Additional counterweight control method and device, hoisting equipment, storage medium and program product

Abstract

The invention provides an additional counterweight control method and device, hoisting equipment, a storage medium and a program product, and relates to the technical field of hoisting. The additional balance weight control method comprises the following steps: determining the allowable maximum value of the additional balance weight of the whole vehicle and the percentage of the use value of the additional balance weight in the allowable maximum value of the additional balance weight according to the ratio of the stabilizing moment to the tipping moment of the whole vehicle, the bearing moment of the slewing bearing and the allowable plate pulling force. According to the additional counterweight control method provided by the invention, the allowable maximum value of the additional counterweight of the whole vehicle and the percentage of the use value of the additional counterweight in the allowable maximum value of the additional counterweight are determined according to the ratio of the stabilizing moment to the tipping moment of the whole vehicle, the bearing moment of the slewing bearing and the allowable plate pulling force; under the condition that the percentage of the use value of the additional balance weight to the allowable maximum value of the additional balance weight reaches a preset range, corresponding safety protection measures are executed; and the operation difficulty of operators is effectively reduced, and the safety of the hoisting equipment is improved.

Description

Technical Field

[0001] The present invention relates to the field of lifting technology, and in particular to an additional counterweight control method, device, lifting equipment, storage medium and program product. Background Art

[0002] In recent years, the requirements for the hoisting height, performance and efficiency of crawler cranes have become increasingly higher. In order to meet these requirements, crawler cranes need to add an additional counterweight system. In order to improve efficiency and safety, the operator needs to know the maximum weight of the additional counterweight suspension under different working conditions in real time. Therefore, the additional counterweight active control technology is very important. The existing host program control logic algorithm cannot calculate the maximum value of the additional counterweight allowed under different working conditions, which increases the difficulty of operation for operators and reduces safety. Summary of the invention

[0003] The present invention provides an additional counterweight control method to solve the problems in the prior art that the maximum value of the additional counterweight allowed under different working conditions cannot be calculated, the operation is difficult and the safety is low.

[0004] The present invention provides an additional counterweight control method for controlling a lifting device, wherein the lifting device comprises a movable lower vehicle, a platform rotatable relative to the lower vehicle, an additional counterweight lifting cylinder telescopically mounted on the rear side of the platform, an arm frame pivotally mounted on the front side of the platform, and a hook liftably mounted on the arm frame; the method comprises: The maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight shall be determined based on the ratio of the vehicle's stabilizing moment to the tipping moment, the slewing bearing moment and the permissible tension plate force; The additional counterweight lifting cylinder is controlled within a predetermined angle range of the boom to lift the additional counterweight tray. When the percentage of the additional counterweight usage value to the maximum allowable value of the additional counterweight reaches a predetermined range, corresponding safety protection measures are implemented.

[0005] According to an additional counterweight control method provided by the present invention, when the predetermined range is 88%-110%, corresponding safety protection measures are performed.

[0006] According to an additional counterweight control method provided by the present invention, When the predetermined range is 88%-95%, the corresponding safety protection measures include: The action corresponding to the action of controlling the reduction of the forward tilting torque is to reduce the current of the driving brake by controlling the controller.

[0007] According to an additional counterweight control method provided by the present invention, in the predetermined range of 102%-110%, the corresponding safety protection measures include: The additional counterweight lifting cylinder is controlled to stop lifting, the boom stops raising the arm, the hook stops lifting or descending, the platform stops rotating and / or the lower vehicle stops moving.

[0008] According to an additional counterweight control method provided by the present invention, the executing corresponding safety protection measures further comprises: The additional counterweight lifting cylinder is controlled to be lowered.

[0009] According to an additional counterweight control method provided by the present invention, the lifting equipment also has a display, and the additional counterweight control method further includes: The control display shows the maximum value allowed for the additional ballast, the additional ballast usage value, the percentage of the additional ballast usage value to the actual value, and / or the percentage of the additional ballast usage value to the maximum value allowed for the additional ballast.

[0010] The present invention also provides an additional counterweight control device, comprising: The acquisition module is used to obtain the vehicle stability moment, overturning moment, slewing bearing moment, and allowable tension force; The calculation module is used to calculate the ratio of the vehicle's stabilizing moment to the overturning moment and the maximum allowable value of the vehicle's additional counterweight.

[0011] The present invention also provides a lifting device, comprising the additional counterweight control device as described above.

[0012] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the additional counterweight control method as described in any one of the above items is implemented.

