product parameters of winch 1 and suspension rope 3. A That is, N A =N 总 -N B Of course, N can also be calculated in other ways. A .

[0056] Furthermore, such as Figure 1 and Figure 5 As shown, in this embodiment, step S22 specifically includes:

[0057] According to 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 Where π is the mathematical constant pi; D1, D2, ..., D K D is the winding diameter of the hoisting ropes 3 on each layer of hoist 1. K Let D1, D2, ..., D be the winding diameter of the Kth layer of hoisting rope 3 on the drum of hoisting 1 (the hoisting rope 3 will be wound layer by layer on the drum of hoisting 1). K The values ​​N1, N2, ..., N can be obtained from the product parameters of winch 1 and hoisting rope 3.K N is the actual number of turns of the hoisting rope 3 on each layer of hoist 1. K Let K be the actual number of turns of the hoisting rope 3 on the Kth layer of hoist 1, where K is a positive integer.

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

[0059] A preliminary comparison table is established to show the relationship between the winding length and the number of winding turns of the hoisting rope 3 on winch 1.

[0060] According to the L B By querying the first relationship lookup table, the remaining number N of windings of the hoisting rope 3 in the current state is obtained. A .

[0061] In another embodiment, in step S20 above, according to the L A Calculate the number of unwinding turns N of the hoisting rope 3 on winch 1 under the current condition. B Specifically, N can be calculated first using any of the methods mentioned above. A Then, based on the total number N turns of the hoisting rope 3 on winch 1... 总 N was calculated B N B =N 总 -N A Alternatively, a second relationship table can be pre-established between the unwinding length and the number of unwinding turns of the hoisting rope 3 on hoist 1, based on the aforementioned L. A By querying the second relationship lookup table, the number N of unwinding turns of the hoisting rope 3 on hoist 1 in the current state can be obtained. B Of course, N can also be calculated in other ways. B .

[0062] like Figure 1 and Figure 6 As shown, this embodiment of the invention also provides a crane sling position calibration system based on the above-described crane sling position calibration method. The crane sling position calibration system includes:

[0063] The winch 1 and the hook 2 are connected by a hoisting rope 3; the hoisting rope 3 is generally a steel wire rope.

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

[0065] The overwind switch 51 is used to generate a cut-off signal when the hook 2 is raised to the cut-off position of the overwind switch 51;

[0066] Control unit 7 is connected to hoist 1, anti-overwind switch 51 and rope position sensor 11 respectively (specifically, by electrical signal connection); control unit 7 can be an existing control device on the crane or an additional control device; control unit 7 is used to perform calibration operations;

[0067] During calibration, control unit 7 controls winch 1 to operate, causing hook 2 to rise. Upon receiving the cut-off signal from anti-overwind switch 51, control unit 7 stops winch 1, thereby stopping hook 2. Then, control unit 7 calculates the remaining number of turns N of the hoisting rope 3 on 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 winch 1 B Record N A and / or N B And according to N A and / or N B The rigging position sensor 11 is calibrated to determine the remaining number of rigging turns and / or the number of unwound rigging turns in the current state (the calibration of the rigging position sensor 11 by the control unit 7 is also the resetting of the remaining number of rigging turns and / or the number of unwound rigging turns by the control unit 7).

[0068] Furthermore, in this embodiment, the rope position sensor 11 can specifically be an angle detection device, which can detect the rotation angle of the drum and thus obtain the number of rotations of the drum. The angle detection device can also be connected to a display device (not shown in the figure) to display the remaining number of windings and / or unwindings of the rope 3 on the winch 1. For the specific structure and working principle of the rope position sensor 11, please refer to existing technologies (such as patents CN201942463U, etc.), which will not be elaborated here.

