Control method for crane, processor, control device and crane

Abstract

The invention discloses a control method for a crane, a processor, a control device and the crane. The control method comprises the following steps: controlling the crane to execute arm lifting operation; determining that the combination of the main arm and the auxiliary arm is in a preset arm lifting state; determining that one end, away from the main arm, of the anti-roll rod is clamped into the limiting groove; the crane is controlled to continue to execute the arm lifting operation until the arm lifting operation is completed; or the crane is controlled to execute arm bending operation; determining that the combination of the main arm and the auxiliary arm is in a preset arm bending state; determining that the end, away from the main arm, of the anti-roll rod moves out of the limiting groove; and the crane is controlled to continue to execute the arm bending operation until the arm bending operation is completed. The control method is simple and easy to implement, and the use safety of the crane is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of cranes, and specifically relates to a control method, a processor, a control device and a crane for a crane. Background Art

[0002] In the field of engineering machinery, the anti-roll bar of a crane plays a vital role in the crane and is a key component to prevent the crane from tipping over. During the use of the crane in the prior art, it is necessary to manually observe whether the anti-roll bar enters or moves out of the limit slot, but the limit slot is high, and it is difficult for the operator to effectively and timely observe whether the anti-roll bar enters and exits the slot successfully and whether the process is smooth. It requires the operator's experience and repeated observations to confirm. If it is not determined in time that the anti-roll bar has not entered the slot when the arm is raised or has not come out of the slot when the arm is lowered, it will bring great safety hazards to the crane, such as bending of the boom or anti-roll bar, which may cause safety accidents. Summary of the invention

[0003] The purpose of the present application is to provide a control method, a processor, a control device and a crane for a crane. The control method is simple and easy to implement, thereby improving the safety of the crane.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for a crane, wherein the crane comprises a main arm, a jib, an anti-roll bar and a limit assembly, wherein the anti-roll bar is rotatably arranged on the main arm, and the limit assembly is arranged on the jib and is formed with a limit groove for an end of the anti-roll bar away from the main arm to be clamped. The control method comprises:

[0005] Control the crane to perform the boom operation;

[0006] Determine that the combination of the main boom and the auxiliary boom is in a preset boom raising state;

[0007] Make sure the end of the anti-roll bar away from the main arm is inserted into the limit groove;

[0008] Control the crane to continue the jib raising operation until the jib raising operation is completed; or,

[0009] Control the crane to perform arm-dropping operation;

[0010] Determine that the combination of the main arm and the auxiliary arm is in a preset arm-lying state;

[0011] Make sure the end of the anti-roll bar away from the main arm moves out of the limit slot;

[0012] Control the crane to continue the arm-lying operation until the arm-lying operation is completed.

[0013] In an embodiment of the present application, determining that the combination of the main arm and the auxiliary arm is in a preset arm-raising state includes:

[0014] Obtaining a first angle between the main arm and the horizontal plane and a second angle between the auxiliary arm and the horizontal plane;

[0015] When the first angle is within the first preset range and the first angle is greater than the second angle, it is determined that the combination of the main arm and the auxiliary arm is in a preset arm-raising state.

[0016] In an embodiment of the present application, determining that the combination of the main arm and the auxiliary arm is in a preset arm-lying state includes:

[0017] Obtaining a first angle between the main arm and the horizontal plane and a second angle between the auxiliary arm and the horizontal plane;

[0018] When the first included angle is smaller than the preset included angle and the first included angle is larger than the second included angle, it is determined that the combination of the main arm and the auxiliary arm is in the preset arm-lying state.

[0019] In an embodiment of the present application, the crane further includes a prompting device, and the control method further includes:

[0020] When the combination of the main arm and the auxiliary arm is in the preset arm-raising state, make sure that the end of the anti-roll bar away from the main arm is not stuck in the limiting groove;

[0021] The control prompt device sends a prompt signal that the end of the anti-roll bar away from the main arm is not stuck in the limit groove;

[0022] Control the crane to stop the boom raising operation.

[0023] In an embodiment of the present application, the control method further includes:

[0024] After the combination of the main boom and the auxiliary boom is in a preset boom-raising state, the end of the anti-roll bar away from the main boom is not stuck in the limit slot, and the crane stops performing the boom-raising operation, the combination of the main boom and the auxiliary boom is controlled to return to the initial state;

[0025] Control the crane to perform the arm raising operation again;

[0026] When the combination of the main arm and the auxiliary arm is in the preset arm-raising state and the end of the anti-roll bar away from the main arm is not stuck in the limiting groove again, the combination of the main arm and the auxiliary arm is controlled to return to the initial state again;

[0027] Obtaining a first accumulated number of times that the combination of the main arm and the auxiliary arm returns to an initial state;

[0028] When the first accumulated number reaches the first preset number, determining the length of the elastic body in the anti-roll bar when it is in a free state;

[0029] When the length is not within the preset length range, the control prompt device sends a prompt signal for replacing the elastic body; or,

[0030] When the length is within a preset length range, the control prompt device sends a prompt signal to shorten the length of the pendulum of the crane.