[0013] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the additional counterweight control method as described in any one of the above items is implemented.

[0014] The additional counterweight control method provided by the present invention determines the maximum allowable additional counterweight of the whole vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the whole vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pulling plate force, and executes corresponding safety protection measures when the percentage of the additional counterweight usage value to the maximum allowable additional counterweight reaches a predetermined range; the operating difficulty of the operator is effectively reduced, and the safety of the lifting equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a flow chart of the additional counterweight control method provided by the present invention.

[0017] Figure 2 It is a side structural schematic diagram of the lifting equipment provided by the present invention.

[0018] Figure 3 yes Figure 2 Schematic diagram of the local enlarged structure at point A in the middle.

[0019] Figure 4 It is a structural schematic diagram of an additional counterweight pallet, an additional counterweight, an additional counterweight pallet hanger body, an additional counterweight upper support frame and an additional counterweight lower support frame provided by the present invention.

[0020] Figure 5 It is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in the raised state.

[0021] Figure 6 It is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in a raised state.

[0022] Figure 7 It is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the additional counterweight tray is in contact with the ground.

[0023] Figure 8 This is the second structural schematic diagram of the lifting equipment provided by the present invention when the boom is in the raised state.

[0024] Fig. 9 This is the second structural schematic diagram of the lifting equipment provided by the present invention when the boom is in a raised state.

[0025] Fig.10 This is the second structural schematic diagram of the lifting equipment when the additional counterweight tray provided by the present invention is in contact with the ground.

[0026] Fig.11 It is one of the side structural schematic diagrams of the lifting equipment with a super lifting mast provided by the present invention.

[0027] Fig.12 It is one of the side structural schematic diagrams of the lifting equipment with a super lifting mast provided by the present invention.

[0028] Fig.13It is a schematic diagram of the physical structure of the electronic device provided by the present invention.

[0029] Reference numerals: 100, get off the vehicle; 200, platform; 300, additional counterweight lifting cylinder; 400, boom; 500, additional counterweight system; 510, additional counterweight tray; 520, additional counterweight; 530, additional counterweight tray hanger body; 540, additional counterweight upper support frame; 550, additional counterweight lower support frame; 810, processor; 820, communication interface; 830, memory; 840, communication bus. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0033] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] 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 embodiment of the present invention. 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.

[0035] Before introducing the additional counterweight control method of the present invention, the specific structure of the lifting equipment is first introduced. Figure 2 The structural schematic diagram of the lifting equipment provided by the present invention is illustrated. Figure 3 yes Figure 2 The local enlarged structural diagram at A in the middle is as follows: Figure 2 and Figure 3 As shown, the lifting equipment has a movable lower vehicle 100, a platform 200 that can rotate relative to the lower vehicle 100, an additional counterweight lifting cylinder 300 indirectly or directly installed on the rear side of the platform 200, a boom 400 pivotally installed on the front side of the platform 200, and a hook (not shown) that can be lifted and lowered on the boom 400, wherein the additional counterweight lifting cylinder 300 can be extended and retracted relative to the platform 200 to achieve the action of lifting the additional counterweight off the ground or placing it on the ground, and the movable lower vehicle 100 can be a crawler-type or tire-type drive device to provide the mobility of the lifting equipment. The platform 200 is rotatably installed on the upper part of the movable lower vehicle 100, and the weight of the platform 200, the parts installed on the platform 200, and the total weight of the load hung on the hook are transmitted to the movable lower vehicle 100. A power device is installed on the platform 200, which can rotate the platform 200 through a rotating mechanism. The boom 400 is a multi-section assembled truss structure, and the number of sections can be adjusted as needed to change the length. The lower end of the boom 400 is hinged to the front side of the platform 200.

