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

Abstract

The application provides an additional counterweight control method, device, hoisting equipment, storage medium and program product, and relates to the technical field of hoisting. The additional counterweight control method comprises the following steps: determining the maximum value of the additional counterweight of the whole vehicle according to the ratio of the stable moment of the whole vehicle to the overturning moment, the bearing moment of the slewing bearing and the allowable pull plate force, and the percentage of the use value of the additional counterweight in the maximum value of the additional counterweight. The additional counterweight control method provided by the application determines the maximum value of the additional counterweight of the whole vehicle according to the ratio of the stable moment of the whole vehicle to the overturning moment, the bearing moment of the slewing bearing and the allowable pull plate force, and the percentage of the use value of the additional counterweight in the maximum value of the additional counterweight, and corresponding safety protection measures are performed when the percentage of the use value of the additional counterweight in the maximum value of the additional counterweight reaches a predetermined range; the operation difficulty of the operator is effectively reduced, and the safety of the hoisting equipment is improved.

Description

Technical Field

[0001] This 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 Technology

[0002] In recent years, the requirements for the lifting height, performance, and efficiency of crawler cranes have been increasing. To meet these requirements, crawler cranes need to add an additional counterweight system. To improve efficiency and safety, operators need to know the maximum suspended weight of the additional counterweight under different working conditions in real time. Therefore, active control technology for the additional counterweight is very important. Existing host program control logic algorithms cannot calculate the maximum allowable additional counterweight value under different working conditions, thus increasing the operator's operational difficulty and reducing safety. Summary of the Invention

[0003] This invention provides an additional counterweight control method to solve the problems of existing technologies that cannot calculate the maximum allowable additional counterweight under different working conditions, resulting in high operational difficulty and low safety.

[0004] This invention provides an additional counterweight control method for controlling lifting equipment. The lifting equipment includes a movable undercarriage, a platform rotatable relative to the undercarriage, an additional counterweight lifting cylinder retractably mounted on the rear side of the platform, a boom pivotally mounted on the front side of the platform, and a hook liftable and height-adjustable mounted on the boom; comprising:

[0005] The maximum allowable additional counterweight of the vehicle is determined based on the ratio of the vehicle's stabilizing moment to its overturning moment, the torque borne by the slewing bearing, and the allowable tension plate force, as well as the percentage of the additional counterweight used relative to the maximum allowable additional counterweight.

[0006] Within the predetermined angle range of the boom, control the additional counterweight lifting cylinder to lift the additional counterweight tray. When the percentage of the additional counterweight usage value relative to the maximum allowable value of the additional counterweight reaches the predetermined range, implement the corresponding safety protection measures.

[0007] According to the additional counterweight control method provided by the present invention, when the predetermined range is 88%-110%, corresponding safety protection measures are implemented.

[0008] An additional counterweight control method provided by the present invention,

[0009] The predetermined range is 88%-95%, and the corresponding safety protection measures include:

[0010] The action corresponding to the action of reducing the forward tilting torque is to reduce the current of the drive brake by controlling the controller.

[0011] According to the present invention, in an additional counterweight control method, within the predetermined range of 102%-110%, the implementation of corresponding safety protection measures includes:

[0012] Control the additional counterweight lifting cylinder to stop lifting, the boom to stop raising, the hook to stop lifting or lowering, the platform to stop rotating, and / or the unloading vehicle to stop moving.

[0013] According to the additional counterweight control method provided by the present invention, the execution of the corresponding safety protection measures further includes:

[0014] The additional counterweight lifting cylinder is controlled to lower the weight.

[0015] According to an additional counterweight control method provided by the present invention, the lifting equipment further includes a display, and the additional counterweight control method further includes:

[0016] The control display shows the maximum allowable value of the additional counterweight, the value of the additional counterweight used, the percentage of the value of the additional counterweight used relative to the actual value, and / or the percentage of the value of the additional counterweight used relative to the maximum allowable value of the additional counterweight.

[0017] The present invention also provides an additional counterweight control device, comprising:

[0018] The acquisition module is used to acquire the vehicle's stabilizing torque, rollover torque, slewing bearing bearing torque, and allowable tension plate force.

[0019] The calculation module is used to calculate the ratio of the vehicle's stabilizing moment to its rollover moment, as well as the maximum allowable additional counterweight for the vehicle.