[0031] In an embodiment of the present application, the crane further includes a prompting device, and the control method further includes:

[0032] When the combination of the main arm and the auxiliary arm is in the preset arm-lying state, it is determined that the end of the anti-roll bar away from the main arm has not moved out of the limiting groove;

[0033] The control prompt device sends a prompt signal that the end of the anti-roll bar away from the main arm has not moved out of the limit groove;

[0034] Control the crane to stop the arm-dropping operation.

[0035] In an embodiment of the present application, the control method further includes:

[0036] After the combination of the main arm and the auxiliary arm is in the preset arm-lying state, the end of the anti-roll bar away from the main arm has not moved out of the limit slot, and the crane stops performing the arm-lying operation, the combination of the main arm and the auxiliary arm is controlled to return to the working state;

[0037] Control the crane to perform the arm-dropping operation again;

[0038] When the end of the anti-roll bar away from the main arm does not move out of the limit groove again, the combination of the main arm and the auxiliary arm is controlled to return to the working state again;

[0039] Obtaining a second accumulated number of times that the combination of the main arm and the auxiliary arm is restored to a working state;

[0040] In the case where the second accumulated number reaches the second preset number, the control prompting device sends a prompting signal to increase the length of the pendulum of the crane.

[0041] A second aspect of the present application provides a processor, which is configured to execute the above-mentioned control method for a crane.

[0042] A third aspect of the present application provides a control device for a crane, the control device comprising the above-mentioned processor.

[0043] A fourth aspect of the present application provides a crane, which includes a main arm, a secondary arm, an anti-roll bar, a limit assembly and the above-mentioned control device for the crane, wherein the limit assembly includes a limit plate and an anti-roll bar detector, the anti-roll bar is rotatably arranged on the main arm, the limit plate is arranged on the secondary arm and is formed with a limit groove for an end of the anti-roll bar away from the main arm to be clamped, and the anti-roll bar detector is used to detect whether the end of the anti-roll bar away from the main arm is located in the limit groove.

[0044] It can be seen from the above technical solution that the control method includes: controlling the crane to perform a boom raising operation;

[0045] Determine that the combination of the main arm and the auxiliary arm is in a preset arm-raising state; determine that the end of the anti-roll bar away from the main arm is stuck in the limit slot; control the crane to continue to perform the arm-raising operation until the arm-raising operation is completed; or control the crane to perform the arm-lying operation; determine that the combination of the main arm and the auxiliary arm is in a preset arm-lying state; determine that the end of the anti-roll bar away from the main arm moves out of the limit slot; control the crane to continue to perform the arm-lying operation until the arm-lying operation is completed. The control method is simple and easy to implement, and can prevent the auxiliary arm of the crane from tipping backward during the arm-raising operation, and can also prevent the anti-roll bar from bending or breaking when the crane performs the arm-lying operation, thereby improving the safety of the crane and avoiding safety accidents.

[0046] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0048] Figure 1 This is a main control flow chart of the crane during the arm lifting operation in this embodiment;

[0049] Figure 2 This is a main control flow chart of the crane during the arm-lying operation in this embodiment;

[0050] Figure 3 It is a schematic diagram of the crane performing the arm raising operation in this embodiment;

[0051] Figure 4 for Figure 3 The local enlarged schematic diagram of point Ⅰ in the middle;

[0052] Figure 5 This is a schematic diagram of the crane performing the arm-lying operation in this embodiment;

[0053] Figure 6 for Figure 5 A partial enlarged schematic diagram of the middle II;

[0054] Figure 7 for Figure 5 A partial enlarged schematic diagram of the location of the middle pendulum.

[0055] Description of Reference Numerals

[0056] 1-crane; 101-main arm; 102-jib; 103-anti-roll bar; 104-limiting plate; 1041-limiting groove; 105-pendulum; 106-mounting plate; 107-anti-roll bar detector; α-first angle; β-second angle. DETAILED DESCRIPTION

[0057] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0058] The embodiment of the present application provides a control method for a crane. The crane 1 includes a main arm 101, a jib 102, an anti-roll bar 103 and a limit plate 104. The anti-roll bar 103 is rotatably arranged on the main arm 101. The limit plate 104 is arranged on the jib 102 and is formed with a limit groove 1041 for an end of the anti-roll bar 103 away from the main arm 101 to be clamped. Figure 1 As shown, the control method includes the following steps:

[0059] Step S1011: Control the crane 1 to perform a boom raising operation.