[0036] Figure 5 One of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in the raised state is illustrated. Figure 6 One of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in the raised state is illustrated. Figure 7 One of the structural schematic diagrams of the lifting equipment when the additional counterweight tray provided by the present invention is in contact with the ground is illustrated, Figure 8 The second structural schematic diagram of the lifting equipment provided by the present invention when the boom is in the raised state is illustrated. Fig. 9 The second structural schematic diagram of the lifting equipment provided by the present invention when the boom is in the raised state is illustrated. Fig.10 The second structural schematic diagram of the lifting equipment when the additional counterweight tray provided by the present invention contacts the ground is illustrated. Fig.11 One of the side structural schematic diagrams of the lifting equipment with a superlift mast provided by the present invention is illustrated. Fig.12 The second side view structural diagram of the lifting equipment with super lifting mast provided by the present invention is illustrated. Figures 5 to 12 As shown, in order to meet the requirements of wind power hoisting for hoisting height, hoisting performance and hoisting efficiency, the crawler crane needs to realize long arm hoisting and hoisting under non-super-lifting conditions, so the lifting equipment of the present invention also has an additional counterweight system 500, which includes an additional counterweight tray 510, an additional counterweight 520, an additional counterweight tray hanger body 530, an additional counterweight lifting cylinder 300, an additional counterweight upper support frame 540 and an additional counterweight lower support frame 550. The additional counterweight upper support frame 540 is located above the additional counterweight lower support frame 550, and the additional counterweight upper support frame 540 and the additional counterweight lower support frame 550 are both connected to the rear side of the platform 200 through a pin shaft, and the additional counterweight upper support frame 540 and the additional counterweight lower support frame 550 are connected at one end away from the platform 200 through a pin shaft. It can be imagined that the additional counterweight upper support frame 540 and the additional counterweight lower support frame 550 are constructed as an integrated structure. One end of the additional counterweight upper support frame 540 close to the platform 200 is connected to the additional counterweight lower support frame 550 through a pin shaft, thereby achieving an indirect connection with the platform 200.

[0037] The upper end of the additional counterweight lifting cylinder 300 is hinged to the end of the additional counterweight upper support frame 540 away from the platform 200 through a pin shaft. The upper end of the additional counterweight lifting cylinder 300 can also be hinged to the end of the additional counterweight lower support frame 550 away from the platform 200 through a pin shaft. A tension sensor is provided at the lower end of the additional counterweight lifting cylinder 300. The tension sensor is used to measure the tension borne by the additional counterweight lifting cylinder 300. The lower end of the additional counterweight lifting cylinder 300 is hinged to the upper end of the additional counterweight tray hanger body 530 through a pin shaft. The lower end of the additional counterweight lifting cylinder 300 can also be directly connected to the additional counterweight tray 510 through a pin shaft. The lower end of the additional counterweight tray hanger body 530 is connected to the additional counterweight tray 510. Multiple additional counterweights 520 are stacked on the additional counterweight tray 510 in sequence from bottom to top.

[0038] Combine the following Figure 1-Figure 3 The specific steps of the additional counterweight control method of the present invention are described.

[0039] Figure 1 The flowchart of the additional counterweight control method provided by the present invention is illustrated as follows: Figure 1 As shown, the additional counterweight control method is used to control the lifting equipment, and the additional counterweight control method includes: Step 100, determining the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pull plate force; It should be noted here that the vehicle stability moment includes the main engine weight moment, the main engine rear counterweight moment, the central counterweight moment, the additional counterweight moment, etc., which play a role in stabilizing the vehicle. The tipping moment mainly includes the boom weight moment, the boom pull plate weight moment and the hook weight moment, which are located on the side of the crane rotation centerline away from the additional counterweight and cause the vehicle to tip over.

[0040] Step 200, within a predetermined angle range of the boom 400, the additional counterweight tray 510 is lifted up by the additional counterweight lifting cylinder 300, and when the percentage of the additional counterweight usage value to the maximum allowable additional counterweight reaches a predetermined range, corresponding safety protection measures are executed.

[0041] The predetermined angle of the boom 400 is the angle between the boom axis and the ground obtained by an angle sensor disposed at the lower part of the boom 400. The additional counterweight usage value refers to the ratio of the pulling force applied to the additional counterweight lifting cylinder 300 to the total gravity of the additional counterweight tray 510, the additional counterweight 520, and the additional counterweight tray hanger body 530. The predetermined angle range is the angle range of the boom 400 relative to the ground, and the predetermined angle range is 30°-85°.

[0042] The lifting equipment is provided with a controller, and a control method is executed by the controller. The controller obtains the vehicle stability moment, the overturning moment, and their ratio, and obtains the slewing bearing moment and the allowable pulling plate force pre-stored in the memory.

[0043] The additional counterweight control method provided by the present invention determines the maximum allowable additional counterweight of the whole vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the whole vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pulling plate force, and executes corresponding safety protection measures when the percentage of the additional counterweight usage value to the maximum allowable additional counterweight reaches a predetermined range; the operating difficulty of the operator is effectively reduced, and the safety of the lifting equipment is improved.