[0020] The present invention also provides a lifting device, including the additional counterweight control device as described above.

[0021] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the additional counterweight control method as described in any of the preceding claims.

[0022] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the additional counterweight control method as described in any of the preceding claims.

[0023] The additional counterweight control method provided by this invention determines the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing torque to its overturning torque, the torque borne by the slewing bearing, and the allowable tension plate force. When the percentage of the additional counterweight used relative to the maximum allowable additional counterweight reaches a predetermined range, corresponding safety protection measures are implemented. This effectively reduces the operational difficulty for operators and improves the safety of the lifting equipment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating the additional counterweight control method provided by the present invention.

[0026] Figure 2 This is a side view of the lifting equipment provided by the present invention.

[0027] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0028] Figure 4 This is a structural schematic diagram of the additional counterweight tray, additional counterweight, additional counterweight tray hanger, additional counterweight upper support frame, and additional counterweight lower support frame provided by the present invention.

[0029] Figure 5 This is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in the boom-raised state.

[0030] Figure 6 This is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the boom is in the raised state.

[0031] Figure 7 This is one of the structural schematic diagrams of the lifting equipment provided by the present invention when the additional counterweight pallet is in contact with the ground.

[0032] Figure 8 This is the second structural schematic diagram of the lifting device provided by the present invention when the boom is in the boom-raising state.

[0033] Figure 9 This is the second structural schematic diagram of the lifting equipment provided by the present invention when the boom is in the raised state.

[0034] Figure 10 This is the second schematic diagram of the lifting equipment provided by the present invention when the additional counterweight pallet is in contact with the ground.

[0035] Figure 11 This is one of the side view structural schematic diagrams of the lifting device with a super-lift mast provided by the present invention.

[0036] Figure 12 This is one of the side view structural schematic diagrams of the lifting device with a super-lift mast provided by the present invention.

[0037] Figure 13 This is a schematic diagram of the physical structure of the electronic device provided by the present invention.

[0038] Figure label:

[0039] 100. Unloading; 200. Platform; 300. Additional counterweight lifting cylinder; 400. Boom; 500. Additional counterweight system; 510. Additional counterweight pallet; 520. Additional counterweight; 530. Additional counterweight pallet 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 Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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 device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0043] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Before introducing the additional counterweight control method of the present invention, let's first introduce the specific structure of the lifting equipment. Figure 2 A schematic diagram of the lifting equipment provided by the present invention is shown in the figure. Figure 3 yes Figure 2 A magnified view of the local structure at point A, as shown below. Figure 2 and Figure 3 As shown, the lifting equipment includes a movable undercarriage 100, a platform 200 rotatable relative to the undercarriage 100, an auxiliary counterweight lifting cylinder 300 indirectly or directly 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 (not shown) liftable and elevable mounted on the boom 400. The auxiliary counterweight lifting cylinder 300 can extend and retract relative to the platform 200, enabling the auxiliary counterweight to be lifted off the ground or placed on the ground. The movable undercarriage 100 can be a tracked or wheeled drive unit to provide the lifting equipment with mobility. The platform 200 is rotatably mounted on the upper part of the movable undercarriage 100. The weight of the platform 200 itself, the components mounted on the platform 200, and the entire weight of the load suspended on the hook are transferred to the movable undercarriage 100. The platform 200 is equipped with a power unit, which can rotate the platform 200 through a slewing mechanism. The boom 400 is a multi-section assembled truss structure, and the number of sections can be adjusted to change the length as needed. The lower end of the boom 400 is hinged to the front side of the platform 200.