[0060] Specifically, the crane 1 in this embodiment can be a crawler crane 1 or a tower crane 1. The main arm 101 is arranged on the turntable of the crane 1 and can be deflected relative to the turntable. The auxiliary arm 102 is arranged on the main arm 101 and can be deflected relative to the main arm 101. The anti-roll bar 103 is rotatably arranged on the main arm 101 and located at one end of the main arm 101 close to the auxiliary arm 102, so as to prevent the auxiliary arm 102 from tilting backward. The limit plate 104 is arranged on the auxiliary arm 102 and close to one end of the main arm 101. The crane 1 also includes a processor, a main luffing hoisting mechanism, an auxiliary luffing hoisting mechanism and an operating device. The main luffing hoisting mechanism is communicatively connected to the processor and used to drive the main arm 101 to deflect on the vertical plane. The auxiliary luffing hoisting mechanism is communicatively connected to the processor and used to drive the auxiliary arm 102 to deflect on the vertical plane. The operating device is communicatively connected to the processor. The operator can control the crane 1 to start the boom raising function by operating the operating device (such as pressing the button for starting the boom raising function and the related parameter buttons on the operating device), and then the operating device sends a corresponding signal to the processor. After receiving the above signal, the processor controls the main luffing winch mechanism and / or the auxiliary luffing winch mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect upward on the vertical plane, and the main arm 101 and the auxiliary arm 102 cooperate together to perform the boom raising operation.

[0061] Step S1012: Determine whether the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state.

[0062] In one embodiment of the present application, step S1012 determines that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state and further includes steps S201 and S202, wherein:

[0063] Step S201: obtaining a first angle α between the main arm 101 and the horizontal plane and a second angle β between the auxiliary arm 102 and the horizontal plane.

[0064] Specifically, the crane 1 also includes a first angle detector and a second angle detector. The first angle detector and the second angle detector can both be selected as inclination sensors. The first angle detector is communicatively connected to the processor and is used to detect a first angle α between the main arm 101 and the horizontal plane. The first angle detector sends the detection result to the processor after the detection is completed; the second angle detector is communicatively connected to the processor and is used to detect a second angle β between the auxiliary arm 102 and the horizontal plane. The second angle detector sends the detection result to the processor after the detection is completed.

[0065] Step S202: When the first angle α is within a first preset range and is greater than the second angle β, determine that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm raising state, wherein the first preset range is 65°-85°.

[0066] Specifically, Figure 3 As shown, after receiving the detection results of the first angle detector and the second angle detector, the processor compares the first angle α with the first preset range. If 65°≤α≤85°, it is determined that the first angle α is in the first preset range. The above numerical range is the appropriate deflection range of the main arm 101 when the combination of the main arm 101 and the auxiliary arm 102 performs the lifting function; when the first angle α is in the first preset range, the processor further compares the first angle α with the second angle β. When the first angle α is greater than the second angle β, it is determined that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm raising state; in this embodiment, preferably, when 65°≤α≤85° and (α-β)<13.5°, the processor determines that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm raising state.

[0067] Step S1013 : Determine that the end of the anti-roll bar 103 away from the main arm 101 is inserted into the limiting groove 1041 .

[0068] Specifically, the crane 1 further includes a mounting plate 106 and an anti-roll bar detector 107. The mounting plate 106 is mounted on the limit plate 104 by means of a screw assembly. The anti-roll bar detector 107 is used to detect whether the end of the anti-roll bar 103 away from the main arm 101 is located in the limit groove 1041. Furthermore, the anti-roll bar detector 107 may be a proximity switch connected to the processor for communication. This type of anti-roll bar detector 107 has the advantages of simple structure, easy installation and reliable use. Figure 4 As shown, when the anti-roll bar detector 107 detects that the end of the anti-roll bar 103 away from the main arm 101 is located in the limit groove 1041, a signal is sent to the processor. After receiving the above signal, the processor can determine that the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limit groove 1041.

[0069] Furthermore, the anti-roll bar detector 107 is adjustably disposed on the mounting plate 106 via threaded connectors (such as bolts), and the above arrangement can ensure the accuracy of the detection result of the anti-roll bar detector 107 .

[0070] Step S1014: Control the crane 1 to continue the boom raising operation until the boom raising operation is completed.