[0069] Furthermore, such as Figure 6 As shown, in this embodiment, the crane hoisting rope position calibration system further includes:

[0070] The boom tilt angle detection device 53 is connected to the control unit 7 (specifically, via an electrical signal connection); the boom tilt angle detection device 53 is used to detect the tilt angle α of the boom 4, and the control unit 7 is used to determine the tilt angle based on α and the length L of the boom 4. T and the distance L between the bottom of boom 4 and winch 1 G The length L1 of the hoisting rope 3 between the winch 1 and the rope pulley 41 is calculated. The specific location and working principle of the boom tilt detection device 53 can be found in existing technology and will not be elaborated here.

[0071] Furthermore, such as Figure 6 As shown, in this embodiment, the crane hoisting rope position calibration system further includes:

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

[0073] Specifically, the calibration control switch 52 can be installed inside the crane's cab. The calibration control switch 52 can be a physical switch or a virtual switch; specifically, it can be a button, knob, virtual button, or other control element installed on the crane. During the actual calibration process, various structural parameters of the crane (e.g., the length L of the boom 4) can be pre-set. T The distance L between the bottom end of boom 4 and winch 1 G The calibration instructions are stored in the control unit 7. After the operator presses the calibration control switch 52, a calibration command is generated. The calibration control switch 52 sends the calibration command to the control unit 7. After receiving the calibration command, the control unit 7 automatically performs the above calibration operation, which eliminates the need for manual calculation and calibration, thereby simplifying the calibration work and improving calibration efficiency and accuracy.

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

[0075] (1) As Figure 2 As shown, under any operating condition of the crane (at which point the hook 2 is generally not raised to the cut-off position of the anti-overwinding switch 51), the operator presses the calibration control switch 52 to generate a calibration command. Upon receiving the calibration command, the control unit 7 controls the winch 1 to operate, causing the hook 2 to move upwards. For example... Figure 3 As shown, when the hook 2 is raised to the cut-off 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; for the specific structure and working principle of the anti-overwinding switch 51, please refer to the existing technology, which will not be elaborated here); after receiving the cut-off signal, the control unit 7 controls the winch 1 to stop operating, thereby stopping the hook 2 from moving upward.

[0076] (2) The control unit 7 uses pre-built structural parameters of the crane (e.g., the length L of the boom 4) to determine the crane's structural parameters. T The distance L between the bottom end of boom 4 and winch 1 G Based on the operating parameters detected by various sensors (such as tilt angle α), the remaining number N of the hoisting rope 3 on winch 1 in the current state is calculated according to the above calibration method. A and / or the number of unwinding turns N B Record N A and / or N B And according to N A and / or NB The remaining number of rope turns and / or the number of unwinding turns of the rope in the current state are calibrated for the rope position sensor 11, thereby completing the calibration operation.

[0077] like Figure 1 As shown, this embodiment of the invention also provides a crane, including the crane hoisting rope position calibration system described above.

[0078] Furthermore, such as Figure 1 As shown, in this embodiment, the crane includes a turntable 6, a winch 1, a boom 4, a hook 2, and a lifting rope 3. The winch 1 and the boom 4 are mounted 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 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 group 42. The rope pulley 41 is located on the side of the top of the boom 4 closer to the winch 1, and the fixed pulley group 42 is located on the side of the top of the boom 4 closer to the hook 2. The hook 2 is provided with a movable pulley group 43, and the movable pulley group 43 and the hook 2 are in a suspended state. One end of the lifting rope 3 is connected to the winch 1 and wound around the winch 1. The other end of the lifting rope 3 passes over the rope pulley 41 and is then wound between the fixed pulley group 42 and the movable pulley group 43. The top of the boom 4 is equipped with an overwind switch 51, which is located on the top of the boom 4 near the hook 2 and is located between the fixed pulley block 42 and the hook 2.

[0079] Furthermore, such as Figure 1 As shown, in this embodiment, the crane is a crawler crane, which also includes a crawler chassis (not labeled in the figure). The crawler chassis is located below and connected to the turntable 6, and is used to realize the crane's traveling and moving function. For details regarding the crane's specific structure, please refer to existing technology; further details are omitted here.