[0044] It should be noted here that the slewing support bearing torque is the permissible torque of the slewing support obtained based on the slewing support performance curve (the inherent characteristic curve of the slewing support). The permissible plate force is the maximum tension that the plate is allowed to withstand calculated based on the plate material properties. The plate here refers to the connecting plate between the boom and the mast. The ratio of the vehicle's stabilizing moment to the tipping moment, the slewing support bearing torque, and the permissible plate force can all be used to calculate the maximum allowable value of the additional counterweight. The maximum allowable value of the additional counterweight of the present invention is the maximum value taken from the calculation results corresponding to the above three parameters.

[0045] It should also be noted here that the additional counterweight usage value is the measurement value of the tension sensor, and the actual value refers to the tension applied to the additional counterweight lifting cylinder 300 by the additional counterweight tray 510, the additional counterweight 520 and the additional counterweight tray hanger body 530.

[0046] In one embodiment of the present invention, when the predetermined range is 88%-110%, corresponding safety protection measures are executed.

[0047] The safety protection measures include outputting a warning message, the control device of the lifting equipment controls the additional counterweight lifting cylinder 300 to move upward (upward and downward directions such as Figure 1 During the movement of the additional counterweight 520, the additional counterweight lifting cylinder 300 is shortened, and the height of the additional counterweight 520 from the ground (i.e. Figure 3The L in the figure increases, which in turn increases the percentage of the additional counterweight usage value in the additional counterweight maximum value allowed, and increases the safety risk of the lifting equipment. Therefore, paying real-time attention to the percentage of the additional counterweight usage value in the additional counterweight maximum value allowed can effectively improve the safety of the operation. By controlling the prompt unit to output a warning message when the additional counterweight usage value reaches 90% of the additional counterweight maximum value allowed, the operator can be reminded to pay attention to the percentage of the additional counterweight usage value in the additional counterweight maximum value allowed, and prevent the additional counterweight usage value from exceeding the predetermined range, resulting in a dangerous situation. In this embodiment, the prompt unit is a buzzer, which is electrically connected to the control device, and the warning message is a prompt sound. Of course, the specific type of the prompt unit is not limited to this, and it can also be an indicator light, a vibrator or a display. Correspondingly, the specific type of the warning message is not limited to this, and it can also be light, vibration, image or text information.

[0048] In one embodiment of the present invention, when the predetermined range is 88%-95%, executing corresponding safety protection measures includes: Step 210, the action corresponding to the action of controlling the forward tilting moment to decrease is to control the current of the driving brake to decrease through the controller; or the action corresponding to the action of controlling the backward tilting moment to increase is to control the current of the driving brake to decrease through the controller, wherein the current value , where the value of A can be 105, 110, 115 or other values, and the value of B can be 90, 95, 100 or other values, It is the maximum current when the lifting equipment is working normally. It represents the maximum current output by the controller without any additional counterweight. It is the minimum current when the lifting equipment is working normally, which represents the minimum current output by the controller under the condition of maximum additional counterweight. X is the percentage of the additional counterweight usage value to the maximum value allowed for the additional counterweight. The value range of X is from 0 to 105, 110 or 115, preferably, the value range of X is from 0 to 105; where B means no additional counterweight, less than B means the forward tilting moment is reduced, and greater than B means the backward tilting moment is increased.

[0049] In one embodiment, when A is 105 and B is 90, is a scaling factor that adjusts the current according to the value of X. When X = 90, this scaling factor is 0, which means the current remains at When X<90, the proportional factor is negative, resulting in an increase in current, which corresponds to the action of controlling the forward tilting torque to decrease. When X>90, the proportional factor is positive, resulting in a decrease in current, which corresponds to the action of controlling the backward tilting torque to increase.

[0050] The current value I calculated by the above formula will change according to the additional weight usage value X. When X is less than 90, the current decreases, which helps to control the forward tilt moment. When X is greater than 90, the current also decreases, which helps to control the backward tilt moment. This adjustment ensures the stability of the equipment under different weight conditions.

[0051] In one embodiment of the present invention, when the predetermined range is 102%-110%, executing corresponding safety protection measures includes: The additional counterweight lifting cylinder 300 is controlled to stop lifting, the boom 400 stops raising the arm, the hook stops lifting or descending, the platform 200 stops rotating, and / or the lower vehicle 100 stops moving.

