Control method, processor, control device and crane for a crane

Abstract

The application discloses a control method, a processor, a control device and a crane for the crane. The control method comprises the following steps: controlling the crane to perform a boom raising operation; determining that a combination of a main boom and an auxiliary boom is in a preset boom raising state; determining that an end of a stabilizer bar away from the main boom is clamped into a limiting groove; controlling the crane to continue to perform the boom raising operation until the boom raising operation is completed; or, controlling the crane to perform a boom lowering operation; determining that the combination of the main boom and the auxiliary boom is in a preset boom lowering state; determining that the end of the stabilizer bar away from the main boom moves out of the limiting groove; and controlling the crane to continue to perform the boom lowering operation until the boom lowering 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 construction machinery, the anti-roll bar of a crane plays a vital role, being a key component in preventing the crane from tipping over. During operation, conventional cranes require manual observation to ensure that the anti-roll bar enters or exits the retaining slot. However, the slot is high, making it difficult for operators to effectively and timely verify the successful and smooth entry and exit of the anti-roll bar. This requires the operator's experience and repeated observations to confirm the successful entry and exit of the anti-roll bar. Failure to promptly confirm that the anti-roll bar is not in the slot when the boom is raised or out of the slot when the boom is lowered can pose a significant safety hazard to the crane, potentially causing the boom or anti-roll bar to bend, leading to accidents. Summary of the Invention

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

[0004] To achieve the above objectives, the present application provides, in a first aspect, a control method for a crane. The crane includes a main boom, a jib, an anti-roll bar, and a limit assembly. The anti-roll bar is rotatably disposed on the main boom. The limit assembly is disposed on the jib and has a limit groove formed therein for engaging an end of the anti-roll bar away from the main boom. The control method includes:

[0005] Control the crane to perform boom operation;

[0006] Ensure that the main boom and auxiliary boom are in a preset boom-raising state;

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

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

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

[0010] Ensure that the main arm and auxiliary arm combination is in the 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 boom and the horizontal plane and a second angle between the auxiliary boom and the horizontal plane;

[0015] When the first included angle is within a first preset range and is greater than the second included 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 the preset arm-lying state includes:

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

[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 operation.

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

[0024] After the main boom and jib combination is in a preset raised state, the end of the anti-roll bar away from the main boom is not engaged in the limit slot, and the crane stops performing the raising operation, the main boom and jib combination 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 no longer engaged in the limiting groove, the combination of the main arm and the auxiliary arm is controlled to return to the initial state;

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

[0028] When the first accumulated number reaches a 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] In the case that the length is within a preset length range, the control prompting device sends a prompting signal for shortening 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, ensure that the end of the anti-roll bar away from the main arm does not move 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 slot;

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

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

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

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

[0038] When the end of the anti-roll bar away from the main arm does not move out of the limit slot 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 the combination of the main arm and the auxiliary arm returns to the working state;

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

[0041] A second aspect of the present application provides a processor 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 the end of the anti-roll bar away from the main arm to be engaged, 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] The method determines that the main boom and jib assembly is in a preset jib-raising state; determines that the end of the anti-roll bar away from the main boom is engaged in a limit slot; and controls the crane to continue the jib-raising operation until the jib-raising operation is completed. Alternatively, the crane is controlled to perform a jib-lowering operation; determines that the main boom and jib assembly is in a preset jib-lowering state; determines that the end of the anti-roll bar away from the main boom is moved out of the limit slot; and controls the crane to continue the jib-lowering operation until the jib-lowering operation is completed. This control method is simple and easy to implement, preventing the jib from tipping backward during the jib-raising operation and the anti-roll bar from bending or breaking during the jib-lowering operation, thereby improving crane safety and preventing 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 those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

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

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

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

[0051] Figure 4 for Figure 3 A partial 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 point II in the middle;

[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 slot; 105-pendulum; 106-mounting plate; 107-anti-roll bar detector; α-first angle; β-second angle. DETAILED DESCRIPTION