[0046] Figure 5 This example illustrates one of the structural schematic diagrams of the lifting device provided by the present invention when the boom is in the raised state. Figure 6 This example illustrates one of the structural schematic diagrams of the lifting device provided by the present invention when the boom is in the raised state. Figure 7 This example illustrates one of the structural schematic diagrams of the lifting device provided by the present invention when the additional counterweight pallet is in contact with the ground. Figure 8 This is the second example of a structural schematic diagram of the lifting device provided by the present invention when the boom is in the raised state. Figure 9 This is the second example of a structural schematic diagram of the lifting device provided by the present invention when the boom is in the raised state. Figure 10 This is the second example of a structural schematic diagram of the lifting device provided by the present invention when the additional counterweight pallet is in contact with the ground. Figure 11 One of the side view structural schematic diagrams of the lifting device with a super-lift mast provided by the present invention is illustrated. Figure 12 A second side view schematic diagram of the lifting device with a super-lift mast provided by the present invention is shown. Figures 5 to 12 As shown, in order to meet the requirements of wind power installation for lifting height, lifting performance, and lifting efficiency, the crawler crane needs to achieve long boom lifting and lifting under non-overlift conditions. Therefore, the lifting equipment of this invention also has an additional counterweight system 500. The additional counterweight system 500 includes an additional counterweight pallet 510, an additional counterweight 520, an additional counterweight pallet hanger body 530, an additional counterweight lifting cylinder 300, an upper additional counterweight support frame 540, and a lower additional counterweight support frame 550. The upper additional counterweight support frame 540 is located above the lower additional counterweight support frame 550. Both the upper additional counterweight support frame 540 and the lower additional counterweight support frame 550 are connected to the rear side of the platform 200 by pins. The ends of the upper additional counterweight support frame 540 and the lower additional counterweight support frame 550 away from the platform 200 are connected by pins. It is conceivable that the upper additional counterweight support frame 540 and the lower additional counterweight support frame 550 are constructed as an integral structure. The upper support frame 540 of the additional counterweight is connected to the lower support frame 550 of the additional counterweight via a pin, thereby achieving an indirect connection with the platform 200.

[0047] 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 via a pin. 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 via a pin. 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 pallet hanger body 530 via a pin. The lower end of the additional counterweight lifting cylinder 300 can also be directly connected to the additional counterweight pallet 510 via a pin. The lower end of the additional counterweight pallet hanger body 530 is connected to the additional counterweight pallet 510. Multiple additional counterweights 520 are stacked sequentially on the additional counterweight pallet 510 in a bottom-to-top direction.

[0048] The following is combined Figures 1-3 The specific steps of the additional counterweight control method of the present invention are described.

[0049] Figure 1 A flowchart illustrating the additional counterweight control method provided by this invention is shown below. Figure 1 As shown, the additional counterweight control method is used to control lifting equipment. The additional counterweight control method includes:

[0050] Step 100: Determine the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing moment to its overturning moment, the slewing bearing's bearing moment, and the allowable tension plate force.

[0051] It should be noted that the overall vehicle stabilizing moment includes the main engine weight moment, the main engine rear counterweight moment, the central counterweight moment, and the additional counterweight moment, all of which contribute to the overall vehicle stabilization. The overturning moment mainly consists of the boom weight moment, boom tie plate weight moment, and hook weight moment, which are located on the side of the crane's rotation centerline away from the additional counterweight and cause the entire vehicle to overturn.

[0052] Step 200: Within the predetermined angle range of the boom 400, the additional counterweight pallet 510 is lifted by the additional counterweight lifting cylinder 300. When the percentage of the additional counterweight usage value to the maximum allowable value of the additional counterweight reaches the predetermined range, the corresponding safety protection measures are implemented.

[0053] The predetermined angle of the boom 400 is obtained by an angle sensor located at the bottom of the boom 400, which measures the angle between the boom axis and the ground. The additional counterweight usage value refers to the ratio of the pulling force applied to the additional counterweight lifting cylinder 300 to the total weight of the additional counterweight tray 510, additional counterweight 520, and additional counterweight tray frame body 530. The predetermined angle range is the angle range of the boom 400 relative to the ground, which is 30°-85°.

[0054] The lifting equipment is equipped with a controller. The controller executes the control method and obtains the vehicle's stabilizing torque, overturning torque and their ratio, as well as the slewing bearing bearing torque and allowable tension plate force that are pre-stored in the memory.

[0055] The additional counterweight control method provided by this invention determines the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing torque to its overturning torque, the torque borne by the slewing bearing, and the allowable tension plate force. When the percentage of the additional counterweight used relative to the maximum allowable additional counterweight reaches a predetermined range, corresponding safety protection measures are implemented. This effectively reduces the operational difficulty for operators and improves the safety of the lifting equipment.

[0056] It should be noted that the slewing bearing capacity moment is the allowable slewing bearing capacity moment obtained from the slewing bearing performance curve (the inherent characteristic curve of the slewing bearing). The allowable tie plate force is the maximum tensile force that the tie plate can withstand, calculated based on the material properties of the tie plate. Here, the tie plate refers to the connecting tie plate between the boom and the mast. The ratio of the vehicle stabilizing moment to the overturning moment, the slewing bearing capacity moment, and the allowable tie plate force can all be used to calculate the maximum allowable value of the additional counterweight. The maximum allowable value of the additional counterweight in this invention is the maximum value among the calculation results corresponding to the above three parameters.