[0052] When the control device detects that the predetermined range is 105%, the control device will automatically issue a command to control the additional counterweight lifting cylinder 300 to stop moving upward, so that the additional counterweight tray 510 is engaged with the ground, but part of the weight on the additional counterweight tray 510 is applied to the additional counterweight lifting cylinder 300, which is in a critical state at this time to prevent the additional counterweight system 500 from applying too much force on the platform 200, causing the stability torque of the whole vehicle (the stability torque is relative to the center line of rotation) to increase too much, resulting in poor stability.

[0053] It should be noted that before the boom 400 is raised, the tray 510 in the additional counterweight system 500 is placed on the ground, and the additional counterweight system 500 does not apply a stabilizing torque to the platform 200 (i.e., the product of the force applied by the cylinder on the platform 200 and the horizontal distance from the force to the center line of rotation). In the process of raising the boom, the additional counterweight system 500 (tray, counterweight, hanger body) will move upward due to the deformation of the platform 200, but the additional counterweight lifting cylinder 300 itself does not move. The platform 200 is deformed by the deadweight of the boom 400, that is, the tail of the platform 200 moves upward, causing the deadweight of the additional counterweight system 500 to be gradually applied to the platform 200, causing the stabilizing torque to gradually increase. At this time, the bottom of the additional counterweight tray 510 is in a state of being about to leave the ground but not leaving the ground. Before the boom is raised to a preset working angle (the angle between the central axis of the boom and the horizontal plane, such as 90°), the bottom of the additional counterweight tray 510 does not leave the ground. In the process of picking up and moving the load by the hook, the tipping moment will change due to the change in the position of the boom 400 (the movement of the center of gravity of the boom) or the weight applied to the boom 400 by the hook. In order to maintain stability, it is necessary to control the change of the stabilizing moment applied to the platform 200.

[0054] Similarly, when the control device detects that the predetermined range is 105%, the control device automatically issues an instruction to control the boom 400 to stop extending (when the boom is telescopic) or changing position to avoid danger caused by exceeding the safe working range. Similarly, when the control device detects that the predetermined range is 105%, the control device automatically issues an instruction to control the hook to stop lifting or lowering to ensure the safety of the load and the stability of the equipment. Similarly, when the control device detects that the predetermined range is 105%, the control device automatically issues an instruction to control the platform 200 to stop rotating to prevent the lifting equipment from being unbalanced or operating errors caused by the rotation of the platform 200. Similarly, when the control device detects that the predetermined range is 105%, the control device automatically issues an instruction to control the lower vehicle 100 to stop moving to avoid unstable position or safety accidents caused by movement.

[0055] In one embodiment of the present invention, executing corresponding security protection measures further includes: In the working state, the additional counterweight lifting cylinder 300 is controlled to be lowered to reduce the stabilizing moment; When the control device detects that the predetermined range is 105%, the control device will automatically issue a command to control the additional counterweight lifting cylinder 300 to be lowered, and the additional counterweight 520 is lowered by the additional counterweight lifting cylinder 300 to reduce the load or adjust the balance of the lifting equipment, ensure that the lifting equipment is in a safe state, and improve the safety of the lifting equipment during operation. It should be noted here that the working state is defined as the process of the boom being assembled and raised to a certain angle, such as 30°, and the working state is the process of the hook picking up and moving the load.

[0056] In one embodiment of the present invention, the lifting equipment further comprises a display, and the additional counterweight control method further comprises: The control display shows the maximum value allowed for the additional ballast, the additional ballast usage value, the percentage of the additional ballast usage value to the actual value, and / or the percentage of the additional ballast usage value to the maximum value allowed for the additional ballast.

[0057] It should be noted here that the display is electrically connected to the control device, and the display here can be a display on the lifting equipment console or an independently set display. By displaying the maximum value allowed for the additional counterweight on the display, the operator can intuitively understand whether the additional counterweight 520 has reached the maximum weight or value, and whether it is within the safe operating range, so that the operator can make a decision based on the displayed maximum value allowed for the additional counterweight. Displaying the additional counterweight usage value on the display can facilitate the operator to understand the current usage status of the additional counterweight 520 in real time. By displaying the percentage of the additional counterweight usage value to the actual value and the percentage of the additional counterweight usage value to the maximum value allowed for the additional counterweight on the display, the operator can understand the utilization of the current load relative to the actual counterweight, and the degree of proximity of the current load to the maximum safe load, which effectively improves the working efficiency and operational safety of the crawler crane.