[0080] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for calibrating the position of a crane lifting rope, characterized in that, Includes the following steps: S10: Raise the hook to the cut-off position of the overwind switch to stop the hook movement, and obtain the length L of the hoisting rope between the winch and the hook in the current state. A ; S20: According to the L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A and / or the number of unwinding turns N B ; S30: According to the N A and / or the N mentioned above B The position sensor on the hoisting rope is calibrated to determine the number of remaining turns of the rope and / or the number of unwound turns of the rope in the current state.

2. The crane hoisting rope position calibration method as described in claim 1, characterized in that, In step S10 above, the L A =L X +L K L X L represents the length of the hoisting rope between the winch and the fixed pulley block in the current state. K This represents the length of the suspension rope between the fixed pulley block and the movable pulley block in the current state.

3. The crane hoisting rope position calibration method as described in claim 2, characterized in that, The L K =L S *k, L S is the length of a single strand of the rope wound between the fixed pulley block and the movable pulley block in the current state, and k is the rope threading ratio between the fixed pulley block and the movable pulley block.

4. The crane hoisting rope position calibration method as described in claim 2, characterized in that, The L X = L1 + L2, where L1 is the length of the hoisting rope between the winch and the over-rope pulley in the current state, and L2 is the length of the hoisting rope between the over-rope pulley and the fixed pulley block; The method for obtaining L1 includes: The tilt angle α of the boom is obtained based on α and the length L of the boom. T and the distance L between the bottom of the boom and the winch G L1 is calculated.

5. The crane hoisting rope position calibration method as described in claim 1, characterized in that, In step S20 above, according to the L A Calculate the remaining number of turns N of the hoisting rope under the current condition. A Specifically, it includes: S21: According to the L A Calculate the remaining winding length L of the hoisting rope under the current condition. B ; among which, L B =L 总 -L A L 总 This refers to the total length of the suspension rope; S22: According to the L B Get the remaining number of turns N of the hoisting rope in the current state. A .

6. The crane hoisting rope position calibration method as described in claim 5, characterized in that, The above S22 step specifically includes: According to 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 are the winding diameters of the hoisting ropes at each level. K This refers to the actual number of turns of the hoisting ropes on each layer of the winch.

7. A crane rope position calibration system based on the crane rope position calibration method according to any one of claims 1-6, characterized in that, The crane hoisting rope position calibration system includes: A winch and a hook, the winch and the hook being connected by a hoisting rope; A rope position sensor is installed on the winch, and the rope position sensor is used to detect the number of rotations and / or rotation angle of the winch; An overwind switch is used to generate a cut-off signal when the hook is raised to the cut-off position of the overwind switch; The control unit is connected to the winch, the overwind switch, and the rope position sensor, respectively; the control unit is used to perform calibration operations. During calibration, the control unit controls the winch to lift the hook, and upon receiving a cut-off signal from the anti-overwind switch, controls the winch to stop operating, thereby stopping the hook's movement. Then, the control unit calculates the remaining number of turns N of the hoisting rope on the winch in the current state. A and / or the number of unwinding turns N B And according to the N A and / or the N mentioned above B The remaining number of rope turns and / or the number of unwinding turns of the rope in the current state are calibrated for the rope position sensor.

8. The crane hoisting rope position calibration system as described in 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 calibration commands to the control unit, and the control unit performs calibration operations after receiving the calibration commands from the calibration control switch.

9. The crane hoisting rope position calibration system as described in claim 7, characterized in that, Also includes: A boom tilt angle detection device is connected to the control unit; the boom tilt angle detection device is used to detect the tilt angle α of the boom, and the control unit is used to determine the tilt angle based on α and the length L of the boom. T and the distance L between the bottom end of the boom and the winch. G The length L1 of the hoisting rope between the winch and the rope pulley is calculated.

10. A crane, characterized in that, The crane rope position calibration system includes any one of claims 7-9.

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