[0057] It should also be noted that the value of the additional counterweight 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.

[0058] In one embodiment of the present invention, when the predetermined range is 88%-110%, corresponding safety protection measures are implemented.

[0059] Safety precautions include outputting warning messages, and the lifting equipment's control device controlling the additional counterweight lifting cylinder 300 upwards (vertical direction such as...). Figure 1 As shown by China Construction Investment Corporation, during the movement, the additional counterweight lifting cylinder 300 shortens, and the additional counterweight 520's height above the ground (i.e., Figure 3An increase in the value of the additional counterweight (L) leads to an increase in the percentage of the additional counterweight used relative to the maximum allowable value, thus increasing the safety risk to the lifting equipment. Therefore, real-time monitoring of the percentage of the additional counterweight used relative to the maximum allowable value can effectively improve operational safety. By controlling the prompting unit to output a warning message when the percentage of the additional counterweight used relative to the maximum allowable value reaches 90%, the operator can be reminded to pay attention to the percentage of the additional counterweight used relative to the maximum allowable value, preventing the percentage from exceeding the predetermined range and causing dangerous situations. In this embodiment, the prompting 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 prompting unit is not limited to this; it can also be an indicator light, a vibrator, or a display. Correspondingly, the specific type of warning message is not limited to this; it can also be light, vibration, image, or text information.

[0060] In one embodiment of the present invention, when the predetermined range is 88%-95%, the corresponding safety protection measures include:

[0061] Step 210, the action corresponding to the action of reducing the forward tilting torque, which is to reduce the current of the drive brake by controlling the controller; or, the action corresponding to the action of increasing the rear tilting torque, which is to reduce the current of the drive brake by controlling the controller, wherein the current value... Where A can be 105, 110, 115 or other values, and B can be 90, 95, 100 or other values. This represents the maximum current when the lifting equipment is operating normally; it indicates the maximum current output by the controller without any additional counterweight. is the minimum current required for the lifting equipment to operate normally; it represents the minimum current output by the controller under maximum additional counterweight conditions. X is the percentage of the additional counterweight used relative to the maximum allowable additional counterweight. The value of X ranges from 0 to 105, 110, or 115, preferably from 0 to 105; where B indicates no additional counterweight, less than B indicates a decrease in forward tilting moment, and greater than B indicates an increase in backward tilting moment.

[0062] In one embodiment, when A is 105 and B is 90... It is a scaling factor that adjusts the current according to the value of X. When X = 90, this scaling factor is 0, meaning the current remains constant. When X < 90, the scaling factor is negative, resulting in an increase in current, which corresponds to the action of reducing the forward tilting torque. When X > 90, the scaling factor is positive, resulting in a decrease in current, which corresponds to the action of increasing the rear tilting torque.

[0063] The current value I calculated according to the above formula will vary depending on the usage value X of the additional counterweight. When X is less than 90, the current decreases, which helps control the forward tilting torque. When X is greater than 90, the current also decreases, which helps control the backward tilting torque. This adjustment ensures the stability of the equipment under different counterweight conditions.

[0064] In one embodiment of the present invention, within a predetermined range of 102%-110%, the corresponding safety protection measures include:

[0065] Control the additional counterweight lifting cylinder 300 to stop lifting, the boom 400 to stop raising the boom, the hook to stop lifting or lowering, the platform 200 to stop rotating, and / or the unloading 100 to stop moving.

[0066] When the control device detects that the predetermined range is 105%, the control device will automatically issue a command to stop the additional counterweight lifting cylinder 300 from moving upward, so that the additional counterweight tray 510 engages with the ground. However, part of the weight on the additional counterweight tray 510 is applied to the additional counterweight lifting cylinder 300. At this time, it is in a critical state to prevent the force applied by the additional counterweight system 500 to the platform 200 from being too large, which would cause the vehicle stabilizing torque (the stabilizing torque is relative to the rotation center line) to increase too much and cause the stability problem to deteriorate.