[0058] The present invention also provides a control device for an additional counterweight 520, comprising: The acquisition module is used to obtain the vehicle stability moment, overturning moment, slewing bearing moment, and allowable tension force; The calculation module is used to calculate the ratio of the vehicle's stabilizing moment to the overturning moment and the maximum allowable value of the vehicle's additional counterweight.

[0059] The present invention further provides a lifting device, comprising the control device for the additional counterweight 520 described in the above embodiment.

[0060] Fig.13 The physical structure diagram of the electronic device provided by the present invention is illustrated as follows: Fig.13 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communications interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the additional weight control method, which includes: Step 100, determining the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pull plate force; Step 200, controlling the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510 within a predetermined angle range of the boom 400, and executing corresponding safety protection measures when the percentage of the additional counterweight usage value to the maximum value allowed for the additional counterweight reaches a predetermined range.

[0061] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory 830 (ROM, Read-Only Memory), random access memory 830 (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0062] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by the processor 810, the computer can execute the additional counterweight control method provided by the above methods, the method includes: Step 100, determining the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pull plate force; Step 200, control the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510 within a predetermined angle range of the boom 400, and execute corresponding safety protection measures when the percentage of the additional counterweight usage value to the maximum value allowed for the additional counterweight reaches a predetermined range.

[0063] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the processor 810 executes the additional weight control method provided by the above methods, and the method includes: Step 100, determining the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight according to the ratio of the vehicle stabilizing moment to the overturning moment, the slewing bearing moment and the allowable pull plate force; Step 200, control the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510 within a predetermined angle range of the boom 400, and execute corresponding safety protection measures when the percentage of the additional counterweight usage value to the maximum value allowed for the additional counterweight reaches a predetermined range.

[0064] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0065] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling an additional counterweight, for controlling a lifting device, wherein the lifting device comprises a movable lower vehicle (100), a platform (200) rotatable relative to the lower vehicle (100), an additional counterweight lifting cylinder (300) telescopically mounted on the rear side of the platform (200), a boom (400) pivotally mounted on the front side of the platform (200), and a hook mounted on the boom (400) in a liftable manner; characterized in that: include: The maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight usage value to the maximum allowable additional counterweight shall be determined based on the ratio of the vehicle's stabilizing moment to the tipping moment, the slewing bearing moment and the permissible tension plate force; Within a predetermined angle range of the boom (400), the additional counterweight lifting cylinder (300) is controlled to lift the additional counterweight tray (510), and when the percentage of the additional counterweight usage value to the additional counterweight allowable maximum value reaches a predetermined range, corresponding safety protection measures are executed.

2. The additional counterweight control method according to claim 1, characterized in that: In the predetermined range of 88%-110%, corresponding safety protection measures are implemented.

3. The additional counterweight control method according to claim 2, characterized in that: When the predetermined range is 88%-95%, the corresponding safety protection measures include: The action corresponding to the action of controlling the reduction of the forward tilting torque is to reduce the current of the driving brake by controlling the controller; Alternatively, the action corresponding to the action of controlling the caster torque to increase is to control the current of the drive brake to decrease through the controller.

4. The additional counterweight control method according to claim 2, characterized in that: When the predetermined range is 102%-110%, the corresponding safety protection measures include: The additional counterweight lifting cylinder (300) is controlled to stop lifting, the boom (400) is controlled to stop raising the arm, the hook is controlled to stop lifting or lowering, the platform (200) is controlled to stop rotating, and / or the lower vehicle (100) is controlled to stop moving.

5. The additional counterweight control method according to claim 4, characterized in that: The execution of corresponding security protection measures also includes: The additional counterweight lifting cylinder (300) is controlled to be lowered.

6. The additional counterweight control method according to any one of claims 1 to 5, characterized in that: The lifting equipment also has a display, and the additional counterweight control method further includes: The control display shows the maximum value allowed for the additional ballast, the additional ballast usage value, the percentage of the additional ballast usage value to the actual value, and / or the percentage of the additional ballast usage value to the maximum value allowed for the additional ballast.

7. An additional counterweight control device, characterized in that: include: The acquisition module is used to obtain the vehicle stability moment, overturning moment, slewing bearing moment, and allowable tension force; The calculation module is used to calculate the ratio of the vehicle's stabilizing moment to the overturning moment and the maximum allowable value of the vehicle's additional counterweight.

8. A lifting device, characterized in that: Includes the additional counterweight control device as described in claim 7.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the additional weight control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the additional weight control method according to any one of claims 1 to 6 is implemented.

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