[0071] Specifically, during the execution of step S1012 to step S1013, the main luffing winch mechanism and the auxiliary luffing winch mechanism are both in working condition, that is, the combination of the main arm 101 and the auxiliary arm 102 is continuously performing the arm raising operation; when the processor determines that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm raising state and the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limit groove 1041, the main luffing winch mechanism and the auxiliary luffing winch mechanism are controlled to continue to cooperate with each other (such as controlling the auxiliary luffing winch mechanism to continue to perform the rope retracting action) to jointly drive the combination of the main arm 101 and the auxiliary arm 102 to continue to perform the arm raising operation until the arm raising operation is completed.

[0072] In one embodiment of the present application, the crane 1 also includes a prompt device (such as a display screen located in the cab of the crane 1) that is communicatively connected to the processor. When the processor determines that the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limit groove 1041, the control prompt device sends a prompt signal (such as displaying a green icon) to confirm that the end of the anti-roll bar 103 away from the main arm 101 has been stuck in the limit groove 1041, so as to prompt the operator to perform subsequent operations.

[0073] In one embodiment of the present application, the crane 1 further includes a prompting device, and the control method further includes the following steps:

[0074] Step S301: when the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state, determining that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limiting groove 1041;

[0075] Step S302: controlling the prompt device to send a prompt signal that the end of the anti-roll bar 103 away from the main arm 101 is not inserted into the limiting groove 1041;

[0076] Step S303: Control the crane 1 to stop the boom raising operation.

[0077] Specifically, after step S1012 is completed, if the processor does not receive a signal from the anti-roll bar detector 107 that the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limit groove 1041 (or receives a signal that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041), it is determined that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041. In the above case, if the crane 1 is controlled to continue to perform the boom raising operation, the auxiliary arm 102 may tip over, which may cause a safety accident. Therefore, when it is determined that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041, the processor controls the prompt device to send a prompt signal (such as displaying a red icon) to determine that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041, so as to prompt the operator to pay attention to the above problem and perform subsequent operations with caution; at the same time, the processor controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to stop the action (such as controlling the auxiliary luffing hoisting mechanism to stop the rope collection action) to stop the crane 1 from performing the arm raising operation. In this embodiment, step S302 and step S303 are not limited in the order of execution, and step S302 and step S303 can be executed simultaneously, or step S303 can be executed first and step S302 can be executed later.

[0078] Furthermore, the crane 1 in this embodiment also includes an alarm device communicatively connected to the processor. The alarm device can be optionally an audible and visual alarm. After step S301 is executed, the processor controls the alarm device to send an alarm signal that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041 (such as a voice broadcast of the voice information that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041), so as to further attract the attention of the operator or the staff around the crane 1, which is conducive to further improving the safety of the use of the crane 1.

[0079] In one embodiment of the present application, the control method further includes the following steps:

[0080] Step S401: after the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state, the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limit groove 1041 and the crane 1 stops performing the arm-raising operation, the combination of the main arm 101 and the auxiliary arm 102 is controlled to return to the initial state.

[0081] Specifically, the initial state in this embodiment refers to the state of the combination of the main arm 101 and the auxiliary arm 102 before the crane 1 performs the arm raising operation. After step S303 is executed, the processor controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect downward on the vertical plane, thereby restoring the combination of the main arm 101 and the auxiliary arm 102 to the initial state.

[0082] Step S402: Control the crane 1 to perform the boom raising operation again;

[0083] Step S403: When the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-raising state and the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limiting groove 1041 again, the combination of the main arm 101 and the auxiliary arm 102 is controlled to return to the initial state again.

[0084] Specifically, after step S401 is executed, the processor controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect upward on the vertical plane, and the main arm 101 and the auxiliary arm 102 cooperate to perform the arm raising operation; after step S402 is executed, the first angle detector and the second angle detector respectively detect the first angle α between the main arm 101 and the horizontal plane and the second angle β between the auxiliary arm 102 and the horizontal plane. If the processor determines that the main arm 101 is at a certain angle α, the auxiliary arm 102 is at a certain angle β. When the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state, the anti-roll bar detector 107 is controlled to detect whether the end of the anti-roll bar 103 away from the main arm 101 is located in the limiting groove 1041; if it is determined based on the detection result of the anti-roll bar detector 107 that the end of the anti-roll bar 103 away from the main arm 101 is not stuck in the limiting groove 1041 again, the processor further controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to operate, so as to drive the main arm 101 and / or the auxiliary arm 102 to deflect downward on the vertical plane, so as to restore the combination of the main arm 101 and the auxiliary arm 102 to the initial state again.

[0085] Step S404: Obtain a first accumulated number of times the combination of the main arm 101 and the auxiliary arm 102 is restored to the initial state.

[0086] Specifically, the processor accumulates the number of times the combination of the main arm 101 and the auxiliary arm 102 is restored to the initial state, and the accumulated number of times is the first accumulated number of times.

[0087] Step S405: when the first accumulated number reaches the first preset number, determining the length of the elastic body of the anti-roll bar 103 in a free state.