[0067] It should be noted that before the boom 400 is raised, the pallet 510 in the additional counterweight system 500 is placed on the ground. The additional counterweight system 500 does not apply a stabilizing torque to the platform 200 (i.e., the product of the force applied to the platform 200 by the cylinder and the horizontal distance from that force to the rotation centerline). During the boom raising process, the additional counterweight system 500 (pallet, counterweight, and boom 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 deforms due to the weight of the boom 400, i.e., the tail of the platform 200 moves upward, causing the weight of the additional counterweight system 500 to be gradually applied to the platform 200, resulting in a gradual increase in the stabilizing torque. At this time, the bottom of the additional counterweight pallet 510 is in a state of about to leave the ground but not yet leaving the ground. The bottom of the additional counterweight pallet 510 does not leave the ground until the boom is raised to the preset working angle (the angle between the boom's central axis and the horizontal plane, such as 90°). During the process of the hook picking up and moving the load, the tilting moment will change due to the change in the position of the boom 400 (shift of the boom's center of gravity) or the weight applied to the boom 400 by the hook. In order to maintain stability, it is necessary to control the change in the stabilizing moment applied to the platform 200.

[0068] Similarly, when the control device detects that the predetermined range is 105%, it automatically issues a command to stop the boom 400 from extending (in the case of a telescopic boom) or changing position, to avoid danger caused by exceeding the safe operating range. Similarly, when the control device detects that the predetermined range is 105%, it automatically issues a command to stop the hook from 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%, it automatically issues a command to stop the platform 200 from rotating, to prevent the lifting equipment from becoming unbalanced or to prevent operational errors due to platform 200 rotation. Similarly, when the control device detects that the predetermined range is 105%, it automatically issues a command to stop the unloader 100 from moving, to avoid positional instability or safety accidents caused by movement.

[0069] In one embodiment of the present invention, the corresponding security protection measures further include:

[0070] In operation, the additional counterweight lifting cylinder 300 is controlled to lower the cylinder, reducing the stabilizing torque.

[0071] When the control device detects that the predetermined range is 105%, it will automatically issue a command to lower the additional counterweight lifting cylinder 300. The additional counterweight 520 is lowered via the additional counterweight lifting cylinder 300, reducing the load or adjusting the balance of the lifting equipment, ensuring the lifting equipment is in a safe state and improving the safety of the lifting equipment during operation. It should be noted that the working state is defined as the process of the hook picking up and moving the load after the boom is assembled and raised to a certain angle, such as 30°.

[0072] In one embodiment of the present invention, the lifting equipment further includes a display, and the additional counterweight control method further includes:

[0073] The control display shows the maximum allowable value of the additional counterweight, the value of the additional counterweight used, the percentage of the value of the additional counterweight used relative to the actual value, and / or the percentage of the value of the additional counterweight used relative to the maximum allowable value of the additional counterweight.

[0074] It should be noted that the display is electrically connected to the control device. This display can be on the crane's control console or a stand-alone display. By showing the maximum permissible weight of the additional counterweight, the operator can intuitively understand whether the additional counterweight 520 has reached its maximum weight or value and whether it is within the safe operating range, allowing the operator to make decisions based on the displayed maximum permissible weight. Displaying the used weight value allows the operator to easily monitor the current usage status of the additional counterweight 520 in real time. Displaying the percentage of the used weight value relative to the actual value and the percentage of the used weight value relative to the maximum permissible weight value allows the operator to understand the utilization of the current load relative to the actual counterweight, and how close the current load is to the maximum safe load, effectively improving the working efficiency and operational safety of the crawler crane.

[0075] The present invention also provides an additional counterweight 520 control device, comprising:

[0076] The acquisition module is used to acquire the vehicle's stabilizing torque, rollover torque, slewing bearing bearing torque, and allowable tension plate force.

[0077] The calculation module is used to calculate the ratio of the vehicle's stabilizing moment to its rollover moment, as well as the maximum allowable additional counterweight for the vehicle.

[0078] The present invention also provides a lifting device, including the additional counterweight 520 control device described in the above embodiments.

[0079] Figure 13 A schematic diagram of the physical structure of the electronic device provided by the present invention is illustrated, such as... Figure 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 can call logical instructions in the memory 830 to execute an additional counterweight control method, which includes:

[0080] Step 100: Determine the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing moment to its overturning moment, the slewing bearing's bearing moment, and the allowable tension plate force.