[0057] The following describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present application and are not intended 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 the end of the anti-roll bar 103 away from the main arm 101 to be engaged. 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 may be a crawler crane 1 or a tower crane 1. A main boom 101 is disposed on a turntable of the crane 1 and is rotatable relative to the turntable. A jib 102 is disposed on the main boom 101 and is rotatable relative to the main boom 101. An anti-roll bar 103 is rotatably disposed on the main boom 101 and is located at an end of the main boom 101 near the jib 102, to prevent the jib 102 from tilting backward. A limit plate 104 is disposed on the jib 102 and is located at an end near the main boom 101. The crane 1 further includes a processor, a main luffing winch mechanism, an auxiliary luffing winch mechanism, and an operating device. The main luffing winch mechanism is communicatively connected to the processor and is used to drive the main boom 101 to deflect in a vertical plane. The auxiliary luffing winch mechanism is communicatively connected to the processor and is used to drive the jib 102 to deflect in a vertical plane. The operating device is communicatively connected to the processor. The operator can control the crane 1 to start the boom function by operating the operating device (such as pressing the button for starting the boom 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. The main arm 101 and the auxiliary arm 102 cooperate with each other to perform the boom 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 of determining that the combination of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state 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. After the detection is completed, the first angle detector sends the detection result to the processor; 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. After the detection is completed, the second angle detector sends the detection result to the processor.

[0065] Step S202: When the first angle α is within a first preset range and the first angle α 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, if 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 whether the end of the anti-roll bar 103 away from the main arm 101 is engaged in 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 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 can be optionally 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 mounted on the mounting plate 106 via threaded connectors (such as bolts). 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 the preset arm raising state and the end of the anti-roll bar 103 away from the main arm 101 is stuck in the limit slot 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 reeling 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 is 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 assembly of the main arm 101 and the auxiliary arm 102 is in a preset arm-raising state, it is determined that the end of the anti-roll bar 103 away from the main arm 101 is not engaged in the limiting groove 1041;

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

[0076] Step S303: Control the crane 1 to stop performing 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 indicating that the end of the anti-roll bar 103 away from the main arm 101 is engaged in the limiting groove 1041 (or receives a signal that the end of the anti-roll bar 103 away from the main arm 101 is not engaged in the limiting groove 1041), then it is determined that the end of the anti-roll bar 103 away from the main arm 101 is not engaged in the limiting groove 1041. In this case, if the crane 1 is controlled to continue the boom raising operation, the auxiliary arm 102 may tip backward, which may cause a safety accident. Therefore, when it is determined that the end of the anti-roll bar 103 away from the main boom 101 is not engaged in the limiting groove 1041, the processor controls the prompt device to issue a prompt signal (e.g., display a red icon) indicating that the end of the anti-roll bar 103 away from the main boom 101 is not engaged in the limiting groove 1041, prompting the operator to pay attention to the above problem and proceed with caution in subsequent operations. At the same time, the processor controls the main luffing hoisting mechanism and / or the auxiliary luffing hoisting mechanism to stop operation (e.g., controls the auxiliary luffing hoisting mechanism to stop reeling in the rope), thereby stopping the crane 1 from performing the boom raising operation. In this embodiment, steps S302 and S303 are not limited in order of execution; steps S302 and S303 can be executed simultaneously, or step S303 can be executed first and step S302 after.

[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 slot 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 main boom 101 and auxiliary boom 102 combination before the crane 1 performs a boom raising operation. After step S303 is executed, the processor controls the main and / or auxiliary luffing winches to drive the main boom 101 and / or auxiliary boom 102 to deflect downward in the vertical plane, thereby restoring the main boom 101 and auxiliary boom 102 combination 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 completed, 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 completed, 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 based on the detection results of the first angle detector and the second angle detector that the main arm 101 is 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 in the vertical plane, thereby restoring 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 returns 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 is the first accumulated number.