[0088] Specifically, the anti-roll bar 103 includes an inner tube body, an outer tube body and an elastic body, the outer tube body is rotatably connected to the main arm 101, the inner tube body can be inserted into the limiting groove 1041, part of the inner tube body extends into the interior of the outer body and can move along the axial direction of the outer tube body, the elastic body can be selected as a spring, the spring is sleeved on the outer peripheral side of the inner tube body and located inside the outer tube body, one end of the spring is connected to the inner tube body, and the other end of the spring is connected to the outer tube body. When the inner tube body is subjected to pressure, the spring is compressed; if the inner tube body is not subjected to pressure (that is, the anti-roll bar 103 is not subjected to force), the spring is in a free state. The crane 1 in this embodiment also includes a length detector (such as a length sensor) that is communicatively connected to the processor and is used to detect the length of the spring; the first preset number (such as 3 times) is pre-stored in the processor and can be retrieved when needed. After obtaining the first cumulative number, the processor compares it with the first preset number. If the first cumulative number is greater than or equal to the first preset number, the main luffing winch mechanism and / or the auxiliary luffing winch mechanism are controlled to operate, driving the main arm 101 and / or the auxiliary arm 102 to deflect on the vertical plane, so that the anti-roll bar 103 connected to the main arm 101 is in a tilted downward state. When the anti-roll bar 103 is in the above state, the spring inside it is in a free state; then the processor controls the length sensor to detect the length of the spring.

[0089] Step S4061: When the length is not within the preset length range, the control prompt device sends a prompt signal to replace the elastic body.

[0090] Specifically, after obtaining the length of the spring in a free state, the processor compares the above length with a preset length range. If the length detected by the length sensor is not within the preset length range, it means that the spring may be damaged due to fatigue and cannot be restored to its original state, which in turn causes the anti-roll bar 103 to be unable to be inserted into the limit groove 1041 due to the overall shortening of the length. Therefore, the processor needs to control the prompt device to send a prompt signal for replacing the elastomer, so that the operator can replace the elastomer in time after seeing the above prompt signal, thereby ensuring that the crane 1 can work normally in the future.

[0091] Step S4062: When the length is within the preset length range, the control prompt device sends a prompt signal to shorten the length of the pendulum 105 of the crane 1.

[0092] Specifically, the crane 1 further includes a pendulum 105 rotatably arranged on the jib 102 and used to adjust the angle of the anti-roll bar 103, and the end of the pendulum 105 away from the jib 102 is a free end. If after step S405 is executed, the processor determines that the length detected by the length sensor is within the preset length range, it means that the anti-roll bar 103 is not unable to enter the limiting groove 1041 due to the length factor, but may be due to the long length of the pendulum 105, which causes it to always support the anti-roll bar 103, thereby causing the anti-roll bar 103 to be unable to enter the limiting groove 1041. Therefore, the processor needs to control the prompt device to send a prompt signal to shorten the length of the pendulum 105, so that the operator can replace the original pendulum 105 with a shorter pendulum 105 after seeing the above prompt signal, thereby ensuring that the crane 1 can work normally in the future.

[0093] like Figure 2 As shown in the figure, the following control methods can be used when the crane performs the arm-dropping operation:

[0094] Step S1021: Control the crane 1 to perform the arm-dropping operation.

[0095] Specifically, if the operator can control the crane 1 to turn on the arm-dropping function by operating the operating device, and then the operating device sends a corresponding signal to the processor, the processor controls the main luffing winch mechanism and / or the auxiliary luffing winch mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect downward on the vertical plane, and the main arm 101 and the auxiliary arm 102 cooperate together to perform the arm-dropping operation.

[0096] Step S1022: Determine that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state.

[0097] In one embodiment of the present application, step S1022 determines that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state, including steps S501 and S502, wherein:

[0098] Step S501: obtaining a first angle α between the main arm 101 and the horizontal plane and a second angle β between the auxiliary arm 102 and the horizontal plane;

[0099] Step S502: when the first angle α is smaller than the preset angle and the first angle α is larger than the second angle β, it is determined that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state, wherein the preset angle ranges from 0 to 30°.

[0100] Specifically, Figure 5As shown, during the process of the crane 1 performing the arm-lying operation, the first angle detector and the second angle detector both perform angle detection functions, and send the detected first angle α and second angle β to the processor respectively; after receiving the detection results of the first angle detector and the second angle detector, the processor compares the first angle α with the preset angle, and if α<30°, determines that the first angle α is less than the preset angle, and the above numerical range is the appropriate deflection range of the main arm 101 when the combination of the main arm 101 and the auxiliary arm 102 is about to complete the arm-lying function; when the first angle α is less than the preset angle, the processor further compares the first angle α with the second angle β, and when the first angle α is greater than the second angle β, determines that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-lying state; in this embodiment, preferably, when α<30° and (α-β)<17°, the processor determines that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-lying state.