[0081] Step 200: Within a predetermined angle range of the boom 400, control the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510. When the percentage of the additional counterweight usage value relative to the maximum allowable value of the additional counterweight reaches a predetermined range, execute the corresponding safety protection measures.

[0082] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory 830 (ROM), random access memory 830 (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0083] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor 810, the computer is capable of executing the additional counterweight control method provided by the above methods, the method comprising:

[0084] Step 100: Determine the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing moment to its overturning moment, the slewing bearing's bearing moment, and the allowable tension plate force.

[0085] Step 200: Within a predetermined angle range of the boom 400, control the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510. When the percentage of the additional counterweight usage value relative to the maximum allowable value of the additional counterweight reaches a predetermined range, execute the corresponding safety protection measures.

[0086] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor 810, is implemented to perform the additional counterweight control method provided by the methods described above, the method comprising:

[0087] Step 100: Determine the maximum allowable additional counterweight of the vehicle and the percentage of the additional counterweight used relative to the maximum allowable additional counterweight based on the ratio of the vehicle's stabilizing moment to its overturning moment, the slewing bearing's bearing moment, and the allowable tension plate force.

[0088] Step 200: Within a predetermined angle range of the boom 400, control the additional counterweight lifting cylinder 300 to lift the additional counterweight tray 510. When the percentage of the additional counterweight usage value relative to the maximum allowable value of the additional counterweight reaches a predetermined range, execute the corresponding safety protection measures.

[0089] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0090] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An additional weight control method for controlling a hoisting device, the hoisting device having a movable lower vehicle (100), a platform (200) rotatable relative to the lower vehicle (100), an additional weight lifting cylinder (300) telescopically mounted at the rear side of the platform (200), an arm support (400) pivotally mounted at the front side of the platform (200), and a hook (500) liftable mounted on the arm support (400); characterized in that, The method comprises the following steps: According to the ratio of the whole vehicle stability moment and the tipping moment, the slewing bearing bearing moment and the allowable pull plate force, the maximum value of the additional counterweight of the whole vehicle is determined, and the use value of the additional counterweight accounts for a percentage of the maximum value of the additional counterweight; wherein the use value of the additional counterweight refers to the ratio of the pulling force applied to the additional counterweight lifting cylinder to the total weight of the additional counterweight tray, the additional counterweight and the additional counterweight tray hanger body; 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 in the case that the percentage of the use value of the additional counterweight to the maximum value of the additional counterweight reaches a predetermined range, corresponding safety protection measures are performed.

2. The additional counterweight control method according to claim 1, wherein In the case that the predetermined range is 88%-110%, the corresponding safety protection measures are performed.

3. The additional weight control method of claim 2, wherein, In the case that the predetermined range is 88%-95%, the performing of the corresponding safety protection measures comprises: controlling the action of reducing the front tilting moment, the action being to reduce the current of the driving brake through the controller; or, controlling the action of increasing the rear tilting moment, the action being to reduce the current of the driving brake through the controller.

4. The additional counterweight control method according to claim 2, wherein In the case that the predetermined range is 102%-110%, the performing of the corresponding safety protection measures comprises: controlling the additional counterweight lifting cylinder (300) to stop lifting, the boom (400) to stop lifting, the hook to stop lifting or lowering, the platform (200) to stop rotating and / or the undercarriage (100) to stop moving.

5. The additional weight control method of claim 4, wherein The performing of the corresponding safety protection measures further comprises: controlling the additional counterweight lifting cylinder (300) to lower.

6. The method of claim 1 to 5, wherein, The hoisting equipment further has a display, and the additional counterweight control method further comprises: controlling the display to display the maximum value of the additional counterweight, the use value of the additional counterweight, the percentage of the use value of the additional counterweight to the actual value, and / or the percentage of the use value of the additional counterweight to the maximum value of the additional counterweight.

7. An additional weight control apparatus based on the additional weight control method according to any one of claims 1 to 6, characterized by, The method comprises the following steps: an acquisition module, configured to acquire the whole vehicle stability moment, the tipping moment, the slewing bearing bearing moment and the allowable pull plate force; a calculation module, configured to calculate the ratio of the whole vehicle stability moment and the tipping moment, and the maximum value of the additional counterweight of the whole vehicle.

8. A hoisting apparatus characterized by, The additional counterweight control device according to claim 7 is included. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the additional counterweight control method according to any one of claims 1 to 6.

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

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