[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 comprises an inner tube, an outer tube, and an elastic member. The outer tube is rotatably connected to the main arm 101. The inner tube can be inserted into a retaining groove 1041. A portion of the inner tube extends into the interior of the outer tube and is movable axially along the outer tube. The elastic member can be a spring, which is sleeved around the outer circumference of the inner tube and positioned within the outer tube. One end of the spring is connected to the inner tube, and the other end is connected to the outer tube. When the inner tube is subjected to pressure, the spring is compressed. When the inner tube is not subjected to pressure (i.e., when 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 (e.g., a length sensor) communicatively coupled to the processor and configured to detect the length of the spring. A first preset number of times (e.g., three) 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 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 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 mounted on the jib 102 and used to adjust the angle of the anti-roll bar 103. The end of the pendulum 105 away from the jib 102 is a free end. If, after executing step S405, the processor determines that the length detected by the length sensor is within the preset length range, this indicates that the anti-roll bar 103 is unable to enter the retaining groove 1041, not due to length issues, but rather because the pendulum 105 is too long, causing it to continuously support the anti-roll bar 103, thereby preventing the anti-roll bar 103 from entering the retaining groove 1041. Therefore, the processor needs to control the prompt device to issue a prompt signal to shorten the pendulum 105 so that the operator, upon seeing this prompt signal, can replace the existing pendulum 105 with a shorter one, thereby ensuring the subsequent normal operation of the crane 1.

[0093] like Figure 2 As shown in the figure, the following control methods can be used when the crane performs the arm-tilting 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-loosening function by operating the operating device, the operating device will then send a corresponding signal to the processor. After receiving the above signal, the processor will control 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. The main arm 101 and the auxiliary arm 102 will cooperate together to perform the arm-loosening operation.

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

[0097] In one embodiment of the present application, step S1022 of determining that the combination of the main arm 101 and the auxiliary arm 102 is in the preset arm-lying state includes 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 the preset arm-lying state, wherein the preset angle ranges from 0 to 30 degrees.

[0100] Specifically, if Figure 5As shown, during the boom-lowering operation of the crane 1, 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 and second angle detectors, the processor compares the first angle α with a preset angle. If α is less than 30°, it is determined that the first angle α is less than the preset angle. The above numerical range is an appropriate deflection range of the main boom 101 when the combination of the main boom 101 and the auxiliary boom 102 is about to complete the boom-lowering function. If the first angle α is less than the preset angle, the processor further compares the first angle α with the second angle β. If the first angle α is greater than the second angle β, it is determined that the combination of the main boom 101 and the auxiliary boom 102 is in the preset boom-lowering state. In this embodiment, preferably, when α is less than 30° and (α-β) is less than 17°, the processor determines that the combination of the main boom 101 and the auxiliary boom 102 is in the preset boom-lowering state.

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

[0102] Specifically, if 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 the arm-lowering operation until the arm-lowering 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 anti-roll bar 103 moves out of the limit slot 1041 away from one end of the main arm 101, 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] Furthermore, 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 assembly of the main arm 101 and the auxiliary arm 102 is in a preset arm-lying state, it is determined 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 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;

[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 indicating that the end of the anti-roll bar 103 away from the main arm 101 has moved out of the limiting groove 1041 (or receives a 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), then it is determined that the end of the anti-roll bar 103 away from the main arm 101 has not moved out of the limiting groove 1041. In this case, if the crane 1 is controlled to continue the arm-dropping operation, the anti-roll bar 103 may bend or break, which may cause a safety accident. Therefore, when it is determined that the end of the anti-roll bar 103 away from the main boom 101 has not moved out of the limit slot 1041, the processor controls the prompt device to issue a prompt signal (e.g., display a red icon) indicating that the end of the anti-roll bar 103 away from the main boom 101 has not moved out of the limit slot 1041, prompting the operator to pay attention to the above problem and to proceed with 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 operating (e.g., controlling the main luffing winch mechanism to stop the rope release operation and controlling the auxiliary luffing winch mechanism to stop the rope retraction operation), thereby stopping the crane 1 from performing the arm-lowering operation. In this embodiment, steps S602 and S603 are not limited in order of execution; steps S602 and S603 can be executed simultaneously, or step S603 can be executed first and step S602 after.