[0101] Step S1023 : Determine that the end of the anti-roll bar 103 away from the main arm 101 moves out of the limiting groove 1041 .

[0102] Specifically, Figure 6 As shown, after step S1022 is executed, if the anti-roll bar detector 107 detects that the end of the anti-roll bar 103 away from the main arm 101 is still in the limit groove 1041, a signal is sent to the processor. After receiving the above signal, the processor can determine that the end of the anti-roll bar 103 away from the main arm 101 moves out of the limit groove 1041.

[0103] Step S1024: Control the crane 1 to continue to perform the arm-lying operation until the arm-lying operation is completed.

[0104] Specifically, during the execution of step S1022-step S1023, the main luffing winch mechanism and the auxiliary luffing winch mechanism are both in working state, that is, the combination of the main arm 101 and the auxiliary arm 102 is continuously performing the arm-lying operation; when the processor determines that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-lying state and the end of the anti-roll bar 103 away from the main arm 101 moves out of the limit groove 1041, the main luffing winch mechanism and the auxiliary luffing winch mechanism are controlled to continue to cooperate with each other (such as controlling the main luffing winch mechanism to continue to release the rope, and controlling the auxiliary luffing winch mechanism to continue to collect the rope) to jointly drive the combination of the main arm 101 and the auxiliary arm 102 to continue to perform the arm-lying operation until the arm-lying operation is completed.

[0105] Further, when the processor determines that the end of the anti-roll bar 103 away from the main arm 101 has moved out of the limit slot 1041, the control prompt device sends a prompt signal (such as displaying a green icon) to confirm that the end of the anti-roll bar 103 away from the main arm 101 has moved out of the limit slot 1041, so as to prompt the operator to perform subsequent operations.

[0106] In one embodiment of the present application, the crane 1 further includes a prompting device, and the control method further includes the following steps:

[0107] Step S601: when the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state, determining that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limiting groove 1041;

[0108] Step S602: controlling the prompt device to send a prompt signal that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limiting groove 1041;

[0109] Step S603: Control the crane 1 to stop performing the arm-dropping operation.

[0110] Specifically, after step S1022 is completed, if the processor does not receive a signal from the anti-roll bar detector 107 that the end of the anti-roll bar 103 away from the main arm 101 moves out of the limit slot 1041 (or receives a signal that the end of the anti-roll bar 103 away from the main arm 101 does not move out of the limit slot 1041), it is determined that the end of the anti-roll bar 103 away from the main arm 101 does not move out of the limit slot 1041. In the above case, if the crane 1 is controlled to continue to perform the arm-dropping operation, the anti-roll bar 103 may be bent or broken, which may cause a safety accident. Therefore, when it is determined that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limit slot 1041, the processor controls the prompt device to send a prompt signal (such as displaying a red icon) to determine that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limit slot 1041, so as to prompt the operator to pay attention to the above problem and perform subsequent operations with caution; at the same time, the processor controls the main luffing winch mechanism and / or the auxiliary luffing winch mechanism to stop the action (such as controlling the main luffing winch mechanism to stop the rope release action, and controlling the auxiliary luffing winch mechanism to stop the rope collection action), so that the crane 1 stops performing the arm-laying operation. In this embodiment, step S602 and step S603 are not limited in the order of execution, and step S602 and step S603 can be executed simultaneously, or step S603 can be executed first and step S602 can be executed later.

[0111] Furthermore, after step S601 is executed, the processor controls the alarm device to send out an alarm signal that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limit groove 1041 (such as a voice broadcast of the voice information that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limit groove 1041), so as to further attract the attention of the operator or the staff around the crane 1, which is conducive to further improving the safety of the use of the crane 1.

[0112] In one embodiment of the present application, the control method further includes the following steps:

[0113] Step S701: after the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state, the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limiting groove 1041 and the crane 1 stops performing the arm-lying operation, the combination of the main arm 101 and the auxiliary arm 102 is controlled to return to the working state.

[0114] Specifically, the working state in this embodiment refers to the state of the combination of the main arm 101 and the auxiliary arm 102 before the crane 1 performs the arm-dropping operation. After step S603 is executed, the processor controls the main luffing winch mechanism and / or the auxiliary luffing winch mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect upward on the vertical plane, thereby restoring the combination of the main arm 101 and the auxiliary arm 102 to the working state.