[0111] Furthermore, after step S601 is completed, 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 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 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, 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 main boom 101 and auxiliary boom 102 combination before the crane 1 performs the arm-lowering 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 boom 101 and / or auxiliary boom 102 to deflect upward in the vertical plane, thereby restoring the main boom 101 and auxiliary boom 102 combination to the working state.

[0115] Step S702: Control the crane 1 to perform the arm-lowering 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 completed, 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 completed, 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 based on the detection results of the first angle detector and the second angle detector that the main arm 101 is tilted downward, the main arm 101 and the auxiliary arm 102 are tilted downward. When the combination of the main arm 101 and the auxiliary arm 102 is in a 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, thereby restoring 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 returns 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 is the second accumulated number.

[0120] Step S705 : When the second accumulated number reaches the 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 .

[0121] Specifically, after obtaining the second cumulative number, the processor compares it with the second preset number. If the second cumulative 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, the anti-roll bar 103 cannot be moved out of the limiting slot 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 operate normally in the future.

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

[0123] An embodiment of the present application provides a processor 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, which includes the processor in the above embodiment.

[0125] An embodiment of the present application provides a crane, which includes a main arm 101, a jib 102, an anti-roll bar 103, a limiting assembly, and the control device for the crane in the above embodiment, wherein the limiting assembly includes 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 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 limiting groove 1041.

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

[0127] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on 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" 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of 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), and 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 engaged. The control method comprises: Controlling the crane (1) to perform a boom raising operation; Obtaining a first angle between the main arm (101) and the horizontal plane and a second angle between the auxiliary arm (102) and the horizontal plane; When the first included angle is within a first preset range and the first included angle is greater than the second included angle, determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-raising state; Confirm that the end of the anti-roll bar (103) away from the main arm (101) is engaged in the limiting groove (1041); Controlling the crane (1) to continue the boom raising operation until the boom raising operation is completed; or, Controlling the crane (1) to perform a boom-leaning operation; Obtaining a first angle between the main arm (101) and the horizontal plane and a second angle between the auxiliary arm (102) and the horizontal plane; When the first included angle is smaller than a preset included angle and the first included angle is larger than the second included angle, determining that the combination of the main arm (101) and the auxiliary arm (102) is in a preset arm-lying state; Determining 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 crane (1) further includes a prompting device, and the control method further includes: 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 engaged in the limiting groove (1041); controlling the prompting device to issue a prompting signal indicating that the end of the anti-roll bar (103) away from the main arm (101) is not engaged in the limiting groove (1041); The crane (1) is controlled to stop performing the boom raising operation.

3. The control method for a crane according to claim 2, characterized in that: The control method further includes: 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 engaged in the limiting 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 boom 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 again engaged in the limiting groove (1041), controlling the combination of the main arm (101) and the auxiliary arm (102) to return to the initial state; 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).

4. The control method for a crane according to claim 1, characterized in that: The crane (1) further includes a prompting device, and the control method further includes: When the assembly 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 slot (1041); controlling the prompting device to issue 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 slot (1041); The crane (1) is controlled to stop performing the arm-dropping operation.

5. The control method for a crane according to claim 4, characterized in that: The control method further includes: 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 slot (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-leaning 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, controlling the combination of the main arm (101) and the auxiliary arm (102) 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).

6. A processor, characterized in that: The processor is configured to execute the control method for a crane according to any one of claims 1-5.

7. A control device for a crane, characterized in that: The control device comprises a processor according to claim 6.

8. 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 7, 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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