[0115] Step S702: Control the crane 1 to perform the arm-dropping operation again;

[0116] Step S703: When the end of the anti-roll bar 103 away from the main arm 101 does not move out of the limiting groove 1041 again, the combination of the main arm 101 and the auxiliary arm 102 is controlled to return to the working state again.

[0117] Specifically, after step S701 is executed, the processor controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to drive the main arm 101 and / or the auxiliary arm 102 to deflect downward on the vertical plane, and the main arm 101 and the auxiliary arm 102 cooperate to perform the arm-lying operation; after step S702 is executed, the first angle detector and the second angle detector respectively detect the first angle α between the main arm 101 and the horizontal plane and the second angle β between the auxiliary arm 102 and the horizontal plane. If the processor determines that the main arm 101 is at a certain angle α between the main arm 101 and the horizontal plane based on the detection results of the first angle detector and the second angle detector, the main arm 101 and the auxiliary arm 102 are at a certain angle β between the auxiliary arm 102 and the horizontal plane. When the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-lying state, the anti-roll bar detector 107 is controlled to detect whether the end of the anti-roll bar 103 away from the main arm 101 is located in the limiting groove 1041; if it is determined based on the detection result of the anti-roll bar detector 107 that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limiting groove 1041 again, the processor further controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to operate, so as to drive the main arm 101 and / or the auxiliary arm 102 to deflect upward on the vertical plane, so as to restore the combination of the main arm 101 and the auxiliary arm 102 to the working state again.

[0118] Step S704: Obtain a second accumulated number of times the combination of the main arm 101 and the auxiliary arm 102 is restored to the working state.

[0119] Specifically, the processor accumulates the number of times the combination of the main arm 101 and the auxiliary arm 102 recovers to the working state, and the accumulated number of times is the second accumulated number of times.

[0120] Step S705 : when the second accumulated number reaches the second preset number, the control prompt device sends a prompt signal to increase the length of the pendulum 105 of the crane 1 .

[0121] Specifically, after obtaining the second accumulated number, the processor compares it with the second preset number. If the second accumulated number is greater than or equal to the second preset number, it means that the anti-roll bar 103 may be unable to push the anti-roll bar 103 upward because the pendulum 105 is too short (e.g. Figure 7 As shown in FIG. 1 , the anti-roll bar 103 cannot be moved out of the limiting groove 1041. Therefore, the processor needs to control the prompt device to send a prompt signal to increase the length of the pendulum 105, so that the operator can replace the original pendulum 105 with a longer pendulum 105 after seeing the prompt signal, thereby ensuring that the crane 1 can work normally in the future.

[0122] The control method in this embodiment is simple and easy to implement. When the crane 1 is performing the arm raising operation, it is ensured that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm raising state and the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limiting groove 1041, and the crane 1 is controlled to continue to perform the arm raising operation until it is completed, which can avoid the auxiliary arm 102 of the crane 1 from tipping over backward; or when the crane 1 is performing the arm lying operation, it is ensured that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm lying state and the end of the anti-roll bar 103 away from the main arm 101 moves out of the limiting groove 1041, and then the crane 1 is controlled to continue to perform the arm lying operation until it is completed, which can avoid the anti-roll bar 103 from bending or breaking. The above two methods both improve the safety of the crane 1 and avoid safety accidents.

[0123] An embodiment of the present application provides a processor, which is configured to execute the control method for a crane in the above embodiment.

[0124] An embodiment of the present application provides a control device for a crane, wherein the control device includes the processor in the above embodiment.

[0125] An embodiment of the present application provides a crane, which includes a main arm 101, a secondary arm 102, an anti-roll bar 103, a limit assembly and a control device for the crane in the above embodiment, wherein the limit assembly includes a limit plate 104 and an anti-roll bar detector 107, the anti-roll bar 103 is rotatably arranged on the main arm 101, the limit plate 104 is arranged on the secondary arm 102 and is formed with a limit groove 1041 for the end of the anti-roll bar 103 away from the main arm 101 to be clamped, and the anti-roll bar detector 107 is used to detect whether the end of the anti-roll bar 103 away from the main arm 101 is located in the limit groove 1041.

[0126] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0127] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0128] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0129] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for a crane, characterized in that: The crane (1) comprises a main arm (101), a jib (102), an anti-roll bar (103) and a limiting assembly, wherein the anti-roll bar (103) is rotatably arranged on the main arm (101), the limiting assembly is arranged on the jib (102) and is formed with a limiting groove (1041) for an end of the anti-roll bar (103) away from the main arm (101) to be clamped, and the control method comprises: Controlling the crane (1) to perform a boom raising operation; Determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-raising state; Ensure that the end of the anti-roll bar (103) away from the main arm (101) is inserted into the limiting groove (1041); controlling the crane (1) to continue to perform the arm raising operation until the arm raising operation is completed; or, Controlling the crane (1) to perform a boom-leaning operation; Determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-lying state; Determine that one end of the anti-roll bar (103) away from the main arm (101) moves out of the limiting groove (1041); The crane (1) is controlled to continue to perform the arm-lying operation until the arm-lying operation is completed.

2. The control method for a crane according to claim 1, characterized in that: The step of determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-raising state comprises: Acquiring a first angle between the main arm (101) and a horizontal plane and a second angle between the auxiliary arm (102) and the horizontal plane; When the first angle is within a first preset range and the first angle is greater than the second angle, it is determined that the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-raising state.

3. The control method for a crane according to claim 1, characterized in that: The step of determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-lying state comprises: Acquiring a first angle between the main arm (101) and a horizontal plane and a second angle between the auxiliary arm (102) and the horizontal plane; When the first angle is smaller than a preset angle and the first angle is larger than the second angle, it is determined that the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-lying state.

4. The control method for a crane according to claim 1, characterized in that: The crane (1) further comprises a prompting device, and the control method further comprises: When the assembly of the main arm (101) and the auxiliary arm (102) is in the preset arm-raising state, determining that the end of the anti-roll bar (103) away from the main arm (101) is not stuck in the limiting groove (1041); Controlling the prompting device to send a prompting signal indicating that the end of the anti-roll bar (103) away from the main arm (101) is not stuck in the limiting groove (1041); The crane (1) is controlled to stop performing the boom raising operation.

5. The control method for a crane according to claim 4, characterized in that: The control method further comprises: After the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-raising state, the end of the anti-roll bar (103) away from the main arm (101) is not stuck in the limit groove (1041), and the crane (1) stops performing the arm-raising operation, controlling the combination of the main arm (101) and the auxiliary arm (102) to return to the initial state; Controlling the crane (1) to perform the arm raising operation again; When the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-raising state and the end of the anti-roll bar (103) away from the main arm (101) is not inserted into the limiting groove (1041) again, controlling the combination of the main arm (101) and the auxiliary arm (102) to return to the initial state again; Obtaining a first accumulated number of times that the combination of the main arm (101) and the auxiliary arm (102) returns to the initial state; When the first accumulated number reaches a first preset number, determining the length of the elastic body in the anti-roll bar (103) when it is in a free state; When the length is not within the preset length range, controlling the prompt device to send a prompt signal for replacing the elastic body; or, When the length is within the preset length range, the prompt device is controlled to send a prompt signal for shortening the length of the pendulum (105) of the crane (1).

6. The control method for a crane according to claim 1, characterized in that: The crane (1) further comprises a prompting device, and the control method further comprises: When the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-lying state, determining that the end of the anti-roll bar (103) away from the main arm (101) has not moved out of the limiting groove (1041); Controlling the prompting device to send a prompting signal indicating that the end of the anti-roll bar (103) away from the main arm (101) has not moved out of the limiting groove (1041); The crane (1) is controlled to stop performing the arm-lying operation.

7. The control method for a crane according to claim 6, characterized in that: The control method further comprises: After the combination of the main arm (101) and the auxiliary arm (102) is in the preset arm-lying state, the end of the anti-roll bar (103) away from the main arm (101) has not moved out of the limiting groove (1041), and the crane (1) stops performing the arm-lying operation, controlling the combination of the main arm (101) and the auxiliary arm (102) to return to the working state; Controlling the crane (1) to perform the arm-lying operation again; When the end of the anti-roll bar (103) away from the main arm (101) does not move out of the limiting groove (1041) again, the combination of the main arm (101) and the auxiliary arm (102) is controlled to return to the working state again; Obtaining a second accumulated number of times that the combination of the main arm (101) and the auxiliary arm (102) returns to the working state; When the second accumulated number reaches a second preset number, the prompt device is controlled to send a prompt signal for increasing the length of the pendulum (105) of the crane (1).

8. A processor, characterized in that: The processor is configured to execute the control method for a crane according to any one of claims 1-7.

9. A control device for a crane, characterized in that: The control device comprises a processor according to claim 8.

10. A crane, characterized in that: The crane (1) comprises a main arm (101), a jib (102), an anti-roll bar (103), a limiting assembly and a control device for a crane according to claim 9, wherein the limiting assembly comprises a limiting plate (104) and an anti-roll bar detector (107), the anti-roll bar (103) is rotatably arranged on the main arm (101), the limiting plate (104) is arranged on the jib (102) and is formed with a limiting groove (1041) for an end of the anti-roll bar (103) away from the main arm (101) to be clamped, and the anti-roll bar detector (107) is used to detect whether the end of the anti-roll bar (103) away from the main arm (101) is located in the limiting groove (1041).

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